Merge pull request #1878 from mitsudome-r/beta-0.41-replace-autoware-…

…universe-utils

feat: replace autoware_universe_utils with autoware_utils

build_depends.repos

@@ -12,7 +12,7 @@ repositories:
   core/autoware_utils:
     type: git
     url: https://github.com/autowarefoundation/autoware_utils.git
-    version: 1.0.0
+    version: 1.1.0
   core/autoware_lanelet2_extension:
     type: git
     url: https://github.com/autowarefoundation/autoware_lanelet2_extension.git

common/autoware_goal_distance_calculator/include/autoware/goal_distance_calculator/goal_distance_calculator.hpp

@@ -15,7 +15,7 @@
 #ifndef AUTOWARE__GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_HPP_
 #define AUTOWARE__GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_HPP_
 
-#include <autoware/universe_utils/geometry/pose_deviation.hpp>
+#include <autoware_utils/geometry/pose_deviation.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <autoware_planning_msgs/msg/lanelet_route.hpp>
@@ -25,7 +25,7 @@
 
 namespace autoware::goal_distance_calculator
 {
-using autoware::universe_utils::PoseDeviation;
+using autoware_utils::PoseDeviation;
 
 struct Param
 {

common/autoware_goal_distance_calculator/include/autoware/goal_distance_calculator/goal_distance_calculator_node.hpp

@@ -17,9 +17,9 @@
 
 #include "autoware/goal_distance_calculator/goal_distance_calculator.hpp"
 
-#include <autoware/universe_utils/ros/debug_publisher.hpp>
-#include <autoware/universe_utils/ros/polling_subscriber.hpp>
-#include <autoware/universe_utils/ros/self_pose_listener.hpp>
+#include <autoware_utils/ros/debug_publisher.hpp>
+#include <autoware_utils/ros/polling_subscriber.hpp>
+#include <autoware_utils/ros/self_pose_listener.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
@@ -45,12 +45,12 @@ class GoalDistanceCalculatorNode : public rclcpp::Node
 
 private:
   // Subscriber
-  autoware::universe_utils::SelfPoseListener self_pose_listener_;
-  autoware::universe_utils::InterProcessPollingSubscriber<autoware_planning_msgs::msg::LaneletRoute>
+  autoware_utils::SelfPoseListener self_pose_listener_;
+  autoware_utils::InterProcessPollingSubscriber<autoware_planning_msgs::msg::LaneletRoute>
     sub_route_{this, "/planning/mission_planning/route"};
 
   // Publisher
-  autoware::universe_utils::DebugPublisher debug_publisher_;
+  autoware_utils::DebugPublisher debug_publisher_;
 
   // Timer
   rclcpp::TimerBase::SharedPtr timer_;

common/autoware_goal_distance_calculator/package.xml

@@ -12,7 +12,7 @@
 
   <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_planning_msgs</depend>
-  <depend>autoware_universe_utils</depend>
+  <depend>autoware_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>

common/autoware_goal_distance_calculator/src/goal_distance_calculator.cpp

@@ -21,7 +21,7 @@ Output GoalDistanceCalculator::update(const Input & input)
   Output output{};
 
   output.goal_deviation =
-    autoware::universe_utils::calcPoseDeviation(input.route->goal_pose, input.current_pose->pose);
+    autoware_utils::calc_pose_deviation(input.route->goal_pose, input.current_pose->pose);
 
   return output;
 }

common/autoware_goal_distance_calculator/src/goal_distance_calculator_node.cpp

@@ -14,7 +14,7 @@
 
 #include "autoware/goal_distance_calculator/goal_distance_calculator_node.hpp"
 
-#include <autoware/universe_utils/math/unit_conversion.hpp>
+#include <autoware_utils/math/unit_conversion.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp/timer.hpp>
 
@@ -42,7 +42,7 @@ GoalDistanceCalculatorNode::GoalDistanceCalculatorNode(const rclcpp::NodeOptions
   goal_distance_calculator_->setParam(param_);
 
   // Wait for first self pose
-  self_pose_listener_.waitForFirstPose();
+  self_pose_listener_.wait_for_first_pose();
 
