refactor(planning_debug_tools): rename wlid with with_lane_id (#2121)

refactor(planning_debug_tools): rename wlid with with_lane_id Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
autowarefoundation · Oct 20, 2022 · 15d0e83 · 15d0e83
1 parent 3fc4b5c
commit 15d0e83
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Showing 4 changed files with 10 additions and 8 deletions.
diff --git a/planning/planning_debug_tools/include/planning_debug_tools/trajectory_analyzer.hpp b/planning/planning_debug_tools/include/planning_debug_tools/trajectory_analyzer.hpp
@@ -116,7 +116,7 @@ class TrajectoryAnalyzerNode : public rclcpp::Node
   void onEgoKinematics(const Odometry::ConstSharedPtr msg);
 
   std::vector<std::shared_ptr<TrajectoryAnalyzer<Path>>> path_analyzers_;
-  std::vector<std::shared_ptr<TrajectoryAnalyzer<PathWithLaneId>>> path_wlid_analyzers_;
+  std::vector<std::shared_ptr<TrajectoryAnalyzer<PathWithLaneId>>> path_with_lane_id_analyzers_;
   std::vector<std::shared_ptr<TrajectoryAnalyzer<Trajectory>>> trajectory_analyzers_;
 };
 

diff --git a/planning/planning_debug_tools/launch/behavior_velocity_analyzer.launch.xml b/planning/planning_debug_tools/launch/behavior_velocity_analyzer.launch.xml
@@ -2,7 +2,7 @@
   <node pkg="planning_debug_tools" exec="trajectory_analyzer_exe" name="trajectory_analyzer" output="screen">
     <param name="path_topics" value="[/planning/scenario_planning/lane_driving/behavior_planning/path]"/>
     <param
-      name="path_wlid_topics"
+      name="path_with_lane_id_topics"
       value="[/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id
               ,/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/path_with_lane_id/crosswalk
               ,/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/path_with_lane_id/intersection

diff --git a/planning/planning_debug_tools/launch/trajectory_analyzer.launch.xml b/planning/planning_debug_tools/launch/trajectory_analyzer.launch.xml
@@ -1,7 +1,7 @@
 <launch>
   <node pkg="planning_debug_tools" exec="trajectory_analyzer_exe" name="trajectory_analyzer" output="screen">
     <param name="path_topics" value="[/planning/scenario_planning/lane_driving/behavior_planning/path]"/>
-    <param name="path_wlid_topics" value="[/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id]"/>
+    <param name="path_with_lane_id_topics" value="[/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id]"/>
     <param
       name="trajectory_topics"
       value="[/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/trajectory,

diff --git a/planning/planning_debug_tools/src/trajectory_analyzer.cpp b/planning/planning_debug_tools/src/trajectory_analyzer.cpp
@@ -21,16 +21,18 @@ TrajectoryAnalyzerNode::TrajectoryAnalyzerNode(const rclcpp::NodeOptions & optio
 {
   using TopicNames = std::vector<std::string>;
   const auto path_topics = declare_parameter<TopicNames>("path_topics", TopicNames{});
-  const auto path_wlid_topics = declare_parameter<TopicNames>("path_wlid_topics", TopicNames{});
+  const auto path_with_lane_id_topics =
+    declare_parameter<TopicNames>("path_with_lane_id_topics", TopicNames{});
   const auto trajectory_topics = declare_parameter<TopicNames>("trajectory_topics", TopicNames{});
 
   for (const auto & s : path_topics) {
     path_analyzers_.push_back(std::make_shared<TrajectoryAnalyzer<Path>>(this, s));
     RCLCPP_INFO(get_logger(), "path_topics: %s", s.c_str());
   }
-  for (const auto & s : path_wlid_topics) {
-    path_wlid_analyzers_.push_back(std::make_shared<TrajectoryAnalyzer<PathWithLaneId>>(this, s));
-    RCLCPP_INFO(get_logger(), "path_wlid_topics: %s", s.c_str());
+  for (const auto & s : path_with_lane_id_topics) {
+    path_with_lane_id_analyzers_.push_back(
+      std::make_shared<TrajectoryAnalyzer<PathWithLaneId>>(this, s));
+    RCLCPP_INFO(get_logger(), "path_with_lane_id_topics: %s", s.c_str());
   }
 
   for (const auto & s : trajectory_topics) {
@@ -48,7 +50,7 @@ void TrajectoryAnalyzerNode::onEgoKinematics(const Odometry::ConstSharedPtr msg)
   for (auto & a : path_analyzers_) {
     a->setKinematics(msg);
   }
-  for (auto & a : path_wlid_analyzers_) {
+  for (auto & a : path_with_lane_id_analyzers_) {
     a->setKinematics(msg);
   }
   for (auto & a : trajectory_analyzers_) {