update readme

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

Author: isamu-takagi

autoware_utils/README.md

@@ -47,7 +47,6 @@ The ROS module provides utilities for working with ROS messages and nodes:
 - **`debug_publisher.hpp`**: A helper class for publishing debug messages with timestamps.
 - **`diagnostics_interface.hpp`**: An interface for publishing diagnostic messages.
 - **`logger_level_configure.hpp`**: Utility for configuring logger levels dynamically.
-- **`managed_transform_buffer.hpp`**: A managed buffer for handling static and dynamic transforms.
 - **`marker_helper.hpp`**: Helper functions for creating and manipulating visualization markers.
 - **`msg_covariance.hpp`**: Indices for accessing covariance matrices in ROS messages.
 - **`msg_operation.hpp`**: Overloaded operators for quaternion messages.
@@ -56,12 +55,10 @@ The ROS module provides utilities for working with ROS messages and nodes:
 - **`processing_time_publisher.hpp`**: Publishes processing times as diagnostic messages.
 - **`published_time_publisher.hpp`**: Tracks and publishes the time when messages are published.
 - **`self_pose_listener.hpp`**: Listens to the self-pose of the vehicle.
-- **`transform_listener.hpp`**: Manages transformation listeners.
 - **`update_param.hpp`**: Updates parameters from remote nodes.
 - **`uuid_helper.hpp`**: Utilities for generating and managing UUIDs.
 - **`wait_for_param.hpp`**: Waits for parameters from remote nodes.
 - **`debug_traits.hpp`**: Traits for identifying debug message types.
-- **`pcl_conversion.hpp`**: Efficient conversion and transformation of PointCloud2 messages to PCL point clouds.
 
 #### System Module
 
@@ -72,10 +69,6 @@ The system module provides low-level utilities for performance monitoring and er
 - **`stop_watch.hpp`**: Measures elapsed time for profiling.
 - **`time_keeper.hpp`**: Tracks and reports the processing time of various functions.
 
-#### Transform Module
-
-Efficient methods for transforming and manipulating point clouds.
-
 ## Usage
 
 ### Including Headers
@@ -140,36 +133,6 @@ int main() {
 
 ### Detailed Usage Examples
 
-#### Transform Point Clouds with ManagedTransformBuffer
-
-```cpp
-#include "autoware_utils/ros/managed_transform_buffer.hpp"
-#include "sensor_msgs/msg/point_cloud2.hpp"
-#include <rclcpp/rclcpp.hpp>
-
-int main(int argc, char * argv[]) {
-  rclcpp::init(argc, argv);
-  auto node = rclcpp::Node::make_shared("transform_node");
-
-  // Initialize ManagedTransformBuffer
-  autoware_utils::ManagedTransformBuffer transform_buffer(node, false);
-
-  // Load point cloud data
-  sensor_msgs::msg::PointCloud2 cloud_in; // Assume this is populated with data
-  sensor_msgs::msg::PointCloud2 cloud_out;
-
-  // Transform point cloud from "base_link" to "map" frame
-  if (transform_buffer.transform_pointcloud("map", cloud_in, cloud_out)) {
-    RCLCPP_INFO(node->get_logger(), "Point cloud transformed successfully.");
-  } else {
-    RCLCPP_ERROR(node->get_logger(), "Failed to transform point cloud.");
-  }
-
-  rclcpp::shutdown();
-  return 0;
-}
-```
-
 #### Update Parameters Dynamically with update_param.hpp
 
 ```cpp
@@ -250,36 +213,6 @@ int main(int argc, char * argv[]) {
 }
 ```
 
