From 82755e3598d8a30f7dc25dceeca764a4ff735a59 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Fri, 7 Mar 2025 13:42:35 +0900 Subject: [PATCH] feat(autoware_utils_tf): rename package Signed-off-by: Takagi, Isamu --- .../autoware_utils/ros/transform_listener.hpp | 13 +++++++------ autoware_utils/package.xml | 2 +- .../autoware_utils_pcl/managed_transform_buffer.hpp | 8 ++++---- autoware_utils_pcl/package.xml | 2 +- .../CMakeLists.txt | 2 +- .../README.md | 6 +++--- .../autoware_utils_tf}/transform_listener.hpp | 10 +++++----- .../package.xml | 4 ++-- 8 files changed, 24 insertions(+), 23 deletions(-) rename {autoware_utils_geometry => autoware_utils_tf}/CMakeLists.txt (81%) rename {autoware_utils_geometry => autoware_utils_tf}/README.md (66%) rename {autoware_utils_geometry/include/autoware_utils_geometry => autoware_utils_tf/include/autoware_utils_tf}/transform_listener.hpp (91%) rename {autoware_utils_geometry => autoware_utils_tf}/package.xml (90%) diff --git a/autoware_utils/include/autoware_utils/ros/transform_listener.hpp b/autoware_utils/include/autoware_utils/ros/transform_listener.hpp index a2e690f..a4c61d2 100644 --- a/autoware_utils/include/autoware_utils/ros/transform_listener.hpp +++ b/autoware_utils/include/autoware_utils/ros/transform_listener.hpp @@ -15,13 +15,14 @@ #ifndef AUTOWARE_UTILS__ROS__TRANSFORM_LISTENER_HPP_ #define AUTOWARE_UTILS__ROS__TRANSFORM_LISTENER_HPP_ -#include +// NOLINTBEGIN(build/namespaces, whitespace/line_length) +// clang-format off -namespace autoware_utils -{ +#pragma message("#include is deprecated. Use #include instead.") +#include +namespace autoware_utils { using namespace autoware_utils_tf; } -using namespace autoware_utils_geometry; // NOLINT(build/namespaces) - -} // namespace autoware_utils +// clang-format on +// NOLINTEND #endif // AUTOWARE_UTILS__ROS__TRANSFORM_LISTENER_HPP_ diff --git a/autoware_utils/package.xml b/autoware_utils/package.xml index ca76554..e0393b8 100644 --- a/autoware_utils/package.xml +++ b/autoware_utils/package.xml @@ -19,12 +19,12 @@ autoware_internal_planning_msgs autoware_perception_msgs autoware_planning_msgs - autoware_utils_geometry autoware_utils_logging autoware_utils_math autoware_utils_pcl autoware_utils_rclcpp autoware_utils_system + autoware_utils_tf autoware_utils_uuid autoware_utils_visualization autoware_vehicle_msgs diff --git a/autoware_utils_pcl/include/autoware_utils_pcl/managed_transform_buffer.hpp b/autoware_utils_pcl/include/autoware_utils_pcl/managed_transform_buffer.hpp index 9f5e906..c3a2a4a 100644 --- a/autoware_utils_pcl/include/autoware_utils_pcl/managed_transform_buffer.hpp +++ b/autoware_utils_pcl/include/autoware_utils_pcl/managed_transform_buffer.hpp @@ -15,7 +15,7 @@ #ifndef AUTOWARE_UTILS_PCL__MANAGED_TRANSFORM_BUFFER_HPP_ #define AUTOWARE_UTILS_PCL__MANAGED_TRANSFORM_BUFFER_HPP_ -#include +#include #include #include #include @@ -73,7 +73,7 @@ class ManagedTransformBuffer return get_static_transform(target_frame, source_frame, eigen_transform); }; } else { - tf_listener_ = std::make_unique(node); + tf_listener_ = std::make_unique(node); get_transform_ = [this]( const std::string & target_frame, const std::string & source_frame, Eigen::Matrix4f & eigen_transform) { @@ -173,7 +173,7 @@ class ManagedTransformBuffer } // Get the transform from the TF tree - tf_listener_ = std::make_unique(node_); + tf_listener_ = std::make_unique(node_); auto