From 9939baeaf3371021204a0a1b1127dd0b30e86644 Mon Sep 17 00:00:00 2001 From: Esteve Fernandez Date: Wed, 16 Oct 2024 11:07:53 +0200 Subject: [PATCH] refactor(component_interface_utils): prefix package and namespace with autoware Signed-off-by: Esteve Fernandez --- .../CMakeLists.txt | 2 +- .../README.md | 14 ++++++------ .../component_interface_utils/rclcpp.hpp | 22 +++++++++---------- .../rclcpp/create_interface.hpp | 22 +++++++++---------- .../rclcpp/exceptions.hpp | 10 ++++----- .../rclcpp/interface.hpp | 10 ++++----- .../rclcpp/service_client.hpp | 14 ++++++------ .../rclcpp/service_server.hpp | 14 ++++++------ .../rclcpp/topic_publisher.hpp | 10 ++++----- .../rclcpp/topic_subscription.hpp | 10 ++++----- .../component_interface_utils/specs.hpp | 10 ++++----- .../component_interface_utils/status.hpp | 10 ++++----- .../package.xml | 4 ++-- .../test/test_component_interface_utils.cpp | 14 ++++++------ common/autoware_test_utils/package.xml | 2 +- common/tier4_adapi_rviz_plugin/package.xml | 2 +- .../src/door_panel.cpp | 2 +- .../src/door_panel.hpp | 8 +++---- .../src/route_panel.cpp | 2 +- .../src/route_panel.hpp | 8 +++---- .../tier4_camera_view_rviz_plugin/package.xml | 2 +- .../package.xml | 2 +- .../src/node.cpp | 16 ++++++++------ .../src/node.hpp | 11 ++++++---- control/autoware_vehicle_cmd_gate/package.xml | 2 +- .../src/adapi_pause_interface.cpp | 2 +- .../src/adapi_pause_interface.hpp | 9 ++++---- .../src/moderate_stop_interface.cpp | 2 +- .../src/moderate_stop_interface.hpp | 6 ++--- .../predicted_path_checker_node.hpp | 6 ++--- control/predicted_path_checker/package.xml | 2 +- .../predicted_path_checker_node.cpp | 2 +- .../autoware_geo_pose_projector/package.xml | 2 +- .../src/geo_pose_projector.cpp | 2 +- .../src/geo_pose_projector.hpp | 5 +++-- .../autoware_pose_initializer/package.xml | 2 +- .../src/ekf_localization_trigger_module.cpp | 7 +++--- .../src/gnss_module.cpp | 6 ++--- .../src/localization_module.cpp | 6 ++--- .../src/ndt_localization_trigger_module.cpp | 7 +++--- .../src/pose_initializer_core.cpp | 2 +- .../src/pose_initializer_core.hpp | 8 +++---- .../map_projection_loader.hpp | 4 ++-- .../package.xml | 2 +- .../src/map_projection_loader.cpp | 2 +- .../map_loader/lanelet2_map_loader_node.hpp | 5 +++-- map/map_loader/package.xml | 2 +- .../lanelet2_map_loader_node.cpp | 2 +- .../autoware_planning_test_manager.hpp | 2 +- .../package.xml | 2 +- .../autoware/gnss_poser/gnss_poser_node.hpp | 5 +++-- sensing/autoware_gnss_poser/package.xml | 2 +- .../src/gnss_poser_node.cpp | 2 +- system/autoware_default_adapi/package.xml | 2 +- .../src/compatibility/autoware_state.cpp | 2 +- .../autoware_default_adapi/src/fail_safe.cpp | 2 +- .../autoware_default_adapi/src/fail_safe.hpp | 2 +- .../autoware_default_adapi/src/heartbeat.cpp | 2 +- .../autoware_default_adapi/src/interface.cpp | 2 +- .../src/localization.cpp | 2 +- system/autoware_default_adapi/src/motion.cpp | 4 ++-- system/autoware_default_adapi/src/motion.hpp | 4 ++-- .../src/operation_mode.cpp | 12 +++++----- .../src/operation_mode.hpp | 2 +- .../autoware_default_adapi/src/perception.cpp | 2 +- .../autoware_default_adapi/src/planning.cpp | 2 +- system/autoware_default_adapi/src/routing.cpp | 2 +- system/autoware_default_adapi/src/routing.hpp | 2 +- .../src/utils/topics.hpp | 2 +- .../src/utils/types.hpp | 10 ++++----- system/autoware_default_adapi/src/vehicle.cpp | 2 +- .../src/vehicle_door.cpp | 2 +- .../src/vehicle_info.cpp | 2 +- .../ad_api_adaptors/package.xml | 2 +- .../src/initial_pose_adaptor.cpp | 2 +- .../src/initial_pose_adaptor.hpp | 4 ++-- .../ad_api_adaptors/src/routing_adaptor.cpp | 2 +- .../ad_api_adaptors/src/routing_adaptor.hpp | 10 ++++----- .../automatic_pose_initializer/package.xml | 2 +- .../src/automatic_pose_initializer.cpp | 4 ++-- .../src/automatic_pose_initializer.hpp | 6 ++--- 81 files changed, 217 insertions(+), 206 deletions(-) rename common/{component_interface_utils => autoware_component_interface_utils}/CMakeLists.txt (92%) rename common/{component_interface_utils => autoware_component_interface_utils}/README.md (83%) rename common/{component_interface_utils/include => autoware_component_interface_utils/include/autoware}/component_interface_utils/rclcpp.hpp (84%) rename common/{component_interface_utils/include => autoware_component_interface_utils/include/autoware}/component_interface_utils/rclcpp/create_interface.hpp (79%) rename common/{component_interface_utils/include => autoware_component_interface_utils/include/autoware}/component_interface_utils/rclcpp/exceptions.hpp (88%) rename common/{component_interface_utils/include => autoware_component_interface_utils/include/autoware}/component_interface_utils/rclcpp/interface.hpp (87%) rename common/{component_interface_utils/include => autoware_component_interface_utils/include/autoware}/component_interface_utils/rclcpp/service_client.hpp (87%) rename common/{component_interface_utils/include => autoware_component_interface_utils/include/autoware}/component_interface_utils/rclcpp/service_server.hpp (86%) rename common/{component_interface_utils/include => autoware_component_interface_utils/include/autoware}/component_interface_utils/rclcpp/topic_publisher.hpp (79%) rename common/{component_interface_utils/include => autoware_component_interface_utils/include/autoware}/component_interface_utils/rclcpp/topic_subscription.hpp (77%) rename common/{component_interface_utils/include => autoware_component_interface_utils/include/autoware}/component_interface_utils/specs.hpp (74%) rename common/{component_interface_utils/include => autoware_component_interface_utils/include/autoware}/component_interface_utils/status.hpp (74%) rename common/{component_interface_utils => autoware_component_interface_utils}/package.xml (87%) rename common/{component_interface_utils => autoware_component_interface_utils}/test/test_component_interface_utils.cpp (83%) diff --git a/common/component_interface_utils/CMakeLists.txt b/common/autoware_component_interface_utils/CMakeLists.txt similarity index 92% rename from common/component_interface_utils/CMakeLists.txt rename to common/autoware_component_interface_utils/CMakeLists.txt index 435d5535e0a37..b7cce55eba9fa 100644 --- a/common/component_interface_utils/CMakeLists.txt +++ b/common/autoware_component_interface_utils/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(component_interface_utils) +project(autoware_component_interface_utils) find_package(autoware_cmake REQUIRED) autoware_package() diff --git a/common/component_interface_utils/README.md b/common/autoware_component_interface_utils/README.md similarity index 83% rename from common/component_interface_utils/README.md rename to common/autoware_component_interface_utils/README.md index 2a2b191c854a0..2f4038c9f37cd 100644 --- a/common/component_interface_utils/README.md +++ b/common/autoware_component_interface_utils/README.md @@ -1,4 +1,4 @@ -# component_interface_utils +# autoware_component_interface_utils ## Features @@ -40,13 +40,13 @@ Create the wrapper using the above definition as follows. ```cpp // header file -component_interface_utils::Service::SharedPtr srv_; -component_interface_utils::Client::SharedPtr cli_; -component_interface_utils::Publisher::SharedPtr pub_; -component_interface_utils::Subscription::SharedPtr sub_; +autoware::component_interface_utils::Service::SharedPtr srv_; +autoware::component_interface_utils::Client::SharedPtr cli_; +autoware::component_interface_utils::Publisher::SharedPtr pub_; +autoware::component_interface_utils::Subscription::SharedPtr sub_; // source file -const auto node = component_interface_utils::NodeAdaptor(this); +const auto node = autoware::component_interface_utils::NodeAdaptor(this); node.init_srv(srv_, callback); node.init_cli(cli_); node.init_pub(pub_); @@ -94,7 +94,7 @@ void service_callback(Request req, Response res) There are utilities for relaying services and messages of the same type. ```cpp -const auto node = component_interface_utils::NodeAdaptor(this); +const auto node = autoware::component_interface_utils::NodeAdaptor(this); service_callback_group_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); node.relay_message(pub_, sub_); node.relay_service(cli_, srv_, service_callback_group_); // group is for avoiding deadlocks diff --git a/common/component_interface_utils/include/component_interface_utils/rclcpp.hpp b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp.hpp similarity index 84% rename from common/component_interface_utils/include/component_interface_utils/rclcpp.hpp rename to common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp.hpp index 8099bea36784e..bae7856af04f1 100644 --- a/common/component_interface_utils/include/component_interface_utils/rclcpp.hpp +++ b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp.hpp @@ -12,21 +12,21 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_UTILS__RCLCPP_HPP_ -#define COMPONENT_INTERFACE_UTILS__RCLCPP_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP_HPP_ -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include #include #include #include -namespace component_interface_utils +namespace autoware::component_interface_utils { class NodeAdaptor @@ -123,6 +123,6 @@ class NodeAdaptor NodeInterface::SharedPtr interface_; }; -} // namespace component_interface_utils +} // namespace autoware::component_interface_utils -#endif // COMPONENT_INTERFACE_UTILS__RCLCPP_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP_HPP_ diff --git a/common/component_interface_utils/include/component_interface_utils/rclcpp/create_interface.hpp b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/create_interface.hpp similarity