rename ”avoidance” modules in the planning component

[yuki-takagi-66]

The planning component has four major modules with the word “avoidance,” and three of them, except for lane change, do not have words that characterize the module, which prevents understanding of the module.
Therefore, we propose to change these modules' name / packages' name as follow. We suppose to change corresponding node/topic names.

1. Change the module's name behavior_path_avoidance_module to behavior_path_static_obstacle_avoidance_module
2. Change the module's name behavior_path_dynamic_avoidance_module to behavior_path_dynamic_obstacle_avoidance_module
3. Change the package's name obstacle_avoidance_planner to path optimizer

In corresponding to the changes of obstacle_avoidance_planner, We also propose additional name changes.

4. Change the package's name from motion_velocity_smoother to velocity smoother, because the prefix term motion has no significance and this achieves the symmetry to the path_optimizer.

[xmfcx]

Current Name	Proposal	My Proposal
Modules
behavior_path_avoidance_module	behavior_path_static_obstacle_avoidance_module	↪️autoware_behavior_path_static_obs_avoid_module
behavior_path_dynamic_avoidance_module	behavior_path_dynamic_obstacle_avoidance_module	↪️autoware_behavior_path_dynamic_obs_avoid_module
Packages
obstacle_avoidance_planner	path_optimizer	✅autoware_path_optimizer
motion_velocity_smoother	velocity_smoother	✅autoware_velocity_smoother

As these package names are getting too long, considering we will also prefix them with autoware_, I propose to shorten them a bit like this.

[yuki-takagi-66]

Thank you for the proposal. I understood that these package names are getting too long.
As a result of TIER IV internal discussion, we propose another candidate.

We propose to remove the prefix behavior_path_, and move the all behavior_path Packages/Modules into a new created directory behavior_path/.
How do you think?

Current Name	TIER IV New Proposal
Modules
behavior_path_avoidance_module	autoware_static_obstacle_avoidance_module
behavior_path_dynamic_avoidance_module	autoware_dynamic_obstacle_avoidance_module
behavior_path_lane_change_module	autoware_lane_change_module
behavior_path_others_module	autoware_others_module
Packages
behavior_path_planner	autoware_behavior_path_planner

New Directory Architecture
planning/behavior_path/autoware_static_obstacle_avoidance_module/
planning/behavior_path/autoware_dynamic_obstacle_avoidance_module/
planning/behavior_path/autoware_lane_change_module/
planning/behavior_path/autoware_others_module/
planning/behavior_path/autoware_behavior_path_planner/
planning/behavior_path/autoware_behavior_path_planner_common/

If we do as above, we should rename "behavior_velocity" packages to align the behavior_path in the future.

[xmfcx]

@yuki-takagi-66

Current Name	TIER IV New Proposal
Modules
behavior_path_avoidance_module	autoware_static_obstacle_avoidance_module
behavior_path_dynamic_avoidance_module	autoware_dynamic_obstacle_avoidance_module
behavior_path_lane_change_module	autoware_lane_change_module
behavior_path_others_module	autoware_others_module

These module names are not good because behavior_velocity_x_modules and behavior_path_x_modules are not compatible.

❗❗ path and vel parts have to be present in the module names to distinguish between them.

If you are open to change the module names, it would be the best to keep the semantic hierarchy for these names.

💡 autoware -> module-> path -> module_name so, in alphabetical order, it will sort good.

Current name	New name with semantic order
behavior_path_x_module	autoware_module_path_x
behavior_velocity_x_module	autoware_module_vel_x

And for the specific packages, it would look like this:

Current name	New name with semantic order
behavior_path_avoidance_module	autoware_module_path_static_obstacle_avoidance
behavior_path_dynamic_avoidance_module	autoware_module_path_dynamic_obstacle_avoidance
behavior_velocity_dynamic_obstacle_stop_module	autoware_module_vel_dynamic_obstacle_stop

Truth is, I think we can still shorten obstacle to obs and avoidance to avoid since it is clear from the context.

