diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index ac3fc7c7c955e..e9b7357e975b0 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -151,7 +151,7 @@ planning/autoware_behavior_velocity_virtual_traffic_light_module/** kosuke.takeu planning/autoware_planning_test_manager/** kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp planning/autoware_remaining_distance_time_calculator/** ahmed.ebrahim@leodrive.ai planning/autoware_static_centerline_generator/** kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp -planning/behavior_path_avoidance_by_lane_change_module/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp +planning/autoware_behavior_path_avoidance_by_lane_change_module/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp planning/behavior_path_avoidance_module/** fumiya.watanabe@tier4.jp go.sakayori@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp planning/behavior_path_dynamic_avoidance_module/** kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp yuki.takagi@tier4.jp planning/behavior_path_goal_planner_module/** daniel.sanchez@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp diff --git a/planning/.pages b/planning/.pages index 48dc8f32edf71..23e1fa29d9d17 100644 --- a/planning/.pages +++ b/planning/.pages @@ -10,7 +10,7 @@ nav: - 'Dynamic Drivable Area': planning/autoware_behavior_path_planner_common/docs/behavior_path_planner_drivable_area_design - 'Turn Signal': planning/autoware_behavior_path_planner_common/docs/behavior_path_planner_turn_signal_design - 'Scene Module': - - 'Avoidance by Lane Change': planning/behavior_path_avoidance_by_lane_change_module + - 'Avoidance by Lane Change': planning/autoware_behavior_path_avoidance_by_lane_change_module - 'Dynamic Obstacle Avoidance': planning/autoware_behavior_path_dynamic_obstacle_avoidance_module - 'Goal Planner': planning/behavior_path_goal_planner_module - 'Lane Change': planning/behavior_path_lane_change_module diff --git a/planning/behavior_path_avoidance_by_lane_change_module/CMakeLists.txt b/planning/autoware_behavior_path_avoidance_by_lane_change_module/CMakeLists.txt similarity index 90% rename from planning/behavior_path_avoidance_by_lane_change_module/CMakeLists.txt rename to planning/autoware_behavior_path_avoidance_by_lane_change_module/CMakeLists.txt index bca909c7cef7e..2ab88e04f96e5 100644 --- a/planning/behavior_path_avoidance_by_lane_change_module/CMakeLists.txt +++ b/planning/autoware_behavior_path_avoidance_by_lane_change_module/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(behavior_path_avoidance_by_lane_change_module) +project(autoware_behavior_path_avoidance_by_lane_change_module) find_package(autoware_cmake REQUIRED) autoware_package() diff --git a/planning/behavior_path_avoidance_by_lane_change_module/README.md b/planning/autoware_behavior_path_avoidance_by_lane_change_module/README.md similarity index 100% rename from planning/behavior_path_avoidance_by_lane_change_module/README.md rename to planning/autoware_behavior_path_avoidance_by_lane_change_module/README.md diff --git a/planning/behavior_path_avoidance_by_lane_change_module/config/avoidance_by_lane_change.param.yaml b/planning/autoware_behavior_path_avoidance_by_lane_change_module/config/avoidance_by_lane_change.param.yaml similarity index 100% rename from planning/behavior_path_avoidance_by_lane_change_module/config/avoidance_by_lane_change.param.yaml rename to planning/autoware_behavior_path_avoidance_by_lane_change_module/config/avoidance_by_lane_change.param.yaml diff --git a/planning/behavior_path_avoidance_by_lane_change_module/images/avoidance_by_lane_change.svg b/planning/autoware_behavior_path_avoidance_by_lane_change_module/images/avoidance_by_lane_change.svg similarity index 100% rename from planning/behavior_path_avoidance_by_lane_change_module/images/avoidance_by_lane_change.svg rename to planning/autoware_behavior_path_avoidance_by_lane_change_module/images/avoidance_by_lane_change.svg diff --git a/planning/behavior_path_avoidance_by_lane_change_module/images/avoidance_by_lc_trigger_1.svg