feat: apply autoware_ prefix for default_ad_api_helpers

.github/CODEOWNERS

@@ -212,9 +212,9 @@ system/autoware_default_adapi/** [email protected] ryohsuke.mitsudome@tier4.
 system/autoware_processing_time_checker/** [email protected] [email protected]
 system/autoware_bluetooth_monitor/** [email protected] [email protected]
 system/component_state_monitor/** [email protected]
-system/default_ad_api_helpers/ad_api_adaptors/** [email protected] [email protected] [email protected]
-system/default_ad_api_helpers/ad_api_visualizers/** [email protected] [email protected] [email protected]
-system/default_ad_api_helpers/automatic_pose_initializer/** [email protected] [email protected] [email protected]
+system/autoware_default_adapi_helpers/autoware_adapi_adaptors/** [email protected] [email protected] [email protected]
+system/autoware_default_adapi_helpers/autoware_adapi_visualizers/** [email protected] [email protected] [email protected]
+system/autoware_default_adapi_helpers/autoware_automatic_pose_initializer/** [email protected] [email protected] [email protected]
 system/diagnostic_graph_aggregator/** [email protected]
 system/diagnostic_graph_utils/** [email protected]
 system/autoware_dummy_diag_publisher/** [email protected] [email protected]

launch/tier4_autoware_api_launch/launch/autoware_api.launch.xml

@@ -17,7 +17,7 @@
   <!-- AD API -->
   <group>
     <include file="$(find-pkg-share autoware_default_adapi)/launch/default_adapi.launch.py" if="$(var launch_default_adapi)"/>
-    <include file="$(find-pkg-share ad_api_adaptors)/launch/rviz_adaptors.launch.xml" if="$(var launch_rviz_adaptors)"/>
+    <include file="$(find-pkg-share autoware_adapi_adaptors)/launch/rviz_adaptors.launch.xml" if="$(var launch_rviz_adaptors)"/>
   </group>
 
   <!-- RTC controller -->

launch/tier4_autoware_api_launch/package.xml

@@ -11,7 +11,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <exec_depend>ad_api_adaptors</exec_depend>
+  <exec_depend>autoware_adapi_adaptors</exec_depend>
   <exec_depend>autoware_default_adapi</exec_depend>
   <exec_depend>autoware_iv_external_api_adaptor</exec_depend>
   <exec_depend>autoware_iv_internal_api_adaptor</exec_depend>

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

@@ -134,7 +134,7 @@
 
     <!-- automatic_pose_initializer -->
     <group if="$(var gnss_enabled)">
-      <include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
+      <include file="$(find-pkg-share autoware_automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
     </group>
 
     <!-- pointcloud_downsampling -->

launch/tier4_localization_launch/package.xml

@@ -17,8 +17,8 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <exec_depend>automatic_pose_initializer</exec_depend>
   <exec_depend>autoware_ar_tag_based_localizer</exec_depend>
+  <exec_depend>autoware_automatic_pose_initializer</exec_depend>
   <exec_depend>autoware_ekf_localizer</exec_depend>
   <exec_depend>autoware_geo_pose_projector</exec_depend>
   <exec_depend>autoware_gyro_odometer</exec_depend>

localization/autoware_pose_initializer/README.md

@@ -137,4 +137,4 @@ 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/default_ad_api_helpers/ad_api_adaptors), so there is no need to input them.
+The position.z and the covariance will be overwritten by [autoware_adapi_adaptors](https://github.com/autowarefoundation/autoware.universe/tree/main/system/autoware_default_adapi_helpers/autoware_adapi_adaptors), so there is no need to input them.