Current name	Semantic order, short
behavior_path_avoidance_module	autoware_module_path_static_obs_avoid
behavior_path_dynamic_avoidance_module	autoware_module_path_dynamic_obs_avoid
behavior_velocity_dynamic_obstacle_stop_module	autoware_module_vel_dynamic_obs_stop

cc. @takayuki5168 @TakaHoribe @zulfaqar-azmi-t4

[xmfcx]

Here is the entire list:

Current name	Semantic order, short
behavior_path_avoidance_by_lane_change_module	autoware_module_path_avoid_by_lane_change
behavior_path_avoidance_module	autoware_module_path_static_obs_avoid
behavior_path_dynamic_avoidance_module	autoware_module_path_dynamic_obs_avoid
behavior_path_external_request_lane_change_module	autoware_module_path_ext_request_lane_change
behavior_path_goal_planner_module	autoware_module_path_goal_planner
behavior_path_lane_change_module	autoware_module_path_lane_change
🎀behavior_path_planner	🎀autoware_behavior_path_planner
🎀behavior_path_planner_common	🎀autoware_behavior_path_planner_common
behavior_path_sampling_planner_module	autoware_module_path_sampling_planner
behavior_path_side_shift_module	autoware_module_path_side_shift
behavior_path_start_planner_module	autoware_module_path_start_planner
behavior_velocity_blind_spot_module	autoware_module_vel_blind_spot
behavior_velocity_crosswalk_module	autoware_module_vel_crosswalk
behavior_velocity_detection_area_module	autoware_module_vel_detection_area
behavior_velocity_dynamic_obstacle_stop_module	autoware_module_vel_dynamic_obs_stop
behavior_velocity_intersection_module	autoware_module_vel_intersection
behavior_velocity_no_drivable_lane_module	autoware_module_vel_no_drivable_lane
behavior_velocity_no_stopping_area_module	autoware_module_vel_no_stopping_area
behavior_velocity_occlusion_spot_module	autoware_module_vel_occlusion_spot
behavior_velocity_out_of_lane_module	autoware_module_vel_out_of_lane
💠behavior_velocity_planner	💠autoware_behavior_velocity_planner
💠behavior_velocity_planner_common	💠autoware_behavior_velocity_planner_common
behavior_velocity_run_out_module	autoware_module_vel_run_out
behavior_velocity_speed_bump_module	autoware_module_vel_speed_bump
behavior_velocity_stop_line_module	autoware_module_vel_stop_line
behavior_velocity_template_module	autoware_module_vel_template
behavior_velocity_traffic_light_module	autoware_module_vel_traffic_light
behavior_velocity_virtual_traffic_light_module	autoware_module_vel_virtual_traffic_light
behavior_velocity_walkway_module	autoware_module_vel_walkway

[yuki-takagi-66]

@xmfcx
Can I hear your concerns about our initial proposal?
Is the overall name too long?
or/and
Is the word “avoidance” and "obstacle "are redundant in this context?

[xmfcx]

(we discussed internally, see the decision here: https://github.com/orgs/autowarefoundation/discussions/4741#discussioncomment-9521524 )

[yuki-takagi-66]

@xmfcx Thank you so much for discussing the topic (including internal slack)

Tier4 final proposal is as following:

Current Name	Proposal
Modules
behavior_path_avoidance_module	autoware_behavior_path_static_obstacle_avoidance_module
behavior_path_dynamic_avoidance_module	autoware_behavior_path_dynamic_obstacle_avoidance_module
Packages
obstacle_avoidance_planner	autoware_path_optimizer
motion_velocity_smoother	autoware_velocity_smoother

[xmfcx]

Yes, let's do it this way to keep things simple with minimal changes 🤝

[takayuki5168]

Sounds good. Thank you for the discussion!

[yuki-takagi-66]

While we are concerned about the length of the names, we concluded that it is unavoidable.