Merge branch 'main' into feat/move-autoware-utils-tf

autoware_utils/README.md

@@ -33,7 +33,6 @@ The geometry module provides classes and functions for handling 2D and 3D points
 
 The ROS module provides utilities for working with ROS messages and nodes:
 
-- **`diagnostics_interface.hpp`**: An interface for publishing diagnostic messages.
 - **`msg_covariance.hpp`**: Indices for accessing covariance matrices in ROS messages.
 - **`msg_operation.hpp`**: Overloaded operators for quaternion messages.
 - **`self_pose_listener.hpp`**: Listens to the self-pose of the vehicle.

autoware_utils/include/autoware_utils/ros/diagnostics_interface.hpp

@@ -1,4 +1,4 @@
-// Copyright 2023 Autoware Foundation
+// Copyright 2025 The Autoware Contributors
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -15,47 +15,14 @@
 #ifndef AUTOWARE_UTILS__ROS__DIAGNOSTICS_INTERFACE_HPP_
 #define AUTOWARE_UTILS__ROS__DIAGNOSTICS_INTERFACE_HPP_
 
-#include <rclcpp/rclcpp.hpp>
+// NOLINTBEGIN(build/namespaces, whitespace/line_length)
+// clang-format off
 
-#include <diagnostic_msgs/msg/diagnostic_array.hpp>
+#pragma message("#include <autoware_utils/ros/diagnostics_interface.hpp> is deprecated. Use #include <autoware_utils_diagnostics/diagnostics_interface.hpp> instead.")
+#include <autoware_utils_diagnostics/diagnostics_interface.hpp>
+namespace autoware_utils { using namespace autoware_utils_diagnostics; }
 
-#include <string>
-#include <vector>
-
-namespace autoware_utils
-{
-class DiagnosticsInterface
-{
-public:
-  DiagnosticsInterface(rclcpp::Node * node, const std::string & diagnostic_name);
-  void clear();
-  void add_key_value(const diagnostic_msgs::msg::KeyValue & key_value_msg);
-  template <typename T>
-  void add_key_value(const std::string & key, const T & value);
-  void add_key_value(const std::string & key, const std::string & value);
-  void add_key_value(const std::string & key, bool value);
-  void update_level_and_message(const int8_t level, const std::string & message);
-  void publish(const rclcpp::Time & publish_time_stamp);
-
-private:
-  [[nodiscard]] diagnostic_msgs::msg::DiagnosticArray create_diagnostics_array(
-    const rclcpp::Time & publish_time_stamp) const;
-
-  rclcpp::Clock::SharedPtr clock_;
-  rclcpp::Publisher<diagnostic_msgs::msg::DiagnosticArray>::SharedPtr diagnostics_pub_;
-
-  diagnostic_msgs::msg::DiagnosticStatus diagnostics_status_msg_;
-};
-
-template <typename T>
-void DiagnosticsInterface::add_key_value(const std::string & key, const T & value)
-{
-  diagnostic_msgs::msg::KeyValue key_value;
-  key_value.key = key;
-  key_value.value = std::to_string(value);
-  add_key_value(key_value);
-}
-
-}  // namespace autoware_utils
+// clang-format on
+// NOLINTEND
 
 #endif  // AUTOWARE_UTILS__ROS__DIAGNOSTICS_INTERFACE_HPP_

autoware_utils/package.xml

@@ -20,6 +20,7 @@
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_utils_debug</depend>
+  <depend>autoware_utils_diagnostics</depend>
   <depend>autoware_utils_logging</depend>
   <depend>autoware_utils_math</depend>
   <depend>autoware_utils_pcl</depend>

autoware_utils_diagnostics/CMakeLists.txt

@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 3.14)
+project(autoware_utils_diagnostics)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  "src/diagnostics_interface.cpp"
+)
+
+if(BUILD_TESTING)
+  ament_add_ros_isolated_gtest(test_${PROJECT_NAME}
+    "test/main.cpp"
+    "test/cases/diagnostics_interface.cpp"
+  )
+  target_link_libraries(test_${PROJECT_NAME} ${PROJECT_NAME})
+endif()
+
+ament_auto_package()

autoware_utils_diagnostics/README.md

@@ -0,0 +1,11 @@
+# autoware_utils_diagnostics
+
+## Overview
+
+The **autoware_utils** library is a comprehensive toolkit designed to facilitate the development of autonomous driving applications.
+This package provides essential utilities for diagnostics.
+It is extensively used in the Autoware project to handle common tasks such as handling diagnostic tasks.
+
+## Design
+
+- **`diagnostics_interface.hpp`**: An interface for publishing diagnostic messages.

autoware_utils_diagnostics/include/autoware_utils_diagnostics/diagnostics_interface.hpp

