feat(deviation_estimator): replace autoware_universe_utils with specific autoware_utils sub-packages

Migrates all autoware_universe_utils usages in the deviation_estimator
package to the specific autoware_utils sub-packages, as part of the
autoware_universe_utils deprecation tracked in
autowarefoundation/autoware_universe#12376.

Changes:
- package.xml:
  - <depend>autoware_universe_utils</depend> removed
  - Added <depend>autoware_utils_geometry</depend>
  - Added <depend>autoware_utils_math</depend>
  - Added <depend>autoware_utils_tf</depend>
- Header includes swapped (in internal wrapper, source, and test files):
  - autoware/universe_utils/geometry/geometry.hpp
    -> autoware_utils_geometry/geometry.hpp
  - autoware/universe_utils/math/constants.hpp
    -> autoware_utils_math/constants.hpp
  - autoware/universe_utils/math/normalization.hpp
    -> autoware_utils_math/normalization.hpp
  - autoware/universe_utils/ros/transform_listener.hpp
    -> autoware_utils_tf/transform_listener.hpp
- Geometry symbols (autoware_utils_geometry::):
  - getPose -> get_pose
  - getPoint -> get_point
  - getRPY -> get_rpy
  - createPoint -> create_point
  - calcAzimuthAngle -> calc_azimuth_angle
  - calcDistance2d -> calc_distance2d
  - calcElevationAngle -> calc_elevation_angle
  - createQuaternionFromRPY -> create_quaternion_from_rpy
- Math symbols (autoware_utils_math::):
  - normalizeRadian -> normalize_radian
  - pi (name unchanged)
- TF symbols (autoware_utils_tf::):
  - TransformListener (name unchanged)

The internal wrapper header (include/deviation_estimator/autoware_universe_utils.hpp)
keeps its filename since it is referenced by utils.hpp as the package's
public-facing helper. Only its internal includes and symbol references
are migrated. The tf2_ros::TransformListener in deviation_estimator.hpp
is intentionally left unchanged as it is a tf2 API, not an autoware API.

Signed-off-by: github-actions <github-actions@github.com>

Author: github-actions

localization/deviation_estimation_tools/deviation_estimator/include/deviation_estimator/autoware_universe_utils.hpp

@@ -15,9 +15,9 @@
 #ifndef DEVIATION_ESTIMATOR__AUTOWARE_UNIVERSE_UTILS_HPP_
 #define DEVIATION_ESTIMATOR__AUTOWARE_UNIVERSE_UTILS_HPP_
 
-#include "autoware/universe_utils/geometry/geometry.hpp"
-#include "autoware/universe_utils/math/constants.hpp"
-#include "autoware/universe_utils/math/normalization.hpp"
+#include <autoware_utils_geometry/geometry.hpp>
+#include <autoware_utils_math/constants.hpp>
+#include <autoware_utils_math/normalization.hpp>
 
 #include <tf2/utils.h>
 
@@ -38,11 +38,11 @@ template <class Pose1, class Pose2>
 bool isDrivingForward(const Pose1 & src_pose, const Pose2 & dst_pose)
 {
   // check the first point direction
-  const double src_yaw = tf2::getYaw(autoware::universe_utils::getPose(src_pose).orientation);
-  const double pose_direction_yaw = autoware::universe_utils::calcAzimuthAngle(
-    autoware::universe_utils::getPoint(src_pose), autoware::universe_utils::getPoint(dst_pose));
-  return std::fabs(autoware::universe_utils::normalizeRadian(src_yaw - pose_direction_yaw)) <
-         autoware::universe_utils::pi / 2.0;
+  const double src_yaw = tf2::getYaw(autoware_utils_geometry::get_pose(src_pose).orientation);
+  const double pose_direction_yaw = autoware_utils_geometry::calc_azimuth_angle(
+    autoware_utils_geometry::get_point(src_pose), autoware_utils_geometry::get_point(dst_pose));
+  return std::fabs(autoware_utils_math::normalize_radian(src_yaw - pose_direction_yaw)) <
+         autoware_utils_math::pi / 2.0;
 }
 
