refactor(gyro_odometer)!: prefix package and namespace with autoware (#…

…8340) * add autoware_ prefix Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com> * add missing header Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com> * use target_include_directories instead Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com> * add autoware_ prefix Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com> --------- Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>
autowarefoundation · Aug 22, 2024 · cf6859e · cf6859e
1 parent c5e8062
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diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -87,7 +87,7 @@ localization/autoware_stop_filter/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier
 localization/autoware_twist2accel/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/ekf_localizer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp takamasa.horibe@tier4.jp takeshi.ishita@tier4.jp yamato.ando@tier4.jp
 localization/autoware_geo_pose_projector/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
-localization/gyro_odometer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
+localization/autoware_gyro_odometer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/autoware_localization_error_monitor/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/localization_util/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/ndt_scan_matcher/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp

diff --git a/launch/tier4_localization_launch/launch/pose_twist_estimator/gyro_odometer.launch.xml b/launch/tier4_localization_launch/launch/pose_twist_estimator/gyro_odometer.launch.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <group>
-    <include file="$(find-pkg-share gyro_odometer)/launch/gyro_odometer.launch.xml">
+    <include file="$(find-pkg-share autoware_gyro_odometer)/launch/gyro_odometer.launch.xml">
       <arg name="input_vehicle_twist_with_covariance_topic" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
       <arg name="output_twist_with_covariance_topic" value="/localization/twist_estimator/twist_with_covariance"/>
       <arg name="output_twist_with_covariance_raw_topic" value="/localization/twist_estimator/twist_with_covariance_raw"/>

diff --git a/launch/tier4_localization_launch/package.xml b/launch/tier4_localization_launch/package.xml
@@ -20,12 +20,12 @@
   <exec_depend>automatic_pose_initializer</exec_depend>
   <exec_depend>autoware_ar_tag_based_localizer</exec_depend>
   <exec_depend>autoware_geo_pose_projector</exec_depend>
+  <exec_depend>autoware_gyro_odometer</exec_depend>
   <exec_depend>autoware_pointcloud_preprocessor</exec_depend>
   <exec_depend>eagleye_geo_pose_fusion</exec_depend>
   <exec_depend>eagleye_gnss_converter</exec_depend>
   <exec_depend>eagleye_rt</exec_depend>
   <exec_depend>ekf_localizer</exec_depend>
-  <exec_depend>gyro_odometer</exec_depend>
   <exec_depend>ndt_scan_matcher</exec_depend>
   <exec_depend>pose_estimator_arbiter</exec_depend>
   <exec_depend>pose_initializer</exec_depend>

diff --git a/localization/gyro_odometer/CMakeLists.txt → ...ion/autoware_gyro_odometer/CMakeLists.txt b/localization/gyro_odometer/CMakeLists.txt → ...ion/autoware_gyro_odometer/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(gyro_odometer)
+project(autoware_gyro_odometer)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
@@ -22,6 +22,9 @@ if(BUILD_TESTING)
   target_link_libraries(test_gyro_odometer
     ${PROJECT_NAME}
   )
+  target_include_directories(test_gyro_odometer PRIVATE
+    src
+  )
 endif()
 
 rclcpp_components_register_node(${PROJECT_NAME}

diff --git a/localization/gyro_odometer/README.md → ...lization/autoware_gyro_odometer/README.md b/localization/gyro_odometer/README.md → ...lization/autoware_gyro_odometer/README.md
@@ -1,8 +1,8 @@
-# gyro_odometer
+# autoware_gyro_odometer
 
 ## Purpose
 
-`gyro_odometer` is the package to estimate twist by combining imu and vehicle speed.
+`autoware_gyro_odometer` is the package to estimate twist by combining imu and vehicle speed.
 
 ## Inputs / Outputs
 
@@ -21,7 +21,7 @@
 
 ## Parameters
 
-{{ json_to_markdown("localization/gyro_odometer/schema/gyro_odometer.schema.json") }}
+{{ json_to_markdown("localization/autoware_gyro_odometer/schema/gyro_odometer.schema.json") }}
 
 ## Assumptions / Known limits
 

diff --git a/..._odometer/config/gyro_odometer.param.yaml → ..._odometer/config/gyro_odometer.param.yaml b/..._odometer/config/gyro_odometer.param.yaml → ..._odometer/config/gyro_odometer.param.yaml
diff --git a/..._odometer/launch/gyro_odometer.launch.xml → ..._odometer/launch/gyro_odometer.launch.xml b/..._odometer/launch/gyro_odometer.launch.xml → ..._odometer/launch/gyro_odometer.launch.xml
@@ -9,9 +9,9 @@
   <arg name="output_twist_topic" default="gyro_twist" description="output twist topic name"/>
   <arg name="output_twist_with_covariance_topic" default="gyro_twist_with_covariance" description="output twist with covariance topic name"/>
 
