fix(autoware_static_centerline_generator): remove prefix from topics …

…and node names (#7028) Signed-off-by: Esteve Fernandez <[email protected]>
autowarefoundation · May 15, 2024 · 5889e9a · 5889e9a
1 parent 017b3fb
commit 5889e9a
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Showing 4 changed files with 12 additions and 12 deletions.
diff --git a/planning/autoware_static_centerline_generator/rviz/static_centerline_generator.rviz b/planning/autoware_static_centerline_generator/rviz/static_centerline_generator.rviz
@@ -130,7 +130,7 @@ Visualization Manager:
         Filter size: 10
         History Policy: Keep Last
         Reliability Policy: Reliable
-        Value: /autoware_static_centerline_generator/input_centerline
+        Value: /static_centerline_generator/input_centerline
       Value: true
       View Drivable Area:
         Alpha: 0.9990000128746033
@@ -179,7 +179,7 @@ Visualization Manager:
         Filter size: 10
         History Policy: Keep Last
         Reliability Policy: Reliable
-        Value: /autoware_static_centerline_generator/output_centerline
+        Value: /static_centerline_generator/output_centerline
       Value: true
       View Footprint:
         Alpha: 1
@@ -222,7 +222,7 @@ Visualization Manager:
             Filter size: 10
             History Policy: Keep Last
             Reliability Policy: Reliable
-            Value: /autoware_static_centerline_generator/debug/raw_centerline
+            Value: /static_centerline_generator/debug/raw_centerline
           Value: false
           View Drivable Area:
             Alpha: 0.9990000128746033
@@ -268,7 +268,7 @@ Visualization Manager:
             Durability Policy: Transient Local
             History Policy: Keep Last
             Reliability Policy: Reliable
-            Value: /autoware_static_centerline_generator/debug/unsafe_footprints
+            Value: /static_centerline_generator/debug/unsafe_footprints
           Value: true
       Enabled: false
       Name: debug

diff --git a/planning/autoware_static_centerline_generator/scripts/app.py b/planning/autoware_static_centerline_generator/scripts/app.py
@@ -51,7 +51,7 @@ def get_map():
     map_id = map_uuid
 
     # create client
-    cli = create_client(LoadMap, "/planning/autoware_static_centerline_generator/load_map")
+    cli = create_client(LoadMap, "/planning/static_centerline_generator/load_map")
 
     # request map loading
     req = LoadMap.Request(map=data["map"])
@@ -85,7 +85,7 @@ def post_planned_route():
         print("map_id is not correct.")
 
     # create client
-    cli = create_client(PlanRoute, "/planning/autoware_static_centerline_generator/plan_route")
+    cli = create_client(PlanRoute, "/planning/static_centerline_generator/plan_route")
 
     # request route planning
     req = PlanRoute.Request(
@@ -123,7 +123,7 @@ def post_planned_path():
         print("map_id is not correct.")
 
     # create client
-    cli = create_client(PlanPath, "/planning/autoware_static_centerline_generator/plan_path")
+    cli = create_client(PlanPath, "/planning/static_centerline_generator/plan_path")
 
     # request path planning
     route_lane_ids = [eval(i) for i in request.args.getlist("route[]")]

diff --git a/planning/autoware_static_centerline_generator/scripts/centerline_updater_helper.py b/planning/autoware_static_centerline_generator/scripts/centerline_updater_helper.py
@@ -155,7 +155,7 @@ def __init__(self):
         transient_local_qos = QoSProfile(depth=1, durability=QoSDurabilityPolicy.TRANSIENT_LOCAL)
         self.sub_whole_centerline = self.create_subscription(
             Trajectory,
-            "/autoware_static_centerline_generator/output_whole_centerline",
+            "/static_centerline_generator/output_whole_centerline",
             self.onWholeCenterline,
             transient_local_qos,
         )

diff --git a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp
@@ -169,7 +169,7 @@ std::vector<TrajectoryPoint> resample_trajectory_points(
 
 StaticCenterlineGeneratorNode::StaticCenterlineGeneratorNode(
   const rclcpp::NodeOptions & node_options)
-: Node("autoware_static_centerline_generator", node_options)
+: Node("static_centerline_generator", node_options)
 {
   // publishers
   pub_map_bin_ =
@@ -217,19 +217,19 @@ StaticCenterlineGeneratorNode::StaticCenterlineGeneratorNode(
   // services
   callback_group_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
   srv_load_map_ = create_service<LoadMap>(
-    "/planning/autoware_static_centerline_generator/load_map",
+    "/planning/static_centerline_generator/load_map",
     std::bind(
       &StaticCenterlineGeneratorNode::on_load_map, this, std::placeholders::_1,
       std::placeholders::_2),
     rmw_qos_profile_services_default, callback_group_);
   srv_plan_route_ = create_service<PlanRoute>(
-    "/planning/autoware_static_centerline_generator/plan_route",
+    "/planning/static_centerline_generator/plan_route",
     std::bind(
       &StaticCenterlineGeneratorNode::on_plan_route, this, std::placeholders::_1,
       std::placeholders::_2),
     rmw_qos_profile_services_default, callback_group_);
   srv_plan_path_ = create_service<PlanPath>(
-    "/planning/autoware_static_centerline_generator/plan_path",
+    "/planning/static_centerline_generator/plan_path",
     std::bind(
       &StaticCenterlineGeneratorNode::on_plan_path, this, std::placeholders::_1,
       std::placeholders::_2),