Merge branch 'main' into temp/build_and_test_diff_exp_2

.github/CODEOWNERS

@@ -1,4 +1,4 @@
-src/common/wheel_stuck_utils/** @Autumn60 @Bey9434
+src/common/wheel_stuck_common_utils/** @Autumn60 @Bey9434
 src/control/joy2twist/** @Bey9434
 src/perception/velodyne_cloud_separator/** @Autumn60
 src/planning/dwa_planner/** @Autumn60

.pre-commit-config.yaml

@@ -85,7 +85,7 @@ repos:
         exclude: .cu
 
   - repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.29.0
+    rev: 0.29.1
     hooks:
       - id: check-metaschema
         files: ^.+/schema/.*schema\.json$

src/common/wheel_stuck_utils/CMakeLists.txt → src/common/wheel_stuck_common_utils/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(wheel_stuck_utils)
+project(wheel_stuck_common_utils)
 
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
@@ -18,9 +18,9 @@ if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
 
-  ament_auto_add_gtest(test_wheel_stuck_utils test/test_wheel_stuck_utils.cpp)
+  ament_auto_add_gtest(test_wheel_stuck_common_utils test/test_wheel_stuck_common_utils.cpp)
   file(GLOB TEST_SOURCES "test/**/*.cpp")
-  target_sources(test_wheel_stuck_utils PRIVATE ${TEST_SOURCES})
+  target_sources(test_wheel_stuck_common_utils PRIVATE ${TEST_SOURCES})
 endif()
 
 ament_auto_package()

src/common/wheel_stuck_utils/include/wheel_stuck_utils/math/math.hpp → src/common/wheel_stuck_common_utils/include/wheel_stuck_common_utils/math/math.hpp

@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef WHEEL_STUCK_UTILS__MATH__MATH_HPP_
-#define WHEEL_STUCK_UTILS__MATH__MATH_HPP_
+#ifndef WHEEL_STUCK_COMMON_UTILS__MATH__MATH_HPP_
+#define WHEEL_STUCK_COMMON_UTILS__MATH__MATH_HPP_
 
 #include <algorithm>
 
-namespace wheel_stuck_utils::math
+namespace wheel_stuck_common_utils::math
 {
 inline double clamp01(const double value)
 {
@@ -79,6 +79,6 @@ inline T max(T b, Args... args)
   return std::max(b, max(args...));
 }
 
-}  // namespace wheel_stuck_utils::math
+}  // namespace wheel_stuck_common_utils::math
 
-#endif  // WHEEL_STUCK_UTILS__MATH__MATH_HPP_
+#endif  // WHEEL_STUCK_COMMON_UTILS__MATH__MATH_HPP_

src/common/wheel_stuck_utils/include/wheel_stuck_utils/ros/function_timer.hpp → src/common/wheel_stuck_common_utils/include/wheel_stuck_common_utils/ros/function_timer.hpp

@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef WHEEL_STUCK_UTILS__ROS__FUNCTION_TIMER_HPP_
-#define WHEEL_STUCK_UTILS__ROS__FUNCTION_TIMER_HPP_
+#ifndef WHEEL_STUCK_COMMON_UTILS__ROS__FUNCTION_TIMER_HPP_
+#define WHEEL_STUCK_COMMON_UTILS__ROS__FUNCTION_TIMER_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
 #include <memory>
 #include <utility>
 
-namespace wheel_stuck_utils::ros
+namespace wheel_stuck_common_utils::ros
 {
 
 class FunctionTimer
@@ -51,6 +51,6 @@ class FunctionTimer
   }
 };
 
-}  // namespace wheel_stuck_utils::ros
+}  // namespace wheel_stuck_common_utils::ros
 
-#endif  // WHEEL_STUCK_UTILS__ROS__FUNCTION_TIMER_HPP_
+#endif  // WHEEL_STUCK_COMMON_UTILS__ROS__FUNCTION_TIMER_HPP_

src/common/wheel_stuck_utils/include/wheel_stuck_utils/ros/no_callback_subscription.hpp → src/common/wheel_stuck_common_utils/include/wheel_stuck_common_utils/ros/no_callback_subscription.hpp

