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zulfaqar-azmi-t4zulfaqar-azmi-t4
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RT1-9640: separate lane departure checker library
1 parent dc7ad3c commit af67084

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25 files changed

+96
-47
lines changed

25 files changed

+96
-47
lines changed

‎control/autoware_lane_departure_checker/CMakeLists.txt

-17
Original file line numberDiff line numberDiff line change
@@ -4,32 +4,15 @@ project(autoware_lane_departure_checker)
44
find_package(autoware_cmake REQUIRED)
55
autoware_package()
66

7-
include_directories(
8-
include
9-
${Boost_INCLUDE_DIRS}
10-
${EIGEN3_INCLUDE_DIRS}
11-
)
12-
137
ament_auto_add_library(autoware_lane_departure_checker SHARED
14-
src/lane_departure_checker_node/lane_departure_checker.cpp
158
src/lane_departure_checker_node/lane_departure_checker_node.cpp
16-
src/lane_departure_checker_node/utils.cpp
17-
src/lane_departure_checker_node/parameters.cpp
189
)
1910

2011
rclcpp_components_register_node(${PROJECT_NAME}
2112
PLUGIN "autoware::lane_departure_checker::LaneDepartureCheckerNode"
2213
EXECUTABLE lane_departure_checker_node
2314
)
2415

25-
if(BUILD_TESTING)
26-
file(GLOB_RECURSE TEST_SOURCES test/*.cpp)
27-
ament_add_gtest(test_autoware_lane_departure_checker
28-
${TEST_SOURCES}
29-
)
30-
target_link_libraries(test_autoware_lane_departure_checker autoware_lane_departure_checker)
31-
endif()
32-
3316
ament_auto_package(
3417
INSTALL_TO_SHARE
3518
launch

‎control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/lane_departure_checker_node.hpp

+2-2
Original file line numberDiff line numberDiff line change
@@ -15,8 +15,8 @@
1515
#ifndef AUTOWARE__LANE_DEPARTURE_CHECKER__LANE_DEPARTURE_CHECKER_NODE_HPP_
1616
#define AUTOWARE__LANE_DEPARTURE_CHECKER__LANE_DEPARTURE_CHECKER_NODE_HPP_
1717

18-
#include "autoware/lane_departure_checker/lane_departure_checker.hpp"
19-
#include "autoware/lane_departure_checker/parameters.hpp"
18+
#include "autoware/departure_checker/departure_checker.hpp"
19+
#include "autoware/departure_checker/parameters.hpp"
2020
#include "autoware_utils/ros/polling_subscriber.hpp"
2121

2222
#include <autoware_utils/ros/debug_publisher.hpp>

‎control/autoware_lane_departure_checker/package.xml

+1
Original file line numberDiff line numberDiff line change
@@ -14,6 +14,7 @@
1414
<buildtool_depend>autoware_cmake</buildtool_depend>
1515

1616
<depend>autoware_adapi_v1_msgs</depend>
17+
<depend>autoware_departure_checker</depend>
1718
<depend>autoware_internal_debug_msgs</depend>
1819
<depend>autoware_lanelet2_extension</depend>
1920
<depend>autoware_map_msgs</depend>

‎planning/autoware_departure_checker/CMakeLists.txt

+21
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,21 @@
1+
cmake_minimum_required(VERSION 3.14)
2+
project(autoware_departure_checker)
3+
4+
find_package(autoware_cmake REQUIRED)
5+
autoware_package()
6+
7+
ament_auto_add_library(${PROJECT_NAME} SHARED
8+
src/departure_checker.cpp
9+
src/utils.cpp
10+
src/parameters.cpp
11+
)
12+
13+
if(BUILD_TESTING)
14+
file(GLOB_RECURSE TEST_SOURCES test/*.cpp)
15+
ament_add_gtest(test_${PROJECT_NAME}
16+
${TEST_SOURCES}
17+
)
18+
target_link_libraries(test_${PROJECT_NAME} ${PROJECT_NAME})
19+
endif()
20+
21+
ament_auto_package()

‎control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/lane_departure_checker.hpp ‎planning/autoware_departure_checker/include/autoware/departure_checker/departure_checker.hpp

+4-4
Original file line numberDiff line numberDiff line change
@@ -12,10 +12,10 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#ifndef AUTOWARE__LANE_DEPARTURE_CHECKER__LANE_DEPARTURE_CHECKER_HPP_
16-
#define AUTOWARE__LANE_DEPARTURE_CHECKER__LANE_DEPARTURE_CHECKER_HPP_
15+
#ifndef AUTOWARE__DEPARTURE_CHECKER__DEPARTURE_CHECKER_HPP_
16+
#define AUTOWARE__DEPARTURE_CHECKER__DEPARTURE_CHECKER_HPP_
1717

