feat: add autoware_ prefix to lanelet2_extension (autowarefoundat…

…ion#7640) Signed-off-by: Yutaka Kondo <[email protected]>
tby-udel · Jul 14, 2024 · f4dab56 · f4dab56
1 parent 6c37549
commit f4dab56
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Showing 192 changed files with 326 additions and 313 deletions.
diff --git a/build_depends.repos b/build_depends.repos
@@ -1,8 +1,21 @@
 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

diff --git a/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp b/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp
@@ -16,11 +16,11 @@
 #define AUTOWARE_TEST_UTILS__AUTOWARE_TEST_UTILS_HPP_
 
 #include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware_lanelet2_extension/io/autoware_osm_parser.hpp>
+#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>

diff --git a/common/autoware_test_utils/package.xml b/common/autoware_test_utils/package.xml
@@ -16,14 +16,14 @@
   <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>

diff --git a/common/geography_utils/package.xml b/common/geography_utils/package.xml
@@ -10,10 +10,10 @@
   <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>
 

diff --git a/common/geography_utils/src/lanelet2_projector.cpp b/common/geography_utils/src/lanelet2_projector.cpp
@@ -13,9 +13,9 @@
 // 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>
 

diff --git a/common/geography_utils/src/projection.cpp b/common/geography_utils/src/projection.cpp
@@ -13,9 +13,9 @@
 // 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
 {

diff --git a/common/tier4_traffic_light_rviz_plugin/package.xml b/common/tier4_traffic_light_rviz_plugin/package.xml
@@ -10,9 +10,9 @@
   <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>

diff --git a/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp b/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp
@@ -22,9 +22,9 @@
 #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>

diff --git a/common/traffic_light_recognition_marker_publisher/package.xml b/common/traffic_light_recognition_marker_publisher/package.xml
@@ -12,11 +12,11 @@
   <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>

diff --git a/...fic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.hpp b/...fic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.hpp
@@ -15,10 +15,10 @@
 #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>

diff --git a/common/traffic_light_utils/package.xml b/common/traffic_light_utils/package.xml
@@ -16,8 +16,8 @@
   <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>

diff --git a/control/autoware_lane_departure_checker/package.xml b/control/autoware_lane_departure_checker/package.xml
@@ -13,6 +13,7 @@
   <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>
@@ -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>

diff --git a/...re_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp b/...re_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp
@@ -17,11 +17,11 @@
 #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>
 

diff --git a/evaluator/perception_online_evaluator/package.xml b/evaluator/perception_online_evaluator/package.xml
@@ -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>
@@ -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>

diff --git a/localization/autoware_landmark_based_localizer/README.md b/localization/autoware_landmark_based_localizer/README.md
@@ -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`
 

diff --git a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/package.xml b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/package.xml
@@ -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>

diff --git a/...ocalizer/autoware_landmark_manager/include/autoware/landmark_manager/landmark_manager.hpp b/...ocalizer/autoware_landmark_manager/include/autoware/landmark_manager/landmark_manager.hpp
@@ -15,7 +15,7 @@
 #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>
 

diff --git a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/package.xml b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/package.xml
@@ -18,9 +18,9 @@
 
   <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>

diff --git a/...tion/autoware_landmark_based_localizer/autoware_landmark_manager/src/landmark_manager.cpp b/...tion/autoware_landmark_based_localizer/autoware_landmark_manager/src/landmark_manager.cpp
@@ -15,7 +15,7 @@
 #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>

diff --git a/...mator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pose_estimator_area.cpp b/...mator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pose_estimator_area.cpp
@@ -14,8 +14,8 @@
 
 #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>

diff --git a/localization/pose_estimator_arbiter/example_rule/test/test_rule_helper.cpp b/localization/pose_estimator_arbiter/example_rule/test/test_rule_helper.cpp
@@ -16,7 +16,7 @@
 #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>
 

diff --git a/localization/pose_estimator_arbiter/example_rule/test/test_vector_map_based_rule.cpp b/localization/pose_estimator_arbiter/example_rule/test/test_vector_map_based_rule.cpp
@@ -14,7 +14,7 @@
 
 #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>
 

diff --git a/localization/pose_estimator_arbiter/package.xml b/localization/pose_estimator_arbiter/package.xml
@@ -18,11 +18,11 @@
   <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>

diff --git a/localization/yabloc/yabloc_common/package.xml b/localization/yabloc/yabloc_common/package.xml
@@ -16,12 +16,12 @@
   <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>

diff --git a/localization/yabloc/yabloc_common/src/ground_server/ground_server_core.cpp b/localization/yabloc/yabloc_common/src/ground_server/ground_server_core.cpp
@@ -17,7 +17,7 @@
 #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>
 

diff --git a/localization/yabloc/yabloc_common/src/ll2_decomposer/ll2_decomposer_core.cpp b/localization/yabloc/yabloc_common/src/ll2_decomposer/ll2_decomposer_core.cpp
@@ -15,7 +15,7 @@
 #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>

diff --git a/localization/yabloc/yabloc_pose_initializer/package.xml b/localization/yabloc/yabloc_pose_initializer/package.xml
@@ -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>

diff --git a/localization/yabloc/yabloc_pose_initializer/src/camera/camera_pose_initializer_core.cpp b/localization/yabloc/yabloc_pose_initializer/src/camera/camera_pose_initializer_core.cpp
@@ -14,9 +14,9 @@
 
 #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>
 

diff --git a/map/map_height_fitter/CMakeLists.txt b/map/map_height_fitter/CMakeLists.txt
@@ -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)
 

diff --git a/map/map_height_fitter/package.xml b/map/map_height_fitter/package.xml
@@ -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>

diff --git a/map/map_height_fitter/src/map_height_fitter.cpp b/map/map_height_fitter/src/map_height_fitter.cpp
@@ -14,8 +14,8 @@
 
 #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>

diff --git a/map/map_loader/README.md b/map/map_loader/README.md
@@ -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.
 
 ---