feat(autoware_universe_utils)!: rename from tier4_autoware_utils (#7538)

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
Co-authored-by: kosuke55 <kosuke.tnp@gmail.com>

.github/CODEOWNERS

@@ -30,7 +30,7 @@ common/signal_processing/** ali.boyali@tier4.jp fumiya.watanabe@tier4.jp kyoichi
 common/tensorrt_common/** dan.umeda@tier4.jp manato.hirabayashi@tier4.jp
 common/tier4_adapi_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp
 common/tier4_api_utils/** isamu.takagi@tier4.jp
-common/tier4_autoware_utils/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
+common/autoware_universe_utils/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 common/tier4_camera_view_rviz_plugin/** makoto.ybauta@tier4.jp uken.ryu@tier4.jp
 common/tier4_datetime_rviz_plugin/** isamu.takagi@tier4.jp
 common/tier4_localization_rviz_plugin/** isamu.takagi@tier4.jp takamasa.horibe@tier4.jp

common/.pages

@@ -25,7 +25,7 @@ nav:
       - 'Introduction': common/signal_processing
       - 'Butterworth Filter': common/signal_processing/documentation/ButterworthFilter
     - 'TensorRT Common': common/tensorrt_common
-    - 'tier4_autoware_utils': common/tier4_autoware_utils
+    - 'autoware_universe_utils': common/autoware_universe_utils
     - 'traffic_light_utils': common/traffic_light_utils
     - 'TVM Utility':
       - 'Introduction': common/tvm_utility

common/README.md

@@ -12,5 +12,5 @@ The Autoware.Universe Common folder consists of common and testing libraries tha
 
 Some of the commonly used libraries are:
 
-1. `tier4_autoware_utils`
+1. `autoware_universe_utils`
 2. `motion_utils`

common/autoware_grid_map_utils/package.xml

@@ -10,10 +10,10 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
+  <depend>autoware_universe_utils</depend>
   <depend>grid_map_core</depend>
   <depend>grid_map_cv</depend>
   <depend>libopencv-dev</depend>
-  <depend>tier4_autoware_utils</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>

common/autoware_grid_map_utils/test/benchmark.cpp

@@ -17,13 +17,13 @@
 #include "grid_map_cv/GridMapCvConverter.hpp"
 #include "grid_map_cv/GridMapCvProcessing.hpp"
 
+#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <grid_map_core/iterators/PolygonIterator.hpp>
 #include <grid_map_cv/grid_map_cv.hpp>
 #include <opencv2/core.hpp>
 #include <opencv2/highgui.hpp>
 #include <opencv2/imgproc.hpp>
 #include <opencv2/opencv.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
 
 #include <algorithm>
 #include <fstream>
@@ -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";
-  tier4_autoware_utils::StopWatch<std::chrono::milliseconds> stopwatch;
+  autoware_universe_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

@@ -14,8 +14,8 @@
 
 #include "autoware_grid_map_utils/polygon_iterator.hpp"
 
+#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <grid_map_core/iterators/PolygonIterator.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
 
 // gtest
 #include <gtest/gtest.h>

common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp

@@ -15,12 +15,12 @@
 #ifndef AUTOWARE_TEST_UTILS__AUTOWARE_TEST_UTILS_HPP_
 #define AUTOWARE_TEST_UTILS__AUTOWARE_TEST_UTILS_HPP_
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
 #include <component_interface_specs/planning.hpp>
 #include <lanelet2_extension/io/autoware_osm_parser.hpp>
 #include <lanelet2_extension/projection/mgrs_projector.hpp>
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
 
 #include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
 #include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
@@ -62,6 +62,8 @@ using autoware_planning_msgs::msg::Trajectory;
 using tier4_planning_msgs::msg::PathPointWithLaneId;
 using tier4_planning_msgs::msg::PathWithLaneId;
 using RouteSections = std::vector<autoware_planning_msgs::msg::LaneletSegment>;
+using autoware_universe_utils::createPoint;
+using autoware_universe_utils::createQuaternionFromRPY;
 using geometry_msgs::msg::Point;
 using geometry_msgs::msg::Pose;
 using geometry_msgs::msg::PoseStamped;
@@ -70,8 +72,6 @@ using nav_msgs::msg::OccupancyGrid;
 using nav_msgs::msg::Odometry;
 using sensor_msgs::msg::PointCloud2;
 using tf2_msgs::msg::TFMessage;
-using tier4_autoware_utils::createPoint;
-using tier4_autoware_utils::createQuaternionFromRPY;
 using tier4_planning_msgs::msg::Scenario;
 using unique_identifier_msgs::msg::UUID;
 

common/autoware_test_utils/package.xml

@@ -19,6 +19,7 @@
   <depend>autoware_map_msgs</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>component_interface_specs</depend>
   <depend>component_interface_utils</depend>
@@ -29,7 +30,6 @@
   <depend>tf2_msgs</depend>
   <depend>tf2_ros</depend>
   <depend>tier4_api_msgs</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>tier4_v2x_msgs</depend>
   <depend>unique_identifier_msgs</depend>

common/tier4_autoware_utils/CMakeLists.txt → common/autoware_universe_utils/CMakeLists.txt

