refactor(elevation_map_loader): add package name prefix `autoware_`, fix namespace and directory structure #7988

technolojin · 2024-07-12T00:06:55Z

Description

This PR puts headers in the autoware namespace.
It also adds the autoware_ prefix to the package name.

Folder name (appears as file renaming)
Package names in CMakeLists.txt, package.xml
README.md
Launch files $(find-pkg-share ...)
.github/CODEOWNERS

Rework of #7807

Additional works

Align directory structure to follow the coding guidelines.
Clean unused dependencies LIST

This PR do not contains any logic change.

How was this PR tested?

Tested in a local recompute environment with the following options settings.

options

autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
use_single_frame_filter: True
universe/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
"use_inpaint": True,
"use_elevation_map_cloud_publisher": True,

visualization
Elevation map (GridMap) /perception/obstacle_segmentation/elevation_map/map

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

github-actions · 2024-07-12T00:07:12Z

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codecov · 2024-07-12T00:15:39Z

Codecov Report

Attention: Patch coverage is 0% with 1 line in your changes missing coverage. Please review.

Project coverage is 29.17%. Comparing base (bab6f4f) to head (7964989).
Report is 4 commits behind head on main.

Files	Patch %	Lines
...ation_map_loader/src/elevation_map_loader_node.cpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #7988      +/-   ##
==========================================
- Coverage   29.24%   29.17%   -0.07%     
==========================================
  Files        1596     1598       +2     
  Lines      117690   117821     +131     
  Branches    50708    50704       -4     
==========================================
- Hits        34415    34380      -35     
- Misses      74105    74275     +170     
+ Partials     9170     9166       -4

Flag	Coverage Δ		*Carryforward flag
differential	`0.00% <0.00%> (?)`
total	`29.23% <ø> (-0.01%)`	⬇️	Carriedforward from bab6f4f

*This pull request uses carry forward flags. Click here to find out more.

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badai-nguyen

LGTM

Shin-kyoto

@technolojin

Did elevation_map_loader_node run in the TIER IV Cloud environment?

technolojin · 2024-07-15T23:52:21Z

@technolojin

Did elevation_map_loader_node run in the TIER IV Cloud environment?

I realize the node is not tested.
I could not confirm the node is working properly before this PR changes.

@Shin-kyoto
Can you confirm if the main branch works with the node enabled?

technolojin · 2024-07-16T00:53:05Z

@Shin-kyoto I could visualize the grid map, in the PR changes. see #7988 (comment).

Shin-kyoto

@technolojin
I want to review this PR by running autoware. However, there are many breaking changes and conflicts with main, so it is difficult to build an environment to check its operation.
Could you please share the autoware.repos of the environment you check this PR?

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> chore: remove unused dependencies Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> style(pre-commit): autofix

Rename the `elevation_map_loader` package to `autoware_elevation_map_loader` to align with the Autoware naming convention. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> style(pre-commit): autofix

Shin-kyoto

LGTM

I confirmed that this PR works well with this autoware.repos and this launch command
I confirmed that this PR works well by checking log, ros2 topic echo and rviz.

Result:

log

[component_container_mt-1] [INFO 1721893359.854956929] [perception.obstacle_segmentation.elevation_map.elevation_map_loader]: Saving elevation map successful: true

ros2 topic echo

autoware:~/autoware$ ros2 topic echo /perception/obstacle_segmentation/elevation_map/map --no-arr
header:
  stamp:
    sec: 0
    nanosec: 0
  frame_id: map
info:
  resolution: 0.3
  length_x: 1455.6
  length_y: 1772.1
  pose:
    position:
      x: 89272.140625
      y: 42713.98046875
      z: 0.0
    orientation:
      x: 0.0
      y: 0.0
      z: 0.0
      w: 1.0
layers: '<sequence type: string, length: 1>'
basic_layers: '<sequence type: string, length: 0>'
data: '<sequence type: std_msgs/msg/Float32MultiArray, length: 1>'
outer_start_index: 0
inner_start_index: 0

rviz

…fix namespace and directory structure (autowarefoundation#7988) * refactor: add namespace, remove unused dependencies, file structure Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> chore: remove unused dependencies Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> style(pre-commit): autofix * refactor: rename elevation_map_loader to autoware_elevation_map_loader Rename the `elevation_map_loader` package to `autoware_elevation_map_loader` to align with the Autoware naming convention. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> style(pre-commit): autofix

…fix namespace and directory structure (autowarefoundation#7988) * refactor: add namespace, remove unused dependencies, file structure Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> chore: remove unused dependencies Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> style(pre-commit): autofix * refactor: rename elevation_map_loader to autoware_elevation_map_loader Rename the `elevation_map_loader` package to `autoware_elevation_map_loader` to align with the Autoware naming convention. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> style(pre-commit): autofix Signed-off-by: Batuhan Beytekin <batuhanbeytekin@gmail.com>