system/autoware_default_adapi/script/web_server.py

@@ -49,7 +49,7 @@ def convert_dict(msg):
 
 def spin_ros_node():
     global cli
-    node = Node("ad_api_default_web_server")
+    node = Node("adapi_default_web_server")
     cli = create_service(node, InterfaceVersion, "/api/interface/version")
     rclpy.spin(node)
 

system/default_ad_api_helpers/ad_api_adaptors/CMakeLists.txt → system/autoware_default_adapi_helpers/autoware_adapi_adaptors/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(ad_api_adaptors)
+project(autoware_adapi_adaptors)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
@@ -10,13 +10,13 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
 )
 
 rclcpp_components_register_node(${PROJECT_NAME}
-  PLUGIN "ad_api_adaptors::InitialPoseAdaptor"
+  PLUGIN "autoware::adapi_adaptors::InitialPoseAdaptor"
   EXECUTABLE initial_pose_adaptor_node
   EXECUTOR MultiThreadedExecutor
 )
 
 rclcpp_components_register_node(${PROJECT_NAME}
-  PLUGIN "ad_api_adaptors::RoutingAdaptor"
+  PLUGIN "autoware::adapi_adaptors::RoutingAdaptor"
   EXECUTABLE routing_adaptor_node
   EXECUTOR SingleThreadedExecutor
 )

system/default_ad_api_helpers/ad_api_adaptors/README.md → system/autoware_default_adapi_helpers/autoware_adapi_adaptors/README.md

@@ -1,4 +1,4 @@
-# ad_api_adaptors
+# adapi_adaptors
 
 ## initial_pose_adaptor
 
@@ -32,4 +32,4 @@ The clear API is called automatically before setting the route.
 
 ## parameters
 
-{{ json_to_markdown("/system/default_ad_api_helpers/ad_api_adaptors/schema/ad_api_adaptors.schema.json") }}
+{{ json_to_markdown("/system/autoware_default_adapi_helpers/adapi_adaptors/schema/adapi_adaptors.schema.json") }}

system/default_ad_api_helpers/ad_api_adaptors/launch/rviz_adaptors.launch.xml → system/autoware_default_adapi_helpers/autoware_adapi_adaptors/launch/rviz_adaptors.launch.xml

@@ -2,17 +2,17 @@
   <arg name="rviz_initial_pose_auto_fix_target" default="pointcloud_map"/>
 
   <group>
-    <push-ros-namespace namespace="default_ad_api/helpers"/>
-    <node pkg="ad_api_adaptors" exec="initial_pose_adaptor_node">
-      <param from="$(find-pkg-share ad_api_adaptors)/config/initial_pose.param.yaml"/>
+    <push-ros-namespace namespace="default_adapi/helpers"/>
+    <node pkg="autoware_adapi_adaptors" exec="initial_pose_adaptor_node">
+      <param from="$(find-pkg-share autoware_adapi_adaptors)/config/initial_pose.param.yaml"/>
       <param name="map_height_fitter.map_loader_name" value="/map/pointcloud_map_loader"/>
       <param name="map_height_fitter.target" value="$(var rviz_initial_pose_auto_fix_target)"/>
       <remap from="~/initialpose" to="/initialpose"/>
       <remap from="~/pointcloud_map" to="/map/pointcloud_map"/>
       <remap from="~/partial_map_load" to="/map/get_partial_pointcloud_map"/>
       <remap from="~/vector_map" to="/map/vector_map"/>
     </node>
-    <node pkg="ad_api_adaptors" exec="routing_adaptor_node">
+    <node pkg="autoware_adapi_adaptors" exec="routing_adaptor_node">
       <remap from="~/input/fixed_goal" to="/planning/mission_planning/goal"/>
       <remap from="~/input/rough_goal" to="/rviz/routing/rough_goal"/>
       <remap from="~/input/reroute" to="/rviz/routing/reroute"/>

system/default_ad_api_helpers/ad_api_adaptors/package.xml → system/autoware_default_adapi_helpers/autoware_adapi_adaptors/package.xml

@@ -1,12 +1,13 @@
 <?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>ad_api_adaptors</name>
+  <name>autoware_adapi_adaptors</name>
   <version>0.40.0</version>
-  <description>The ad_api_adaptors package</description>
+  <description>The adapi_adaptors package</description>
   <maintainer email="[email protected]">Takagi, Isamu</maintainer>
   <maintainer email="[email protected]">Ryohsuke Mitsudome</maintainer>
   <maintainer email="[email protected]">Yukihiro Saito</maintainer>
+  <maintainer email="[email protected]">Junya Sasaki</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>

system/default_ad_api_helpers/ad_api_adaptors/schema/ad_api_adaptors.schema.json → system/autoware_default_adapi_helpers/autoware_adapi_adaptors/schema/adapi_adaptors.schema.json

