feat: change autoware_universe_utils package dependence to autoware_u…

…tils

Signed-off-by: Motsu-san <[email protected]>

localization/autoware_ekf_localizer/include/autoware/ekf_localizer/ekf_localizer.hpp

@@ -20,9 +20,9 @@
 #include "autoware/ekf_localizer/hyper_parameters.hpp"
 #include "autoware/ekf_localizer/warning.hpp"
 
-#include <autoware/universe_utils/geometry/geometry.hpp>
-#include <autoware/universe_utils/ros/logger_level_configure.hpp>
-#include <autoware/universe_utils/system/stop_watch.hpp>
+#include <autoware_utils/geometry/geometry.hpp>
+#include <autoware_utils/ros/logger_level_configure.hpp>
+#include <autoware_utils/system/stop_watch.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <autoware_internal_debug_msgs/msg/float64_multi_array_stamped.hpp>
@@ -110,7 +110,7 @@ class EKFLocalizer : public rclcpp::Node
   tf2_ros::TransformListener tf2_listener_;
 
   //!< @brief logger configure module
-  std::unique_ptr<autoware::universe_utils::LoggerLevelConfigure> logger_configure_;
+  std::unique_ptr<autoware_utils::LoggerLevelConfigure> logger_configure_;
 
   //!< @brief  extended kalman filter instance.
   std::unique_ptr<EKFModule> ekf_module_;
@@ -188,8 +188,8 @@ class EKFLocalizer : public rclcpp::Node
     const std_srvs::srv::SetBool::Request::SharedPtr req,
     std_srvs::srv::SetBool::Response::SharedPtr res);
 
-  autoware::universe_utils::StopWatch<std::chrono::milliseconds> stop_watch_;
-  autoware::universe_utils::StopWatch<std::chrono::milliseconds> stop_watch_timer_cb_;
+  autoware_utils::StopWatch<std::chrono::milliseconds> stop_watch_;
+  autoware_utils::StopWatch<std::chrono::milliseconds> stop_watch_timer_cb_;
 
   friend class EKFLocalizerTestSuite;  // for test code
 };

localization/autoware_ekf_localizer/package.xml

@@ -25,7 +25,7 @@
   <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_kalman_filter</depend>
   <depend>autoware_localization_util</depend>
-  <depend>autoware_universe_utils</depend>
+  <depend>autoware_utils</depend>
   <depend>diagnostic_msgs</depend>
   <depend>fmt</depend>
   <depend>geometry_msgs</depend>

localization/autoware_ekf_localizer/src/covariance.cpp

@@ -15,12 +15,12 @@
 #include "autoware/ekf_localizer/covariance.hpp"
 
 #include "autoware/ekf_localizer/state_index.hpp"
-#include "autoware/universe_utils/ros/msg_covariance.hpp"
+#include "autoware_utils/ros/msg_covariance.hpp"
 
 namespace autoware::ekf_localizer
 {
 
-using COV_IDX = autoware::universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
+using COV_IDX = autoware_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
 
 std::array<double, 36> ekf_covariance_to_pose_message_covariance(const Matrix6d & P)
 {

localization/autoware_ekf_localizer/src/ekf_localizer.cpp

@@ -19,9 +19,9 @@
 #include "autoware/ekf_localizer/warning_message.hpp"
 #include "autoware/localization_util/covariance_ellipse.hpp"
 
-#include <autoware/universe_utils/geometry/geometry.hpp>
-#include <autoware/universe_utils/math/unit_conversion.hpp>
-#include <autoware/universe_utils/ros/msg_covariance.hpp>
+#include <autoware_utils/geometry/geometry.hpp>
+#include <autoware_utils/math/unit_conversion.hpp>
+#include <autoware_utils/ros/msg_covariance.hpp>
 #include <rclcpp/duration.hpp>
 #include <rclcpp/logging.hpp>
 
@@ -96,7 +96,7 @@ EKFLocalizer::EKFLocalizer(const rclcpp::NodeOptions & node_options)
     std::shared_ptr<rclcpp::Node>(this, [](auto) {}));
 
   ekf_module_ = std::make_unique<EKFModule>(warning_, params_);
-  logger_configure_ = std::make_unique<autoware::universe_utils::LoggerLevelConfigure>(this);
+  logger_configure_ = std::make_unique<autoware_utils::LoggerLevelConfigure>(this);
 }
 
 /*
@@ -361,7 +361,7 @@ void EKFLocalizer::publish_estimate_result(
 
   /* publish tf */
   const geometry_msgs::msg::TransformStamped transform_stamped =
-    autoware::universe_utils::pose2transform(current_ekf_pose, "base_link");
+    autoware_utils::pose2transform(current_ekf_pose, "base_link");
   tf_br_->sendTransform(transform_stamped);
 }
 

localization/autoware_ekf_localizer/src/ekf_module.cpp

@@ -22,8 +22,8 @@
 #include "autoware/ekf_localizer/state_transition.hpp"
 #include "autoware/ekf_localizer/warning_message.hpp"
 
-#include <autoware/universe_utils/geometry/geometry.hpp>
-#include <autoware/universe_utils/ros/msg_covariance.hpp>
+#include <autoware_utils/geometry/geometry.hpp>
+#include <autoware_utils/ros/msg_covariance.hpp>
 
 #include <fmt/core.h>
 #include <tf2/LinearMath/Quaternion.h>
@@ -75,7 +75,7 @@ void EKFModule::initialize(
   x(IDX::VX) = 0.0;
   x(IDX::WZ) = 0.0;
 
