refactor(traffic_light_utils): prefix package and namespace with auto…

…ware (#9251) Signed-off-by: Esteve Fernandez <[email protected]>
autowarefoundation · Nov 18, 2024 · f112f65 · f112f65
1 parent 2a2bffa
commit f112f65
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Showing 19 changed files with 36 additions and 34 deletions.
diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -25,6 +25,7 @@ common/autoware_test_utils/** [email protected] [email protected] ta
 common/autoware_testing/** [email protected] [email protected] [email protected] [email protected]
 common/autoware_time_utils/** [email protected] [email protected] [email protected]
 common/autoware_trajectory/** [email protected] [email protected] [email protected]
+common/autoware_traffic_light_utils/** [email protected] [email protected] [email protected]
 common/autoware_universe_utils/** [email protected] [email protected] [email protected]
 common/autoware_vehicle_info_utils/** [email protected] [email protected] [email protected] [email protected]
 common/bag_time_manager_rviz_plugin/** [email protected]
@@ -41,7 +42,6 @@ common/tier4_system_rviz_plugin/** [email protected]
 common/tier4_traffic_light_rviz_plugin/** [email protected]
 common/tier4_vehicle_rviz_plugin/** [email protected]
 common/traffic_light_recognition_marker_publisher/** [email protected] [email protected] [email protected]
-common/traffic_light_utils/** [email protected] [email protected] [email protected]
 control/autoware_autonomous_emergency_braking/** [email protected] [email protected] [email protected] [email protected] [email protected]
 control/autoware_collision_detector/** [email protected] [email protected] [email protected]
 control/autoware_control_validator/** [email protected] [email protected] [email protected] [email protected] [email protected]

diff --git a/common/.pages b/common/.pages
@@ -22,8 +22,8 @@ nav:
     - 'Signal Processing':
       - 'Introduction': common/autoware_signal_processing
       - 'Butterworth Filter': common/autoware_signal_processing/documentation/ButterworthFilter
+    - 'autoware_traffic_light_utils': common/autoware_traffic_light_utils
     - 'autoware_universe_utils': common/autoware_universe_utils
-    - 'traffic_light_utils': common/traffic_light_utils
   - 'RVIZ2 Plugins':
     - 'autoware_perception_rviz_plugin': common/autoware_perception_rviz_plugin
     - 'autoware_overlay_rviz_plugin': common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin

diff --git a/common/traffic_light_utils/CHANGELOG.rst → ...utoware_traffic_light_utils/CHANGELOG.rst b/common/traffic_light_utils/CHANGELOG.rst → ...utoware_traffic_light_utils/CHANGELOG.rst
diff --git a/common/traffic_light_utils/CMakeLists.txt → ...toware_traffic_light_utils/CMakeLists.txt b/common/traffic_light_utils/CMakeLists.txt → ...toware_traffic_light_utils/CMakeLists.txt
@@ -1,13 +1,13 @@
 cmake_minimum_required(VERSION 3.14)
-project(traffic_light_utils)
+project(autoware_traffic_light_utils)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
 find_package(Boost REQUIRED)
 find_package(autoware_cmake REQUIRED)
 
-ament_auto_add_library(traffic_light_utils SHARED
+ament_auto_add_library(${PROJECT_NAME} SHARED
   src/traffic_light_utils.cpp
 )
 
@@ -16,7 +16,7 @@ if(BUILD_TESTING)
   file(GLOB_RECURSE TEST_SOURCES test/*.cpp)
   ament_add_ros_isolated_gtest(test_traffic_light_utils ${TEST_SOURCES})
   target_include_directories(test_traffic_light_utils PRIVATE src/include)
-  target_link_libraries(test_traffic_light_utils traffic_light_utils)
+  target_link_libraries(test_traffic_light_utils ${PROJECT_NAME})
 endif()
 
 ament_auto_package()
diff --git a/common/traffic_light_utils/README.md → ...on/autoware_traffic_light_utils/README.md b/common/traffic_light_utils/README.md → ...on/autoware_traffic_light_utils/README.md
@@ -1,4 +1,4 @@
-# traffic_light_utils
+# autoware_traffic_light_utils
 
