From 9dddd30d760a18f9e282a4b4fe50359a5b9b1cb1 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Sun, 9 Jun 2024 01:57:41 +0900 Subject: [PATCH 1/3] add prefix Signed-off-by: Takayuki Murooka --- .github/CODEOWNERS | 2 +- .../CMakeLists.txt | 7 ++----- .../README.md | 0 .../debug_values.hpp | 6 +++--- .../longitudinal_controller_utils.hpp | 6 +++--- .../lowpass_filter.hpp | 6 +++--- .../pid.hpp | 6 +++--- .../pid_longitudinal_controller.hpp | 18 +++++++++--------- .../smooth_stop.hpp | 6 +++--- .../media/BrakeKeeping.drawio.svg | 0 .../LongitudinalControllerDiagram.drawio.svg | 0 ...tudinalControllerStateTransition.drawio.svg | 0 .../media/slope_definition.drawio.svg | 0 .../package.xml | 2 +- ...longitudinal_controller_defaults.param.yaml | 0 .../src/longitudinal_controller_utils.cpp | 2 +- .../src/pid.cpp | 2 +- .../src/pid_longitudinal_controller.cpp | 4 ++-- .../src/smooth_stop.cpp | 2 +- .../test_longitudinal_controller_utils.cpp | 2 +- .../test/test_pid.cpp | 2 +- .../test/test_smooth_stop.cpp | 2 +- control/trajectory_follower_node/package.xml | 2 +- .../src/controller_node.cpp | 2 +- 24 files changed, 38 insertions(+), 41 deletions(-) rename control/{pid_longitudinal_controller => autoware_pid_longitudinal_controller}/CMakeLists.txt (80%) rename control/{pid_longitudinal_controller => autoware_pid_longitudinal_controller}/README.md (100%) rename control/{pid_longitudinal_controller/include/pid_longitudinal_controller => autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller}/debug_values.hpp (93%) rename control/{pid_longitudinal_controller/include/pid_longitudinal_controller => autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller}/longitudinal_controller_utils.hpp (96%) rename control/{pid_longitudinal_controller/include/pid_longitudinal_controller => autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller}/lowpass_filter.hpp (89%) rename control/{pid_longitudinal_controller/include/pid_longitudinal_controller => autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller}/pid.hpp (94%) rename control/{pid_longitudinal_controller/include/pid_longitudinal_controller => autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller}/pid_longitudinal_controller.hpp (95%) rename control/{pid_longitudinal_controller/include/pid_longitudinal_controller => autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller}/smooth_stop.hpp (95%) rename control/{pid_longitudinal_controller => autoware_pid_longitudinal_controller}/media/BrakeKeeping.drawio.svg (100%) rename control/{pid_longitudinal_controller => autoware_pid_longitudinal_controller}/media/LongitudinalControllerDiagram.drawio.svg (100%) rename control/{pid_longitudinal_controller => autoware_pid_longitudinal_controller}/media/LongitudinalControllerStateTransition.drawio.svg (100%) rename control/{pid_longitudinal_controller => autoware_pid_longitudinal_controller}/media/slope_definition.drawio.svg (100%) rename control/{pid_longitudinal_controller => autoware_pid_longitudinal_controller}/package.xml (97%) rename control/{pid_longitudinal_controller => autoware_pid_longitudinal_controller}/param/longitudinal_controller_defaults.param.yaml (100%) rename control/{pid_longitudinal_controller => autoware_pid_longitudinal_controller}/src/longitudinal_controller_utils.cpp (98%) rename control/{pid_longitudinal_controller => autoware_pid_longitudinal_controller}/src/pid.cpp (98%) rename control/{pid_longitudinal_controller => autoware_pid_longitudinal_controller}/src/pid_longitudinal_controller.cpp (99%) rename control/{pid_longitudinal_controller => autoware_pid_longitudinal_controller}/src/smooth_stop.cpp (98%) rename control/{pid_longitudinal_controller => autoware_pid_longitudinal_controller}/test/test_longitudinal_controller_utils.cpp (99%) rename