refactor(pose_initializer)!: prefix package and namespace with autowa…

…re (autowarefoundation#8701)

* add autoware_ prefix

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

* fix link

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

---------

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>
Co-authored-by: SakodaShintaro <shintaro.sakoda@tier4.jp>

.github/CODEOWNERS

@@ -94,7 +94,7 @@ localization/autoware_twist2accel/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier
 localization/ekf_localizer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp takamasa.horibe@tier4.jp takeshi.ishita@tier4.jp yamato.ando@tier4.jp
 localization/localization_util/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/ndt_scan_matcher/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
-localization/pose_initializer/** anh.nguyen.2@tier4.jp isamu.takagi@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
+localization/autoware_pose_initializer/** anh.nguyen.2@tier4.jp isamu.takagi@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/yabloc/yabloc_common/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/yabloc/yabloc_image_processing/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/yabloc/yabloc_monitor/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp

launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml

@@ -120,7 +120,7 @@
       <let name="sub_gnss_pose_cov" value="/localization/pose_estimator/pose_with_covariance" unless="$(var multi_localizer_mode)"/>
     </group>
 
-    <include file="$(find-pkg-share pose_initializer)/launch/pose_initializer.launch.xml">
+    <include file="$(find-pkg-share autoware_pose_initializer)/launch/pose_initializer.launch.xml">
       <arg name="user_defined_initial_pose/enable" value="$(var user_defined_initial_pose/enable)"/>
       <arg name="user_defined_initial_pose/pose" value="$(var user_defined_initial_pose/pose)"/>
       <arg name="ndt_enabled" value="$(var use_ndt_pose)"/>

launch/tier4_localization_launch/package.xml

@@ -24,13 +24,13 @@
   <exec_depend>autoware_lidar_marker_localizer</exec_depend>
   <exec_depend>autoware_pointcloud_preprocessor</exec_depend>
   <exec_depend>autoware_pose_estimator_arbiter</exec_depend>
+  <exec_depend>autoware_pose_initializer</exec_depend>
   <exec_depend>autoware_pose_instability_detector</exec_depend>
   <exec_depend>eagleye_geo_pose_fusion</exec_depend>
   <exec_depend>eagleye_gnss_converter</exec_depend>
   <exec_depend>eagleye_rt</exec_depend>
   <exec_depend>ekf_localizer</exec_depend>
   <exec_depend>ndt_scan_matcher</exec_depend>
-  <exec_depend>pose_initializer</exec_depend>
   <exec_depend>topic_tools</exec_depend>
   <exec_depend>yabloc_common</exec_depend>
   <exec_depend>yabloc_image_processing</exec_depend>

launch/tier4_simulator_launch/launch/simulator.launch.xml

@@ -141,7 +141,7 @@
   </group>
 
   <group if="$(eval '&quot;$(var localization_sim_mode)&quot;==&quot;api&quot;')">
-    <include file="$(find-pkg-share pose_initializer)/launch/pose_initializer.launch.xml">
+    <include file="$(find-pkg-share autoware_pose_initializer)/launch/pose_initializer.launch.xml">
       <arg name="user_defined_initial_pose/enable" value="false"/>
       <arg name="user_defined_initial_pose/pose" value="[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]"/>
       <arg name="ndt_enabled" value="false"/>
@@ -159,7 +159,7 @@
       <push-ros-namespace namespace="localization"/>
       <group>
         <push-ros-namespace namespace="util"/>
-        <include file="$(find-pkg-share pose_initializer)/launch/pose_initializer.launch.xml">
+        <include file="$(find-pkg-share autoware_pose_initializer)/launch/pose_initializer.launch.xml">
           <arg name="user_defined_initial_pose/enable" value="false"/>
           <arg name="user_defined_initial_pose/pose" value="[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]"/>
           <arg name="ndt_enabled" value="false"/>

localization/pose_initializer/CMakeLists.txt → localization/autoware_pose_initializer/CMakeLists.txt

