feat(autoware_utils_pcl): split package

autoware_utils/include/autoware_utils/autoware_utils.hpp

@@ -35,24 +35,20 @@
 #include "autoware_utils/ros/debug_traits.hpp"
 #include "autoware_utils/ros/diagnostics_interface.hpp"
 #include "autoware_utils/ros/logger_level_configure.hpp"
-#include "autoware_utils/ros/managed_transform_buffer.hpp"
 #include "autoware_utils/ros/marker_helper.hpp"
 #include "autoware_utils/ros/msg_covariance.hpp"
 #include "autoware_utils/ros/msg_operation.hpp"
 #include "autoware_utils/ros/parameter.hpp"
-#include "autoware_utils/ros/pcl_conversion.hpp"
 #include "autoware_utils/ros/polling_subscriber.hpp"
 #include "autoware_utils/ros/processing_time_publisher.hpp"
 #include "autoware_utils/ros/published_time_publisher.hpp"
 #include "autoware_utils/ros/self_pose_listener.hpp"
-#include "autoware_utils/ros/transform_listener.hpp"
 #include "autoware_utils/ros/update_param.hpp"
 #include "autoware_utils/ros/uuid_helper.hpp"
 #include "autoware_utils/ros/wait_for_param.hpp"
 #include "autoware_utils/system/backtrace.hpp"
 #include "autoware_utils/system/lru_cache.hpp"
 #include "autoware_utils/system/stop_watch.hpp"
 #include "autoware_utils/system/time_keeper.hpp"
-#include "autoware_utils/transform/transforms.hpp"
 
 #endif  // AUTOWARE_UTILS__AUTOWARE_UTILS_HPP_

autoware_utils/include/autoware_utils/ros/transform_listener.hpp

@@ -1,4 +1,4 @@
-// Copyright 2020 Tier IV, Inc.
+// Copyright 2025 The Autoware Contributors
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -15,73 +15,13 @@
 #ifndef AUTOWARE_UTILS__ROS__TRANSFORM_LISTENER_HPP_
 #define AUTOWARE_UTILS__ROS__TRANSFORM_LISTENER_HPP_
 
-#include <rclcpp/rclcpp.hpp>
-
-#include <geometry_msgs/msg/transform_stamped.hpp>
-
-#include <tf2_ros/buffer.h>
-#include <tf2_ros/create_timer_ros.h>
-#include <tf2_ros/transform_listener.h>
-
-#include <memory>
-#include <string>
+#include <autoware_utils_tf2/transform_listener.hpp>
 
 namespace autoware_utils
 {
-class TransformListener
-{
-public:
-  explicit TransformListener(rclcpp::Node * node)
-  : clock_(node->get_clock()), logger_(node->get_logger())
-  {
-    tf_buffer_ = std::make_shared<tf2_ros::Buffer>(clock_);
-    auto timer_interface = std::make_shared<tf2_ros::CreateTimerROS>(
-      node->get_node_base_interface(), node->get_node_timers_interface());
-    tf_buffer_->setCreateTimerInterface(timer_interface);
-    tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_);
-  }
-
-  geometry_msgs::msg::TransformStamped::ConstSharedPtr get_latest_transform(
-    const std::string & from, const std::string & to)
-  {
-    geometry_msgs::msg::TransformStamped tf;
-    try {
-      tf = tf_buffer_->lookupTransform(from, to, tf2::TimePointZero);
-    } catch (tf2::TransformException & ex) {
-      RCLCPP_WARN_THROTTLE(
-        logger_, *clock_, 5000, "failed to get transform from %s to %s: %s", from.c_str(),
-        to.c_str(), ex.what());
-      return {};
-    }
-
-    return std::make_shared<const geometry_msgs::msg::TransformStamped>(tf);
-  }
-
-  geometry_msgs::msg::TransformStamped::ConstSharedPtr get_transform(
-    const std::string & from, const std::string & to, const rclcpp::Time & time,
-    const rclcpp::Duration & duration)
-  {
-    geometry_msgs::msg::TransformStamped tf;
-    try {
-      tf = tf_buffer_->lookupTransform(from, to, time, duration);
-    } catch (tf2::TransformException & ex) {
-      RCLCPP_WARN_THROTTLE(
-        logger_, *clock_, 5000, "failed to get transform from %s to %s: %s", from.c_str(),
-        to.c_str(), ex.what());
-      return {};
-    }
-
-    return std::make_shared<const geometry_msgs::msg::TransformStamped>(tf);
-  }
 
-  rclcpp::Logger get_logger() { return logger_; }
+using namespace autoware_utils_tf2;  // NOLINT(build/namespaces)
 
