refactor(mission_planner): prepare to support ad api (tier4#1561)

* refactor(mission_planner): prepare to support ad api Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix node name Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
boyali · Sep 28, 2022 · 5acadd7 · 5acadd7
1 parent 383618a
commit 5acadd7
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Showing 13 changed files with 31 additions and 104 deletions.
diff --git a/launch/tier4_planning_launch/launch/mission_planning/mission_planning.launch.py b/launch/tier4_planning_launch/launch/mission_planning/mission_planning.launch.py
diff --git a/launch/tier4_planning_launch/launch/planning.launch.xml b/launch/tier4_planning_launch/launch/planning.launch.xml
@@ -15,7 +15,7 @@
     <!-- mission planning module -->
     <group>
       <push-ros-namespace namespace="mission_planning"/>
-      <include file="$(find-pkg-share tier4_planning_launch)/launch/mission_planning/mission_planning.launch.py"/>
+      <include file="$(find-pkg-share tier4_planning_launch)/launch/mission_planning/mission_planning.launch.xml"/>
     </group>
 
     <!-- scenario planning module -->

diff --git a/planning/mission_planner/CMakeLists.txt b/planning/mission_planner/CMakeLists.txt
@@ -4,22 +4,22 @@ project(mission_planner)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-ament_auto_add_library(mission_planner_node SHARED
-  lib/mission_planner_base.cpp
+ament_auto_add_library(${PROJECT_NAME}_component SHARED
+  src/mission_planner/mission_planner.cpp
   src/mission_planner_lanelet2/mission_planner_lanelet2.cpp
   src/mission_planner_lanelet2/utility_functions.cpp
 )
 
-rclcpp_components_register_node(mission_planner_node
+rclcpp_components_register_node(${PROJECT_NAME}_component
   PLUGIN "mission_planner::MissionPlannerLanelet2"
-  EXECUTABLE mission_planner
+  EXECUTABLE ${PROJECT_NAME}
 )
 
-ament_auto_add_library(goal_pose_visualizer_node SHARED
+ament_auto_add_library(goal_pose_visualizer_component SHARED
   src/goal_pose_visualizer/goal_pose_visualizer.cpp
 )
 
-rclcpp_components_register_node(goal_pose_visualizer_node
+rclcpp_components_register_node(goal_pose_visualizer_component
   PLUGIN "mission_planner::GoalPoseVisualizer"
   EXECUTABLE goal_pose_visualizer
 )

diff --git a/planning/mission_planner/launch/goal_pose_visualizer.launch.xml b/planning/mission_planner/launch/goal_pose_visualizer.launch.xml
@@ -1,9 +1,9 @@
 <launch>
-  <arg name="rout_topic_name" default="/planning/mission_planning/route"/>
+  <arg name="route_topic_name" default="/planning/mission_planning/route"/>
   <arg name="echo_back_goal_pose_topic_name" default="/planning/mission_planning/echo_back_goal_pose"/>
 
   <node pkg="mission_planner" exec="goal_pose_visualizer" name="goal_pose_visualizer" output="screen">
-    <remap from="input/route" to="$(var rout_topic_name)"/>
+    <remap from="input/route" to="$(var route_topic_name)"/>
     <remap from="output/goal_pose" to="$(var echo_back_goal_pose_topic_name)"/>
   </node>
 </launch>
diff --git a/planning/mission_planner/launch/mission_planner.launch.xml b/planning/mission_planner/launch/mission_planner.launch.xml
@@ -1,7 +1,7 @@
 <launch>
   <arg name="goal_topic_name" default="/planning/mission_planning/goal"/>
   <arg name="checkpoint_topic_name" default="/planning/mission_planning/checkpoint"/>
-  <arg name="rout_topic_name" default="/planning/mission_planning/route"/>
+  <arg name="route_topic_name" default="/planning/mission_planning/route"/>
   <arg name="map_topic_name" default="/map/vector_map"/>
   <arg name="visualization_topic_name" default="/planning/mission_planning/route_marker"/>
 
