feat: apply autoware_ prefix for mrm_emergency_stop_operator (#9973)

* feat(mrm_emergency_stop_operator): 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(mrm_emergency_stop_operator): move a header 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(mrm_emergency_stop_operator): fix include header path * To follow the previous commit Signed-off-by: Junya Sasaki <[email protected]> * rename: `mrm_emergency_stop_operator` => `autoware_mrm_emergency_stop_operator` Signed-off-by: Junya Sasaki <[email protected]> * bug(autoware_mrm_emergency_stop_operator): revert wrongly updated copyrights Signed-off-by: Junya Sasaki <[email protected]> * bug(tier4_system_launch): fix a missing `autoware_` for `mrm_emergency_stop_operator` Signed-off-by: Junya Sasaki <[email protected]> * bug(autoware_mrm_emergency_stop_operator): fix critical bugs that contaminate topic names Signed-off-by: Junya Sasaki <[email protected]> --------- Signed-off-by: Junya Sasaki <[email protected]>
autowarefoundation · Jan 23, 2025 · c53af8a · c53af8a
1 parent dbfee16
commit c53af8a
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Showing 10 changed files with 34 additions and 32 deletions.
diff --git a/launch/tier4_system_launch/launch/system.launch.xml b/launch/tier4_system_launch/launch/system.launch.xml
@@ -85,7 +85,7 @@
       </include>
     </group>
     <group>
-      <include file="$(find-pkg-share mrm_emergency_stop_operator)/launch/mrm_emergency_stop_operator.launch.py">
+      <include file="$(find-pkg-share autoware_mrm_emergency_stop_operator)/launch/mrm_emergency_stop_operator.launch.py">
         <arg name="config_file" value="$(var mrm_emergency_stop_operator_param_path)"/>
       </include>
     </group>

diff --git a/...mrm_emergency_stop_operator/CHANGELOG.rst → ...mrm_emergency_stop_operator/CHANGELOG.rst b/...mrm_emergency_stop_operator/CHANGELOG.rst → ...mrm_emergency_stop_operator/CHANGELOG.rst
diff --git a/system/autoware_mrm_emergency_stop_operator/CMakeLists.txt b/system/autoware_mrm_emergency_stop_operator/CMakeLists.txt
@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 3.14)
+project(autoware_mrm_emergency_stop_operator)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+ament_auto_add_library(${PROJECT_NAME}_component SHARED
+  src/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.cpp
+)
+
+rclcpp_components_register_node(${PROJECT_NAME}_component
+  PLUGIN "autoware::mrm_emergency_stop_operator::MrmEmergencyStopOperator"
+  EXECUTABLE ${PROJECT_NAME}_node
+)
+
+ament_auto_package(INSTALL_TO_SHARE
+  launch
+  config
+)
diff --git a/system/mrm_emergency_stop_operator/README.md → ...are_mrm_emergency_stop_operator/README.md b/system/mrm_emergency_stop_operator/README.md → ...are_mrm_emergency_stop_operator/README.md
diff --git a/...ig/mrm_emergency_stop_operator.param.yaml → ...ig/mrm_emergency_stop_operator.param.yaml b/...ig/mrm_emergency_stop_operator.param.yaml → ...ig/mrm_emergency_stop_operator.param.yaml
diff --git a/...ator/mrm_emergency_stop_operator_core.hpp → ...ator/mrm_emergency_stop_operator_core.hpp b/...ator/mrm_emergency_stop_operator_core.hpp → ...ator/mrm_emergency_stop_operator_core.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MRM_EMERGENCY_STOP_OPERATOR__MRM_EMERGENCY_STOP_OPERATOR_CORE_HPP_
-#define MRM_EMERGENCY_STOP_OPERATOR__MRM_EMERGENCY_STOP_OPERATOR_CORE_HPP_
+#ifndef AUTOWARE__MRM_EMERGENCY_STOP_OPERATOR__MRM_EMERGENCY_STOP_OPERATOR_CORE_HPP_
+#define AUTOWARE__MRM_EMERGENCY_STOP_OPERATOR__MRM_EMERGENCY_STOP_OPERATOR_CORE_HPP_
 