-private:
-  rclcpp::Clock::SharedPtr clock_;
-  rclcpp::Logger logger_;
-  std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
-  std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
-};
 }  // namespace autoware_utils
 
 #endif  // AUTOWARE_UTILS__ROS__TRANSFORM_LISTENER_HPP_

autoware_utils/package.xml

@@ -8,6 +8,7 @@
   <maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
   <maintainer email="esteve.fernandez@tier4.jp">Esteve Fernandez</maintainer>
   <maintainer email="yutaka.kondo@tier4.jp">Yutaka Kondo</maintainer>
+  <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
@@ -18,14 +19,13 @@
   <depend>autoware_internal_planning_msgs</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_utils_tf2</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>builtin_interfaces</depend>
   <depend>diagnostic_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>libboost-system-dev</depend>
   <depend>logging_demo</depend>
-  <depend>pcl_conversions</depend>
-  <depend>pcl_ros</depend>
   <depend>rclcpp</depend>
   <depend>tf2</depend>
   <depend>tf2_eigen</depend>

autoware_utils_pcl/CMakeLists.txt

@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 3.14)
+project(autoware_utils_pcl)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+if(BUILD_TESTING)
+  file(GLOB_RECURSE test_files test/**/*.cpp)
+  ament_add_ros_isolated_gtest(test_${PROJECT_NAME} ${test_files})
+  ament_target_dependencies(test_${PROJECT_NAME} autoware_utils_tf2 pcl_conversions pcl_ros)
+  target_include_directories(test_${PROJECT_NAME} PRIVATE include)
+endif()
+
+ament_auto_package()

autoware_utils_pcl/README.md

@@ -0,0 +1 @@
+# autoware_utils_pcl

autoware_utils/include/autoware_utils/ros/pcl_conversion.hpp → autoware_utils_pcl/include/autoware_utils_pcl/conversion.hpp

@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_UTILS__ROS__PCL_CONVERSION_HPP_
-#define AUTOWARE_UTILS__ROS__PCL_CONVERSION_HPP_
+#ifndef AUTOWARE_UTILS_PCL__CONVERSION_HPP_
+#define AUTOWARE_UTILS_PCL__CONVERSION_HPP_
 
 #include <pcl/common/transforms.h>
 #include <pcl_conversions/pcl_conversions.h>
 
 #include <vector>
 
-namespace autoware_utils
+namespace autoware_utils_pcl
 {
 /**
  * @brief a faster implementation of converting sensor_msgs::msg::PointCloud2 to
@@ -67,6 +67,6 @@ void transform_point_cloud_from_ros_msg(
   }
 }
 
-}  // namespace autoware_utils
+}  // namespace autoware_utils_pcl
 
-#endif  // AUTOWARE_UTILS__ROS__PCL_CONVERSION_HPP_
+#endif  // AUTOWARE_UTILS_PCL__CONVERSION_HPP_

autoware_utils/include/autoware_utils/ros/managed_transform_buffer.hpp → autoware_utils_pcl/include/autoware_utils_pcl/managed_transform_buffer.hpp

@@ -12,11 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_UTILS__ROS__MANAGED_TRANSFORM_BUFFER_HPP_
-#define AUTOWARE_UTILS__ROS__MANAGED_TRANSFORM_BUFFER_HPP_
-
-#include "autoware_utils/ros/transform_listener.hpp"
+#ifndef AUTOWARE_UTILS_PCL__MANAGED_TRANSFORM_BUFFER_HPP_
+#define AUTOWARE_UTILS_PCL__MANAGED_TRANSFORM_BUFFER_HPP_
 
+#include <autoware_utils_tf2/transform_listener.hpp>
 #include <eigen3/Eigen/Core>
 #include <pcl_ros/transforms.hpp>
 #include <rclcpp/rclcpp.hpp>
@@ -47,7 +46,7 @@ struct hash<std::pair<std::string, std::string>>
 };
 }  // namespace std
 
-namespace autoware_utils
+namespace autoware_utils_pcl
 {
 using std::chrono_literals::operator""ms;
 using Key = std::pair<std::string, std::string>;
@@ -74,7 +73,7 @@ class ManagedTransformBuffer
         return get_static_transform(target_frame, source_frame, eigen_transform);
       };
     } else {
-      tf_listener_ = std::make_unique<autoware_utils::TransformListener>(node);
+      tf_listener_ = std::make_unique<autoware_utils_tf2::TransformListener>(node);
       get_transform_ = [this](
                          const std::string & target_frame, const std::string & source_frame,
                          Eigen::Matrix4f & eigen_transform) {
@@ -174,7 +173,7 @@ class ManagedTransformBuffer
     }
 
