Skip to content

Commit 24652f8

Browse files
a-maumaua-maumau
authored
refactor(map_loader)!: prefix package and namespace with autoware (autowarefoundation#8927)
* make lanelet2_map_visualization independent Signed-off-by: a-maumau <[email protected]> * remove unused files Signed-off-by: a-maumau <[email protected]> * remove unused package Signed-off-by: a-maumau <[email protected]> * fix package name Signed-off-by: a-maumau <[email protected]> * add autoware_ prefix Signed-off-by: a-maumau <[email protected]> * add autoware to exec name Signed-off-by: a-maumau <[email protected]> * add autoware prefix Signed-off-by: a-maumau <[email protected]> * removed unnecessary dependency Signed-off-by: a-maumau <[email protected]> --------- Signed-off-by: a-maumau <[email protected]>
1 parent 9b0ba2d commit 24652f8

File tree

50 files changed

+215
-114
lines changed

Some content is hidden

Large Commits have some content hidden by default. Use the searchbox below for content that may be hidden.

50 files changed

+215
-114
lines changed

‎.github/CODEOWNERS

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -97,6 +97,7 @@ localization/yabloc/yabloc_image_processing/** [email protected] kento.yabuu
9797
localization/yabloc/yabloc_monitor/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
9898
localization/yabloc/yabloc_particle_filter/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
9999
localization/yabloc/yabloc_pose_initializer/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
100+
map/autoware_lanelet2_map_visualizer/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
100101
map/autoware_map_height_fitter/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
101102
map/autoware_map_projection_loader/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
102103
map/autoware_map_tf_generator/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]

‎common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -364,7 +364,7 @@ void TrafficLightPublishPanel::onTimer()
364364
void TrafficLightPublishPanel::onVectorMap(const LaneletMapBin::ConstSharedPtr msg)
365365
{
366366
if (received_vector_map_) return;
367-
// NOTE: examples from map_loader/lanelet2_map_visualization_node.cpp
367+
// NOTE: examples from autoware_lanelet2_map_visualizer/lanelet2_map_visualization_node.cpp
368368
lanelet::LaneletMapPtr lanelet_map(new lanelet::LaneletMap);
369369
lanelet::utils::conversion::fromBinMsg(*msg, lanelet_map);
370370
lanelet::ConstLanelets all_lanelets = lanelet::utils::query::laneletLayer(lanelet_map);

‎launch/tier4_map_launch/launch/map.launch.xml

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -20,7 +20,7 @@
2020
<push-ros-namespace namespace="map"/>
2121

2222
<node_container pkg="rclcpp_components" exec="$(var container_type)" name="map_container" namespace="" output="both">
23-
<composable_node pkg="map_loader" plugin="PointCloudMapLoaderNode" name="pointcloud_map_loader">
23+
<composable_node pkg="autoware_map_loader" plugin="autoware::map_loader::PointCloudMapLoaderNode" name="pointcloud_map_loader">
2424
<param from="$(var pointcloud_map_loader_param_path)"/>
2525
<param name="pcd_paths_or_directory" value="[$(var pointcloud_map_path)]"/>
2626
<param name="pcd_metadata_path" value="$(var pointcloud_map_metadata_path)"/>
@@ -31,13 +31,13 @@
3131
<remap from="service/get_selected_pcd_map" to="/map/get_selected_pointcloud_map"/>
3232
</composable_node>
3333

34-
<composable_node pkg="map_loader" plugin="Lanelet2MapLoaderNode" name="lanelet2_map_loader">
34+
<composable_node pkg="autoware_map_loader" plugin="autoware::map_loader::Lanelet2MapLoaderNode" name="lanelet2_map_loader">
3535
<param from="$(var lanelet2_map_loader_param_path)"/>
3636
<param name="lanelet2_map_path" value="$(var lanelet2_map_path)"/>
3737
<remap from="output/lanelet2_map" to="vector_map"/>
3838
</composable_node>
3939

40-
<composable_node pkg="map_loader" plugin="Lanelet2MapVisualizationNode" name="lanelet2_map_visualization">
40+
<composable_node pkg="autoware_lanelet2_map_visualizer" plugin="autoware::lanelet2_map_visualizer::Lanelet2MapVisualizationNode" name="lanelet2_map_visualization">
4141
<remap from="input/lanelet2_map" to="vector_map"/>
4242
<remap from="output/lanelet2_map_marker" to="vector_map_marker"/>
4343
</composable_node>
@@ -47,7 +47,7 @@
4747
</composable_node>
4848
</node_container>
4949