 ## Purpose
 

diff --git a/...affic_light_utils/traffic_light_utils.hpp → ...affic_light_utils/traffic_light_utils.hpp b/...affic_light_utils/traffic_light_utils.hpp → ...affic_light_utils/traffic_light_utils.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TRAFFIC_LIGHT_UTILS__TRAFFIC_LIGHT_UTILS_HPP_
-#define TRAFFIC_LIGHT_UTILS__TRAFFIC_LIGHT_UTILS_HPP_
+#ifndef AUTOWARE__TRAFFIC_LIGHT_UTILS__TRAFFIC_LIGHT_UTILS_HPP_
+#define AUTOWARE__TRAFFIC_LIGHT_UTILS__TRAFFIC_LIGHT_UTILS_HPP_
 
 #include "autoware_perception_msgs/msg/traffic_light_element.hpp"
 #include "autoware_perception_msgs/msg/traffic_light_group.hpp"
@@ -27,7 +27,7 @@
 #include <tf2/LinearMath/Matrix3x3.h>
 #include <tf2/LinearMath/Transform.h>
 
-namespace traffic_light_utils
+namespace autoware::traffic_light_utils
 {
 
 void setSignalUnknown(tier4_perception_msgs::msg::TrafficLight & signal, float confidence = -1);
@@ -79,6 +79,6 @@ tf2::Vector3 getTrafficLightBottomRight(const lanelet::ConstLineString3d & traff
 
 tf2::Vector3 getTrafficLightCenter(const lanelet::ConstLineString3d & traffic_light);
 
-}  // namespace traffic_light_utils
+}  // namespace autoware::traffic_light_utils
 
-#endif  // TRAFFIC_LIGHT_UTILS__TRAFFIC_LIGHT_UTILS_HPP_
+#endif  // AUTOWARE__TRAFFIC_LIGHT_UTILS__TRAFFIC_LIGHT_UTILS_HPP_
diff --git a/common/traffic_light_utils/package.xml → .../autoware_traffic_light_utils/package.xml b/common/traffic_light_utils/package.xml → .../autoware_traffic_light_utils/package.xml
@@ -1,9 +1,9 @@
 <?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>traffic_light_utils</name>
+  <name>autoware_traffic_light_utils</name>
   <version>0.38.0</version>
-  <description>The traffic_light_utils package</description>
+  <description>The autoware_traffic_light_utils package</description>
   <maintainer email="[email protected]">Kotaro Uetake</maintainer>
   <maintainer email="[email protected]">Shunsuke Miura</maintainer>
   <maintainer email="[email protected]">Satoshi Ota</maintainer>

diff --git a/...c_light_utils/src/traffic_light_utils.cpp → ...c_light_utils/src/traffic_light_utils.cpp b/...c_light_utils/src/traffic_light_utils.cpp → ...c_light_utils/src/traffic_light_utils.cpp
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "traffic_light_utils/traffic_light_utils.hpp"
+#include "autoware/traffic_light_utils/traffic_light_utils.hpp"
 
-namespace traffic_light_utils
+namespace autoware::traffic_light_utils
 {
 
 void setSignalUnknown(tier4_perception_msgs::msg::TrafficLight & signal, float confidence)
@@ -105,4 +105,4 @@ tf2::Vector3 getTrafficLightCenter(const lanelet::ConstLineString3d & traffic_li
   return (top_left + bottom_right) / 2;
 }
 
-}  // namespace traffic_light_utils
+}  // namespace autoware::traffic_light_utils
diff --git a/...t_utils/test/test_traffic_light_utils.cpp → ...t_utils/test/test_traffic_light_utils.cpp b/...t_utils/test/test_traffic_light_utils.cpp → ...t_utils/test/test_traffic_light_utils.cpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "autoware/traffic_light_utils/traffic_light_utils.hpp"
 #include "gtest/gtest.h"
-#include "traffic_light_utils/traffic_light_utils.hpp"
 