-  <arg name="config_file" default="$(find-pkg-share gyro_odometer)/config/gyro_odometer.param.yaml"/>
+  <arg name="config_file" default="$(find-pkg-share autoware_gyro_odometer)/config/gyro_odometer.param.yaml"/>
 
-  <node pkg="gyro_odometer" exec="gyro_odometer_node" output="both">
+  <node pkg="autoware_gyro_odometer" exec="autoware_gyro_odometer_node" output="both">
     <remap from="vehicle/twist_with_covariance" to="$(var input_vehicle_twist_with_covariance_topic)"/>
 
     <remap from="imu" to="$(var input_imu_topic)"/>

diff --git a/...zation/gyro_odometer/media/diagnostic.png → ...toware_gyro_odometer/media/diagnostic.png b/...zation/gyro_odometer/media/diagnostic.png → ...toware_gyro_odometer/media/diagnostic.png
diff --git a/localization/gyro_odometer/package.xml → ...zation/autoware_gyro_odometer/package.xml b/localization/gyro_odometer/package.xml → ...zation/autoware_gyro_odometer/package.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>gyro_odometer</name>
+  <name>autoware_gyro_odometer</name>
   <version>0.1.0</version>
-  <description>The gyro_odometer package as a ROS 2 node</description>
+  <description>The autoware_gyro_odometer package as a ROS 2 node</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
   <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>

diff --git a/...odometer/schema/gyro_odometer.schema.json → ...odometer/schema/gyro_odometer.schema.json b/...odometer/schema/gyro_odometer.schema.json → ...odometer/schema/gyro_odometer.schema.json
diff --git a/.../gyro_odometer/src/gyro_odometer_core.cpp → ..._gyro_odometer/src/gyro_odometer_core.cpp b/.../gyro_odometer/src/gyro_odometer_core.cpp → ..._gyro_odometer/src/gyro_odometer_core.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "gyro_odometer/gyro_odometer_core.hpp"
+#include "gyro_odometer_core.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -23,6 +23,7 @@
 #endif
 #include <fmt/core.h>
 
+#include <algorithm>
 #include <cmath>
 #include <memory>
 #include <sstream>

diff --git a/...lude/gyro_odometer/gyro_odometer_core.hpp → ..._gyro_odometer/src/gyro_odometer_core.hpp b/...lude/gyro_odometer/gyro_odometer_core.hpp → ..._gyro_odometer/src/gyro_odometer_core.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef GYRO_ODOMETER__GYRO_ODOMETER_CORE_HPP_
-#define GYRO_ODOMETER__GYRO_ODOMETER_CORE_HPP_
+#ifndef GYRO_ODOMETER_CORE_HPP_
+#define GYRO_ODOMETER_CORE_HPP_
 
 #include "autoware/universe_utils/ros/logger_level_configure.hpp"
 #include "autoware/universe_utils/ros/msg_covariance.hpp"
@@ -85,4 +85,4 @@ class GyroOdometerNode : public rclcpp::Node
 
 }  // namespace autoware::gyro_odometer
 
-#endif  // GYRO_ODOMETER__GYRO_ODOMETER_CORE_HPP_
+#endif  // GYRO_ODOMETER_CORE_HPP_
diff --git a/...ometer/test/test_gyro_odometer_helper.cpp → ...ometer/test/test_gyro_odometer_helper.cpp b/...ometer/test/test_gyro_odometer_helper.cpp → ...ometer/test/test_gyro_odometer_helper.cpp
diff --git a/...ometer/test/test_gyro_odometer_helper.hpp → ...ometer/test/test_gyro_odometer_helper.hpp b/...ometer/test/test_gyro_odometer_helper.hpp → ...ometer/test/test_gyro_odometer_helper.hpp
diff --git a/...ometer/test/test_gyro_odometer_pubsub.cpp → ...ometer/test/test_gyro_odometer_pubsub.cpp b/...ometer/test/test_gyro_odometer_pubsub.cpp → ...ometer/test/test_gyro_odometer_pubsub.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "gyro_odometer/gyro_odometer_core.hpp"
+#include "gyro_odometer_core.hpp"
 #include "test_gyro_odometer_helper.hpp"
 
 #include <rclcpp/rclcpp.hpp>

diff --git a/...lization/gyro_odometer/test/test_main.cpp → ...autoware_gyro_odometer/test/test_main.cpp b/...lization/gyro_odometer/test/test_main.cpp → ...autoware_gyro_odometer/test/test_main.cpp