tf = tf_listener_->get_transform( target_frame, source_frame, rclcpp::Time(0), rclcpp::Duration(1000ms)); tf_listener_.reset(); @@ -218,7 +218,7 @@ class ManagedTransformBuffer TFMap buffer_; rclcpp::Node * const node_; - std::unique_ptr tf_listener_; + std::unique_ptr tf_listener_; std::function get_transform_; }; diff --git a/autoware_utils_pcl/package.xml b/autoware_utils_pcl/package.xml index beb3200..6b20532 100644 --- a/autoware_utils_pcl/package.xml +++ b/autoware_utils_pcl/package.xml @@ -14,7 +14,7 @@ ament_cmake_auto autoware_cmake - autoware_utils_geometry + autoware_utils_tf pcl_conversions pcl_ros diff --git a/autoware_utils_geometry/CMakeLists.txt b/autoware_utils_tf/CMakeLists.txt similarity index 81% rename from autoware_utils_geometry/CMakeLists.txt rename to autoware_utils_tf/CMakeLists.txt index 4f98e18..88fc6b9 100644 --- a/autoware_utils_geometry/CMakeLists.txt +++ b/autoware_utils_tf/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(autoware_utils_geometry) +project(autoware_utils_tf) find_package(autoware_cmake REQUIRED) autoware_package() diff --git a/autoware_utils_geometry/README.md b/autoware_utils_tf/README.md similarity index 66% rename from autoware_utils_geometry/README.md rename to autoware_utils_tf/README.md index 4fe9ee8..1ecd511 100644 --- a/autoware_utils_geometry/README.md +++ b/autoware_utils_tf/README.md @@ -1,10 +1,10 @@ -# autoware_utils_geometry +# autoware_utils_tf ## 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. +This package provides essential utilities for transform. +It is extensively used in the Autoware project to handle common tasks such as managing transform listener and vehicle transform. ## Design diff --git a/autoware_utils_geometry/include/autoware_utils_geometry/transform_listener.hpp b/autoware_utils_tf/include/autoware_utils_tf/transform_listener.hpp similarity index 91% rename from autoware_utils_geometry/include/autoware_utils_geometry/transform_listener.hpp rename to autoware_utils_tf/include/autoware_utils_tf/transform_listener.hpp index 3b006db..b65f616 100644 --- a/autoware_utils_geometry/include/autoware_utils_geometry/transform_listener.hpp +++ b/autoware_utils_tf/include/autoware_utils_tf/transform_listener.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE_UTILS_GEOMETRY__TRANSFORM_LISTENER_HPP_ -#define AUTOWARE_UTILS_GEOMETRY__TRANSFORM_LISTENER_HPP_ +#ifndef AUTOWARE_UTILS_TF__TRANSFORM_LISTENER_HPP_ +#define AUTOWARE_UTILS_TF__TRANSFORM_LISTENER_HPP_ #include @@ -26,7 +26,7 @@ #include #include -namespace autoware_utils_geometry +namespace autoware_utils_tf { class TransformListener { @@ -82,6 +82,6 @@ class TransformListener std::shared_ptr tf_buffer_; std::shared_ptr tf_listener_; }; -} // namespace autoware_utils_geometry +} // namespace autoware_utils_tf -#endif // AUTOWARE_UTILS_GEOMETRY__TRANSFORM_LISTENER_HPP_ +#endif // AUTOWARE_UTILS_TF__TRANSFORM_LISTENER_HPP_ diff --git a/autoware_utils_geometry/package.xml b/autoware_utils_tf/package.xml similarity index 90% rename from autoware_utils_geometry/package.xml rename to autoware_utils_tf/package.xml index 98fa33c..e190741 100644 --- a/autoware_utils_geometry/package.xml +++ b/autoware_utils_tf/package.xml @@ -1,9 +1,9 @@ - autoware_utils_geometry + autoware_utils_tf 1.1.0 - The autoware_utils_geometry package + The autoware_utils_tf package Jian Kang Ryohsuke Mitsudome Esteve Fernandez