static_centerline_optimizer -> static_centerline_generator

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

planning/static_centerline_optimizer/CMakeLists.txt → planning/static_centerline_generator/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(static_centerline_optimizer)
+project(static_centerline_generator)
 
 find_package(autoware_cmake REQUIRED)
 
@@ -9,7 +9,7 @@ find_package(rosidl_default_generators REQUIRED)
 find_package(std_msgs REQUIRED)
 
 rosidl_generate_interfaces(
-  static_centerline_optimizer
+  static_centerline_generator
   "srv/LoadMap.srv"
   "srv/PlanRoute.srv"
   "srv/PlanPath.srv"
@@ -21,18 +21,18 @@ autoware_package()
 
 ament_auto_add_executable(main
   src/main.cpp
-  src/static_centerline_optimizer_node.cpp
+  src/static_centerline_generator_node.cpp
   src/centerline_source/optimization_trajectory_based_centerline.cpp
   src/centerline_source/bag_ego_trajectory_based_centerline.cpp
   src/utils.cpp
 )
 
 if(${rosidl_cmake_VERSION} VERSION_LESS 2.5.0)
     rosidl_target_interfaces(main
-    static_centerline_optimizer "rosidl_typesupport_cpp")
+    static_centerline_generator "rosidl_typesupport_cpp")
 else()
     rosidl_get_typesupport_target(
-            cpp_typesupport_target static_centerline_optimizer "rosidl_typesupport_cpp")
+            cpp_typesupport_target static_centerline_generator "rosidl_typesupport_cpp")
     target_link_libraries(main "${cpp_typesupport_target}")
 endif()
 
@@ -45,7 +45,7 @@ ament_auto_package(
 
 if(BUILD_TESTING)
   add_launch_test(
-    test/test_static_centerline_optimizer.test.py
+    test/test_static_centerline_generator.test.py
     TIMEOUT "30"
   )
   install(DIRECTORY

planning/static_centerline_optimizer/README.md → planning/static_centerline_generator/README.md

@@ -34,7 +34,7 @@ We can run
 with the following command by designating `<vehicle_model>`
 
 ```sh
-ros2 launch static_centerline_optimizer run_planning_server.launch.xml vehicle_model:=<vehicle-model>
+ros2 launch static_centerline_generator run_planning_server.launch.xml vehicle_model:=<vehicle-model>
 ```
 
 FYI, port ID of the http server is 4010 by default.
@@ -50,7 +50,7 @@ The optimized centerline can be generated from the command line interface by des
 - `<vehicle-model>`
 
 ```sh
-ros2 launch static_centerline_optimizer static_centerline_optimizer.launch.xml run_backgrond:=false lanelet2_input_file_path:=<input-osm-path> lanelet2_output_file_path:=<output-osm-path> start_lanelet_id:=<start-lane-id> end_lanelet_id:=<end-lane-id> vehicle_model:=<vehicle-model>
+ros2 launch static_centerline_generator static_centerline_generator.launch.xml run_backgrond:=false lanelet2_input_file_path:=<input-osm-path> lanelet2_output_file_path:=<output-osm-path> start_lanelet_id:=<start-lane-id> end_lanelet_id:=<end-lane-id> vehicle_model:=<vehicle-model>
 ```
 
 The default output map path containing the optimized centerline locates `/tmp/lanelet2_map.osm`.

planning/static_centerline_optimizer/include/static_centerline_optimizer/centerline_source/bag_ego_trajectory_based_centerline.hpp → planning/static_centerline_generator/include/static_centerline_generator/centerline_source/bag_ego_trajectory_based_centerline.hpp

@@ -12,16 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef STATIC_CENTERLINE_OPTIMIZER__CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_
-#define STATIC_CENTERLINE_OPTIMIZER__CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_
+#ifndef STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_
+#define STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_
 
 #include "rclcpp/rclcpp.hpp"
-#include "static_centerline_optimizer/type_alias.hpp"
+#include "static_centerline_generator/type_alias.hpp"
 