@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef WHEEL_STUCK_UTILS__ROS__NO_CALLBACK_SUBSCRIPTION_HPP_
-#define WHEEL_STUCK_UTILS__ROS__NO_CALLBACK_SUBSCRIPTION_HPP_
+#ifndef WHEEL_STUCK_COMMON_UTILS__ROS__NO_CALLBACK_SUBSCRIPTION_HPP_
+#define WHEEL_STUCK_COMMON_UTILS__ROS__NO_CALLBACK_SUBSCRIPTION_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
 #include <memory>
 #include <string>
 
-namespace wheel_stuck_utils::ros
+namespace wheel_stuck_common_utils::ros
 {
 
 template <typename TMessage>
@@ -60,6 +60,6 @@ class NoCallbackSubscription
   }
 };
 
-}  // namespace wheel_stuck_utils::ros
+}  // namespace wheel_stuck_common_utils::ros
 
-#endif  // WHEEL_STUCK_UTILS__ROS__NO_CALLBACK_SUBSCRIPTION_HPP_
+#endif  // WHEEL_STUCK_COMMON_UTILS__ROS__NO_CALLBACK_SUBSCRIPTION_HPP_

src/common/wheel_stuck_utils/package.xml → src/common/wheel_stuck_common_utils/package.xml

@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>wheel_stuck_utils</name>
+  <name>wheel_stuck_common_utils</name>
   <version>0.1.0</version>
-  <description>The wheel_stuck_utils package</description>
+  <description>The wheel_stuck_common_utils package</description>
   <maintainer email="[email protected]">Akiro Harada</maintainer>
 
   <license>Apache 2</license>

src/common/wheel_stuck_utils/test/math/test_clamp01.cpp → src/common/wheel_stuck_common_utils/test/math/test_clamp01.cpp

@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "wheel_stuck_utils/math/math.hpp"
+#include "wheel_stuck_common_utils/math/math.hpp"
 
 #include <gtest/gtest.h>
 
 TEST(clamp01, clamp01)
 {
-  using wheel_stuck_utils::math::clamp01;
+  using wheel_stuck_common_utils::math::clamp01;
 
   EXPECT_DOUBLE_EQ(clamp01(0.5), 0.5);
   EXPECT_DOUBLE_EQ(clamp01(1.5), 1.0);

src/common/wheel_stuck_utils/test/math/test_inverse_lerp.cpp → src/common/wheel_stuck_common_utils/test/math/test_inverse_lerp.cpp

@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "wheel_stuck_utils/math/math.hpp"
+#include "wheel_stuck_common_utils/math/math.hpp"
 
 #include <gtest/gtest.h>
 
 TEST(inverse_lerp, inverse_lerp)
 {
-  using wheel_stuck_utils::math::inverse_lerp;
+  using wheel_stuck_common_utils::math::inverse_lerp;
 
   EXPECT_DOUBLE_EQ(inverse_lerp(0.0, 10.0, 5), 0.5);
   EXPECT_DOUBLE_EQ(inverse_lerp(0.0, 10.0, 15.0), 1.0);

src/common/wheel_stuck_utils/test/math/test_lerp.cpp → src/common/wheel_stuck_common_utils/test/math/test_lerp.cpp

@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "wheel_stuck_utils/math/math.hpp"
+#include "wheel_stuck_common_utils/math/math.hpp"
 
 #include <gtest/gtest.h>
 
 TEST(lerp, lerp)
 {
-  using wheel_stuck_utils::math::lerp;
+  using wheel_stuck_common_utils::math::lerp;
 
   EXPECT_DOUBLE_EQ(lerp(0.0, 10.0, 0.5), 5.0);
   EXPECT_DOUBLE_EQ(lerp(0.0, 10.0, 1.5), 10.0);

src/common/wheel_stuck_utils/test/math/test_max.cpp → src/common/wheel_stuck_common_utils/test/math/test_max.cpp

@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "wheel_stuck_utils/math/math.hpp"
+#include "wheel_stuck_common_utils/math/math.hpp"
 
