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fix
Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
1 parent b557963 commit 41e85fa

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4 files changed

+3
-55
lines changed

4 files changed

+3
-55
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‎planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/CMakeLists.txt

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Original file line numberDiff line numberDiff line change
@@ -8,15 +8,6 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
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src/scene_module_interface_with_rtc.cpp
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)
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# if(BUILD_TESTING)
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# file(GLOB TEST_SOURCES test/src/*.cpp)
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# ament_add_ros_isolated_gtest(test_${PROJECT_NAME} ${TEST_SOURCES})
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# target_link_libraries(test_${PROJECT_NAME}
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# gtest_main
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# ${PROJECT_NAME}
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# )
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# endif()
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ament_auto_package(INSTALL_TO_SHARE
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config
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)

‎planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/include/autoware/behavior_velocity_rtc_interface/scene_module_interface_with_rtc.hpp

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@@ -17,27 +17,17 @@
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#include <autoware/behavior_velocity_planner_common/planner_data.hpp>
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#include <autoware/behavior_velocity_planner_common/scene_module_interface.hpp>
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#include <autoware/motion_utils/factor/velocity_factor_interface.hpp>
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#include <autoware/motion_utils/marker/virtual_wall_marker_creator.hpp>
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#include <autoware/objects_of_interest_marker_interface/objects_of_interest_marker_interface.hpp>
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#include <autoware/rtc_interface/rtc_interface.hpp>
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#include <autoware/universe_utils/ros/debug_publisher.hpp>
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#include <autoware/universe_utils/ros/parameter.hpp>
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#include <autoware/universe_utils/system/time_keeper.hpp>
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#include <builtin_interfaces/msg/time.hpp>
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#include <autoware_adapi_v1_msgs/msg/velocity_factor.hpp>
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#include <autoware_adapi_v1_msgs/msg/velocity_factor_array.hpp>
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#include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
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#include <autoware_planning_msgs/msg/path.hpp>
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#include <tier4_planning_msgs/msg/path_with_lane_id.hpp>
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#include <tier4_rtc_msgs/msg/state.hpp>
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#include <tier4_v2x_msgs/msg/infrastructure_command_array.hpp>
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#include <unique_identifier_msgs/msg/uuid.hpp>
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#include <memory>
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#include <optional>
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#include <set>
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#include <string>
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#include <unordered_map>
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#include <utility>
@@ -51,14 +41,8 @@
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namespace autoware::behavior_velocity_planner
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{
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using autoware::motion_utils::PlanningBehavior;
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using autoware::motion_utils::VelocityFactor;
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using autoware::objects_of_interest_marker_interface::ColorName;
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using autoware::objects_of_interest_marker_interface::ObjectsOfInterestMarkerInterface;
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using autoware::rtc_interface::RTCInterface;
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using autoware::universe_utils::DebugPublisher;
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using autoware::universe_utils::getOrDeclareParameter;
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using autoware_internal_debug_msgs::msg::Float64Stamped;
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using builtin_interfaces::msg::Time;
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using tier4_planning_msgs::msg::PathWithLaneId;
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using tier4_rtc_msgs::msg::Module;

‎planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/package.xml

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@@ -5,55 +5,33 @@
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<version>0.40.0</version>
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<description>The autoware_behavior_velocity_rtc_interface package</description>
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<maintainer email="mamoru.sobue@tier4.jp">Mamoru Sobue</maintainer>
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<maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
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<maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
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<maintainer email="shumpei.wakabayashi@tier4.jp">Shumpei Wakabayashi</maintainer>
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<maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
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<maintainer email="fumiya.watanabe@tier4.jp">Fumiya Watanabe</maintainer>
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<maintainer email="mamoru.sobue@tier4.jp">Mamoru Sobue</maintainer>
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<license>Apache License 2.0</license>
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<author email="yukihiro.saito@tier4.jp">Yukihiro Saito</author>
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<author email="takayuki.murooka@tier4.jp">Takayuki Murooka</author>
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<buildtool_depend>ament_cmake_auto</buildtool_depend>
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<buildtool_depend>autoware_cmake</buildtool_depend>
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<buildtool_depend>eigen3_cmake_module</buildtool_depend>
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<depend>autoware_adapi_v1_msgs</depend>
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<depend>autoware_behavior_velocity_planner_common</depend>
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<depend>autoware_interpolation</depend>
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<depend>autoware_lanelet2_extension</depend>
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<depend>autoware_map_msgs</depend>
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<depend>autoware_motion_utils</depend>
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<depend>autoware_objects_of_interest_marker_interface</depend>
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<depend>autoware_perception_msgs</depend>
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<depend>autoware_planning_msgs</depend>
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<depend>autoware_route_handler</depend>
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<depend>autoware_rtc_interface</depend>
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<depend>autoware_universe_utils</depend>
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<depend>autoware_vehicle_info_utils</depend>
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<depend>autoware_velocity_smoother</depend>
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<depend>diagnostic_msgs</depend>
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<depend>eigen</depend>
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<depend>geometry_msgs</depend>
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<depend>nav_msgs</depend>
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<depend>pcl_conversions</depend>
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<depend>rclcpp</depend>
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<depend>rclcpp_components</depend>
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<depend>sensor_msgs</depend>
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<depend>tf2</depend>
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<depend>tf2_eigen</depend>
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<depend>tf2_geometry_msgs</depend>
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<depend>tf2_ros</depend>
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<depend>tier4_api_msgs</depend>
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<depend>tier4_planning_msgs</depend>
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<depend>tier4_v2x_msgs</depend>
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<depend>visualization_msgs</depend>
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<test_depend>ament_cmake_ros</test_depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>autoware_lint_common</test_depend>
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<test_depend>autoware_test_utils</test_depend>
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<export>
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<build_type>ament_cmake</build_type>

‎planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/src/scene_module_interface_with_rtc.cpp

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@@ -15,10 +15,7 @@
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#include <autoware/behavior_velocity_planner_common/scene_module_interface.hpp>
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#include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
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#include <autoware/behavior_velocity_rtc_interface/scene_module_interface_with_rtc.hpp>
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#include <autoware/motion_utils/trajectory/trajectory.hpp>
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#include <autoware/universe_utils/ros/uuid_helper.hpp>
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#include <autoware/universe_utils/system/stop_watch.hpp>
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#include <autoware/universe_utils/system/time_keeper.hpp>
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#include <algorithm>
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#include <limits>
@@ -29,8 +26,6 @@
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namespace autoware::behavior_velocity_planner
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{
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using autoware::universe_utils::StopWatch;
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SceneModuleInterfaceWithRTC::SceneModuleInterfaceWithRTC(
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const int64_t module_id, rclcpp::Logger logger, rclcpp::Clock::SharedPtr clock)
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: SceneModuleInterface(module_id, logger, clock),

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