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feat: add autoware_ prefix to lanelet2_extension #7640

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merged 12 commits into from
Jun 28, 2024
Merged

feat: add autoware_ prefix to lanelet2_extension #7640

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e8fc74c
add autoware_ prefix to lanelet2_extension
youtalk Jun 24, 2024
b14e119
style(pre-commit): autofix
pre-commit-ci[bot] Jun 24, 2024
8151fdc
update build_depends
youtalk Jun 24, 2024
39e4dca
Update map/map_loader/README.md
youtalk Jun 24, 2024
2cd3b83
Update localization/autoware_landmark_based_localizer/README.md
youtalk Jun 24, 2024
745a621
Merge remote-tracking branch 'upstream/main' into use-autoware-lanele…
youtalk Jun 24, 2024
a5d8e7b
fix merge
youtalk Jun 24, 2024
1f5992a
fix link
youtalk Jun 25, 2024
3619242
style(pre-commit): autofix
pre-commit-ci[bot] Jun 25, 2024
f1577fd
re-add autoware_common
youtalk Jun 25, 2024
286615f
Merge remote-tracking branch 'upstream/main' into use-autoware-lanele…
youtalk Jun 27, 2024
15d6cff
style(pre-commit): autofix
pre-commit-ci[bot] Jun 27, 2024
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13 changes: 13 additions & 0 deletions build_depends.repos
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repositories:
# core
# TODO(youtalk): Remove autoware_common when https://github.com/autowarefoundation/autoware/issues/4911 is closed
core/autoware_common:
type: git
url: https://github.com/autowarefoundation/autoware_common.git
version: remove-autoware-cmake-utils
core/autoware_cmake:
type: git
url: https://github.com/autowarefoundation/autoware_cmake.git
version: main
core/autoware_utils:
type: git
url: https://github.com/autowarefoundation/autoware_utils.git
version: main
core/autoware_lanelet2_extension:
type: git
url: https://github.com/autowarefoundation/autoware_lanelet2_extension.git
version: main
core/autoware.core:
type: git
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8 changes: 4 additions & 4 deletions common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp
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#define AUTOWARE_TEST_UTILS__AUTOWARE_TEST_UTILS_HPP_

#include <autoware/universe_utils/geometry/geometry.hpp>
#include <autoware_lanelet2_extension/io/autoware_osm_parser.hpp>
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#include <autoware_lanelet2_extension/projection/mgrs_projector.hpp>
#include <autoware_lanelet2_extension/utility/message_conversion.hpp>
#include <autoware_lanelet2_extension/utility/utilities.hpp>
#include <component_interface_specs/planning.hpp>
#include <lanelet2_extension/io/autoware_osm_parser.hpp>
#include <lanelet2_extension/projection/mgrs_projector.hpp>
#include <lanelet2_extension/utility/message_conversion.hpp>
#include <lanelet2_extension/utility/utilities.hpp>

#include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
#include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
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2 changes: 1 addition & 1 deletion common/autoware_test_utils/package.xml
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<buildtool_depend>autoware_cmake</buildtool_depend>

<depend>autoware_control_msgs</depend>
<depend>autoware_lanelet2_extension</depend>
<depend>autoware_map_msgs</depend>
<depend>autoware_perception_msgs</depend>
<depend>autoware_planning_msgs</depend>
<depend>autoware_universe_utils</depend>
<depend>autoware_vehicle_msgs</depend>
<depend>component_interface_specs</depend>
<depend>component_interface_utils</depend>
<depend>lanelet2_extension</depend>
<depend>lanelet2_io</depend>
<depend>nav_msgs</depend>
<depend>rclcpp</depend>
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2 changes: 1 addition & 1 deletion common/geography_utils/package.xml
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<buildtool_depend>ament_cmake_auto</buildtool_depend>
<buildtool_depend>autoware_cmake</buildtool_depend>

<depend>autoware_lanelet2_extension</depend>
<depend>geographic_msgs</depend>
<depend>geographiclib</depend>
<depend>geometry_msgs</depend>
<depend>lanelet2_extension</depend>
<depend>lanelet2_io</depend>
<depend>tier4_map_msgs</depend>

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4 changes: 2 additions & 2 deletions common/geography_utils/src/lanelet2_projector.cpp
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// limitations under the License.

