From 287e753075f78d44ad12e5239a9f834544d52a2c Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Fri, 26 Jul 2024 11:13:19 +0900 Subject: [PATCH] refactor(probabilistic_occupancy_grid_map, occupancy_grid_map_outlier_filter): add autoware_ prefix to package name (#8183) * chore: fix package name probabilistic occupancy grid map Signed-off-by: yoshiri * fix: solve launch error Signed-off-by: yoshiri * chore: update occupancy_grid_map_outlier_filter Signed-off-by: yoshiri * style(pre-commit): autofix * refactor: update package name to autoware_probabilistic_occupancy_grid_map on a test Signed-off-by: Taekjin LEE * refactor: rename folder of occupancy_grid_map_outlier_filter Signed-off-by: Taekjin LEE --------- Signed-off-by: yoshiri Signed-off-by: Taekjin LEE Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE --- .github/CODEOWNERS | 4 ++-- .../ground_segmentation.launch.py | 2 +- .../probabilistic_occupancy_grid_map.launch.xml | 6 +++--- launch/tier4_perception_launch/package.xml | 4 ++-- .../occupancy_grid_based_validator.launch.xml | 6 +++--- .../CMakeLists.txt | 4 ++-- .../README.md | 2 +- ...occupancy_grid_map_outlier_filter.drawio.svg | 0 .../package.xml | 2 +- .../occupancy_grid_map_outlier_filter_node.cpp | 0 .../occupancy_grid_map_outlier_filter_node.hpp | 0 .../CMakeLists.txt | 2 +- .../README.md | 16 ++++++++-------- .../binary_bayes_filter_updater.param.yaml | 0 .../config/grid_map.param.yaml | 0 ...aserscan_based_occupancy_grid_map.param.yaml | 0 ...intcloud_based_occupancy_grid_map.param.yaml | 0 ...intcloud_based_occupancy_grid_map.param.yaml | 0 ...synchronized_grid_map_fusion_node.param.yaml | 0 .../image/bresenham.svg | 0 .../image/gridmap_frame_settings.drawio.svg | 0 ...an_based_occupancy_grid_map_sample_image.png | Bin .../pointcloud_based_occupancy_grid_map_bev.svg | 0 ...ud_based_occupancy_grid_map_sample_image.gif | Bin ...cloud_based_occupancy_grid_map_side_view.svg | 0 ...d_based_occupancy_grid_map_side_view_1st.svg | 0 ...d_based_occupancy_grid_map_side_view_2nd.svg | 0 ...grid_map_side_view_2nd_projection.drawio.svg | 0 ...d_based_occupancy_grid_map_side_view_3rd.svg | 0 .../synchronized_grid_map_fusion.drawio.svg | 0 .../image/update_with_pointcloud.svg | 0 .../cost_value/cost_value.hpp | 0 .../costmap_2d/occupancy_grid_map.hpp | 0 .../costmap_2d/occupancy_grid_map_base.hpp | 0 .../costmap_2d/occupancy_grid_map_fixed.hpp | 0 .../occupancy_grid_map_projective.hpp | 0 .../fusion_policy/fusion_policy.hpp | 0 .../updater/binary_bayes_filter_updater.hpp | 0 .../updater/log_odds_bayes_filter_updater.hpp | 0 .../updater/ogm_updater_interface.hpp | 0 .../utils/utils.hpp | 0 .../laserscan-based-occupancy-grid-map.md | 0 .../launch/debug.launch.xml | 2 +- ...laserscan_based_occupancy_grid_map.launch.py | 6 +++--- ...ointcloud_based_occupancy_grid_map.launch.py | 8 ++++---- ...ointcloud_based_occupancy_grid_map.launch.py | 6 +++--- ...ronized_occupancy_grid_map_fusion.launch.xml | 4 ++-- .../lib/costmap_2d/occupancy_grid_map.cpp | 0 .../lib/costmap_2d/occupancy_grid_map_base.cpp | 0 .../lib/costmap_2d/occupancy_grid_map_fixed.cpp | 0 .../occupancy_grid_map_projective.cpp | 0 .../lib/fusion_policy/fusion_policy.cpp | 0 .../lib/updater/binary_bayes_filter_updater.cpp | 0 .../updater/log_odds_bayes_filter_updater.cpp | 0 .../lib/utils/utils.cpp | 0 .../package.xml | 2 +- .../pointcloud-based-occupancy-grid-map.md | 2 +- .../binary_bayes_filter_updater.schema.json | 0 .../schema/grid_map.schema.json | 0 ...serscan_based_occupancy_grid_map.schema.json | 0 ...ntcloud_based_occupancy_grid_map.schema.json | 0 ...ntcloud_based_occupancy_grid_map.schema.json | 0 ...ynchronized_grid_map_fusion_node.schema.json | 0 .../synchronized_grid_map_fusion_node.cpp | 0 .../synchronized_grid_map_fusion_node.hpp | 0 .../laserscan_based_occupancy_grid_map_node.cpp | 0 .../laserscan_based_occupancy_grid_map_node.hpp | 0 ...pointcloud_based_occupancy_grid_map_node.cpp | 0 ...pointcloud_based_occupancy_grid_map_node.hpp | 0 .../synchronized_grid_map_fusion.md | 12 ++++++------ .../test/cost_value_test.cpp | 0 .../test/fusion_policy_test.cpp | 0 .../test/test_pointcloud_based_method.py | 2 +- .../test_synchronized_grid_map_fusion_node.py | 2 +- .../test/test_utils.cpp | 0 .../README.md | 2 +- 76 files changed, 48 insertions(+), 48 deletions(-) rename perception/{occupancy_grid_map_outlier_filter => autoware_occupancy_grid_map_outlier_filter}/CMakeLists.txt (91%) rename perception/{occupancy_grid_map_outlier_filter => autoware_occupancy_grid_map_outlier_filter}/README.md (99%) rename perception/{occupancy_grid_map_outlier_filter => autoware_occupancy_grid_map_outlier_filter}/image/occupancy_grid_map_outlier_filter.drawio.svg (100%) rename perception/{occupancy_grid_map_outlier_filter => autoware_occupancy_grid_map_outlier_filter}/package.xml (96%) rename perception/{occupancy_grid_map_outlier_filter => autoware_occupancy_grid_map_outlier_filter}/src/occupancy_grid_map_outlier_filter_node.cpp (100%) rename perception/{occupancy_grid_map_outlier_filter => autoware_occupancy_grid_map_outlier_filter}/src/occupancy_grid_map_outlier_filter_node.hpp (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/CMakeLists.txt (98%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/README.md (67%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/config/binary_bayes_filter_updater.param.yaml (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/config/grid_map.param.yaml (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/config/laserscan_based_occupancy_grid_map.param.yaml (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/config/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/config/pointcloud_based_occupancy_grid_map.param.yaml (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/config/synchronized_grid_map_fusion_node.param.yaml (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/image/bresenham.svg (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/image/gridmap_frame_settings.drawio.svg (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/image/laserscan_based_occupancy_grid_map_sample_image.png (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/image/pointcloud_based_occupancy_grid_map_bev.svg (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/image/pointcloud_based_occupancy_grid_map_sample_image.gif (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/image/pointcloud_based_occupancy_grid_map_side_view.svg (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/image/pointcloud_based_occupancy_grid_map_side_view_1st.svg (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/image/pointcloud_based_occupancy_grid_map_side_view_2nd.svg (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/image/pointcloud_based_occupancy_grid_map_side_view_2nd_projection.drawio.svg (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/image/pointcloud_based_occupancy_grid_map_side_view_3rd.svg (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/image/synchronized_grid_map_fusion.drawio.svg (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/image/update_with_pointcloud.svg (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/include/autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map.hpp (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_base.hpp (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_fixed.hpp (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_projective.hpp (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/include/autoware/probabilistic_occupancy_grid_map/fusion_policy/fusion_policy.hpp (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/include/autoware/probabilistic_occupancy_grid_map/updater/binary_bayes_filter_updater.hpp (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/include/autoware/probabilistic_occupancy_grid_map/updater/log_odds_bayes_filter_updater.hpp (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/include/autoware/probabilistic_occupancy_grid_map/updater/ogm_updater_interface.hpp (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/include/autoware/probabilistic_occupancy_grid_map/utils/utils.hpp (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/laserscan-based-occupancy-grid-map.md (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/launch/debug.launch.xml (69%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/launch/laserscan_based_occupancy_grid_map.launch.py (96%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/launch/multi_lidar_pointcloud_based_occupancy_grid_map.launch.py (97%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/launch/pointcloud_based_occupancy_grid_map.launch.py (96%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/launch/synchronized_occupancy_grid_map_fusion.launch.xml (54%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/lib/costmap_2d/occupancy_grid_map.cpp (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/lib/costmap_2d/occupancy_grid_map_base.cpp (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/lib/costmap_2d/occupancy_grid_map_fixed.cpp (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/lib/costmap_2d/occupancy_grid_map_projective.cpp (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/lib/fusion_policy/fusion_policy.cpp (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/lib/updater/binary_bayes_filter_updater.cpp (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/lib/updater/log_odds_bayes_filter_updater.cpp (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/lib/utils/utils.cpp (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/package.xml (97%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/pointcloud-based-occupancy-grid-map.md (99%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/schema/binary_bayes_filter_updater.schema.json (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/schema/grid_map.schema.json (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/schema/laserscan_based_occupancy_grid_map.schema.json (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/schema/multi_lidar_pointcloud_based_occupancy_grid_map.schema.json (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/schema/pointcloud_based_occupancy_grid_map.schema.json (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/schema/synchronized_grid_map_fusion_node.schema.json (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/src/fusion/synchronized_grid_map_fusion_node.cpp (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/src/fusion/synchronized_grid_map_fusion_node.hpp (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/synchronized_grid_map_fusion.md (92%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/test/cost_value_test.cpp (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/test/fusion_policy_test.cpp (100%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/test/test_pointcloud_based_method.py (99%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/test/test_synchronized_grid_map_fusion_node.py (99%) rename perception/{probabilistic_occupancy_grid_map => autoware_probabilistic_occupancy_grid_map}/test/test_utils.cpp (100%) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 8fd20f9769256..8ee971698743a 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -128,9 +128,9 @@ perception/autoware_ground_segmentation/** abrahammonrroy@yahoo.com dai.nguyen@t perception/autoware_image_projection_based_fusion/** dai.nguyen@tier4.jp koji.minoda@tier4.jp kotaro.uetake@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/autoware_lidar_apollo_instance_segmentation/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/autoware_lidar_centerpoint/** kenzo.lobos@tier4.jp koji.minoda@tier4.jp -perception/occupancy_grid_map_outlier_filter/** abrahammonrroy@yahoo.com yoshi.ri@tier4.jp yukihiro.saito@tier4.jp -perception/probabilistic_occupancy_grid_map/** mamoru.sobue@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp +perception/autoware_occupancy_grid_map_outlier_filter/** abrahammonrroy@yahoo.com yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/autoware_radar_tracks_msgs_converter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp +perception/autoware_probabilistic_occupancy_grid_map/** mamoru.sobue@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/autoware_raindrop_cluster_filter/** dai.nguyen@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/autoware_shape_estimation/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/autoware_simple_object_merger/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp diff --git a/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py b/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py index 00d68469ed9cd..541d4e4d4c920 100644 --- a/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py +++ b/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py @@ -331,7 +331,7 @@ def create_time_series_outlier_filter_components(input_topic, output_topic): components = [] components.append( ComposableNode( - package="occupancy_grid_map_outlier_filter", + package="autoware_occupancy_grid_map_outlier_filter", plugin="autoware::occupancy_grid_map_outlier_filter::OccupancyGridMapOutlierFilterComponent", name="occupancy_grid_based_outlier_filter", remappings=[ diff --git a/launch/tier4_perception_launch/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml b/launch/tier4_perception_launch/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml index f99416cc5ac0a..d92ced54bbc07 100644 --- a/launch/tier4_perception_launch/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml +++ b/launch/tier4_perception_launch/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml @@ -16,7 +16,7 @@ - + @@ -32,7 +32,7 @@ - + @@ -50,7 +50,7 @@ - + diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml index e5aefb65a8191..42e295de9752e 100644 --- a/launch/tier4_perception_launch/package.xml +++ b/launch/tier4_perception_launch/package.xml @@ -29,7 +29,9 @@ autoware_object_merger autoware_object_range_splitter autoware_object_velocity_splitter + autoware_occupancy_grid_map_outlier_filter autoware_pointcloud_preprocessor + autoware_probabilistic_occupancy_grid_map autoware_radar_crossing_objects_noise_filter autoware_radar_fusion_to_detected_object autoware_radar_object_clustering @@ -38,9 +40,7 @@ autoware_shape_estimation autoware_tracking_object_merger image_transport_decompressor - occupancy_grid_map_outlier_filter pointcloud_to_laserscan - probabilistic_occupancy_grid_map topic_tools traffic_light_arbiter diff --git a/perception/autoware_detected_object_validation/launch/occupancy_grid_based_validator.launch.xml b/perception/autoware_detected_object_validation/launch/occupancy_grid_based_validator.launch.xml index d56dbb69a9177..dbc1a012975dd 100644 --- a/perception/autoware_detected_object_validation/launch/occupancy_grid_based_validator.launch.xml +++ b/perception/autoware_detected_object_validation/launch/occupancy_grid_based_validator.launch.xml @@ -5,11 +5,11 @@ - - + + - + diff --git a/perception/occupancy_grid_map_outlier_filter/CMakeLists.txt b/perception/autoware_occupancy_grid_map_outlier_filter/CMakeLists.txt similarity index 91% rename from perception/occupancy_grid_map_outlier_filter/CMakeLists.txt rename to perception/autoware_occupancy_grid_map_outlier_filter/CMakeLists.txt index 9754cea458577..0fc73d43e54c9 100644 --- a/perception/occupancy_grid_map_outlier_filter/CMakeLists.txt +++ b/perception/autoware_occupancy_grid_map_outlier_filter/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(occupancy_grid_map_outlier_filter) +project(autoware_occupancy_grid_map_outlier_filter) find_package(autoware_cmake REQUIRED) autoware_package() @@ -41,6 +41,6 @@ endif() # -- Occupancy Grid Map Outlier Filter -- rclcpp_components_register_node(${PROJECT_NAME} PLUGIN "autoware::occupancy_grid_map_outlier_filter::OccupancyGridMapOutlierFilterComponent" - EXECUTABLE occupancy_grid_map_outlier_filter_node) + EXECUTABLE ${PROJECT_NAME}_node) ament_auto_package(INSTALL_TO_SHARE) diff --git a/perception/occupancy_grid_map_outlier_filter/README.md b/perception/autoware_occupancy_grid_map_outlier_filter/README.md similarity index 99% rename from perception/occupancy_grid_map_outlier_filter/README.md rename to perception/autoware_occupancy_grid_map_outlier_filter/README.md index fd064af19902f..28974edf65053 100644 --- a/perception/occupancy_grid_map_outlier_filter/README.md +++ b/perception/autoware_occupancy_grid_map_outlier_filter/README.md @@ -1,4 +1,4 @@ -# occupancy_grid_map_outlier_filter +# autoware_occupancy_grid_map_outlier_filter ## Purpose diff --git a/perception/occupancy_grid_map_outlier_filter/image/occupancy_grid_map_outlier_filter.drawio.svg b/perception/autoware_occupancy_grid_map_outlier_filter/image/occupancy_grid_map_outlier_filter.drawio.svg similarity index 100% rename from perception/occupancy_grid_map_outlier_filter/image/occupancy_grid_map_outlier_filter.drawio.svg rename to perception/autoware_occupancy_grid_map_outlier_filter/image/occupancy_grid_map_outlier_filter.drawio.svg diff --git a/perception/occupancy_grid_map_outlier_filter/package.xml b/perception/autoware_occupancy_grid_map_outlier_filter/package.xml similarity index 96% rename from perception/occupancy_grid_map_outlier_filter/package.xml rename to perception/autoware_occupancy_grid_map_outlier_filter/package.xml index af6feb2aefba7..c39ebdad4b283 100644 --- a/perception/occupancy_grid_map_outlier_filter/package.xml +++ b/perception/autoware_occupancy_grid_map_outlier_filter/package.xml @@ -1,7 +1,7 @@ - occupancy_grid_map_outlier_filter + autoware_occupancy_grid_map_outlier_filter 0.1.0 The ROS 2 occupancy_grid_map_outlier_filter package amc-nu diff --git a/perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_node.cpp b/perception/autoware_occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_node.cpp similarity index 100% rename from perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_node.cpp rename to perception/autoware_occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_node.cpp diff --git a/perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_node.hpp b/perception/autoware_occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_node.hpp similarity index 100% rename from perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_node.hpp rename to perception/autoware_occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_node.hpp diff --git a/perception/probabilistic_occupancy_grid_map/CMakeLists.txt b/perception/autoware_probabilistic_occupancy_grid_map/CMakeLists.txt similarity index 98% rename from perception/probabilistic_occupancy_grid_map/CMakeLists.txt rename to perception/autoware_probabilistic_occupancy_grid_map/CMakeLists.txt index d01ef157e21b4..28342ecb5bcff 100644 --- a/perception/probabilistic_occupancy_grid_map/CMakeLists.txt +++ b/perception/autoware_probabilistic_occupancy_grid_map/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(probabilistic_occupancy_grid_map) +project(autoware_probabilistic_occupancy_grid_map) find_package(autoware_cmake REQUIRED) autoware_package() diff --git a/perception/probabilistic_occupancy_grid_map/README.md b/perception/autoware_probabilistic_occupancy_grid_map/README.md similarity index 67% rename from perception/probabilistic_occupancy_grid_map/README.md rename to perception/autoware_probabilistic_occupancy_grid_map/README.md index 4200836181276..575411bcbd220 100644 --- a/perception/probabilistic_occupancy_grid_map/README.md +++ b/perception/autoware_probabilistic_occupancy_grid_map/README.md @@ -1,4 +1,4 @@ -# probabilistic_occupancy_grid_map +# autoware_probabilistic_occupancy_grid_map ## Purpose @@ -21,12 +21,12 @@ You may need to choose `scan_origin_frame` and `gridmap_origin_frame` which mean ### Parameters -{{ json_to_markdown("perception/probabilistic_occupancy_grid_map/schema/binary_bayes_filter_updater.schema.json") }} -{{ json_to_markdown("perception/probabilistic_occupancy_grid_map/schema/grid_map.schema.json") }} -{{ json_to_markdown("perception/probabilistic_occupancy_grid_map/schema/laserscan_based_occupancy_grid_map.schema.json") }} -{{ json_to_markdown("perception/probabilistic_occupancy_grid_map/schema/multi_lidar_pointcloud_based_occupancy_grid_map.schema.json") }} -{{ json_to_markdown("perception/probabilistic_occupancy_grid_map/schema/pointcloud_based_occupancy_grid_map.schema.json") }} -{{ json_to_markdown("perception/probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json") }} +{{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/binary_bayes_filter_updater.schema.json") }} +{{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/grid_map.schema.json") }} +{{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/laserscan_based_occupancy_grid_map.schema.json") }} +{{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/multi_lidar_pointcloud_based_occupancy_grid_map.schema.json") }} +{{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/pointcloud_based_occupancy_grid_map.schema.json") }} +{{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json") }} ### Downsample input pointcloud(Optional) @@ -54,7 +54,7 @@ This package provides unit tests using `gtest`. You can run the test by the following command. ```bash -colcon test --packages-select probabilistic_occupancy_grid_map --event-handlers console_direct+ +colcon test --packages-select autoware_probabilistic_occupancy_grid_map --event-handlers console_direct+ ``` Test contains the following. diff --git a/perception/probabilistic_occupancy_grid_map/config/binary_bayes_filter_updater.param.yaml b/perception/autoware_probabilistic_occupancy_grid_map/config/binary_bayes_filter_updater.param.yaml similarity index 100% rename from perception/probabilistic_occupancy_grid_map/config/binary_bayes_filter_updater.param.yaml rename to perception/autoware_probabilistic_occupancy_grid_map/config/binary_bayes_filter_updater.param.yaml diff --git a/perception/probabilistic_occupancy_grid_map/config/grid_map.param.yaml b/perception/autoware_probabilistic_occupancy_grid_map/config/grid_map.param.yaml similarity index 100% rename from perception/probabilistic_occupancy_grid_map/config/grid_map.param.yaml rename to perception/autoware_probabilistic_occupancy_grid_map/config/grid_map.param.yaml diff --git a/perception/probabilistic_occupancy_grid_map/config/laserscan_based_occupancy_grid_map.param.yaml b/perception/autoware_probabilistic_occupancy_grid_map/config/laserscan_based_occupancy_grid_map.param.yaml similarity index 100% rename from perception/probabilistic_occupancy_grid_map/config/laserscan_based_occupancy_grid_map.param.yaml rename to perception/autoware_probabilistic_occupancy_grid_map/config/laserscan_based_occupancy_grid_map.param.yaml diff --git a/perception/probabilistic_occupancy_grid_map/config/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml b/perception/autoware_probabilistic_occupancy_grid_map/config/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml similarity index 100% rename from perception/probabilistic_occupancy_grid_map/config/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml rename to perception/autoware_probabilistic_occupancy_grid_map/config/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml diff --git a/perception/probabilistic_occupancy_grid_map/config/pointcloud_based_occupancy_grid_map.param.yaml b/perception/autoware_probabilistic_occupancy_grid_map/config/pointcloud_based_occupancy_grid_map.param.yaml similarity index 100% rename from perception/probabilistic_occupancy_grid_map/config/pointcloud_based_occupancy_grid_map.param.yaml rename to perception/autoware_probabilistic_occupancy_grid_map/config/pointcloud_based_occupancy_grid_map.param.yaml diff --git a/perception/probabilistic_occupancy_grid_map/config/synchronized_grid_map_fusion_node.param.yaml b/perception/autoware_probabilistic_occupancy_grid_map/config/synchronized_grid_map_fusion_node.param.yaml similarity index 100% rename from perception/probabilistic_occupancy_grid_map/config/synchronized_grid_map_fusion_node.param.yaml rename to perception/autoware_probabilistic_occupancy_grid_map/config/synchronized_grid_map_fusion_node.param.yaml diff --git a/perception/probabilistic_occupancy_grid_map/image/bresenham.svg b/perception/autoware_probabilistic_occupancy_grid_map/image/bresenham.svg similarity index 100% rename from perception/probabilistic_occupancy_grid_map/image/bresenham.svg rename to perception/autoware_probabilistic_occupancy_grid_map/image/bresenham.svg diff --git a/perception/probabilistic_occupancy_grid_map/image/gridmap_frame_settings.drawio.svg b/perception/autoware_probabilistic_occupancy_grid_map/image/gridmap_frame_settings.drawio.svg similarity index 100% rename from perception/probabilistic_occupancy_grid_map/image/gridmap_frame_settings.drawio.svg rename to perception/autoware_probabilistic_occupancy_grid_map/image/gridmap_frame_settings.drawio.svg diff --git a/perception/probabilistic_occupancy_grid_map/image/laserscan_based_occupancy_grid_map_sample_image.png b/perception/autoware_probabilistic_occupancy_grid_map/image/laserscan_based_occupancy_grid_map_sample_image.png similarity index 100% rename from perception/probabilistic_occupancy_grid_map/image/laserscan_based_occupancy_grid_map_sample_image.png rename to perception/autoware_probabilistic_occupancy_grid_map/image/laserscan_based_occupancy_grid_map_sample_image.png diff --git a/perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_bev.svg b/perception/autoware_probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_bev.svg similarity index 100% rename from perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_bev.svg rename to perception/autoware_probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_bev.svg diff --git a/perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_sample_image.gif b/perception/autoware_probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_sample_image.gif similarity index 100% rename from perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_sample_image.gif rename to perception/autoware_probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_sample_image.gif diff --git a/perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view.svg b/perception/autoware_probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view.svg similarity index 100% rename from perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view.svg rename to perception/autoware_probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view.svg diff --git a/perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_1st.svg b/perception/autoware_probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_1st.svg similarity index 100% rename from perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_1st.svg rename to perception/autoware_probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_1st.svg diff --git a/perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_2nd.svg b/perception/autoware_probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_2nd.svg similarity index 100% rename from perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_2nd.svg rename to perception/autoware_probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_2nd.svg diff --git a/perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_2nd_projection.drawio.svg b/perception/autoware_probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_2nd_projection.drawio.svg similarity index 100% rename from perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_2nd_projection.drawio.svg rename to perception/autoware_probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_2nd_projection.drawio.svg diff --git a/perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_3rd.svg b/perception/autoware_probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_3rd.svg similarity index 100% rename from perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_3rd.svg rename to perception/autoware_probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_3rd.svg diff --git a/perception/probabilistic_occupancy_grid_map/image/synchronized_grid_map_fusion.drawio.svg b/perception/autoware_probabilistic_occupancy_grid_map/image/synchronized_grid_map_fusion.drawio.svg similarity index 100% rename from perception/probabilistic_occupancy_grid_map/image/synchronized_grid_map_fusion.drawio.svg rename to perception/autoware_probabilistic_occupancy_grid_map/image/synchronized_grid_map_fusion.drawio.svg diff --git a/perception/probabilistic_occupancy_grid_map/image/update_with_pointcloud.svg b/perception/autoware_probabilistic_occupancy_grid_map/image/update_with_pointcloud.svg similarity index 100% rename from perception/probabilistic_occupancy_grid_map/image/update_with_pointcloud.svg rename to perception/autoware_probabilistic_occupancy_grid_map/image/update_with_pointcloud.svg diff --git a/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp similarity index 100% rename from perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp rename to perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp diff --git a/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map.hpp b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map.hpp similarity index 100% rename from perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map.hpp rename to perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map.hpp diff --git a/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_base.hpp b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_base.hpp similarity index 100% rename from perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_base.hpp rename to perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_base.hpp diff --git a/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_fixed.hpp b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_fixed.hpp similarity index 100% rename from perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_fixed.hpp rename to perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_fixed.hpp diff --git a/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_projective.hpp b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_projective.hpp similarity index 100% rename from perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_projective.hpp rename to perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_projective.hpp diff --git a/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/fusion_policy/fusion_policy.hpp b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/fusion_policy/fusion_policy.hpp similarity index 100% rename from perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/fusion_policy/fusion_policy.hpp rename to perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/fusion_policy/fusion_policy.hpp diff --git a/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/binary_bayes_filter_updater.hpp b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/binary_bayes_filter_updater.hpp similarity index 100% rename from perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/binary_bayes_filter_updater.hpp rename to perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/binary_bayes_filter_updater.hpp diff --git a/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/log_odds_bayes_filter_updater.hpp b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/log_odds_bayes_filter_updater.hpp similarity index 100% rename from perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/log_odds_bayes_filter_updater.hpp rename to perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/log_odds_bayes_filter_updater.hpp diff --git a/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/ogm_updater_interface.hpp b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/ogm_updater_interface.hpp similarity index 100% rename from perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/ogm_updater_interface.hpp rename to perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/ogm_updater_interface.hpp diff --git a/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/utils/utils.hpp b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/utils/utils.hpp similarity index 100% rename from perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/utils/utils.hpp rename to perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/utils/utils.hpp diff --git a/perception/probabilistic_occupancy_grid_map/laserscan-based-occupancy-grid-map.md b/perception/autoware_probabilistic_occupancy_grid_map/laserscan-based-occupancy-grid-map.md similarity index 100% rename from perception/probabilistic_occupancy_grid_map/laserscan-based-occupancy-grid-map.md rename to perception/autoware_probabilistic_occupancy_grid_map/laserscan-based-occupancy-grid-map.md diff --git a/perception/probabilistic_occupancy_grid_map/launch/debug.launch.xml b/perception/autoware_probabilistic_occupancy_grid_map/launch/debug.launch.xml similarity index 69% rename from perception/probabilistic_occupancy_grid_map/launch/debug.launch.xml rename to perception/autoware_probabilistic_occupancy_grid_map/launch/debug.launch.xml index 72edb00ea606a..20a1b2b7910e6 100644 --- a/perception/probabilistic_occupancy_grid_map/launch/debug.launch.xml +++ b/perception/autoware_probabilistic_occupancy_grid_map/launch/debug.launch.xml @@ -3,7 +3,7 @@ - + diff --git a/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py b/perception/autoware_probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py similarity index 96% rename from perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py rename to perception/autoware_probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py index 1edc538b3de3f..1a73518531217 100644 --- a/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py +++ b/perception/autoware_probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py @@ -84,7 +84,7 @@ def launch_setup(context, *args, **kwargs): extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ), ComposableNode( - package="probabilistic_occupancy_grid_map", + package="autoware_probabilistic_occupancy_grid_map", plugin="autoware::occupancy_grid_map::LaserscanBasedOccupancyGridMapNode", name="occupancy_grid_map_node", remappings=[ @@ -162,13 +162,13 @@ def add_launch_arg(name: str, default_value=None): add_launch_arg("output/stixel", "virtual_scan/stixel"), add_launch_arg( "param_file", - get_package_share_directory("probabilistic_occupancy_grid_map") + get_package_share_directory("autoware_probabilistic_occupancy_grid_map") + "/config/laserscan_based_occupancy_grid_map.param.yaml", ), add_launch_arg("updater_type", "binary_bayes_filter"), add_launch_arg( "updater_param_file", - get_package_share_directory("probabilistic_occupancy_grid_map") + get_package_share_directory("autoware_probabilistic_occupancy_grid_map") + "/config/updater.param.yaml", ), add_launch_arg("input_obstacle_pointcloud", "false"), diff --git a/perception/probabilistic_occupancy_grid_map/launch/multi_lidar_pointcloud_based_occupancy_grid_map.launch.py b/perception/autoware_probabilistic_occupancy_grid_map/launch/multi_lidar_pointcloud_based_occupancy_grid_map.launch.py similarity index 97% rename from perception/probabilistic_occupancy_grid_map/launch/multi_lidar_pointcloud_based_occupancy_grid_map.launch.py rename to perception/autoware_probabilistic_occupancy_grid_map/launch/multi_lidar_pointcloud_based_occupancy_grid_map.launch.py index d868f139774a4..f8e050c7e8206 100644 --- a/perception/probabilistic_occupancy_grid_map/launch/multi_lidar_pointcloud_based_occupancy_grid_map.launch.py +++ b/perception/autoware_probabilistic_occupancy_grid_map/launch/multi_lidar_pointcloud_based_occupancy_grid_map.launch.py @@ -195,7 +195,7 @@ def launch_setup(context, *args, **kwargs): # generate composable node node = ComposableNode( - package="probabilistic_occupancy_grid_map", + package="autoware_probabilistic_occupancy_grid_map", plugin="autoware::occupancy_grid_map::PointcloudBasedOccupancyGridMapNode", name="occupancy_grid_map_node", namespace=frame_name, @@ -218,7 +218,7 @@ def launch_setup(context, *args, **kwargs): # 2. launch occupancy grid map fusion node gridmap_fusion_node = [ ComposableNode( - package="probabilistic_occupancy_grid_map", + package="autoware_probabilistic_occupancy_grid_map", plugin="synchronized_grid_map_fusion::GridMapFusionNode", name="occupancy_grid_map_fusion_node", remappings=[ @@ -275,13 +275,13 @@ def add_launch_arg(name: str, default_value=None): add_launch_arg("output", "occupancy_grid"), add_launch_arg( "multi_lidar_fusion_config_file", - get_package_share_directory("probabilistic_occupancy_grid_map") + get_package_share_directory("autoware_probabilistic_occupancy_grid_map") + "/config/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml", ), add_launch_arg("updater_type", "binary_bayes_filter"), add_launch_arg( "updater_param_file", - get_package_share_directory("probabilistic_occupancy_grid_map") + get_package_share_directory("autoware_probabilistic_occupancy_grid_map") + "/config/binary_bayes_filter_updater.param.yaml", ), set_container_executable, diff --git a/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py b/perception/autoware_probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py similarity index 96% rename from perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py rename to perception/autoware_probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py index 7093e7a26fe44..2d70feeb0e357 100644 --- a/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py +++ b/perception/autoware_probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py @@ -95,7 +95,7 @@ def launch_setup(context, *args, **kwargs): composable_nodes.append( ComposableNode( - package="probabilistic_occupancy_grid_map", + package="autoware_probabilistic_occupancy_grid_map", plugin="autoware::occupancy_grid_map::PointcloudBasedOccupancyGridMapNode", name="occupancy_grid_map_node", remappings=[ @@ -173,13 +173,13 @@ def add_launch_arg(name: str, default_value=None): add_launch_arg("output", "occupancy_grid"), add_launch_arg( "param_file", - get_package_share_directory("probabilistic_occupancy_grid_map") + get_package_share_directory("autoware_probabilistic_occupancy_grid_map") + "/config/pointcloud_based_occupancy_grid_map.param.yaml", ), add_launch_arg("updater_type", "binary_bayes_filter"), add_launch_arg( "updater_param_file", - get_package_share_directory("probabilistic_occupancy_grid_map") + get_package_share_directory("autoware_probabilistic_occupancy_grid_map") + "/config/binary_bayes_filter_updater.param.yaml", ), set_container_executable, diff --git a/perception/probabilistic_occupancy_grid_map/launch/synchronized_occupancy_grid_map_fusion.launch.xml b/perception/autoware_probabilistic_occupancy_grid_map/launch/synchronized_occupancy_grid_map_fusion.launch.xml similarity index 54% rename from perception/probabilistic_occupancy_grid_map/launch/synchronized_occupancy_grid_map_fusion.launch.xml rename to perception/autoware_probabilistic_occupancy_grid_map/launch/synchronized_occupancy_grid_map_fusion.launch.xml index c2391141e9fa0..96f51a313475f 100644 --- a/perception/probabilistic_occupancy_grid_map/launch/synchronized_occupancy_grid_map_fusion.launch.xml +++ b/perception/autoware_probabilistic_occupancy_grid_map/launch/synchronized_occupancy_grid_map_fusion.launch.xml @@ -1,9 +1,9 @@ - + - + diff --git a/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map.cpp b/perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map.cpp similarity index 100% rename from perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map.cpp rename to perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map.cpp diff --git a/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_base.cpp b/perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_base.cpp similarity index 100% rename from perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_base.cpp rename to perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_base.cpp diff --git a/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_fixed.cpp b/perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_fixed.cpp similarity index 100% rename from perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_fixed.cpp rename to perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_fixed.cpp diff --git a/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_projective.cpp b/perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_projective.cpp similarity index 100% rename from perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_projective.cpp rename to perception/autoware_probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_projective.cpp diff --git a/perception/probabilistic_occupancy_grid_map/lib/fusion_policy/fusion_policy.cpp b/perception/autoware_probabilistic_occupancy_grid_map/lib/fusion_policy/fusion_policy.cpp similarity index 100% rename from perception/probabilistic_occupancy_grid_map/lib/fusion_policy/fusion_policy.cpp rename to perception/autoware_probabilistic_occupancy_grid_map/lib/fusion_policy/fusion_policy.cpp diff --git a/perception/probabilistic_occupancy_grid_map/lib/updater/binary_bayes_filter_updater.cpp b/perception/autoware_probabilistic_occupancy_grid_map/lib/updater/binary_bayes_filter_updater.cpp