refactor(control_validator)!: prefix package and namespace with autow…

…are (#7304) * rename folders Signed-off-by: Daniel Sanchez <[email protected]> * rename add prefix Signed-off-by: Daniel Sanchez <[email protected]> * change param path Signed-off-by: Daniel Sanchez <[email protected]> * fix pluggin problem Signed-off-by: Daniel Sanchez <[email protected]> * fix extra prefixes Signed-off-by: Daniel Sanchez <[email protected]> * change back launchers Signed-off-by: Daniel Sanchez <[email protected]> * add namespace to address conflict Signed-off-by: Daniel Sanchez <[email protected]> * delete stubborn file Signed-off-by: Daniel Sanchez <[email protected]> --------- Signed-off-by: Daniel Sanchez <[email protected]>
autowarefoundation · Jul 22, 2024 · 539e970 · 539e970
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diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -46,7 +46,7 @@ common/traffic_light_utils/** [email protected] [email protected] shunsu
 common/tvm_utility/** [email protected] [email protected]
 control/autoware_autonomous_emergency_braking/** [email protected] [email protected] [email protected] [email protected]
 control/control_performance_analysis/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
-control/control_validator/** [email protected] [email protected] [email protected] [email protected] [email protected]
+control/autoware_control_validator/** [email protected] [email protected] [email protected] [email protected] [email protected]
 control/autoware_external_cmd_selector/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 control/autoware_joy_controller/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 control/autoware_lane_departure_checker/** [email protected] [email protected]

diff --git a/control/control_validator/CMakeLists.txt → ...autoware_control_validator/CMakeLists.txt b/control/control_validator/CMakeLists.txt → ...autoware_control_validator/CMakeLists.txt
@@ -1,23 +1,23 @@
 cmake_minimum_required(VERSION 3.22)
-project(control_validator)
+project(autoware_control_validator)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-ament_auto_add_library(control_validator_helpers SHARED
+ament_auto_add_library(autoware_control_validator_helpers SHARED
   src/utils.cpp
   src/debug_marker.cpp
 )
 
 # control validator
-ament_auto_add_library(control_validator_component SHARED
-  include/control_validator/control_validator.hpp
+ament_auto_add_library(autoware_control_validator_component SHARED
+  include/autoware_control_validator/control_validator.hpp
   src/control_validator.cpp
 )
-target_link_libraries(control_validator_component control_validator_helpers)
-rclcpp_components_register_node(control_validator_component
-  PLUGIN "control_validator::ControlValidator"
-  EXECUTABLE control_validator_node
+target_link_libraries(autoware_control_validator_component autoware_control_validator_helpers)
+rclcpp_components_register_node(autoware_control_validator_component
+  PLUGIN "autoware::control_validator::ControlValidator"
+  EXECUTABLE autoware_control_validator_node
 )
 
 rosidl_generate_interfaces(
@@ -28,12 +28,12 @@ rosidl_generate_interfaces(
 
 # to use a message defined in the same package
 if(${rosidl_cmake_VERSION} VERSION_LESS 2.5.0)
-  rosidl_target_interfaces(control_validator_component
+  rosidl_target_interfaces(autoware_control_validator_component
     ${PROJECT_NAME} "rosidl_typesupport_cpp")
 else()
   rosidl_get_typesupport_target(
     cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
-  target_link_libraries(control_validator_component "${cpp_typesupport_target}")
+  target_link_libraries(autoware_control_validator_component "${cpp_typesupport_target}")
 endif()
 
 # if(BUILD_TESTING)

diff --git a/control/control_validator/README.md → control/autoware_control_validator/README.md b/control/control_validator/README.md → control/autoware_control_validator/README.md
diff --git a/...dator/config/control_validator.param.yaml → ...dator/config/control_validator.param.yaml b/...dator/config/control_validator.param.yaml → ...dator/config/control_validator.param.yaml
diff --git a/...idator/image/control_validator.drawio.svg → ...idator/image/control_validator.drawio.svg b/...idator/image/control_validator.drawio.svg → ...idator/image/control_validator.drawio.svg
diff --git a/...tor/image/trajectory_deviation.drawio.svg → ...tor/image/trajectory_deviation.drawio.svg b/...tor/image/trajectory_deviation.drawio.svg → ...tor/image/trajectory_deviation.drawio.svg
diff --git a/...e/control_validator/control_validator.hpp → ...e_control_validator/control_validator.hpp b/...e/control_validator/control_validator.hpp → ...e_control_validator/control_validator.hpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef CONTROL_VALIDATOR__CONTROL_VALIDATOR_HPP_
-#define CONTROL_VALIDATOR__CONTROL_VALIDATOR_HPP_
+#ifndef AUTOWARE_CONTROL_VALIDATOR__CONTROL_VALIDATOR_HPP_
+#define AUTOWARE_CONTROL_VALIDATOR__CONTROL_VALIDATOR_HPP_
 