control/{pid_longitudinal_controller => autoware_pid_longitudinal_controller}/test/test_pid.cpp (97%) rename control/{pid_longitudinal_controller => autoware_pid_longitudinal_controller}/test/test_smooth_stop.cpp (98%) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 297ce75c5c176..bebd3761f466f 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -53,7 +53,7 @@ control/autoware_lane_departure_checker/** kyoichi.sugahara@tier4.jp makoto.kuri control/mpc_lateral_controller/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp control/obstacle_collision_checker/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp control/operation_mode_transition_manager/** takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp -control/pid_longitudinal_controller/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp +control/autoware_pid_longitudinal_controller/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp control/predicted_path_checker/** berkay@leodrive.ai control/pure_pursuit/** takamasa.horibe@tier4.jp control/shift_decider/** takamasa.horibe@tier4.jp diff --git a/control/pid_longitudinal_controller/CMakeLists.txt b/control/autoware_pid_longitudinal_controller/CMakeLists.txt similarity index 80% rename from control/pid_longitudinal_controller/CMakeLists.txt rename to control/autoware_pid_longitudinal_controller/CMakeLists.txt index 3e7a992b15e00..f0dce81eb54e1 100644 --- a/control/pid_longitudinal_controller/CMakeLists.txt +++ b/control/autoware_pid_longitudinal_controller/CMakeLists.txt @@ -1,15 +1,12 @@ cmake_minimum_required(VERSION 3.14) -project(pid_longitudinal_controller) +project(autoware_pid_longitudinal_controller) find_package(autoware_cmake REQUIRED) autoware_package() set(PID_LON_CON_LIB ${PROJECT_NAME}_lib) ament_auto_add_library(${PID_LON_CON_LIB} SHARED - src/pid_longitudinal_controller.cpp - src/pid.cpp - src/smooth_stop.cpp - src/longitudinal_controller_utils.cpp + DIRECTORY src ) if(BUILD_TESTING) diff --git a/control/pid_longitudinal_controller/README.md b/control/autoware_pid_longitudinal_controller/README.md similarity index 100% rename from control/pid_longitudinal_controller/README.md rename to control/autoware_pid_longitudinal_controller/README.md diff --git a/control/pid_longitudinal_controller/include/pid_longitudinal_controller/debug_values.hpp b/control/autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller/debug_values.hpp similarity index 93% rename from control/pid_longitudinal_controller/include/pid_longitudinal_controller/debug_values.hpp rename to control/autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller/debug_values.hpp index 409af46b16ed1..72d8867123196 100644 --- a/control/pid_longitudinal_controller/include/pid_longitudinal_controller/debug_values.hpp +++ b/control/autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller/debug_values.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef PID_LONGITUDINAL_CONTROLLER__DEBUG_VALUES_HPP_ -#define PID_LONGITUDINAL_CONTROLLER__DEBUG_VALUES_HPP_ +#ifndef AUTOWARE_PID_LONGITUDINAL_CONTROLLER__DEBUG_VALUES_HPP_ +#define AUTOWARE_PID_LONGITUDINAL_CONTROLLER__DEBUG_VALUES_HPP_ #include @@ -92,4 +92,4 @@ class DebugValues }; } // namespace autoware::motion::control::pid_longitudinal_controller -#endif // PID_LONGITUDINAL_CONTROLLER__DEBUG_VALUES_HPP_ +#endif // AUTOWARE_PID_LONGITUDINAL_CONTROLLER__DEBUG_VALUES_HPP_ diff --git a/control/pid_longitudinal_controller/include/pid_longitudinal_controller/longitudinal_controller_utils.hpp b/control/autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller/longitudinal_controller_utils.hpp similarity index 96% rename from control/pid_longitudinal_controller/include/pid_longitudinal_controller/longitudinal_controller_utils.hpp rename to control/autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller/longitudinal_controller_utils.hpp index 4ea844a140f4f..171571b493774 100644 --- a/control/pid_longitudinal_controller/include/pid_longitudinal_controller/longitudinal_controller_utils.hpp +++ b/control/autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller/longitudinal_controller_utils.