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refactor(ekf_localizer)!: prefix package and namespace with autoware #8888

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Sep 18, 2024
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refactor(ekf_localizer)!: prefix package and namespace with autoware #8888

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822d941
import lanelet2_map_preprocessor
a-maumau Sep 17, 2024
0750dcf
move headers to include/autoware/efk_localier
a-maumau Sep 17, 2024
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2 changes: 1 addition & 1 deletion .github/CODEOWNERS
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Original file line number Diff line number Diff line change
Expand Up @@ -89,7 +89,7 @@ localization/autoware_pose_initializer/** [email protected] isamu.takagi@tie
localization/autoware_pose_instability_detector/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
localization/autoware_stop_filter/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
localization/autoware_twist2accel/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
localization/ekf_localizer/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
localization/autoware_ekf_localizer/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
localization/localization_util/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
localization/ndt_scan_matcher/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
localization/yabloc/yabloc_common/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
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2 changes: 1 addition & 1 deletion ...4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml
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@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<launch>
<group>
<include file="$(find-pkg-share ekf_localizer)/launch/ekf_localizer.launch.xml">
<include file="$(find-pkg-share autoware_ekf_localizer)/launch/ekf_localizer.launch.xml">
<arg name="input_initial_pose_name" value="/initialpose3d"/>
<arg name="input_pose_with_cov_name" value="/localization/pose_estimator/pose_with_covariance"/>
<arg name="input_twist_with_cov_name" value="/localization/twist_estimator/twist_with_covariance"/>
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2 changes: 1 addition & 1 deletion launch/tier4_localization_launch/package.xml
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Expand Up @@ -19,6 +19,7 @@

<exec_depend>automatic_pose_initializer</exec_depend>
<exec_depend>autoware_ar_tag_based_localizer</exec_depend>
<exec_depend>autoware_ekf_localizer</exec_depend>
<exec_depend>autoware_geo_pose_projector</exec_depend>
<exec_depend>autoware_gyro_odometer</exec_depend>
<exec_depend>autoware_lidar_marker_localizer</exec_depend>
Expand All @@ -29,7 +30,6 @@
<exec_depend>eagleye_geo_pose_fusion</exec_depend>
<exec_depend>eagleye_gnss_converter</exec_depend>
<exec_depend>eagleye_rt</exec_depend>
<exec_depend>ekf_localizer</exec_depend>
<exec_depend>ndt_scan_matcher</exec_depend>
<exec_depend>topic_tools</exec_depend>
<exec_depend>yabloc_common</exec_depend>
Expand Down
2 changes: 1 addition & 1 deletion localization/ekf_localizer/CMakeLists.txt → ...ion/autoware_ekf_localizer/CMakeLists.txt
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@@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 3.14)
project(ekf_localizer)
project(autoware_ekf_localizer)

find_package(autoware_cmake REQUIRED)
autoware_package()
Expand Down
16 changes: 8 additions & 8 deletions localization/ekf_localizer/README.md → ...lization/autoware_ekf_localizer/README.md
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Expand Up @@ -4,7 +4,7 @@ The **Extend Kalman Filter Localizer** estimates robust and less noisy robot pos

## Flowchart

The overall flowchart of the ekf_localizer is described below.
The overall flowchart of the autoware_ekf_localizer is described below.

<p align="center">
<img src="./media/ekf_flowchart.png" width="800">
Expand Down Expand Up @@ -78,33 +78,33 @@ The parameters are set in `launch/ekf_localizer.launch` .

### For Node

{{ json_to_markdown("localization/ekf_localizer/schema/sub/node.sub_schema.json") }}
{{ json_to_markdown("localization/autoware_ekf_localizer/schema/sub/node.sub_schema.json") }}

### For pose measurement

{{ json_to_markdown("localization/ekf_localizer/schema/sub/pose_measurement.sub_schema.json") }}
{{ json_to_markdown("localization/autoware_ekf_localizer/schema/sub/pose_measurement.sub_schema.json") }}

### For twist measurement

{{ json_to_markdown("localization/ekf_localizer/schema/sub/twist_measurement.sub_schema.json") }}
{{ json_to_markdown("localization/autoware_ekf_localizer/schema/sub/twist_measurement.sub_schema.json") }}

### For process noise

{{ json_to_markdown("localization/ekf_localizer/schema/sub/process_noise.sub_schema.json") }}
{{ json_to_markdown("localization/autoware_ekf_localizer/schema/sub/process_noise.sub_schema.json") }}

note: process noise for positions x & y are calculated automatically from nonlinear dynamics.