index 79% rename from common/component_interface_utils/include/component_interface_utils/rclcpp/create_interface.hpp rename to common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/create_interface.hpp index d5af211b015bf..66f85613cb11b 100644 --- a/common/component_interface_utils/include/component_interface_utils/rclcpp/create_interface.hpp +++ b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/create_interface.hpp @@ -12,20 +12,20 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_UTILS__RCLCPP__CREATE_INTERFACE_HPP_ -#define COMPONENT_INTERFACE_UTILS__RCLCPP__CREATE_INTERFACE_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__CREATE_INTERFACE_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__CREATE_INTERFACE_HPP_ -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include #include #include -namespace component_interface_utils +namespace autoware::component_interface_utils { /// Create a client wrapper for logging. This is a private implementation. @@ -72,6 +72,6 @@ typename Subscription::SharedPtr create_subscription_impl( return Subscription::make_shared(subscription); } -} // namespace component_interface_utils +} // namespace autoware::component_interface_utils -#endif // COMPONENT_INTERFACE_UTILS__RCLCPP__CREATE_INTERFACE_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__CREATE_INTERFACE_HPP_ diff --git a/common/component_interface_utils/include/component_interface_utils/rclcpp/exceptions.hpp b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/exceptions.hpp similarity index 88% rename from common/component_interface_utils/include/component_interface_utils/rclcpp/exceptions.hpp rename to common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/exceptions.hpp index e0a6064875d91..03dc5e2bd8b74 100644 --- a/common/component_interface_utils/include/component_interface_utils/rclcpp/exceptions.hpp +++ b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/exceptions.hpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_UTILS__RCLCPP__EXCEPTIONS_HPP_ -#define COMPONENT_INTERFACE_UTILS__RCLCPP__EXCEPTIONS_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__EXCEPTIONS_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__EXCEPTIONS_HPP_ #include #include #include -namespace component_interface_utils +namespace autoware::component_interface_utils { class ServiceException : public std::exception @@ -104,6 +104,6 @@ class NoEffectWarning : public ServiceException } }; -} // namespace component_interface_utils +} // namespace autoware::component_interface_utils -#endif // COMPONENT_INTERFACE_UTILS__RCLCPP__EXCEPTIONS_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__EXCEPTIONS_HPP_ diff --git a/common/component_interface_utils/include/component_interface_utils/rclcpp/interface.hpp b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/interface.hpp similarity index 87% rename from common/component_interface_utils/include/component_interface_utils/rclcpp/interface.hpp rename to common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/interface.hpp index 97f46933f2fe6..ce4a11f8e1086 100644 --- a/common/component_interface_utils/include/component_interface_utils/rclcpp/interface.hpp +++ b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/interface.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_UTILS__RCLCPP__INTERFACE_HPP_ -#define COMPONENT_INTERFACE_UTILS__RCLCPP__INTERFACE_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__INTERFACE_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__INTERFACE_HPP_ #include @@ -23,7 +23,7 @@ #include #include -namespace component_interface_utils +namespace autoware::component_interface_utils { struct NodeInterface @@ -68,6 +68,6 @@ struct NodeInterface std::string node_name; }; -} // namespace component_interface_utils +} // namespace autoware::component_interface_utils -#endif // COMPONENT_INTERFACE_UTILS__RCLCPP__INTERFACE_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__INTERFACE_HPP_ diff --git a/common/component_interface_utils/include/component_interface_utils/rclcpp/service_client.hpp b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/service_client.hpp similarity index 87% rename from common/component_interface_utils/include/component_interface_utils/rclcpp/service_client.hpp rename to common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/service_client.hpp index e9cf68fa098a2..1b2c77cb30c51 100644 --- a/common/component_interface_utils/include/component_interface_utils/rclcpp/service_client.hpp +++ b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/service_client.hpp @@ -12,11 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_UTILS__RCLCPP__SERVICE_CLIENT_HPP_ -#define COMPONENT_INTERFACE_UTILS__RCLCPP__SERVICE_CLIENT_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__SERVICE_CLIENT_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__SERVICE_CLIENT_HPP_ -#include -#include +#include +#include #include #include @@ -25,7 +25,7 @@ #include #include -namespace component_interface_utils +namespace autoware::component_interface_utils { /// The wrapper class of rclcpp::Client for logging. @@ -104,6 +104,6 @@ class Client NodeInterface::SharedPtr interface_; }; -} // namespace component_interface_utils +} // namespace autoware::component_interface_utils -#endif // COMPONENT_INTERFACE_UTILS__RCLCPP__SERVICE_CLIENT_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__SERVICE_CLIENT_HPP_ diff --git a/common/component_interface_utils/include/component_interface_utils/rclcpp/service_server.hpp b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/service_server.hpp similarity index 86% rename from common/component_interface_utils/include/component_interface_utils/rclcpp/service_server.hpp rename to common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/service_server.hpp index 762f95fe8b450..3e9a4c81d3bcf 100644 --- a/common/component_interface_utils/include/component_interface_utils/rclcpp/service_server.hpp +++ b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/service_server.hpp @@ -12,18 +12,18 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_UTILS__RCLCPP__SERVICE_SERVER_HPP_ -#define COMPONENT_INTERFACE_UTILS__RCLCPP__SERVICE_SERVER_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__SERVICE_SERVER_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__SERVICE_SERVER_HPP_ -#include -#include +#include +#include #include #include #include -namespace component_interface_utils +namespace autoware::component_interface_utils { /// The wrapper class of rclcpp::Service for logging. @@ -94,6 +94,6 @@ class Service NodeInterface::SharedPtr interface_; }; -} // namespace component_interface_utils +} // namespace autoware::component_interface_utils -#endif // COMPONENT_INTERFACE_UTILS__RCLCPP__SERVICE_SERVER_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__SERVICE_SERVER_HPP_ diff --git a/common/component_interface_utils/include/component_interface_utils/rclcpp/topic_publisher.hpp b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/topic_publisher.hpp similarity index 79% rename from common/component_interface_utils/include/component_interface_utils/rclcpp/topic_publisher.hpp rename to common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/topic_publisher.hpp index b2c002613a294..49304eaaa06a3 100644 --- a/common/component_interface_utils/include/component_interface_utils/rclcpp/topic_publisher.hpp +++ b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/topic_publisher.hpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_UTILS__RCLCPP__TOPIC_PUBLISHER_HPP_ -#define COMPONENT_INTERFACE_UTILS__RCLCPP__TOPIC_PUBLISHER_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__TOPIC_PUBLISHER_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__TOPIC_PUBLISHER_HPP_ #include -namespace component_interface_utils +namespace autoware::component_interface_utils { /// The wrapper class of rclcpp::Publisher. This is for future use and no functionality now. @@ -43,6 +43,6 @@ class Publisher typename WrapType::SharedPtr publisher_; }; -} // namespace component_interface_utils +} // namespace autoware::component_interface_utils -#endif // COMPONENT_INTERFACE_UTILS__RCLCPP__TOPIC_PUBLISHER_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__TOPIC_PUBLISHER_HPP_ diff --git a/common/component_interface_utils/include/component_interface_utils/rclcpp/topic_subscription.hpp b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/topic_subscription.hpp similarity index 77% rename from common/component_interface_utils/include/component_interface_utils/rclcpp/topic_subscription.hpp rename to common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/topic_subscription.hpp index 195a04c370964..bd092c30b9866 100644 --- a/common/component_interface_utils/include/component_interface_utils/rclcpp/topic_subscription.hpp +++ b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/rclcpp/topic_subscription.hpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_UTILS__RCLCPP__TOPIC_SUBSCRIPTION_HPP_ -#define COMPONENT_INTERFACE_UTILS__RCLCPP__TOPIC_SUBSCRIPTION_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__TOPIC_SUBSCRIPTION_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__TOPIC_SUBSCRIPTION_HPP_ #include -namespace component_interface_utils +namespace autoware::component_interface_utils { /// The wrapper class of rclcpp::Subscription. This is for future use and no functionality now. @@ -40,6 +40,6 @@ class Subscription typename WrapType::SharedPtr subscription_; }; -} // namespace component_interface_utils +} // namespace autoware::component_interface_utils -#endif // COMPONENT_INTERFACE_UTILS__RCLCPP__TOPIC_SUBSCRIPTION_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_UTILS__RCLCPP__TOPIC_SUBSCRIPTION_HPP_ diff --git a/common/component_interface_utils/include/component_interface_utils/specs.hpp b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/specs.hpp similarity index 74% rename from common/component_interface_utils/include/component_interface_utils/specs.hpp rename to common/autoware_component_interface_utils/include/autoware/component_interface_utils/specs.hpp index db3bb9517430f..565c5555cb085 100644 --- a/common/component_interface_utils/include/component_interface_utils/specs.hpp +++ b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/specs.hpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_UTILS__SPECS_HPP_ -#define COMPONENT_INTERFACE_UTILS__SPECS_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_UTILS__SPECS_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_UTILS__SPECS_HPP_ #include -namespace component_interface_utils +namespace autoware::component_interface_utils { template @@ -29,6 +29,6 @@ rclcpp::QoS get_qos() return qos; } -} // namespace component_interface_utils +} // namespace autoware::component_interface_utils -#endif // COMPONENT_INTERFACE_UTILS__SPECS_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_UTILS__SPECS_HPP_ diff --git a/common/component_interface_utils/include/component_interface_utils/status.hpp b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/status.hpp similarity index 74% rename from common/component_interface_utils/include/component_interface_utils/status.hpp rename to common/autoware_component_interface_utils/include/autoware/component_interface_utils/status.hpp index bf4d67ae5c833..076c5b95c31c5 100644 --- a/common/component_interface_utils/include/component_interface_utils/status.hpp +++ b/common/autoware_component_interface_utils/include/autoware/component_interface_utils/status.hpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef COMPONENT_INTERFACE_UTILS__STATUS_HPP_ -#define COMPONENT_INTERFACE_UTILS__STATUS_HPP_ +#ifndef AUTOWARE__COMPONENT_INTERFACE_UTILS__STATUS_HPP_ +#define AUTOWARE__COMPONENT_INTERFACE_UTILS__STATUS_HPP_ -namespace component_interface_utils::status +namespace autoware::component_interface_utils::status { template @@ -26,6 +26,6 @@ void copy(const T1 & src, T2 & dst) // NOLINT(build/include_what_you_use): cppl dst->status.message = src->status.message; } -} // namespace component_interface_utils::status +} // namespace autoware::component_interface_utils::status -#endif // COMPONENT_INTERFACE_UTILS__STATUS_HPP_ +#endif // AUTOWARE__COMPONENT_INTERFACE_UTILS__STATUS_HPP_ diff --git a/common/component_interface_utils/package.xml b/common/autoware_component_interface_utils/package.xml similarity index 87% rename from common/component_interface_utils/package.xml rename to common/autoware_component_interface_utils/package.xml index 7a6a6d12880ad..f6b3e08b45ce5 100755 --- a/common/component_interface_utils/package.xml +++ b/common/autoware_component_interface_utils/package.xml @@ -1,9 +1,9 @@ - component_interface_utils + autoware_component_interface_utils 0.0.0 - The component_interface_utils package + The autoware_component_interface_utils package Takagi, Isamu Yukihiro Saito Apache License 2.0 diff --git a/common/component_interface_utils/test/test_component_interface_utils.cpp b/common/autoware_component_interface_utils/test/test_component_interface_utils.cpp similarity index 83% rename from common/component_interface_utils/test/test_component_interface_utils.cpp rename to common/autoware_component_interface_utils/test/test_component_interface_utils.cpp index 3c41f4a85b4f9..7cf2dccf3e764 100644 --- a/common/component_interface_utils/test/test_component_interface_utils.cpp +++ b/common/autoware_component_interface_utils/test/test_component_interface_utils.cpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "component_interface_utils/rclcpp/exceptions.hpp" -#include "component_interface_utils/specs.hpp" -#include "component_interface_utils/status.hpp" +#include "autoware/component_interface_utils/rclcpp/exceptions.hpp" +#include "autoware/component_interface_utils/specs.hpp" +#include "autoware/component_interface_utils/status.hpp" #include "gtest/gtest.h" TEST(interface, utils) { { - using component_interface_utils::ServiceException; + using autoware::component_interface_utils::ServiceException; using ResponseStatus = autoware_adapi_v1_msgs::msg::ResponseStatus; using ResponseStatusCode = ResponseStatus::_code_type; @@ -34,7 +34,7 @@ TEST(interface, utils) } { - using component_interface_utils::ServiceException; + using autoware::component_interface_utils::ServiceException; using ResponseStatus = autoware_adapi_v1_msgs::msg::ResponseStatus; using ResponseStatusCode = ResponseStatus::_code_type; @@ -48,10 +48,10 @@ TEST(interface, utils) } { - using component_interface_utils::ServiceException; + using autoware::component_interface_utils::ServiceException; using ResponseStatus = autoware_adapi_v1_msgs::msg::ResponseStatus; using ResponseStatusCode = ResponseStatus::_code_type; - using component_interface_utils::status::copy; + using autoware::component_interface_utils::status::copy; class status_test { diff --git a/common/autoware_test_utils/package.xml b/common/autoware_test_utils/package.xml index 40edd451f3cab..0112425a7b003 100644 --- a/common/autoware_test_utils/package.xml +++ b/common/autoware_test_utils/package.xml @@ -17,6 +17,7 @@ ament_index_cpp autoware_component_interface_specs + autoware_component_interface_utils autoware_control_msgs autoware_lanelet2_extension autoware_map_msgs @@ -24,7 +25,6 @@ autoware_planning_msgs autoware_universe_utils autoware_vehicle_msgs - component_interface_utils lanelet2_io nav_msgs rclcpp diff --git a/common/tier4_adapi_rviz_plugin/package.xml b/common/tier4_adapi_rviz_plugin/package.xml index 3f8c34be318d1..3b97cb9a64692 100644 --- a/common/tier4_adapi_rviz_plugin/package.xml +++ b/common/tier4_adapi_rviz_plugin/package.xml @@ -13,8 +13,8 @@ autoware_cmake autoware_ad_api_specs + autoware_component_interface_utils autoware_vehicle_msgs - component_interface_utils geometry_msgs libqt5-core libqt5-gui diff --git a/common/tier4_adapi_rviz_plugin/src/door_panel.cpp b/common/tier4_adapi_rviz_plugin/src/door_panel.cpp index 56c4c89befbb7..ba48d0c49cb8f 100644 --- a/common/tier4_adapi_rviz_plugin/src/door_panel.cpp +++ b/common/tier4_adapi_rviz_plugin/src/door_panel.cpp @@ -94,7 +94,7 @@ void DoorPanel::onInitialize() auto lock = getDisplayContext()->getRosNodeAbstraction().lock(); auto node = lock->get_raw_node(); - const auto adaptor = component_interface_utils::NodeAdaptor(node.get()); + const auto adaptor = autoware::component_interface_utils::NodeAdaptor(node.get()); adaptor.init_cli(cli_command_); adaptor.init_cli(cli_layout_); adaptor.init_sub(sub_status_, on_status); diff --git a/common/tier4_adapi_rviz_plugin/src/door_panel.hpp b/common/tier4_adapi_rviz_plugin/src/door_panel.hpp index fdeb310736e9f..fb7aa0e1b9545 100644 --- a/common/tier4_adapi_rviz_plugin/src/door_panel.hpp +++ b/common/tier4_adapi_rviz_plugin/src/door_panel.hpp @@ -18,8 +18,8 @@ #include #include #include +#include #include -#include #include #include @@ -40,9 +40,9 @@ class DoorPanel : public rviz_common::Panel void onInitialize() override; private: - component_interface_utils::Client::SharedPtr cli_command_; - component_interface_utils::Client::SharedPtr cli_layout_; - component_interface_utils::Subscription::SharedPtr sub_status_; + autoware::component_interface_utils::Client::SharedPtr cli_command_; + autoware::component_interface_utils::Client::SharedPtr cli_layout_; + autoware::component_interface_utils::Subscription::SharedPtr sub_status_; struct DoorUI { diff --git a/common/tier4_adapi_rviz_plugin/src/route_panel.cpp b/common/tier4_adapi_rviz_plugin/src/route_panel.cpp index 5bdee028bf4b3..30f975fb4c28e 100644 --- a/common/tier4_adapi_rviz_plugin/src/route_panel.cpp +++ b/common/tier4_adapi_rviz_plugin/src/route_panel.cpp @@ -107,7 +107,7 @@ void RoutePanel::onInitialize() "/rviz/routing/pose", rclcpp::QoS(1), std::bind(&RoutePanel::onPose, this, std::placeholders::_1)); - const auto adaptor = component_interface_utils::NodeAdaptor(node.get()); + const auto adaptor = autoware::component_interface_utils::NodeAdaptor(node.get()); adaptor.init_cli(cli_clear_); adaptor.init_cli(cli_set_); adaptor.init_cli(cli_change_); diff --git a/common/tier4_adapi_rviz_plugin/src/route_panel.hpp b/common/tier4_adapi_rviz_plugin/src/route_panel.hpp index 47855d243a564..d4e7bdf62ea3c 100644 --- a/common/tier4_adapi_rviz_plugin/src/route_panel.hpp +++ b/common/tier4_adapi_rviz_plugin/src/route_panel.hpp @@ -20,8 +20,8 @@ #include #include #include +#include #include -#include #include #include @@ -63,9 +63,9 @@ class RoutePanel : public rviz_common::Panel enum AdapiMode { Set, Change }; AdapiMode adapi_mode_; - component_interface_utils::Client::SharedPtr cli_clear_; - component_interface_utils::Client::SharedPtr cli_set_; - component_interface_utils::Client::SharedPtr cli_change_; + autoware::component_interface_utils::Client::SharedPtr cli_clear_; + autoware::component_interface_utils::Client::SharedPtr cli_set_; + autoware::component_interface_utils::Client::SharedPtr cli_change_; void requestRoute(const PoseStamped & pose); void asyncSendRequest(SetRoutePoints::Service::Request::SharedPtr req); diff --git a/common/tier4_camera_view_rviz_plugin/package.xml b/common/tier4_camera_view_rviz_plugin/package.xml index 0ede5e37b8287..86544028ba0a3 100644 --- a/common/tier4_camera_view_rviz_plugin/package.xml +++ b/common/tier4_camera_view_rviz_plugin/package.xml @@ -12,7 +12,7 @@ autoware_cmake autoware_ad_api_specs - component_interface_utils + autoware_component_interface_utils geometry_msgs libqt5-core libqt5-gui diff --git a/control/autoware_operation_mode_transition_manager/package.xml b/control/autoware_operation_mode_transition_manager/package.xml index ef6c0bc8d252b..263c6c77baebf 100644 --- a/control/autoware_operation_mode_transition_manager/package.xml +++ b/control/autoware_operation_mode_transition_manager/package.xml @@ -13,12 +13,12 @@ rosidl_default_generators autoware_component_interface_specs + autoware_component_interface_utils autoware_control_msgs autoware_motion_utils autoware_universe_utils autoware_vehicle_info_utils autoware_vehicle_msgs - component_interface_utils geometry_msgs rclcpp rclcpp_components diff --git a/control/autoware_operation_mode_transition_manager/src/node.cpp b/control/autoware_operation_mode_transition_manager/src/node.cpp index a93c0b93741a1..d0c7f303fca04 100644 --- a/control/autoware_operation_mode_transition_manager/src/node.cpp +++ b/control/autoware_operation_mode_transition_manager/src/node.cpp @@ -14,7 +14,7 @@ #include "node.hpp" -#include +#include namespace autoware::operation_mode_transition_manager { @@ -27,7 +27,7 @@ OperationModeTransitionManager::OperationModeTransitionManager(const rclcpp::Nod // component interface { - const auto node = component_interface_utils::NodeAdaptor(this); + const auto node = autoware::component_interface_utils::NodeAdaptor(this); node.init_srv( srv_autoware_control_, this, &OperationModeTransitionManager::onChangeAutowareControl); node.init_srv( @@ -90,7 +90,7 @@ void OperationModeTransitionManager::onChangeOperationMode( { const auto mode = toEnum(*request); if (!mode) { - throw component_interface_utils::ParameterError("The operation mode is invalid."); + throw autoware::component_interface_utils::ParameterError("The operation mode is invalid."); } changeOperationMode(mode.value()); response->status.success = true; @@ -121,23 +121,25 @@ void OperationModeTransitionManager::changeOperationMode(std::optional +#include #include -#include #include #include @@ -39,9 +39,12 @@ class OperationModeTransitionManager : public rclcpp::Node autoware::component_interface_specs::system::ChangeAutowareControl; using ChangeOperationModeAPI = autoware::component_interface_specs::system::ChangeOperationMode; using OperationModeStateAPI = autoware::component_interface_specs::system::OperationModeState; - component_interface_utils::Service::SharedPtr srv_autoware_control_; - component_interface_utils::Service::SharedPtr srv_operation_mode_; - component_interface_utils::Publisher::SharedPtr pub_operation_mode_; + autoware::component_interface_utils::Service::SharedPtr + srv_autoware_control_; + autoware::component_interface_utils::Service::SharedPtr + srv_operation_mode_; + autoware::component_interface_utils::Publisher::SharedPtr + pub_operation_mode_; void onChangeAutowareControl( const ChangeAutowareControlAPI::Service::Request::SharedPtr request, const ChangeAutowareControlAPI::Service::Response::SharedPtr response); diff --git a/control/autoware_vehicle_cmd_gate/package.xml b/control/autoware_vehicle_cmd_gate/package.xml index 532553da103e9..fb3de9b46fda0 100644 --- a/control/autoware_vehicle_cmd_gate/package.xml +++ b/control/autoware_vehicle_cmd_gate/package.xml @@ -17,12 +17,12 @@ autoware_adapi_v1_msgs autoware_component_interface_specs + autoware_component_interface_utils autoware_control_msgs autoware_motion_utils autoware_universe_utils autoware_vehicle_info_utils autoware_vehicle_msgs - component_interface_utils diagnostic_updater geometry_msgs rclcpp diff --git a/control/autoware_vehicle_cmd_gate/src/adapi_pause_interface.cpp b/control/autoware_vehicle_cmd_gate/src/adapi_pause_interface.cpp index a4bce3be35cb0..b2f699aa912c7 100644 --- a/control/autoware_vehicle_cmd_gate/src/adapi_pause_interface.cpp +++ b/control/autoware_vehicle_cmd_gate/src/adapi_pause_interface.cpp @@ -19,7 +19,7 @@ namespace autoware::vehicle_cmd_gate AdapiPauseInterface::AdapiPauseInterface(rclcpp::Node * node) : node_(node) { - const auto adaptor = component_interface_utils::NodeAdaptor(node); + const auto adaptor = autoware::component_interface_utils::NodeAdaptor(node); adaptor.init_srv(srv_set_pause_, this, &AdapiPauseInterface::on_pause); adaptor.init_pub(pub_is_paused_); adaptor.init_pub(pub_is_start_requested_); diff --git a/control/autoware_vehicle_cmd_gate/src/adapi_pause_interface.hpp b/control/autoware_vehicle_cmd_gate/src/adapi_pause_interface.hpp index 18e9bcead1b2b..3ddbff82e3102 100644 --- a/control/autoware_vehicle_cmd_gate/src/adapi_pause_interface.hpp +++ b/control/autoware_vehicle_cmd_gate/src/adapi_pause_interface.hpp @@ -16,7 +16,7 @@ #define ADAPI_PAUSE_INTERFACE_HPP_ #include -#include +#include #include #include @@ -46,9 +46,10 @@ class AdapiPauseInterface std::optional prev_is_start_requested_; rclcpp::Node * node_; - component_interface_utils::Service::SharedPtr srv_set_pause_; - component_interface_utils::Publisher::SharedPtr pub_is_paused_; - component_interface_utils::Publisher::SharedPtr pub_is_start_requested_; + autoware::component_interface_utils::Service::SharedPtr srv_set_pause_; + autoware::component_interface_utils::Publisher::SharedPtr pub_is_paused_; + autoware::component_interface_utils::Publisher::SharedPtr + pub_is_start_requested_; void on_pause( const SetPause::Service::Request::SharedPtr req, diff --git a/control/autoware_vehicle_cmd_gate/src/moderate_stop_interface.cpp b/control/autoware_vehicle_cmd_gate/src/moderate_stop_interface.cpp index 0fe90adfd0a72..44c229e09748b 100644 --- a/control/autoware_vehicle_cmd_gate/src/moderate_stop_interface.cpp +++ b/control/autoware_vehicle_cmd_gate/src/moderate_stop_interface.cpp @@ -19,7 +19,7 @@ namespace autoware::vehicle_cmd_gate ModerateStopInterface::ModerateStopInterface(rclcpp::Node * node) : node_(node) { - const auto adaptor = component_interface_utils::NodeAdaptor(node); + const auto adaptor = autoware::component_interface_utils::NodeAdaptor(node); adaptor.init_srv(srv_set_stop_, this, &ModerateStopInterface::on_stop_request); adaptor.init_pub(pub_is_stopped_); diff --git a/control/autoware_vehicle_cmd_gate/src/moderate_stop_interface.hpp b/control/autoware_vehicle_cmd_gate/src/moderate_stop_interface.hpp index a9ac916d3c10d..2cef0071b0dd9 100644 --- a/control/autoware_vehicle_cmd_gate/src/moderate_stop_interface.hpp +++ b/control/autoware_vehicle_cmd_gate/src/moderate_stop_interface.hpp @@ -16,7 +16,7 @@ #define MODERATE_STOP_INTERFACE_HPP_ #include -#include +#include #include #include @@ -43,8 +43,8 @@ class ModerateStopInterface std::optional> prev_stop_map_; rclcpp::Node * node_; - component_interface_utils::Service::SharedPtr srv_set_stop_; - component_interface_utils::Publisher::SharedPtr pub_is_stopped_; + autoware::component_interface_utils::Service::SharedPtr srv_set_stop_; + autoware::component_interface_utils::Publisher::SharedPtr pub_is_stopped_; void on_stop_request( const SetStop::Service::Request::SharedPtr req, diff --git a/control/predicted_path_checker/include/predicted_path_checker/predicted_path_checker_node.hpp b/control/predicted_path_checker/include/predicted_path_checker/predicted_path_checker_node.hpp index be3a9eace9aac..af19f87fecc76 100644 --- a/control/predicted_path_checker/include/predicted_path_checker/predicted_path_checker_node.hpp +++ b/control/predicted_path_checker/include/predicted_path_checker/predicted_path_checker_node.hpp @@ -16,13 +16,13 @@ #define PREDICTED_PATH_CHECKER__PREDICTED_PATH_CHECKER_NODE_HPP_ #include +#include #include #include #include #include #include #include -#include #include #include #include @@ -96,11 +96,11 @@ class PredictedPathCheckerNode : public rclcpp::Node sub_predicted_trajectory_; rclcpp::Subscription::SharedPtr sub_odom_; rclcpp::Subscription::SharedPtr sub_accel_; - component_interface_utils::Subscription< + autoware::component_interface_utils::Subscription< autoware::component_interface_specs::control::IsStopped>::SharedPtr sub_stop_state_; // Client - component_interface_utils::Client< + autoware::component_interface_utils::Client< autoware::component_interface_specs::control::SetStop>::SharedPtr cli_set_stop_; // Data Buffer diff --git a/control/predicted_path_checker/package.xml b/control/predicted_path_checker/package.xml index 6bceb24c4439d..67b9d04f79a06 100644 --- a/control/predicted_path_checker/package.xml +++ b/control/predicted_path_checker/package.xml @@ -13,13 +13,13 @@ autoware_cmake autoware_component_interface_specs + autoware_component_interface_utils autoware_motion_utils autoware_perception_msgs autoware_planning_msgs autoware_universe_utils autoware_vehicle_info_utils boost - component_interface_utils diagnostic_updater eigen geometry_msgs diff --git a/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp b/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp index 4ebde9cc0fc72..a743b8cead5e7 100644 --- a/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp +++ b/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp @@ -34,7 +34,7 @@ PredictedPathCheckerNode::PredictedPathCheckerNode(const rclcpp::NodeOptions & n { using std::placeholders::_1; - const auto adaptor = component_interface_utils::NodeAdaptor(this); + const auto adaptor = autoware::component_interface_utils::NodeAdaptor(this); group_cli_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); adaptor.init_cli(cli_set_stop_, group_cli_); adaptor.init_sub(sub_stop_state_, this, &PredictedPathCheckerNode::onIsStopped); diff --git a/localization/autoware_geo_pose_projector/package.xml b/localization/autoware_geo_pose_projector/package.xml index 4f02d4ff40981..f78589ddb922f 100644 --- a/localization/autoware_geo_pose_projector/package.xml +++ b/localization/autoware_geo_pose_projector/package.xml @@ -18,8 +18,8 @@ autoware_cmake autoware_component_interface_specs + autoware_component_interface_utils autoware_geography_utils - component_interface_utils geographic_msgs geometry_msgs rclcpp diff --git a/localization/autoware_geo_pose_projector/src/geo_pose_projector.cpp b/localization/autoware_geo_pose_projector/src/geo_pose_projector.cpp index f44780c140127..c3bf074f73aeb 100644 --- a/localization/autoware_geo_pose_projector/src/geo_pose_projector.cpp +++ b/localization/autoware_geo_pose_projector/src/geo_pose_projector.cpp @@ -31,7 +31,7 @@ GeoPoseProjector::GeoPoseProjector(const rclcpp::NodeOptions & options) : rclcpp::Node("geo_pose_projector", options), publish_tf_(declare_parameter("publish_tf")) { // Subscribe to map_projector_info topic - const auto adaptor = component_interface_utils::NodeAdaptor(this); + const auto adaptor = autoware::component_interface_utils::NodeAdaptor(this); adaptor.init_sub( sub_map_projector_info_, [this](const MapProjectorInfo::Message::ConstSharedPtr msg) { projector_info_ = *msg; }); diff --git a/localization/autoware_geo_pose_projector/src/geo_pose_projector.hpp b/localization/autoware_geo_pose_projector/src/geo_pose_projector.hpp index 493d6cb13246a..f45605968c8c9 100644 --- a/localization/autoware_geo_pose_projector/src/geo_pose_projector.hpp +++ b/localization/autoware_geo_pose_projector/src/geo_pose_projector.hpp @@ -16,7 +16,7 @@ #define GEO_POSE_PROJECTOR_HPP_ #include -#include +#include #include #include @@ -43,7 +43,8 @@ class GeoPoseProjector : public rclcpp::Node private: void on_geo_pose(const GeoPoseWithCovariance::ConstSharedPtr msg); - component_interface_utils::Subscription::SharedPtr sub_map_projector_info_; + autoware::component_interface_utils::Subscription::SharedPtr + sub_map_projector_info_; rclcpp::Subscription::SharedPtr geo_pose_sub_; rclcpp::Publisher::SharedPtr pose_pub_; diff --git a/localization/autoware_pose_initializer/package.xml b/localization/autoware_pose_initializer/package.xml index 83a961a322c6a..1580c264f3ae1 100644 --- a/localization/autoware_pose_initializer/package.xml +++ b/localization/autoware_pose_initializer/package.xml @@ -20,11 +20,11 @@ autoware_cmake autoware_component_interface_specs + autoware_component_interface_utils autoware_localization_util autoware_map_height_fitter autoware_motion_utils autoware_universe_utils - component_interface_utils geometry_msgs rclcpp rclcpp_components diff --git a/localization/autoware_pose_initializer/src/ekf_localization_trigger_module.cpp b/localization/autoware_pose_initializer/src/ekf_localization_trigger_module.cpp index 525ebfea4f07d..089b941141074 100644 --- a/localization/autoware_pose_initializer/src/ekf_localization_trigger_module.cpp +++ b/localization/autoware_pose_initializer/src/ekf_localization_trigger_module.cpp @@ -15,14 +15,14 @@ #include "ekf_localization_trigger_module.hpp" #include -#include +#include #include #include namespace autoware::pose_initializer { -using ServiceException = component_interface_utils::ServiceException; +using ServiceException = autoware::component_interface_utils::ServiceException; using Initialize = autoware::component_interface_specs::localization::Initialize; EkfLocalizationTriggerModule::EkfLocalizationTriggerModule(rclcpp::Node * node) : node_(node) @@ -50,7 +50,8 @@ void EkfLocalizationTriggerModule::send_request(bool flag, bool need_spin) const } if (!client_ekf_trigger_->service_is_ready()) { - throw component_interface_utils::ServiceUnready("EKF triggering service is not ready"); + throw autoware::component_interface_utils::ServiceUnready( + "EKF triggering service is not ready"); } auto future_ekf = client_ekf_trigger_->async_send_request(req); diff --git a/localization/autoware_pose_initializer/src/gnss_module.cpp b/localization/autoware_pose_initializer/src/gnss_module.cpp index 6d3979f2675ec..b238100a764e7 100644 --- a/localization/autoware_pose_initializer/src/gnss_module.cpp +++ b/localization/autoware_pose_initializer/src/gnss_module.cpp @@ -15,7 +15,7 @@ #include "gnss_module.hpp" #include -#include +#include #include @@ -40,13 +40,13 @@ geometry_msgs::msg::PoseWithCovarianceStamped GnssModule::get_pose() using Initialize = autoware::component_interface_specs::localization::Initialize; if (!pose_) { - throw component_interface_utils::ServiceException( + throw autoware::component_interface_utils::ServiceException( Initialize::Service::Response::ERROR_GNSS, "The GNSS pose has not arrived."); } const auto elapsed = rclcpp::Time(pose_->header.stamp) - clock_->now(); if (timeout_ < elapsed.seconds()) { - throw component_interface_utils::ServiceException( + throw autoware::component_interface_utils::ServiceException( Initialize::Service::Response::ERROR_GNSS, "The GNSS pose is out of date."); } diff --git a/localization/autoware_pose_initializer/src/localization_module.cpp b/localization/autoware_pose_initializer/src/localization_module.cpp index 10345d2a39757..c6b57dd83bc97 100644 --- a/localization/autoware_pose_initializer/src/localization_module.cpp +++ b/localization/autoware_pose_initializer/src/localization_module.cpp @@ -15,14 +15,14 @@ #include "localization_module.hpp" #include -#include +#include #include #include namespace autoware::pose_initializer { -using ServiceException = component_interface_utils::ServiceException; +using ServiceException = autoware::component_interface_utils::ServiceException; using Initialize = autoware::component_interface_specs::localization::Initialize; using PoseWithCovarianceStamped = geometry_msgs::msg::PoseWithCovarianceStamped; @@ -39,7 +39,7 @@ std::tuple LocalizationModule::align_pose( req->pose_with_covariance = pose; if (!cli_align_->service_is_ready()) { - throw component_interface_utils::ServiceUnready("align server is not ready."); + throw autoware::component_interface_utils::ServiceUnready("align server is not ready."); } RCLCPP_INFO(logger_, "Call align server."); diff --git a/localization/autoware_pose_initializer/src/ndt_localization_trigger_module.cpp b/localization/autoware_pose_initializer/src/ndt_localization_trigger_module.cpp index 39cb0f247c27f..f66fbe72333ac 100644 --- a/localization/autoware_pose_initializer/src/ndt_localization_trigger_module.cpp +++ b/localization/autoware_pose_initializer/src/ndt_localization_trigger_module.cpp @@ -15,14 +15,14 @@ #include "ndt_localization_trigger_module.hpp" #include -#include +#include #include #include namespace autoware::pose_initializer { -using ServiceException = component_interface_utils::ServiceException; +using ServiceException = autoware::component_interface_utils::ServiceException; using Initialize = autoware::component_interface_specs::localization::Initialize; NdtLocalizationTriggerModule::NdtLocalizationTriggerModule(rclcpp::Node * node) : node_(node) @@ -50,7 +50,8 @@ void NdtLocalizationTriggerModule::send_request(bool flag, bool need_spin) const } if (!client_ndt_trigger_->service_is_ready()) { - throw component_interface_utils::ServiceUnready("NDT triggering service is not ready"); + throw autoware::component_interface_utils::ServiceUnready( + "NDT triggering service is not ready"); } auto future_ndt = client_ndt_trigger_->async_send_request(req); diff --git a/localization/autoware_pose_initializer/src/pose_initializer_core.cpp b/localization/autoware_pose_initializer/src/pose_initializer_core.cpp index fc9c4afab2459..5e9c68d2acc80 100644 --- a/localization/autoware_pose_initializer/src/pose_initializer_core.cpp +++ b/localization/autoware_pose_initializer/src/pose_initializer_core.cpp @@ -31,7 +31,7 @@ namespace autoware::pose_initializer PoseInitializer::PoseInitializer(const rclcpp::NodeOptions & options) : rclcpp::Node("pose_initializer", options) { - const auto node = component_interface_utils::NodeAdaptor(this); + const auto node = autoware::component_interface_utils::NodeAdaptor(this); group_srv_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); node.init_pub(pub_state_); node.init_srv(srv_initialize_, this, &PoseInitializer::on_initialize, group_srv_); diff --git a/localization/autoware_pose_initializer/src/pose_initializer_core.hpp b/localization/autoware_pose_initializer/src/pose_initializer_core.hpp index 20922e4d46747..28d2eae08c3f1 100644 --- a/localization/autoware_pose_initializer/src/pose_initializer_core.hpp +++ b/localization/autoware_pose_initializer/src/pose_initializer_core.hpp @@ -18,8 +18,8 @@ #include "autoware/localization_util/diagnostics_module.hpp" #include +#include #include -#include #include #include @@ -41,15 +41,15 @@ class PoseInitializer : public rclcpp::Node explicit PoseInitializer(const rclcpp::NodeOptions & options); private: - using ServiceException = component_interface_utils::ServiceException; + using ServiceException = autoware::component_interface_utils::ServiceException; using Initialize = autoware::component_interface_specs::localization::Initialize; using State = autoware::component_interface_specs::localization::InitializationState; using PoseWithCovarianceStamped = geometry_msgs::msg::PoseWithCovarianceStamped; rclcpp::CallbackGroup::SharedPtr group_srv_; rclcpp::Publisher::SharedPtr pub_reset_; - component_interface_utils::Publisher::SharedPtr pub_state_; - component_interface_utils::Service::SharedPtr srv_initialize_; + autoware::component_interface_utils::Publisher::SharedPtr pub_state_; + autoware::component_interface_utils::Service::SharedPtr srv_initialize_; State::Message state_; std::array output_pose_covariance_{}; std::array gnss_particle_covariance_{}; diff --git a/map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp b/map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp index 7abfd119ae412..6ef9213cf33f8 100644 --- a/map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp +++ b/map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp @@ -18,7 +18,7 @@ #include "rclcpp/rclcpp.hpp" #include -#include +#include #include @@ -35,7 +35,7 @@ class MapProjectionLoader : public rclcpp::Node private: using MapProjectorInfo = autoware::component_interface_specs::map::MapProjectorInfo; - component_interface_utils::Publisher::SharedPtr publisher_; + autoware::component_interface_utils::Publisher::SharedPtr publisher_; }; } // namespace autoware::map_projection_loader diff --git a/map/autoware_map_projection_loader/package.xml b/map/autoware_map_projection_loader/package.xml index d58d4191300a3..593259fc6495a 100644 --- a/map/autoware_map_projection_loader/package.xml +++ b/map/autoware_map_projection_loader/package.xml @@ -17,8 +17,8 @@ autoware_cmake autoware_component_interface_specs + autoware_component_interface_utils autoware_lanelet2_extension - component_interface_utils rclcpp rclcpp_components tier4_map_msgs diff --git a/map/autoware_map_projection_loader/src/map_projection_loader.cpp b/map/autoware_map_projection_loader/src/map_projection_loader.cpp index 18ad425c1fd9a..588ede616a814 100644 --- a/map/autoware_map_projection_loader/src/map_projection_loader.cpp +++ b/map/autoware_map_projection_loader/src/map_projection_loader.cpp @@ -91,7 +91,7 @@ MapProjectionLoader::MapProjectionLoader(const rclcpp::NodeOptions & options) load_map_projector_info(yaml_filename, lanelet2_map_filename); // Publish the message - const auto adaptor = component_interface_utils::NodeAdaptor(this); + const auto adaptor = autoware::component_interface_utils::NodeAdaptor(this); adaptor.init_pub(publisher_); publisher_->publish(msg); } diff --git a/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp b/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp index 8f182e13ca346..2d3fbfb2a140f 100644 --- a/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp +++ b/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp @@ -16,8 +16,8 @@ #define MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_ #include +#include #include -#include #include #include @@ -48,7 +48,8 @@ class Lanelet2MapLoaderNode : public rclcpp::Node void on_map_projector_info(const MapProjectorInfo::Message::ConstSharedPtr msg); - component_interface_utils::Subscription::SharedPtr sub_map_projector_info_; + autoware::component_interface_utils::Subscription::SharedPtr + sub_map_projector_info_; rclcpp::Publisher::SharedPtr pub_map_bin_; }; diff --git a/map/map_loader/package.xml b/map/map_loader/package.xml index 6ab72f3d5f95b..c22c909cad797 100644 --- a/map/map_loader/package.xml +++ b/map/map_loader/package.xml @@ -20,10 +20,10 @@ autoware_cmake autoware_component_interface_specs + autoware_component_interface_utils autoware_geography_utils autoware_lanelet2_extension autoware_map_msgs - component_interface_utils fmt geometry_msgs libpcl-all-dev diff --git a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp b/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp index 9704b2ec68150..c2334d4589f27 100644 --- a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp +++ b/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp @@ -58,7 +58,7 @@ using tier4_map_msgs::msg::MapProjectorInfo; Lanelet2MapLoaderNode::Lanelet2MapLoaderNode(const rclcpp::NodeOptions & options) : Node("lanelet2_map_loader", options) { - const auto adaptor = component_interface_utils::NodeAdaptor(this); + const auto adaptor = autoware::component_interface_utils::NodeAdaptor(this); // subscription adaptor.init_sub( diff --git a/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager.hpp b/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager.hpp index f26f9c8eb6dde..2c9a935c2077b 100644 --- a/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager.hpp +++ b/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager.hpp @@ -31,7 +31,7 @@ } #include -#include +#include #include #include diff --git a/planning/autoware_planning_test_manager/package.xml b/planning/autoware_planning_test_manager/package.xml index 898c78391fb72..85118fe690161 100644 --- a/planning/autoware_planning_test_manager/package.xml +++ b/planning/autoware_planning_test_manager/package.xml @@ -14,6 +14,7 @@ autoware_cmake autoware_component_interface_specs + autoware_component_interface_utils autoware_control_msgs autoware_lanelet2_extension autoware_map_msgs @@ -24,7 +25,6 @@ autoware_test_utils autoware_universe_utils autoware_vehicle_msgs - component_interface_utils lanelet2_io nav_msgs rclcpp diff --git a/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp b/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp index 0f3437a2a8881..e02c78319681b 100644 --- a/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp +++ b/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp @@ -15,7 +15,7 @@ #define AUTOWARE__GNSS_POSER__GNSS_POSER_NODE_HPP_ #include -#include +#include #include #include @@ -79,7 +79,8 @@ class GNSSPoser : public rclcpp::Node tf2_ros::TransformListener tf2_listener_; tf2_ros::TransformBroadcaster tf2_broadcaster_; - component_interface_utils::Subscription::SharedPtr sub_map_projector_info_; + autoware::component_interface_utils::Subscription::SharedPtr + sub_map_projector_info_; rclcpp::Subscription::SharedPtr nav_sat_fix_sub_; rclcpp::Subscription::SharedPtr autoware_orientation_sub_; diff --git a/sensing/autoware_gnss_poser/package.xml b/sensing/autoware_gnss_poser/package.xml index 6565148df73cd..d8493ac8bdd1e 100644 --- a/sensing/autoware_gnss_poser/package.xml +++ b/sensing/autoware_gnss_poser/package.xml @@ -20,9 +20,9 @@ libboost-dev autoware_component_interface_specs + autoware_component_interface_utils autoware_geography_utils autoware_sensing_msgs - component_interface_utils geographic_msgs geographiclib geometry_msgs diff --git a/sensing/autoware_gnss_poser/src/gnss_poser_node.cpp b/sensing/autoware_gnss_poser/src/gnss_poser_node.cpp index 4a5ff71e3df58..e6d59b7edfc16 100644 --- a/sensing/autoware_gnss_poser/src/gnss_poser_node.cpp +++ b/sensing/autoware_gnss_poser/src/gnss_poser_node.cpp @@ -39,7 +39,7 @@ GNSSPoser::GNSSPoser(const rclcpp::NodeOptions & node_options) gnss_pose_pub_method_(static_cast(declare_parameter("gnss_pose_pub_method"))) { // Subscribe to map_projector_info topic - const auto adaptor = component_interface_utils::NodeAdaptor(this); + const auto adaptor = autoware::component_interface_utils::NodeAdaptor(this); adaptor.init_sub( sub_map_projector_info_, [this](const MapProjectorInfo::Message::ConstSharedPtr msg) { callback_map_projector_info(msg); diff --git a/system/autoware_default_adapi/package.xml b/system/autoware_default_adapi/package.xml index 4c9664912db40..738e53b089c2a 100644 --- a/system/autoware_default_adapi/package.xml +++ b/system/autoware_default_adapi/package.xml @@ -16,13 +16,13 @@ autoware_adapi_v1_msgs autoware_adapi_version_msgs autoware_component_interface_specs + autoware_component_interface_utils autoware_geography_utils autoware_motion_utils autoware_planning_msgs autoware_system_msgs autoware_vehicle_info_utils autoware_vehicle_msgs - component_interface_utils diagnostic_graph_utils geographic_msgs nav_msgs diff --git a/system/autoware_default_adapi/src/compatibility/autoware_state.cpp b/system/autoware_default_adapi/src/compatibility/autoware_state.cpp index da110a711e35a..e11a4532d96b7 100644 --- a/system/autoware_default_adapi/src/compatibility/autoware_state.cpp +++ b/system/autoware_default_adapi/src/compatibility/autoware_state.cpp @@ -41,7 +41,7 @@ AutowareStateNode::AutowareStateNode(const rclcpp::NodeOptions & options) "/autoware/shutdown", std::bind(&AutowareStateNode::on_shutdown, this, std::placeholders::_1, std::placeholders::_2)); - const auto adaptor = component_interface_utils::NodeAdaptor(this); + const auto adaptor = autoware::component_interface_utils::NodeAdaptor(this); adaptor.init_sub(sub_localization_, this, &AutowareStateNode::on_localization); adaptor.init_sub(sub_routing_, this, &AutowareStateNode::on_routing); adaptor.init_sub(sub_operation_mode_, this, &AutowareStateNode::on_operation_mode); diff --git a/system/autoware_default_adapi/src/fail_safe.cpp b/system/autoware_default_adapi/src/fail_safe.cpp index 130e2f523477c..0b0d66adc6a32 100644 --- a/system/autoware_default_adapi/src/fail_safe.cpp +++ b/system/autoware_default_adapi/src/fail_safe.cpp @@ -19,7 +19,7 @@ namespace autoware::default_adapi FailSafeNode::FailSafeNode(const rclcpp::NodeOptions & options) : Node("fail_safe", options) { - const auto adaptor = component_interface_utils::NodeAdaptor(this); + const auto adaptor = autoware::component_interface_utils::NodeAdaptor(this); adaptor.init_pub(pub_mrm_state_); adaptor.init_sub(sub_mrm_state_, this, &FailSafeNode::on_state); diff --git a/system/autoware_default_adapi/src/fail_safe.hpp b/system/autoware_default_adapi/src/fail_safe.hpp index 7b42b97205672..16cf340ec7a20 100644 --- a/system/autoware_default_adapi/src/fail_safe.hpp +++ b/system/autoware_default_adapi/src/fail_safe.hpp @@ -16,8 +16,8 @@ #define FAIL_SAFE_HPP_ #include +#include #include -#include #include // This file should be included after messages. diff --git a/system/autoware_default_adapi/src/heartbeat.cpp b/system/autoware_default_adapi/src/heartbeat.cpp index e048c347f3678..2d6171b88151d 100644 --- a/system/autoware_default_adapi/src/heartbeat.cpp +++ b/system/autoware_default_adapi/src/heartbeat.cpp @@ -29,7 +29,7 @@ HeartbeatNode::HeartbeatNode(const rclcpp::NodeOptions & options) : Node("heartb