#include <GeographicLib/Geoid.hpp>
#include <autoware_lanelet2_extension/projection/mgrs_projector.hpp>
#include <autoware_lanelet2_extension/projection/transverse_mercator_projector.hpp>
#include <geography_utils/lanelet2_projector.hpp>
#include <lanelet2_extension/projection/mgrs_projector.hpp>
#include <lanelet2_extension/projection/transverse_mercator_projector.hpp>

#include <lanelet2_projection/UTM.h>

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2 changes: 1 addition & 1 deletion common/geography_utils/src/projection.cpp
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// limitations under the License.

#include <GeographicLib/Geoid.hpp>
#include <autoware_lanelet2_extension/projection/mgrs_projector.hpp>
#include <geography_utils/lanelet2_projector.hpp>
#include <geography_utils/projection.hpp>
#include <lanelet2_extension/projection/mgrs_projector.hpp>

namespace geography_utils
{
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2 changes: 1 addition & 1 deletion common/tier4_traffic_light_rviz_plugin/package.xml
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<buildtool_depend>ament_cmake_auto</buildtool_depend>
<buildtool_depend>autoware_cmake</buildtool_depend>

<depend>autoware_lanelet2_extension</depend>
<depend>autoware_map_msgs</depend>
<depend>autoware_perception_msgs</depend>
<depend>lanelet2_extension</depend>
<depend>libqt5-core</depend>
<depend>libqt5-gui</depend>
<depend>libqt5-widgets</depend>
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6 changes: 3 additions & 3 deletions common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp
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#include <QString>
#include <QStringList>
#include <QVBoxLayout>
#include <lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp>
#include <lanelet2_extension/utility/message_conversion.hpp>
#include <lanelet2_extension/utility/query.hpp>
#include <autoware_lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp>
#include <autoware_lanelet2_extension/utility/message_conversion.hpp>
#include <autoware_lanelet2_extension/utility/query.hpp>
#include <rviz_common/display_context.hpp>

#include <lanelet2_core/primitives/RegulatoryElement.h>
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2 changes: 1 addition & 1 deletion common/traffic_light_recognition_marker_publisher/package.xml
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<buildtool_depend>ament_cmake</buildtool_depend>
<buildtool_depend>autoware_cmake</buildtool_depend>

<depend>autoware_lanelet2_extension</depend>
<depend>autoware_map_msgs</depend>
<depend>autoware_perception_msgs</depend>
<depend>autoware_universe_utils</depend>
<depend>geometry_msgs</depend>
<depend>lanelet2_extension</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>visualization_msgs</depend>
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8 changes: 4 additions & 4 deletions ...fic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.hpp
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#ifndef TRAFFIC_LIGHT_RECOGNITION_MARKER_PUBLISHER_HPP_
#define TRAFFIC_LIGHT_RECOGNITION_MARKER_PUBLISHER_HPP_

#include <lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp>
#include <lanelet2_extension/utility/message_conversion.hpp>
#include <lanelet2_extension/utility/query.hpp>
#include <lanelet2_extension/visualization/visualization.hpp>
#include <autoware_lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp>
#include <autoware_lanelet2_extension/utility/message_conversion.hpp>
#include <autoware_lanelet2_extension/utility/query.hpp>
#include <autoware_lanelet2_extension/visualization/visualization.hpp>
#include <rclcpp/rclcpp.hpp>

#include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
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2 changes: 1 addition & 1 deletion common/traffic_light_utils/package.xml
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<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>

<depend>autoware_lanelet2_extension</depend>
<depend>autoware_perception_msgs</depend>
<depend>lanelet2_extension</depend>
<depend>tier4_perception_msgs</depend>

<export>
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2 changes: 1 addition & 1 deletion control/autoware_lane_departure_checker/package.xml
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<buildtool_depend>ament_cmake_auto</buildtool_depend>
<buildtool_depend>autoware_cmake</buildtool_depend>

