modify dependant packages

Signed-off-by: Takayuki Murooka <[email protected]>
autowarefoundation · Dec 24, 2024 · 93aad5a · 93aad5a
1 parent d8464c8
commit 93aad5a
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Showing 13 changed files with 26 additions and 24 deletions.
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml
@@ -42,7 +42,7 @@
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_route_handler</depend>
   <depend>autoware_universe_utils</depend>
-  <depend>autoware_velocity_smoother</depend>
+  <depend>autoware_universe_velocity_smoother</depend>
   <depend>diagnostic_msgs</depend>
   <depend>eigen</depend>
   <depend>geometry_msgs</depend>

diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.cpp
@@ -17,9 +17,9 @@
 #include <autoware/behavior_velocity_planner_common/utilization/path_utilization.hpp>
 #include <autoware/motion_utils/trajectory/path_with_lane_id.hpp>
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
+#include <autoware/universe/velocity_smoother/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.hpp>
 #include <autoware/universe_utils/ros/wait_for_param.hpp>
 #include <autoware/universe_utils/transform/transforms.hpp>
-#include <autoware/velocity_smoother/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.hpp>
 #include <autoware_lanelet2_extension/utility/message_conversion.hpp>
 
 #include <diagnostic_msgs/msg/diagnostic_status.hpp>
@@ -133,7 +133,8 @@ void BehaviorVelocityPlannerNode::onParam()
   // constructed. It would be required if it was a callback. std::lock_guard<std::mutex>
   // lock(mutex_);
   planner_data_.velocity_smoother_ =
-    std::make_unique<autoware::velocity_smoother::AnalyticalJerkConstrainedSmoother>(*this);
+    std::make_unique<autoware::universe::velocity_smoother::AnalyticalJerkConstrainedSmoother>(
+      *this);
   planner_data_.velocity_smoother_->setWheelBase(planner_data_.vehicle_info_.wheel_base_m);
 }
 

diff --git a/...vior_velocity_planner/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp b/...vior_velocity_planner/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp
@@ -56,7 +56,7 @@ std::shared_ptr<BehaviorVelocityPlannerNode> generateNode()
   const auto behavior_velocity_planner_dir =
     ament_index_cpp::get_package_share_directory("autoware_behavior_velocity_planner");
   const auto velocity_smoother_dir =
-    ament_index_cpp::get_package_share_directory("autoware_velocity_smoother");
+    ament_index_cpp::get_package_share_directory("autoware_universe_velocity_smoother");
 
   const auto get_behavior_velocity_module_config = [](const std::string & module) {
     const auto package_name = "autoware_behavior_velocity_" + module + "_module";

diff --git a/...elocity_planner_common/include/autoware/behavior_velocity_planner_common/planner_data.hpp b/...elocity_planner_common/include/autoware/behavior_velocity_planner_common/planner_data.hpp
@@ -17,7 +17,7 @@
 
 #include "autoware/behavior_velocity_planner_common/utilization/util.hpp"
 #include "autoware/route_handler/route_handler.hpp"
-#include "autoware/velocity_smoother/smoother/smoother_base.hpp"
+#include "autoware/universe/velocity_smoother/smoother/smoother_base.hpp"
 #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp"
 
 #include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
@@ -68,7 +68,7 @@ struct PlannerData
 
   bool is_simulation = false;
 
-  std::shared_ptr<autoware::velocity_smoother::SmootherBase> velocity_smoother_;
+  std::shared_ptr<autoware::universe::velocity_smoother::SmootherBase> velocity_smoother_;
   std::shared_ptr<autoware::route_handler::RouteHandler> route_handler_;
   autoware::vehicle_info_utils::VehicleInfo vehicle_info_;
 

diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml
@@ -30,8 +30,8 @@
   <depend>autoware_route_handler</depend>
   <depend>autoware_rtc_interface</depend>
   <depend>autoware_universe_utils</depend>
+  <depend>autoware_universe_velocity_smoother</depend>
   <depend>autoware_vehicle_info_utils</depend>
-  <depend>autoware_velocity_smoother</depend>
   <depend>diagnostic_msgs</depend>
   <depend>eigen</depend>
   <depend>geometry_msgs</depend>

diff --git a/...ty_planner/autoware_behavior_velocity_planner_common/src/utilization/trajectory_utils.cpp b/...ty_planner/autoware_behavior_velocity_planner_common/src/utilization/trajectory_utils.cpp
@@ -17,7 +17,7 @@
 