@@ -1,20 +1,20 @@
 cmake_minimum_required(VERSION 3.14)
-project(pose_initializer)
+project(autoware_pose_initializer)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
-  src/pose_initializer/pose_initializer_core.cpp
-  src/pose_initializer/gnss_module.cpp
-  src/pose_initializer/localization_module.cpp
-  src/pose_initializer/stop_check_module.cpp
-  src/pose_initializer/ekf_localization_trigger_module.cpp
-  src/pose_initializer/ndt_localization_trigger_module.cpp
+  src/pose_initializer_core.cpp
+  src/gnss_module.cpp
+  src/localization_module.cpp
+  src/stop_check_module.cpp
+  src/ekf_localization_trigger_module.cpp
+  src/ndt_localization_trigger_module.cpp
 )
 
 rclcpp_components_register_node(${PROJECT_NAME}
-  PLUGIN "PoseInitializer"
+  PLUGIN "autoware::pose_initializer::PoseInitializer"
   EXECUTABLE ${PROJECT_NAME}_node
   EXECUTOR MultiThreadedExecutor
 )

localization/pose_initializer/README.md → localization/autoware_pose_initializer/README.md

@@ -1,8 +1,8 @@
-# pose_initializer
+# autoware_pose_initializer
 
 ## Purpose
 
-The `pose_initializer` is the package to send an initial pose to `ekf_localizer`.
+The `autoware_pose_initializer` is the package to send an initial pose to `ekf_localizer`.
 It receives roughly estimated initial pose from GNSS/user.
 Passing the pose to `ndt_scan_matcher`, and it gets a calculated ego pose from `ndt_scan_matcher` via service.
 Finally, it publishes the initial pose to `ekf_localizer`.
@@ -13,7 +13,7 @@ This node depends on the map height fitter library.
 
 ### Parameters
 
-{{ json_to_markdown("localization/pose_initializer/schema/pose_initializer.schema.json") }}
+{{ json_to_markdown("localization/autoware_pose_initializer/schema/pose_initializer.schema.json") }}
 
 ### Services
 
@@ -51,7 +51,7 @@ If the score of initial pose estimation result is lower than score threshold, ER
 
 ## Connection with Default AD API
 
-This `pose_initializer` is used via default AD API. For detailed description of the API description, please refer to [the description of `autoware_default_adapi`](https://github.com/autowarefoundation/autoware.universe/blob/main/system/autoware_default_adapi/document/localization.md).
+This `autoware_pose_initializer` is used via default AD API. For detailed description of the API description, please refer to [the description of `autoware_default_adapi`](https://github.com/autowarefoundation/autoware.universe/blob/main/system/autoware_default_adapi/document/localization.md).
 
 <img src="../../system/autoware_default_adapi/document/images/localization.drawio.svg" alt="drawing" width="800"/>
 
