refactor(radar_fusion_to_detected_object)!: fix namespace and directo…

…ry structure (#7650) * refactor: refactor radar fusion to detected object node and related files Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor: fix the node name Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor: move header files to src Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
autowarefoundation · Jul 22, 2024 · e4c1c3a · e4c1c3a
1 parent 8c2f044
commit e4c1c3a
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Showing 7 changed files with 30 additions and 29 deletions.
diff --git a/perception/radar_fusion_to_detected_object/CMakeLists.txt b/perception/radar_fusion_to_detected_object/CMakeLists.txt
@@ -6,14 +6,14 @@ find_package(autoware_cmake REQUIRED)
 autoware_package()
 
 # Targets
-ament_auto_add_library(radar_object_fusion_to_detected_object_node_component SHARED
-  src/radar_object_fusion_to_detected_object_node/radar_object_fusion_to_detected_object_node.cpp
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/node.cpp
   src/radar_fusion_to_detected_object.cpp
 )
 
-rclcpp_components_register_node(radar_object_fusion_to_detected_object_node_component
-  PLUGIN "radar_fusion_to_detected_object::RadarObjectFusionToDetectedObjectNode"
-  EXECUTABLE radar_object_fusion_to_detected_object_node
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "autoware::radar_fusion_to_detected_object::RadarObjectFusionToDetectedObjectNode"
+  EXECUTABLE radar_fusion_to_detected_object_node
 )
 
 # Tests

diff --git a/.../radar_fusion_to_detected_object/launch/radar_object_fusion_to_detected_object.launch.xml b/.../radar_fusion_to_detected_object/launch/radar_object_fusion_to_detected_object.launch.xml
@@ -8,7 +8,7 @@
   <arg name="config_file" default="$(find-pkg-share radar_fusion_to_detected_object)/config/radar_object_fusion_to_detected_object.param.yaml"/>
 
   <!-- Node -->
-  <node pkg="radar_fusion_to_detected_object" exec="radar_object_fusion_to_detected_object_node" name="radar_object_fusion_to_detected_object" output="screen">
+  <node pkg="radar_fusion_to_detected_object" exec="radar_fusion_to_detected_object_node" name="radar_object_fusion_to_detected_object" output="screen">
     <remap from="~/input/objects" to="$(var input/objects)"/>
     <remap from="~/input/radars" to="$(var input/radars)"/>
     <remap from="~/output/objects" to="$(var output/objects)"/>

diff --git a/perception/radar_fusion_to_detected_object/package.xml b/perception/radar_fusion_to_detected_object/package.xml
@@ -22,7 +22,6 @@
   <depend>message_filters</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
-  <depend>std_msgs</depend>
 
   <test_depend>ament_lint_common</test_depend>
   <test_depend>autoware_lint_common</test_depend>

diff --git a/.../radar_fusion_to_detected_object_node.hpp → ...n_to_detected_object/src/include/node.hpp b/.../radar_fusion_to_detected_object_node.hpp → ...n_to_detected_object/src/include/node.hpp
@@ -13,13 +13,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RADAR_FUSION_TO_DETECTED_OBJECT__RADAR_FUSION_TO_DETECTED_OBJECT_NODE_HPP_
-#define RADAR_FUSION_TO_DETECTED_OBJECT__RADAR_FUSION_TO_DETECTED_OBJECT_NODE_HPP_
+#ifndef NODE_HPP_
+#define NODE_HPP_
 
 #include "message_filters/subscriber.h"
 #include "message_filters/sync_policies/approximate_time.h"
 #include "message_filters/synchronizer.h"
-#include "radar_fusion_to_detected_object/radar_fusion_to_detected_object.hpp"
+#include "radar_fusion_to_detected_object.hpp"
 #include "rclcpp/rclcpp.hpp"
 
 #include "autoware_perception_msgs/msg/detected_objects.hpp"
@@ -29,7 +29,7 @@
 #include <string>
 #include <vector>
 
-namespace radar_fusion_to_detected_object
+namespace autoware::radar_fusion_to_detected_object
 {
 using autoware_perception_msgs::msg::DetectedObject;
 using autoware_perception_msgs::msg::DetectedObjects;
@@ -87,6 +87,6 @@ class RadarObjectFusionToDetectedObjectNode : public rclcpp::Node
     const DetectedObject & radar_object, const std_msgs::msg::Header & header_);
 };
 
-}  // namespace radar_fusion_to_detected_object
+}  // namespace autoware::radar_fusion_to_detected_object
 