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef PID_LONGITUDINAL_CONTROLLER__LONGITUDINAL_CONTROLLER_UTILS_HPP_ -#define PID_LONGITUDINAL_CONTROLLER__LONGITUDINAL_CONTROLLER_UTILS_HPP_ +#ifndef AUTOWARE_PID_LONGITUDINAL_CONTROLLER__LONGITUDINAL_CONTROLLER_UTILS_HPP_ +#define AUTOWARE_PID_LONGITUDINAL_CONTROLLER__LONGITUDINAL_CONTROLLER_UTILS_HPP_ #include "interpolation/linear_interpolation.hpp" #include "interpolation/spherical_linear_interpolation.hpp" @@ -155,4 +155,4 @@ geometry_msgs::msg::Pose findTrajectoryPoseAfterDistance( } // namespace longitudinal_utils } // namespace autoware::motion::control::pid_longitudinal_controller -#endif // PID_LONGITUDINAL_CONTROLLER__LONGITUDINAL_CONTROLLER_UTILS_HPP_ +#endif // AUTOWARE_PID_LONGITUDINAL_CONTROLLER__LONGITUDINAL_CONTROLLER_UTILS_HPP_ diff --git a/control/pid_longitudinal_controller/include/pid_longitudinal_controller/lowpass_filter.hpp b/control/autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller/lowpass_filter.hpp similarity index 89% rename from control/pid_longitudinal_controller/include/pid_longitudinal_controller/lowpass_filter.hpp rename to control/autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller/lowpass_filter.hpp index 06fe1793c8123..a743be573cf60 100644 --- a/control/pid_longitudinal_controller/include/pid_longitudinal_controller/lowpass_filter.hpp +++ b/control/autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller/lowpass_filter.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef PID_LONGITUDINAL_CONTROLLER__LOWPASS_FILTER_HPP_ -#define PID_LONGITUDINAL_CONTROLLER__LOWPASS_FILTER_HPP_ +#ifndef AUTOWARE_PID_LONGITUDINAL_CONTROLLER__LOWPASS_FILTER_HPP_ +#define AUTOWARE_PID_LONGITUDINAL_CONTROLLER__LOWPASS_FILTER_HPP_ #include #include @@ -63,4 +63,4 @@ class LowpassFilter1d } }; } // namespace autoware::motion::control::pid_longitudinal_controller -#endif // PID_LONGITUDINAL_CONTROLLER__LOWPASS_FILTER_HPP_ +#endif // AUTOWARE_PID_LONGITUDINAL_CONTROLLER__LOWPASS_FILTER_HPP_ diff --git a/control/pid_longitudinal_controller/include/pid_longitudinal_controller/pid.hpp b/control/autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller/pid.hpp similarity index 94% rename from control/pid_longitudinal_controller/include/pid_longitudinal_controller/pid.hpp rename to control/autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller/pid.hpp index 8b981c0485ed9..8323e35b5da27 100644 --- a/control/pid_longitudinal_controller/include/pid_longitudinal_controller/pid.hpp +++ b/control/autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller/pid.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef PID_LONGITUDINAL_CONTROLLER__PID_HPP_ -#define PID_LONGITUDINAL_CONTROLLER__PID_HPP_ +#ifndef AUTOWARE_PID_LONGITUDINAL_CONTROLLER__PID_HPP_ +#define AUTOWARE_PID_LONGITUDINAL_CONTROLLER__PID_HPP_ #include @@ -91,4 +91,4 @@ class PIDController }; } // namespace autoware::motion::control::pid_longitudinal_controller -#endif // PID_LONGITUDINAL_CONTROLLER__PID_HPP_ +#endif // AUTOWARE_PID_LONGITUDINAL_CONTROLLER__PID_HPP_ diff --git a/control/pid_longitudinal_controller/include/pid_longitudinal_controller/pid_longitudinal_controller.hpp b/control/autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller/pid_longitudinal_controller.hpp similarity index 95% rename from control/pid_longitudinal_controller/include/pid_longitudinal_controller/pid_longitudinal_controller.hpp rename to