@@ -1,9 +1,9 @@
 {
   "$schema": "http://json-schema.org/draft-07/schema#",
-  "title": "ad_api_adaptors parameter",
+  "title": "adapi_adaptors parameter",
   "type": "object",
   "definitions": {
-    "ad_api_adaptors": {
+    "adapi_adaptors": {
       "type": "object",
       "properties": {
         "initial_pose_particle_covariance": {

system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.cpp → system/autoware_default_adapi_helpers/autoware_adapi_adaptors/src/initial_pose_adaptor.cpp

@@ -18,7 +18,7 @@
 #include <string>
 #include <vector>
 
-namespace ad_api_adaptors
+namespace autoware::adapi_adaptors
 {
 template <class ServiceT>
 using Future = typename rclcpp::Client<ServiceT>::SharedFuture;
@@ -35,7 +35,7 @@
 }
 
 InitialPoseAdaptor::InitialPoseAdaptor(const rclcpp::NodeOptions & options)
-: Node("initial_pose_adaptor", options), fitter_(this)
+: Node("autoware_initial_pose_adaptor", options), fitter_(this)
 {
   rviz_particle_covariance_ = get_covariance_parameter(this, "initial_pose_particle_covariance");
   sub_initial_pose_ = create_subscription<PoseWithCovarianceStamped>(
@@ -60,7 +60,7 @@
   cli_initialize_->async_send_request(req);
 }
 
-}  // namespace ad_api_adaptors
+}  // namespace autoware::adapi_adaptors
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(ad_api_adaptors::InitialPoseAdaptor)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::adapi_adaptors::InitialPoseAdaptor)

system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.hpp → system/autoware_default_adapi_helpers/autoware_adapi_adaptors/src/initial_pose_adaptor.hpp

@@ -22,7 +22,7 @@
 
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
 
-namespace ad_api_adaptors
+namespace autoware::adapi_adaptors
 {
 
 class InitialPoseAdaptor : public rclcpp::Node
@@ -41,6 +41,6 @@ class InitialPoseAdaptor : public rclcpp::Node
   void on_initial_pose(const PoseWithCovarianceStamped::ConstSharedPtr msg);
 };
 
-}  // namespace ad_api_adaptors
+}  // namespace autoware::adapi_adaptors
 
 #endif  // INITIAL_POSE_ADAPTOR_HPP_

system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.cpp → system/autoware_default_adapi_helpers/autoware_adapi_adaptors/src/routing_adaptor.cpp

@@ -16,11 +16,11 @@
 
 #include <memory>
 
-namespace ad_api_adaptors
+namespace autoware::adapi_adaptors
 {
 
 RoutingAdaptor::RoutingAdaptor(const rclcpp::NodeOptions & options)
-: Node("routing_adaptor", options)
+: Node("autoware_routing_adaptor", options)
 {
   using std::placeholders::_1;
 
@@ -109,7 +109,7 @@
   cli_reroute_->async_send_request(route);
 }
 
-}  // namespace ad_api_adaptors
+}  // namespace autoware::adapi_adaptors
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(ad_api_adaptors::RoutingAdaptor)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::adapi_adaptors::RoutingAdaptor)

system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.hpp → system/autoware_default_adapi_helpers/autoware_adapi_adaptors/src/routing_adaptor.hpp

@@ -23,7 +23,7 @@
 
 #include <string>
 
-namespace ad_api_adaptors
+namespace autoware::adapi_adaptors
 {
 
 class RoutingAdaptor : public rclcpp::Node
@@ -59,6 +59,6 @@ class RoutingAdaptor : public rclcpp::Node
   void on_reroute(const PoseStamped::ConstSharedPtr pose);
 };
 
