chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages

evaluator/planning_evaluator/launch/planning_evaluator.launch.xml

@@ -1,7 +1,7 @@
 <launch>
   <arg name="input/odometry" default="/localization/kinematic_state"/>
   <arg name="input/trajectory" default="/planning/scenario_planning/trajectory"/>
-  <arg name="input/reference_trajectory" default="/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/trajectory"/>
+  <arg name="input/reference_trajectory" default="/planning/scenario_planning/lane_driving/motion_planning/path_optimizer/trajectory"/>
   <arg name="input/objects" default="/perception/object_recognition/objects"/>
   <arg name="input/modified_goal" default="/planning/scenario_planning/modified_goal"/>
 

launch/tier4_planning_launch/launch/planning.launch.xml

@@ -33,7 +33,7 @@
     <!-- planning validator -->
     <group>
       <include file="$(find-pkg-share planning_validator)/launch/planning_validator.launch.xml">
-        <arg name="input_trajectory" value="/planning/scenario_planning/motion_velocity_smoother/trajectory"/>
+        <arg name="input_trajectory" value="/planning/scenario_planning/velocity_smoother/trajectory"/>
         <arg name="output_trajectory" value="/planning/scenario_planning/trajectory"/>
         <arg name="planning_validator_param_path" value="$(var planning_validator_param_path)"/>
       </include>

launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml

@@ -242,7 +242,7 @@
       <param from="$(var common_param_path)"/>
       <param from="$(var vehicle_param_file)"/>
       <param from="$(var nearest_search_param_path)"/>
-      <param from="$(var motion_velocity_smoother_param_path)"/>
+      <param from="$(var velocity_smoother_param_path)"/>
       <param from="$(var behavior_velocity_smoother_type_param_path)"/>
       <param from="$(var behavior_velocity_planner_common_param_path)"/>
       <param name="launch_modules" value="$(var behavior_velocity_planner_launch_modules)"/>

launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml

@@ -60,18 +60,18 @@
 
   <!-- generate kinematic-feasible path -->
   <group>
-    <group if="$(eval &quot;'$(var motion_path_planner_type)' == 'obstacle_avoidance_planner'&quot;)">
+    <group if="$(eval &quot;'$(var motion_path_planner_type)' == 'path_optimizer'&quot;)">
       <load_composable_node target="/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container">
-        <composable_node pkg="obstacle_avoidance_planner" plugin="obstacle_avoidance_planner::ObstacleAvoidancePlanner" name="obstacle_avoidance_planner" namespace="">
+        <composable_node pkg="autoware_path_optimizer" plugin="autoware_path_optimizer::PathOptimizer" name="path_optimizer" namespace="">
           <!-- topic remap -->
           <remap from="~/input/path" to="path_smoother/path"/>
           <remap from="~/input/odometry" to="/localization/kinematic_state"/>
-          <remap from="~/output/path" to="obstacle_avoidance_planner/trajectory"/>
+          <remap from="~/output/path" to="path_optimizer/trajectory"/>
           <!-- params -->
           <param from="$(var common_param_path)"/>
           <param from="$(var vehicle_param_file)"/>
           <param from="$(var nearest_search_param_path)"/>
-          <param from="$(var obstacle_avoidance_planner_param_path)"/>
+          <param from="$(var path_optimizer_param_path)"/>
           <!-- composable node config -->
           <extra_arg name="use_intra_process_comms" value="false"/>
         </composable_node>
@@ -84,7 +84,7 @@
           <!-- topic remap -->
           <remap from="~/input/path" to="path_smoother/path"/>
           <remap from="~/input/odometry" to="/localization/kinematic_state"/>
-          <remap from="~/output/path" to="obstacle_avoidance_planner/trajectory"/>
+          <remap from="~/output/path" to="path_optimizer/trajectory"/>
           <!-- params -->
           <param from="$(var common_param_path)"/>
           <param from="$(var vehicle_param_file)"/>
@@ -101,7 +101,7 @@
         <composable_node pkg="planning_topic_converter" plugin="planning_topic_converter::PathToTrajectory" name="path_to_trajectory_converter" namespace="">
           <!-- params -->
           <param name="input_topic" value="path_smoother/path"/>
-          <param name="output_topic" value="obstacle_avoidance_planner/trajectory"/>
+          <param name="output_topic" value="path_optimizer/trajectory"/>
           <!-- composable node config -->
           <extra_arg name="use_intra_process_comms" value="false"/>
         </composable_node>
@@ -114,7 +114,7 @@
     <load_composable_node target="/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container">
       <composable_node pkg="autoware_motion_velocity_planner_node" plugin="autoware::motion_velocity_planner::MotionVelocityPlannerNode" name="motion_velocity_planner" namespace="">
         <!-- topic remap -->
-        <remap from="~/input/trajectory" to="obstacle_avoidance_planner/trajectory"/>
+        <remap from="~/input/trajectory" to="path_optimizer/trajectory"/>
         <remap from="~/input/vector_map" to="/map/vector_map"/>
         <remap from="~/input/vehicle_odometry" to="/localization/kinematic_state"/>
         <remap from="~/input/accel" to="/localization/acceleration"/>
@@ -131,8 +131,8 @@
         <param from="$(var common_param_path)"/>
         <param from="$(var vehicle_param_file)"/>
         <param from="$(var nearest_search_param_path)"/>
-        <param from="$(var motion_velocity_smoother_param_path)"/>
-        <param from="$(var motion_velocity_smoother_type_param_path)"/>
+        <param from="$(var velocity_smoother_param_path)"/>
+        <param from="$(var motion_velocity_planner_velocity_smoother_type_param_path)"/>
         <param from="$(var motion_velocity_planner_param_path)"/>
         <param from="$(var motion_velocity_planner_out_of_lane_module_param_path)"/>
         <!-- <param from="$(var motion_velocity_planner_template_param_path)"/> -->
@@ -146,7 +146,7 @@
     <load_composable_node target="/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container">
       <composable_node pkg="obstacle_velocity_limiter" plugin="obstacle_velocity_limiter::ObstacleVelocityLimiterNode" name="obstacle_velocity_limiter" namespace="">
         <!-- topic remap -->
-        <remap from="~/input/trajectory" to="motion_velocity_planner/trajectory"/>
+        <remap from="~/input/trajectory" to="path_optimizer/trajectory"/>
         <remap from="~/input/odometry" to="/localization/kinematic_state"/>
         <remap from="~/input/dynamic_obstacles" to="/perception/object_recognition/objects"/>
         <remap from="~/input/occupancy_grid" to="/perception/occupancy_grid_map/map"/>

launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml

@@ -21,22 +21,22 @@
     <group>
       <include file="$(find-pkg-share external_velocity_limit_selector)/launch/external_velocity_limit_selector.launch.xml">
         <arg name="common_param_path" value="$(var common_param_path)"/>
-        <arg name="param_path" value="$(var motion_velocity_smoother_param_path)"/>
+        <arg name="param_path" value="$(var velocity_smoother_param_path)"/>
       </include>
     </group>
     <!-- motion velocity smoother -->
     <group>
-      <node_container pkg="rclcpp_components" exec="component_container" name="motion_velocity_smoother_container" namespace="">
-        <composable_node pkg="motion_velocity_smoother" plugin="motion_velocity_smoother::MotionVelocitySmootherNode" name="motion_velocity_smoother" namespace="">
-          <param name="algorithm_type" value="$(var motion_velocity_smoother_type)"/>
+      <node_container pkg="rclcpp_components" exec="component_container" name="velocity_smoother_container" namespace="">
+        <composable_node pkg="autoware_velocity_smoother" plugin="autoware_velocity_smoother::VelocitySmootherNode" name="velocity_smoother" namespace="">
+          <param name="algorithm_type" value="$(var velocity_smoother_type)"/>
           <param from="$(var common_param_path)"/>
           <param from="$(var nearest_search_param_path)"/>
-          <param from="$(var motion_velocity_smoother_param_path)"/>
+          <param from="$(var velocity_smoother_param_path)"/>
           <param from="$(var velocity_smoother_type_param_path)"/>
 
           <param name="publish_debug_trajs" value="false"/>
           <remap from="~/input/trajectory" to="/planning/scenario_planning/scenario_selector/trajectory"/>
-          <remap from="~/output/trajectory" to="/planning/scenario_planning/motion_velocity_smoother/trajectory"/>
+          <remap from="~/output/trajectory" to="/planning/scenario_planning/velocity_smoother/trajectory"/>
 