18-
#include "autoware/lane_departure_checker/parameters.hpp"
18+
#include "autoware/departure_checker/parameters.hpp"
1919

2020
#include <autoware_utils/system/time_keeper.hpp>
2121
#include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
@@ -125,4 +125,4 @@ class LaneDepartureChecker
125125
};
126126
} // namespace autoware::lane_departure_checker
127127

128-
#endif // AUTOWARE__LANE_DEPARTURE_CHECKER__LANE_DEPARTURE_CHECKER_HPP_
128+
#endif // AUTOWARE__DEPARTURE_CHECKER__DEPARTURE_CHECKER_HPP_

‎control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/parameters.hpp ‎planning/autoware_departure_checker/include/autoware/departure_checker/parameters.hpp

+3-3
Original file line numberDiff line numberDiff line change
@@ -12,8 +12,8 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#ifndef AUTOWARE__LANE_DEPARTURE_CHECKER__PARAMETERS_HPP_
16-
#define AUTOWARE__LANE_DEPARTURE_CHECKER__PARAMETERS_HPP_
15+
#ifndef AUTOWARE__DEPARTURE_CHECKER__PARAMETERS_HPP_
16+
#define AUTOWARE__DEPARTURE_CHECKER__PARAMETERS_HPP_
1717

1818
#include <autoware_utils/geometry/boost_geometry.hpp>
1919
#include <autoware_utils/geometry/pose_deviation.hpp>
@@ -98,4 +98,4 @@ struct Output
9898
};
9999
} // namespace autoware::lane_departure_checker
100100

101-
#endif // AUTOWARE__LANE_DEPARTURE_CHECKER__PARAMETERS_HPP_
101+
#endif // AUTOWARE__DEPARTURE_CHECKER__PARAMETERS_HPP_

‎control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/utils.hpp ‎planning/autoware_departure_checker/include/autoware/departure_checker/utils.hpp

+3-3
Original file line numberDiff line numberDiff line change
@@ -12,8 +12,8 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#ifndef AUTOWARE__LANE_DEPARTURE_CHECKER__UTILS_HPP_
16-
#define AUTOWARE__LANE_DEPARTURE_CHECKER__UTILS_HPP_
15+
#ifndef AUTOWARE__DEPARTURE_CHECKER__UTILS_HPP_
16+
#define AUTOWARE__DEPARTURE_CHECKER__UTILS_HPP_
1717

1818
#include <autoware_utils/geometry/boost_geometry.hpp>
1919
#include <autoware_utils/geometry/pose_deviation.hpp>
@@ -130,4 +130,4 @@ double calcMaxSearchLengthForBoundaries(
130130
const Trajectory & trajectory, const autoware::vehicle_info_utils::VehicleInfo & vehicle_info);
131131
} // namespace autoware::lane_departure_checker::utils
132132

133-
#endif // AUTOWARE__LANE_DEPARTURE_CHECKER__UTILS_HPP_
133+
#endif // AUTOWARE__DEPARTURE_CHECKER__UTILS_HPP_

‎planning/autoware_departure_checker/package.xml

+45
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@@ -0,0 +1,45 @@
1+
<?xml version="1.0"?>
2+
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
3+
<package format="3">
4+
<name>autoware_departure_checker</name>
5+
<version>0.43.0</version>
6+
<description>The autoware_departure_checker package</description>
7+
<maintainer email="kyoichi.sugahara@tier4.jp">Kyoichi Sugahara</maintainer>
8+
<maintainer email="makoto.kurihara@tier4.jp">Makoto Kurihara</maintainer>
9+
<maintainer email="zulfaqar.azmi@tier4.jp">Zulfaqar Azmi</maintainer>
10+
11+
<license>Apache License 2.0</license>
12+
13+
<buildtool_depend>ament_cmake_auto</buildtool_depend>
14+
<buildtool_depend>autoware_cmake</buildtool_depend>
15+
16+
<depend>autoware_adapi_v1_msgs</depend>
17+
<depend>autoware_internal_debug_msgs</depend>
18+
<depend>autoware_lanelet2_extension</depend>
19+
<depend>autoware_map_msgs</depend>
20+
<depend>autoware_motion_utils</depend>
21+
<depend>autoware_planning_msgs</depend>
22+
<depend>autoware_utils</depend>
23+
<depend>autoware_vehicle_info_utils</depend>
24+
<depend>autoware_vehicle_msgs</depend>
25+
<depend>boost</depend>
26+
<depend>diagnostic_updater</depend>
27+
<depend>eigen</depend>
28+
<depend>geometry_msgs</depend>
29+
<depend>nav_msgs</depend>
30+
<depend>rclcpp</depend>
31+
<depend>rclcpp_components</depend>
32+
<depend>tf2</depend>
33+
<depend>tf2_eigen</depend>
34+
<depend>tf2_geometry_msgs</depend>
35+
<depend>tf2_ros</depend>
36+
37+
<test_depend>ament_cmake_ros</test_depend>
38+
<test_depend>ament_lint_auto</test_depend>
39+
<test_depend>autoware_lint_common</test_depend>
40+
<test_depend>autoware_test_utils</test_depend>
41+
42+
<export>
43+
<build_type>ament_cmake</build_type>
44+
</export>
45+
</package>