similarity index 100% rename from perception/probabilistic_occupancy_grid_map/lib/updater/binary_bayes_filter_updater.cpp rename to perception/autoware_probabilistic_occupancy_grid_map/lib/updater/binary_bayes_filter_updater.cpp diff --git a/perception/probabilistic_occupancy_grid_map/lib/updater/log_odds_bayes_filter_updater.cpp b/perception/autoware_probabilistic_occupancy_grid_map/lib/updater/log_odds_bayes_filter_updater.cpp similarity index 100% rename from perception/probabilistic_occupancy_grid_map/lib/updater/log_odds_bayes_filter_updater.cpp rename to perception/autoware_probabilistic_occupancy_grid_map/lib/updater/log_odds_bayes_filter_updater.cpp diff --git a/perception/probabilistic_occupancy_grid_map/lib/utils/utils.cpp b/perception/autoware_probabilistic_occupancy_grid_map/lib/utils/utils.cpp similarity index 100% rename from perception/probabilistic_occupancy_grid_map/lib/utils/utils.cpp rename to perception/autoware_probabilistic_occupancy_grid_map/lib/utils/utils.cpp diff --git a/perception/probabilistic_occupancy_grid_map/package.xml b/perception/autoware_probabilistic_occupancy_grid_map/package.xml similarity index 97% rename from perception/probabilistic_occupancy_grid_map/package.xml rename to perception/autoware_probabilistic_occupancy_grid_map/package.xml index ba8d4108ffcd2..e06eaf476c44d 100644 --- a/perception/probabilistic_occupancy_grid_map/package.xml +++ b/perception/autoware_probabilistic_occupancy_grid_map/package.xml @@ -1,7 +1,7 @@ - probabilistic_occupancy_grid_map + autoware_probabilistic_occupancy_grid_map 0.1.0 generate probabilistic occupancy grid map Yukihiro Saito diff --git a/perception/probabilistic_occupancy_grid_map/pointcloud-based-occupancy-grid-map.md b/perception/autoware_probabilistic_occupancy_grid_map/pointcloud-based-occupancy-grid-map.md similarity index 99% rename from perception/probabilistic_occupancy_grid_map/pointcloud-based-occupancy-grid-map.md rename to perception/autoware_probabilistic_occupancy_grid_map/pointcloud-based-occupancy-grid-map.md index d8d69ed7866b6..972c77c9e691e 100644 --- a/perception/probabilistic_occupancy_grid_map/pointcloud-based-occupancy-grid-map.md +++ b/perception/autoware_probabilistic_occupancy_grid_map/pointcloud-based-occupancy-grid-map.md @@ -130,7 +130,7 @@ In several places we have modified the external code written in BSD3 license. If `grid_map_type` is "OccupancyGridMapProjectiveBlindSpot" and `pub_debug_grid` is `true`, it is possible to check the each process of grid map generation by running ```shell -ros2 launch probabilistic_occupancy_grid_map debug.launch.xml +ros2 launch autoware_probabilistic_occupancy_grid_map debug.launch.xml ``` and visualizing the following occupancy grid map topics (which are listed in config/grid_map_param.yaml): diff --git a/perception/probabilistic_occupancy_grid_map/schema/binary_bayes_filter_updater.schema.json b/perception/autoware_probabilistic_occupancy_grid_map/schema/binary_bayes_filter_updater.schema.json similarity index 100% rename from perception/probabilistic_occupancy_grid_map/schema/binary_bayes_filter_updater.schema.json rename to perception/autoware_probabilistic_occupancy_grid_map/schema/binary_bayes_filter_updater.schema.json diff --git a/perception/probabilistic_occupancy_grid_map/schema/grid_map.schema.json b/perception/autoware_probabilistic_occupancy_grid_map/schema/grid_map.schema.json similarity index 100% rename from perception/probabilistic_occupancy_grid_map/schema/grid_map.schema.json rename to perception/autoware_probabilistic_occupancy_grid_map/schema/grid_map.schema.json diff --git a/perception/probabilistic_occupancy_grid_map/schema/laserscan_based_occupancy_grid_map.schema.json b/perception/autoware_probabilistic_occupancy_grid_map/schema/laserscan_based_occupancy_grid_map.schema.json similarity index 100% rename from perception/probabilistic_occupancy_grid_map/schema/laserscan_based_occupancy_grid_map.schema.json rename to perception/autoware_probabilistic_occupancy_grid_map/schema/laserscan_based_occupancy_grid_map.schema.json diff --git a/perception/probabilistic_occupancy_grid_map/schema/multi_lidar_pointcloud_based_occupancy_grid_map.schema.json b/perception/autoware_probabilistic_occupancy_grid_map/schema/multi_lidar_pointcloud_based_occupancy_grid_map.schema.json similarity index 100% rename from perception/probabilistic_occupancy_grid_map/schema/multi_lidar_pointcloud_based_occupancy_grid_map.schema.json rename to perception/autoware_probabilistic_occupancy_grid_map/schema/multi_lidar_pointcloud_based_occupancy_grid_map.schema.json diff --git a/perception/probabilistic_occupancy_grid_map/schema/pointcloud_based_occupancy_grid_map.schema.json b/perception/autoware_probabilistic_occupancy_grid_map/schema/pointcloud_based_occupancy_grid_map.schema.json similarity index 100% rename from perception/probabilistic_occupancy_grid_map/schema/pointcloud_based_occupancy_grid_map.schema.json rename to perception/autoware_probabilistic_occupancy_grid_map/schema/pointcloud_based_occupancy_grid_map.schema.json diff --git a/perception/probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json b/perception/autoware_probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json similarity index 100% rename from perception/probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json rename to perception/autoware_probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json diff --git a/perception/probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.cpp b/perception/autoware_probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.cpp similarity index 100% rename from perception/probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.cpp rename to perception/autoware_probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.cpp diff --git a/perception/probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.hpp b/perception/autoware_probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.hpp similarity index 100% rename from perception/probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.hpp rename to perception/autoware_probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.hpp diff --git a/perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp b/perception/autoware_probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp similarity index 100% rename from perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp rename to perception/autoware_probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp diff --git a/perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp b/perception/autoware_probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp similarity index 100% rename from perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp rename to perception/autoware_probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp diff --git