   // Timer
   const auto period_ns = rclcpp::Rate(node_param_.update_rate).period();
@@ -54,7 +54,7 @@ GoalDistanceCalculatorNode::GoalDistanceCalculatorNode(const rclcpp::NodeOptions
 bool GoalDistanceCalculatorNode::tryGetCurrentPose(
   geometry_msgs::msg::PoseStamped::ConstSharedPtr current_pose)
 {
-  auto current_pose_tmp = self_pose_listener_.getCurrentPose();
+  auto current_pose_tmp = self_pose_listener_.get_current_pose();
   if (!current_pose_tmp) return false;
   current_pose = current_pose_tmp;
   return true;
@@ -63,7 +63,7 @@ bool GoalDistanceCalculatorNode::tryGetCurrentPose(
 bool GoalDistanceCalculatorNode::tryGetRoute(
   autoware_planning_msgs::msg::LaneletRoute::ConstSharedPtr route)
 {
-  auto route_tmp = sub_route_.takeData();
+  auto route_tmp = sub_route_.take_data();
   if (!route_tmp) return false;
   route = route_tmp;
   return true;
@@ -97,7 +97,7 @@ void GoalDistanceCalculatorNode::onTimer()
   Output output = goal_distance_calculator_->update(input);
 
   {
-    using autoware::universe_utils::rad2deg;
+    using autoware_utils::rad2deg;
     const auto & deviation = output.goal_deviation;
 
     debug_publisher_.publish<autoware_internal_debug_msgs::msg::Float64Stamped>(

common/autoware_grid_map_utils/package.xml

@@ -10,7 +10,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
-  <depend>autoware_universe_utils</depend>
+  <depend>autoware_utils</depend>
   <depend>grid_map_core</depend>
   <depend>grid_map_cv</depend>
   <depend>libopencv-dev</depend>

common/autoware_grid_map_utils/test/benchmark.cpp

@@ -17,7 +17,7 @@
 #include "grid_map_cv/GridMapCvConverter.hpp"
 #include "grid_map_cv/GridMapCvProcessing.hpp"
 
-#include <autoware/universe_utils/system/stop_watch.hpp>
+#include <autoware_utils/system/stop_watch.hpp>
 #include <grid_map_core/iterators/PolygonIterator.hpp>
 #include <grid_map_cv/grid_map_cv.hpp>
 #include <opencv2/core.hpp>
@@ -46,7 +46,7 @@ int main(int argc, char * argv[])
   result_file
     << "#Size PolygonVertices PolygonIndexes grid_map_utils_constructor grid_map_utils_iteration "
        "grid_map_constructor grid_map_iteration\n";
-  autoware::universe_utils::StopWatch<std::chrono::milliseconds> stopwatch;
+  autoware_utils::StopWatch<std::chrono::milliseconds> stopwatch;
 
   constexpr auto nb_iterations = 10;
   constexpr auto polygon_side_vertices =

common/autoware_grid_map_utils/test/test_polygon_iterator.cpp

@@ -14,7 +14,7 @@
 
 #include "autoware/grid_map_utils/polygon_iterator.hpp"
 
-#include <autoware/universe_utils/system/stop_watch.hpp>
+#include <autoware_utils/system/stop_watch.hpp>
 #include <grid_map_core/iterators/PolygonIterator.hpp>
 
 // gtest

common/autoware_interpolation/include/autoware/interpolation/spline_interpolation.hpp

@@ -16,7 +16,7 @@
 #define AUTOWARE__INTERPOLATION__SPLINE_INTERPOLATION_HPP_
 
 #include "autoware/interpolation/interpolation_utils.hpp"
-#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware_utils/geometry/geometry.hpp"
 
 #include <Eigen/Core>
 

common/autoware_interpolation/include/autoware/interpolation/spline_interpolation_points_2d.hpp

@@ -49,7 +49,7 @@ class SplineInterpolationPoints2d
   {
     std::vector<geometry_msgs::msg::Point> points_inner;
     for (const auto & p : points) {
-      points_inner.push_back(autoware::universe_utils::getPoint(p));
+      points_inner.push_back(autoware_utils::get_point(p));
     }
     calcSplineCoefficientsInner(points_inner);
   }

common/autoware_interpolation/package.xml

@@ -11,7 +11,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>autoware_universe_utils</depend>
+  <depend>autoware_utils</depend>
   <depend>eigen</depend>
 