control/autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller/pid_longitudinal_controller.hpp index dee2e580e6911..7b9d999a3decb 100644 --- a/control/pid_longitudinal_controller/include/pid_longitudinal_controller/pid_longitudinal_controller.hpp +++ b/control/autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller/pid_longitudinal_controller.hpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef PID_LONGITUDINAL_CONTROLLER__PID_LONGITUDINAL_CONTROLLER_HPP_ -#define PID_LONGITUDINAL_CONTROLLER__PID_LONGITUDINAL_CONTROLLER_HPP_ - +#ifndef AUTOWARE_PID_LONGITUDINAL_CONTROLLER__PID_LONGITUDINAL_CONTROLLER_HPP_ +#define AUTOWARE_PID_LONGITUDINAL_CONTROLLER__PID_LONGITUDINAL_CONTROLLER_HPP_ + +#include "autoware_pid_longitudinal_controller/debug_values.hpp" +#include "autoware_pid_longitudinal_controller/longitudinal_controller_utils.hpp" +#include "autoware_pid_longitudinal_controller/lowpass_filter.hpp" +#include "autoware_pid_longitudinal_controller/pid.hpp" +#include "autoware_pid_longitudinal_controller/smooth_stop.hpp" #include "diagnostic_updater/diagnostic_updater.hpp" -#include "pid_longitudinal_controller/debug_values.hpp" -#include "pid_longitudinal_controller/longitudinal_controller_utils.hpp" -#include "pid_longitudinal_controller/lowpass_filter.hpp" -#include "pid_longitudinal_controller/pid.hpp" -#include "pid_longitudinal_controller/smooth_stop.hpp" #include "rclcpp/rclcpp.hpp" #include "tf2/utils.h" #include "tf2_ros/buffer.h" @@ -408,4 +408,4 @@ class PidLongitudinalController : public trajectory_follower::LongitudinalContro }; } // namespace autoware::motion::control::pid_longitudinal_controller -#endif // PID_LONGITUDINAL_CONTROLLER__PID_LONGITUDINAL_CONTROLLER_HPP_ +#endif // AUTOWARE_PID_LONGITUDINAL_CONTROLLER__PID_LONGITUDINAL_CONTROLLER_HPP_ diff --git a/control/pid_longitudinal_controller/include/pid_longitudinal_controller/smooth_stop.hpp b/control/autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller/smooth_stop.hpp similarity index 95% rename from control/pid_longitudinal_controller/include/pid_longitudinal_controller/smooth_stop.hpp rename to control/autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller/smooth_stop.hpp index 9a0a36123e143..e433fd158026b 100644 --- a/control/pid_longitudinal_controller/include/pid_longitudinal_controller/smooth_stop.hpp +++ b/control/autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller/smooth_stop.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef PID_LONGITUDINAL_CONTROLLER__SMOOTH_STOP_HPP_ -#define PID_LONGITUDINAL_CONTROLLER__SMOOTH_STOP_HPP_ +#ifndef AUTOWARE_PID_LONGITUDINAL_CONTROLLER__SMOOTH_STOP_HPP_ +#define AUTOWARE_PID_LONGITUDINAL_CONTROLLER__SMOOTH_STOP_HPP_ #include "rclcpp/rclcpp.hpp" @@ -112,4 +112,4 @@ class SmoothStop }; } // namespace autoware::motion::control::pid_longitudinal_controller -#endif // PID_LONGITUDINAL_CONTROLLER__SMOOTH_STOP_HPP_ +#endif // AUTOWARE_PID_LONGITUDINAL_CONTROLLER__SMOOTH_STOP_HPP_ diff --git a/control/pid_longitudinal_controller/media/BrakeKeeping.drawio.svg b/control/autoware_pid_longitudinal_controller/media/BrakeKeeping.drawio.svg similarity index 100% rename from control/pid_longitudinal_controller/media/BrakeKeeping.drawio.svg rename to control/autoware_pid_longitudinal_controller/media/BrakeKeeping.drawio.svg diff --git a/control/pid_longitudinal_controller/media/LongitudinalControllerDiagram.drawio.svg b/control/autoware_pid_longitudinal_controller/media/LongitudinalControllerDiagram.drawio.svg similarity index 100% rename from control/pid_longitudinal_controller/media/LongitudinalControllerDiagram.drawio.svg rename to control/autoware_pid_longitudinal_controller/media/LongitudinalControllerDiagram.drawio.svg diff --git a/control/pid_longitudinal_controller/media/LongitudinalControllerStateTransition.drawio.svg