a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp b/perception/autoware_probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp similarity index 100% rename from perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp rename to perception/autoware_probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp diff --git a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp b/perception/autoware_probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp similarity index 100% rename from perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp rename to perception/autoware_probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp diff --git a/perception/probabilistic_occupancy_grid_map/synchronized_grid_map_fusion.md b/perception/autoware_probabilistic_occupancy_grid_map/synchronized_grid_map_fusion.md similarity index 92% rename from perception/probabilistic_occupancy_grid_map/synchronized_grid_map_fusion.md rename to perception/autoware_probabilistic_occupancy_grid_map/synchronized_grid_map_fusion.md index cb86ebe7eea85..98aff5cc3e9b7 100644 --- a/perception/probabilistic_occupancy_grid_map/synchronized_grid_map_fusion.md +++ b/perception/autoware_probabilistic_occupancy_grid_map/synchronized_grid_map_fusion.md @@ -77,9 +77,9 @@ The minimum node launch will be like the following. - + - + @@ -90,7 +90,7 @@ The minimum node launch will be like the following. You need to generate OGMs in each sensor frame before achieving grid map fusion. -`probabilistic_occupancy_grid_map` package supports to generate OGMs for the each from the point cloud data. +`autoware_probabilistic_occupancy_grid_map` package supports to generate OGMs for the each from the point cloud data.
Example launch.xml (click to expand) @@ -107,7 +107,7 @@ You need to generate OGMs in each sensor frame before achieving grid map fusion. - + @@ -130,7 +130,7 @@ The minimum parameter for the OGM generation in each frame is shown in the follo
We recommend to use same `map_frame`, size and resolutions for the OGMs from synchronized sensors. -Also, remember to set `enable_single_frame_mode` and `filter_obstacle_pointcloud_by_raw_pointcloud` to `true` in the `probabilistic_occupancy_grid_map` package (you do not need to set these parameters if you use the above example config file). +Also, remember to set `enable_single_frame_mode` and `filter_obstacle_pointcloud_by_raw_pointcloud` to `true` in the `autoware_probabilistic_occupancy_grid_map` package (you do not need to set these parameters if you use the above example config file).
@@ -141,7 +141,7 @@ We prepared the launch file to run both OGM generation node and fusion node in [ You can include this launch file like the following. ```xml - + diff --git a/perception/probabilistic_occupancy_grid_map/test/cost_value_test.cpp b/perception/autoware_probabilistic_occupancy_grid_map/test/cost_value_test.cpp similarity index 100% rename from perception/probabilistic_occupancy_grid_map/test/cost_value_test.cpp rename to perception/autoware_probabilistic_occupancy_grid_map/test/cost_value_test.cpp diff --git a/perception/probabilistic_occupancy_grid_map/test/fusion_policy_test.cpp b/perception/autoware_probabilistic_occupancy_grid_map/test/fusion_policy_test.cpp similarity index 100% rename from perception/probabilistic_occupancy_grid_map/test/fusion_policy_test.cpp rename to perception/autoware_probabilistic_occupancy_grid_map/test/fusion_policy_test.cpp diff --git a/perception/probabilistic_occupancy_grid_map/test/test_pointcloud_based_method.py b/perception/autoware_probabilistic_occupancy_grid_map/test/test_pointcloud_based_method.py similarity index 99% rename from perception/probabilistic_occupancy_grid_map/test/test_pointcloud_based_method.py rename to perception/autoware_probabilistic_occupancy_grid_map/test/test_pointcloud_based_method.py index 093811d4cc213..f8f043fdb016e 100644 --- a/perception/probabilistic_occupancy_grid_map/test/test_pointcloud_based_method.py +++ b/perception/autoware_probabilistic_occupancy_grid_map/test/test_pointcloud_based_method.py @@ -37,7 +37,7 @@ from sensor_msgs.msg import PointField from tf2_ros.static_transform_broadcaster import StaticTransformBroadcaster -PACKAGE_NAME = "probabilistic_occupancy_grid_map" +PACKAGE_NAME = "autoware_probabilistic_occupancy_grid_map" INPUT_TOPIC_RAW = "/raw" INPUT_TOPIC_OBSTACLE = "/obstacle" diff --git a/perception/probabilistic_occupancy_grid_map/test/test_synchronized_grid_map_fusion_node.py b/perception/autoware_probabilistic_occupancy_grid_map/test/test_synchronized_grid_map_fusion_node.py similarity index 99% rename from perception/probabilistic_occupancy_grid_map/test/test_synchronized_grid_map_fusion_node.py rename to perception/autoware_probabilistic_occupancy_grid_map/test/test_synchronized_grid_map_fusion_node.py index e73aea581433e..f2c79a837bc2e 100644 --- a/perception/probabilistic_occupancy_grid_map/test/test_synchronized_grid_map_fusion_node.py +++ b/perception/autoware_probabilistic_occupancy_grid_map/test/test_synchronized_grid_map_fusion_node.py @@ -34,7 +34,7 @@ from rclpy.qos import QoSReliabilityPolicy from tf2_ros.static_transform_broadcaster import StaticTransformBroadcaster -PACKAGE_NAME = "probabilistic_occupancy_grid_map" +PACKAGE_NAME = "autoware_probabilistic_occupancy_grid_map" INPUT_TOPICS = ["/topic1", "/topic2"] DEBUG_OUTPUT_TOPIC = "/synchronized_grid_map_fusion_node/debug/single_frame_map" OUTPUT_TOPIC = "/synchronized_grid_map_fusion_node/output/occupancy_grid_map" diff --git a/perception/probabilistic_occupancy_grid_map/test/test_utils.cpp b/perception/autoware_probabilistic_occupancy_grid_map/test/test_utils.cpp similarity index 100% rename from perception/probabilistic_occupancy_grid_map/test/test_utils.cpp rename to perception/autoware_probabilistic_occupancy_grid_map/test/test_utils.cpp diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/README.md b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/README.md index 6ba8f8b929146..318758220c239 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/README.md +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/README.md @@ -508,7 +508,7 @@ If you want to care the occlusion nearby ego more cautiously, set `occlusion.occ #### occupancy grid map tuning -Refer to the document of [probabilistic_occupancy_grid_map](https://autowarefoundation.github.io/autoware.universe/main/perception/probabilistic_occupancy_grid_map/) for details. If occlusion tends to be detected at apparently free space, increase `occlusion.free_space_max` to ignore them. +Refer to the document of [autoware_probabilistic_occupancy_grid_map](https://autowarefoundation.github.io/autoware.universe/main/perception/autoware_probabilistic_occupancy_grid_map/) for details. If occlusion tends to be detected at apparently free space, increase `occlusion.free_space_max` to ignore them. #### in simple_planning_simulator