feat: apply autoware_ prefix for fault_injection (#9989)

* feat(fault_injection): apply `autoware_` prefix (see below): Note: * In this commit, I did not organize a folder structure. The folder structure will be organized in the next some commits. * The changes will follow the Autoware's guideline as below: - https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/directory-structure/#package-folder Signed-off-by: Junya Sasaki <[email protected]> * rename(fault_injection): move headers under `include/autoware`: * Fixes due to this changes for .hpp/.cpp files will be applied in the next commit Signed-off-by: Junya Sasaki <[email protected]> * fix(fault_injection): fix include header paths * To follow the previous commit Signed-off-by: Junya Sasaki <[email protected]> * rename: `fault_injection` => `autoware_fault_injection` Signed-off-by: Junya Sasaki <[email protected]> * Fixed exec_depend Signed-off-by: Shintaro Sakoda <[email protected]> --------- Signed-off-by: Junya Sasaki <[email protected]> Signed-off-by: Shintaro Sakoda <[email protected]> Co-authored-by: SakodaShintaro <[email protected]>
autowarefoundation · Jan 23, 2025 · 4b6a342 · 4b6a342
1 parent 8eed7e9
commit 4b6a342
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Showing 19 changed files with 62 additions and 59 deletions.
diff --git a/launch/tier4_simulator_launch/package.xml b/launch/tier4_simulator_launch/package.xml
@@ -14,8 +14,8 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <exec_depend>autoware_fault_injection</exec_depend>
   <exec_depend>dummy_perception_publisher</exec_depend>
-  <exec_depend>fault_injection</exec_depend>
   <exec_depend>simple_planning_simulator</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>

diff --git a/simulator/fault_injection/CHANGELOG.rst → ...or/autoware_fault_injection/CHANGELOG.rst b/simulator/fault_injection/CHANGELOG.rst → ...or/autoware_fault_injection/CHANGELOG.rst
diff --git a/simulator/fault_injection/CMakeLists.txt → ...r/autoware_fault_injection/CMakeLists.txt b/simulator/fault_injection/CMakeLists.txt → ...r/autoware_fault_injection/CMakeLists.txt
@@ -1,18 +1,18 @@
 cmake_minimum_required(VERSION 3.14)
-project(fault_injection)
+project(autoware_fault_injection)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
 find_package(pluginlib REQUIRED)
 
-ament_auto_add_library(fault_injection_node_component SHARED
+ament_auto_add_library(${PROJECT_NAME}_node_component SHARED
   src/fault_injection_node/fault_injection_node.cpp
 )
 
-rclcpp_components_register_node(fault_injection_node_component
-  PLUGIN "fault_injection::FaultInjectionNode"
-  EXECUTABLE fault_injection_node
+rclcpp_components_register_node(${PROJECT_NAME}_node_component
+  PLUGIN "autoware::simulator::fault_injection::FaultInjectionNode"
+  EXECUTABLE ${PROJECT_NAME}_node
 )
 
 if(BUILD_TESTING)
@@ -23,7 +23,7 @@ if(BUILD_TESTING)
   )
 
   target_link_libraries(test_fault_injection_node_component
-    fault_injection_node_component
+    ${PROJECT_NAME}_node_component
   )
 
   # launch_testing

diff --git a/simulator/fault_injection/README.md → simulator/autoware_fault_injection/README.md b/simulator/fault_injection/README.md → simulator/autoware_fault_injection/README.md
diff --git a/...jection/config/fault_injection.param.yaml → ...jection/config/fault_injection.param.yaml b/...jection/config/fault_injection.param.yaml → ...jection/config/fault_injection.param.yaml
diff --git a/.../fault_injection/img/component.drawio.svg → ..._fault_injection/img/component.drawio.svg b/.../fault_injection/img/component.drawio.svg → ..._fault_injection/img/component.drawio.svg
diff --git a/...de/fault_injection/diagnostic_storage.hpp → ...re/fault_injection/diagnostic_storage.hpp b/...de/fault_injection/diagnostic_storage.hpp → ...re/fault_injection/diagnostic_storage.hpp
@@ -1,4 +1,4 @@
-// Copyright 2021 Tier IV, Inc.
+// Copyright 2025 Tier IV, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef FAULT_INJECTION__DIAGNOSTIC_STORAGE_HPP_
-#define FAULT_INJECTION__DIAGNOSTIC_STORAGE_HPP_
+#ifndef AUTOWARE__FAULT_INJECTION__DIAGNOSTIC_STORAGE_HPP_
+#define AUTOWARE__FAULT_INJECTION__DIAGNOSTIC_STORAGE_HPP_
 
 #include <diagnostic_aggregator/status_item.hpp>
 
@@ -22,7 +22,7 @@
 #include <string>
 #include <unordered_map>
 
-namespace fault_injection
+namespace autoware::simulator::fault_injection
 {
 using diagnostic_msgs::msg::DiagnosticStatus;
 
@@ -65,6 +65,6 @@ class DiagnosticStorage
   std::unordered_map<std::string, DiagnosticStatus> event_diag_map_;
 };
 