-#endif  // RADAR_FUSION_TO_DETECTED_OBJECT__RADAR_FUSION_TO_DETECTED_OBJECT_NODE_HPP_
+#endif  // NODE_HPP_
diff --git a/...bject/radar_fusion_to_detected_object.hpp → ...clude/radar_fusion_to_detected_object.hpp b/...bject/radar_fusion_to_detected_object.hpp → ...clude/radar_fusion_to_detected_object.hpp
@@ -12,25 +12,26 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RADAR_FUSION_TO_DETECTED_OBJECT__RADAR_FUSION_TO_DETECTED_OBJECT_HPP_
-#define RADAR_FUSION_TO_DETECTED_OBJECT__RADAR_FUSION_TO_DETECTED_OBJECT_HPP_
+#ifndef RADAR_FUSION_TO_DETECTED_OBJECT_HPP_
+#define RADAR_FUSION_TO_DETECTED_OBJECT_HPP_
+
+#define EIGEN_MPL2_ONLY
 
 #include "autoware/universe_utils/geometry/boost_geometry.hpp"
 #include "rclcpp/logger.hpp"
-#define EIGEN_MPL2_ONLY
+
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 
 #include "autoware_perception_msgs/msg/detected_objects.hpp"
 #include "geometry_msgs/msg/pose_with_covariance.hpp"
 #include "geometry_msgs/msg/twist_with_covariance.hpp"
-// #include "std_msgs/msg/header.hpp"
 
 #include <memory>
 #include <string>
 #include <vector>
 
-namespace radar_fusion_to_detected_object
+namespace autoware::radar_fusion_to_detected_object
 {
 using autoware::universe_utils::LinearRing2d;
 using autoware::universe_utils::Point2d;
@@ -113,6 +114,6 @@ class RadarFusionToDetectedObject
   double getTwistNorm(const Twist & twist);
   LinearRing2d createObject2dWithMargin(const Point2d object_size, const double margin);
 };
-}  // namespace radar_fusion_to_detected_object
+}  // namespace autoware::radar_fusion_to_detected_object
 
-#endif  // RADAR_FUSION_TO_DETECTED_OBJECT__RADAR_FUSION_TO_DETECTED_OBJECT_HPP_
+#endif  // RADAR_FUSION_TO_DETECTED_OBJECT_HPP_
diff --git a/...object_fusion_to_detected_object_node.cpp → ...ar_fusion_to_detected_object/src/node.cpp b/...object_fusion_to_detected_object_node.cpp → ...ar_fusion_to_detected_object/src/node.cpp
@@ -13,7 +13,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "radar_fusion_to_detected_object/radar_fusion_to_detected_object_node.hpp"
+#include "include/node.hpp"
+
 #include "rclcpp/rclcpp.hpp"
 
 #include <memory>
@@ -46,7 +47,7 @@ bool update_param(
 }
 }  // namespace
 
-namespace radar_fusion_to_detected_object
+namespace autoware::radar_fusion_to_detected_object
 {
 using autoware_perception_msgs::msg::DetectedObject;
 using autoware_perception_msgs::msg::DetectedObjects;
@@ -217,8 +218,8 @@ RadarFusionToDetectedObject::RadarInput RadarObjectFusionToDetectedObjectNode::s
   return output;
 }
 
-}  // namespace radar_fusion_to_detected_object
+}  // namespace autoware::radar_fusion_to_detected_object
 
 #include "rclcpp_components/register_node_macro.hpp"
 RCLCPP_COMPONENTS_REGISTER_NODE(
-  radar_fusion_to_detected_object::RadarObjectFusionToDetectedObjectNode)
+  autoware::radar_fusion_to_detected_object::RadarObjectFusionToDetectedObjectNode)
diff --git a/perception/radar_fusion_to_detected_object/src/radar_fusion_to_detected_object.cpp b/perception/radar_fusion_to_detected_object/src/radar_fusion_to_detected_object.cpp
@@ -13,10 +13,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "radar_fusion_to_detected_object/radar_fusion_to_detected_object.hpp"
+#include "include/radar_fusion_to_detected_object.hpp"
 
-#include <autoware/universe_utils/geometry/geometry.hpp>
-#include <autoware/universe_utils/math/normalization.hpp>
+#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/math/normalization.hpp"
 
 #include <boost/geometry.hpp>
 
@@ -27,7 +27,7 @@
 #include <string>
 #include <vector>
 
-namespace radar_fusion_to_detected_object
+namespace autoware::radar_fusion_to_detected_object
 {
 using autoware::universe_utils::LinearRing2d;
 using autoware::universe_utils::Point2d;
@@ -358,4 +358,4 @@ LinearRing2d RadarFusionToDetectedObject::createObject2dWithMargin(
 
   return box;
 }
-}  // namespace radar_fusion_to_detected_object
+}  // namespace autoware::radar_fusion_to_detected_object