           <remap from="~/input/external_velocity_limit_mps" to="/planning/scenario_planning/max_velocity"/>
           <remap from="~/input/acceleration" to="/localization/acceleration"/>

launch/tier4_planning_launch/package.xml

@@ -58,16 +58,16 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <exec_depend>autoware_behavior_velocity_planner</exec_depend>
+  <exec_depend>autoware_path_optimizer</exec_depend>
   <exec_depend>autoware_remaining_distance_time_calculator</exec_depend>
+  <exec_depend>autoware_velocity_smoother</exec_depend>
   <exec_depend>behavior_path_planner</exec_depend>
   <exec_depend>costmap_generator</exec_depend>
   <exec_depend>external_cmd_selector</exec_depend>
   <exec_depend>external_velocity_limit_selector</exec_depend>
   <exec_depend>freespace_planner</exec_depend>
   <exec_depend>glog_component</exec_depend>
   <exec_depend>mission_planner</exec_depend>
-  <exec_depend>motion_velocity_smoother</exec_depend>
-  <exec_depend>obstacle_avoidance_planner</exec_depend>
   <exec_depend>obstacle_cruise_planner</exec_depend>
   <exec_depend>obstacle_stop_planner</exec_depend>
   <exec_depend>planning_evaluator</exec_depend>

planning/.pages

@@ -43,10 +43,10 @@ nav:
       - 'RRT*': planning/freespace_planning_algorithms/rrtstar
   - 'Mission Planner': planning/mission_planner
   - 'Motion Planning':
-    - 'Obstacle Avoidance Planner':
-      - 'About Obstacle Avoidance': planning/obstacle_avoidance_planner
-      - 'Model Predictive Trajectory (MPT)': planning/obstacle_avoidance_planner/docs/mpt
-      - 'How to Debug': planning/obstacle_avoidance_planner/docs/debug
+    - 'Path Optimizer':
+      - 'About Path Optimizer': planning/autoware_path_optimizer
+      - 'Model Predictive Trajectory (MPT)': planning/autoware_path_optimizer/docs/mpt
+      - 'How to Debug': planning/autoware_path_optimizer/docs/debug
     - 'Obstacle Cruise Planner':
       - 'About Obstacle Cruise': planning/obstacle_cruise_planner
       - 'How to Debug': planning/obstacle_cruise_planner/docs/debug

planning/README.md

@@ -105,7 +105,7 @@ Interested in joining our meetings? We’d love to have you! For more informatio
 
 Occasionally, we publish papers specific to the Planning Component in Autoware. We encourage you to explore these publications and find valuable insights for your work. If you find them useful and incorporate any of our methodologies or algorithms in your projects, citing our papers would be immensely helpful. This support allows us to reach a broader audience and continue contributing to the field.
 
-If you use the Jerk Constrained Velocity Planning algorithm in [Motion Velocity Smoother](./motion_velocity_smoother/README.md) module in the Planning Component, we kindly request you to cite the relevant paper.
+If you use the Jerk Constrained Velocity Planning algorithm in [Motion Velocity Smoother](./autoware_velocity_smoother/README.md) module in the Planning Component, we kindly request you to cite the relevant paper.
 
 <!-- cspell:ignore Shimizu, Horibe, Watanabe, Kato -->
 

planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/README.md

@@ -4,7 +4,7 @@ This module is under development.
 
 ## Purpose / Role
 
-This module provides avoidance functions for vehicles, pedestrians, and obstacles in the vicinity of the ego's path in combination with the [obstacle_avoidance_planner](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_avoidance_planner/).
+This module provides avoidance functions for vehicles, pedestrians, and obstacles in the vicinity of the ego's path in combination with the [autoware_path_optimizer](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_path_optimizer/).
 Each module performs the following roles.
 Dynamic Avoidance module cuts off the drivable area according to the position and velocity of the target to be avoided.
 Obstacle Avoidance module modifies the path to be followed so that it fits within the received drivable area.

