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refactor(autoware_iv_external_api_adaptor): update component_interface_utils dependency #127

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merged 2 commits into from
Nov 4, 2024
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refactor(autoware_iv_external_api_adaptor): update component_interface_utils dependency #127

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ffdc3d8
refactor(autoware_iv_external_api_adaptor): update component_interfac…
esteve Oct 29, 2024
01936cc
style(pre-commit): autofix
pre-commit-ci[bot] Oct 29, 2024
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2 changes: 1 addition & 1 deletion autoware_iv_external_api_adaptor/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,11 +12,11 @@

<depend>autoware_ad_api_specs</depend>
<depend>autoware_component_interface_specs</depend>
<depend>autoware_component_interface_utils</depend>
<depend>autoware_control_msgs</depend>
<depend>autoware_external_api_msgs</depend>
<depend>autoware_system_msgs</depend>
<depend>autoware_vehicle_msgs</depend>
<depend>component_interface_utils</depend>
<depend>nlohmann-json-dev</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
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6 changes: 3 additions & 3 deletions autoware_iv_external_api_adaptor/src/initial_pose.cpp
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Expand Up @@ -52,7 +52,7 @@ InitialPose::InitialPose(const rclcpp::NodeOptions & options)
std::bind(&InitialPose::setInitializePoseAuto, this, _1, _2), rmw_qos_profile_services_default,
group_);

const auto adaptor = component_interface_utils::NodeAdaptor(this);
const auto adaptor = autoware::component_interface_utils::NodeAdaptor(this);
adaptor.init_cli(cli_localization_initialize_);
}

Expand All @@ -70,7 +70,7 @@ void InitialPose::setInitializePose(
try {
const auto res = cli_localization_initialize_->call(req, initial_pose_timeout);
response->status = converter::convert(res->status);
} catch (const component_interface_utils::ServiceException & error) {
} catch (const autoware::component_interface_utils::ServiceException & error) {
response->status = tier4_api_utils::response_error(error.what());
}
}
Expand All @@ -87,7 +87,7 @@ void InitialPose::setInitializePoseAuto(
try {
const auto res = cli_localization_initialize_->call(req, initial_pose_timeout);
response->status = converter::convert(res->status);
} catch (const component_interface_utils::ServiceException & error) {
} catch (const autoware::component_interface_utils::ServiceException & error) {
response->status = tier4_api_utils::response_error(error.what());
}
}
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7 changes: 4 additions & 3 deletions autoware_iv_external_api_adaptor/src/initial_pose.hpp
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Expand Up @@ -16,7 +16,7 @@
#define INITIAL_POSE_HPP_

#include <autoware/component_interface_specs/localization.hpp>
#include <component_interface_utils/rclcpp.hpp>
#include <autoware/component_interface_utils/rclcpp.hpp>
#include <rclcpp/rclcpp.hpp>
#include <tier4_api_utils/tier4_api_utils.hpp>

Expand All @@ -39,8 +39,9 @@ class InitialPose : public rclcpp::Node
rclcpp::CallbackGroup::SharedPtr group_;
tier4_api_utils::Service<InitializePose>::SharedPtr srv_set_initialize_pose_;
tier4_api_utils::Service<InitializePoseAuto>::SharedPtr srv_set_initialize_pose_auto_;
component_interface_utils::Client<autoware::component_interface_specs::localization::Initialize>::
SharedPtr cli_localization_initialize_;
autoware::component_interface_utils::Client<
autoware::component_interface_specs::localization::Initialize>::SharedPtr
cli_localization_initialize_;

// ros callback
void setInitializePose(
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6 changes: 3 additions & 3 deletions autoware_iv_external_api_adaptor/src/route.cpp
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Expand Up @@ -43,7 +43,7 @@ Route::Route(const rclcpp::NodeOptions & options) : Node("external_api_route", o

// adapi
{
const auto adaptor = component_interface_utils::NodeAdaptor(this);
const auto adaptor = autoware::component_interface_utils::NodeAdaptor(this);
adaptor.init_cli(cli_clear_route_);
adaptor.init_cli(cli_set_route_);
adaptor.init_sub(sub_get_route_, this, &Route::onRoute);
Expand All @@ -66,7 +66,7 @@ void Route::setRoute(
*req = converter::convert(*request);
const auto res = cli_set_route_->call(req);
response->status = converter::convert(res->status);
} catch (const component_interface_utils::ServiceException & error) {
} catch (const autoware::component_interface_utils::ServiceException & error) {
response->status = tier4_api_utils::response_error(error.what());
}
}
Expand All @@ -79,7 +79,7 @@ void Route::clearRoute(
const auto req = std::make_shared<autoware_ad_api::routing::ClearRoute::Service::Request>();
const auto res = cli_clear_route_->call(req);
response->status = converter::convert(res->status);
} catch (const component_interface_utils::ServiceException & error) {
} catch (const autoware::component_interface_utils::ServiceException & error) {
response->status = tier4_api_utils::response_error(error.what());
}
}
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9 changes: 5 additions & 4 deletions autoware_iv_external_api_adaptor/src/route.hpp
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Expand Up @@ -15,8 +15,8 @@
#ifndef ROUTE_HPP_
#define ROUTE_HPP_

#include "autoware/component_interface_utils/rclcpp.hpp"
#include "autoware_ad_api_specs/routing.hpp"
#include "component_interface_utils/rclcpp.hpp"
#include "rclcpp/rclcpp.hpp"
#include "tier4_api_utils/tier4_api_utils.hpp"

Expand Down Expand Up @@ -44,10 +44,11 @@ class Route : public rclcpp::Node
tier4_api_utils::Service<SetRoute>::SharedPtr srv_set_route_;
tier4_api_utils::Service<ClearRoute>::SharedPtr srv_clear_route_;
rclcpp::Publisher<RouteMsg>::SharedPtr pub_get_route_;
component_interface_utils::Client<autoware_ad_api::routing::ClearRoute>::SharedPtr
autoware::component_interface_utils::Client<autoware_ad_api::routing::ClearRoute>::SharedPtr
cli_clear_route_;
component_interface_utils::Client<autoware_ad_api::routing::SetRoute>::SharedPtr cli_set_route_;
component_interface_utils::Subscription<autoware_ad_api::routing::Route>::SharedPtr
autoware::component_interface_utils::Client<autoware_ad_api::routing::SetRoute>::SharedPtr
cli_set_route_;
autoware::component_interface_utils::Subscription<autoware_ad_api::routing::Route>::SharedPtr
sub_get_route_;

// ros callback
Expand Down
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