 #include <autoware/behavior_velocity_planner_common/utilization/trajectory_utils.hpp>
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
-#include <autoware/velocity_smoother/trajectory_utils.hpp>
+#include <autoware/universe/velocity_smoother/trajectory_utils.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <geometry_msgs/msg/quaternion.hpp>
@@ -90,7 +90,7 @@ bool smoothPath(
     traj_resampled.begin() + static_cast<std::ptrdiff_t>(traj_resampled_closest));
 
   if (external_v_limit) {
-    autoware::velocity_smoother::trajectory_utils::applyMaximumVelocityLimit(
+    autoware::universe::velocity_smoother::trajectory_utils::applyMaximumVelocityLimit(
       traj_resampled_closest, traj_smoothed.size(), external_v_limit->max_velocity, traj_smoothed);
   }
   out_path = autoware::motion_utils::convertToPathWithLaneId<TrajectoryPoints>(traj_smoothed);

diff --git a/...city_planner/autoware_behavior_velocity_planner_common/test/src/test_trajectory_utils.cpp b/...city_planner/autoware_behavior_velocity_planner_common/test/src/test_trajectory_utils.cpp
@@ -13,7 +13,7 @@
 // limitations under the License.
 
 #include "autoware/behavior_velocity_planner_common/utilization/trajectory_utils.hpp"
-#include "autoware/velocity_smoother/smoother/jerk_filtered_smoother.hpp"
+#include "autoware/universe/velocity_smoother/smoother/jerk_filtered_smoother.hpp"
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <rclcpp/node.hpp>
@@ -41,13 +41,13 @@ TEST(smoothPath, nominal)
      ament_index_cpp::get_package_share_directory("autoware_test_utils") +
        "/config/test_vehicle_info.param.yaml",
      "--params-file",
-     ament_index_cpp::get_package_share_directory("autoware_velocity_smoother") +
+     ament_index_cpp::get_package_share_directory("autoware_universe_velocity_smoother") +
        "/config/default_common.param.yaml",
      "--params-file",
-     ament_index_cpp::get_package_share_directory("autoware_velocity_smoother") +
+     ament_index_cpp::get_package_share_directory("autoware_universe_velocity_smoother") +
        "/config/default_velocity_smoother.param.yaml",
      "--params-file",
-     ament_index_cpp::get_package_share_directory("autoware_velocity_smoother") +
+     ament_index_cpp::get_package_share_directory("autoware_universe_velocity_smoother") +
        "/config/JerkFiltered.param.yaml"});
   auto node = std::make_shared<rclcpp::Node>("test_node", options);
 
@@ -76,7 +76,7 @@ TEST(smoothPath, nominal)
     }());
 
   planner_data->velocity_smoother_ =
-    std::make_shared<autoware::velocity_smoother::JerkFilteredSmoother>(
+    std::make_shared<autoware::universe::velocity_smoother::JerkFilteredSmoother>(
       *node, std::make_shared<autoware::universe_utils::TimeKeeper>());
 
   // Input path

diff --git a/..._velocity_planner_common/include/autoware/motion_velocity_planner_common/planner_data.hpp b/..._velocity_planner_common/include/autoware/motion_velocity_planner_common/planner_data.hpp
@@ -18,8 +18,8 @@
 #include <autoware/motion_utils/distance/distance.hpp>
 #include <autoware/motion_velocity_planner_common/collision_checker.hpp>
 #include <autoware/route_handler/route_handler.hpp>
+#include <autoware/universe/velocity_smoother/smoother/smoother_base.hpp>
 #include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>
-#include <autoware/velocity_smoother/smoother/smoother_base.hpp>
 #include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
 
 #include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
@@ -75,7 +75,7 @@ struct PlannerData
   std::optional<tier4_planning_msgs::msg::VelocityLimit> external_velocity_limit;
 