-}  // namespace fault_injection
+}  // namespace autoware::simulator::fault_injection
 
-#endif  // FAULT_INJECTION__DIAGNOSTIC_STORAGE_HPP_
+#endif  // AUTOWARE__FAULT_INJECTION__DIAGNOSTIC_STORAGE_HPP_
diff --git a/...njection/fault_injection_diag_updater.hpp → ...njection/fault_injection_diag_updater.hpp b/...njection/fault_injection_diag_updater.hpp → ...njection/fault_injection_diag_updater.hpp
@@ -1,4 +1,4 @@
-// Copyright 2024 TIER IV, Inc.
+// Copyright 2025 TIER IV, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -46,8 +46,8 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
 
-#ifndef FAULT_INJECTION__FAULT_INJECTION_DIAG_UPDATER_HPP_
-#define FAULT_INJECTION__FAULT_INJECTION_DIAG_UPDATER_HPP_
+#ifndef AUTOWARE__FAULT_INJECTION__FAULT_INJECTION_DIAG_UPDATER_HPP_
+#define AUTOWARE__FAULT_INJECTION__FAULT_INJECTION_DIAG_UPDATER_HPP_
 
 #include <diagnostic_updater/diagnostic_updater.hpp>
 
@@ -57,7 +57,7 @@
 #include <utility>
 #include <vector>
 
-namespace fault_injection
+namespace autoware::simulator::fault_injection
 {
 class FaultInjectionDiagUpdater : public diagnostic_updater::DiagnosticTaskVector
 {
@@ -240,6 +240,6 @@ class FaultInjectionDiagUpdater : public diagnostic_updater::DiagnosticTaskVecto
   std::string hardware_id_;
   std::string node_name_;
 };
-}  // namespace fault_injection
+}  // namespace autoware::simulator::fault_injection
 
-#endif  // FAULT_INJECTION__FAULT_INJECTION_DIAG_UPDATER_HPP_
+#endif  // AUTOWARE__FAULT_INJECTION__FAULT_INJECTION_DIAG_UPDATER_HPP_
diff --git a/.../fault_injection/fault_injection_node.hpp → .../fault_injection/fault_injection_node.hpp b/.../fault_injection/fault_injection_node.hpp → .../fault_injection/fault_injection_node.hpp
@@ -1,4 +1,4 @@
-// Copyright 2021 Tier IV, Inc.
+// Copyright 2025 Tier IV, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef FAULT_INJECTION__FAULT_INJECTION_NODE_HPP_
-#define FAULT_INJECTION__FAULT_INJECTION_NODE_HPP_
+#ifndef AUTOWARE__FAULT_INJECTION__FAULT_INJECTION_NODE_HPP_
+#define AUTOWARE__FAULT_INJECTION__FAULT_INJECTION_NODE_HPP_
 
-#include "fault_injection/diagnostic_storage.hpp"
-#include "fault_injection/fault_injection_diag_updater.hpp"
+#include "autoware/fault_injection/diagnostic_storage.hpp"
+#include "autoware/fault_injection/fault_injection_diag_updater.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -25,7 +25,7 @@
 #include <string>
 #include <vector>
 
-namespace fault_injection
+namespace autoware::simulator::fault_injection
 {
 using tier4_simulation_msgs::msg::SimulationEvents;
 
@@ -49,6 +49,6 @@ class FaultInjectionNode : public rclcpp::Node
   DiagnosticStorage diagnostic_storage_;
 };
 
-}  // namespace fault_injection
+}  // namespace autoware::simulator::fault_injection
 
-#endif  // FAULT_INJECTION__FAULT_INJECTION_NODE_HPP_
+#endif  // AUTOWARE__FAULT_INJECTION__FAULT_INJECTION_NODE_HPP_
diff --git a/simulator/autoware_fault_injection/launch/fault_injection.launch.xml b/simulator/autoware_fault_injection/launch/fault_injection.launch.xml
@@ -0,0 +1,10 @@
+<launch>
+  <arg name="input/simulation_events" default="/simulation/events"/>
+  <arg name="config_file" default="$(find-pkg-share autoware_fault_injection)/config/fault_injection.param.yaml"/>
+  <arg name="log-level" default="info"/>
+
+  <node pkg="autoware_fault_injection" exec="autoware_fault_injection_node" name="autoware_fault_injection" output="screen" args="--ros-args --log-level fault_injection:=$(var log-level)">
+    <remap from="~/input/simulation_events" to="$(var input/simulation_events)"/>
+    <param from="$(var config_file)"/>
+  </node>
+</launch>
diff --git a/simulator/fault_injection/package.xml → ...ator/autoware_fault_injection/package.xml b/simulator/fault_injection/package.xml → ...ator/autoware_fault_injection/package.xml
@@ -1,10 +1,11 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>fault_injection</name>
+  <name>autoware_fault_injection</name>
   <version>0.40.0</version>
-  <description>fault_injection</description>
+  <description>The fault_injection package</description>
   <maintainer email="[email protected]">Keisuke Shima</maintainer>
+  <maintainer email="[email protected]">Junya Sasaki</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>

diff --git a/...t_injection_node/fault_injection_node.cpp → ...t_injection_node/fault_injection_node.cpp b/...t_injection_node/fault_injection_node.cpp → ...t_injection_node/fault_injection_node.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "fault_injection/fault_injection_node.hpp"
+#include "autoware/fault_injection/fault_injection_node.hpp"
 