<depend>autoware_lanelet2_extension</depend>
<depend>autoware_map_msgs</depend>
<depend>autoware_motion_utils</depend>
<depend>autoware_planning_msgs</depend>
Expand All @@ -22,7 +23,6 @@
<depend>diagnostic_updater</depend>
<depend>eigen</depend>
<depend>geometry_msgs</depend>
<depend>lanelet2_extension</depend>
<depend>nav_msgs</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
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10 changes: 5 additions & 5 deletions ...re_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp
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#include <autoware/universe_utils/math/unit_conversion.hpp>
#include <autoware/universe_utils/ros/marker_helper.hpp>
#include <autoware/universe_utils/system/stop_watch.hpp>
#include <lanelet2_extension/utility/message_conversion.hpp>
#include <lanelet2_extension/utility/query.hpp>
#include <lanelet2_extension/utility/route_checker.hpp>
#include <lanelet2_extension/utility/utilities.hpp>
#include <lanelet2_extension/visualization/visualization.hpp>
#include <autoware_lanelet2_extension/utility/message_conversion.hpp>
#include <autoware_lanelet2_extension/utility/query.hpp>
#include <autoware_lanelet2_extension/utility/route_checker.hpp>
#include <autoware_lanelet2_extension/utility/utilities.hpp>
#include <autoware_lanelet2_extension/visualization/visualization.hpp>

#include <autoware_planning_msgs/msg/lanelet_segment.hpp>

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2 changes: 1 addition & 1 deletion evaluator/perception_online_evaluator/package.xml
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Expand Up @@ -17,6 +17,7 @@
<buildtool_depend>ament_cmake_auto</buildtool_depend>
<buildtool_depend>autoware_cmake</buildtool_depend>

<depend>autoware_lanelet2_extension</depend>
<depend>autoware_motion_utils</depend>
<depend>autoware_perception_msgs</depend>
<depend>autoware_universe_utils</depend>
Expand All @@ -25,7 +26,6 @@
<depend>eigen</depend>
<depend>geometry_msgs</depend>
<depend>glog</depend>
<depend>lanelet2_extension</depend>
<depend>nav_msgs</depend>
<depend>object_recognition_utils</depend>
<depend>pluginlib</depend>
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2 changes: 1 addition & 1 deletion localization/autoware_landmark_based_localizer/README.md
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Expand Up @@ -43,7 +43,7 @@ So, if the 4 vertices are considered as forming a tetrahedron and its volume exc

## Map specifications

See <https://github.com/autowarefoundation/autoware_common/blob/main/tmp/lanelet2_extension/docs/lanelet2_format_extension.md#localization-landmarks>
See <https://github.com/autowarefoundation/autoware_lanelet2_extension/blob/main/autoware_lanelet2_extension/docs/lanelet2_format_extension.md#localization-landmarks>

## About `consider_orientation`

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2 changes: 1 addition & 1 deletion localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/package.xml
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Expand Up @@ -19,9 +19,9 @@
<depend>ament_index_cpp</depend>
<depend>aruco</depend>
<depend>autoware_landmark_manager</depend>
<depend>autoware_lanelet2_extension</depend>
<depend>cv_bridge</depend>
<depend>diagnostic_msgs</depend>
<depend>lanelet2_extension</depend>
<depend>localization_util</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
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2 changes: 1 addition & 1 deletion ...ocalizer/autoware_landmark_manager/include/autoware/landmark_manager/landmark_manager.hpp
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#ifndef AUTOWARE__LANDMARK_MANAGER__LANDMARK_MANAGER_HPP_
#define AUTOWARE__LANDMARK_MANAGER__LANDMARK_MANAGER_HPP_

#include "lanelet2_extension/localization/landmark.hpp"
#include "autoware_lanelet2_extension/localization/landmark.hpp"

#include <rclcpp/rclcpp.hpp>

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2 changes: 1 addition & 1 deletion localization/autoware_landmark_based_localizer/autoware_landmark_manager/package.xml
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<build_depend>eigen</build_depend>