-#### Efficient Point Cloud Conversion with pcl_conversion.hpp
-
-```cpp
-#include "autoware_utils/ros/pcl_conversion.hpp"
-#include "sensor_msgs/msg/point_cloud2.hpp"
-#include <pcl/point_types.h>
-#include <pcl/PCLPointCloud2.h>
-#include <Eigen/Core>
-#include <rclcpp/rclcpp.hpp>
-
-int main(int argc, char * argv[]) {
-  rclcpp::init(argc, argv);
-  auto node = rclcpp::Node::make_shared("pcl_conversion_node");
-
-  // Load point cloud data
-  sensor_msgs::msg::PointCloud2 cloud_in; // Assume this is populated with data
-  pcl::PointCloud<pcl::PointXYZ> pcl_cloud;
-
-  // Define transformation matrix
-  Eigen::Matrix4f transform = Eigen::Matrix4f::Identity();
-  // Populate transform matrix with actual values
-
-  // Convert and transform point cloud
-  autoware_utils::transform_point_cloud_from_ros_msg(cloud_in, pcl_cloud, transform);
-
-  rclcpp::shutdown();
-  return 0;
-}
-```
-
 #### Handling Debug Message Types with debug_traits.hpp
 
 ```cpp

autoware_utils_geometry/README.md

@@ -0,0 +1,11 @@
+# autoware_utils_geometry
+
+## Overview
+
+The **autoware_utils** library is a comprehensive toolkit designed to facilitate the development of autonomous driving applications.
+This package provides essential utilities for geometry.
+It is extensively used in the Autoware project to handle common tasks such as geometric calculations and message conversions.
+
+## Design
+
+- **`transform_listener.hpp`**: Manages transformation listeners.

autoware_utils_pcl/README.md

@@ -1 +1,77 @@
 # autoware_utils_pcl
+
+## Overview
+
+The **autoware_utils** library is a comprehensive toolkit designed to facilitate the development of autonomous driving applications.
+This package provides essential utilities for point cloud.
+It is extensively used in the Autoware project to handle common tasks such as point cloud transformations.
+
+## Design
+
+- **`managed_transform_buffer.hpp`**: A managed buffer for handling static and dynamic transforms.
+- **`pcl_conversion.hpp`**: Efficient conversion and transformation of PointCloud2 messages to PCL point clouds.
+- **`transforms.hpp`**: Efficient methods for transforming and manipulating point clouds.
+
+## Example Code Snippets
+
+### Transform Point Clouds with ManagedTransformBuffer
+
+```cpp
+#include <autoware_utils_pcl/managed_transform_buffer.hpp>
+#include <sensor_msgs/msg/point_cloud2.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  auto node = rclcpp::Node::make_shared("transform_node");
+
+  // Initialize ManagedTransformBuffer
+  autoware_utils::ManagedTransformBuffer transform_buffer(node, false);
+
+  // Load point cloud data
+  sensor_msgs::msg::PointCloud2 cloud_in; // Assume this is populated with data
+  sensor_msgs::msg::PointCloud2 cloud_out;
+
+  // Transform point cloud from "base_link" to "map" frame
+  if (transform_buffer.transform_pointcloud("map", cloud_in, cloud_out)) {
+    RCLCPP_INFO(node->get_logger(), "Point cloud transformed successfully.");
+  } else {
+    RCLCPP_ERROR(node->get_logger(), "Failed to transform point cloud.");
+  }
+
+  rclcpp::shutdown();
+  return 0;
+}
+```
+
+### Efficient Point Cloud Conversion with pcl_conversion.hpp
+
+```cpp
+#include <autoware_utils_pcl/pcl_conversion.hpp>
+#include <sensor_msgs/msg/point_cloud2.hpp>
+#include <pcl/point_types.h>
+#include <pcl/PCLPointCloud2.h>
+#include <Eigen/Core>
+#include <rclcpp/rclcpp.hpp>
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  auto node = rclcpp::Node::make_shared("pcl_conversion_node");
+
+  // Load point cloud data
+  sensor_msgs::msg::PointCloud2 cloud_in; // Assume this is populated with data
+  pcl::PointCloud<pcl::PointXYZ> pcl_cloud;
+
+  // Define transformation matrix
+  Eigen::Matrix4f transform = Eigen::Matrix4f::Identity();
+  // Populate transform matrix with actual values
+
+  // Convert and transform point cloud
+  autoware_utils::transform_point_cloud_from_ros_msg(cloud_in, pcl_cloud, transform);
+
+  rclcpp::shutdown();
+  return 0;
+}
+```