   // velocity smoother
-  std::shared_ptr<autoware::velocity_smoother::SmootherBase> velocity_smoother_;
+  std::shared_ptr<autoware::universe::velocity_smoother::SmootherBase> velocity_smoother_;
   // parameters
   autoware::vehicle_info_utils::VehicleInfo vehicle_info_;
 

diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml
@@ -22,7 +22,7 @@
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_route_handler</depend>
   <depend>autoware_universe_utils</depend>
-  <depend>autoware_velocity_smoother</depend>
+  <depend>autoware_universe_velocity_smoother</depend>
   <depend>eigen</depend>
   <depend>geometry_msgs</depend>
   <depend>libboost-dev</depend>

diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/README.md b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/README.md
@@ -53,5 +53,5 @@ In addition, the following parameters should be provided to the node:
 - [nearest search parameters](https://github.com/autowarefoundation/autoware_launch/blob/main/autoware_launch/config/planning/scenario_planning/common/nearest_search.param.yaml);
 - [vehicle info parameters](https://github.com/autowarefoundation/sample_vehicle_launch/blob/main/sample_vehicle_description/config/vehicle_info.param.yaml);
 - [common planning parameters](https://github.com/autowarefoundation/autoware_launch/blob/main/autoware_launch/config/planning/scenario_planning/common/common.param.yaml);
-- [smoother parameters](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_velocity_smoother/#parameters)
+- [smoother parameters](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_universe_velocity_smoother/#parameters)
 - Parameters of each plugin that will be loaded.
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml
@@ -24,7 +24,7 @@
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_universe_utils</depend>
-  <depend>autoware_velocity_smoother</depend>
+  <depend>autoware_universe_velocity_smoother</depend>
   <depend>eigen</depend>
   <depend>geometry_msgs</depend>
   <depend>libboost-dev</depend>

diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp
@@ -16,13 +16,13 @@
 
 #include <autoware/motion_utils/resample/resample.hpp>
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
+#include <autoware/universe/velocity_smoother/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.hpp>
+#include <autoware/universe/velocity_smoother/trajectory_utils.hpp>
 #include <autoware/universe_utils/geometry/geometry.hpp>
 #include <autoware/universe_utils/ros/update_param.hpp>
 #include <autoware/universe_utils/ros/wait_for_param.hpp>
 #include <autoware/universe_utils/system/stop_watch.hpp>
 #include <autoware/universe_utils/transform/transforms.hpp>
-#include <autoware/velocity_smoother/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.hpp>
-#include <autoware/velocity_smoother/trajectory_utils.hpp>
 #include <tf2_eigen/tf2_eigen.hpp>
 
 #include <autoware_planning_msgs/msg/trajectory_point.hpp>
@@ -214,7 +214,8 @@ MotionVelocityPlannerNode::process_no_ground_pointcloud(
 void MotionVelocityPlannerNode::set_velocity_smoother_params()
 {
   planner_data_.velocity_smoother_ =
-    std::make_shared<autoware::velocity_smoother::AnalyticalJerkConstrainedSmoother>(*this);
+    std::make_shared<autoware::universe::velocity_smoother::AnalyticalJerkConstrainedSmoother>(
+      *this);
 }
 
 void MotionVelocityPlannerNode::on_lanelet_map(
@@ -382,7 +383,7 @@ autoware::motion_velocity_planner::TrajectoryPoints MotionVelocityPlannerNode::s
     RCLCPP_ERROR(get_logger(), "failed to smooth");
   }
   if (external_v_limit) {
-    autoware::velocity_smoother::trajectory_utils::applyMaximumVelocityLimit(
+    autoware::universe::velocity_smoother::trajectory_utils::applyMaximumVelocityLimit(
       0LU, traj_smoothed.size(), external_v_limit->max_velocity, traj_smoothed);
   }
   return traj_smoothed;

diff --git a/...n_velocity_planner/autoware_motion_velocity_planner_node/test/src/test_node_interface.cpp b/...n_velocity_planner/autoware_motion_velocity_planner_node/test/src/test_node_interface.cpp
@@ -52,7 +52,7 @@ std::shared_ptr<MotionVelocityPlannerNode> generateNode()
   const auto motion_velocity_planner_dir =
     ament_index_cpp::get_package_share_directory("autoware_motion_velocity_planner_node");
   const auto velocity_smoother_dir =
-    ament_index_cpp::get_package_share_directory("autoware_velocity_smoother");
+    ament_index_cpp::get_package_share_directory("autoware_universe_velocity_smoother");
 
   const auto get_motion_velocity_module_config = [](const std::string & module) {
     const auto package_name = "autoware_motion_velocity_" + module + "_module";