diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 1ad3476333eee..44632c7bf99ce 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -156,13 +156,13 @@ perception/traffic_light_map_based_detector/** shunsuke.miura@tier4.jp tao.zhong perception/traffic_light_multi_camera_fusion/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp perception/traffic_light_occlusion_predictor/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp perception/traffic_light_visualization/** tao.zhong@tier4.jp yukihiro.saito@tier4.jp +planning/autoware_behavior_path_external_request_lane_change_module/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp planning/autoware_planning_test_manager/** kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp planning/autoware_remaining_distance_time_calculator/** ahmed.ebrahim@leodrive.ai planning/autoware_static_centerline_generator/** kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp planning/behavior_path_avoidance_by_lane_change_module/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp planning/behavior_path_avoidance_module/** fumiya.watanabe@tier4.jp go.sakayori@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp planning/behavior_path_dynamic_avoidance_module/** kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp yuki.takagi@tier4.jp -planning/behavior_path_external_request_lane_change_module/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp planning/behavior_path_goal_planner_module/** daniel.sanchez@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp planning/behavior_path_lane_change_module/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp planning/behavior_path_planner/** fumiya.watanabe@tier4.jp go.sakayori@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml index aa649710836da..865ab99e870e4 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml +++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml @@ -82,12 +82,12 @@ /> - behavior_path_external_request_lane_change_module + autoware_behavior_path_external_request_lane_change_module 0.1.0 - The behavior_path_external_request_lane_change_module package + The autoware_behavior_path_external_request_lane_change_module package Fumiya Watanabe Zulfaqar Azmi diff --git a/planning/autoware_behavior_path_external_request_lane_change_module/plugins.xml b/planning/autoware_behavior_path_external_request_lane_change_module/plugins.xml new file mode 100644 index 0000000000000..d13dff53e0836 --- /dev/null +++ b/planning/autoware_behavior_path_external_request_lane_change_module/plugins.xml @@ -0,0 +1,4 @@ + + + + diff --git a/planning/behavior_path_external_request_lane_change_module/src/manager.cpp b/planning/autoware_behavior_path_external_request_lane_change_module/src/manager.cpp similarity index 75% rename from planning/behavior_path_external_request_lane_change_module/src/manager.cpp rename to planning/autoware_behavior_path_external_request_lane_change_module/src/manager.cpp index 3cfe7aa51f0f1..130cbff29bcf3 100644 --- a/planning/behavior_path_external_request_lane_change_module/src/manager.cpp +++ b/planning/autoware_behavior_path_external_request_lane_change_module/src/manager.cpp @@ -12,13 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "behavior_path_external_request_lane_change_module/manager.hpp" +#include "manager.hpp" -#include "behavior_path_external_request_lane_change_module/scene.hpp" #include "behavior_path_lane_change_module/interface.hpp" +#include "scene.hpp" -namespace behavior_path_planner +namespace autoware::behavior_path_planner { +using ::behavior_path_planner::LaneChangeInterface; std::unique_ptr ExternalRequestLaneChangeRightModuleManager::createNewSceneModuleInstance() @@ -38,12 +39,12 @@ ExternalRequestLaneChangeLeftModuleManager::createNewSceneModuleInstance() std::make_unique(parameters_, direction_)); } -} // namespace behavior_path_planner +} // namespace autoware::behavior_path_planner #include PLUGINLIB_EXPORT_CLASS( - behavior_path_planner::ExternalRequestLaneChangeRightModuleManager, - behavior_path_planner::SceneModuleManagerInterface) + autoware::behavior_path_planner::ExternalRequestLaneChangeRightModuleManager, + ::behavior_path_planner::SceneModuleManagerInterface) PLUGINLIB_EXPORT_CLASS( - behavior_path_planner::ExternalRequestLaneChangeLeftModuleManager, - behavior_path_planner::SceneModuleManagerInterface) + autoware::behavior_path_planner::ExternalRequestLaneChangeLeftModuleManager, + ::behavior_path_planner::SceneModuleManagerInterface) diff --git a/planning/behavior_path_external_request_lane_change_module/include/behavior_path_external_request_lane_change_module/manager.hpp b/planning/autoware_behavior_path_external_request_lane_change_module/src/manager.hpp similarity index 82% rename from planning/behavior_path_external_request_lane_change_module/include/behavior_path_external_request_lane_change_module/manager.hpp rename to planning/autoware_behavior_path_external_request_lane_change_module/src/manager.hpp index dfcc4f61d8241..a4f3dce188c73 100644 --- a/planning/behavior_path_external_request_lane_change_module/include/behavior_path_external_request_lane_change_module/manager.hpp +++ b/planning/autoware_behavior_path_external_request_lane_change_module/src/manager.