 /**
@@ -56,8 +56,8 @@ template <class Point1, class Point2>
 geometry_msgs::msg::Point calcInterpolatedPoint(
   const Point1 & src, const Point2 & dst, const double ratio)
 {
-  const auto src_point = autoware::universe_utils::getPoint(src);
-  const auto dst_point = autoware::universe_utils::getPoint(dst);
+  const auto src_point = autoware_utils_geometry::get_point(src);
+  const auto dst_point = autoware_utils_geometry::get_point(dst);
 
   tf2::Vector3 src_vec;
   src_vec.setX(src_point.x);
@@ -101,35 +101,35 @@ geometry_msgs::msg::Pose calcInterpolatedPose(
 
   geometry_msgs::msg::Pose output_pose;
   output_pose.position = calcInterpolatedPoint(
-    autoware::universe_utils::getPoint(src_pose), autoware::universe_utils::getPoint(dst_pose),
+    autoware_utils_geometry::get_point(src_pose), autoware_utils_geometry::get_point(dst_pose),
     clamped_ratio);
 
   if (set_orientation_from_position_direction) {
-    const double input_poses_dist = autoware::universe_utils::calcDistance2d(
-      autoware::universe_utils::getPoint(src_pose), autoware::universe_utils::getPoint(dst_pose));
+    const double input_poses_dist = autoware_utils_geometry::calc_distance2d(
+      autoware_utils_geometry::get_point(src_pose), autoware_utils_geometry::get_point(dst_pose));
     const bool is_driving_forward = isDrivingForward(src_pose, dst_pose);
 
     // Get orientation from interpolated point and src_pose
     if ((is_driving_forward && clamped_ratio > 1.0 - (1e-6)) || input_poses_dist < 1e-3) {
-      output_pose.orientation = autoware::universe_utils::getPose(dst_pose).orientation;
+      output_pose.orientation = autoware_utils_geometry::get_pose(dst_pose).orientation;
     } else if (!is_driving_forward && clamped_ratio < 1e-6) {
-      output_pose.orientation = autoware::universe_utils::getPose(src_pose).orientation;
+      output_pose.orientation = autoware_utils_geometry::get_pose(src_pose).orientation;
     } else {
       const auto & base_pose = is_driving_forward ? dst_pose : src_pose;
-      const double pitch = autoware::universe_utils::calcElevationAngle(
-        autoware::universe_utils::getPoint(output_pose),
-        autoware::universe_utils::getPoint(base_pose));
-      const double yaw = autoware::universe_utils::calcAzimuthAngle(
-        autoware::universe_utils::getPoint(output_pose),
-        autoware::universe_utils::getPoint(base_pose));
-      output_pose.orientation = autoware::universe_utils::createQuaternionFromRPY(0.0, pitch, yaw);
+      const double pitch = autoware_utils_geometry::calc_elevation_angle(
+        autoware_utils_geometry::get_point(output_pose),
+        autoware_utils_geometry::get_point(base_pose));
+      const double yaw = autoware_utils_geometry::calc_azimuth_angle(
+        autoware_utils_geometry::get_point(output_pose),
+        autoware_utils_geometry::get_point(base_pose));
+      output_pose.orientation = autoware_utils_geometry::create_quaternion_from_rpy(0.0, pitch, yaw);
     }
   } else {
     // Get orientation by spherical linear interpolation
     tf2::Transform src_tf;
     tf2::Transform dst_tf;
-    tf2::fromMsg(autoware::universe_utils::getPose(src_pose), src_tf);
-    tf2::fromMsg(autoware::universe_utils::getPose(dst_pose), dst_tf);
+    tf2::fromMsg(autoware_utils_geometry::get_pose(src_pose), src_tf);
+    tf2::fromMsg(autoware_utils_geometry::get_pose(dst_pose), dst_tf);
     const auto & quaternion = tf2::slerp(src_tf.getRotation(), dst_tf.getRotation(), clamped_ratio);
     output_pose.orientation = tf2::toMsg(quaternion);
   }

localization/deviation_estimation_tools/deviation_estimator/include/deviation_estimator/deviation_estimator.hpp