b/control/autoware_pid_longitudinal_controller/media/LongitudinalControllerStateTransition.drawio.svg similarity index 100% rename from control/pid_longitudinal_controller/media/LongitudinalControllerStateTransition.drawio.svg rename to control/autoware_pid_longitudinal_controller/media/LongitudinalControllerStateTransition.drawio.svg diff --git a/control/pid_longitudinal_controller/media/slope_definition.drawio.svg b/control/autoware_pid_longitudinal_controller/media/slope_definition.drawio.svg similarity index 100% rename from control/pid_longitudinal_controller/media/slope_definition.drawio.svg rename to control/autoware_pid_longitudinal_controller/media/slope_definition.drawio.svg diff --git a/control/pid_longitudinal_controller/package.xml b/control/autoware_pid_longitudinal_controller/package.xml similarity index 97% rename from control/pid_longitudinal_controller/package.xml rename to control/autoware_pid_longitudinal_controller/package.xml index 82b297a69fee6..50ae7ccaf2e55 100644 --- a/control/pid_longitudinal_controller/package.xml +++ b/control/autoware_pid_longitudinal_controller/package.xml @@ -1,7 +1,7 @@ - pid_longitudinal_controller + autoware_pid_longitudinal_controller 1.0.0 PID-based longitudinal controller diff --git a/control/pid_longitudinal_controller/param/longitudinal_controller_defaults.param.yaml b/control/autoware_pid_longitudinal_controller/param/longitudinal_controller_defaults.param.yaml similarity index 100% rename from control/pid_longitudinal_controller/param/longitudinal_controller_defaults.param.yaml rename to control/autoware_pid_longitudinal_controller/param/longitudinal_controller_defaults.param.yaml diff --git a/control/pid_longitudinal_controller/src/longitudinal_controller_utils.cpp b/control/autoware_pid_longitudinal_controller/src/longitudinal_controller_utils.cpp similarity index 98% rename from control/pid_longitudinal_controller/src/longitudinal_controller_utils.cpp rename to control/autoware_pid_longitudinal_controller/src/longitudinal_controller_utils.cpp index 4e9ef52a4969e..0d8707afccad8 100644 --- a/control/pid_longitudinal_controller/src/longitudinal_controller_utils.cpp +++ b/control/autoware_pid_longitudinal_controller/src/longitudinal_controller_utils.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "pid_longitudinal_controller/longitudinal_controller_utils.hpp" +#include "autoware_pid_longitudinal_controller/longitudinal_controller_utils.hpp" #include "tf2/LinearMath/Matrix3x3.h" #include "tf2/LinearMath/Quaternion.h" diff --git a/control/pid_longitudinal_controller/src/pid.cpp b/control/autoware_pid_longitudinal_controller/src/pid.cpp similarity index 98% rename from control/pid_longitudinal_controller/src/pid.cpp rename to control/autoware_pid_longitudinal_controller/src/pid.cpp index 530b5cd15e754..6d2c61f639746 100644 --- a/control/pid_longitudinal_controller/src/pid.cpp +++ b/control/autoware_pid_longitudinal_controller/src/pid.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "pid_longitudinal_controller/pid.hpp" +#include "autoware_pid_longitudinal_controller/pid.hpp" #include #include diff --git a/control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp b/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp similarity index 99% rename from control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp rename to control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp index 9a8223c610f9a..e1dd414b2446d 100644 --- a/control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp +++ b/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "pid_longitudinal_controller/pid_longitudinal_controller.hpp" +#include "autoware_pid_longitudinal_controller/pid_longitudinal_controller.hpp" #include "motion_utils/trajectory/trajectory.hpp" #include "tier4_autoware_utils/geometry/geometry.hpp" @@ -1148,7 +1148,7 @@ void PidLongitudinalController::updateDebugVelAcc(const ControlData & control_da void PidLongitudinalController::setupDiagnosticUpdater() { - diagnostic_updater_.setHardwareID("pid_longitudinal_controller"); + diagnostic_updater_.setHardwareID("autoware_pid_longitudinal_controller"); diagnostic_updater_.add("control_state", this, &PidLongitudinalController::checkControlState); } diff --git a/control/pid_longitudinal_controller/src/smooth_stop.cpp b/control/autoware_pid_longitudinal_controller/src/smooth_stop.cpp similarity index 98% rename from control/pid_longitudinal_controller/src/smooth_stop.cpp rename to control/autoware_pid_longitudinal_controller/src/smooth_stop.cpp index 27fab43fa506f..9d8ad05235f11 100644 --- a/control/pid_longitudinal_controller/src/smooth_stop.cpp +++ b/control/autoware_pid_longitudinal_controller/src/smooth_stop.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "pid_longitudinal_controller/smooth_stop.hpp" +#include "autoware_pid_longitudinal_controller/smooth_stop.hpp" #include // NOLINT diff --git a/control/pid_longitudinal_controller/test/test_longitudinal_controller_utils.cpp b/control/autoware_pid_longitudinal_controller/test/test_longitudinal_controller_utils.cpp similarity index 99% rename from control/pid_longitudinal_controller/test/test_longitudinal_controller_utils.cpp rename to control/autoware_pid_longitudinal_controller/test/test_longitudinal_controller_utils.cpp index bd79d7a8c3ac3..de4d32008aa28 100644 --- a/control/pid_longitudinal_controller/test/test_longitudinal_controller_utils.cpp +++ b/control/autoware_pid_longitudinal_controller/test/test_longitudinal_controller_utils.cpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "autoware_pid_longitudinal_controller/longitudinal_controller_utils.hpp" #include "gtest/gtest.h" #include "interpolation/spherical_linear_interpolation.hpp" #include "motion_utils/trajectory/conversion.hpp" -#include "pid_longitudinal_controller/longitudinal_controller_utils.hpp" #include "tf2/LinearMath/Quaternion.h" #include "autoware_planning_msgs/msg/trajectory.hpp" diff --git a/control/pid_longitudinal_controller/test/test_pid.cpp b/control/autoware_pid_longitudinal_controller/test/test_pid.cpp similarity index 97% rename from control/pid_longitudinal_controller/test/test_pid.cpp rename to control/autoware_pid_longitudinal_controller/test/test_pid.cpp index 82d01e0028a9c..0e3e0c70945dc 100644 --- a/control/pid_longitudinal_controller/test/test_pid.cpp +++ b/control/autoware_pid_longitudinal_controller/test/test_pid.cpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "autoware_pid_longitudinal_controller/pid.hpp" #include "gtest/gtest.h" -#include "pid_longitudinal_controller/pid.hpp" #include diff --git a/control/pid_longitudinal_controller/test/test_smooth_stop.cpp b/control/autoware_pid_longitudinal_controller/test/test_smooth_stop.cpp similarity index 98% rename from control/pid_longitudinal_controller/test/test_smooth_stop.cpp rename to control/autoware_pid_longitudinal_controller/test/test_smooth_stop.cpp index d658a5271d249..4f4fbb2354fa1 100644 --- a/control/pid_longitudinal_controller/test/test_smooth_stop.cpp +++ b/control/autoware_pid_longitudinal_controller/test/test_smooth_stop.cpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "autoware_pid_longitudinal_controller/smooth_stop.hpp" #include "gtest/gtest.h" -#include "pid_longitudinal_controller/smooth_stop.hpp" #include "rclcpp/rclcpp.hpp" #include diff --git a/control/trajectory_follower_node/package.xml b/control/trajectory_follower_node/package.xml index b7dd546eb4bca..92b99e690931f 100644 --- a/control/trajectory_follower_node/package.xml +++ b/control/trajectory_follower_node/package.xml @@ -22,10 +22,10 @@ autoware_adapi_v1_msgs autoware_control_msgs autoware_mpc_lateral_controller + autoware_pid_longitudinal_controller autoware_planning_msgs autoware_vehicle_msgs motion_utils - pid_longitudinal_controller pure_pursuit rclcpp rclcpp_components diff --git a/control/trajectory_follower_node/src/controller_node.cpp b/control/trajectory_follower_node/src/controller_node.cpp index f431be6612009..4be04af5fd184 100644 --- a/control/trajectory_follower_node/src/controller_node.cpp +++ b/control/trajectory_follower_node/src/controller_node.cpp @@ -15,7 +15,7 @@ #include "trajectory_follower_node/controller_node.hpp" #include "autoware_mpc_lateral_controller/mpc_lateral_controller.hpp" -#include "pid_longitudinal_controller/pid_longitudinal_controller.hpp" +#include "autoware_pid_longitudinal_controller/pid_longitudinal_controller.hpp" #include "pure_pursuit/pure_pursuit_lateral_controller.hpp" #include "tier4_autoware_utils/ros/marker_helper.hpp" From 54f551d159f7031f85658d9c9094450c81a41cbe Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Sun, 9 Jun 2024 02:49:54 +0900 Subject: [PATCH 2/3] fix Signed-off-by: Takayuki Murooka --- .../autoware_pid_longitudinal_controller/debug_values.hpp | 1 + control/trajectory_follower_node/test/test_controller_node.cpp | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/control/autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller/debug_values.hpp b/control/autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller/debug_values.hpp index 72d8867123196..bd682f9566134 100644 --- a/control/autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller/debug_values.hpp +++ b/control/autoware_pid_longitudinal_controller/include/autoware_pid_longitudinal_controller/debug_values.hpp @@ -16,6 +16,7 @@ #define AUTOWARE_PID_LONGITUDINAL_CONTROLLER__DEBUG_VALUES_HPP_ #include +#include namespace autoware::motion::control::pid_longitudinal_controller { diff --git a/control/trajectory_follower_node/test/test_controller_node.cpp b/control/trajectory_follower_node/test/test_controller_node.cpp index 3bf47233f1f3f..dcd3434705ec0 100644 --- a/control/trajectory_follower_node/test/test_controller_node.cpp +++ b/control/trajectory_follower_node/test/test_controller_node.cpp @@ -51,7 +51,7 @@ rclcpp::NodeOptions makeNodeOptions(const bool enable_keep_stopped_until_steer_c // Pass default parameter file to the node const auto share_dir = ament_index_cpp::get_package_share_directory("trajectory_follower_node"); const auto longitudinal_share_dir = - ament_index_cpp::get_package_share_directory("pid_longitudinal_controller"); + ament_index_cpp::get_package_share_directory("autoware_pid_longitudinal_controller"); const auto lateral_share_dir = ament_index_cpp::get_package_share_directory("autoware_mpc_lateral_controller"); rclcpp::NodeOptions node_options; From 3481a212c97cac7e7bc7d17f0f6494e27a603dbd Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Sun, 9 Jun 2024 03:07:35 +0900 Subject: [PATCH 3/3] fix trajectory follower node param Signed-off-by: Takayuki Murooka --- .../param/longitudinal/pid.param.yaml | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/control/trajectory_follower_node/param/longitudinal/pid.param.yaml b/control/trajectory_follower_node/param/longitudinal/pid.param.yaml index c39088753fe64..ad6217663fbae 100644 --- a/control/trajectory_follower_node/param/longitudinal/pid.param.yaml +++ b/control/trajectory_follower_node/param/longitudinal/pid.param.yaml @@ -69,8 +69,9 @@ max_jerk: 2.0 min_jerk: -5.0 - # pitch - use_trajectory_for_pitch_calculation: false + # slope compensation lpf_pitch_gain: 0.95 + slope_source: "raw_pitch" # raw_pitch, trajectory_pitch or trajectory_adaptive + adaptive_trajectory_velocity_th: 1.0 max_pitch_rad: 0.1 min_pitch_rad: -0.1