build(behavior_path_external_request_lane_change_module): prefix package and namespace with autoware_

[esteve]

Description

This PR adds the autoware_ prefix to the package and puts headers in the autoware namespace.

Part of:

• Prefix packages with autoware_ prefix and keep code in autoware namespace autoware#4569

Tests performed

Not applicable.

Effects on system behavior

Not applicable.

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[esteve]

@xmfcx @mitsudome-r @rej55 @kosuke55 @shmpwk @TomohitoAndo @tkimura4 @zulfaqar-azmi-t4

This is now ready for review, please have a look at it when you have a moment. Thanks.

[esteve]

I've reverted any performance or any other improvements detected by clang-tidy, the CI will now fail because of the clang-tidy check, but now the PR only conntains the prefix changes.

[esteve]

Back to draft because I'm going to rename folders and move headers to a separate folder (see autowarefoundation/autoware#4569 (comment))

[esteve]

@xmfcx this is now ready for review again.

[xmfcx]

I've ran with this branch, it compiled and planning simulator worked alright.

Then to see if I was testing the correct things, I've renamed the contents of https://github.com/autowarefoundation/autoware.universe/blob/main/planning/behavior_path_external_request_lane_change_module/plugins.xml and added random characters.

The planning sim demo worked fine again.

Probably this is not being launched then.

https://github.com/autowarefoundation/autoware_launch/blob/0aea8a35b9831e207827504297c6ac1a2e6cd9e1/autoware_launch/config/planning/preset/default_preset.yaml#L24-L26

The default is false.

Then I looked for the references of this plugin, since it should be called from somewhere else. (searched for behavior_path_planner::ExternalRequestLaneChangeLeftModuleManager in the entire autoware folder)

Here are the remaining plugin references to be updated:

• autoware.universe/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml

  Lines 88 to 92 in ea009b8

  	<let
  	name="behavior_path_planner_launch_modules"
  	value="$(eval &quot;'$(var behavior_path_planner_launch_modules)' + 'behavior_path_planner::ExternalRequestLaneChangeLeftModuleManager, '&quot;)"
  	if="$(var launch_external_request_lane_change_left_module)"
  	/>

• autoware.universe/planning/behavior_path_lane_change_module/plugins.xml

  Lines 4 to 5 in ea009b8

  	<class type="behavior_path_planner::ExternalRequestLaneChangeLeftModuleManager" base_class_type="behavior_path_planner::SceneModuleManagerInterface"/>
  	<class type="behavior_path_planner::ExternalRequestLaneChangeRightModuleManager" base_class_type="behavior_path_planner::SceneModuleManagerInterface"/>

I don't know the best way to test this module though.

@takayuki5168 -san, what is the easiest way to test this module?

[takayuki5168]

@xmfcx Just running a test of the package is fine. Thank you.

[xmfcx]

@xmfcx Just running a test of the package is fine. Thank you.

@takayuki5168 -san meant this for the static_centerline_generator pr.

After talking with him, I learned that if I just update:

• https://github.com/autowarefoundation/autoware_launch/blob/0aea8a35b9831e207827504297c6ac1a2e6cd9e1/autoware_launch/config/planning/preset/default_preset.yaml#L21-L26

these to true, then I can test it with the planning sim.

I've enabled the modules with that, then, the planning sim failed to switch to "Auto" mode.

Then I've updated these plugin references:

• autoware.universe/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml

  Lines 88 to 92 in ea009b8

  	<let
  	name="behavior_path_planner_launch_modules"
  	value="$(eval &quot;'$(var behavior_path_planner_launch_modules)' + 'behavior_path_planner::ExternalRequestLaneChangeLeftModuleManager, '&quot;)"
  	if="$(var launch_external_request_lane_change_left_module)"
  	/>

• autoware.universe/planning/behavior_path_lane_change_module/plugins.xml

  Lines 4 to 5 in ea009b8

  	<class type="behavior_path_planner::ExternalRequestLaneChangeLeftModuleManager" base_class_type="behavior_path_planner::SceneModuleManagerInterface"/>
  	<class type="behavior_path_planner::ExternalRequestLaneChangeRightModuleManager" base_class_type="behavior_path_planner::SceneModuleManagerInterface"/>

Then ran the planning simulator, it then worked.

@esteve these files need to be updated too.

[esteve]

@xmfcx I've applied your changes, could you have another look when you have a moment? Thanks.

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 2 lines in your changes are missing coverage. Please review.

Project coverage is 15.84%. Comparing base (5145bb5) to head (a436772).
Report is 3 commits behind head on main.

Files	Patch %	Lines
...test/test_behavior_path_planner_node_interface.cpp	0.00%	0 Missing and 2 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6636      +/-   ##
==========================================
+ Coverage   15.82%   15.84%   +0.02%     
==========================================
  Files        1900     1905       +5     
  Lines      132416   132419       +3     
  Branches    43848    43888      +40     
==========================================
+ Hits        20953    20984      +31     
+ Misses      88362    88294      -68     
- Partials    23101    23141      +40     

Flag	Coverage Δ		*Carryforward flag
differential	7.74% <0.00%> (?)
total	15.83% <ø> (+<0.01%)	⬆️	Carriedforward from 5145bb5

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[xmfcx]

Enabled it from the launch file and ran the planning simulator. Successfully loaded the modules and was able to drive, thanks for all the effort!