feat(autoware_utils_visualization): split package (#36)

* feat(autoware_utils_visualization): split package Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * add deprecated message Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix test file glob Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> --------- Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
autowarefoundation · Mar 6, 2025 · 417b3cc · 417b3cc
1 parent 5099343
commit 417b3cc
Show file tree

Hide file tree

Showing 10 changed files with 285 additions and 66 deletions.
diff --git a/autoware_utils/README.md b/autoware_utils/README.md
@@ -36,7 +36,6 @@ The ROS module provides utilities for working with ROS messages and nodes:
 - **`debug_publisher.hpp`**: A helper class for publishing debug messages with timestamps.
 - **`diagnostics_interface.hpp`**: An interface for publishing diagnostic messages.
 - **`logger_level_configure.hpp`**: Utility for configuring logger levels dynamically.
-- **`marker_helper.hpp`**: Helper functions for creating and manipulating visualization markers.
 - **`msg_covariance.hpp`**: Indices for accessing covariance matrices in ROS messages.
 - **`msg_operation.hpp`**: Overloaded operators for quaternion messages.
 - **`parameter.hpp`**: Simplifies parameter retrieval and declaration.

diff --git a/autoware_utils/include/autoware_utils/ros/marker_helper.hpp b/autoware_utils/include/autoware_utils/ros/marker_helper.hpp
@@ -1,4 +1,4 @@
-// Copyright 2020 Tier IV, Inc.
+// 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.
@@ -15,67 +15,14 @@
 #ifndef AUTOWARE_UTILS__ROS__MARKER_HELPER_HPP_
 #define AUTOWARE_UTILS__ROS__MARKER_HELPER_HPP_
 
-#include <rclcpp/time.hpp>
+// NOLINTBEGIN(build/namespaces, whitespace/line_length)
+// clang-format off
 
-#include <visualization_msgs/msg/marker_array.hpp>
+#pragma message("#include <autoware_utils/ros/marker_helper.hpp> is deprecated. Use #include <autoware_utils_visualization/marker_helper.hpp> instead.")
+#include <autoware_utils_visualization/marker_helper.hpp>
+namespace autoware_utils { using namespace autoware_utils_visualization; }
 
-#include <optional>
-#include <string>
-
-namespace autoware_utils
-{
-inline geometry_msgs::msg::Point create_marker_position(double x, double y, double z)
-{
-  geometry_msgs::msg::Point point;
-  point.x = x;
-  point.y = y;
-  point.z = z;
-  return point;
-}
-
-inline geometry_msgs::msg::Quaternion create_marker_orientation(
-  double x, double y, double z, double w)
-{
-  geometry_msgs::msg::Quaternion quaternion;
-  quaternion.x = x;
-  quaternion.y = y;
-  quaternion.z = z;
-  quaternion.w = w;
-  return quaternion;
-}
-
-inline geometry_msgs::msg::Vector3 create_marker_scale(double x, double y, double z)
-{
-  geometry_msgs::msg::Vector3 scale;
-  scale.x = x;
-  scale.y = y;
-  scale.z = z;
-  return scale;
-}
-
-inline std_msgs::msg::ColorRGBA create_marker_color(float r, float g, float b, float a)
-{
-  std_msgs::msg::ColorRGBA color;
-  color.r = r;
-  color.g = g;
-  color.b = b;
-  color.a = a;
-  return color;
-}
-
-visualization_msgs::msg::Marker create_default_marker(
-  const std::string & frame_id, const rclcpp::Time & now, const std::string & ns, const int32_t id,
-  const int32_t type, const geometry_msgs::msg::Vector3 & scale,
-  const std_msgs::msg::ColorRGBA & color);
-
-visualization_msgs::msg::Marker create_deleted_default_marker(
-  const rclcpp::Time & now, const std::string & ns, const int32_t id);
-
-void append_marker_array(
-  const visualization_msgs::msg::MarkerArray & additional_marker_array,
-  visualization_msgs::msg::MarkerArray * marker_array,
-  const std::optional<rclcpp::Time> & current_time = {});
-
-}  // namespace autoware_utils
+// clang-format on
+// NOLINTEND
 
 #endif  // AUTOWARE_UTILS__ROS__MARKER_HELPER_HPP_
diff --git a/autoware_utils/package.xml b/autoware_utils/package.xml
@@ -22,6 +22,7 @@
   <depend>autoware_utils_geometry</depend>
   <depend>autoware_utils_math</depend>
   <depend>autoware_utils_pcl</depend>
+  <depend>autoware_utils_visualization</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>builtin_interfaces</depend>
   <depend>diagnostic_msgs</depend>
@@ -33,7 +34,6 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>unique_identifier_msgs</depend>
-  <depend>visualization_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>