 // Core
 #include <functional>
@@ -28,7 +28,7 @@
 #include <rclcpp/rclcpp.hpp>
 
 #include <vector>
-namespace mrm_emergency_stop_operator
+namespace autoware::mrm_emergency_stop_operator
 {
 using autoware_control_msgs::msg::Control;
 using tier4_system_msgs::msg::MrmBehaviorStatus;
@@ -86,6 +86,6 @@ class MrmEmergencyStopOperator : public rclcpp::Node
   Control calcTargetAcceleration(const Control & prev_control_cmd) const;
 };
 
-}  // namespace mrm_emergency_stop_operator
+}  // namespace autoware::mrm_emergency_stop_operator
 
-#endif  // MRM_EMERGENCY_STOP_OPERATOR__MRM_EMERGENCY_STOP_OPERATOR_CORE_HPP_
+#endif  // AUTOWARE__MRM_EMERGENCY_STOP_OPERATOR__MRM_EMERGENCY_STOP_OPERATOR_CORE_HPP_
diff --git a/...nch/mrm_emergency_stop_operator.launch.py → ...nch/mrm_emergency_stop_operator.launch.py b/...nch/mrm_emergency_stop_operator.launch.py → ...nch/mrm_emergency_stop_operator.launch.py
@@ -28,8 +28,8 @@ def launch_setup(context, *args, **kwargs):
         params = yaml.safe_load(f)["/**"]["ros__parameters"]
 
     component = ComposableNode(
-        package="mrm_emergency_stop_operator",
-        plugin="mrm_emergency_stop_operator::MrmEmergencyStopOperator",
+        package="autoware_mrm_emergency_stop_operator",
+        plugin="autoware::mrm_emergency_stop_operator::MrmEmergencyStopOperator",
         name="mrm_emergency_stop_operator",
         parameters=[
             params,
@@ -61,7 +61,7 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "config_file",
             default_value=[
-                FindPackageShare("mrm_emergency_stop_operator"),
+                FindPackageShare("autoware_mrm_emergency_stop_operator"),
                 "/config/mrm_emergency_stop_operator.param.yaml",
             ],
             description="path to the parameter file of mrm_emergency_stop_operator",

diff --git a/...m/mrm_emergency_stop_operator/package.xml → ...e_mrm_emergency_stop_operator/package.xml b/...m/mrm_emergency_stop_operator/package.xml → ...e_mrm_emergency_stop_operator/package.xml
@@ -1,11 +1,12 @@
 <?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>mrm_emergency_stop_operator</name>
+  <name>autoware_mrm_emergency_stop_operator</name>
   <version>0.40.0</version>
   <description>The MRM emergency stop operator package</description>
   <maintainer email="[email protected]">Makoto Kurihara</maintainer>
   <maintainer email="[email protected]">Tomohito Ando</maintainer>
+  <maintainer email="[email protected]">Junya Sasaki</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>

diff --git a/...ator/mrm_emergency_stop_operator_core.cpp → ...ator/mrm_emergency_stop_operator_core.cpp b/...ator/mrm_emergency_stop_operator_core.cpp → ...ator/mrm_emergency_stop_operator_core.cpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.hpp"
+#include "autoware/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.hpp"
 
 #include <autoware/universe_utils/ros/update_param.hpp>
 
 #include <vector>
 
-namespace mrm_emergency_stop_operator
+namespace autoware::mrm_emergency_stop_operator
 {
 
 MrmEmergencyStopOperator::MrmEmergencyStopOperator(const rclcpp::NodeOptions & node_options)
@@ -150,7 +150,7 @@ Control MrmEmergencyStopOperator::calcTargetAcceleration(const Control & prev_co
   return control_cmd;
 }
 
-}  // namespace mrm_emergency_stop_operator
+}  // namespace autoware::mrm_emergency_stop_operator
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(mrm_emergency_stop_operator::MrmEmergencyStopOperator)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::mrm_emergency_stop_operator::MrmEmergencyStopOperator)
diff --git a/system/mrm_emergency_stop_operator/CMakeLists.txt b/system/mrm_emergency_stop_operator/CMakeLists.txt