 #include <vector>
 
-namespace static_centerline_optimizer
+namespace static_centerline_generator
 {
 std::vector<TrajectoryPoint> generate_centerline_with_bag(rclcpp::Node & node);
-}  // namespace static_centerline_optimizer
-#endif  // STATIC_CENTERLINE_OPTIMIZER__CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_
+}  // namespace static_centerline_generator
+#endif  // STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_

planning/static_centerline_optimizer/include/static_centerline_optimizer/centerline_source/optimization_trajectory_based_centerline.hpp → planning/static_centerline_generator/include/static_centerline_generator/centerline_source/optimization_trajectory_based_centerline.hpp

@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef STATIC_CENTERLINE_OPTIMIZER__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_  // NOLINT
-#define STATIC_CENTERLINE_OPTIMIZER__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_  // NOLINT
+#ifndef STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_  // NOLINT
+#define STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_  // NOLINT
 
 #include "rclcpp/rclcpp.hpp"
-#include "static_centerline_optimizer/type_alias.hpp"
+#include "static_centerline_generator/type_alias.hpp"
 
 #include <vector>
 
-namespace static_centerline_optimizer
+namespace static_centerline_generator
 {
 class OptimizationTrajectoryBasedCenterline
 {
@@ -37,7 +37,7 @@ class OptimizationTrajectoryBasedCenterline
   rclcpp::Publisher<PathWithLaneId>::SharedPtr pub_raw_path_with_lane_id_{nullptr};
   rclcpp::Publisher<Path>::SharedPtr pub_raw_path_{nullptr};
 };
-}  // namespace static_centerline_optimizer
+}  // namespace static_centerline_generator
 // clang-format off
-#endif  // STATIC_CENTERLINE_OPTIMIZER__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_  // NOLINT
+#endif  // STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_  // NOLINT
 // clang-format on

planning/static_centerline_optimizer/include/static_centerline_optimizer/static_centerline_optimizer_node.hpp → planning/static_centerline_generator/include/static_centerline_generator/static_centerline_generator_node.hpp

@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef STATIC_CENTERLINE_OPTIMIZER__STATIC_CENTERLINE_OPTIMIZER_NODE_HPP_
-#define STATIC_CENTERLINE_OPTIMIZER__STATIC_CENTERLINE_OPTIMIZER_NODE_HPP_
+#ifndef STATIC_CENTERLINE_GENERATOR__STATIC_CENTERLINE_GENERATOR_NODE_HPP_
+#define STATIC_CENTERLINE_GENERATOR__STATIC_CENTERLINE_GENERATOR_NODE_HPP_
 
 #include "rclcpp/rclcpp.hpp"
-#include "static_centerline_optimizer/centerline_source/optimization_trajectory_based_centerline.hpp"
-#include "static_centerline_optimizer/srv/load_map.hpp"
-#include "static_centerline_optimizer/srv/plan_path.hpp"
-#include "static_centerline_optimizer/srv/plan_route.hpp"
-#include "static_centerline_optimizer/type_alias.hpp"
+#include "static_centerline_generator/centerline_source/optimization_trajectory_based_centerline.hpp"
+#include "static_centerline_generator/srv/load_map.hpp"
+#include "static_centerline_generator/srv/plan_path.hpp"
+#include "static_centerline_generator/srv/plan_route.hpp"
+#include "static_centerline_generator/type_alias.hpp"
 #include "vehicle_info_util/vehicle_info_util.hpp"
 
 #include <geography_utils/lanelet2_projector.hpp>
@@ -34,11 +34,11 @@
 #include <utility>
 #include <vector>
 
-namespace static_centerline_optimizer
+namespace static_centerline_generator
 {
-using static_centerline_optimizer::srv::LoadMap;
-using static_centerline_optimizer::srv::PlanPath;
-using static_centerline_optimizer::srv::PlanRoute;
+using static_centerline_generator::srv::LoadMap;
+using static_centerline_generator::srv::PlanPath;
+using static_centerline_generator::srv::PlanRoute;
 
 struct CenterlineWithRoute
 {
@@ -115,5 +115,5 @@ class StaticCenterlineOptimizerNode : public rclcpp::Node
   // vehicle info
   vehicle_info_util::VehicleInfo vehicle_info_;
 };
-}  // namespace static_centerline_optimizer
-#endif  // STATIC_CENTERLINE_OPTIMIZER__STATIC_CENTERLINE_OPTIMIZER_NODE_HPP_
+}  // namespace static_centerline_generator
+#endif  // STATIC_CENTERLINE_GENERATOR__STATIC_CENTERLINE_GENERATOR_NODE_HPP_

planning/static_centerline_optimizer/include/static_centerline_optimizer/type_alias.hpp → planning/static_centerline_generator/include/static_centerline_generator/type_alias.hpp

