fix(crosswalk_traffic_light_estimator): package rename

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

perception/traffic_light_estimator/CMakeLists.txt → perception/crosswalk_traffic_light_estimator/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(traffic_light_estimator)
+project(crosswalk_traffic_light_estimator)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
@@ -10,13 +10,13 @@ autoware_package()
 
 include_directories()
 
-ament_auto_add_library(traffic_light_estimator SHARED
+ament_auto_add_library(crosswalk_traffic_light_estimator SHARED
   src/node.cpp
 )
 
-rclcpp_components_register_node(traffic_light_estimator
-  PLUGIN "traffic_light::TrafficLightEstimatorNode"
-  EXECUTABLE traffic_light_estimator_node
+rclcpp_components_register_node(crosswalk_traffic_light_estimator
+  PLUGIN "traffic_light::CrosswalkTrafficLightEstimatorNode"
+  EXECUTABLE crosswalk_traffic_light_estimator_node
 )
 
 if(BUILD_TESTING)

perception/traffic_light_estimator/README.md → perception/crosswalk_traffic_light_estimator/README.md

@@ -1,8 +1,8 @@
-# traffic_light_estimator
+# crosswalk_traffic_light_estimator
 
 ## Purpose
 
-`traffic_light_estimator` is a module that estimates pedestrian traffic signals from HDMap and detected vehicle traffic signals.
+`crosswalk_traffic_light_estimator` is a module that estimates pedestrian traffic signals from HDMap and detected vehicle traffic signals.
 
 ## Inputs / Outputs
 

perception/traffic_light_estimator/include/traffic_light_estimator/node.hpp → perception/crosswalk_traffic_light_estimator/include/crosswalk_traffic_light_estimator/node.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TRAFFIC_LIGHT_ESTIMATOR__NODE_HPP_
-#define TRAFFIC_LIGHT_ESTIMATOR__NODE_HPP_
+#ifndef CROSSWALK_TRAFFIC_LIGHT_ESTIMATOR__NODE_HPP_
+#define CROSSWALK_TRAFFIC_LIGHT_ESTIMATOR__NODE_HPP_
 
 #include <lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp>
 #include <lanelet2_extension/utility/query.hpp>
@@ -50,10 +50,10 @@ using tier4_autoware_utils::DebugPublisher;
 using tier4_autoware_utils::StopWatch;
 using tier4_debug_msgs::msg::Float64Stamped;
 
-class TrafficLightEstimatorNode : public rclcpp::Node
+class CrosswalkTrafficLightEstimatorNode : public rclcpp::Node
 {
 public:
-  explicit TrafficLightEstimatorNode(const rclcpp::NodeOptions & options);
+  explicit CrosswalkTrafficLightEstimatorNode(const rclcpp::NodeOptions & options);
 
 private:
   rclcpp::Subscription<HADMapBin>::SharedPtr sub_map_;
@@ -104,4 +104,4 @@ class TrafficLightEstimatorNode : public rclcpp::Node
 
 }  // namespace traffic_light
 
-#endif  // TRAFFIC_LIGHT_ESTIMATOR__NODE_HPP_
+#endif  // CROSSWALK_TRAFFIC_LIGHT_ESTIMATOR__NODE_HPP_

perception/traffic_light_estimator/launch/traffic_light_estimator.launch.xml → perception/crosswalk_traffic_light_estimator/launch/crosswalk_traffic_light_estimator.launch.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <launch>
-  <node pkg="traffic_light_estimator" exec="traffic_light_estimator_node" name="traffic_light_estimator" output="screen">
+  <node pkg="crosswalk_traffic_light_estimator" exec="crosswalk_traffic_light_estimator_node" name="crosswalk_traffic_light_estimator" output="screen">
     <remap from="~/input/vector_map" to="/map/vector_map"/>
     <remap from="~/input/route" to="/planning/mission_planning/route"/>
     <remap from="~/input/classified/traffic_signals" to="classified/traffic_signals"/>

perception/traffic_light_estimator/package.xml → perception/crosswalk_traffic_light_estimator/package.xml

@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>traffic_light_estimator</name>
+  <name>crosswalk_traffic_light_estimator</name>
   <version>0.1.0</version>
-  <description>The traffic_light_estimator package</description>
+  <description>The crosswalk_traffic_light_estimator package</description>
 