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef BEHAVIOR_PATH_EXTERNAL_REQUEST_LANE_CHANGE_MODULE__MANAGER_HPP_ -#define BEHAVIOR_PATH_EXTERNAL_REQUEST_LANE_CHANGE_MODULE__MANAGER_HPP_ +#ifndef MANAGER_HPP_ +#define MANAGER_HPP_ #include "behavior_path_lane_change_module/manager.hpp" #include "route_handler/route_handler.hpp" @@ -23,8 +23,12 @@ #include #include -namespace behavior_path_planner +namespace autoware::behavior_path_planner { +using ::behavior_path_planner::LaneChangeModuleManager; +using ::behavior_path_planner::LaneChangeModuleType; +using ::behavior_path_planner::SceneModuleInterface; + class ExternalRequestLaneChangeRightModuleManager : public LaneChangeModuleManager { public: @@ -49,6 +53,6 @@ class ExternalRequestLaneChangeLeftModuleManager : public LaneChangeModuleManage } std::unique_ptr createNewSceneModuleInstance() override; }; -} // namespace behavior_path_planner +} // namespace autoware::behavior_path_planner -#endif // BEHAVIOR_PATH_EXTERNAL_REQUEST_LANE_CHANGE_MODULE__MANAGER_HPP_ +#endif // MANAGER_HPP_ diff --git a/planning/behavior_path_external_request_lane_change_module/src/scene.cpp b/planning/autoware_behavior_path_external_request_lane_change_module/src/scene.cpp similarity index 84% rename from planning/behavior_path_external_request_lane_change_module/src/scene.cpp rename to planning/autoware_behavior_path_external_request_lane_change_module/src/scene.cpp index 913266bf79fa3..2ba5a5aea34d4 100644 --- a/planning/behavior_path_external_request_lane_change_module/src/scene.cpp +++ b/planning/autoware_behavior_path_external_request_lane_change_module/src/scene.cpp @@ -12,17 +12,19 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "behavior_path_external_request_lane_change_module/scene.hpp" +#include "scene.hpp" #include #include -namespace behavior_path_planner +namespace autoware::behavior_path_planner { +using ::behavior_path_planner::LaneChangeModuleType; + ExternalRequestLaneChange::ExternalRequestLaneChange( const std::shared_ptr & parameters, Direction direction) : NormalLaneChange(parameters, LaneChangeModuleType::EXTERNAL_REQUEST, direction) { } -} // namespace behavior_path_planner +} // namespace autoware::behavior_path_planner diff --git a/planning/behavior_path_external_request_lane_change_module/include/behavior_path_external_request_lane_change_module/scene.hpp b/planning/autoware_behavior_path_external_request_lane_change_module/src/scene.hpp similarity index 80% rename from planning/behavior_path_external_request_lane_change_module/include/behavior_path_external_request_lane_change_module/scene.hpp rename to planning/autoware_behavior_path_external_request_lane_change_module/src/scene.hpp index c23d6f2f3996c..d2eb20b048a5d 100644 --- a/planning/behavior_path_external_request_lane_change_module/include/behavior_path_external_request_lane_change_module/scene.hpp +++ b/planning/autoware_behavior_path_external_request_lane_change_module/src/scene.hpp @@ -12,15 +12,19 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef BEHAVIOR_PATH_EXTERNAL_REQUEST_LANE_CHANGE_MODULE__SCENE_HPP_ -#define BEHAVIOR_PATH_EXTERNAL_REQUEST_LANE_CHANGE_MODULE__SCENE_HPP_ +#ifndef SCENE_HPP_ +#define SCENE_HPP_ #include "behavior_path_lane_change_module/scene.hpp" #include -namespace behavior_path_planner +namespace autoware::behavior_path_planner { +using ::behavior_path_planner::Direction; +using ::behavior_path_planner::LaneChangeParameters; +using ::behavior_path_planner::NormalLaneChange; + class ExternalRequestLaneChange : public NormalLaneChange { public: @@ -33,6 +37,6 @@ class ExternalRequestLaneChange : public NormalLaneChange ExternalRequestLaneChange & operator=(ExternalRequestLaneChange &&) = delete; ~ExternalRequestLaneChange() override = default; }; -} // namespace behavior_path_planner +} // namespace autoware::behavior_path_planner -#endif // BEHAVIOR_PATH_EXTERNAL_REQUEST_LANE_CHANGE_MODULE__SCENE_HPP_ +#endif // SCENE_HPP_ diff --git a/planning/behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp b/planning/autoware_behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp similarity index 94% rename from planning/behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp rename to planning/autoware_behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp index 1eb5118cd94b2..201d01e9b7fa0 100644 --- a/planning/behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp +++ b/planning/autoware_behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp @@ -22,7 +22,7 @@ #include #include -using behavior_path_planner::BehaviorPathPlannerNode; +using ::behavior_path_planner::BehaviorPathPlannerNode; using planning_test_utils::PlanningInterfaceTestManager; std::shared_ptr generateTestManager() @@ -51,8 +51,10 @@ std::shared_ptr generateNode() ament_index_cpp::get_package_share_directory("behavior_path_lane_change_module"); std::vector module_names; - module_names.emplace_back("behavior_path_planner::ExternalRequestLaneChangeRightModuleManager"); - module_names.emplace_back("behavior_path_planner::ExternalRequestLaneChangeLeftModuleManager"); + module_names.emplace_back( + "autoware::behavior_path_planner::ExternalRequestLaneChangeRightModuleManager"); + module_names.emplace_back( + "autoware::behavior_path_planner::ExternalRequestLaneChangeLeftModuleManager"); std::vector params; params.emplace_back("launch_modules", module_names); diff --git a/planning/behavior_path_external_request_lane_change_module/plugins.xml b/planning/behavior_path_external_request_lane_change_module/plugins.xml deleted file mode 100644 index f3cc686837c38..0000000000000 --- a/planning/behavior_path_external_request_lane_change_module/plugins.xml +++ /dev/null @@ -1,4 +0,0 @@ - - - - diff --git a/planning/behavior_path_lane_change_module/plugins.xml b/planning/behavior_path_lane_change_module/plugins.xml index a598bc8176938..7df36919d8d54 100644 --- a/planning/behavior_path_lane_change_module/plugins.xml +++ b/planning/behavior_path_lane_change_module/plugins.xml @@ -1,6 +1,6 @@ - - + +