@@ -11,8 +11,8 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef STATIC_CENTERLINE_OPTIMIZER__TYPE_ALIAS_HPP_
-#define STATIC_CENTERLINE_OPTIMIZER__TYPE_ALIAS_HPP_
+#ifndef STATIC_CENTERLINE_GENERATOR__TYPE_ALIAS_HPP_
+#define STATIC_CENTERLINE_GENERATOR__TYPE_ALIAS_HPP_
 
 #include "route_handler/route_handler.hpp"
 #include "tier4_autoware_utils/geometry/geometry.hpp"
@@ -26,7 +26,7 @@
 #include "autoware_planning_msgs/msg/lanelet_route.hpp"
 #include "visualization_msgs/msg/marker_array.hpp"
 
-namespace static_centerline_optimizer
+namespace static_centerline_generator
 {
 using autoware_auto_mapping_msgs::msg::HADMapBin;
 using autoware_auto_perception_msgs::msg::PredictedObjects;
@@ -41,6 +41,6 @@ using tier4_autoware_utils::LinearRing2d;
 using tier4_autoware_utils::LineString2d;
 using tier4_autoware_utils::Point2d;
 using visualization_msgs::msg::MarkerArray;
-}  // namespace static_centerline_optimizer
+}  // namespace static_centerline_generator
 
-#endif  // STATIC_CENTERLINE_OPTIMIZER__TYPE_ALIAS_HPP_
+#endif  // STATIC_CENTERLINE_GENERATOR__TYPE_ALIAS_HPP_

planning/static_centerline_optimizer/include/static_centerline_optimizer/utils.hpp → planning/static_centerline_generator/include/static_centerline_generator/utils.hpp

@@ -12,19 +12,19 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef STATIC_CENTERLINE_OPTIMIZER__UTILS_HPP_
-#define STATIC_CENTERLINE_OPTIMIZER__UTILS_HPP_
+#ifndef STATIC_CENTERLINE_GENERATOR__UTILS_HPP_
+#define STATIC_CENTERLINE_GENERATOR__UTILS_HPP_
 
 #include "route_handler/route_handler.hpp"
-#include "static_centerline_optimizer/type_alias.hpp"
+#include "static_centerline_generator/type_alias.hpp"
 
 #include <rclcpp/time.hpp>
 
 #include <memory>
 #include <string>
 #include <vector>
 
-namespace static_centerline_optimizer
+namespace static_centerline_generator
 {
 namespace utils
 {
@@ -53,6 +53,6 @@ MarkerArray create_distance_text_marker(
   const geometry_msgs::msg::Pose & pose, const double dist,
   const std::array<double, 3> & marker_color, const rclcpp::Time & now, const size_t idx);
 }  // namespace utils
-}  // namespace static_centerline_optimizer
+}  // namespace static_centerline_generator
 
-#endif  // STATIC_CENTERLINE_OPTIMIZER__UTILS_HPP_
+#endif  // STATIC_CENTERLINE_GENERATOR__UTILS_HPP_

planning/static_centerline_optimizer/launch/run_planning_server.launch.xml → planning/static_centerline_generator/launch/run_planning_server.launch.xml

@@ -2,11 +2,11 @@
   <!-- mandatory arguments for planning-->
   <arg name="vehicle_model"/>
 
-  <include file="$(find-pkg-share static_centerline_optimizer)/launch/static_centerline_optimizer.launch.xml">
+  <include file="$(find-pkg-share static_centerline_generator)/launch/static_centerline_generator.launch.xml">
     <arg name="vehicle_model" value="$(var vehicle_model)"/>
     <arg name="run_background" value="true"/>
   </include>
 
