refactor(path_optimizer): rename package name and fix trajectory visualizer

common/tier4_logging_level_configure_rviz_plugin/config/logger_config.yaml

@@ -81,11 +81,11 @@ Planning:
       logger_name: planning.scenario_planning.lane_driving.behavior_planning.behavior_velocity_planner.intersection
 
   motion_obstacle_avoidance:
-    - node_name: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner
-      logger_name: planning.scenario_planning.lane_driving.motion_planning.obstacle_avoidance_planner
-    - node_name: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner
+    - node_name: /planning/scenario_planning/lane_driving/motion_planning/path_optimizer
+      logger_name: planning.scenario_planning.lane_driving.motion_planning.path_optimizer
+    - node_name: /planning/scenario_planning/lane_driving/motion_planning/path_optimizer
       logger_name: autoware_universe_utils
-    - node_name: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner
+    - node_name: /planning/scenario_planning/lane_driving/motion_planning/path_optimizer
       logger_name: autoware_motion_utils
 
   motion_velocity_smoother:
@@ -136,7 +136,7 @@ Common:
       logger_name: autoware_universe_utils
     - node_name: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner
       logger_name: autoware_universe_utils
-    - node_name: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner
+    - node_name: /planning/scenario_planning/lane_driving/motion_planning/path_optimizer
       logger_name: autoware_universe_utils
     - node_name: /planning/scenario_planning/lane_driving/motion_planning/path_smoother
       logger_name: autoware_universe_utils

planning/planning_debug_tools/README.md

@@ -43,7 +43,7 @@ in Global code
 ```lua
 behavior_path = '/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id/debug_info'
 behavior_velocity = '/planning/scenario_planning/lane_driving/behavior_planning/path/debug_info'
-motion_avoid = '/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/trajectory/debug_info'
+motion_avoid = '/planning/scenario_planning/lane_driving/motion_planning/path_optimizer/trajectory/debug_info'
 motion_smoother_latacc = '/planning/scenario_planning/motion_velocity_smoother/debug/trajectory_lateral_acc_filtered/debug_info'
 motion_smoother = '/planning/scenario_planning/trajectory/debug_info'
 ```

planning/planning_debug_tools/launch/trajectory_analyzer.launch.xml

@@ -4,7 +4,7 @@
     <param name="path_with_lane_id_topics" value="[/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id]"/>
     <param
       name="trajectory_topics"
-      value="[/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/trajectory,
+      value="[/planning/scenario_planning/lane_driving/motion_planning/path_optimizer/trajectory,
               /planning/scenario_planning/motion_velocity_smoother/debug/backward_filtered_trajectory,
               /planning/scenario_planning/motion_velocity_smoother/debug/forward_filtered_trajectory,
               /planning/scenario_planning/motion_velocity_smoother/debug/merged_filtered_trajectory,

planning/planning_debug_tools/scripts/closest_velocity_checker.py

@@ -85,7 +85,7 @@ def __init__(self):
         )
         self.sub2 = self.create_subscription(
             Trajectory,
-            lane_drv + "/motion_planning/obstacle_avoidance_planner/trajectory",
+            lane_drv + "/motion_planning/path_optimizer/trajectory",
             self.CallBackAvoidTrajectory,
             1,
         )

planning/planning_debug_tools/scripts/trajectory_visualizer.py

@@ -120,7 +120,7 @@ def __init__(self):
 
         self.behavior_path_planner_path = PathWithLaneId()
         self.behavior_velocity_planner_path = Path()
-        self.obstacle_avoid_traj = Trajectory()
+        self.path_optimizer_traj = Trajectory()
         self.obstacle_stop_traj = Trajectory()
 
         self.plotted = [False] * 9
@@ -136,7 +136,7 @@ def __init__(self):
         )
 
         # BUFFER_SIZE = 65536*100
-        optimizer_debug = "/planning/scenario_planning/motion_velocity_smoother/debug/"
+        optimizer_debug = "/planning/scenario_planning/velocity_smoother/debug/"
         self.sub1 = message_filters.Subscriber(
             self, Trajectory, optimizer_debug + "trajectory_external_velocity_limited"
         )
@@ -162,7 +162,7 @@ def __init__(self):
         self.sub8 = message_filters.Subscriber(
             self,
             Trajectory,
-            lane_driving + "/motion_planning/obstacle_avoidance_planner/trajectory",
+            lane_driving + "/motion_planning/path_optimizer/trajectory",
         )
         self.sub9 = message_filters.Subscriber(self, Trajectory, lane_driving + "/trajectory")
 
@@ -252,7 +252,7 @@ def CallBackBehaviorVelocityPlannerPath(self, cmd):
         self.update_behavior_velocity_planner_path = True
 
     def CallbackObstacleAvoidTraj(self, cmd):
-        self.obstacle_avoid_traj = cmd
+        self.path_optimizer_traj = cmd
         self.update_traj_ob_avoid = True
 
     def CallbackObstacleStopTraj(self, cmd):
@@ -265,7 +265,7 @@ def setPlotTrajectoryVelocity(self):
         (self.im2,) = self.ax1.plot(
             [], [], label="1: behavior_velocity_planner_path", marker="", ls="--"
         )
-        (self.im3,) = self.ax1.plot([], [], label="2: obstacle_avoid_traj", marker="", ls="-.")
+        (self.im3,) = self.ax1.plot([], [], label="2: path_optimizer_traj", marker="", ls="-.")
         (self.im4,) = self.ax1.plot([], [], label="3: obstacle_stop_traj", marker="", ls="--")
         (self.im5,) = self.ax1.plot([], [], label="4-1: opt input", marker="", ls="--")
         (self.im6,) = self.ax1.plot(
@@ -329,8 +329,8 @@ def plotTrajectoryVelocity(self, data):
         self.get_logger().info("plot start")
 
         if self.update_traj_final:
-            self.im10.set_data(0, self.localization_vx)
-            self.im11.set_data(0, self.vehicle_vx)
+            self.im10.set_data([0], [self.localization_vx])
+            self.im11.set_data([0], [self.vehicle_vx])
 
             if self.velocity_limit is not None:
                 x = [PLOT_MIN_ARCLENGTH, PLOT_MAX_ARCLENGTH]
@@ -347,7 +347,7 @@ def plotTrajectoryVelocity(self, data):
                 self.update_behavior_velocity_planner_path,
                 self.im2,
             ),
-            (self.obstacle_avoid_traj, self.update_traj_ob_avoid, self.im3),
+            (self.path_optimizer_traj, self.update_traj_ob_avoid, self.im3),
             (self.obstacle_stop_traj, self.update_traj_ob_stop, self.im4),
             (self.trajectory_raw, self.update_traj_raw, self.im5),
             (self.trajectory_external_velocity_limited, self.update_ex_vel_lim, self.im6),

planning/planning_debug_tools/scripts/update_logger_level.sh

@@ -18,8 +18,8 @@ for module in "${behavior_velocity_module_list[@]}"; do
 done
 
 # obstacle avoidance planner
-node_name_dict["obstacle_avoidance_planner"]=/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner
-logger_name_dict["obstacle_avoidance_planner"]=/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner
+node_name_dict["path_optimizer"]=/planning/scenario_planning/lane_driving/motion_planning/path_optimizer
+logger_name_dict["path_optimizer"]=/planning/scenario_planning/lane_driving/motion_planning/path_optimizer
 
 # motion velocity smoother
 node_name_dict["motion_velocity_smoother"]=/planning/scenario_planning/motion_velocity_smoother