@@ -136,4 +136,4 @@ pose:
 ```
 
 It behaves the same as "initialpose (from rviz)".
-The position.z and the covariance will be overwritten by [ad_api_adaptors](https://github.com/autowarefoundation/autoware.universe/tree/main/system/autoware_default_adapi_helpers/ad_api_adaptors), so there is no need to input them.
+The position.z and the covariance will be overwritten by [ad_api_adaptors](https://github.com/autowarefoundation/autoware.universe/tree/main/system/default_ad_api_helpers/ad_api_adaptors), so there is no need to input them.

localization/pose_initializer/launch/pose_initializer.launch.xml → localization/autoware_pose_initializer/launch/pose_initializer.launch.xml

@@ -1,5 +1,5 @@
 <launch>
-  <arg name="config_file" default="$(find-pkg-share pose_initializer)/config/pose_initializer.param.yaml"/>
+  <arg name="config_file" default="$(find-pkg-share autoware_pose_initializer)/config/pose_initializer.param.yaml"/>
   <arg name="ndt_enabled"/>
   <arg name="gnss_enabled"/>
   <arg name="ekf_enabled"/>
@@ -9,7 +9,7 @@
   <arg name="sub_gnss_pose_cov" default="sub_gnss_pose_cov"/>
   <arg name="gnss_initial_pose_auto_fix_target" default="pointcloud_map"/>
 
-  <node pkg="pose_initializer" exec="pose_initializer_node" output="both">
+  <node pkg="autoware_pose_initializer" exec="autoware_pose_initializer_node" output="both">
     <param from="$(var config_file)" allow_substs="true"/>
     <remap from="yabloc_align" to="/localization/pose_estimator/yabloc/initializer/yabloc_align_srv"/>
     <remap from="ndt_align" to="/localization/pose_estimator/ndt_align_srv"/>

localization/pose_initializer/package.xml → localization/autoware_pose_initializer/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>pose_initializer</name>
+  <name>autoware_pose_initializer</name>
   <version>0.1.0</version>
-  <description>The pose_initializer package</description>
+  <description>The autoware_pose_initializer package</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>

localization/pose_initializer/src/pose_initializer/copy_vector_to_array.hpp → localization/autoware_pose_initializer/src/copy_vector_to_array.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef POSE_INITIALIZER__COPY_VECTOR_TO_ARRAY_HPP_
-#define POSE_INITIALIZER__COPY_VECTOR_TO_ARRAY_HPP_
+#ifndef COPY_VECTOR_TO_ARRAY_HPP_
+#define COPY_VECTOR_TO_ARRAY_HPP_
 
 #include <fmt/core.h>
 
@@ -22,6 +22,8 @@
 #include <string>
 #include <vector>
 
+namespace autoware::pose_initializer
+{
 template <typename T, size_t N>
 void copy_vector_to_array(const std::vector<T> & vector, std::array<T, N> & array)
 {
@@ -44,5 +46,6 @@ std::array<double, 36> get_covariance_parameter(NodeT * node, const std::string
   copy_vector_to_array(parameter, covariance);
   return covariance;
 }
+}  // namespace autoware::pose_initializer
 
-#endif  // POSE_INITIALIZER__COPY_VECTOR_TO_ARRAY_HPP_
+#endif  // COPY_VECTOR_TO_ARRAY_HPP_

localization/pose_initializer/src/pose_initializer/ekf_localization_trigger_module.cpp → localization/autoware_pose_initializer/src/ekf_localization_trigger_module.cpp

@@ -20,6 +20,8 @@
 #include <memory>
 #include <string>
 
+namespace autoware::pose_initializer
+{
 using ServiceException = component_interface_utils::ServiceException;
 using Initialize = localization_interface::Initialize;
 
@@ -65,3 +67,4 @@ void EkfLocalizationTriggerModule::send_request(bool flag, bool need_spin) const
       Initialize::Service::Response::ERROR_ESTIMATION, "EKF " + command_name + " failed");
   }
 }
+}  // namespace autoware::pose_initializer

localization/pose_initializer/src/pose_initializer/ekf_localization_trigger_module.hpp → localization/autoware_pose_initializer/src/ekf_localization_trigger_module.hpp