 #include <gtest/gtest.h>
 
 TEST(max, max)
 {
-  using wheel_stuck_utils::math::max;
+  using wheel_stuck_common_utils::math::max;
 
   EXPECT_EQ(max(5), 5);
   EXPECT_EQ(max(5, 2, 8, -1), 8);

src/common/wheel_stuck_utils/test/math/test_min.cpp → src/common/wheel_stuck_common_utils/test/math/test_min.cpp

@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "wheel_stuck_utils/math/math.hpp"
+#include "wheel_stuck_common_utils/math/math.hpp"
 
 #include <gtest/gtest.h>
 
 TEST(min, min)
 {
-  using wheel_stuck_utils::math::min;
+  using wheel_stuck_common_utils::math::min;
 
   EXPECT_EQ(min(5), 5);
   EXPECT_EQ(min(5, 2, 8, -1), -1);

src/common/wheel_stuck_utils/test/math/test_sign.cpp → src/common/wheel_stuck_common_utils/test/math/test_sign.cpp

@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "wheel_stuck_utils/math/math.hpp"
+#include "wheel_stuck_common_utils/math/math.hpp"
 
 #include <gtest/gtest.h>
 
 TEST(sign, sign)
 {
-  using wheel_stuck_utils::math::sign;
+  using wheel_stuck_common_utils::math::sign;
 
   EXPECT_EQ(sign(0), 0);
   EXPECT_EQ(sign(1), 1);

src/perception/velodyne_cloud_separator/include/velodyne_cloud_separator/velodyne_cloud_separator.hpp

@@ -18,7 +18,7 @@
 #include "pcl/point_types.hpp"
 
 #include <rclcpp/rclcpp.hpp>
-#include <wheel_stuck_utils/ros/no_callback_subscription.hpp>
+#include <wheel_stuck_common_utils/ros/no_callback_subscription.hpp>
 
 #include <sensor_msgs/msg/point_cloud2.hpp>
 
@@ -34,7 +34,7 @@ namespace velodyne_cloud_separator
 using PointXYZIR = pcl::PointXYZIR;
 using PointCloud2 = sensor_msgs::msg::PointCloud2;
 
-using PointCloud2Subscription = wheel_stuck_utils::ros::NoCallbackSubscription<PointCloud2>;
+using PointCloud2Subscription = wheel_stuck_common_utils::ros::NoCallbackSubscription<PointCloud2>;
 using PointCloud2Publisher = rclcpp::Publisher<PointCloud2>;
 
 class VelodyneCloudSeparator : public rclcpp::Node

src/perception/velodyne_cloud_separator/package.xml

@@ -15,7 +15,7 @@
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>sensor_msgs</depend>
-  <depend>wheel_stuck_utils</depend>
+  <depend>wheel_stuck_common_utils</depend>
   <test_depend>ament_lint_auto</test_depend>
 
   <export>

src/planning/dwa_planner/include/dwa_planner/dwa_planner.hpp

@@ -16,7 +16,7 @@
 #define DWA_PLANNER__DWA_PLANNER_HPP_
 
 #include <rclcpp/rclcpp.hpp>
-#include <wheel_stuck_utils/ros/no_callback_subscription.hpp>
+#include <wheel_stuck_common_utils/ros/no_callback_subscription.hpp>
 
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <geometry_msgs/msg/twist_stamped.hpp>
@@ -34,9 +34,10 @@ using PoseStamped = geometry_msgs::msg::PoseStamped;
 using Twist = geometry_msgs::msg::Twist;
 using TwistStamped = geometry_msgs::msg::TwistStamped;
 
-using OccupancyGridSubscription = wheel_stuck_utils::ros::NoCallbackSubscription<OccupancyGrid>;
-using OdometrySubscription = wheel_stuck_utils::ros::NoCallbackSubscription<Odometry>;
-using PoseStampedSubscription = wheel_stuck_utils::ros::NoCallbackSubscription<PoseStamped>;
+using OccupancyGridSubscription =
+  wheel_stuck_common_utils::ros::NoCallbackSubscription<OccupancyGrid>;
+using OdometrySubscription = wheel_stuck_common_utils::ros::NoCallbackSubscription<Odometry>;
+using PoseStampedSubscription = wheel_stuck_common_utils::ros::NoCallbackSubscription<PoseStamped>;
 using TwistStampedPublisher = rclcpp::Publisher<TwistStamped>;
 
 class DWAPlanner : public rclcpp::Node

src/planning/dwa_planner/package.xml

@@ -14,7 +14,7 @@
   <depend>nav_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
-  <depend>wheel_stuck_utils</depend>
+  <depend>wheel_stuck_common_utils</depend>
   <test_depend>ament_lint_auto</test_depend>
 