### Simple 1D Filter Parameters

{{ json_to_markdown("localization/ekf_localizer/schema/sub/simple_1d_filter_parameters.sub_schema.json") }}
{{ json_to_markdown("localization/autoware_ekf_localizer/schema/sub/simple_1d_filter_parameters.sub_schema.json") }}

### For diagnostics

{{ json_to_markdown("localization/ekf_localizer/schema/sub/diagnostics.sub_schema.json") }}
{{ json_to_markdown("localization/autoware_ekf_localizer/schema/sub/diagnostics.sub_schema.json") }}

### Misc

{{ json_to_markdown("localization/ekf_localizer/schema/sub/misc.sub_schema.json") }}
{{ json_to_markdown("localization/autoware_ekf_localizer/schema/sub/misc.sub_schema.json") }}

## How to tune EKF parameters

Expand Down
0 ...localizer/config/ekf_localizer.param.yaml → ...localizer/config/ekf_localizer.param.yaml
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6 changes: 3 additions & 3 deletions ...clude/ekf_localizer/aged_object_queue.hpp → ...oware/ekf_localizer/aged_object_queue.hpp
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Expand Up @@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef EKF_LOCALIZER__AGED_OBJECT_QUEUE_HPP_
#define EKF_LOCALIZER__AGED_OBJECT_QUEUE_HPP_
#ifndef AUTOWARE__EKF_LOCALIZER__AGED_OBJECT_QUEUE_HPP_
#define AUTOWARE__EKF_LOCALIZER__AGED_OBJECT_QUEUE_HPP_

#include <cstddef>
#include <queue>
Expand Down Expand Up @@ -68,4 +68,4 @@ class AgedObjectQueue

} // namespace autoware::ekf_localizer

#endif // EKF_LOCALIZER__AGED_OBJECT_QUEUE_HPP_
#endif // AUTOWARE__EKF_LOCALIZER__AGED_OBJECT_QUEUE_HPP_
8 changes: 4 additions & 4 deletions ...izer/include/ekf_localizer/covariance.hpp → ...ude/autoware/ekf_localizer/covariance.hpp
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Expand Up @@ -12,10 +12,10 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef EKF_LOCALIZER__COVARIANCE_HPP_
#define EKF_LOCALIZER__COVARIANCE_HPP_
#ifndef AUTOWARE__EKF_LOCALIZER__COVARIANCE_HPP_
#define AUTOWARE__EKF_LOCALIZER__COVARIANCE_HPP_

#include "ekf_localizer/matrix_types.hpp"
#include "autoware/ekf_localizer/matrix_types.hpp"

namespace autoware::ekf_localizer
{
Expand All @@ -25,4 +25,4 @@ std::array<double, 36> ekf_covariance_to_twist_message_covariance(const Matrix6d

} // namespace autoware::ekf_localizer

#endif // EKF_LOCALIZER__COVARIANCE_HPP_
#endif // AUTOWARE__EKF_LOCALIZER__COVARIANCE_HPP_
6 changes: 3 additions & 3 deletions ...zer/include/ekf_localizer/diagnostics.hpp → ...de/autoware/ekf_localizer/diagnostics.hpp
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Expand Up @@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef EKF_LOCALIZER__DIAGNOSTICS_HPP_
#define EKF_LOCALIZER__DIAGNOSTICS_HPP_
#ifndef AUTOWARE__EKF_LOCALIZER__DIAGNOSTICS_HPP_
#define AUTOWARE__EKF_LOCALIZER__DIAGNOSTICS_HPP_

#include <diagnostic_msgs/msg/diagnostic_status.hpp>

Expand Down Expand Up @@ -45,4 +45,4 @@ diagnostic_msgs::msg::DiagnosticStatus merge_diagnostic_status(

} // namespace autoware::ekf_localizer

#endif // EKF_LOCALIZER__DIAGNOSTICS_HPP_
#endif // AUTOWARE__EKF_LOCALIZER__DIAGNOSTICS_HPP_
14 changes: 7 additions & 7 deletions ...r/include/ekf_localizer/ekf_localizer.hpp → .../autoware/ekf_localizer/ekf_localizer.hpp
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Expand Up @@ -12,13 +12,13 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef EKF_LOCALIZER__EKF_LOCALIZER_HPP_
#define EKF_LOCALIZER__EKF_LOCALIZER_HPP_
#ifndef AUTOWARE__EKF_LOCALIZER__EKF_LOCALIZER_HPP_
#define AUTOWARE__EKF_LOCALIZER__EKF_LOCALIZER_HPP_