planning/autoware_behavior_velocity_planner/package.xml

@@ -37,14 +37,14 @@
   <depend>autoware_auto_mapping_msgs</depend>
   <depend>autoware_auto_perception_msgs</depend>
   <depend>autoware_auto_planning_msgs</depend>
+  <depend>autoware_velocity_smoother</depend>
   <depend>behavior_velocity_planner_common</depend>
   <depend>diagnostic_msgs</depend>
   <depend>eigen</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_extension</depend>
   <depend>libboost-dev</depend>
   <depend>motion_utils</depend>
-  <depend>motion_velocity_smoother</depend>
   <depend>pcl_conversions</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>

planning/autoware_behavior_velocity_planner/src/node.cpp

@@ -14,11 +14,11 @@
 
 #include "node.hpp"
 
+#include <autoware_velocity_smoother/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.hpp>
 #include <behavior_velocity_planner_common/utilization/path_utilization.hpp>
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <motion_utils/trajectory/path_with_lane_id.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
-#include <motion_velocity_smoother/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.hpp>
 #include <tier4_autoware_utils/ros/wait_for_param.hpp>
 #include <tier4_autoware_utils/transform/transforms.hpp>
 
@@ -310,7 +310,7 @@ void BehaviorVelocityPlannerNode::onParam()
   // constructed. It would be required if it was a callback. std::lock_guard<std::mutex>
   // lock(mutex_);
   planner_data_.velocity_smoother_ =
-    std::make_unique<motion_velocity_smoother::AnalyticalJerkConstrainedSmoother>(*this);
+    std::make_unique<autoware_velocity_smoother::AnalyticalJerkConstrainedSmoother>(*this);
   planner_data_.velocity_smoother_->setWheelBase(planner_data_.vehicle_info_.wheel_base_m);
 }
 

planning/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp

@@ -51,8 +51,8 @@ std::shared_ptr<BehaviorVelocityPlannerNode> generateNode()
     ament_index_cpp::get_package_share_directory("planning_test_utils");
   const auto behavior_velocity_planner_dir =
     ament_index_cpp::get_package_share_directory("autoware_behavior_velocity_planner");
-  const auto motion_velocity_smoother_dir =
-    ament_index_cpp::get_package_share_directory("motion_velocity_smoother");
+  const auto velocity_smoother_dir =
+    ament_index_cpp::get_package_share_directory("autoware_velocity_smoother");
 
   const auto get_behavior_velocity_module_config = [](const std::string & module) {
     const auto package_name = "behavior_velocity_" + module + "_module";
@@ -83,27 +83,26 @@ std::shared_ptr<BehaviorVelocityPlannerNode> generateNode()
   node_options.parameter_overrides(params);
 
   test_utils::updateNodeOptions(
-    node_options,
-    {planning_test_utils_dir + "/config/test_common.param.yaml",
-     planning_test_utils_dir + "/config/test_nearest_search.param.yaml",
-     planning_test_utils_dir + "/config/test_vehicle_info.param.yaml",
-     motion_velocity_smoother_dir + "/config/default_motion_velocity_smoother.param.yaml",
-     motion_velocity_smoother_dir + "/config/Analytical.param.yaml",
-     behavior_velocity_planner_dir + "/config/behavior_velocity_planner.param.yaml",
-     get_behavior_velocity_module_config("blind_spot"),
-     get_behavior_velocity_module_config("crosswalk"),
-     get_behavior_velocity_module_config("walkway"),
-     get_behavior_velocity_module_config("detection_area"),
-     get_behavior_velocity_module_config("intersection"),
-     get_behavior_velocity_module_config("no_stopping_area"),
-     get_behavior_velocity_module_config("occlusion_spot"),
-     get_behavior_velocity_module_config("run_out"),
-     get_behavior_velocity_module_config("speed_bump"),
-     get_behavior_velocity_module_config("stop_line"),
-     get_behavior_velocity_module_config("traffic_light"),
-     get_behavior_velocity_module_config("virtual_traffic_light"),
-     get_behavior_velocity_module_config("out_of_lane"),
-     get_behavior_velocity_module_config("no_drivable_lane")});
+    node_options, {planning_test_utils_dir + "/config/test_common.param.yaml",
+                   planning_test_utils_dir + "/config/test_nearest_search.param.yaml",
+                   planning_test_utils_dir + "/config/test_vehicle_info.param.yaml",
+                   velocity_smoother_dir + "/config/default_velocity_smoother.param.yaml",
+                   velocity_smoother_dir + "/config/Analytical.param.yaml",
+                   behavior_velocity_planner_dir + "/config/behavior_velocity_planner.param.yaml",
+                   get_behavior_velocity_module_config("blind_spot"),
+                   get_behavior_velocity_module_config("crosswalk"),
+                   get_behavior_velocity_module_config("walkway"),
+                   get_behavior_velocity_module_config("detection_area"),
+                   get_behavior_velocity_module_config("intersection"),
+                   get_behavior_velocity_module_config("no_stopping_area"),
+                   get_behavior_velocity_module_config("occlusion_spot"),
+                   get_behavior_velocity_module_config("run_out"),
+                   get_behavior_velocity_module_config("speed_bump"),
+                   get_behavior_velocity_module_config("stop_line"),
+                   get_behavior_velocity_module_config("traffic_light"),
+                   get_behavior_velocity_module_config("virtual_traffic_light"),
+                   get_behavior_velocity_module_config("out_of_lane"),
+                   get_behavior_velocity_module_config("no_drivable_lane")});
 