‎control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp ‎planning/autoware_departure_checker/src/departure_checker.cpp

+2-2
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@@ -12,9 +12,9 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#include "autoware/lane_departure_checker/lane_departure_checker.hpp"
15+
#include "autoware/departure_checker/departure_checker.hpp"
1616

17-
#include "autoware/lane_departure_checker/utils.hpp"
17+
#include "autoware/departure_checker/utils.hpp"
1818

1919
#include <autoware_utils/math/normalization.hpp>
2020
#include <autoware_utils/math/unit_conversion.hpp>

‎control/autoware_lane_departure_checker/src/lane_departure_checker_node/parameters.cpp ‎planning/autoware_departure_checker/src/parameters.cpp

+1-1
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@@ -12,7 +12,7 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#include "autoware/lane_departure_checker/parameters.hpp"
15+
#include "autoware/departure_checker/parameters.hpp"
1616

1717
#include <autoware_utils/ros/parameter.hpp>
1818
#include <rclcpp/node.hpp>

‎control/autoware_lane_departure_checker/src/lane_departure_checker_node/utils.cpp ‎planning/autoware_departure_checker/src/utils.cpp

+1-1
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@@ -12,7 +12,7 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#include "autoware/lane_departure_checker/utils.hpp"
15+
#include "autoware/departure_checker/utils.hpp"
1616

1717
#include <autoware/motion_utils/trajectory/trajectory.hpp>
1818
#include <autoware_utils/geometry/geometry.hpp>

‎control/autoware_lane_departure_checker/test/test_calc_max_search_length_for_boundaries.cpp ‎planning/autoware_departure_checker/test/test_calc_max_search_length_for_boundaries.cpp

+1-1
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@@ -12,7 +12,7 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#include "autoware/lane_departure_checker/utils.hpp"
15+
#include "autoware/departure_checker/utils.hpp"
1616

1717
#include <Eigen/Core>
1818

‎control/autoware_lane_departure_checker/test/test_calc_trajectory_deviation.cpp ‎planning/autoware_departure_checker/test/test_calc_trajectory_deviation.cpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -12,7 +12,7 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#include "autoware/lane_departure_checker/utils.hpp"
15+
#include "autoware/departure_checker/utils.hpp"
1616

1717
#include <Eigen/Core>
1818

‎control/autoware_lane_departure_checker/test/test_create_vehicle_footprints.cpp ‎planning/autoware_departure_checker/test/test_create_vehicle_footprints.cpp

+1-1
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@@ -12,7 +12,7 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#include "autoware/lane_departure_checker/utils.hpp"
15+
#include "autoware/departure_checker/utils.hpp"
1616

1717
#include <Eigen/Core>
1818

‎control/autoware_lane_departure_checker/test/test_create_vehicle_passing_areas.cpp ‎planning/autoware_departure_checker/test/test_create_vehicle_passing_areas.cpp

+1-1
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@@ -12,7 +12,7 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#include "autoware/lane_departure_checker/utils.hpp"
15+
#include "autoware/departure_checker/utils.hpp"
1616

1717
#include <Eigen/Core>
1818
#include <autoware_utils/geometry/boost_geometry.hpp>

‎control/autoware_lane_departure_checker/test/test_cut_trajectory.cpp ‎planning/autoware_departure_checker/test/test_cut_trajectory.cpp

+1-1
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@@ -12,7 +12,7 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#include "autoware/lane_departure_checker/utils.hpp"
15+
#include "autoware/departure_checker/utils.hpp"
1616

1717
#include <Eigen/Core>
1818

‎control/autoware_lane_departure_checker/test/test_resample_trajectory.cpp ‎planning/autoware_departure_checker/test/test_resample_trajectory.cpp

+1-1
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@@ -12,7 +12,7 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#include "autoware/lane_departure_checker/utils.hpp"
15+
#include "autoware/departure_checker/utils.hpp"
1616