-namespace traffic_light_utils
+namespace autoware::traffic_light_utils
 {
 
 TEST(setSignalUnknown, set_signal_element)
@@ -53,4 +53,4 @@ TEST(getTrafficLightCenter, get_signal)
   EXPECT_FLOAT_EQ(getTrafficLightCenter(test_light).z(), (float)1.5);
 }
 
-}  // namespace traffic_light_utils
+}  // namespace autoware::traffic_light_utils
diff --git a/perception/autoware_traffic_light_occlusion_predictor/package.xml b/perception/autoware_traffic_light_occlusion_predictor/package.xml
@@ -15,6 +15,7 @@
 
   <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_map_msgs</depend>
+  <depend>autoware_traffic_light_utils</depend>
   <depend>autoware_universe_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>image_geometry</depend>
@@ -27,7 +28,6 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_ros</depend>
   <depend>tier4_perception_msgs</depend>
-  <depend>traffic_light_utils</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

diff --git a/perception/autoware_traffic_light_occlusion_predictor/src/node.cpp b/perception/autoware_traffic_light_occlusion_predictor/src/node.cpp
@@ -117,7 +117,8 @@ void TrafficLightOcclusionPredictorNode::mapCallback(
         continue;
       }
       lanelet::ConstLineString3d string3d = static_cast<lanelet::ConstLineString3d>(lsp);
-      traffic_light_position_map_[lsp.id()] = traffic_light_utils::getTrafficLightCenter(string3d);
+      traffic_light_position_map_[lsp.id()] =
+        autoware::traffic_light_utils::getTrafficLightCenter(string3d);
     }
   }
 }
@@ -166,7 +167,7 @@ void TrafficLightOcclusionPredictorNode::syncCallback(
     out_msg_.signals.push_back(in_signal_msg->signals.at(i));
 
     if (occlusion_ratios[i] >= config_.max_occlusion_ratio) {
-      traffic_light_utils::setSignalUnknown(out_msg_.signals.at(predicted_num + i), 0.0);
+      autoware::traffic_light_utils::setSignalUnknown(out_msg_.signals.at(predicted_num + i), 0.0);
     }
   }
 

diff --git a/perception/autoware_traffic_light_occlusion_predictor/src/node.hpp b/perception/autoware_traffic_light_occlusion_predictor/src/node.hpp
@@ -17,9 +17,9 @@
 
 #include "occlusion_predictor.hpp"
 
+#include <autoware/traffic_light_utils/traffic_light_utils.hpp>
 #include <perception_utils/prime_synchronizer.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <traffic_light_utils/traffic_light_utils.hpp>
 
 #include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>

diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml b/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml
@@ -54,14 +54,14 @@
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_route_handler</depend>
   <depend>autoware_rtc_interface</depend>
+  <depend>autoware_traffic_light_utils</depend>
   <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>magic_enum</depend>
   <depend>rclcpp</depend>
   <depend>tf2</depend>
   <depend>tier4_planning_msgs</depend>
-  <depend>traffic_light_utils</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>

diff --git a/...vior_path_planner/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp b/...vior_path_planner/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp
@@ -14,7 +14,7 @@
 
 #include <autoware/behavior_path_planner_common/utils/traffic_light_utils.hpp>
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
-#include <traffic_light_utils/traffic_light_utils.hpp>
+#include <autoware/traffic_light_utils/traffic_light_utils.hpp>
 
 namespace autoware::behavior_path_planner::utils::traffic_light
 {
@@ -91,7 +91,7 @@ std::optional<double> calcDistanceToRedTrafficLight(
         continue;
       }
 
-      if (!traffic_light_utils::isTrafficSignalStop(
+      if (!autoware::traffic_light_utils::isTrafficSignalStop(
             lanelet, traffic_signal_stamped.value().signal)) {
         continue;
       }
@@ -143,7 +143,7 @@ bool isTrafficSignalStop(
         continue;
       }
 