<depend>autoware_lanelet2_extension</depend>
<depend>autoware_map_msgs</depend>
<depend>geometry_msgs</depend>
<depend>lanelet2_extension</depend>
<depend>localization_util</depend>
<depend>rclcpp</depend>
<depend>tf2_eigen</depend>
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2 changes: 1 addition & 1 deletion ...tion/autoware_landmark_based_localizer/autoware_landmark_manager/src/landmark_manager.cpp
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#include "autoware/landmark_manager/landmark_manager.hpp"

#include "autoware/universe_utils/geometry/geometry.hpp"
#include "lanelet2_extension/utility/message_conversion.hpp"
#include "autoware_lanelet2_extension/utility/message_conversion.hpp"
#include "localization_util/util_func.hpp"

#include <Eigen/Core>
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4 changes: 2 additions & 2 deletions ...mator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pose_estimator_area.cpp
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#include "pose_estimator_arbiter/rule_helper/pose_estimator_area.hpp"

#include <lanelet2_extension/utility/message_conversion.hpp>
#include <lanelet2_extension/utility/utilities.hpp>
#include <autoware_lanelet2_extension/utility/message_conversion.hpp>
#include <autoware_lanelet2_extension/utility/utilities.hpp>
#include <rclcpp/logging.hpp>

#include <boost/geometry/geometry.hpp>
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2 changes: 1 addition & 1 deletion localization/pose_estimator_arbiter/example_rule/test/test_rule_helper.cpp
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#include "pose_estimator_arbiter/rule_helper/pcd_occupancy.hpp"
#include "pose_estimator_arbiter/rule_helper/pose_estimator_area.hpp"

#include <lanelet2_extension/utility/message_conversion.hpp>
#include <autoware_lanelet2_extension/utility/message_conversion.hpp>

#include <autoware_map_msgs/msg/lanelet_map_bin.hpp>

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2 changes: 1 addition & 1 deletion localization/pose_estimator_arbiter/example_rule/test/test_vector_map_based_rule.cpp
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#include "pose_estimator_arbiter/switch_rule/vector_map_based_rule.hpp"

#include <lanelet2_extension/utility/message_conversion.hpp>
#include <autoware_lanelet2_extension/utility/message_conversion.hpp>

#include <autoware_map_msgs/msg/lanelet_map_bin.hpp>

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2 changes: 1 addition & 1 deletion localization/pose_estimator_arbiter/package.xml
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<build_depend>autoware_cmake</build_depend>

<depend>autoware_adapi_v1_msgs</depend>
<depend>autoware_lanelet2_extension</depend>
<depend>autoware_map_msgs</depend>
<depend>autoware_universe_utils</depend>
<depend>diagnostic_msgs</depend>
<depend>geometry_msgs</depend>
<depend>lanelet2_extension</depend>
<depend>magic_enum</depend>
<depend>pcl_conversions</depend>
<depend>pcl_ros</depend>
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2 changes: 1 addition & 1 deletion localization/yabloc/yabloc_common/package.xml
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<buildtool_depend>autoware_cmake</buildtool_depend>
<buildtool_depend>rosidl_default_generators</buildtool_depend>

<depend>autoware_lanelet2_extension</depend>
<depend>autoware_map_msgs</depend>
<depend>autoware_universe_utils</depend>
<depend>cv_bridge</depend>
<depend>geometry_msgs</depend>
<depend>lanelet2_core</depend>
<depend>lanelet2_extension</depend>
<depend>pcl_conversions</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
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2 changes: 1 addition & 1 deletion localization/yabloc/yabloc_common/src/ground_server/ground_server_core.cpp
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#include "yabloc_common/ground_server/util.hpp"

#include <Eigen/Eigenvalues>
#include <lanelet2_extension/utility/message_conversion.hpp>
#include <autoware_lanelet2_extension/utility/message_conversion.hpp>
#include <yabloc_common/color.hpp>
#include <yabloc_common/pub_sub.hpp>

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2 changes: 1 addition & 1 deletion localization/yabloc/yabloc_common/src/ll2_decomposer/ll2_decomposer_core.cpp
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#include "yabloc_common/ll2_decomposer/ll2_decomposer.hpp"