-}  // namespace ad_api_adaptors
+}  // namespace autoware::adapi_adaptors
 
 #endif  // ROUTING_ADAPTOR_HPP_

system/default_ad_api_helpers/ad_api_visualizers/ad_api_visualizers/planning_factors.py → system/autoware_default_adapi_helpers/autoware_adapi_visualizers/autoware_adapi_visualizers/planning_factors.py

@@ -60,7 +60,7 @@
 
 class PlanningFactorVisualizer(rclpy.node.Node):
     def __init__(self):
-        super().__init__("planning_factor_visualizer")
+        super().__init__("autoware_planning_factor_visualizer")
         self.front_offset = self.declare_parameter("front_offset", 0.0).value
         self.pub_velocity = self.create_publisher(MarkerArray, "/visualizer/velocity_factors", 1)
         self.pub_steering = self.create_publisher(MarkerArray, "/visualizer/steering_factors", 1)
@@ -102,27 +102,27 @@
         result.orientation = pose.orientation
         return result
 
     def create_wall(self, index, header, pose, color):
         pose = self.offset_pose(pose)
         marker = Marker()
         marker.ns = "wall"
         marker.id = index
         marker.lifetime = rclpy.duration.Duration(nanoseconds=0.3 * 1e9).to_msg()
         marker.header = header
         marker.action = Marker.ADD
         marker.type = Marker.CUBE
         marker.pose.position.x = pose.position.x
         marker.pose.position.y = pose.position.y
         marker.pose.position.z = pose.position.z + 1.0
         marker.pose.orientation = pose.orientation
         marker.scale.x = 0.1
         marker.scale.y = 5.0
         marker.scale.z = 2.0
         marker.color.a = 0.7
         marker.color.r = color[0]
         marker.color.g = color[1]
         marker.color.b = color[2]
         return marker
 
     def create_text(self, index, header, pose, text):
         pose = self.offset_pose(pose)

system/autoware_default_adapi_helpers/autoware_adapi_visualizers/launch/autoware_adapi_visualizers.launch.xml

@@ -0,0 +1,5 @@
+<launch>
+  <node pkg="autoware_adapi_visualizers" name="planning_factors" exec="planning_factors">
+    <param name="front_offset" value="0.0"/>
+  </node>
+</launch>

system/default_ad_api_helpers/ad_api_visualizers/package.xml → system/autoware_default_adapi_helpers/autoware_adapi_visualizers/package.xml

@@ -1,12 +1,13 @@
 <?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>ad_api_visualizers</name>
+  <name>autoware_adapi_visualizers</name>
   <version>0.40.0</version>
-  <description>The ad_api_visualizers package</description>
+  <description>The adapi_visualizers package</description>
   <maintainer email="[email protected]">Takagi, Isamu</maintainer>
   <maintainer email="[email protected]">Ryohsuke Mitsudome</maintainer>
   <maintainer email="[email protected]">Yukihiro Saito</maintainer>
+  <maintainer email="[email protected]">Junya Sasaki</maintainer>
   <license>Apache License 2.0</license>
 
   <exec_depend>autoware_adapi_v1_msgs</exec_depend>

system/autoware_default_adapi_helpers/autoware_adapi_visualizers/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/adapi_visualizers
+[install]
+install_scripts=$base/lib/adapi_visualizers

system/default_ad_api_helpers/ad_api_visualizers/setup.py → system/autoware_default_adapi_helpers/autoware_adapi_visualizers/setup.py

@@ -7,7 +7,7 @@
 simplefilter("ignore", category=SetuptoolsDeprecationWarning)
 simplefilter("ignore", category=PkgResourcesDeprecationWarning)
 