pub_->publish(heartbeat); }; - const auto adaptor = component_interface_utils::NodeAdaptor(this); + const auto adaptor = autoware::component_interface_utils::NodeAdaptor(this); adaptor.init_pub(pub_); const auto period = rclcpp::Rate(10.0).period(); diff --git a/system/autoware_default_adapi/src/interface.cpp b/system/autoware_default_adapi/src/interface.cpp index 0d9134102c42a..fb924f06f42ea 100644 --- a/system/autoware_default_adapi/src/interface.cpp +++ b/system/autoware_default_adapi/src/interface.cpp @@ -25,7 +25,7 @@ InterfaceNode::InterfaceNode(const rclcpp::NodeOptions & options) : Node("interf res->patch = 0; }; - const auto adaptor = component_interface_utils::NodeAdaptor(this); + const auto adaptor = autoware::component_interface_utils::NodeAdaptor(this); adaptor.init_srv(srv_, on_interface_version); } diff --git a/system/autoware_default_adapi/src/localization.cpp b/system/autoware_default_adapi/src/localization.cpp index 7e6a094fb0fd2..93977b36cd0a1 100644 --- a/system/autoware_default_adapi/src/localization.cpp +++ b/system/autoware_default_adapi/src/localization.cpp @@ -22,7 +22,7 @@ namespace autoware::default_adapi LocalizationNode::LocalizationNode(const rclcpp::NodeOptions & options) : Node("localization", options) { - const auto adaptor = component_interface_utils::NodeAdaptor(this); + const auto adaptor = autoware::component_interface_utils::NodeAdaptor(this); group_cli_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); adaptor.relay_message(pub_state_, sub_state_); adaptor.init_cli(cli_initialize_); diff --git a/system/autoware_default_adapi/src/motion.cpp b/system/autoware_default_adapi/src/motion.cpp index 2073b1dad9f77..b59ba8e52e403 100644 --- a/system/autoware_default_adapi/src/motion.cpp +++ b/system/autoware_default_adapi/src/motion.cpp @@ -27,7 +27,7 @@ MotionNode::MotionNode(const rclcpp::NodeOptions & options) require_accept_start_ = declare_parameter("require_accept_start"); is_calling_set_pause_ = false; - const auto adaptor = component_interface_utils::NodeAdaptor(this); + const auto adaptor = autoware::component_interface_utils::NodeAdaptor(this); group_cli_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); adaptor.init_srv(srv_accept_, this, &MotionNode::on_accept); adaptor.init_pub(pub_state_); @@ -154,7 +154,7 @@ void MotionNode::on_accept( { if (state_ != State::Starting) { using AcceptStartResponse = autoware_ad_api::motion::AcceptStart::Service::Response; - throw component_interface_utils::ServiceException( + throw autoware::component_interface_utils::ServiceException( AcceptStartResponse::ERROR_NOT_STARTING, "The motion state is not starting"); } change_state(State::Resuming); diff --git a/system/autoware_default_adapi/src/motion.hpp b/system/autoware_default_adapi/src/motion.hpp index 3854753a39cc7..cae7b310edc73 100644 --- a/system/autoware_default_adapi/src/motion.hpp +++ b/system/autoware_default_adapi/src/motion.hpp @@ -16,10 +16,10 @@ #define MOTION_HPP_ #include +#include +#include #include #include -#include -#include #include // This file should be included after messages. diff --git a/system/autoware_default_adapi/src/operation_mode.cpp b/system/autoware_default_adapi/src/operation_mode.cpp index cd452f2fa83a7..b7c9403830351 100644 --- a/system/autoware_default_adapi/src/operation_mode.cpp +++ b/system/autoware_default_adapi/src/operation_mode.cpp @@ -26,7 +26,7 @@ using ServiceResponse = autoware_adapi_v1_msgs::srv::ChangeOperationMode::Respon OperationModeNode::OperationModeNode(const rclcpp::NodeOptions & options) : Node("operation_mode", options) { - const auto adaptor = component_interface_utils::NodeAdaptor(this); + const auto adaptor = autoware::component_interface_utils::NodeAdaptor(this); group_cli_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); adaptor.init_sub(sub_state_, this, &OperationModeNode::on_state); adaptor.init_pub(pub_state_); @@ -70,13 +70,13 @@ void OperationModeNode::change_mode( get_logger(), "The target mode is not available. Please check the cause with " "rqt_diagnostics_graph_monitor"); - throw component_interface_utils::ServiceException( + throw autoware::component_interface_utils::ServiceException( ServiceResponse::ERROR_NOT_AVAILABLE, "The target mode is not available. Please check the diagnostics."); } const auto req = std::make_shared(); req->mode = mode; - component_interface_utils::status::copy(cli_mode_->call(req), res); // NOLINT + autoware::component_interface_utils::status::copy(cli_mode_->call(req), res); // NOLINT } void OperationModeNode::on_change_to_stop( @@ -112,12 +112,12 @@ void OperationModeNode::on_enable_autoware_control( const EnableAutowareControl::Service::Response::SharedPtr res) { if (!mode_available_[curr_state_.mode]) { - throw component_interface_utils::ServiceException( + throw autoware::component_interface_utils::ServiceException( ServiceResponse::ERROR_NOT_AVAILABLE, "The mode change is blocked by the system."); } const auto req = std::make_shared(); req->autoware_control = true; - component_interface_utils::status::copy(cli_control_->call(req), res); // NOLINT + autoware::component_interface_utils::status::copy(cli_control_->call(req), res); // NOLINT } void OperationModeNode::on_disable_autoware_control( @@ -126,7 +126,7 @@ void OperationModeNode::on_disable_autoware_control( { const auto req = std::make_shared(); req->autoware_control = false; - component_interface_utils::status::copy(cli_control_->call(req), res); // NOLINT + autoware::component_interface_utils::status::copy(cli_control_->call(req), res); // NOLINT } void OperationModeNode::on_state(const OperationModeState::Message::ConstSharedPtr msg) diff --git a/system/autoware_default_adapi/src/operation_mode.hpp b/system/autoware_default_adapi/src/operation_mode.hpp index c76cd5f92cdf0..ca5bb2ba72592 100644 --- a/system/autoware_default_adapi/src/operation_mode.hpp +++ b/system/autoware_default_adapi/src/operation_mode.hpp @@ -16,8 +16,8 @@ #define OPERATION_MODE_HPP_ #include +#include #include -#include #include #include diff --git a/system/autoware_default_adapi/src/perception.cpp b/system/autoware_default_adapi/src/perception.cpp index 2b4eaae0e2afb..ba324fd1cb85b 100644 --- a/system/autoware_default_adapi/src/perception.cpp +++ b/system/autoware_default_adapi/src/perception.cpp @@ -34,7 +34,7 @@ std::unordered_map shape_type_ = { PerceptionNode::PerceptionNode(const rclcpp::NodeOptions & options) : Node("perception", options) { - const auto adaptor = component_interface_utils::NodeAdaptor(this); + const auto adaptor = autoware::component_interface_utils::NodeAdaptor(this); adaptor.init_pub(pub_object_recognized_); adaptor.init_sub(sub_object_recognized_, this, &PerceptionNode::object_recognize); } diff --git a/system/autoware_default_adapi/src/planning.cpp b/system/autoware_default_adapi/src/planning.cpp index b81e48fada790..4961bd0da1455 100644 --- a/system/autoware_default_adapi/src/planning.cpp +++ b/system/autoware_default_adapi/src/planning.cpp @@ -98,7 +98,7 @@ PlanningNode::PlanningNode(const rclcpp::NodeOptions & options) : Node("planning sub_steering_factors_ = init_factors(this, steering_factors_, steering_factor_topics); - const auto adaptor = component_interface_utils::NodeAdaptor(this); + const auto adaptor = autoware::component_interface_utils::NodeAdaptor(this); adaptor.init_pub(pub_velocity_factors_); adaptor.init_pub(pub_steering_factors_); adaptor.init_sub(sub_kinematic_state_, this, &PlanningNode::on_kinematic_state); diff --git a/system/autoware_default_adapi/src/routing.cpp b/system/autoware_default_adapi/src/routing.cpp index bdb745b0e0dac..a7b8146bdd45e 100644 --- a/system/autoware_default_adapi/src/routing.cpp +++ b/system/autoware_default_adapi/src/routing.cpp @@ -50,7 +50,7 @@ namespace autoware::default_adapi RoutingNode::RoutingNode(const rclcpp::NodeOptions & options) : Node("routing", options) { - const auto adaptor = component_interface_utils::NodeAdaptor(this); + const auto adaptor = autoware::component_interface_utils::NodeAdaptor(this); group_cli_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); adaptor.init_pub(pub_state_); adaptor.init_pub(pub_route_); diff --git a/system/autoware_default_adapi/src/routing.hpp b/system/autoware_default_adapi/src/routing.hpp index b78237697dcf0..0f57f0358fc54 100644 --- a/system/autoware_default_adapi/src/routing.hpp +++ b/system/autoware_default_adapi/src/routing.hpp @@ -17,8 +17,8 @@ #include #include +#include #include -#include #include // This file should be included after messages. diff --git a/system/autoware_default_adapi/src/utils/topics.hpp b/system/autoware_default_adapi/src/utils/topics.hpp index e0f57de89bac3..6ef0c08927d30 100644 --- a/system/autoware_default_adapi/src/utils/topics.hpp +++ b/system/autoware_default_adapi/src/utils/topics.hpp @@ -15,7 +15,7 @@ #ifndef UTILS__TOPICS_HPP_ #define UTILS__TOPICS_HPP_ -#include +#include #include #include diff --git a/system/autoware_default_adapi/src/utils/types.hpp b/system/autoware_default_adapi/src/utils/types.hpp index ac4acb5fb19d6..c0f751ff7a5f2 100644 --- a/system/autoware_default_adapi/src/utils/types.hpp +++ b/system/autoware_default_adapi/src/utils/types.hpp @@ -15,19 +15,19 @@ #ifndef UTILS__TYPES_HPP_ #define UTILS__TYPES_HPP_ -#include +#include namespace autoware::default_adapi { template -using Pub = typename component_interface_utils::Publisher::SharedPtr; +using Pub = typename autoware::component_interface_utils::Publisher::SharedPtr; template -using Sub = typename component_interface_utils::Subscription::SharedPtr; +using Sub = typename autoware::component_interface_utils::Subscription::SharedPtr; template -using Cli = typename