feat: apply autoware_ prefix for control_performance_analysis (#9982

) * feat(control_performance_analysis): 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(control_performance_analysis): 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(control_performance_analysis): fix include paths * To follow the previous commit Signed-off-by: Junya Sasaki <[email protected]> * rename: `control_performance_analysis` => `autoware_control_performance_analysis` Signed-off-by: Junya Sasaki <[email protected]> * style(pre-commit): autofix * bug(autoware_control_performance_analysis): fix inconsistent namespacing Signed-off-by: Junya Sasaki <[email protected]> * style(pre-commit): autofix * update(autoware_control_performance_analysis): `README.md` Signed-off-by: Junya Sasaki <[email protected]> * bug(autoware_control_performance_analysis): fix critical bugs that contaminate topic name Signed-off-by: Junya Sasaki <[email protected]> * style(pre-commit): autofix * fix: update package name for error_rqt_multiplot.xml Signed-off-by: Ryohsuke Mitsudome <[email protected]> * fix: update package name for control_performance_plot.py Signed-off-by: Ryohsuke Mitsudome <[email protected]> * docs(autoware_control_performance_analysis): update package name in README and CHANGELOG.rst Signed-off-by: Ryohsuke Mitsudome <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: Junya Sasaki <[email protected]> Signed-off-by: Ryohsuke Mitsudome <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <[email protected]> Co-authored-by: SakodaShintaro <[email protected]>
autowarefoundation · Jan 24, 2025 · ecc93f1 · ecc93f1
1 parent 2169394
commit ecc93f1
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diff --git a/...ontrol_performance_analysis/CHANGELOG.rst → ...ontrol_performance_analysis/CHANGELOG.rst b/...ontrol_performance_analysis/CHANGELOG.rst → ...ontrol_performance_analysis/CHANGELOG.rst
@@ -1,6 +1,6 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package control_performance_analysis
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package autoware_control_performance_analysis
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 0.40.0 (2024-12-12)
 -------------------

diff --git a/...ntrol_performance_analysis/CMakeLists.txt → ...ntrol_performance_analysis/CMakeLists.txt b/...ntrol_performance_analysis/CMakeLists.txt → ...ntrol_performance_analysis/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(control_performance_analysis)
+project(autoware_control_performance_analysis)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
@@ -19,7 +19,7 @@ find_package(rosidl_default_generators REQUIRED)
 find_package(std_msgs REQUIRED)
 
 rosidl_generate_interfaces(
-        control_performance_analysis
+        ${PROJECT_NAME}
         "msg/Error.msg"
         "msg/ErrorStamped.msg"
         "msg/DrivingMonitorStamped.msg"
@@ -40,12 +40,12 @@ ament_auto_add_library(
 
 if(${rosidl_cmake_VERSION} VERSION_LESS 2.5.0)
     rosidl_target_interfaces(control_performance_analysis_node
-            control_performance_analysis "rosidl_typesupport_cpp")
+            ${PROJECT_NAME} "rosidl_typesupport_cpp")
     rosidl_target_interfaces(control_performance_analysis_core
-            control_performance_analysis "rosidl_typesupport_cpp")
+            ${PROJECT_NAME} "rosidl_typesupport_cpp")
 else()
     rosidl_get_typesupport_target(
-            cpp_typesupport_target control_performance_analysis "rosidl_typesupport_cpp")
+            cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
     target_link_libraries(control_performance_analysis_node "${cpp_typesupport_target}")
     target_link_libraries(control_performance_analysis_core "${cpp_typesupport_target}")
 
@@ -58,8 +58,8 @@ target_link_libraries(
 
 rclcpp_components_register_node(
         control_performance_analysis_node
-        PLUGIN "control_performance_analysis::ControlPerformanceAnalysisNode"
-        EXECUTABLE control_performance_analysis_exe
+        PLUGIN "autoware::control_performance_analysis::ControlPerformanceAnalysisNode"
+        EXECUTABLE ${PROJECT_NAME}_node
 )
 
 ament_auto_package(

diff --git a/...ol/control_performance_analysis/README.md → ...re_control_performance_analysis/README.md b/...ol/control_performance_analysis/README.md → ...re_control_performance_analysis/README.md
@@ -1,13 +1,13 @@
-# control_performance_analysis
+# autoware_control_performance_analysis
 
 ## Purpose
 
-`control_performance_analysis` is the package to analyze the tracking performance of a control module and monitor the driving status of the vehicle.
+`autoware_control_performance_analysis` is the package to analyze the tracking performance of a control module and monitor the driving status of the vehicle.
 
 This package is used as a tool to quantify the results of the control module.
 That's why it doesn't interfere with the core logic of autonomous driving.
 