b/planning/autoware_behavior_path_avoidance_by_lane_change_module/images/avoidance_by_lc_trigger_1.svg similarity index 100% rename from planning/behavior_path_avoidance_by_lane_change_module/images/avoidance_by_lc_trigger_1.svg rename to planning/autoware_behavior_path_avoidance_by_lane_change_module/images/avoidance_by_lc_trigger_1.svg diff --git a/planning/behavior_path_avoidance_by_lane_change_module/images/avoidance_by_lc_trigger_2.svg b/planning/autoware_behavior_path_avoidance_by_lane_change_module/images/avoidance_by_lc_trigger_2.svg similarity index 100% rename from planning/behavior_path_avoidance_by_lane_change_module/images/avoidance_by_lc_trigger_2.svg rename to planning/autoware_behavior_path_avoidance_by_lane_change_module/images/avoidance_by_lc_trigger_2.svg diff --git a/planning/behavior_path_avoidance_by_lane_change_module/include/behavior_path_avoidance_by_lane_change_module/data_structs.hpp b/planning/autoware_behavior_path_avoidance_by_lane_change_module/include/autoware_behavior_path_avoidance_by_lane_change_module/data_structs.hpp similarity index 82% rename from planning/behavior_path_avoidance_by_lane_change_module/include/behavior_path_avoidance_by_lane_change_module/data_structs.hpp rename to planning/autoware_behavior_path_avoidance_by_lane_change_module/include/autoware_behavior_path_avoidance_by_lane_change_module/data_structs.hpp index d7fd8b82bd71e..836ad75d9a7a0 100644 --- a/planning/behavior_path_avoidance_by_lane_change_module/include/behavior_path_avoidance_by_lane_change_module/data_structs.hpp +++ b/planning/autoware_behavior_path_avoidance_by_lane_change_module/include/autoware_behavior_path_avoidance_by_lane_change_module/data_structs.hpp @@ -11,8 +11,8 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. -#ifndef BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__DATA_STRUCTS_HPP_ -#define BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__DATA_STRUCTS_HPP_ +#ifndef AUTOWARE_BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__DATA_STRUCTS_HPP_ +#define AUTOWARE_BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__DATA_STRUCTS_HPP_ #include "autoware_behavior_path_static_obstacle_avoidance_module/data_structs.hpp" @@ -32,4 +32,4 @@ struct AvoidanceByLCParameters : public AvoidanceParameters }; } // namespace behavior_path_planner -#endif // BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__DATA_STRUCTS_HPP_ +#endif // AUTOWARE_BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__DATA_STRUCTS_HPP_ diff --git a/planning/behavior_path_avoidance_by_lane_change_module/include/behavior_path_avoidance_by_lane_change_module/interface.hpp b/planning/autoware_behavior_path_avoidance_by_lane_change_module/include/autoware_behavior_path_avoidance_by_lane_change_module/interface.hpp similarity index 79% rename from planning/behavior_path_avoidance_by_lane_change_module/include/behavior_path_avoidance_by_lane_change_module/interface.hpp rename to planning/autoware_behavior_path_avoidance_by_lane_change_module/include/autoware_behavior_path_avoidance_by_lane_change_module/interface.hpp index 897956a392008..519cb6f8f0dfc 100644 --- a/planning/behavior_path_avoidance_by_lane_change_module/include/behavior_path_avoidance_by_lane_change_module/interface.hpp +++ b/planning/autoware_behavior_path_avoidance_by_lane_change_module/include/autoware_behavior_path_avoidance_by_lane_change_module/interface.hpp @@ -12,11 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__INTERFACE_HPP_ -#define BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__INTERFACE_HPP_ +#ifndef AUTOWARE_BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__INTERFACE_HPP_ +#define AUTOWARE_BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__INTERFACE_HPP_ -#include "behavior_path_avoidance_by_lane_change_module/data_structs.hpp" -#include "behavior_path_avoidance_by_lane_change_module/scene.hpp" +#include "autoware_behavior_path_avoidance_by_lane_change_module/data_structs.hpp" +#include "autoware_behavior_path_avoidance_by_lane_change_module/scene.hpp" #include "behavior_path_lane_change_module/interface.hpp" #include @@ -47,4 +47,4 @@ class AvoidanceByLaneChangeInterface : public LaneChangeInterface }; } // namespace behavior_path_planner -#endif // BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__INTERFACE_HPP_ +#endif // AUTOWARE_BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__INTERFACE_HPP_ diff --git a/planning/behavior_path_avoidance_by_lane_change_module/include/behavior_path_avoidance_by_lane_change_module/manager.hpp b/planning/autoware_behavior_path_avoidance_by_lane_change_module/include/autoware_behavior_path_avoidance_by_lane_change_module/manager.hpp similarity index 77% rename from planning/behavior_path_avoidance_by_lane_change_module/include/behavior_path_avoidance_by_lane_change_module/manager.hpp rename to planning/autoware_behavior_path_avoidance_by_lane_change_module/include/autoware_behavior_path_avoidance_by_lane_change_module/manager.hpp index 75fa67e7fe1a3..8b80d7652e58d 100644 --- a/planning/behavior_path_avoidance_by_lane_change_module/include/behavior_path_avoidance_by_lane_change_module/manager.hpp +++ b/planning/autoware_behavior_path_avoidance_by_lane_change_module/include/autoware_behavior_path_avoidance_by_lane_change_module/manager.hpp @@ -12,11 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__MANAGER_HPP_ -#define BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__MANAGER_HPP_ +#ifndef AUTOWARE_BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__MANAGER_HPP_ +#define AUTOWARE_BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__MANAGER_HPP_ -#include "behavior_path_avoidance_by_lane_change_module/data_structs.hpp" -#include "behavior_path_avoidance_by_lane_change_module/interface.hpp" +#include "autoware_behavior_path_avoidance_by_lane_change_module/data_structs.hpp" +#include "autoware_behavior_path_avoidance_by_lane_change_module/interface.hpp" #include "behavior_path_lane_change_module/manager.hpp" #include @@ -49,4 +49,4 @@ class AvoidanceByLaneChangeModuleManager : public LaneChangeModuleManager }; } // namespace behavior_path_planner -#endif // BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__MANAGER_HPP_ +#endif // AUTOWARE_BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__MANAGER_HPP_ diff --git a/planning/behavior_path_avoidance_by_lane_change_module/include/behavior_path_avoidance_by_lane_change_module/scene.hpp b/planning/autoware_behavior_path_avoidance_by_lane_change_module/include/autoware_behavior_path_avoidance_by_lane_change_module/scene.hpp similarity index 86% rename from planning/behavior_path_avoidance_by_lane_change_module/include/behavior_path_avoidance_by_lane_change_module/scene.hpp rename to planning/autoware_behavior_path_avoidance_by_lane_change_module/include/autoware_behavior_path_avoidance_by_lane_change_module/scene.hpp index 4ef4c0673c0c5..b7de8f2a2b238 100644 --- a/planning/behavior_path_avoidance_by_lane_change_module/include/behavior_path_avoidance_by_lane_change_module/scene.hpp +++ b/planning/autoware_behavior_path_avoidance_by_lane_change_module/include/autoware_behavior_path_avoidance_by_lane_change_module/scene.hpp @@ -12,11 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__SCENE_HPP_ -#define BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__SCENE_HPP_ +#ifndef AUTOWARE_BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__SCENE_HPP_ +#define AUTOWARE_BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__SCENE_HPP_ +#include "autoware_behavior_path_avoidance_by_lane_change_module/data_structs.hpp" #include "autoware_behavior_path_static_obstacle_avoidance_module/helper.hpp" -#include "behavior_path_avoidance_by_lane_change_module/data_structs.hpp" #include "behavior_path_lane_change_module/scene.hpp" #include @@ -61,4 +61,4 @@ class AvoidanceByLaneChange : public NormalLaneChange }; } // namespace behavior_path_planner -#endif // BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__SCENE_HPP_ +#endif // AUTOWARE_BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__SCENE_HPP_ diff --git a/planning/behavior_path_avoidance_by_lane_change_module/package.xml b/planning/autoware_behavior_path_avoidance_by_lane_change_module/package.xml similarity index 90% rename from planning/behavior_path_avoidance_by_lane_change_module/package.xml rename to planning/autoware_behavior_path_avoidance_by_lane_change_module/package.xml index 1b11b6d8d445d..a73c4a3b070cd 100644 --- a/planning/behavior_path_avoidance_by_lane_change_module/package.xml +++ b/planning/autoware_behavior_path_avoidance_by_lane_change_module/package.xml @@ -1,9 +1,9 @@ - behavior_path_avoidance_by_lane_change_module + autoware_behavior_path_avoidance_by_lane_change_module 0.1.0 - The behavior_path_avoidance_by_lane_change_module package + The autoware_behavior_path_avoidance_by_lane_change_module package Satoshi Ota Zulfaqar Azmi diff --git a/planning/behavior_path_avoidance_by_lane_change_module/plugins.xml b/planning/autoware_behavior_path_avoidance_by_lane_change_module/plugins.xml similarity index 68% rename from planning/behavior_path_avoidance_by_lane_change_module/plugins.xml rename to planning/autoware_behavior_path_avoidance_by_lane_change_module/plugins.xml index 092d54c096ae9..f676caadc0d55 100644 --- a/planning/behavior_path_avoidance_by_lane_change_module/plugins.xml +++ b/planning/autoware_behavior_path_avoidance_by_lane_change_module/plugins.xml @@ -1,3 +1,3 @@ - + diff --git a/planning/behavior_path_avoidance_by_lane_change_module/src/interface.cpp b/planning/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.cpp similarity index 96% rename from planning/behavior_path_avoidance_by_lane_change_module/src/interface.cpp rename to planning/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.cpp index bae9112e6d840..f3feba90be40d 100644 --- a/planning/behavior_path_avoidance_by_lane_change_module/src/interface.cpp +++ b/planning/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "behavior_path_avoidance_by_lane_change_module/interface.hpp" +#include "autoware_behavior_path_avoidance_by_lane_change_module/interface.hpp" #include "autoware_behavior_path_planner_common/interface/scene_module_interface.hpp" #include "autoware_behavior_path_planner_common/interface/scene_module_visitor.hpp" diff --git a/planning/behavior_path_avoidance_by_lane_change_module/src/manager.cpp b/planning/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.cpp similarity index 98% rename from planning/behavior_path_avoidance_by_lane_change_module/src/manager.cpp rename to planning/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.cpp index 868b2585170f9..563e7483e853d 100644 --- a/planning/behavior_path_avoidance_by_lane_change_module/src/manager.cpp +++ b/planning/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.cpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "behavior_path_avoidance_by_lane_change_module/manager.hpp" +#include "autoware_behavior_path_avoidance_by_lane_change_module/manager.hpp" +#include "autoware_behavior_path_avoidance_by_lane_change_module/data_structs.hpp" #include "autoware_behavior_path_static_obstacle_avoidance_module/parameter_helper.hpp" -#include "behavior_path_avoidance_by_lane_change_module/data_structs.hpp" #include "tier4_autoware_utils/ros/parameter.hpp" #include "tier4_autoware_utils/ros/update_param.hpp" diff --git a/planning/behavior_path_avoidance_by_lane_change_module/src/scene.cpp b/planning/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.cpp similarity index 99% rename from planning/behavior_path_avoidance_by_lane_change_module/src/scene.cpp rename to planning/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.cpp index e0ebeebba955c..da8ca1c55b312 100644 --- a/planning/behavior_path_avoidance_by_lane_change_module/src/scene.cpp +++ b/planning/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "behavior_path_avoidance_by_lane_change_module/scene.hpp" +#include "autoware_behavior_path_avoidance_by_lane_change_module/scene.hpp" #include "autoware_behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp" #include "autoware_behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp" diff --git a/planning/behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp b/planning/autoware_behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp similarity index 81% rename from planning/behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp rename to planning/autoware_behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp index 69ce87aabc7b4..70e42cec1c653 100644 --- a/planning/behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp +++ b/planning/autoware_behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp @@ -59,19 +59,19 @@ std::shared_ptr generateNode() node_options.parameter_overrides(params); test_utils::updateNodeOptions( - node_options, - {planning_test_utils_dir + "/config/test_common.param.yaml", - planning_test_utils_dir + "/config/test_nearest_search.param.yaml", - planning_test_utils_dir + "/config/test_vehicle_info.param.yaml", - behavior_path_planner_dir + "/config/behavior_path_planner.param.yaml", - behavior_path_planner_dir + "/config/drivable_area_expansion.param.yaml", - behavior_path_planner_dir + "/config/scene_module_manager.param.yaml", - behavior_path_lane_change_module_dir + "/config/lane_change.param.yaml", - ament_index_cpp::get_package_share_directory( - "autoware_behavior_path_static_obstacle_avoidance_module") + - "/config/static_obstacle_avoidance.param.yaml", - ament_index_cpp::get_package_share_directory("behavior_path_avoidance_by_lane_change_module") + - "/config/avoidance_by_lane_change.param.yaml"}); + node_options, {planning_test_utils_dir + "/config/test_common.param.yaml", + planning_test_utils_dir + "/config/test_nearest_search.param.yaml", + planning_test_utils_dir + "/config/test_vehicle_info.param.yaml", + behavior_path_planner_dir + "/config/behavior_path_planner.param.yaml", + behavior_path_planner_dir + "/config/drivable_area_expansion.param.yaml", + behavior_path_planner_dir + "/config/scene_module_manager.param.yaml", + behavior_path_lane_change_module_dir + "/config/lane_change.param.yaml", + ament_index_cpp::get_package_share_directory( + "autoware_behavior_path_static_obstacle_avoidance_module") + + "/config/static_obstacle_avoidance.param.yaml", + ament_index_cpp::get_package_share_directory( + "autoware_behavior_path_avoidance_by_lane_change_module") + + "/config/avoidance_by_lane_change.param.yaml"}); return std::make_shared(node_options); } diff --git a/planning/behavior_path_planner/README.md b/planning/behavior_path_planner/README.md index 2e79589c9f1bd..add2fd27d15df 100644 --- a/planning/behavior_path_planner/README.md +++ b/planning/behavior_path_planner/README.md @@ -29,7 +29,7 @@ Behavior Path Planner has following scene modules | Lane Following | this module generates reference path from lanelet centerline. | LINK | | Static Obstacle Avoidance | this module generates avoidance path when there is objects that should be avoid. | [LINK](../autoware_behavior_path_static_obstacle_avoidance_module/README.md) | | Dynamic Obstacle Avoidance | WIP | [LINK](../autoware_behavior_path_dynamic_obstacle_avoidance_module/README.md) | -| Avoidance By Lane Change | this module generates lane change path when there is objects that should be avoid. | [LINK](../behavior_path_avoidance_by_lane_change_module/README.md) | +| Avoidance By Lane Change | this module generates lane change path when there is objects that should be avoid. | [LINK](../autoware_behavior_path_avoidance_by_lane_change_module/README.md) | | Lane Change | this module is performed when it is necessary and a collision check with other vehicles is cleared. | [LINK](../behavior_path_lane_change_module/README.md) | | External Lane Change | WIP | LINK | | Goal Planner | this module is performed when ego-vehicle is in the road lane and goal is in the shoulder lane. ego-vehicle will stop at the goal. | [LINK](../behavior_path_goal_planner_module/README.md) |