   // TODO(Takagi, Isamu): set launch_modules
   // TODO(Kyoichi Sugahara) set to true launch_virtual_traffic_light

planning/obstacle_avoidance_planner/CMakeLists.txt → planning/autoware_path_optimizer/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(obstacle_avoidance_planner)
+project(autoware_path_optimizer)
 
 include(CheckCXXCompilerFlag)
 
@@ -17,7 +17,7 @@ autoware_package()
 
 find_package(Eigen3 REQUIRED)
 
-ament_auto_add_library(obstacle_avoidance_planner SHARED
+ament_auto_add_library(autoware_path_optimizer SHARED
   # node
   src/node.cpp
   # core algorithms
@@ -34,20 +34,20 @@ ament_auto_add_library(obstacle_avoidance_planner SHARED
   src/utils/geometry_utils.cpp
 )
 
-target_include_directories(obstacle_avoidance_planner
+target_include_directories(autoware_path_optimizer
   SYSTEM PUBLIC
     ${EIGEN3_INCLUDE_DIR}
 )
 
 # register node
-rclcpp_components_register_node(obstacle_avoidance_planner
-  PLUGIN "obstacle_avoidance_planner::ObstacleAvoidancePlanner"
-  EXECUTABLE obstacle_avoidance_planner_node
+rclcpp_components_register_node(autoware_path_optimizer
+  PLUGIN "autoware_path_optimizer::PathOptimizer"
+  EXECUTABLE path_optimizer_node
 )
 
 if(BUILD_TESTING)
   ament_add_ros_isolated_gtest(test_${PROJECT_NAME}
-    test/test_${PROJECT_NAME}_node_interface.cpp
+    test/test_path_optimizer_node_interface.cpp
   )
   target_link_libraries(test_${PROJECT_NAME}
     ${PROJECT_NAME}

planning/obstacle_avoidance_planner/README.md → planning/autoware_path_optimizer/README.md

@@ -1,4 +1,4 @@
-# Obstacle Avoidance Planner
+# Path optimizer
 
 ## Purpose
 
@@ -158,7 +158,7 @@ Therefore, we have to make sure that the optimized trajectory is inside the driv
 
 - Computation cost is sometimes high.
 - Because of the approximation such as linearization, some narrow roads cannot be run by the planner.
-- Roles of planning for `behavior_path_planner` and `obstacle_avoidance_planner` are not decided clearly. Both can avoid obstacles.
+- Roles of planning for `behavior_path_planner` and `path_optimizer` are not decided clearly. Both can avoid obstacles.
 
 ## Comparison to other methods
 
@@ -195,7 +195,7 @@ Although it has a cons to converge to the local minima, it can get a good soluti
   - The point on the vehicle, offset forward with this parameter from the base link` tries to follow the reference path.
 
 - change or tune the method to approximate footprints with a set of circles.
-  - See [here](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_avoidance_planner/docs/mpt/#collision-free)
+  - See [here](https://autowarefoundation.github.io/autoware.universe/main/planning/path_optimizer/docs/mpt/#collision-free)
   - Tuning means changing the ratio of circle's radius.
 
 ### Computation time