+#include "autoware_control_validator/debug_marker.hpp"
+#include "autoware_control_validator/msg/control_validator_status.hpp"
 #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp"
-#include "control_validator/debug_marker.hpp"
-#include "control_validator/msg/control_validator_status.hpp"
 
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <rclcpp/rclcpp.hpp>
@@ -29,11 +29,11 @@
 #include <memory>
 #include <string>
 
-namespace control_validator
+namespace autoware::control_validator
 {
+using autoware_control_validator::msg::ControlValidatorStatus;
 using autoware_planning_msgs::msg::Trajectory;
 using autoware_planning_msgs::msg::TrajectoryPoint;
-using control_validator::msg::ControlValidatorStatus;
 using diagnostic_updater::DiagnosticStatusWrapper;
 using diagnostic_updater::Updater;
 using nav_msgs::msg::Odometry;
@@ -94,6 +94,6 @@ class ControlValidator : public rclcpp::Node
 
   std::shared_ptr<ControlValidatorDebugMarkerPublisher> debug_pose_publisher_;
 };
-}  // namespace control_validator
+}  // namespace autoware::control_validator
 
-#endif  // CONTROL_VALIDATOR__CONTROL_VALIDATOR_HPP_
+#endif  // AUTOWARE_CONTROL_VALIDATOR__CONTROL_VALIDATOR_HPP_
diff --git a/...nclude/control_validator/debug_marker.hpp → ...toware_control_validator/debug_marker.hpp b/...nclude/control_validator/debug_marker.hpp → ...toware_control_validator/debug_marker.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef CONTROL_VALIDATOR__DEBUG_MARKER_HPP_
-#define CONTROL_VALIDATOR__DEBUG_MARKER_HPP_
+#ifndef AUTOWARE_CONTROL_VALIDATOR__DEBUG_MARKER_HPP_
+#define AUTOWARE_CONTROL_VALIDATOR__DEBUG_MARKER_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -57,4 +57,4 @@ class ControlValidatorDebugMarkerPublisher
   }
 };
 
-#endif  // CONTROL_VALIDATOR__DEBUG_MARKER_HPP_
+#endif  // AUTOWARE_CONTROL_VALIDATOR__DEBUG_MARKER_HPP_
diff --git a/...dator/include/control_validator/utils.hpp → ...lude/autoware_control_validator/utils.hpp b/...dator/include/control_validator/utils.hpp → ...lude/autoware_control_validator/utils.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef CONTROL_VALIDATOR__UTILS_HPP_
-#define CONTROL_VALIDATOR__UTILS_HPP_
+#ifndef AUTOWARE_CONTROL_VALIDATOR__UTILS_HPP_
+#define AUTOWARE_CONTROL_VALIDATOR__UTILS_HPP_
 
 #include <motion_utils/trajectory/conversion.hpp>
 #include <rclcpp/rclcpp.hpp>
@@ -24,7 +24,7 @@
 #include <utility>
 #include <vector>
 
-namespace control_validator
+namespace autoware::control_validator
 {
 using autoware_planning_msgs::msg::Trajectory;
 using autoware_planning_msgs::msg::TrajectoryPoint;
@@ -50,6 +50,6 @@ Trajectory alignTrajectoryWithReferenceTrajectory(
 
 double calcMaxLateralDistance(
   const Trajectory & trajectory, const Trajectory & predicted_trajectory);
-}  // namespace control_validator
+}  // namespace autoware::control_validator
 
-#endif  // CONTROL_VALIDATOR__UTILS_HPP_
+#endif  // AUTOWARE_CONTROL_VALIDATOR__UTILS_HPP_
diff --git a/...dator/launch/control_validator.launch.xml → ...dator/launch/control_validator.launch.xml b/...dator/launch/control_validator.launch.xml → ...dator/launch/control_validator.launch.xml
@@ -1,9 +1,9 @@
 <launch>
-  <arg name="control_validator_param_path" default="$(find-pkg-share control_validator)/config/control_validator.param.yaml"/>
+  <arg name="control_validator_param_path" default="$(find-pkg-share autoware_control_validator)/config/control_validator.param.yaml"/>
   <arg name="input_reference_trajectory" default="/planning/scenario_planning/trajectory"/>
   <arg name="input_predicted_trajectory" default="/control/trajectory_follower/lateral/predicted_trajectory"/>
 