   <!-- local server to connect path optimizer and cloud software -->
-  <node pkg="static_centerline_optimizer" exec="app.py" name="static_centerline_optimizer_http_server" output="screen"/>
+  <node pkg="static_centerline_generator" exec="app.py" name="static_centerline_generator_http_server" output="screen"/>
 </launch>

planning/static_centerline_optimizer/launch/static_centerline_optimizer.launch.xml → planning/static_centerline_generator/launch/static_centerline_generator.launch.xml

@@ -55,7 +55,7 @@
   </node>
 
   <!-- optimize path -->
-  <node pkg="static_centerline_optimizer" exec="main" name="static_centerline_optimizer">
+  <node pkg="static_centerline_generator" exec="main" name="static_centerline_generator">
     <remap from="lanelet2_map_topic" to="$(var lanelet2_map_topic)"/>
     <remap from="input_centerline" to="~/input_centerline"/>
     <remap from="output_whole_centerline" to="~/output_whole_centerline"/>
@@ -79,11 +79,11 @@
     <param from="$(var obstacle_avoidance_planner_param)"/>
     <param from="$(var mission_planner_param)"/>
     <!-- node param -->
-    <param from="$(find-pkg-share static_centerline_optimizer)/config/static_centerline_optimizer.param.yaml"/>
+    <param from="$(find-pkg-share static_centerline_generator)/config/static_centerline_generator.param.yaml"/>
     <param name="centerline_source" value="$(var centerline_source)"/>
     <param name="bag_filename" value="$(var bag_filename)"/>
   </node>
 
   <!-- rviz -->
-  <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(find-pkg-share static_centerline_optimizer)/rviz/static_centerline_optimizer.rviz" if="$(var rviz)"/>
+  <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(find-pkg-share static_centerline_generator)/rviz/static_centerline_generator.rviz" if="$(var rviz)"/>
 </launch>

planning/static_centerline_optimizer/package.xml → planning/static_centerline_generator/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>static_centerline_optimizer</name>
+  <name>static_centerline_generator</name>
   <version>0.1.0</version>
-  <description>The static_centerline_optimizer package</description>
+  <description>The static_centerline_generator package</description>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
   <maintainer email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</maintainer>
   <license>Apache License 2.0</license>

planning/static_centerline_optimizer/rviz/static_centerline_optimizer.rviz → planning/static_centerline_generator/rviz/static_centerline_generator.rviz

@@ -130,7 +130,7 @@ Visualization Manager:
         Filter size: 10
         History Policy: Keep Last
         Reliability Policy: Reliable
-        Value: /static_centerline_optimizer/input_centerline
+        Value: /static_centerline_generator/input_centerline
       Value: true
       View Drivable Area:
         Alpha: 0.9990000128746033
@@ -179,7 +179,7 @@ Visualization Manager:
         Filter size: 10
         History Policy: Keep Last
         Reliability Policy: Reliable
-        Value: /static_centerline_optimizer/output_centerline
+        Value: /static_centerline_generator/output_centerline
       Value: true
       View Footprint:
         Alpha: 1
@@ -222,7 +222,7 @@ Visualization Manager:
             Filter size: 10
             History Policy: Keep Last
             Reliability Policy: Reliable
-            Value: /static_centerline_optimizer/debug/raw_centerline
+            Value: /static_centerline_generator/debug/raw_centerline
           Value: false
           View Drivable Area:
             Alpha: 0.9990000128746033
@@ -268,7 +268,7 @@ Visualization Manager:
             Durability Policy: Transient Local
             History Policy: Keep Last
             Reliability Policy: Reliable
-            Value: /static_centerline_optimizer/debug/unsafe_footprints
+            Value: /static_centerline_generator/debug/unsafe_footprints
           Value: true
       Enabled: false
       Name: debug

planning/static_centerline_optimizer/scripts/app.py → planning/static_centerline_generator/scripts/app.py