…fix namespace and directory structure (autowarefoundation#7988) * refactor: add namespace, remove unused dependencies, file structure Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> chore: remove unused dependencies Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> style(pre-commit): autofix * refactor: rename elevation_map_loader to autoware_elevation_map_loader Rename the `elevation_map_loader` package to `autoware_elevation_map_loader` to align with the Autoware naming convention. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> style(pre-commit): autofix

github-actions bot added component:perception component:launch labels Jul 12, 2024

technolojin added the run:build-and-test-differential label Jul 12, 2024

technolojin marked this pull request as ready for review July 12, 2024 00:07

technolojin requested review from kosuke55, Shin-kyoto, miursh, YoshiRi and yukkysaito as code owners July 12, 2024 00:07

badai-nguyen approved these changes Jul 12, 2024

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technolojin requested a review from Shin-kyoto July 16, 2024 02:18

technolojin marked this pull request as draft July 16, 2024 05:54

auto-merge was automatically disabled July 16, 2024 05:54
Pull request was converted to draft

technolojin force-pushed the refactor/namespace-elevation_map_loader branch from 8ab021c to 4dc12b5 Compare July 17, 2024 09:18

github-actions bot added type:documentation type:ci labels Jul 17, 2024

technolojin changed the title ~~refactor(elevation_map_loader): fix namespace and directory structure~~ refactor(elevation_map_loader): add package name prefix autoware_, fix namespace and directory structure Jul 18, 2024

technolojin force-pushed the refactor/namespace-elevation_map_loader branch from 612e539 to 332ccbc Compare July 18, 2024 09:02

technolojin marked this pull request as ready for review July 18, 2024 09:04

technolojin requested review from KeisukeShima, taikitanaka3, TakaHoribe and takayuki5168 as code owners July 18, 2024 09:04

technolojin requested a review from tkimura4 as a code owner July 18, 2024 09:04

technolojin assigned Shin-kyoto Jul 19, 2024

technolojin enabled auto-merge (squash) July 19, 2024 05:56

technolojin force-pushed the refactor/namespace-elevation_map_loader branch from 332ccbc to bc9f807 Compare July 22, 2024 06:21

technolojin disabled auto-merge July 22, 2024 06:22

Shin-kyoto reviewed Jul 24, 2024

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technolojin force-pushed the refactor/namespace-elevation_map_loader branch from 1246faf to a4c58d8 Compare July 24, 2024 04:15

technolojin requested a review from Shin-kyoto July 25, 2024 00:04

technolojin force-pushed the refactor/namespace-elevation_map_loader branch 2 times, most recently from 6627b88 to 6b95244 Compare July 25, 2024 02:02

technolojin added 2 commits July 25, 2024 12:04

refactor: add namespace, remove unused dependencies, file structure

30c8dec

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> chore: remove unused dependencies Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> style(pre-commit): autofix

refactor: rename elevation_map_loader to autoware_elevation_map_loader

7964989

Rename the `elevation_map_loader` package to `autoware_elevation_map_loader` to align with the Autoware naming convention. Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> style(pre-commit): autofix

technolojin force-pushed the refactor/namespace-elevation_map_loader branch from 6b95244 to 7964989 Compare July 25, 2024 03:04

technolojin self-assigned this Jul 25, 2024

technolojin enabled auto-merge (squash) July 25, 2024 06:57

Shin-kyoto approved these changes Jul 25, 2024

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This was referenced Jul 25, 2024

feat(people-names/words): add masayuki tier4/cspell-dicts#107

Merged

feat(people-names/words): add aino tier4/cspell-dicts#106

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takayuki5168 approved these changes Jul 25, 2024

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technolojin merged commit 76e87c0 into autowarefoundation:main Jul 25, 2024
28 of 30 checks passed

technolojin deleted the refactor/namespace-elevation_map_loader branch July 26, 2024 02:19

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refactor(elevation_map_loader): add package name prefix `autoware_`, fix namespace and directory structure #7988

refactor(elevation_map_loader): add package name prefix `autoware_`, fix namespace and directory structure #7988

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refactor(elevation_map_loader): add package name prefix autoware_, fix namespace and directory structure #7988

refactor(elevation_map_loader): add package name prefix autoware_, fix namespace and directory structure #7988

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technolojin commented Jul 12, 2024 • edited Loading

Description

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Notes for reviewers

Interface changes

Effects on system behavior

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refactor(elevation_map_loader): add package name prefix `autoware_`, fix namespace and directory structure #7988

refactor(elevation_map_loader): add package name prefix `autoware_`, fix namespace and directory structure #7988

technolojin commented Jul 12, 2024 •

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