-package_name = "ad_api_visualizers"
+package_name = "autoware_adapi_visualizers"
 
 setup(
     name=package_name,
@@ -22,10 +22,10 @@
     zip_safe=True,
     maintainer="Takagi, Isamu",
     maintainer_email="[email protected]",
-    description="The ad_api_visualizers package",
+    description="The adapi_visualizers package",
     license="Apache License 2.0",
     tests_require=["pytest"],
     entry_points={
-        "console_scripts": ["planning_factors = ad_api_visualizers.planning_factors:main"],
+        "console_scripts": ["planning_factors = autoware_adapi_visualizers.planning_factors:main"],
     },
 )

system/default_ad_api_helpers/automatic_pose_initializer/CMakeLists.txt → system/autoware_default_adapi_helpers/autoware_automatic_pose_initializer/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(automatic_pose_initializer)
+project(autoware_automatic_pose_initializer)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
@@ -9,7 +9,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
 )
 
 rclcpp_components_register_node(${PROJECT_NAME}
-  PLUGIN "automatic_pose_initializer::AutomaticPoseInitializer"
+  PLUGIN "autoware::automatic_pose_initializer::AutomaticPoseInitializer"
   EXECUTABLE ${PROJECT_NAME}_node
   EXECUTOR MultiThreadedExecutor
 )

system/autoware_default_adapi_helpers/autoware_automatic_pose_initializer/launch/automatic_pose_initializer.launch.xml

@@ -0,0 +1,6 @@
+<launch>
+  <group>
+    <push-ros-namespace namespace="default_adapi/helpers"/>
+    <node pkg="autoware_automatic_pose_initializer" exec="autoware_automatic_pose_initializer_node"/>
+  </group>
+</launch>

system/default_ad_api_helpers/automatic_pose_initializer/package.xml → system/autoware_default_adapi_helpers/autoware_automatic_pose_initializer/package.xml

@@ -1,12 +1,13 @@
 <?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>automatic_pose_initializer</name>
+  <name>autoware_automatic_pose_initializer</name>
   <version>0.40.0</version>
   <description>The automatic_pose_initializer package</description>
   <maintainer email="[email protected]">Takagi, Isamu</maintainer>
   <maintainer email="[email protected]">Ryohsuke Mitsudome</maintainer>
   <maintainer email="[email protected]">Yukihiro Saito</maintainer>
+  <maintainer email="[email protected]">Junya Sasaki</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>

system/default_ad_api_helpers/automatic_pose_initializer/src/automatic_pose_initializer.cpp → system/autoware_default_adapi_helpers/autoware_automatic_pose_initializer/src/automatic_pose_initializer.cpp

@@ -16,11 +16,11 @@
 
 #include <memory>
 
-namespace automatic_pose_initializer
+namespace autoware::automatic_pose_initializer
 {
 
 AutomaticPoseInitializer::AutomaticPoseInitializer(const rclcpp::NodeOptions & options)
-: Node("automatic_pose_initializer", options)
+: Node("autoware_automatic_pose_initializer", options)
 {
   const auto adaptor = autoware::component_interface_utils::NodeAdaptor(this);
   group_cli_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
@@ -47,7 +47,7 @@
   timer_->reset();
 }
 
-}  // namespace automatic_pose_initializer
+}  // namespace autoware::automatic_pose_initializer
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(automatic_pose_initializer::AutomaticPoseInitializer)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::automatic_pose_initializer::AutomaticPoseInitializer)

system/default_ad_api_helpers/automatic_pose_initializer/src/automatic_pose_initializer.hpp → system/autoware_default_adapi_helpers/autoware_automatic_pose_initializer/src/automatic_pose_initializer.hpp

@@ -19,7 +19,7 @@
 #include <autoware/component_interface_utils/rclcpp.hpp>
 #include <rclcpp/rclcpp.hpp>
 
-namespace automatic_pose_initializer
+namespace autoware::automatic_pose_initializer
 {
 
 class AutomaticPoseInitializer : public rclcpp::Node
@@ -38,6 +38,6 @@ class AutomaticPoseInitializer : public rclcpp::Node
   State::Message state_;
 };
 
-}  // namespace automatic_pose_initializer
+}  // namespace autoware::automatic_pose_initializer
 
 #endif  // AUTOMATIC_POSE_INITIALIZER_HPP_