@@ -23,12 +23,12 @@
 from flask_cors import CORS
 import rclpy
 from rclpy.node import Node
-from static_centerline_optimizer.srv import LoadMap
-from static_centerline_optimizer.srv import PlanPath
-from static_centerline_optimizer.srv import PlanRoute
+from static_centerline_generator.srv import LoadMap
+from static_centerline_generator.srv import PlanPath
+from static_centerline_generator.srv import PlanRoute
 
 rclpy.init()
-node = Node("static_centerline_optimizer_http_server")
+node = Node("static_centerline_generator_http_server")
 
 app = Flask(__name__)
 CORS(app)
@@ -51,7 +51,7 @@ def get_map():
     map_id = map_uuid
 
     # create client
-    cli = create_client(LoadMap, "/planning/static_centerline_optimizer/load_map")
+    cli = create_client(LoadMap, "/planning/static_centerline_generator/load_map")
 
     # request map loading
     req = LoadMap.Request(map=data["map"])
@@ -85,7 +85,7 @@ def post_planned_route():
         print("map_id is not correct.")
 
     # create client
-    cli = create_client(PlanRoute, "/planning/static_centerline_optimizer/plan_route")
+    cli = create_client(PlanRoute, "/planning/static_centerline_generator/plan_route")
 
     # request route planning
     req = PlanRoute.Request(
@@ -123,7 +123,7 @@ def post_planned_path():
         print("map_id is not correct.")
 
     # create client
-    cli = create_client(PlanPath, "/planning/static_centerline_optimizer/plan_path")
+    cli = create_client(PlanPath, "/planning/static_centerline_generator/plan_path")
 
     # request path planning
     route_lane_ids = [eval(i) for i in request.args.getlist("route[]")]

planning/static_centerline_generator/scripts/tmp/bag_ego_trajectory_based_centerline.sh

@@ -0,0 +1,3 @@
+#!/bin/bash
+
+ros2 launch static_centerline_generator static_centerline_generator.launch.xml centerline_source:="bag_ego_trajectory_base" run_background:=false lanelet2_input_file_path:="$HOME/autoware_map/sample_map/lanelet2_map.osm" bag_filename:="$(ros2 pkg prefix static_centerline_generator --share)/test/data/bag_ego_trajectory.db3" vehicle_model:=lexus

planning/static_centerline_optimizer/scripts/tmp/optimization_trajectory_based_centerline.sh → planning/static_centerline_generator/scripts/tmp/optimization_trajectory_based_centerline.sh

@@ -1,3 +1,3 @@
 #!/bin/bash
 
-ros2 launch static_centerline_optimizer static_centerline_optimizer.launch.xml centerline_source:="optimization_trajectory_base" run_background:=false lanelet2_input_file_path:="$HOME/autoware_map/sample_map/lanelet2_map.osm" start_lanelet_id:=125 end_lanelet_id:=132 vehicle_model:=lexus
+ros2 launch static_centerline_generator static_centerline_generator.launch.xml centerline_source:="optimization_trajectory_base" run_background:=false lanelet2_input_file_path:="$HOME/autoware_map/sample_map/lanelet2_map.osm" start_lanelet_id:=125 end_lanelet_id:=132 vehicle_model:=lexus

planning/static_centerline_optimizer/src/centerline_source/bag_ego_trajectory_based_centerline.cpp → planning/static_centerline_generator/src/centerline_source/bag_ego_trajectory_based_centerline.cpp

@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "static_centerline_optimizer/centerline_source/bag_ego_trajectory_based_centerline.hpp"
+#include "static_centerline_generator/centerline_source/bag_ego_trajectory_based_centerline.hpp"
 
 #include "rclcpp/serialization.hpp"
 #include "rosbag2_cpp/reader.hpp"
-#include "static_centerline_optimizer/static_centerline_optimizer_node.hpp"
+#include "static_centerline_generator/static_centerline_generator_node.hpp"
 
 #include <nav_msgs/msg/odometry.hpp>
 
-namespace static_centerline_optimizer
+namespace static_centerline_generator
 {
 std::vector<TrajectoryPoint> generate_centerline_with_bag(rclcpp::Node & node)
 {
@@ -79,4 +79,4 @@ std::vector<TrajectoryPoint> generate_centerline_with_bag(rclcpp::Node & node)
 
   return centerline_traj_points;
 }
-}  // namespace static_centerline_optimizer
+}  // namespace static_centerline_generator