@@ -15,7 +15,7 @@
 #ifndef DEVIATION_ESTIMATOR__DEVIATION_ESTIMATOR_HPP_
 #define DEVIATION_ESTIMATOR__DEVIATION_ESTIMATOR_HPP_
 
-#include "autoware/universe_utils/ros/transform_listener.hpp"
+#include <autoware_utils_tf/transform_listener.hpp>
 #include "deviation_estimator/gyro_bias_module.hpp"
 #include "deviation_estimator/logger.hpp"
 #include "deviation_estimator/utils.hpp"
@@ -103,7 +103,7 @@ class DeviationEstimator : public rclcpp::Node
   std::unique_ptr<VelocityCoefModule> vel_coef_module_;
   std::unique_ptr<ValidationModule> validation_module_;
 
-  std::shared_ptr<autoware::universe_utils::TransformListener> transform_listener_;
+  std::shared_ptr<autoware_utils_tf::TransformListener> transform_listener_;
 
   void callback_pose_with_covariance(geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg);
 

localization/deviation_estimation_tools/deviation_estimator/package.xml

@@ -13,7 +13,9 @@
   <build_depend>autoware_cmake</build_depend>
 
   <depend>autoware_internal_debug_msgs</depend>
-  <depend>autoware_universe_utils</depend>
+  <depend>autoware_utils_geometry</depend>
+  <depend>autoware_utils_math</depend>
+  <depend>autoware_utils_tf</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>

localization/deviation_estimation_tools/deviation_estimator/src/deviation_estimator.cpp

@@ -14,7 +14,7 @@
 
 #include "deviation_estimator/deviation_estimator.hpp"
 
-#include "autoware/universe_utils/geometry/geometry.hpp"
+#include <autoware_utils_geometry/geometry.hpp>
 #include "deviation_estimator/logger.hpp"
 #include "deviation_estimator/utils.hpp"
 #include "rclcpp/logging.hpp"
@@ -178,7 +178,7 @@ DeviationEstimator::DeviationEstimator(
     declare_parameter<double>("thres_coef_vx"), declare_parameter<double>("thres_stddev_vx"),
     declare_parameter<double>("thres_bias_gyro"), declare_parameter<double>("thres_stddev_gyro"),
     5);
-  transform_listener_ = std::make_shared<autoware::universe_utils::TransformListener>(this);
+  transform_listener_ = std::make_shared<autoware_utils_tf::TransformListener>(this);
 
   RCLCPP_INFO(this->get_logger(), "[Deviation Estimator] launch success");
 }

localization/deviation_estimation_tools/deviation_estimator/src/gyro_bias_module.cpp

@@ -14,7 +14,7 @@
 
 #include "deviation_estimator/gyro_bias_module.hpp"
 
-#include "autoware/universe_utils/geometry/geometry.hpp"
+#include <autoware_utils_geometry/geometry.hpp>
 #include "deviation_estimator/utils.hpp"
 
 #include <vector>

localization/deviation_estimation_tools/deviation_estimator/src/utils.cpp

@@ -14,7 +14,7 @@
 
 #include "deviation_estimator/utils.hpp"
 
-#include "autoware/universe_utils/geometry/geometry.hpp"
+#include <autoware_utils_geometry/geometry.hpp>
 #include "rclcpp/rclcpp.hpp"
 