@@ -12,13 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef POSE_INITIALIZER__EKF_LOCALIZATION_TRIGGER_MODULE_HPP_
-#define POSE_INITIALIZER__EKF_LOCALIZATION_TRIGGER_MODULE_HPP_
+#ifndef EKF_LOCALIZATION_TRIGGER_MODULE_HPP_
+#define EKF_LOCALIZATION_TRIGGER_MODULE_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
 #include <std_srvs/srv/set_bool.hpp>
 
+namespace autoware::pose_initializer
+{
 class EkfLocalizationTriggerModule
 {
 private:
@@ -33,5 +35,6 @@ class EkfLocalizationTriggerModule
   rclcpp::Node * node_;
   rclcpp::Client<SetBool>::SharedPtr client_ekf_trigger_;
 };
+}  // namespace autoware::pose_initializer
 
-#endif  // POSE_INITIALIZER__EKF_LOCALIZATION_TRIGGER_MODULE_HPP_
+#endif  // EKF_LOCALIZATION_TRIGGER_MODULE_HPP_

localization/pose_initializer/src/pose_initializer/gnss_module.cpp → localization/autoware_pose_initializer/src/gnss_module.cpp

@@ -19,6 +19,8 @@
 
 #include <memory>
 
+namespace autoware::pose_initializer
+{
 GnssModule::GnssModule(rclcpp::Node * node)
 : fitter_(node),
   clock_(node->get_clock()),
@@ -55,3 +57,4 @@ geometry_msgs::msg::PoseWithCovarianceStamped GnssModule::get_pose()
   }
   return pose;
 }
+}  // namespace autoware::pose_initializer

localization/pose_initializer/src/pose_initializer/gnss_module.hpp → localization/autoware_pose_initializer/src/gnss_module.hpp

@@ -12,14 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef POSE_INITIALIZER__GNSS_MODULE_HPP_
-#define POSE_INITIALIZER__GNSS_MODULE_HPP_
+#ifndef GNSS_MODULE_HPP_
+#define GNSS_MODULE_HPP_
 
 #include <autoware/map_height_fitter/map_height_fitter.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
 
+namespace autoware::pose_initializer
+{
 class GnssModule
 {
 private:
@@ -38,5 +40,6 @@ class GnssModule
   PoseWithCovarianceStamped::ConstSharedPtr pose_;
   double timeout_;
 };
+}  // namespace autoware::pose_initializer
 
-#endif  // POSE_INITIALIZER__GNSS_MODULE_HPP_
+#endif  // GNSS_MODULE_HPP_

localization/pose_initializer/src/pose_initializer/localization_module.cpp → localization/autoware_pose_initializer/src/localization_module.cpp

@@ -20,6 +20,8 @@
 #include <memory>
 #include <string>
 
+namespace autoware::pose_initializer
+{
 using ServiceException = component_interface_utils::ServiceException;
 using Initialize = localization_interface::Initialize;
 using PoseWithCovarianceStamped = geometry_msgs::msg::PoseWithCovarianceStamped;
@@ -50,3 +52,4 @@ std::tuple<PoseWithCovarianceStamped, bool> LocalizationModule::align_pose(
   // Overwrite the covariance.
   return std::make_tuple(res->pose_with_covariance, res->reliable);
 }
+}  // namespace autoware::pose_initializer

localization/pose_initializer/src/pose_initializer/localization_module.hpp → localization/autoware_pose_initializer/src/localization_module.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef POSE_INITIALIZER__LOCALIZATION_MODULE_HPP_
-#define POSE_INITIALIZER__LOCALIZATION_MODULE_HPP_
+#ifndef LOCALIZATION_MODULE_HPP_
+#define LOCALIZATION_MODULE_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -23,6 +23,8 @@
 #include <string>
 #include <tuple>
 
+namespace autoware::pose_initializer
+{
 class LocalizationModule
 {
 private:
@@ -37,5 +39,6 @@ class LocalizationModule
   rclcpp::Logger logger_;
   rclcpp::Client<RequestPoseAlignment>::SharedPtr cli_align_;
 };
+}  // namespace autoware::pose_initializer
 
-#endif  // POSE_INITIALIZER__LOCALIZATION_MODULE_HPP_
+#endif  // LOCALIZATION_MODULE_HPP_

localization/pose_initializer/src/pose_initializer/ndt_localization_trigger_module.cpp → localization/autoware_pose_initializer/src/ndt_localization_trigger_module.cpp