@@ -11,7 +11,7 @@
     <remap from="input/vector_map" to="$(var map_topic_name)"/>
     <remap from="input/goal_pose" to="$(var goal_topic_name)"/>
     <remap from="input/checkpoint" to="$(var checkpoint_topic_name)"/>
-    <remap from="output/route" to="$(var rout_topic_name)"/>
+    <remap from="output/route" to="$(var route_topic_name)"/>
     <remap from="debug/route_marker" to="$(var visualization_topic_name)"/>
   </node>
 </launch>
diff --git a/planning/mission_planner/src/goal_pose_visualizer/goal_pose_visualizer.cpp b/planning/mission_planner/src/goal_pose_visualizer/goal_pose_visualizer.cpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "mission_planner/goal_pose_visualizer.hpp"
+#include "goal_pose_visualizer.hpp"
 
 namespace mission_planner
 {
 GoalPoseVisualizer::GoalPoseVisualizer(const rclcpp::NodeOptions & node_options)
-: Node("goal_pose_visualizer_node", node_options)
+: Node("goal_pose_visualizer", node_options)
 {
   sub_route_ = create_subscription<autoware_auto_planning_msgs::msg::HADMapRoute>(
     "input/route", rclcpp::QoS{1}.transient_local(),

diff --git a/.../mission_planner/goal_pose_visualizer.hpp → ..._pose_visualizer/goal_pose_visualizer.hpp b/.../mission_planner/goal_pose_visualizer.hpp → ..._pose_visualizer/goal_pose_visualizer.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MISSION_PLANNER__GOAL_POSE_VISUALIZER_HPP_
-#define MISSION_PLANNER__GOAL_POSE_VISUALIZER_HPP_
+#ifndef GOAL_POSE_VISUALIZER__GOAL_POSE_VISUALIZER_HPP_
+#define GOAL_POSE_VISUALIZER__GOAL_POSE_VISUALIZER_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -36,4 +36,4 @@ class GoalPoseVisualizer : public rclcpp::Node
 };
 
 }  // namespace mission_planner
-#endif  // MISSION_PLANNER__GOAL_POSE_VISUALIZER_HPP_
+#endif  // GOAL_POSE_VISUALIZER__GOAL_POSE_VISUALIZER_HPP_
diff --git a/...sion_planner/lib/mission_planner_base.cpp → ...r/src/mission_planner/mission_planner.cpp b/...sion_planner/lib/mission_planner_base.cpp → ...r/src/mission_planner/mission_planner.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "mission_planner/mission_planner_base.hpp"
+#include "mission_planner.hpp"
 
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/query.hpp>

diff --git a/.../mission_planner/mission_planner_base.hpp → ...r/src/mission_planner/mission_planner.hpp b/.../mission_planner/mission_planner_base.hpp → ...r/src/mission_planner/mission_planner.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MISSION_PLANNER__MISSION_PLANNER_BASE_HPP_
-#define MISSION_PLANNER__MISSION_PLANNER_BASE_HPP_
+#ifndef MISSION_PLANNER__MISSION_PLANNER_HPP_
+#define MISSION_PLANNER__MISSION_PLANNER_HPP_
 
 #include <string>
 #include <vector>
@@ -70,4 +70,4 @@ class MissionPlanner : public rclcpp::Node
 };
 
 }  // namespace mission_planner
-#endif  // MISSION_PLANNER__MISSION_PLANNER_BASE_HPP_
+#endif  // MISSION_PLANNER__MISSION_PLANNER_HPP_
diff --git a/planning/mission_planner/src/mission_planner_lanelet2/mission_planner_lanelet2.cpp b/planning/mission_planner/src/mission_planner_lanelet2/mission_planner_lanelet2.cpp
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "mission_planner/lanelet2_impl/mission_planner_lanelet2.hpp"
+#include "mission_planner_lanelet2.hpp"
 
