refactor(twist2accel)!: prefix package and namespace with autoware (#8299)

a-maumau · SakodaShintaro · web-flow · commit ca32505bed03 · 2024-08-06T09:03:34.000+09:00
* add autoware_ prefix

Signed-off-by: a-maumau &lt;maumaumaumaumaumaumaumaumaumau@gmail.com&gt;

* add autoware_ prefix

Signed-off-by: a-maumau &lt;maumaumaumaumaumaumaumaumaumau@gmail.com&gt;

* add autoware_ prefix

Signed-off-by: a-maumau &lt;maumaumaumaumaumaumaumaumaumau@gmail.com&gt;

---------

Signed-off-by: a-maumau &lt;maumaumaumaumaumaumaumaumaumau@gmail.com&gt;
Co-authored-by: SakodaShintaro &lt;shintaro.sakoda@tier4.jp&gt;
diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -93,7 +93,7 @@ localization/pose2twist/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masah
 localization/pose_estimator_arbiter/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/pose_initializer/** anh.nguyen.2@tier4.jp isamu.takagi@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/pose_instability_detector/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
-localization/twist2accel/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
+localization/autoware_twist2accel/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/yabloc/yabloc_common/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/yabloc/yabloc_image_processing/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/yabloc/yabloc_monitor/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
diff --git a/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml b/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml
@@ -26,7 +26,7 @@
   </group>
 
   <group>
-    <include file="$(find-pkg-share twist2accel)/launch/twist2accel.launch.xml">
+    <include file="$(find-pkg-share autoware_twist2accel)/launch/twist2accel.launch.xml">
       <arg name="in_odom" value="/localization/kinematic_state"/>
       <arg name="in_twist" value="/localization/twist_estimator/twist_with_covariance"/>
       <arg name="out_accel" value="/localization/acceleration"/>
diff --git a/localization/autoware_twist2accel/CMakeLists.txt b/localization/autoware_twist2accel/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(twist2accel)
+project(autoware_twist2accel)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
@@ -9,7 +9,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
 )
 
 rclcpp_components_register_node(${PROJECT_NAME}
-  PLUGIN "Twist2Accel"
+  PLUGIN "autoware::twist2accel::Twist2Accel"
   EXECUTABLE ${PROJECT_NAME}_node
   EXECUTOR SingleThreadedExecutor
 )
diff --git a/localization/autoware_twist2accel/README.md b/localization/autoware_twist2accel/README.md
@@ -1,4 +1,4 @@
-# twist2accel
+# autoware_twist2accel
 
 ## Purpose
 
@@ -21,7 +21,7 @@ This package is responsible for estimating acceleration using the output of `ekf
 
 ## Parameters
 
-{{ json_to_markdown("localization/twist2accel/schema/twist2accel.schema.json") }}
+{{ json_to_markdown("localization/autoware_twist2accel/schema/twist2accel.schema.json") }}
 
 ## Future work
 
diff --git a/localization/autoware_twist2accel/config/twist2accel.param.yaml b/localization/autoware_twist2accel/config/twist2accel.param.yaml
diff --git a/localization/autoware_twist2accel/launch/twist2accel.launch.xml b/localization/autoware_twist2accel/launch/twist2accel.launch.xml
@@ -1,10 +1,10 @@
 <launch>
-  <arg name="param_file" default="$(find-pkg-share twist2accel)/config/twist2accel.param.yaml"/>
+  <arg name="param_file" default="$(find-pkg-share autoware_twist2accel)/config/twist2accel.param.yaml"/>
 
   <arg name="in_odom" default="in_odom"/>
   <arg name="in_twist" default="in_twist"/>
   <arg name="out_accel" default="out_accel"/>
-  <node pkg="twist2accel" exec="twist2accel_node" output="both">
+  <node pkg="autoware_twist2accel" exec="autoware_twist2accel_node" output="both">
     <remap from="input/odom" to="$(var in_odom)"/>
     <remap from="input/twist" to="$(var in_twist)"/>
     <remap from="output/accel" to="$(var out_accel)"/>
diff --git a/localization/autoware_twist2accel/package.xml b/localization/autoware_twist2accel/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>twist2accel</name>
+  <name>autoware_twist2accel</name>
   <version>0.0.0</version>
   <description>The acceleration estimation package</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
diff --git a/localization/autoware_twist2accel/schema/twist2accel.schema.json b/localization/autoware_twist2accel/schema/twist2accel.schema.json
diff --git a/localization/autoware_twist2accel/src/twist2accel.cpp b/localization/autoware_twist2accel/src/twist2accel.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "twist2accel/twist2accel.hpp"
+#include "twist2accel.hpp"
 
 #include <rclcpp/logging.hpp>
 
@@ -22,6 +22,8 @@
 #include <string>
 #include <utility>
 
+namespace autoware::twist2accel
+{
 using std::placeholders::_1;
 
 Twist2Accel::Twist2Accel(const rclcpp::NodeOptions & node_options)
@@ -103,6 +105,7 @@ void Twist2Accel::estimate_accel(const geometry_msgs::msg::TwistStamped::SharedP
   pub_accel_->publish(accel_msg);
   prev_twist_ptr_ = msg;
 }
+}  // namespace autoware::twist2accel
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(Twist2Accel)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::twist2accel::Twist2Accel)
diff --git a/localization/autoware_twist2accel/src/twist2accel.hpp b/localization/autoware_twist2accel/src/twist2accel.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TWIST2ACCEL__TWIST2ACCEL_HPP_
-#define TWIST2ACCEL__TWIST2ACCEL_HPP_
+#ifndef TWIST2ACCEL_HPP_
+#define TWIST2ACCEL_HPP_
 
 #include "signal_processing/lowpass_filter_1d.hpp"
 
@@ -37,6 +37,8 @@
 #include <string>
 #include <vector>
 
+namespace autoware::twist2accel
+{
 class Twist2Accel : public rclcpp::Node
 {
 public:
@@ -68,4 +70,5 @@ class Twist2Accel : public rclcpp::Node
   void callback_odometry(const nav_msgs::msg::Odometry::SharedPtr msg);
   void estimate_accel(const geometry_msgs::msg::TwistStamped::SharedPtr msg);
 };
-#endif  // TWIST2ACCEL__TWIST2ACCEL_HPP_
+}  // namespace autoware::twist2accel
+#endif  // TWIST2ACCEL_HPP_

Original file line number	Diff line number	Diff line change
`@@ -1,5 +1,5 @@`
`1`	`1`	`cmake_minimum_required(VERSION 3.14)`
`2`		`-project(twist2accel)`
	`2`	`+project(autoware_twist2accel)`
`3`	`3`
`4`	`4`	`find_package(autoware_cmake REQUIRED)`
`5`	`5`	`autoware_package()`
`@@ -9,7 +9,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED`
`9`	`9`	`)`
`10`	`10`
`11`	`11`	`rclcpp_components_register_node(${PROJECT_NAME}`
`12`		`- PLUGIN "Twist2Accel"`
	`12`	`+ PLUGIN "autoware::twist2accel::Twist2Accel"`
`13`	`13`	`EXECUTABLE ${PROJECT_NAME}_node`
`14`	`14`	`EXECUTOR SingleThreadedExecutor`
`15`	`15`	`)`