-      if (traffic_light_utils::isTrafficSignalStop(
+      if (autoware::traffic_light_utils::isTrafficSignalStop(
             lanelet, traffic_signal_stamped.value().signal)) {
         return true;
       }

diff --git a/...ing/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml b/...ing/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml
@@ -25,6 +25,7 @@
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_route_handler</depend>
+  <depend>autoware_traffic_light_utils</depend>
   <depend>autoware_universe_utils</depend>
   <depend>eigen</depend>
   <depend>geometry_msgs</depend>
@@ -34,7 +35,6 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tier4_planning_msgs</depend>
-  <depend>traffic_light_utils</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>

diff --git a/...g/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp b/...g/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp
@@ -18,7 +18,7 @@
 
 #include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
-#include <traffic_light_utils/traffic_light_utils.hpp>
+#include <autoware/traffic_light_utils/traffic_light_utils.hpp>
 
 #include <boost/geometry/algorithms/distance.hpp>
 #include <boost/geometry/algorithms/intersection.hpp>
@@ -177,7 +177,7 @@ bool TrafficLightModule::isStopSignal()
   }
 
   // Check if the current traffic signal state requires stopping
-  return traffic_light_utils::isTrafficSignalStop(lane_, looking_tl_state_);
+  return autoware::traffic_light_utils::isTrafficSignalStop(lane_, looking_tl_state_);
 }
 
 void TrafficLightModule::updateTrafficSignal()

diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml
@@ -21,6 +21,7 @@
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_route_handler</depend>
+  <depend>autoware_traffic_light_utils</depend>
   <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>geometry_msgs</depend>
@@ -29,7 +30,6 @@
   <depend>rclcpp</depend>
   <depend>tf2</depend>
   <depend>tier4_planning_msgs</depend>
-  <depend>traffic_light_utils</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>

diff --git a/...city_planner/autoware_motion_velocity_out_of_lane_module/src/filter_predicted_objects.cpp b/...city_planner/autoware_motion_velocity_out_of_lane_module/src/filter_predicted_objects.cpp
@@ -15,8 +15,8 @@
 #include "filter_predicted_objects.hpp"
 
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
+#include <autoware/traffic_light_utils/traffic_light_utils.hpp>
 #include <autoware/universe_utils/geometry/boost_geometry.hpp>
-#include <traffic_light_utils/traffic_light_utils.hpp>
 
 #include <boost/geometry/algorithms/detail/intersects/interface.hpp>
 #include <boost/geometry/algorithms/intersects.hpp>

diff --git a/...n_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.cpp b/...n_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.cpp
@@ -26,11 +26,11 @@
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
 #include <autoware/motion_velocity_planner_common/planner_data.hpp>
 #include <autoware/route_handler/route_handler.hpp>
+#include <autoware/traffic_light_utils/traffic_light_utils.hpp>
 #include <autoware/universe_utils/geometry/boost_geometry.hpp>
 #include <autoware/universe_utils/ros/parameter.hpp>
 #include <autoware/universe_utils/ros/update_param.hpp>
 #include <autoware/universe_utils/system/stop_watch.hpp>
-#include <traffic_light_utils/traffic_light_utils.hpp>
 
 #include <boost/geometry/algorithms/envelope.hpp>
 #include <boost/geometry/algorithms/intersects.hpp>
@@ -179,7 +179,8 @@ void prepare_stop_lines_rtree(
       const auto traffic_signal_stamped = planner_data.get_traffic_signal(element->id());
       if (
         traffic_signal_stamped.has_value() && element->stopLine().has_value() &&
-        traffic_light_utils::isTrafficSignalStop(ll, traffic_signal_stamped.value().signal)) {
+        autoware::traffic_light_utils::isTrafficSignalStop(
+          ll, traffic_signal_stamped.value().signal)) {
         stop_line_node.second.stop_line.clear();
         for (const auto & p : element->stopLine()->basicLineString()) {
           stop_line_node.second.stop_line.emplace_back(p.x(), p.y());