-Based on the various input from planning, control, and vehicle, it publishes the result of analysis as `control_performance_analysis::msg::ErrorStamped` defined in this package.
+Based on the various input from planning, control, and vehicle, it publishes the result of analysis as `autoware_control_performance_analysis::msg::ErrorStamped` defined in this package.
 
 All results in `ErrorStamped` message are calculated in Frenet Frame of curve. Errors and velocity errors are calculated by using paper below.
 
@@ -35,14 +35,14 @@ Error acceleration calculations are made based on the velocity calculations abov
 
 ### Output topics
 
-| Name                                    | Type                                                     | Description                                         |
-| --------------------------------------- | -------------------------------------------------------- | --------------------------------------------------- |
-| `/control_performance/performance_vars` | control_performance_analysis::msg::ErrorStamped          | The result of the performance analysis.             |
-| `/control_performance/driving_status`   | control_performance_analysis::msg::DrivingMonitorStamped | Driving status (acceleration, jerk etc.) monitoring |
+| Name                                    | Type                                                              | Description                                         |
+| --------------------------------------- | ----------------------------------------------------------------- | --------------------------------------------------- |
+| `/control_performance/performance_vars` | autoware_control_performance_analysis::msg::ErrorStamped          | The result of the performance analysis.             |
+| `/control_performance/driving_status`   | autoware_control_performance_analysis::msg::DrivingMonitorStamped | Driving status (acceleration, jerk etc.) monitoring |
 
 ### Outputs
 
-#### control_performance_analysis::msg::DrivingMonitorStamped
+#### autoware_control_performance_analysis::msg::DrivingMonitorStamped
 
 | Name                         | Type  | Description                                                           |
 | ---------------------------- | ----- | --------------------------------------------------------------------- |
@@ -53,7 +53,7 @@ Error acceleration calculations are made based on the velocity calculations abov
 | `desired_steering_angle`     | float | $[ \mathrm{rad} ]$                                                    |
 | `controller_processing_time` | float | Timestamp between last two control command messages $[ \mathrm{ms} ]$ |
 
-#### control_performance_analysis::msg::ErrorStamped
+#### autoware_control_performance_analysis::msg::ErrorStamped
 
 | Name                                       | Type  | Description                                                                                                                               |
 | ------------------------------------------ | ----- | ----------------------------------------------------------------------------------------------------------------------------------------- |