#include "ekf_localizer/aged_object_queue.hpp"
#include "ekf_localizer/ekf_module.hpp"
#include "ekf_localizer/hyper_parameters.hpp"
#include "ekf_localizer/warning.hpp"
#include "autoware/ekf_localizer/aged_object_queue.hpp"
#include "autoware/ekf_localizer/ekf_module.hpp"
#include "autoware/ekf_localizer/hyper_parameters.hpp"
#include "autoware/ekf_localizer/warning.hpp"

#include <autoware/universe_utils/geometry/geometry.hpp>
#include <autoware/universe_utils/ros/logger_level_configure.hpp>
Expand Down Expand Up @@ -198,4 +198,4 @@ class EKFLocalizer : public rclcpp::Node

} // namespace autoware::ekf_localizer

#endif // EKF_LOCALIZER__EKF_LOCALIZER_HPP_
#endif // AUTOWARE__EKF_LOCALIZER__EKF_LOCALIZER_HPP_
12 changes: 6 additions & 6 deletions ...izer/include/ekf_localizer/ekf_module.hpp → ...ude/autoware/ekf_localizer/ekf_module.hpp
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Expand Up @@ -12,12 +12,12 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef EKF_LOCALIZER__EKF_MODULE_HPP_
#define EKF_LOCALIZER__EKF_MODULE_HPP_
#ifndef AUTOWARE__EKF_LOCALIZER__EKF_MODULE_HPP_
#define AUTOWARE__EKF_LOCALIZER__EKF_MODULE_HPP_

#include "ekf_localizer/hyper_parameters.hpp"
#include "ekf_localizer/state_index.hpp"
#include "ekf_localizer/warning.hpp"
#include "autoware/ekf_localizer/hyper_parameters.hpp"
#include "autoware/ekf_localizer/state_index.hpp"
#include "autoware/ekf_localizer/warning.hpp"

#include <autoware/kalman_filter/kalman_filter.hpp>
#include <autoware/kalman_filter/time_delay_kalman_filter.hpp>
Expand Down Expand Up @@ -153,4 +153,4 @@ class EKFModule

} // namespace autoware::ekf_localizer

#endif // EKF_LOCALIZER__EKF_MODULE_HPP_
#endif // AUTOWARE__EKF_LOCALIZER__EKF_MODULE_HPP_
6 changes: 3 additions & 3 deletions ...nclude/ekf_localizer/hyper_parameters.hpp → ...toware/ekf_localizer/hyper_parameters.hpp
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Expand Up @@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef EKF_LOCALIZER__HYPER_PARAMETERS_HPP_
#define EKF_LOCALIZER__HYPER_PARAMETERS_HPP_
#ifndef AUTOWARE__EKF_LOCALIZER__HYPER_PARAMETERS_HPP_
#define AUTOWARE__EKF_LOCALIZER__HYPER_PARAMETERS_HPP_

#include <rclcpp/rclcpp.hpp>

Expand Down Expand Up @@ -107,4 +107,4 @@ class HyperParameters

} // namespace autoware::ekf_localizer

#endif // EKF_LOCALIZER__HYPER_PARAMETERS_HPP_
#endif // AUTOWARE__EKF_LOCALIZER__HYPER_PARAMETERS_HPP_
6 changes: 3 additions & 3 deletions ...zer/include/ekf_localizer/mahalanobis.hpp → ...de/autoware/ekf_localizer/mahalanobis.hpp
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Expand Up @@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef EKF_LOCALIZER__MAHALANOBIS_HPP_
#define EKF_LOCALIZER__MAHALANOBIS_HPP_
#ifndef AUTOWARE__EKF_LOCALIZER__MAHALANOBIS_HPP_
#define AUTOWARE__EKF_LOCALIZER__MAHALANOBIS_HPP_

#include <Eigen/Core>
#include <Eigen/Dense>
Expand All @@ -28,4 +28,4 @@ double mahalanobis(const Eigen::VectorXd & x, const Eigen::VectorXd & y, const E

} // namespace autoware::ekf_localizer

#endif // EKF_LOCALIZER__MAHALANOBIS_HPP_
#endif // AUTOWARE__EKF_LOCALIZER__MAHALANOBIS_HPP_
6 changes: 3 additions & 3 deletions ...er/include/ekf_localizer/matrix_types.hpp → ...e/autoware/ekf_localizer/matrix_types.hpp
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Expand Up @@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef EKF_LOCALIZER__MATRIX_TYPES_HPP_
#define EKF_LOCALIZER__MATRIX_TYPES_HPP_
#ifndef AUTOWARE__EKF_LOCALIZER__MATRIX_TYPES_HPP_
#define AUTOWARE__EKF_LOCALIZER__MATRIX_TYPES_HPP_