#include <autoware/universe_utils/ros/marker_helper.hpp>
#include <lanelet2_extension/utility/message_conversion.hpp>
#include <autoware_lanelet2_extension/utility/message_conversion.hpp>
#include <yabloc_common/pub_sub.hpp>

#include <geometry_msgs/msg/polygon.hpp>
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2 changes: 1 addition & 1 deletion localization/yabloc/yabloc_pose_initializer/package.xml
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Expand Up @@ -16,10 +16,10 @@
<buildtool_depend>autoware_cmake</buildtool_depend>
<buildtool_depend>rosidl_default_generators</buildtool_depend>

<depend>autoware_lanelet2_extension</depend>
<depend>autoware_map_msgs</depend>
<depend>cv_bridge</depend>
<depend>geometry_msgs</depend>
<depend>lanelet2_extension</depend>
<depend>libopencv-dev</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
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6 changes: 3 additions & 3 deletions localization/yabloc/yabloc_pose_initializer/src/camera/camera_pose_initializer_core.cpp
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#include "yabloc_pose_initializer/camera/camera_pose_initializer.hpp"

#include <lanelet2_extension/utility/message_conversion.hpp>
#include <lanelet2_extension/utility/query.hpp>
#include <lanelet2_extension/utility/utilities.hpp>
#include <autoware_lanelet2_extension/utility/message_conversion.hpp>
#include <autoware_lanelet2_extension/utility/query.hpp>
#include <autoware_lanelet2_extension/utility/utilities.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/imgproc.hpp>

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2 changes: 1 addition & 1 deletion map/map_height_fitter/CMakeLists.txt
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Expand Up @@ -11,7 +11,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
)
target_link_libraries(map_height_fitter ${PCL_LIBRARIES})

# When adding `<depend>lanelet2_extension</depend>` to package.xml, many warnings are generated.
# When adding `<depend>autoware_lanelet2_extension</depend>` to package.xml, many warnings are generated.
# These are treated as errors in compile, so pedantic warnings are disabled for this package.
target_compile_options(map_height_fitter PRIVATE -Wno-pedantic)

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2 changes: 1 addition & 1 deletion map/map_height_fitter/package.xml
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Expand Up @@ -18,9 +18,9 @@
<buildtool_depend>ament_cmake</buildtool_depend>
<buildtool_depend>autoware_cmake</buildtool_depend>

<depend>autoware_lanelet2_extension</depend>
<depend>autoware_map_msgs</depend>
<depend>geometry_msgs</depend>
<depend>lanelet2_extension</depend>
<depend>libpcl-common</depend>
<depend>pcl_conversions</depend>
<depend>rclcpp</depend>
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4 changes: 2 additions & 2 deletions map/map_height_fitter/src/map_height_fitter.cpp
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#include "map_height_fitter/map_height_fitter.hpp"

#include <lanelet2_extension/utility/message_conversion.hpp>
#include <lanelet2_extension/utility/query.hpp>
#include <autoware_lanelet2_extension/utility/message_conversion.hpp>
#include <autoware_lanelet2_extension/utility/query.hpp>

#include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
#include <autoware_map_msgs/srv/get_partial_point_cloud_map.hpp>
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2 changes: 1 addition & 1 deletion map/map_loader/README.md
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Expand Up @@ -151,7 +151,7 @@ Please see [tier4_autoware_msgs/msg/MapProjectorInfo.msg](https://github.com/tie
{{ json_to_markdown("map/map_loader/schema/lanelet2_map_loader.schema.json") }}

`use_waypoints` decides how to handle a centerline.
This flag enables to use the `overwriteLaneletsCenterlineWithWaypoints` function instead of `overwriteLaneletsCenterline`. Please see [the document of the lanelet2_extension package](https://github.com/autowarefoundation/autoware_common/blob/main/tmp/lanelet2_extension/docs/lanelet2_format_extension.md#centerline) in detail.
This flag enables to use the `overwriteLaneletsCenterlineWithWaypoints` function instead of `overwriteLaneletsCenterline`. Please see [the document of the autoware_lanelet2_extension package](https://github.com/autowarefoundation/autoware_lanelet2_extension/blob/main/autoware_lanelet2_extension/docs/lanelet2_format_extension.md#centerline) in detail.

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