@@ -1,12 +1,12 @@
 cmake_minimum_required(VERSION 3.14)
-project(tier4_autoware_utils)
+project(autoware_universe_utils)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
 find_package(Boost REQUIRED)
 
-ament_auto_add_library(tier4_autoware_utils SHARED
+ament_auto_add_library(autoware_universe_utils SHARED
   src/geometry/geometry.cpp
   src/geometry/pose_deviation.cpp
   src/geometry/boost_polygon_utils.cpp
@@ -23,10 +23,10 @@ if(BUILD_TESTING)
 
   file(GLOB_RECURSE test_files test/**/*.cpp)
 
-  ament_add_ros_isolated_gtest(test_tier4_autoware_utils ${test_files})
+  ament_add_ros_isolated_gtest(test_autoware_universe_utils ${test_files})
 
-  target_link_libraries(test_tier4_autoware_utils
-    tier4_autoware_utils
+  target_link_libraries(test_autoware_universe_utils
+    autoware_universe_utils
   )
 endif()
 

common/autoware_universe_utils/README.md

@@ -0,0 +1,9 @@
+# autoware_universe_utils
+
+## Purpose
+
+This package contains many common functions used by other packages, so please refer to them as needed.
+
+## For developers
+
+`autoware_universe_utils.hpp` header file was removed because the source files that directly/indirectly include this file took a long time for preprocessing.

common/tier4_autoware_utils/include/tier4_autoware_utils/geometry/boost_geometry.hpp → common/autoware_universe_utils/include/autoware/universe_utils/geometry/boost_geometry.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TIER4_AUTOWARE_UTILS__GEOMETRY__BOOST_GEOMETRY_HPP_
-#define TIER4_AUTOWARE_UTILS__GEOMETRY__BOOST_GEOMETRY_HPP_
+#ifndef AUTOWARE__UNIVERSE_UTILS__GEOMETRY__BOOST_GEOMETRY_HPP_
+#define AUTOWARE__UNIVERSE_UTILS__GEOMETRY__BOOST_GEOMETRY_HPP_
 
 #include <boost/geometry/core/cs.hpp>
 #include <boost/geometry/geometries/geometries.hpp>
@@ -25,7 +25,7 @@
 
 #include <geometry_msgs/msg/point.hpp>
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 // 2D
 struct Point2d;
@@ -93,12 +93,12 @@ inline Point3d fromMsg(const geometry_msgs::msg::Point & msg)
   point.z() = msg.z;
   return point;
 }
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
 
-BOOST_GEOMETRY_REGISTER_POINT_2D(                                       // NOLINT
-  tier4_autoware_utils::Point2d, double, cs::cartesian, x(), y())       // NOLINT
-BOOST_GEOMETRY_REGISTER_POINT_3D(                                       // NOLINT
-  tier4_autoware_utils::Point3d, double, cs::cartesian, x(), y(), z())  // NOLINT
-BOOST_GEOMETRY_REGISTER_RING(tier4_autoware_utils::LinearRing2d)        // NOLINT
+BOOST_GEOMETRY_REGISTER_POINT_2D(                                          // NOLINT
+  autoware_universe_utils::Point2d, double, cs::cartesian, x(), y())       // NOLINT
+BOOST_GEOMETRY_REGISTER_POINT_3D(                                          // NOLINT
+  autoware_universe_utils::Point3d, double, cs::cartesian, x(), y(), z())  // NOLINT
+BOOST_GEOMETRY_REGISTER_RING(autoware_universe_utils::LinearRing2d)        // NOLINT
 
-#endif  // TIER4_AUTOWARE_UTILS__GEOMETRY__BOOST_GEOMETRY_HPP_
+#endif  // AUTOWARE__UNIVERSE_UTILS__GEOMETRY__BOOST_GEOMETRY_HPP_

common/tier4_autoware_utils/include/tier4_autoware_utils/geometry/boost_polygon_utils.hpp → common/autoware_universe_utils/include/autoware/universe_utils/geometry/boost_polygon_utils.hpp