#include <Eigen/Core>

Expand All @@ -25,4 +25,4 @@ using Matrix6d = Eigen::Matrix<double, 6, 6>;

} // namespace autoware::ekf_localizer

#endif // EKF_LOCALIZER__MATRIX_TYPES_HPP_
#endif // AUTOWARE__EKF_LOCALIZER__MATRIX_TYPES_HPP_
6 changes: 3 additions & 3 deletions ...zer/include/ekf_localizer/measurement.hpp → ...de/autoware/ekf_localizer/measurement.hpp
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Expand Up @@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef EKF_LOCALIZER__MEASUREMENT_HPP_
#define EKF_LOCALIZER__MEASUREMENT_HPP_
#ifndef AUTOWARE__EKF_LOCALIZER__MEASUREMENT_HPP_
#define AUTOWARE__EKF_LOCALIZER__MEASUREMENT_HPP_

#include <Eigen/Core>

Expand All @@ -29,4 +29,4 @@ Eigen::Matrix2d twist_measurement_covariance(

} // namespace autoware::ekf_localizer

#endif // EKF_LOCALIZER__MEASUREMENT_HPP_
#endif // AUTOWARE__EKF_LOCALIZER__MEASUREMENT_HPP_
6 changes: 3 additions & 3 deletions ...calizer/include/ekf_localizer/numeric.hpp → ...nclude/autoware/ekf_localizer/numeric.hpp
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Expand Up @@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef EKF_LOCALIZER__NUMERIC_HPP_
#define EKF_LOCALIZER__NUMERIC_HPP_
#ifndef AUTOWARE__EKF_LOCALIZER__NUMERIC_HPP_
#define AUTOWARE__EKF_LOCALIZER__NUMERIC_HPP_

#include <Eigen/Core>

Expand All @@ -34,4 +34,4 @@ inline bool has_nan(const Eigen::MatrixXd & v)

} // namespace autoware::ekf_localizer

#endif // EKF_LOCALIZER__NUMERIC_HPP_
#endif // AUTOWARE__EKF_LOCALIZER__NUMERIC_HPP_
6 changes: 3 additions & 3 deletions ...zer/include/ekf_localizer/state_index.hpp → ...de/autoware/ekf_localizer/state_index.hpp
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Expand Up @@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef EKF_LOCALIZER__STATE_INDEX_HPP_
#define EKF_LOCALIZER__STATE_INDEX_HPP_
#ifndef AUTOWARE__EKF_LOCALIZER__STATE_INDEX_HPP_
#define AUTOWARE__EKF_LOCALIZER__STATE_INDEX_HPP_

namespace autoware::ekf_localizer
{
Expand All @@ -29,4 +29,4 @@ enum IDX {

} // namespace autoware::ekf_localizer

#endif // EKF_LOCALIZER__STATE_INDEX_HPP_
#endif // AUTOWARE__EKF_LOCALIZER__STATE_INDEX_HPP_
8 changes: 4 additions & 4 deletions ...nclude/ekf_localizer/state_transition.hpp → ...toware/ekf_localizer/state_transition.hpp
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Expand Up @@ -12,10 +12,10 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef EKF_LOCALIZER__STATE_TRANSITION_HPP_
#define EKF_LOCALIZER__STATE_TRANSITION_HPP_
#ifndef AUTOWARE__EKF_LOCALIZER__STATE_TRANSITION_HPP_
#define AUTOWARE__EKF_LOCALIZER__STATE_TRANSITION_HPP_

#include "ekf_localizer/matrix_types.hpp"
#include "autoware/ekf_localizer/matrix_types.hpp"

namespace autoware::ekf_localizer
{
Expand All @@ -28,4 +28,4 @@ Matrix6d process_noise_covariance(

} // namespace autoware::ekf_localizer

#endif // EKF_LOCALIZER__STATE_TRANSITION_HPP_
#endif // AUTOWARE__EKF_LOCALIZER__STATE_TRANSITION_HPP_
6 changes: 3 additions & 3 deletions ...ocalizer/include/ekf_localizer/string.hpp → ...include/autoware/ekf_localizer/string.hpp
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Expand Up @@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef EKF_LOCALIZER__STRING_HPP_
#define EKF_LOCALIZER__STRING_HPP_
#ifndef AUTOWARE__EKF_LOCALIZER__STRING_HPP_
#define AUTOWARE__EKF_LOCALIZER__STRING_HPP_

#include <string>

Expand All @@ -31,4 +31,4 @@ inline std::string erase_leading_slash(const std::string & s)