-  <node name="control_validator" exec="control_validator_node" pkg="control_validator" output="screen">
+  <node name="control_validator" exec="autoware_control_validator_node" pkg="autoware_control_validator" output="screen">
     <!-- load config a file -->
     <param from="$(var control_validator_param_path)"/>
 

diff --git a/..._validator/msg/ControlValidatorStatus.msg → ..._validator/msg/ControlValidatorStatus.msg b/..._validator/msg/ControlValidatorStatus.msg → ..._validator/msg/ControlValidatorStatus.msg
diff --git a/control/control_validator/package.xml → ...ol/autoware_control_validator/package.xml b/control/control_validator/package.xml → ...ol/autoware_control_validator/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>control_validator</name>
+  <name>autoware_control_validator</name>
   <version>0.1.0</version>
-  <description>ros node for control_validator</description>
+  <description>ros node for autoware_control_validator</description>
   <maintainer email="[email protected]">Kyoichi Sugahara</maintainer>
   <maintainer email="[email protected]">Takamasa Horibe</maintainer>
   <maintainer email="[email protected]">Makoto Kurihara</maintainer>

diff --git a/...ntrol_validator/src/control_validator.cpp → ...ntrol_validator/src/control_validator.cpp b/...ntrol_validator/src/control_validator.cpp → ...ntrol_validator/src/control_validator.cpp
@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "control_validator/control_validator.hpp"
+#include "autoware_control_validator/control_validator.hpp"
 
-#include "control_validator/utils.hpp"
+#include "autoware_control_validator/utils.hpp"
 
 #include <memory>
 #include <string>
 #include <utility>
 
-namespace control_validator
+namespace autoware::control_validator
 {
 using diagnostic_msgs::msg::DiagnosticStatus;
 
@@ -61,7 +61,7 @@ void ControlValidator::setupParameters()
   }
 
   try {
-    vehicle_info_ = autoware::vehicle_info_utils::VehicleInfoUtils(*this).getVehicleInfo();
+    vehicle_info_ = autoware::vehicle_info_utils::VehicleInfoUtil(*this).getVehicleInfo();
   } catch (...) {
     RCLCPP_ERROR(get_logger(), "failed to get vehicle info. use default value.");
     vehicle_info_.front_overhang_m = 0.5;
@@ -210,7 +210,7 @@ void ControlValidator::displayStatus()
     "predicted trajectory is too far from planning trajectory!!");
 }
 
-}  // namespace control_validator
+}  // namespace autoware::control_validator
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(control_validator::ControlValidator)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::control_validator::ControlValidator)
diff --git a/...ol/control_validator/src/debug_marker.cpp → ...re_control_validator/src/debug_marker.cpp b/...ol/control_validator/src/debug_marker.cpp → ...re_control_validator/src/debug_marker.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "control_validator/debug_marker.hpp"
+#include "autoware_control_validator/debug_marker.hpp"
 
 #include <motion_utils/marker/marker_helper.hpp>
 #include <tier4_autoware_utils/ros/marker_helper.hpp>

diff --git a/control/control_validator/src/utils.cpp → .../autoware_control_validator/src/utils.cpp b/control/control_validator/src/utils.cpp → .../autoware_control_validator/src/utils.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "control_validator/utils.hpp"
+#include "autoware_control_validator/utils.hpp"
 
 #include <motion_utils/trajectory/interpolation.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
@@ -23,7 +23,7 @@
 #include <utility>
 #include <vector>
 
-namespace control_validator
+namespace autoware::control_validator
 {
 
 void shiftPose(Pose & pose, double longitudinal)
@@ -162,4 +162,4 @@ double calcMaxLateralDistance(
   return max_dist;
 }
 
-}  // namespace control_validator
+}  // namespace autoware::control_validator
diff --git a/launch/tier4_control_launch/launch/control.launch.py b/launch/tier4_control_launch/launch/control.launch.py
@@ -386,8 +386,8 @@ def launch_setup(context, *args, **kwargs):
 
     # control validator checker
     control_validator_component = ComposableNode(
-        package="control_validator",
-        plugin="control_validator::ControlValidator",
+        package="autoware_control_validator",
+        plugin="autoware::control_validator::ControlValidator",
         name="control_validator",
         remappings=[
             ("~/input/kinematics", "/localization/kinematic_state"),

diff --git a/system/system_error_monitor/config/diagnostic_aggregator/control.param.yaml b/system/system_error_monitor/config/diagnostic_aggregator/control.param.yaml
@@ -70,7 +70,7 @@
 
                 control_validator:
                   type: diagnostic_aggregator/GenericAnalyzer
-                  path: control_validator
+                  path: autoware_control_validator
                   contains: [": control_validation_max_distance_deviation"]
                   timeout: 1.0