1717
#include <Eigen/Core>
1818

‎planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/geometric_pull_over.hpp

+1-1
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@@ -18,7 +18,7 @@
1818
#include "autoware/behavior_path_goal_planner_module/pull_over_planner/pull_over_planner_base.hpp"
1919
#include "autoware/behavior_path_planner_common/utils/parking_departure/geometric_parallel_parking.hpp"
2020

21-
#include <autoware/lane_departure_checker/lane_departure_checker.hpp>
21+
#include <autoware/departure_checker/departure_checker.hpp>
2222

2323
#include <autoware_internal_planning_msgs/msg/path_with_lane_id.hpp>
2424

‎planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/shift_pull_over.hpp

+1-1
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@@ -17,7 +17,7 @@
1717

1818
#include "autoware/behavior_path_goal_planner_module/pull_over_planner/pull_over_planner_base.hpp"
1919

20-
#include <autoware/lane_departure_checker/lane_departure_checker.hpp>
20+
#include <autoware/departure_checker/departure_checker.hpp>
2121

2222
#include <autoware_internal_planning_msgs/msg/path_with_lane_id.hpp>
2323

‎planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/util.hpp

+1-1
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@@ -18,7 +18,7 @@
1818
#include "autoware/behavior_path_goal_planner_module/goal_candidate.hpp"
1919
#include "autoware/behavior_path_goal_planner_module/pull_over_planner/pull_over_planner_base.hpp"
2020

21-
#include <autoware/lane_departure_checker/lane_departure_checker.hpp>
21+
#include <autoware/departure_checker/departure_checker.hpp>
2222

2323
#include <autoware_internal_planning_msgs/msg/path_with_lane_id.hpp>
2424
#include <autoware_perception_msgs/msg/predicted_objects.hpp>

‎planning/behavior_path_planner/autoware_behavior_path_planner/package.xml

-1
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@@ -43,7 +43,6 @@
4343
<depend>autoware_internal_debug_msgs</depend>
4444
<depend>autoware_internal_planning_msgs</depend>
4545
<depend>autoware_interpolation</depend>
46-
<depend>autoware_lane_departure_checker</depend>
4746
<depend>autoware_lanelet2_extension</depend>
4847
<depend>autoware_motion_utils</depend>
4948
<depend>autoware_object_recognition_utils</depend>

‎planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/parking_departure/geometric_parallel_parking.hpp

+1-1
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@@ -18,7 +18,7 @@
1818
#include "autoware/behavior_path_planner_common/data_manager.hpp"
1919
#include "autoware/behavior_path_planner_common/parameters.hpp"
2020

21-
#include <autoware/lane_departure_checker/lane_departure_checker.hpp>
21+
#include <autoware/departure_checker/departure_checker.hpp>
2222

2323
#include <autoware_internal_planning_msgs/msg/path_with_lane_id.hpp>
2424
#include <autoware_perception_msgs/msg/predicted_objects.hpp>

‎planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml

+1-1
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@@ -44,10 +44,10 @@
4444
<buildtool_depend>autoware_cmake</buildtool_depend>
4545

4646
<depend>autoware_adapi_v1_msgs</depend>
47+
<depend>autoware_departure_checker</depend>
4748
<depend>autoware_freespace_planning_algorithms</depend>
4849
<depend>autoware_internal_planning_msgs</depend>
4950
<depend>autoware_interpolation</depend>
50-
<depend>autoware_lane_departure_checker</depend>
5151
<depend>autoware_lanelet2_extension</depend>
5252
<depend>autoware_motion_utils</depend>
5353
<depend>autoware_object_recognition_utils</depend>

‎planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/geometric_pull_out.hpp

+1-1
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@@ -20,7 +20,7 @@
2020
#include "autoware/behavior_path_start_planner_module/pull_out_planner_base.hpp"
2121
#include "autoware_utils/system/time_keeper.hpp"
2222

23-
#include <autoware/lane_departure_checker/lane_departure_checker.hpp>
23+
#include <autoware/departure_checker/departure_checker.hpp>
2424

2525
#include <autoware_internal_planning_msgs/msg/path_with_lane_id.hpp>
2626

‎planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/shift_pull_out.hpp

+1-1
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@@ -19,7 +19,7 @@
1919
#include "autoware/behavior_path_start_planner_module/pull_out_planner_base.hpp"
2020
#include "autoware_utils/system/time_keeper.hpp"
2121

22-
#include <autoware/lane_departure_checker/lane_departure_checker.hpp>
22+
#include <autoware/departure_checker/departure_checker.hpp>
2323

2424
#include <autoware_internal_planning_msgs/msg/path_with_lane_id.hpp>
2525

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