-#include "mission_planner/lanelet2_impl/utility_functions.hpp"
+#include "utility_functions.hpp"
 
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/query.hpp>
@@ -136,7 +136,7 @@ double projectGoalToMap(
 namespace mission_planner
 {
 MissionPlannerLanelet2::MissionPlannerLanelet2(const rclcpp::NodeOptions & node_options)
-: MissionPlanner("mission_planner_node", node_options), is_graph_ready_(false)
+: MissionPlanner("mission_planner", node_options), is_graph_ready_(false)
 {
   using std::placeholders::_1;
   map_subscriber_ = create_subscription<autoware_auto_mapping_msgs::msg::HADMapBin>(

diff --git a/...anelet2_impl/mission_planner_lanelet2.hpp → ...ner_lanelet2/mission_planner_lanelet2.hpp b/...anelet2_impl/mission_planner_lanelet2.hpp → ...ner_lanelet2/mission_planner_lanelet2.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MISSION_PLANNER__LANELET2_IMPL__MISSION_PLANNER_LANELET2_HPP_
-#define MISSION_PLANNER__LANELET2_IMPL__MISSION_PLANNER_LANELET2_HPP_
+#ifndef MISSION_PLANNER_LANELET2__MISSION_PLANNER_LANELET2_HPP_
+#define MISSION_PLANNER_LANELET2__MISSION_PLANNER_LANELET2_HPP_
 
 #include <string>
 #include <vector>
@@ -25,7 +25,7 @@
 #include <tf2_ros/transform_listener.h>
 
 // Autoware
-#include "mission_planner/mission_planner_base.hpp"
+#include "../mission_planner/mission_planner.hpp"
 
 #include <route_handler/route_handler.hpp>
 
@@ -67,4 +67,4 @@ class MissionPlannerLanelet2 : public MissionPlanner
 };
 }  // namespace mission_planner
 
-#endif  // MISSION_PLANNER__LANELET2_IMPL__MISSION_PLANNER_LANELET2_HPP_
+#endif  // MISSION_PLANNER_LANELET2__MISSION_PLANNER_LANELET2_HPP_
diff --git a/planning/mission_planner/src/mission_planner_lanelet2/utility_functions.cpp b/planning/mission_planner/src/mission_planner_lanelet2/utility_functions.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "mission_planner/lanelet2_impl/utility_functions.hpp"
+#include "utility_functions.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 

diff --git a/...anner/lanelet2_impl/utility_functions.hpp → ...on_planner_lanelet2/utility_functions.hpp b/...anner/lanelet2_impl/utility_functions.hpp → ...on_planner_lanelet2/utility_functions.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MISSION_PLANNER__LANELET2_IMPL__UTILITY_FUNCTIONS_HPP_
-#define MISSION_PLANNER__LANELET2_IMPL__UTILITY_FUNCTIONS_HPP_
+#ifndef MISSION_PLANNER_LANELET2__UTILITY_FUNCTIONS_HPP_
+#define MISSION_PLANNER_LANELET2__UTILITY_FUNCTIONS_HPP_
 #include <rclcpp/rclcpp.hpp>
 
 #include <geometry_msgs/msg/pose.hpp>
@@ -43,4 +43,4 @@ void setColor(std_msgs::msg::ColorRGBA * cl, double r, double g, double b, doubl
 void insertMarkerArray(
   visualization_msgs::msg::MarkerArray * a1, const visualization_msgs::msg::MarkerArray & a2);
 std::string toString(const geometry_msgs::msg::Pose & pose);
-#endif  // MISSION_PLANNER__LANELET2_IMPL__UTILITY_FUNCTIONS_HPP_
+#endif  // MISSION_PLANNER_LANELET2__UTILITY_FUNCTIONS_HPP_