@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TIER4_AUTOWARE_UTILS__GEOMETRY__BOOST_POLYGON_UTILS_HPP_
-#define TIER4_AUTOWARE_UTILS__GEOMETRY__BOOST_POLYGON_UTILS_HPP_
+#ifndef AUTOWARE__UNIVERSE_UTILS__GEOMETRY__BOOST_POLYGON_UTILS_HPP_
+#define AUTOWARE__UNIVERSE_UTILS__GEOMETRY__BOOST_POLYGON_UTILS_HPP_
 
-#include "tier4_autoware_utils/geometry/boost_geometry.hpp"
+#include "autoware/universe_utils/geometry/boost_geometry.hpp"
 
 #include <autoware_perception_msgs/msg/detected_object.hpp>
 #include <autoware_perception_msgs/msg/predicted_object.hpp>
@@ -24,7 +24,7 @@
 
 #include <vector>
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 bool isClockwise(const Polygon2d & polygon);
 Polygon2d inverseClockwise(const Polygon2d & polygon);
@@ -47,6 +47,6 @@ Polygon2d toFootprint(
   const double base_to_rear, const double width);
 double getArea(const autoware_perception_msgs::msg::Shape & shape);
 Polygon2d expandPolygon(const Polygon2d & input_polygon, const double offset);
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
 
-#endif  // TIER4_AUTOWARE_UTILS__GEOMETRY__BOOST_POLYGON_UTILS_HPP_
+#endif  // AUTOWARE__UNIVERSE_UTILS__GEOMETRY__BOOST_POLYGON_UTILS_HPP_

common/tier4_autoware_utils/include/tier4_autoware_utils/geometry/geometry.hpp → common/autoware_universe_utils/include/autoware/universe_utils/geometry/geometry.hpp

@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TIER4_AUTOWARE_UTILS__GEOMETRY__GEOMETRY_HPP_
-#define TIER4_AUTOWARE_UTILS__GEOMETRY__GEOMETRY_HPP_
+#ifndef AUTOWARE__UNIVERSE_UTILS__GEOMETRY__GEOMETRY_HPP_
+#define AUTOWARE__UNIVERSE_UTILS__GEOMETRY__GEOMETRY_HPP_
 
-#include "tier4_autoware_utils/geometry/boost_geometry.hpp"
-#include "tier4_autoware_utils/math/constants.hpp"
-#include "tier4_autoware_utils/math/normalization.hpp"
-#include "tier4_autoware_utils/ros/msg_covariance.hpp"
+#include "autoware/universe_utils/geometry/boost_geometry.hpp"
+#include "autoware/universe_utils/math/constants.hpp"
+#include "autoware/universe_utils/math/normalization.hpp"
+#include "autoware/universe_utils/ros/msg_covariance.hpp"
 
 #include <exception>
 #include <string>
@@ -96,7 +96,7 @@ inline void doTransform(
 #endif
 }  // namespace tf2
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 template <class T>
 geometry_msgs::msg::Point getPoint(const T & p)
@@ -577,6 +577,6 @@ std::optional<geometry_msgs::msg::Point> intersect(
   const geometry_msgs::msg::Point & p1, const geometry_msgs::msg::Point & p2,
   const geometry_msgs::msg::Point & p3, const geometry_msgs::msg::Point & p4);
 
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
 
-#endif  // TIER4_AUTOWARE_UTILS__GEOMETRY__GEOMETRY_HPP_
+#endif  // AUTOWARE__UNIVERSE_UTILS__GEOMETRY__GEOMETRY_HPP_

common/tier4_autoware_utils/include/tier4_autoware_utils/geometry/pose_deviation.hpp → common/autoware_universe_utils/include/autoware/universe_utils/geometry/pose_deviation.hpp

@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TIER4_AUTOWARE_UTILS__GEOMETRY__POSE_DEVIATION_HPP_
-#define TIER4_AUTOWARE_UTILS__GEOMETRY__POSE_DEVIATION_HPP_
+#ifndef AUTOWARE__UNIVERSE_UTILS__GEOMETRY__POSE_DEVIATION_HPP_
+#define AUTOWARE__UNIVERSE_UTILS__GEOMETRY__POSE_DEVIATION_HPP_
 
 #include <geometry_msgs/msg/point.hpp>
 #include <geometry_msgs/msg/pose.hpp>
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 struct PoseDeviation
 {
@@ -39,6 +39,6 @@ double calcYawDeviation(
 PoseDeviation calcPoseDeviation(
   const geometry_msgs::msg::Pose & base_pose, const geometry_msgs::msg::Pose & target_pose);
 