 #include <autoware/universe_utils/ros/update_param.hpp>
 
@@ -21,7 +21,7 @@
 #include <unordered_map>
 #include <vector>
 
-namespace
+namespace autoware::simulator::fault_injection
 {
 std::vector<std::string> split(const std::string & str, const char delim)
 {
@@ -33,10 +33,7 @@ std::vector<std::string> split(const std::string & str, const char delim)
   }
   return elems;
 }
-}  // namespace
 
-namespace fault_injection
-{
 #ifdef ROS_DISTRO_GALACTIC
 using rosidl_generator_traits::to_yaml;
 #endif
@@ -101,7 +98,7 @@ std::vector<DiagConfig> FaultInjectionNode::read_event_diag_list()
 
   return diag_configs;
 }
-}  // namespace fault_injection
+}  // namespace autoware::simulator::fault_injection
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(fault_injection::FaultInjectionNode)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::simulator::fault_injection::FaultInjectionNode)
diff --git a/...on/test/config/test_event_diag.param.yaml → ...on/test/config/test_event_diag.param.yaml b/...on/test/config/test_event_diag.param.yaml → ...on/test/config/test_event_diag.param.yaml
diff --git a/simulator/autoware_fault_injection/test/launch/test_fault_injection.launch.xml b/simulator/autoware_fault_injection/test/launch/test_fault_injection.launch.xml
@@ -0,0 +1,6 @@
+<launch>
+  <include file="$(find-pkg-share autoware_fault_injection)/launch/fault_injection.launch.xml">
+    <arg name="log-level" value="debug"/>
+    <arg name="config_file" value="$(find-pkg-share autoware_fault_injection)/config/test_event_diag.param.yaml"/>
+  </include>
+</launch>
diff --git a/simulator/fault_injection/test/src/main.cpp → ...utoware_fault_injection/test/src/main.cpp b/simulator/fault_injection/test/src/main.cpp → ...utoware_fault_injection/test/src/main.cpp
@@ -1,4 +1,4 @@
-// Copyright 2021 Tier IV, Inc.
+// Copyright 2025 Tier IV, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/...tion/test/src/test_diagnostic_storage.cpp → ...tion/test/src/test_diagnostic_storage.cpp b/...tion/test/src/test_diagnostic_storage.cpp → ...tion/test/src/test_diagnostic_storage.cpp
@@ -1,4 +1,4 @@
-// Copyright 2021 Tier IV, Inc.
+// Copyright 2025 Tier IV, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,14 +12,17 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "fault_injection/diagnostic_storage.hpp"
+#include "autoware/fault_injection/diagnostic_storage.hpp"
 
 #include <gtest/gtest.h>
 
 #include <memory>
 #include <string>
 #include <vector>
 
+namespace autoware::simulator::fault_injection
+{
+
 class TestDiagnosticStorage : public ::testing::Test
 {
 protected:
@@ -30,8 +33,8 @@ class TestDiagnosticStorage : public ::testing::Test
     }
   }
 
-  fault_injection::DiagnosticStorage storage_;
-  const std::vector<fault_injection::DiagConfig> diag_config{
+  DiagnosticStorage storage_;
+  const std::vector<DiagConfig> diag_config{
     {"foo", "foo_diag"},
   };
 };
@@ -52,3 +55,5 @@ TEST_F(TestDiagnosticStorage, raise_exception_with_wrong_key)
 {
   EXPECT_ANY_THROW(storage_.getDiag("invalid_name"));
 }
+
+}  // namespace autoware::simulator::fault_injection
diff --git a/...on/test/test_fault_injection_node.test.py → ...on/test/test_fault_injection_node.test.py b/...on/test/test_fault_injection_node.test.py → ...on/test/test_fault_injection_node.test.py
@@ -1,4 +1,4 @@
-# Copyright 2021 Tier IV, Inc.
+# Copyright 2025 Tier IV, Inc.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -35,7 +35,7 @@
 @pytest.mark.launch_test
 def generate_test_description():
     test_fault_injection_launch_file = os.path.join(
-        get_package_share_directory("fault_injection"),
+        get_package_share_directory("autoware_fault_injection"),
         "launch",
         "test_fault_injection.launch.xml",
     )

diff --git a/simulator/fault_injection/launch/fault_injection.launch.xml b/simulator/fault_injection/launch/fault_injection.launch.xml
diff --git a/simulator/fault_injection/test/launch/test_fault_injection.launch.xml b/simulator/fault_injection/test/launch/test_fault_injection.launch.xml