   <export>

src/planning/dwa_planner/src/dwa_planner.cpp

@@ -14,7 +14,7 @@
 
 #include "dwa_planner/dwa_planner.hpp"
 
-#include <wheel_stuck_utils/math/math.hpp>
+#include <wheel_stuck_common_utils/math/math.hpp>
 
 #include <limits>
 
@@ -199,10 +199,10 @@ DWAPlanner::Trajectory DWAPlanner::planning()
   Trajectory best_trajectory;
 
   for (int v = 0; v < velocity_resolution_; v++) {
-    double velocity = wheel_stuck_utils::math::lerp(
+    double velocity = wheel_stuck_common_utils::math::lerp(
       window.min_velocity, window.max_velocity, v * velocity_resolution_inv_);
     for (int a = 0; a < angular_velocity_resolution_; a++) {
-      double angular_velocity = wheel_stuck_utils::math::lerp(
+      double angular_velocity = wheel_stuck_common_utils::math::lerp(
         window.min_angular_velocity, window.max_angular_velocity,
         a * angular_velocity_resolution_inv_);
 

src/sample/simple_int_publisher/include/simple_int_publisher/simple_int_publisher.hpp

@@ -16,7 +16,7 @@
 #define SIMPLE_INT_PUBLISHER__SIMPLE_INT_PUBLISHER_HPP_
 
 #include <rclcpp/rclcpp.hpp>
-#include <wheel_stuck_utils/ros/function_timer.hpp>
+#include <wheel_stuck_common_utils/ros/function_timer.hpp>
 
 #include <std_msgs/msg/int32.hpp>
 
@@ -25,7 +25,7 @@ namespace simple_int_publisher
 
 using Int32 = std_msgs::msg::Int32;
 
-using FunctionTimer = wheel_stuck_utils::ros::FunctionTimer;
+using FunctionTimer = wheel_stuck_common_utils::ros::FunctionTimer;
 using Int32Publisher = rclcpp::Publisher<Int32>;
 
 class SimpleIntPublisher : public rclcpp::Node

src/sample/simple_int_publisher/package.xml

@@ -13,7 +13,7 @@
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>std_msgs</depend>
-  <depend>wheel_stuck_utils</depend>
+  <depend>wheel_stuck_common_utils</depend>
   <test_depend>ament_lint_auto</test_depend>
 
   <export>

src/sample/simple_int_subscriber/include/simple_int_subscriber/polling_int_subscriber.hpp

@@ -16,7 +16,7 @@
 #define SIMPLE_INT_SUBSCRIBER__POLLING_INT_SUBSCRIBER_HPP_
 
 #include <rclcpp/rclcpp.hpp>
-#include <wheel_stuck_utils/ros/no_callback_subscription.hpp>
+#include <wheel_stuck_common_utils/ros/no_callback_subscription.hpp>
 
 #include <std_msgs/msg/int32.hpp>
 
@@ -25,7 +25,7 @@ namespace simple_int_subscriber
 
 using Int32 = std_msgs::msg::Int32;
 
-using Int32Subscription = wheel_stuck_utils::ros::NoCallbackSubscription<Int32>;
+using Int32Subscription = wheel_stuck_common_utils::ros::NoCallbackSubscription<Int32>;
 
 class PollingIntSubscriber : public rclcpp::Node
 {

src/sample/simple_int_subscriber/package.xml

@@ -13,7 +13,7 @@
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>std_msgs</depend>
-  <depend>wheel_stuck_utils</depend>
+  <depend>wheel_stuck_common_utils</depend>
   <test_depend>ament_lint_auto</test_depend>
 
   <export>