-  using COV_IDX = autoware::universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
+  using COV_IDX = autoware_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
   p(IDX::X, IDX::X) = initial_pose.pose.covariance[COV_IDX::X_X];
   p(IDX::Y, IDX::Y) = initial_pose.pose.covariance[COV_IDX::Y_Y];
   p(IDX::YAW, IDX::YAW) = initial_pose.pose.covariance[COV_IDX::YAW_YAW];
@@ -90,7 +90,7 @@ void EKFModule::initialize(
 
   const double z = initial_pose.pose.pose.position.z;
 
-  const auto rpy = autoware::universe_utils::getRPY(initial_pose.pose.pose.orientation);
+  const auto rpy = autoware_utils::get_rpy(initial_pose.pose.pose.orientation);
 
   const double z_var = initial_pose.pose.covariance[COV_IDX::Z_Z];
   const double roll_var = initial_pose.pose.covariance[COV_IDX::ROLL_ROLL];
@@ -122,13 +122,13 @@ geometry_msgs::msg::PoseStamped EKFModule::get_current_pose(
   Pose current_ekf_pose;
   current_ekf_pose.header.frame_id = params_.pose_frame_id;
   current_ekf_pose.header.stamp = current_time;
-  current_ekf_pose.pose.position = autoware::universe_utils::createPoint(x, y, z);
+  current_ekf_pose.pose.position = autoware_utils::create_point(x, y, z);
   if (get_biased_yaw) {
     current_ekf_pose.pose.orientation =
-      autoware::universe_utils::createQuaternionFromRPY(roll, pitch, biased_yaw);
+      autoware_utils::create_quaternion_from_rpy(roll, pitch, biased_yaw);
   } else {
     current_ekf_pose.pose.orientation =
-      autoware::universe_utils::createQuaternionFromRPY(roll, pitch, yaw);
+      autoware_utils::create_quaternion_from_rpy(roll, pitch, yaw);
   }
   return current_ekf_pose;
 }
@@ -152,7 +152,7 @@ std::array<double, 36> EKFModule::get_current_pose_covariance() const
   std::array<double, 36> cov =
     ekf_covariance_to_pose_message_covariance(kalman_filter_.getLatestP());
 
-  using COV_IDX = autoware::universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
+  using COV_IDX = autoware_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
   cov[COV_IDX::Z_Z] = z_filter_.get_var();
   cov[COV_IDX::ROLL_ROLL] = roll_filter_.get_var();
   cov[COV_IDX::PITCH_PITCH] = pitch_filter_.get_var();
@@ -350,7 +350,7 @@ geometry_msgs::msg::PoseWithCovarianceStamped EKFModule::compensate_rph_with_del
   pose_with_delay.pose.pose.orientation.z = curr_orientation.z();
   pose_with_delay.pose.pose.orientation.w = curr_orientation.w();
 
-  const auto rpy = autoware::universe_utils::getRPY(pose_with_delay.pose.pose.orientation);
+  const auto rpy = autoware_utils::get_rpy(pose_with_delay.pose.pose.orientation);
   const double delta_z = kalman_filter_.getXelement(IDX::VX) * delay_time * std::sin(-rpy.y);
   pose_with_delay.pose.pose.position.z += delta_z;
 
@@ -443,9 +443,9 @@ void EKFModule::update_simple_1d_filters(
 {
   double z = pose.pose.pose.position.z;
 
-  const auto rpy = autoware::universe_utils::getRPY(pose.pose.pose.orientation);
+  const auto rpy = autoware_utils::get_rpy(pose.pose.pose.orientation);
 
-  using COV_IDX = autoware::universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
+  using COV_IDX = autoware_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
   double z_var = pose.pose.covariance[COV_IDX::Z_Z] * static_cast<double>(smoothing_step);
   double roll_var = pose.pose.covariance[COV_IDX::ROLL_ROLL] * static_cast<double>(smoothing_step);
   double pitch_var =

localization/autoware_ekf_localizer/src/measurement.cpp

@@ -15,7 +15,7 @@
 #include "autoware/ekf_localizer/measurement.hpp"
 
 #include "autoware/ekf_localizer/state_index.hpp"
-#include "autoware/universe_utils/ros/msg_covariance.hpp"
+#include "autoware_utils/ros/msg_covariance.hpp"
 
 namespace autoware::ekf_localizer
 {
@@ -41,7 +41,7 @@ Eigen::Matrix3d pose_measurement_covariance(
   const std::array<double, 36ul> & covariance, const size_t smoothing_step)
 {
   Eigen::Matrix3d r;
-  using COV_IDX = autoware::universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
+  using COV_IDX = autoware_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
   r << covariance.at(COV_IDX::X_X), covariance.at(COV_IDX::X_Y), covariance.at(COV_IDX::X_YAW),
     covariance.at(COV_IDX::Y_X), covariance.at(COV_IDX::Y_Y), covariance.at(COV_IDX::Y_YAW),
     covariance.at(COV_IDX::YAW_X), covariance.at(COV_IDX::YAW_Y), covariance.at(COV_IDX::YAW_YAW);
@@ -52,7 +52,7 @@ Eigen::Matrix2d twist_measurement_covariance(
   const std::array<double, 36ul> & covariance, const size_t smoothing_step)
 {
   Eigen::Matrix2d r;
-  using COV_IDX = autoware::universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
+  using COV_IDX = autoware_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
   r << covariance.at(COV_IDX::X_X), covariance.at(COV_IDX::X_YAW), covariance.at(COV_IDX::YAW_X),
     covariance.at(COV_IDX::YAW_YAW);
   return r * static_cast<double>(smoothing_step);