diff --git a/...g/control_performance_analysis.param.yaml → ...g/control_performance_analysis.param.yaml b/...g/control_performance_analysis.param.yaml → ...g/control_performance_analysis.param.yaml
diff --git a/...ce_analysis/config/controller_monitor.xml → ...ce_analysis/config/controller_monitor.xml b/...ce_analysis/config/controller_monitor.xml → ...ce_analysis/config/controller_monitor.xml
diff --git a/...e_analysis/config/error_rqt_multiplot.xml → ...e_analysis/config/error_rqt_multiplot.xml b/...e_analysis/config/error_rqt_multiplot.xml → ...e_analysis/config/error_rqt_multiplot.xml
@@ -36,7 +36,7 @@
                                         <type>0</type>
                                     </scale>
                                     <topic>/control_performance/performance_vars</topic>
-                                    <type>control_performance_analysis/ErrorStamped</type>
+                                    <type>autoware_control_performance_analysis/ErrorStamped</type>
                                 </x_axis>
                                 <y_axis>
                                     <field>error/lateral_error</field>
@@ -49,7 +49,7 @@
                                         <type>0</type>
                                     </scale>
                                     <topic>/control_performance/performance_vars</topic>
-                                    <type>control_performance_analysis/ErrorStamped</type>
+                                    <type>autoware_control_performance_analysis/ErrorStamped</type>
                                 </y_axis>
                             </axes>
                             <color>
@@ -110,7 +110,7 @@
                                         <type>0</type>
                                     </scale>
                                     <topic>/control_performance/performance_vars</topic>
-                                    <type>control_performance_analysis/ErrorStamped</type>
+                                    <type>autoware_control_performance_analysis/ErrorStamped</type>
                                 </x_axis>
                                 <y_axis>
                                     <field>error/error_energy</field>
@@ -123,7 +123,7 @@
                                         <type>0</type>
                                     </scale>
                                     <topic>/control_performance/performance_vars</topic>
-                                    <type>control_performance_analysis/ErrorStamped</type>
+                                    <type>autoware_control_performance_analysis/ErrorStamped</type>
                                 </y_axis>
                             </axes>
                             <color>
@@ -184,7 +184,7 @@
                                         <type>0</type>
                                     </scale>
                                     <topic>/control_performance/performance_vars</topic>
-                                    <type>control_performance_analysis/ErrorStamped</type>
+                                    <type>autoware_control_performance_analysis/ErrorStamped</type>
                                 </x_axis>
                                 <y_axis>
                                     <field>error/lateral_error_velocity</field>
@@ -197,7 +197,7 @@
                                         <type>0</type>
                                     </scale>
                                     <topic>/control_performance/performance_vars</topic>
-                                    <type>control_performance_analysis/ErrorStamped</type>
+                                    <type>autoware_control_performance_analysis/ErrorStamped</type>
                                 </y_axis>
                             </axes>
                             <color>
@@ -260,7 +260,7 @@
                                         <type>0</type>
                                     </scale>
                                     <topic>/control_performance/performance_vars</topic>
-                                    <type>control_performance_analysis/ErrorStamped</type>
+                                    <type>autoware_control_performance_analysis/ErrorStamped</type>
                                 </x_axis>
                                 <y_axis>
                                     <field>error/heading_error</field>
@@ -273,7 +273,7 @@
                                         <type>0</type>
                                     </scale>
                                     <topic>/control_performance/performance_vars</topic>
-                                    <type>control_performance_analysis/ErrorStamped</type>
+                                    <type>autoware_control_performance_analysis/ErrorStamped</type>
                                 </y_axis>
                             </axes>
                             <color>
@@ -334,7 +334,7 @@
                                         <type>0</type>
                                     </scale>
                                     <topic>/control_performance/performance_vars</topic>
-                                    <type>control_performance_analysis/ErrorStamped</type>
+                                    <type>autoware_control_performance_analysis/ErrorStamped</type>
                                 </x_axis>
                                 <y_axis>
                                     <field>error/control_effort_energy</field>
@@ -347,7 +347,7 @@
                                         <type>0</type>
                                     </scale>
                                     <topic>/control_performance/performance_vars</topic>
-                                    <type>control_performance_analysis/ErrorStamped</type>
+                                    <type>autoware_control_performance_analysis/ErrorStamped</type>
                                 </y_axis>
                             </axes>
                             <color>
@@ -408,7 +408,7 @@
                                         <type>0</type>
                                     </scale>
                                     <topic>/control_performance/performance_vars</topic>
-                                    <type>control_performance_analysis/ErrorStamped</type>
+                                    <type>autoware_control_performance_analysis/ErrorStamped</type>
                                 </x_axis>
                                 <y_axis>
                                     <field>error/lateral_error_acceleration</field>
@@ -421,7 +421,7 @@
                                         <type>0</type>
                                     </scale>
                                     <topic>/control_performance/performance_vars</topic>
-                                    <type>control_performance_analysis/ErrorStamped</type>
+                                    <type>autoware_control_performance_analysis/ErrorStamped</type>
                                 </y_axis>
                             </axes>
                             <color>
@@ -484,7 +484,7 @@
                                         <type>0</type>
                                     </scale>
                                     <topic>/control_performance/performance_vars</topic>
-                                    <type>control_performance_analysis/ErrorStamped</type>
+                                    <type>autoware_control_performance_analysis/ErrorStamped</type>
                                 </x_axis>
                                 <y_axis>
                                     <field>error/value_approximation</field>
@@ -497,7 +497,7 @@
                                         <type>0</type>
                                     </scale>
                                     <topic>/control_performance/performance_vars</topic>
-                                    <type>control_performance_analysis/ErrorStamped</type>
+                                    <type>autoware_control_performance_analysis/ErrorStamped</type>
                                 </y_axis>
                             </axes>
                             <color>
@@ -558,7 +558,7 @@
                                         <type>0</type>
                                     </scale>
                                     <topic>/control_performance/performance_vars</topic>
-                                    <type>control_performance_analysis/ErrorStamped</type>
+                                    <type>autoware_control_performance_analysis/ErrorStamped</type>
                                 </x_axis>
                                 <y_axis>
                                     <field>error/curvature_estimate</field>
@@ -571,7 +571,7 @@
                                         <type>0</type>
                                     </scale>
                                     <topic>/control_performance/performance_vars</topic>
-                                    <type>control_performance_analysis/ErrorStamped</type>
+                                    <type>autoware_control_performance_analysis/ErrorStamped</type>
                                 </y_axis>
                             </axes>
                             <color>

diff --git a/...sis/control_performance_analysis_core.hpp → ...sis/control_performance_analysis_core.hpp b/...sis/control_performance_analysis_core.hpp → ...sis/control_performance_analysis_core.hpp
@@ -1,4 +1,4 @@
-// Copyright 2021 - 2022 Tier IV, Inc., Leo Drive Teknoloji A.Ş.
+// Copyright 2021 - 2025 Tier IV, Inc., Leo Drive Teknoloji A.Ş.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_CORE_HPP_
-#define CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_CORE_HPP_
+#ifndef AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_CORE_HPP_
+#define AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_CORE_HPP_
 