   <maintainer email="satoshi.ota@tier4.jp">Satoshi Ota</maintainer>
   <license>Apache License 2.0</license>

perception/traffic_light_estimator/src/node.cpp → perception/crosswalk_traffic_light_estimator/src/node.cpp

@@ -11,7 +11,7 @@
 // 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.
-#include "traffic_light_estimator/node.hpp"
+#include "crosswalk_traffic_light_estimator/node.hpp"
 
 #include <lanelet2_extension/utility/message_conversion.hpp>
 
@@ -75,31 +75,32 @@ bool hasMergeLane(
 
 }  // namespace
 
-TrafficLightEstimatorNode::TrafficLightEstimatorNode(const rclcpp::NodeOptions & options)
-: Node("traffic_light_estimator", options)
+CrosswalkTrafficLightEstimatorNode::CrosswalkTrafficLightEstimatorNode(
+  const rclcpp::NodeOptions & options)
+: Node("crosswalk_traffic_light_estimator", options)
 {
   using std::placeholders::_1;
 
   use_last_detect_color_ = this->declare_parameter("use_last_detect_color", true);
 
   sub_map_ = create_subscription<HADMapBin>(
     "~/input/vector_map", rclcpp::QoS{1}.transient_local(),
-    std::bind(&TrafficLightEstimatorNode::onMap, this, _1));
+    std::bind(&CrosswalkTrafficLightEstimatorNode::onMap, this, _1));
   sub_route_ = create_subscription<HADMapRoute>(
     "~/input/route", rclcpp::QoS{1}.transient_local(),
-    std::bind(&TrafficLightEstimatorNode::onRoute, this, _1));
+    std::bind(&CrosswalkTrafficLightEstimatorNode::onRoute, this, _1));
   sub_traffic_light_array_ = create_subscription<TrafficSignalArray>(
     "~/input/classified/traffic_signals", rclcpp::QoS{1},
-    std::bind(&TrafficLightEstimatorNode::onTrafficLightArray, this, _1));
+    std::bind(&CrosswalkTrafficLightEstimatorNode::onTrafficLightArray, this, _1));
 
   pub_traffic_light_array_ =
     this->create_publisher<TrafficSignalArray>("~/output/traffic_signals", rclcpp::QoS{1});
   pub_processing_time_ = std::make_shared<DebugPublisher>(this, "~/debug");
 }
 
-void TrafficLightEstimatorNode::onMap(const HADMapBin::ConstSharedPtr msg)
+void CrosswalkTrafficLightEstimatorNode::onMap(const HADMapBin::ConstSharedPtr msg)
 {
-  RCLCPP_INFO(get_logger(), "[TrafficLightEstimatorNode]: Start loading lanelet");
+  RCLCPP_INFO(get_logger(), "[CrosswalkTrafficLightEstimatorNode]: Start loading lanelet");
   lanelet_map_ptr_ = std::make_shared<lanelet::LaneletMap>();
   lanelet::utils::conversion::fromBinMsg(
     *msg, lanelet_map_ptr_, &traffic_rules_ptr_, &routing_graph_ptr_);
@@ -114,10 +115,10 @@ void TrafficLightEstimatorNode::onMap(const HADMapBin::ConstSharedPtr msg)
   lanelet::routing::RoutingGraphContainer overall_graphs({vehicle_graph, pedestrian_graph});
   overall_graphs_ptr_ =
     std::make_shared<const lanelet::routing::RoutingGraphContainer>(overall_graphs);
-  RCLCPP_INFO(get_logger(), "[TrafficLightEstimatorNode]: Map is loaded");
+  RCLCPP_INFO(get_logger(), "[CrosswalkTrafficLightEstimatorNode]: Map is loaded");
 }
 
-void TrafficLightEstimatorNode::onRoute(const HADMapRoute::ConstSharedPtr msg)
+void CrosswalkTrafficLightEstimatorNode::onRoute(const HADMapRoute::ConstSharedPtr msg)
 {
   if (lanelet_map_ptr_ == nullptr) {
     RCLCPP_WARN(get_logger(), "cannot set traffic light in route because don't receive map");
@@ -148,7 +149,8 @@ void TrafficLightEstimatorNode::onRoute(const HADMapRoute::ConstSharedPtr msg)
   }
 }
 