50-
<node pkg="map_loader" exec="map_hash_generator" name="map_hash_generator">
50+
<node pkg="autoware_map_loader" exec="map_hash_generator" name="map_hash_generator">
5151
<param name="lanelet2_map_path" value="$(var lanelet2_map_path)"/>
5252
<param name="pointcloud_map_path" value="$(var pointcloud_map_path)"/>
5353
</node>

‎launch/tier4_map_launch/package.xml

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -18,9 +18,9 @@
1818
<buildtool_depend>ament_cmake_auto</buildtool_depend>
1919
<buildtool_depend>autoware_cmake</buildtool_depend>
2020

21+
<exec_depend>autoware_map_loader</exec_depend>
2122
<exec_depend>autoware_map_projection_loader</exec_depend>
2223
<exec_depend>autoware_map_tf_generator</exec_depend>
23-
<exec_depend>map_loader</exec_depend>
2424

2525
<test_depend>ament_lint_auto</test_depend>
2626
<test_depend>autoware_lint_common</test_depend>

‎map/autoware_lanelet2_map_visualizer/CMakeLists.txt

Lines changed: 18 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,18 @@
1+
cmake_minimum_required(VERSION 3.14)
2+
project(autoware_lanelet2_map_visualizer)
3+
4+
find_package(autoware_cmake REQUIRED)
5+
autoware_package()
6+
7+
ament_auto_add_library(lanelet2_map_visualization_node SHARED
8+
src/lanelet2_map_visualization_node.cpp
9+
)
10+
11+
rclcpp_components_register_node(lanelet2_map_visualization_node
12+
PLUGIN "autoware::lanelet2_map_visualizer::Lanelet2MapVisualizationNode"
13+
EXECUTABLE lanelet2_map_visualization
14+
)
15+
16+
ament_auto_package(INSTALL_TO_SHARE
17+
launch
18+
)

‎map/autoware_lanelet2_map_visualizer/README.md

Lines changed: 21 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,21 @@
1+
# autoware_lanelet2_map_visualizer package
2+
3+
This package provides the features of visualizing the lanelet2 maps.
4+
5+
## lanelet2_map_visualization
6+
7+
### Feature
8+
9+
lanelet2_map_visualization visualizes autoware_map_msgs/LaneletMapBin messages into visualization_msgs/MarkerArray.
10+
11+
### How to Run
12+
13+
`ros2 run autoware_lanelet2_map_visualizer lanelet2_map_visualization`
14+
15+
### Subscribed Topics
16+
17+
- ~input/lanelet2_map (autoware_map_msgs/LaneletMapBin) : binary data of Lanelet2 Map
18+
19+
### Published Topics
20+
21+
- ~output/lanelet2_map_marker (visualization_msgs/MarkerArray) : visualization messages for RViz

‎map/autoware_lanelet2_map_visualizer/launch/lanelet2_map_visualizer.launch.xml

Lines changed: 9 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,9 @@
1+
<launch>
2+
<arg name="lanelet2_map_topic" default="vector_map"/>
3+
<arg name="lanelet2_map_marker_topic" default="vector_map_marker"/>
4+
5+
<node pkg="autoware_lanelet2_map_visualizer" exec="lanelet2_map_visualization" name="lanelet2_map_visualization" output="both">
6+
<remap from="input/lanelet2_map" to="$(var lanelet2_map_topic)"/>
7+
<remap from="output/lanelet2_map_marker" to="$(var lanelet2_map_marker_topic)"/>
8+
</node>
9+
</launch>