@@ -0,0 +1,61 @@
+// Copyright 2023 Autoware Foundation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// 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.
+
+#ifndef AUTOWARE_UTILS_DIAGNOSTICS__DIAGNOSTICS_INTERFACE_HPP_
+#define AUTOWARE_UTILS_DIAGNOSTICS__DIAGNOSTICS_INTERFACE_HPP_
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <diagnostic_msgs/msg/diagnostic_array.hpp>
+
+#include <string>
+#include <vector>
+
+namespace autoware_utils_diagnostics
+{
+class DiagnosticsInterface
+{
+public:
+  DiagnosticsInterface(rclcpp::Node * node, const std::string & diagnostic_name);
+  void clear();
+  void add_key_value(const diagnostic_msgs::msg::KeyValue & key_value_msg);
+  template <typename T>
+  void add_key_value(const std::string & key, const T & value);
+  void add_key_value(const std::string & key, const std::string & value);
+  void add_key_value(const std::string & key, bool value);
+  void update_level_and_message(const int8_t level, const std::string & message);
+  void publish(const rclcpp::Time & publish_time_stamp);
+
+private:
+  [[nodiscard]] diagnostic_msgs::msg::DiagnosticArray create_diagnostics_array(
+    const rclcpp::Time & publish_time_stamp) const;
+
+  rclcpp::Clock::SharedPtr clock_;
+  rclcpp::Publisher<diagnostic_msgs::msg::DiagnosticArray>::SharedPtr diagnostics_pub_;
+
+  diagnostic_msgs::msg::DiagnosticStatus diagnostics_status_msg_;
+};
+
+template <typename T>
+void DiagnosticsInterface::add_key_value(const std::string & key, const T & value)
+{
+  diagnostic_msgs::msg::KeyValue key_value;
+  key_value.key = key;
+  key_value.value = std::to_string(value);
+  add_key_value(key_value);
+}
+
+}  // namespace autoware_utils_diagnostics
+
+#endif  // AUTOWARE_UTILS_DIAGNOSTICS__DIAGNOSTICS_INTERFACE_HPP_

autoware_utils_diagnostics/package.xml

@@ -0,0 +1,27 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>autoware_utils_diagnostics</name>
+  <version>1.1.0</version>
+  <description>The autoware_utils_diagnostics package</description>
+  <maintainer email="egon.kang@autocore.ai">Jian Kang</maintainer>
+  <maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
+  <maintainer email="esteve.fernandez@tier4.jp">Esteve Fernandez</maintainer>
+  <maintainer email="yutaka.kondo@tier4.jp">Yutaka Kondo</maintainer>
+  <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>autoware_cmake</buildtool_depend>
+
+  <depend>diagnostic_msgs</depend>
+  <depend>rclcpp</depend>
+
+  <test_depend>ament_cmake_ros</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

autoware_utils/src/ros/diagnostics_interface.cpp → autoware_utils_diagnostics/src/diagnostics_interface.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware_utils/ros/diagnostics_interface.hpp"
+#include "autoware_utils_diagnostics/diagnostics_interface.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -21,7 +21,7 @@
 #include <algorithm>
 #include <string>
 
-namespace autoware_utils
+namespace autoware_utils_diagnostics
 {
 DiagnosticsInterface::DiagnosticsInterface(rclcpp::Node * node, const std::string & diagnostic_name)
 : clock_(node->get_clock())
@@ -103,4 +103,4 @@ diagnostic_msgs::msg::DiagnosticArray DiagnosticsInterface::create_diagnostics_a
 
   return diagnostics_msg;
 }
-}  // namespace autoware_utils
+}  // namespace autoware_utils_diagnostics

autoware_utils_diagnostics/test/cases/diagnostics_interface.cpp

@@ -0,0 +1,25 @@
+// Copyright 2025 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// 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 "autoware_utils_diagnostics/diagnostics_interface.hpp"
+
+#include <gtest/gtest.h>
+
+#include <memory>
+
+TEST(TestDiagnosticsInterface, Instantiation)
+{
+  const auto node = std::make_shared<rclcpp::Node>("test_node");
+  autoware_utils_diagnostics::DiagnosticsInterface(node.get(), "diag_name");
+}

autoware_utils_diagnostics/test/main.cpp

@@ -0,0 +1,36 @@
+// Copyright 2025 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// 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 <rclcpp/rclcpp.hpp>
+
+#include <gtest/gtest.h>
+
+class RclcppEnvironment : public testing::Environment
+{
+public:
+  RclcppEnvironment(int argc, char ** argv) : argc(argc), argv(argv) {}
+  void SetUp() override { rclcpp::init(argc, argv); }
+  void TearDown() override { rclcpp::shutdown(); }
+
+private:
+  int argc;
+  char ** argv;
+};
+
+int main(int argc, char ** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  testing::AddGlobalTestEnvironment(new RclcppEnvironment(argc, argv));
+  return RUN_ALL_TESTS();
+}