-void TrafficLightEstimatorNode::onTrafficLightArray(const TrafficSignalArray::ConstSharedPtr msg)
+void CrosswalkTrafficLightEstimatorNode::onTrafficLightArray(
+  const TrafficSignalArray::ConstSharedPtr msg)
 {
   StopWatch<std::chrono::milliseconds> stop_watch;
   stop_watch.tic("Total");
@@ -175,7 +177,7 @@ void TrafficLightEstimatorNode::onTrafficLightArray(const TrafficSignalArray::Co
   return;
 }
 
-void TrafficLightEstimatorNode::updateLastDetectedSignal(
+void CrosswalkTrafficLightEstimatorNode::updateLastDetectedSignal(
   const lanelet::Id & id, const uint8_t color)
 {
   if (color == TrafficLight::UNKNOWN) {
@@ -189,7 +191,7 @@ void TrafficLightEstimatorNode::updateLastDetectedSignal(
   last_detect_color_.at(id) = color;
 }
 
-void TrafficLightEstimatorNode::setCrosswalkTrafficSignal(
+void CrosswalkTrafficLightEstimatorNode::setCrosswalkTrafficSignal(
   const lanelet::ConstLanelet & crosswalk, const uint8_t color, TrafficSignalArray & msg) const
 {
   const auto tl_reg_elems = crosswalk.regulatoryElementsAs<const lanelet::TrafficLight>();
@@ -211,7 +213,7 @@ void TrafficLightEstimatorNode::setCrosswalkTrafficSignal(
   }
 }
 
-lanelet::ConstLanelets TrafficLightEstimatorNode::getGreenLanelets(
+lanelet::ConstLanelets CrosswalkTrafficLightEstimatorNode::getGreenLanelets(
   const lanelet::ConstLanelets & lanelets,
   const std::unordered_map<lanelet::Id, TrafficSignal> & traffic_light_id_map)
 {
@@ -247,7 +249,7 @@ lanelet::ConstLanelets TrafficLightEstimatorNode::getGreenLanelets(
   return green_lanelets;
 }
 
-uint8_t TrafficLightEstimatorNode::estimateCrosswalkTrafficSignal(
+uint8_t CrosswalkTrafficLightEstimatorNode::estimateCrosswalkTrafficSignal(
   const lanelet::ConstLanelet & crosswalk, const lanelet::ConstLanelets & green_lanelets) const
 {
   bool has_left_green_lane = false;
@@ -283,7 +285,7 @@ uint8_t TrafficLightEstimatorNode::estimateCrosswalkTrafficSignal(
                                                                         : TrafficLight::UNKNOWN;
 }
 
-uint8_t TrafficLightEstimatorNode::getHighestConfidenceTrafficSignal(
+uint8_t CrosswalkTrafficLightEstimatorNode::getHighestConfidenceTrafficSignal(
   const lanelet::ConstLineStringsOrPolygons3d & traffic_lights,
   const std::unordered_map<lanelet::Id, TrafficSignal> & traffic_light_id_map) const
 {
@@ -318,7 +320,8 @@ uint8_t TrafficLightEstimatorNode::getHighestConfidenceTrafficSignal(
   return ret;
 }
 
-uint8_t TrafficLightEstimatorNode::getLastDetectedTrafficSignal(const lanelet::Id & id) const
+uint8_t CrosswalkTrafficLightEstimatorNode::getLastDetectedTrafficSignal(
+  const lanelet::Id & id) const
 {
   if (last_detect_color_.count(id) == 0) {
     return TrafficLight::UNKNOWN;
@@ -330,4 +333,4 @@ uint8_t TrafficLightEstimatorNode::getLastDetectedTrafficSignal(const lanelet::I
 
 #include <rclcpp_components/register_node_macro.hpp>
 
-RCLCPP_COMPONENTS_REGISTER_NODE(traffic_light::TrafficLightEstimatorNode)
+RCLCPP_COMPONENTS_REGISTER_NODE(traffic_light::CrosswalkTrafficLightEstimatorNode)