‎map/autoware_lanelet2_map_visualizer/package.xml

Lines changed: 36 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,36 @@
1+
<?xml version="1.0"?>
2+
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
3+
<package format="3">
4+
<name>autoware_lanelet2_map_visualizer</name>
5+
<version>0.1.0</version>
6+
<description>The autoware_lanelet2_map_visualizer package</description>
7+
<maintainer email="[email protected]">Yamato Ando</maintainer>
8+
<maintainer email="[email protected]">Ryu Yamamoto</maintainer>
9+
<maintainer email="[email protected]">Masahiro Sakamoto</maintainer>
10+
<maintainer email="[email protected]">Kento Yabuuchi</maintainer>
11+
<maintainer email="[email protected]">NGUYEN Viet Anh</maintainer>
12+
<maintainer email="[email protected]">Taiki Yamada</maintainer>
13+
<maintainer email="[email protected]">Shintaro Sakoda</maintainer>
14+
<maintainer email="[email protected]">Mamoru Sobue</maintainer>
15+
16+
<license>Apache License 2.0</license>
17+
<author email="[email protected]">Ryohsuke Mitsudome</author>
18+
<author email="[email protected]">Koji Minoda</author>
19+
20+
<buildtool_depend>ament_cmake_auto</buildtool_depend>
21+
<buildtool_depend>autoware_cmake</buildtool_depend>
22+
23+
<depend>autoware_lanelet2_extension</depend>
24+
<depend>autoware_map_msgs</depend>
25+
<depend>rclcpp</depend>
26+
<depend>rclcpp_components</depend>
27+
<depend>tier4_map_msgs</depend>
28+
<depend>visualization_msgs</depend>
29+
30+
<test_depend>ament_lint_auto</test_depend>
31+
<test_depend>autoware_lint_common</test_depend>
32+
33+
<export>
34+
<build_type>ament_cmake</build_type>
35+
</export>
36+
</package>

‎map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp renamed to ‎map/autoware_lanelet2_map_visualizer/src/lanelet2_map_visualization_node.cpp

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -31,7 +31,7 @@
3131
*
3232
*/
3333

34-
#include "map_loader/lanelet2_map_visualization_node.hpp"
34+
#include "lanelet2_map_visualization_node.hpp"
3535

3636
#include <autoware_lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp>
3737
#include <autoware_lanelet2_extension/utility/message_conversion.hpp>
@@ -49,7 +49,7 @@
4949
#include <memory>
5050
#include <vector>
5151

52-
namespace
52+
namespace autoware::lanelet2_map_visualizer
5353
{
5454
void insert_marker_array(
5555
visualization_msgs::msg::MarkerArray * a1, const visualization_msgs::msg::MarkerArray & a2)
@@ -64,7 +64,6 @@ void set_color(std_msgs::msg::ColorRGBA * cl, double r, double g, double b, doub
6464
cl->b = static_cast<float>(b);
6565
cl->a = static_cast<float>(a);
6666
}
67-
} // namespace
6867

6968
Lanelet2MapVisualizationNode::Lanelet2MapVisualizationNode(const rclcpp::NodeOptions & options)
7069
: Node("lanelet2_map_visualization", options)
@@ -314,6 +313,7 @@ void Lanelet2MapVisualizationNode::on_map_bin(
314313

315314
pub_marker_->publish(map_marker_array);
316315
}
316+
} // namespace autoware::lanelet2_map_visualizer
317317

318318
#include <rclcpp_components/register_node_macro.hpp>
319-
RCLCPP_COMPONENTS_REGISTER_NODE(Lanelet2MapVisualizationNode)
319+
RCLCPP_COMPONENTS_REGISTER_NODE(autoware::lanelet2_map_visualizer::Lanelet2MapVisualizationNode)

‎map/map_loader/include/map_loader/lanelet2_map_visualization_node.hpp renamed to ‎map/autoware_lanelet2_map_visualizer/src/lanelet2_map_visualization_node.hpp

Lines changed: 6 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -12,8 +12,8 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#ifndef MAP_LOADER__LANELET2_MAP_VISUALIZATION_NODE_HPP_
16-
#define MAP_LOADER__LANELET2_MAP_VISUALIZATION_NODE_HPP_
15+
#ifndef LANELET2_MAP_VISUALIZATION_NODE_HPP_
16+
#define LANELET2_MAP_VISUALIZATION_NODE_HPP_
1717

1818
#include <rclcpp/rclcpp.hpp>
1919

@@ -23,6 +23,8 @@
2323
#include <string>
2424
#include <vector>
2525

26+
namespace autoware::lanelet2_map_visualizer
27+
{
2628
class Lanelet2MapVisualizationNode : public rclcpp::Node
2729
{
2830
public:
@@ -36,5 +38,6 @@ class Lanelet2MapVisualizationNode : public rclcpp::Node
3638

3739
void on_map_bin(const autoware_map_msgs::msg::LaneletMapBin::ConstSharedPtr msg);
3840
};
41+
} // namespace autoware::lanelet2_map_visualizer
3942

40-
#endif // MAP_LOADER__LANELET2_MAP_VISUALIZATION_NODE_HPP_
43+
#endif // LANELET2_MAP_VISUALIZATION_NODE_HPP_

0 commit comments

Comments
 (0)