+#include "autoware/control_performance_analysis/control_performance_analysis_utils.hpp"
 #include "autoware/motion_utils/trajectory/trajectory.hpp"
-#include "control_performance_analysis/control_performance_analysis_utils.hpp"
-#include "control_performance_analysis/msg/driving_monitor_stamped.hpp"
-#include "control_performance_analysis/msg/error_stamped.hpp"
-#include "control_performance_analysis/msg/float_stamped.hpp"
+#include "autoware_control_performance_analysis/msg/driving_monitor_stamped.hpp"
+#include "autoware_control_performance_analysis/msg/error_stamped.hpp"
+#include "autoware_control_performance_analysis/msg/float_stamped.hpp"
 
 #include <Eigen/Core>
 #include <rclcpp/time.hpp>
@@ -37,15 +37,15 @@
 #include <utility>
 #include <vector>
 
-namespace control_performance_analysis
+namespace autoware::control_performance_analysis
 {
 using autoware_control_msgs::msg::Control;
+using autoware_control_performance_analysis::msg::DrivingMonitorStamped;
+using autoware_control_performance_analysis::msg::Error;
+using autoware_control_performance_analysis::msg::ErrorStamped;
+using autoware_control_performance_analysis::msg::FloatStamped;
 using autoware_planning_msgs::msg::Trajectory;
 using autoware_vehicle_msgs::msg::SteeringReport;
-using control_performance_analysis::msg::DrivingMonitorStamped;
-using control_performance_analysis::msg::Error;
-using control_performance_analysis::msg::ErrorStamped;
-using control_performance_analysis::msg::FloatStamped;
 using geometry_msgs::msg::Pose;
 using geometry_msgs::msg::PoseArray;
 using geometry_msgs::msg::Twist;
@@ -129,6 +129,6 @@ class ControlPerformanceAnalysisCore
   rclcpp::Logger logger_{rclcpp::get_logger("control_performance_analysis")};
   rclcpp::Clock clock_{RCL_ROS_TIME};
 };
-}  // namespace control_performance_analysis
+}  // namespace autoware::control_performance_analysis
 
-#endif  // CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_CORE_HPP_
+#endif  // AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_CORE_HPP_
diff --git a/...sis/control_performance_analysis_node.hpp → ...sis/control_performance_analysis_node.hpp b/...sis/control_performance_analysis_node.hpp → ...sis/control_performance_analysis_node.hpp
@@ -1,4 +1,4 @@
-// Copyright 2021 - 2022 Tier IV, Inc., Leo Drive Teknoloji A.Ş.
+// Copyright 2021 - 2025 Tier IV, Inc., Leo Drive Teknoloji A.Ş.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_NODE_HPP_
-#define CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_NODE_HPP_
+#ifndef AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_NODE_HPP_
+#define AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_NODE_HPP_
 
-#include "control_performance_analysis/control_performance_analysis_core.hpp"
-#include "control_performance_analysis/msg/driving_monitor_stamped.hpp"
-#include "control_performance_analysis/msg/error_stamped.hpp"
+#include "autoware/control_performance_analysis/control_performance_analysis_core.hpp"
+#include "autoware_control_performance_analysis/msg/driving_monitor_stamped.hpp"
+#include "autoware_control_performance_analysis/msg/error_stamped.hpp"
 
 #include <autoware/signal_processing/lowpass_filter_1d.hpp>
 #include <autoware/universe_utils/ros/self_pose_listener.hpp>
@@ -34,13 +34,13 @@
 #include <memory>
 #include <utility>
 
-namespace control_performance_analysis
+namespace autoware::control_performance_analysis
 {
 using autoware_control_msgs::msg::Control;
+using autoware_control_performance_analysis::msg::DrivingMonitorStamped;
+using autoware_control_performance_analysis::msg::ErrorStamped;
 using autoware_planning_msgs::msg::Trajectory;
 using autoware_vehicle_msgs::msg::SteeringReport;
-using control_performance_analysis::msg::DrivingMonitorStamped;
-using control_performance_analysis::msg::ErrorStamped;
 using geometry_msgs::msg::PoseStamped;
 using nav_msgs::msg::Odometry;
 
@@ -92,6 +92,6 @@ class ControlPerformanceAnalysisNode : public rclcpp::Node
   // Algorithm
   std::unique_ptr<ControlPerformanceAnalysisCore> control_performance_core_ptr_;
 };
-}  // namespace control_performance_analysis
+}  // namespace autoware::control_performance_analysis
 
-#endif  // CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_NODE_HPP_
+#endif  // AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_NODE_HPP_