@@ -20,6 +20,8 @@
 #include <memory>
 #include <string>
 
+namespace autoware::pose_initializer
+{
 using ServiceException = component_interface_utils::ServiceException;
 using Initialize = localization_interface::Initialize;
 
@@ -65,3 +67,4 @@ void NdtLocalizationTriggerModule::send_request(bool flag, bool need_spin) const
       Initialize::Service::Response::ERROR_ESTIMATION, "NDT " + command_name + " failed");
   }
 }
+}  // namespace autoware::pose_initializer

localization/pose_initializer/src/pose_initializer/ndt_localization_trigger_module.hpp → localization/autoware_pose_initializer/src/ndt_localization_trigger_module.hpp

@@ -12,13 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef POSE_INITIALIZER__NDT_LOCALIZATION_TRIGGER_MODULE_HPP_
-#define POSE_INITIALIZER__NDT_LOCALIZATION_TRIGGER_MODULE_HPP_
+#ifndef NDT_LOCALIZATION_TRIGGER_MODULE_HPP_
+#define NDT_LOCALIZATION_TRIGGER_MODULE_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
 #include <std_srvs/srv/set_bool.hpp>
 
+namespace autoware::pose_initializer
+{
 class NdtLocalizationTriggerModule
 {
 private:
@@ -33,5 +35,6 @@ class NdtLocalizationTriggerModule
   rclcpp::Node * node_;
   rclcpp::Client<SetBool>::SharedPtr client_ndt_trigger_;
 };
+}  // namespace autoware::pose_initializer
 
-#endif  // POSE_INITIALIZER__NDT_LOCALIZATION_TRIGGER_MODULE_HPP_
+#endif  // NDT_LOCALIZATION_TRIGGER_MODULE_HPP_

localization/pose_initializer/src/pose_initializer/pose_initializer_core.cpp → localization/autoware_pose_initializer/src/pose_initializer_core.cpp

@@ -25,6 +25,8 @@
 #include <sstream>
 #include <vector>
 
+namespace autoware::pose_initializer
+{
 PoseInitializer::PoseInitializer(const rclcpp::NodeOptions & options)
 : rclcpp::Node("pose_initializer", options)
 {
@@ -221,6 +223,7 @@ geometry_msgs::msg::PoseWithCovarianceStamped PoseInitializer::get_gnss_pose()
   throw ServiceException(
     Initialize::Service::Response::ERROR_GNSS_SUPPORT, "GNSS is not supported.");
 }
+}  // namespace autoware::pose_initializer
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(PoseInitializer)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::pose_initializer::PoseInitializer)

localization/pose_initializer/src/pose_initializer/pose_initializer_core.hpp → localization/autoware_pose_initializer/src/pose_initializer_core.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef POSE_INITIALIZER__POSE_INITIALIZER_CORE_HPP_
-#define POSE_INITIALIZER__POSE_INITIALIZER_CORE_HPP_
+#ifndef POSE_INITIALIZER_CORE_HPP_
+#define POSE_INITIALIZER_CORE_HPP_
 
 #include "localization_util/diagnostics_module.hpp"
 
@@ -26,6 +26,8 @@
 
 #include <memory>
 
+namespace autoware::pose_initializer
+{
 class StopCheckModule;
 class LocalizationModule;
 class GnssModule;
@@ -69,5 +71,6 @@ class PoseInitializer : public rclcpp::Node
     const Initialize::Service::Response::SharedPtr res);
   PoseWithCovarianceStamped get_gnss_pose();
 };
+}  // namespace autoware::pose_initializer
 
-#endif  // POSE_INITIALIZER__POSE_INITIALIZER_CORE_HPP_
+#endif  // POSE_INITIALIZER_CORE_HPP_

localization/pose_initializer/src/pose_initializer/stop_check_module.cpp → localization/autoware_pose_initializer/src/stop_check_module.cpp

@@ -14,6 +14,8 @@
 
 #include "stop_check_module.hpp"
 
+namespace autoware::pose_initializer
+{
 StopCheckModule::StopCheckModule(rclcpp::Node * node, double buffer_duration)
 : VehicleStopCheckerBase(node, buffer_duration)
 {
@@ -28,3 +30,4 @@ void StopCheckModule::on_twist(TwistWithCovarianceStamped::ConstSharedPtr msg)
   twist.twist = msg->twist.twist;
   addTwist(twist);
 }
+}  // namespace autoware::pose_initializer