component_interface_utils::Client::SharedPtr; +using Cli = typename autoware::component_interface_utils::Client::SharedPtr; template -using Srv = typename component_interface_utils::Service::SharedPtr; +using Srv = typename autoware::component_interface_utils::Service::SharedPtr; } // namespace autoware::default_adapi diff --git a/system/autoware_default_adapi/src/vehicle.cpp b/system/autoware_default_adapi/src/vehicle.cpp index a38bf9cb9a9b3..36789a8417b3f 100644 --- a/system/autoware_default_adapi/src/vehicle.cpp +++ b/system/autoware_default_adapi/src/vehicle.cpp @@ -62,7 +62,7 @@ std::unordered_map hazard_light_type_ = { VehicleNode::VehicleNode(const rclcpp::NodeOptions & options) : Node("vehicle", options) { - const auto adaptor = component_interface_utils::NodeAdaptor(this); + const auto adaptor = autoware::component_interface_utils::NodeAdaptor(this); group_cli_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); adaptor.init_pub(pub_kinematics_); adaptor.init_pub(pub_status_); diff --git a/system/autoware_default_adapi/src/vehicle_door.cpp b/system/autoware_default_adapi/src/vehicle_door.cpp index 259ef907097de..23588bdf4597a 100644 --- a/system/autoware_default_adapi/src/vehicle_door.cpp +++ b/system/autoware_default_adapi/src/vehicle_door.cpp @@ -22,7 +22,7 @@ namespace autoware::default_adapi VehicleDoorNode::VehicleDoorNode(const rclcpp::NodeOptions & options) : Node("vehicle_door", options) { - const auto adaptor = component_interface_utils::NodeAdaptor(this); + const auto adaptor = autoware::component_interface_utils::NodeAdaptor(this); group_cli_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); adaptor.relay_service(cli_command_, srv_command_, group_cli_, 3.0); adaptor.relay_service(cli_layout_, srv_layout_, group_cli_, 3.0); diff --git a/system/autoware_default_adapi/src/vehicle_info.cpp b/system/autoware_default_adapi/src/vehicle_info.cpp index 810290d1e8814..db4e75808773d 100644 --- a/system/autoware_default_adapi/src/vehicle_info.cpp +++ b/system/autoware_default_adapi/src/vehicle_info.cpp @@ -61,7 +61,7 @@ VehicleInfoNode::VehicleInfoNode(const rclcpp::NodeOptions & options) dimensions_.footprint.points.push_back(create_point(-b, -l)); dimensions_.footprint.points.push_back(create_point(-b, +r)); - const auto adaptor = component_interface_utils::NodeAdaptor(this); + const auto adaptor = autoware::component_interface_utils::NodeAdaptor(this); adaptor.init_srv(srv_dimensions_, on_vehicle_dimensions); } diff --git a/system/default_ad_api_helpers/ad_api_adaptors/package.xml b/system/default_ad_api_helpers/ad_api_adaptors/package.xml index a395eadbe3d2d..72238b0beae2d 100644 --- a/system/default_ad_api_helpers/ad_api_adaptors/package.xml +++ b/system/default_ad_api_helpers/ad_api_adaptors/package.xml @@ -14,8 +14,8 @@ autoware_ad_api_specs autoware_adapi_v1_msgs + autoware_component_interface_utils autoware_map_height_fitter - component_interface_utils rclcpp rclcpp_components diff --git a/system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.cpp b/system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.cpp index f3c0ab9213656..18235d966aa5e 100644 --- a/system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.cpp +++ b/system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.cpp @@ -42,7 +42,7 @@ InitialPoseAdaptor::InitialPoseAdaptor(const rclcpp::NodeOptions & options) "~/initialpose", rclcpp::QoS(1), std::bind(&InitialPoseAdaptor::on_initial_pose, this, std::placeholders::_1)); - const auto adaptor = component_interface_utils::NodeAdaptor(this); + const auto adaptor = autoware::component_interface_utils::NodeAdaptor(this); adaptor.init_cli(cli_initialize_); } diff --git a/system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.hpp b/system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.hpp index e5b8d0e33dd3b..ffa6b951ffeca 100644 --- a/system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.hpp +++ b/system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.hpp @@ -15,9 +15,9 @@ #ifndef INITIAL_POSE_ADAPTOR_HPP_ #define INITIAL_POSE_ADAPTOR_HPP_ +#include #include #include -#include #include #include @@ -34,7 +34,7 @@ class InitialPoseAdaptor : public rclcpp::Node using PoseWithCovarianceStamped = geometry_msgs::msg::PoseWithCovarianceStamped; using Initialize = autoware_ad_api::localization::Initialize; rclcpp::Subscription::SharedPtr sub_initial_pose_; - component_interface_utils::Client::SharedPtr cli_initialize_; + autoware::component_interface_utils::Client::SharedPtr cli_initialize_; std::array rviz_particle_covariance_; autoware::map_height_fitter::MapHeightFitter fitter_; diff --git a/system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.cpp b/system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.cpp index 18421c976cf41..1de86a621a9e4 100644 --- a/system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.cpp +++ b/system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.cpp @@ -33,7 +33,7 @@ RoutingAdaptor::RoutingAdaptor(const rclcpp::NodeOptions & options) sub_waypoint_ = create_subscription( "~/input/waypoint", 10, std::bind(&RoutingAdaptor::on_waypoint, this, _1)); - const auto adaptor = component_interface_utils::NodeAdaptor(this); + const auto adaptor = autoware::component_interface_utils::NodeAdaptor(this); adaptor.init_cli(cli_reroute_); adaptor.init_cli(cli_route_); adaptor.init_cli(cli_clear_); diff --git a/system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.hpp b/system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.hpp index 877d705825733..13a047da26c7c 100644 --- a/system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.hpp +++ b/system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.hpp @@ -15,8 +15,8 @@ #ifndef ROUTING_ADAPTOR_HPP_ #define ROUTING_ADAPTOR_HPP_ +#include #include -#include #include #include @@ -37,10 +37,10 @@ class RoutingAdaptor : public rclcpp::Node using ChangeRoutePoints = autoware_ad_api::routing::ChangeRoutePoints; using ClearRoute = autoware_ad_api::routing::ClearRoute; using RouteState = autoware_ad_api::routing::RouteState; - component_interface_utils::Client::SharedPtr cli_reroute_; - component_interface_utils::Client::SharedPtr cli_route_; - component_interface_utils::Client::SharedPtr cli_clear_; - component_interface_utils::Subscription::SharedPtr sub_state_; + autoware::component_interface_utils::Client::SharedPtr cli_reroute_; + autoware::component_interface_utils::Client::SharedPtr cli_route_; + autoware::component_interface_utils::Client::SharedPtr cli_clear_; + autoware::component_interface_utils::Subscription::SharedPtr sub_state_; rclcpp::Subscription::SharedPtr sub_fixed_goal_; rclcpp::Subscription::SharedPtr sub_rough_goal_; rclcpp::Subscription::SharedPtr sub_waypoint_; diff --git a/system/default_ad_api_helpers/automatic_pose_initializer/package.xml b/system/default_ad_api_helpers/automatic_pose_initializer/package.xml index 7321de4b1811d..c0c1d4899422f 100644 --- a/system/default_ad_api_helpers/automatic_pose_initializer/package.xml +++ b/system/default_ad_api_helpers/automatic_pose_initializer/package.xml @@ -14,7 +14,7 @@ autoware_ad_api_specs autoware_adapi_v1_msgs - component_interface_utils + autoware_component_interface_utils rclcpp rclcpp_components diff --git a/system/default_ad_api_helpers/automatic_pose_initializer/src/automatic_pose_initializer.cpp b/system/default_ad_api_helpers/automatic_pose_initializer/src/automatic_pose_initializer.cpp index 8347b479b22c1..53943af1a3f31 100644 --- a/system/default_ad_api_helpers/automatic_pose_initializer/src/automatic_pose_initializer.cpp +++ b/system/default_ad_api_helpers/automatic_pose_initializer/src/automatic_pose_initializer.cpp @@ -22,7 +22,7 @@ namespace automatic_pose_initializer AutomaticPoseInitializer::AutomaticPoseInitializer(const rclcpp::NodeOptions & options) : Node("automatic_pose_initializer", options) { - const auto adaptor = component_interface_utils::NodeAdaptor(this); + const auto adaptor = autoware::component_interface_utils::NodeAdaptor(this); group_cli_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); adaptor.init_cli(cli_initialize_, group_cli_); adaptor.init_sub(sub_state_, [this](const State::Message::ConstSharedPtr msg) { state_ = *msg; }); @@ -41,7 +41,7 @@ void AutomaticPoseInitializer::on_timer() try { const auto req = std::make_shared(); cli_initialize_->call(req); - } catch (const component_interface_utils::ServiceException & error) { + } catch (const autoware::component_interface_utils::ServiceException & error) { } } timer_->reset(); diff --git a/system/default_ad_api_helpers/automatic_pose_initializer/src/automatic_pose_initializer.hpp b/system/default_ad_api_helpers/automatic_pose_initializer/src/automatic_pose_initializer.hpp index 91d70dfca3761..7cdf0e3544501 100644 --- a/system/default_ad_api_helpers/automatic_pose_initializer/src/automatic_pose_initializer.hpp +++ b/system/default_ad_api_helpers/automatic_pose_initializer/src/automatic_pose_initializer.hpp @@ -15,8 +15,8 @@ #ifndef AUTOMATIC_POSE_INITIALIZER_HPP_ #define AUTOMATIC_POSE_INITIALIZER_HPP_ +#include #include -#include #include namespace automatic_pose_initializer @@ -33,8 +33,8 @@ class AutomaticPoseInitializer : public rclcpp::Node using State = autoware_ad_api::localization::InitializationState; rclcpp::CallbackGroup::SharedPtr group_cli_; rclcpp::TimerBase::SharedPtr timer_; - component_interface_utils::Client::SharedPtr cli_initialize_; - component_interface_utils::Subscription::SharedPtr sub_state_; + autoware::component_interface_utils::Client::SharedPtr cli_initialize_; + autoware::component_interface_utils::Subscription::SharedPtr sub_state_; State::Message state_; };