diff --git a/autoware_utils_visualization/CMakeLists.txt b/autoware_utils_visualization/CMakeLists.txt
@@ -0,0 +1,16 @@
+cmake_minimum_required(VERSION 3.14)
+project(autoware_utils_visualization)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  "src/marker_helper.cpp"
+)
+
+if(BUILD_TESTING)
+  file(GLOB_RECURSE test_files test/*.cpp)
+  ament_auto_add_gtest(test_${PROJECT_NAME} ${test_files})
+endif()
+
+ament_auto_package()
diff --git a/autoware_utils_visualization/README.md b/autoware_utils_visualization/README.md
@@ -0,0 +1,11 @@
+# autoware_utils_visualization
+
+## Overview
+
+The **autoware_utils** library is a comprehensive toolkit designed to facilitate the development of autonomous driving applications.
+This package provides essential utilities for visualization.
+It is extensively used in the Autoware project to handle common tasks such as creating markers for RViz.
+
+## Design
+
+- **`marker_helper.hpp`**: Helper functions for creating and manipulating visualization markers.
diff --git a/autoware_utils_visualization/include/autoware_utils_visualization/marker_helper.hpp b/autoware_utils_visualization/include/autoware_utils_visualization/marker_helper.hpp
@@ -0,0 +1,81 @@
+// Copyright 2020 Tier IV, Inc.
+//
+// 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_VISUALIZATION__MARKER_HELPER_HPP_
+#define AUTOWARE_UTILS_VISUALIZATION__MARKER_HELPER_HPP_
+
+#include <rclcpp/time.hpp>
+
+#include <visualization_msgs/msg/marker_array.hpp>
+
+#include <optional>
+#include <string>
+
+namespace autoware_utils_visualization
+{
+inline geometry_msgs::msg::Point create_marker_position(double x, double y, double z)
+{
+  geometry_msgs::msg::Point point;
+  point.x = x;
+  point.y = y;
+  point.z = z;
+  return point;
+}
+
+inline geometry_msgs::msg::Quaternion create_marker_orientation(
+  double x, double y, double z, double w)
+{
+  geometry_msgs::msg::Quaternion quaternion;
+  quaternion.x = x;
+  quaternion.y = y;
+  quaternion.z = z;
+  quaternion.w = w;
+  return quaternion;
+}
+
+inline geometry_msgs::msg::Vector3 create_marker_scale(double x, double y, double z)
+{
+  geometry_msgs::msg::Vector3 scale;
+  scale.x = x;
+  scale.y = y;
+  scale.z = z;
+  return scale;
+}
+
+inline std_msgs::msg::ColorRGBA create_marker_color(float r, float g, float b, float a)
+{
+  std_msgs::msg::ColorRGBA color;
+  color.r = r;
+  color.g = g;
+  color.b = b;
+  color.a = a;
+  return color;
+}
+
+visualization_msgs::msg::Marker create_default_marker(
+  const std::string & frame_id, const rclcpp::Time & now, const std::string & ns, const int32_t id,
+  const int32_t type, const geometry_msgs::msg::Vector3 & scale,
+  const std_msgs::msg::ColorRGBA & color);
+
+visualization_msgs::msg::Marker create_deleted_default_marker(
+  const rclcpp::Time & now, const std::string & ns, const int32_t id);
+
+void append_marker_array(
+  const visualization_msgs::msg::MarkerArray & additional_marker_array,
+  visualization_msgs::msg::MarkerArray * marker_array,
+  const std::optional<rclcpp::Time> & current_time = {});
+
+}  // namespace autoware_utils_visualization
+
+#endif  // AUTOWARE_UTILS_VISUALIZATION__MARKER_HELPER_HPP_
diff --git a/autoware_utils_visualization/package.xml b/autoware_utils_visualization/package.xml
@@ -0,0 +1,26 @@
+<?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_visualization</name>
+  <version>1.1.0</version>
+  <description>The autoware_utils_visualization 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>rclcpp</depend>
+  <depend>visualization_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/autoware_utils/src/ros/marker_helper.cpp → ...utils_visualization/src/marker_helper.cpp b/autoware_utils/src/ros/marker_helper.cpp → ...utils_visualization/src/marker_helper.cpp
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware_utils/ros/marker_helper.hpp"
+#include "autoware_utils_visualization/marker_helper.hpp"
 
 #include <string>
 
-namespace autoware_utils
+namespace autoware_utils_visualization
 {
 visualization_msgs::msg::Marker create_default_marker(
   const std::string & frame_id, const rclcpp::Time & now, const std::string & ns, const int32_t id,
@@ -69,4 +69,4 @@ void append_marker_array(
   }
 }
 