} // namespace autoware::ekf_localizer

#endif // EKF_LOCALIZER__STRING_HPP_
#endif // AUTOWARE__EKF_LOCALIZER__STRING_HPP_
6 changes: 3 additions & 3 deletions ...calizer/include/ekf_localizer/warning.hpp → ...nclude/autoware/ekf_localizer/warning.hpp
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Expand Up @@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef EKF_LOCALIZER__WARNING_HPP_
#define EKF_LOCALIZER__WARNING_HPP_
#ifndef AUTOWARE__EKF_LOCALIZER__WARNING_HPP_
#define AUTOWARE__EKF_LOCALIZER__WARNING_HPP_

#include <rclcpp/rclcpp.hpp>

Expand Down Expand Up @@ -45,4 +45,4 @@ class Warning

} // namespace autoware::ekf_localizer

#endif // EKF_LOCALIZER__WARNING_HPP_
#endif // AUTOWARE__EKF_LOCALIZER__WARNING_HPP_
6 changes: 3 additions & 3 deletions ...include/ekf_localizer/warning_message.hpp → ...utoware/ekf_localizer/warning_message.hpp
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Expand Up @@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef EKF_LOCALIZER__WARNING_MESSAGE_HPP_
#define EKF_LOCALIZER__WARNING_MESSAGE_HPP_
#ifndef AUTOWARE__EKF_LOCALIZER__WARNING_MESSAGE_HPP_
#define AUTOWARE__EKF_LOCALIZER__WARNING_MESSAGE_HPP_

#include <string>

Expand All @@ -30,4 +30,4 @@ std::string mahalanobis_warning_message(const double distance, const double max_

} // namespace autoware::ekf_localizer

#endif // EKF_LOCALIZER__WARNING_MESSAGE_HPP_
#endif // AUTOWARE__EKF_LOCALIZER__WARNING_MESSAGE_HPP_
4 changes: 2 additions & 2 deletions ...localizer/launch/ekf_localizer.launch.xml → ...localizer/launch/ekf_localizer.launch.xml
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@@ -1,5 +1,5 @@
<launch>
<arg name="param_file" default="$(find-pkg-share ekf_localizer)/config/ekf_localizer.param.yaml"/>
<arg name="param_file" default="$(find-pkg-share autoware_ekf_localizer)/config/ekf_localizer.param.yaml"/>

<arg name="input_initial_pose_name" default="initialpose3d"/>
<arg name="input_trigger_node_service_name" default="trigger_node" description="trigger node service"/>
Expand All @@ -17,7 +17,7 @@
<arg name="output_twist_name" default="ekf_twist"/>
<arg name="output_twist_with_covariance_name" default="ekf_twist_with_covariance"/>

<node pkg="ekf_localizer" exec="ekf_localizer_node" output="both">
<node pkg="autoware_ekf_localizer" exec="autoware_ekf_localizer_node" output="both">
<remap from="in_pose_with_covariance" to="$(var input_pose_with_cov_name)"/>

<remap from="in_twist_with_covariance" to="$(var input_twist_with_cov_name)"/>
Expand Down
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4 changes: 2 additions & 2 deletions localization/ekf_localizer/package.xml → ...zation/autoware_ekf_localizer/package.xml
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@@ -1,9 +1,9 @@
<?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>ekf_localizer</name>
<name>autoware_ekf_localizer</name>
<version>0.1.0</version>
<description>The ekf_localizer package</description>
<description>The autoware_ekf_localizer package</description>
<maintainer email="[email protected]">Takamasa Horibe</maintainer>
<maintainer email="[email protected]">Yamato Ando</maintainer>
<maintainer email="[email protected]">Takeshi Ishita</maintainer>
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0 ...ocalizer/schema/ekf_localizer.schema.json → ...ocalizer/schema/ekf_localizer.schema.json
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0 ...er/schema/sub/diagnostics.sub_schema.json → ...er/schema/sub/diagnostics.sub_schema.json
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0 ...localizer/schema/sub/misc.sub_schema.json → ...localizer/schema/sub/misc.sub_schema.json
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0 ...localizer/schema/sub/node.sub_schema.json → ...localizer/schema/sub/node.sub_schema.json
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0 ...hema/sub/pose_measurement.sub_schema.json → ...hema/sub/pose_measurement.sub_schema.json
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0 .../schema/sub/process_noise.sub_schema.json → .../schema/sub/process_noise.sub_schema.json
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0 ...mple_1d_filter_parameters.sub_schema.json → ...mple_1d_filter_parameters.sub_schema.json
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0 ...ema/sub/twist_measurement.sub_schema.json → ...ema/sub/twist_measurement.sub_schema.json
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