     // Get the transform from the TF tree
-    tf_listener_ = std::make_unique<autoware_utils::TransformListener>(node_);
+    tf_listener_ = std::make_unique<autoware_utils_tf2::TransformListener>(node_);
     auto tf = tf_listener_->get_transform(
       target_frame, source_frame, rclcpp::Time(0), rclcpp::Duration(1000ms));
     tf_listener_.reset();
@@ -219,10 +218,10 @@ class ManagedTransformBuffer
 
   TFMap buffer_;
   rclcpp::Node * const node_;
-  std::unique_ptr<autoware_utils::TransformListener> tf_listener_;
+  std::unique_ptr<autoware_utils_tf2::TransformListener> tf_listener_;
   std::function<bool(const std::string &, const std::string &, Eigen::Matrix4f &)> get_transform_;
 };
 
-}  // namespace autoware_utils
+}  // namespace autoware_utils_pcl
 
-#endif  // AUTOWARE_UTILS__ROS__MANAGED_TRANSFORM_BUFFER_HPP_
+#endif  // AUTOWARE_UTILS_PCL__MANAGED_TRANSFORM_BUFFER_HPP_

autoware_utils/include/autoware_utils/transform/transforms.hpp → autoware_utils_pcl/include/autoware_utils_pcl/transform.hpp

@@ -12,16 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_UTILS__TRANSFORM__TRANSFORMS_HPP_
-#define AUTOWARE_UTILS__TRANSFORM__TRANSFORMS_HPP_
+#ifndef AUTOWARE_UTILS_PCL__TRANSFORM_HPP_
+#define AUTOWARE_UTILS_PCL__TRANSFORM_HPP_
 
 #include <Eigen/Core>
 #include <rclcpp/rclcpp.hpp>
 
 #include <pcl/common/transforms.h>
 #include <pcl/point_cloud.h>
 
-namespace autoware_utils
+namespace autoware_utils_pcl
 {
 template <typename PointT>
 void transform_pointcloud(
@@ -46,6 +46,6 @@ void transform_pointcloud(
     pcl::transformPointCloud(cloud_in, cloud_out, transform);
   }
 }
-}  // namespace autoware_utils
+}  // namespace autoware_utils_pcl
 
-#endif  // AUTOWARE_UTILS__TRANSFORM__TRANSFORMS_HPP_
+#endif  // AUTOWARE_UTILS_PCL__TRANSFORM_HPP_

autoware_utils_pcl/package.xml

@@ -0,0 +1,28 @@
+<?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>autoware_utils_pcl</name>
+  <version>1.1.0</version>
+  <description>The autoware_utils_pcl package</description>
+  <maintainer email="egon.kang@autocore.ai">Jian Kang</maintainer>
+  <maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
+  <maintainer email="esteve.fernandez@tier4.jp">Esteve Fernandez</maintainer>
+  <maintainer email="yutaka.kondo@tier4.jp">Yutaka Kondo</maintainer>
+  <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>autoware_cmake</buildtool_depend>
+
+  <depend>autoware_utils_tf2</depend>
+  <depend>pcl_conversions</depend>
+  <depend>pcl_ros</depend>
+
+  <test_depend>ament_cmake_ros</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

autoware_utils_pcl/test/src/build.cpp

@@ -0,0 +1,23 @@
+// Copyright 2025 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <autoware_utils_pcl/conversion.hpp>
+#include <autoware_utils_pcl/managed_transform_buffer.hpp>
+#include <autoware_utils_pcl/transform.hpp>
+
+#include <gtest/gtest.h>
+
+TEST(AutowareUtilsPcl, Build)
+{
+}

autoware_utils_pcl/test/test_main.cpp

@@ -0,0 +1,26 @@
+// Copyright 2025 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <gtest/gtest.h>
+
+int main(int argc, char * argv[])
+{
+  testing::InitGoogleTest(&argc, argv);
+  rclcpp::init(argc, argv);
+  bool result = RUN_ALL_TESTS();
+  rclcpp::shutdown();
+  return result;
+}

autoware_utils_tf2/CMakeLists.txt

@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 3.14)
+project(autoware_utils_tf2)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+if(BUILD_TESTING)
+  file(GLOB_RECURSE test_files test/**/*.cpp)
+  ament_add_ros_isolated_gtest(test_${PROJECT_NAME} ${test_files})
+  ament_target_dependencies(test_${PROJECT_NAME} geometry_msgs rclcpp tf2_ros)
+  target_include_directories(test_${PROJECT_NAME} PRIVATE include)
+endif()
+
+ament_auto_package()

autoware_utils_tf2/README.md

@@ -0,0 +1 @@
+# autoware_utils_tf2