-}  // namespace autoware_utils
+}  // namespace autoware_utils_visualization
diff --git a/autoware_utils_visualization/test/cases/marker_helper.cpp b/autoware_utils_visualization/test/cases/marker_helper.cpp
@@ -0,0 +1,118 @@
+// 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_visualization/marker_helper.hpp"
+
+#include <gtest/gtest.h>
+
+TEST(TestMarkerHelper, CreatePosition)
+{
+  const auto r = autoware_utils_visualization::create_marker_position(0.1, 0.2, 0.3);
+  EXPECT_DOUBLE_EQ(r.x, 0.1);
+  EXPECT_DOUBLE_EQ(r.y, 0.2);
+  EXPECT_DOUBLE_EQ(r.z, 0.3);
+}
+
+TEST(TestMarkerHelper, CreateOrientation)
+{
+  const auto r = autoware_utils_visualization::create_marker_orientation(0.1, 0.2, 0.3, 0.4);
+  EXPECT_DOUBLE_EQ(r.x, 0.1);
+  EXPECT_DOUBLE_EQ(r.y, 0.2);
+  EXPECT_DOUBLE_EQ(r.z, 0.3);
+  EXPECT_DOUBLE_EQ(r.w, 0.4);
+}
+
+TEST(TestMarkerHelper, CreateScale)
+{
+  const auto r = autoware_utils_visualization::create_marker_scale(0.1, 0.2, 0.3);
+  EXPECT_DOUBLE_EQ(r.x, 0.1);
+  EXPECT_DOUBLE_EQ(r.y, 0.2);
+  EXPECT_DOUBLE_EQ(r.z, 0.3);
+}
+
+TEST(TestMarkerHelper, CreateColor)
+{
+  const auto r = autoware_utils_visualization::create_marker_color(0.1, 0.2, 0.3, 0.4);
+  EXPECT_FLOAT_EQ(r.r, 0.1);
+  EXPECT_FLOAT_EQ(r.g, 0.2);
+  EXPECT_FLOAT_EQ(r.b, 0.3);
+  EXPECT_FLOAT_EQ(r.a, 0.4);
+}
+
+TEST(TestMarkerHelper, CreateDefaultMarker)
+{
+  using visualization_msgs::msg::Marker;
+  const auto stamp = rclcpp::Time(12345, 67890);
+  const auto scale = autoware_utils_visualization::create_marker_scale(0.1, 0.2, 0.3);
+  const auto color = autoware_utils_visualization::create_marker_color(0.1, 0.2, 0.3, 0.4);
+
+  const auto m = autoware_utils_visualization::create_default_marker(
+    "frame", stamp, "ns", 99, Marker::CUBE, scale, color);
+
+  EXPECT_EQ(m.header.stamp.sec, 12345);
+  EXPECT_EQ(m.header.stamp.nanosec, 67890);
+  EXPECT_EQ(m.header.frame_id, "frame");
+  EXPECT_EQ(m.ns, "ns");
+  EXPECT_EQ(m.id, 99);
+  EXPECT_EQ(m.action, Marker::ADD);
+  EXPECT_EQ(m.type, Marker::CUBE);
+  EXPECT_DOUBLE_EQ(m.pose.position.x, 0.0);
+  EXPECT_DOUBLE_EQ(m.pose.position.y, 0.0);
+  EXPECT_DOUBLE_EQ(m.pose.position.z, 0.0);
+  EXPECT_DOUBLE_EQ(m.pose.orientation.x, 0.0);
+  EXPECT_DOUBLE_EQ(m.pose.orientation.y, 0.0);
+  EXPECT_DOUBLE_EQ(m.pose.orientation.z, 0.0);
+  EXPECT_DOUBLE_EQ(m.pose.orientation.w, 1.0);
+  EXPECT_DOUBLE_EQ(m.scale.x, 0.1);
+  EXPECT_DOUBLE_EQ(m.scale.y, 0.2);
+  EXPECT_DOUBLE_EQ(m.scale.z, 0.3);
+  EXPECT_FLOAT_EQ(m.color.r, 0.1);
+  EXPECT_FLOAT_EQ(m.color.g, 0.2);
+  EXPECT_FLOAT_EQ(m.color.b, 0.3);
+  EXPECT_FLOAT_EQ(m.color.a, 0.4);
+}
+
+TEST(TestMarkerHelper, CreateDeleteMarker)
+{
+  using visualization_msgs::msg::Marker;
+  const auto stamp = rclcpp::Time(12345, 67890);
+
+  const auto m = autoware_utils_visualization::create_deleted_default_marker(stamp, "ns", 99);
+  EXPECT_EQ(m.header.stamp.sec, 12345);
+  EXPECT_EQ(m.header.stamp.nanosec, 67890);
+  EXPECT_EQ(m.ns, "ns");
+  EXPECT_EQ(m.id, 99);
+  EXPECT_EQ(m.action, Marker::DELETE);
+}
+
+TEST(TestMarkerHelper, CreateAppendMarkerArray)
+{
+  visualization_msgs::msg::MarkerArray array1;
+  visualization_msgs::msg::MarkerArray array2;
+  array1.markers.resize(2);
+  array1.markers[0].id = 10;
+  array1.markers[1].id = 11;
+  array2.markers.resize(3);
+  array2.markers[0].id = 20;
+  array2.markers[1].id = 21;
+  array2.markers[2].id = 22;
+
+  autoware_utils_visualization::append_marker_array(array2, &array1, std::nullopt);
+  EXPECT_EQ(array1.markers.size(), 5);
+  EXPECT_EQ(array1.markers[0].id, 10);
+  EXPECT_EQ(array1.markers[1].id, 11);
+  EXPECT_EQ(array1.markers[2].id, 20);
+  EXPECT_EQ(array1.markers[3].id, 21);
+  EXPECT_EQ(array1.markers[4].id, 22);
+}