   <test_depend>ament_cmake_ros</test_depend>

common/autoware_interpolation/src/spline_interpolation_points_2d.cpp

@@ -89,8 +89,7 @@ geometry_msgs::msg::Pose SplineInterpolationPoints2d::getSplineInterpolatedPose(
 {
   geometry_msgs::msg::Pose pose;
   pose.position = getSplineInterpolatedPoint(idx, s);
-  pose.orientation =
-    autoware::universe_utils::createQuaternionFromYaw(getSplineInterpolatedYaw(idx, s));
+  pose.orientation = autoware_utils::create_quaternion_from_yaw(getSplineInterpolatedYaw(idx, s));
   return pose;
 }
 

common/autoware_interpolation/test/src/test_spline_interpolation.cpp

@@ -13,7 +13,7 @@
 // limitations under the License.
 
 #include "autoware/interpolation/spline_interpolation.hpp"
-#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware_utils/geometry/geometry.hpp"
 
 #include <gtest/gtest.h>
 

common/autoware_interpolation/test/src/test_spline_interpolation_points_2d.cpp

@@ -14,7 +14,7 @@
 
 #include "autoware/interpolation/spline_interpolation.hpp"
 #include "autoware/interpolation/spline_interpolation_points_2d.hpp"
-#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware_utils/geometry/geometry.hpp"
 
 #include <gtest/gtest.h>
 
@@ -27,15 +27,15 @@ using autoware::interpolation::SplineInterpolationPoints2d;
 
 TEST(spline_interpolation, splineYawFromPoints)
 {
-  using autoware::universe_utils::createPoint;
+  using autoware_utils::create_point;
 
   {  // straight
     std::vector<geometry_msgs::msg::Point> points;
-    points.push_back(createPoint(0.0, 0.0, 0.0));
-    points.push_back(createPoint(1.0, 1.5, 0.0));
-    points.push_back(createPoint(2.0, 3.0, 0.0));
-    points.push_back(createPoint(3.0, 4.5, 0.0));
-    points.push_back(createPoint(4.0, 6.0, 0.0));
+    points.push_back(create_point(0.0, 0.0, 0.0));
+    points.push_back(create_point(1.0, 1.5, 0.0));
+    points.push_back(create_point(2.0, 3.0, 0.0));
+    points.push_back(create_point(3.0, 4.5, 0.0));
+    points.push_back(create_point(4.0, 6.0, 0.0));
 
     const std::vector<double> ans{0.9827937, 0.9827937, 0.9827937, 0.9827937, 0.9827937};
 
@@ -47,11 +47,11 @@ TEST(spline_interpolation, splineYawFromPoints)
 
   {  // curve
     std::vector<geometry_msgs::msg::Point> points;
-    points.push_back(createPoint(-2.0, -10.0, 0.0));
-    points.push_back(createPoint(2.0, 1.5, 0.0));
-    points.push_back(createPoint(3.0, 3.0, 0.0));
-    points.push_back(createPoint(5.0, 10.0, 0.0));
-    points.push_back(createPoint(10.0, 12.5, 0.0));
+    points.push_back(create_point(-2.0, -10.0, 0.0));
+    points.push_back(create_point(2.0, 1.5, 0.0));
+    points.push_back(create_point(3.0, 3.0, 0.0));
+    points.push_back(create_point(5.0, 10.0, 0.0));
+    points.push_back(create_point(10.0, 12.5, 0.0));
 
     const std::vector<double> ans{1.368174, 0.961318, 1.086098, 0.938357, 0.278594};
     const auto yaws = autoware::interpolation::splineYawFromPoints(points);
@@ -62,15 +62,15 @@ TEST(spline_interpolation, splineYawFromPoints)
 
   {  // size of base_keys is 1 (infeasible to interpolate)
     std::vector<geometry_msgs::msg::Point> points;
-    points.push_back(createPoint(1.0, 0.0, 0.0));
+    points.push_back(create_point(1.0, 0.0, 0.0));
 
     EXPECT_THROW(autoware::interpolation::splineYawFromPoints(points), std::logic_error);
   }
 