 #include <tf2/LinearMath/Quaternion.h>
@@ -93,7 +93,7 @@ geometry_msgs::msg::Point integrate_position(
 {
   double t_prev = rclcpp::Time(vx_list.front().stamp).seconds();
   double yaw = yaw_init;
-  geometry_msgs::msg::Point d_pos = autoware::universe_utils::createPoint(0.0, 0.0, 0.0);
+  geometry_msgs::msg::Point d_pos = autoware_utils_geometry::create_point(0.0, 0.0, 0.0);
   for (std::size_t i = 0; i < vx_list.size() - 1; ++i) {
     const double t_cur = rclcpp::Time(vx_list[i + 1].stamp).seconds();
     const geometry_msgs::msg::Vector3 gyro_interpolated =
@@ -118,9 +118,9 @@ geometry_msgs::msg::Vector3 calculate_error_rpy(
   const geometry_msgs::msg::Vector3 & gyro_bias)
 {
   const geometry_msgs::msg::Vector3 rpy_0 =
-    autoware::universe_utils::getRPY(pose_list.front().pose.orientation);
+    autoware_utils_geometry::get_rpy(pose_list.front().pose.orientation);
   const geometry_msgs::msg::Vector3 rpy_1 =
-    autoware::universe_utils::getRPY(pose_list.back().pose.orientation);
+    autoware_utils_geometry::get_rpy(pose_list.back().pose.orientation);
   const geometry_msgs::msg::Vector3 d_rpy = integrate_orientation(gyro_list, gyro_bias);
 
   geometry_msgs::msg::Vector3 error_rpy = createVector3(

localization/deviation_estimation_tools/deviation_estimator/src/velocity_coef_module.cpp

@@ -14,7 +14,7 @@
 
 #include "deviation_estimator/velocity_coef_module.hpp"
 
-#include "autoware/universe_utils/geometry/geometry.hpp"
+#include <autoware_utils_geometry/geometry.hpp>
 #include "deviation_estimator/utils.hpp"
 
 /**

localization/deviation_estimation_tools/deviation_estimator/test/test_gyro_bias.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware/universe_utils/geometry/geometry.hpp"
+#include <autoware_utils_geometry/geometry.hpp>
 #include "deviation_estimator/gyro_bias_module.hpp"
 
 #include <gtest/gtest.h>
@@ -54,7 +54,7 @@ TEST(DeviationEstimatorGyroBias, SmokeTestDefault)
     for (int i = 0; i <= ndt_rate * dt; ++i) {
       geometry_msgs::msg::PoseStamped pose;
       pose.header.stamp = t_start + rclcpp::Duration::from_seconds(1.0 * i / ndt_rate);
-      pose.pose.orientation = autoware::universe_utils::createQuaternionFromRPY(0.0, 0.0, 0.0);
+      pose.pose.orientation = autoware_utils_geometry::create_quaternion_from_rpy(0.0, 0.0, 0.0);
       pose_list.push_back(pose);
     }
 

localization/deviation_estimation_tools/deviation_estimator/test/test_gyro_stddev.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware/universe_utils/geometry/geometry.hpp"
+#include <autoware_utils_geometry/geometry.hpp>
 #include "deviation_estimator/deviation_estimator.hpp"
 
 #include <gtest/gtest.h>
@@ -53,7 +53,7 @@ TEST(DeviationEstimatorGyroStddev, SmokeTestDefault)
     for (int i = 0; i <= ndt_rate * t_window; ++i) {
       geometry_msgs::msg::PoseStamped pose;
       pose.header.stamp = t_start + rclcpp::Duration::from_seconds(1.0 * i / ndt_rate);
-      pose.pose.orientation = autoware::universe_utils::createQuaternionFromRPY(0.0, 0.0, 0.0);
+      pose.pose.orientation = autoware_utils_geometry::create_quaternion_from_rpy(0.0, 0.0, 0.0);
       pose_list.push_back(pose);
     }
 
@@ -104,7 +104,7 @@ TEST(DeviationEstimatorGyroStddev, SmokeTestWithBias)
     for (int i = 0; i <= ndt_rate * t_window; ++i) {
       geometry_msgs::msg::PoseStamped pose;
       pose.header.stamp = t_start + rclcpp::Duration::from_seconds(1.0 * i / ndt_rate);
-      pose.pose.orientation = autoware::universe_utils::createQuaternionFromRPY(0.0, 0.0, 0.0);
+      pose.pose.orientation = autoware_utils_geometry::create_quaternion_from_rpy(0.0, 0.0, 0.0);
       pose_list.push_back(pose);
     }