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
 
-#endif  // TIER4_AUTOWARE_UTILS__GEOMETRY__POSE_DEVIATION_HPP_
+#endif  // AUTOWARE__UNIVERSE_UTILS__GEOMETRY__POSE_DEVIATION_HPP_

common/tier4_autoware_utils/include/tier4_autoware_utils/math/constants.hpp → common/autoware_universe_utils/include/autoware/universe_utils/math/constants.hpp

@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TIER4_AUTOWARE_UTILS__MATH__CONSTANTS_HPP_
-#define TIER4_AUTOWARE_UTILS__MATH__CONSTANTS_HPP_
+#ifndef AUTOWARE__UNIVERSE_UTILS__MATH__CONSTANTS_HPP_
+#define AUTOWARE__UNIVERSE_UTILS__MATH__CONSTANTS_HPP_
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 constexpr double pi = 3.14159265358979323846;  // To be replaced by std::numbers::pi in C++20
 constexpr double gravity = 9.80665;
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
 
-#endif  // TIER4_AUTOWARE_UTILS__MATH__CONSTANTS_HPP_
+#endif  // AUTOWARE__UNIVERSE_UTILS__MATH__CONSTANTS_HPP_

common/tier4_autoware_utils/include/tier4_autoware_utils/math/normalization.hpp → common/autoware_universe_utils/include/autoware/universe_utils/math/normalization.hpp

@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TIER4_AUTOWARE_UTILS__MATH__NORMALIZATION_HPP_
-#define TIER4_AUTOWARE_UTILS__MATH__NORMALIZATION_HPP_
+#ifndef AUTOWARE__UNIVERSE_UTILS__MATH__NORMALIZATION_HPP_
+#define AUTOWARE__UNIVERSE_UTILS__MATH__NORMALIZATION_HPP_
 
-#include "tier4_autoware_utils/math/constants.hpp"
+#include "autoware/universe_utils/math/constants.hpp"
 
 #include <cmath>
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 inline double normalizeDegree(const double deg, const double min_deg = -180)
 {
@@ -45,6 +45,6 @@ inline double normalizeRadian(const double rad, const double min_rad = -pi)
   return value - std::copysign(2 * pi, value);
 }
 
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
 
-#endif  // TIER4_AUTOWARE_UTILS__MATH__NORMALIZATION_HPP_
+#endif  // AUTOWARE__UNIVERSE_UTILS__MATH__NORMALIZATION_HPP_

common/tier4_autoware_utils/include/tier4_autoware_utils/math/range.hpp → common/autoware_universe_utils/include/autoware/universe_utils/math/range.hpp

@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TIER4_AUTOWARE_UTILS__MATH__RANGE_HPP_
-#define TIER4_AUTOWARE_UTILS__MATH__RANGE_HPP_
+#ifndef AUTOWARE__UNIVERSE_UTILS__MATH__RANGE_HPP_
+#define AUTOWARE__UNIVERSE_UTILS__MATH__RANGE_HPP_
 
 #include <cmath>
 #include <limits>
 #include <stdexcept>
 #include <vector>
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 template <class T>
 std::vector<T> arange(const T start, const T stop, const T step = 1)
@@ -73,6 +73,6 @@ std::vector<double> linspace(const T start, const T stop, const size_t num)
   return out;
 }
 
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
 
-#endif  // TIER4_AUTOWARE_UTILS__MATH__RANGE_HPP_
+#endif  // AUTOWARE__UNIVERSE_UTILS__MATH__RANGE_HPP_

common/tier4_autoware_utils/include/tier4_autoware_utils/math/sin_table.hpp → common/autoware_universe_utils/include/autoware/universe_utils/math/sin_table.hpp

@@ -12,19 +12,19 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TIER4_AUTOWARE_UTILS__MATH__SIN_TABLE_HPP_
-#define TIER4_AUTOWARE_UTILS__MATH__SIN_TABLE_HPP_
+#ifndef AUTOWARE__UNIVERSE_UTILS__MATH__SIN_TABLE_HPP_
+#define AUTOWARE__UNIVERSE_UTILS__MATH__SIN_TABLE_HPP_
 
 #include <cstddef>
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 
 constexpr size_t sin_table_size = 32769;
 constexpr size_t discrete_arcs_num_90 = 32768;
 constexpr size_t discrete_arcs_num_360 = 131072;
 extern const float g_sin_table[sin_table_size];
 
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
 
-#endif  // TIER4_AUTOWARE_UTILS__MATH__SIN_TABLE_HPP_
+#endif  // AUTOWARE__UNIVERSE_UTILS__MATH__SIN_TABLE_HPP_