   {  // straight: size of base_keys is 2 (edge case in the implementation)
     std::vector<geometry_msgs::msg::Point> points;
-    points.push_back(createPoint(1.0, 0.0, 0.0));
-    points.push_back(createPoint(2.0, 1.5, 0.0));
+    points.push_back(create_point(1.0, 0.0, 0.0));
+    points.push_back(create_point(2.0, 1.5, 0.0));
 
     const std::vector<double> ans{0.9827937, 0.9827937};
 
@@ -82,9 +82,9 @@ TEST(spline_interpolation, splineYawFromPoints)
 
   {  // straight: size of base_keys is 3 (edge case in the implementation)
     std::vector<geometry_msgs::msg::Point> points;
-    points.push_back(createPoint(1.0, 0.0, 0.0));
-    points.push_back(createPoint(2.0, 1.5, 0.0));
-    points.push_back(createPoint(3.0, 3.0, 0.0));
+    points.push_back(create_point(1.0, 0.0, 0.0));
+    points.push_back(create_point(2.0, 1.5, 0.0));
+    points.push_back(create_point(3.0, 3.0, 0.0));
 
     const std::vector<double> ans{0.9827937, 0.9827937, 0.9827937};
 
@@ -97,15 +97,15 @@ TEST(spline_interpolation, splineYawFromPoints)
 
 TEST(spline_interpolation, SplineInterpolationPoints2d)
 {
-  using autoware::universe_utils::createPoint;
+  using autoware_utils::create_point;
 
   // curve
   std::vector<geometry_msgs::msg::Point> points;
-  points.push_back(createPoint(-2.0, -10.0, 0.0));
-  points.push_back(createPoint(2.0, 1.5, 0.0));
-  points.push_back(createPoint(3.0, 3.0, 0.0));
-  points.push_back(createPoint(5.0, 10.0, 0.0));
-  points.push_back(createPoint(10.0, 12.5, 0.0));
+  points.push_back(create_point(-2.0, -10.0, 0.0));
+  points.push_back(create_point(2.0, 1.5, 0.0));
+  points.push_back(create_point(3.0, 3.0, 0.0));
+  points.push_back(create_point(5.0, 10.0, 0.0));
+  points.push_back(create_point(10.0, 12.5, 0.0));
 
   SplineInterpolationPoints2d s(points);
 
@@ -194,19 +194,19 @@ TEST(spline_interpolation, SplineInterpolationPoints2d)
 
   // size of base_keys is 1 (infeasible to interpolate)
   std::vector<geometry_msgs::msg::Point> single_points;
-  single_points.push_back(createPoint(1.0, 0.0, 0.0));
+  single_points.push_back(create_point(1.0, 0.0, 0.0));
   EXPECT_THROW(SplineInterpolationPoints2d{single_points}, std::logic_error);
 }
 
 TEST(spline_interpolation, SplineInterpolationPoints2dPolymorphism)
 {
-  using autoware::universe_utils::createPoint;
   using autoware_planning_msgs::msg::TrajectoryPoint;
+  using autoware_utils::create_point;
 
   std::vector<geometry_msgs::msg::Point> points;
-  points.push_back(createPoint(-2.0, -10.0, 0.0));
-  points.push_back(createPoint(2.0, 1.5, 0.0));
-  points.push_back(createPoint(3.0, 3.0, 0.0));
+  points.push_back(create_point(-2.0, -10.0, 0.0));
+  points.push_back(create_point(2.0, 1.5, 0.0));
+  points.push_back(create_point(3.0, 3.0, 0.0));
 
   std::vector<TrajectoryPoint> trajectory_points;
   for (const auto & p : points) {

common/autoware_motion_utils/docs/vehicle/vehicle.md

@@ -36,7 +36,7 @@ bool isVehicleStopped(const double stop_duration)
 Necessary includes:
 
 ```c++
-#include <autoware/universe_utils/vehicle/vehicle_state_checker.hpp>
+#include <autoware_utils/vehicle/vehicle_state_checker.hpp>
 ```
 
 1.Create a checker instance.
@@ -116,7 +116,7 @@ bool isVehicleStoppedAtStopPoint(const double stop_duration)
 Necessary includes:
 
 ```c++
-#include <autoware/universe_utils/vehicle/vehicle_state_checker.hpp>
+#include <autoware_utils/vehicle/vehicle_state_checker.hpp>
 ```
 
 1.Create a checker instance.