From a47e1aa72e9dcd12949932ede57b765281cfe2d9 Mon Sep 17 00:00:00 2001
From: Junya Sasaki <junya.sasaki@tier4.jp>
Date: Mon, 20 Jan 2025 18:26:11 +0900
Subject: [PATCH 01/12] feat(dummy_perception_publisher): apply `autoware_`
 prefix (see below):

  Note:
    * In this commit, I did not organize a folder structure.
      The folder structure will be organized in the next some commits.
    * The changes will follow the Autoware's guideline as below:
        - https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/directory-structure/#package-folder

Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>
---
 .../dummy_perception_publisher/CMakeLists.txt  | 18 +++++++++---------
 .../dummy_perception_publisher/node.hpp        | 12 ++++++++----
 .../signed_distance_function.hpp               | 12 ++++++------
 .../dummy_perception_publisher.launch.xml      |  4 ++--
 .../dummy_perception_publisher/package.xml     |  3 ++-
 .../src/empty_objects_publisher.cpp            |  9 +++++++--
 .../dummy_perception_publisher/src/main.cpp    |  4 ++--
 .../dummy_perception_publisher/src/node.cpp    |  7 ++++++-
 .../src/pointcloud_creator.cpp                 |  8 ++++----
 .../src/signed_distance_function.cpp           |  6 +++---
 .../test/src/test_signed_distance_function.cpp |  7 ++++++-
 11 files changed, 55 insertions(+), 35 deletions(-)

diff --git a/simulator/dummy_perception_publisher/CMakeLists.txt b/simulator/dummy_perception_publisher/CMakeLists.txt
index 0acf4694d03a6..9ac146b182a9a 100644
--- a/simulator/dummy_perception_publisher/CMakeLists.txt
+++ b/simulator/dummy_perception_publisher/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(dummy_perception_publisher)
+project(autoware_dummy_perception_publisher)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
@@ -23,19 +23,19 @@ ament_auto_add_library(signed_distance_function SHARED
   src/signed_distance_function.cpp
 )
 
-ament_auto_add_executable(dummy_perception_publisher_node
+ament_auto_add_executable(${PROJECT_NAME}_node
   src/main.cpp
   src/node.cpp
   src/pointcloud_creator.cpp
 )
 
-target_link_libraries(dummy_perception_publisher_node
+target_link_libraries(${PROJECT_NAME}_node
   signed_distance_function
 )
 
-ament_target_dependencies(dummy_perception_publisher_node ${${PROJECT_NAME}_DEPENDENCIES})
+ament_target_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_DEPENDENCIES})
 
-target_include_directories(dummy_perception_publisher_node
+target_include_directories(${PROJECT_NAME}_node
   PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
     $<INSTALL_INTERFACE:include>)
@@ -43,14 +43,14 @@ target_include_directories(dummy_perception_publisher_node
 # PCL dependencies - `ament_target_dependencies` doesn't respect the
 # components/modules selected above and only links in `common` ,so we need
 # to do this manually.
-target_compile_definitions(dummy_perception_publisher_node PRIVATE ${PCL_DEFINITIONS})
-target_include_directories(dummy_perception_publisher_node PRIVATE ${PCL_INCLUDE_DIRS})
+target_compile_definitions(${PROJECT_NAME}_node PRIVATE ${PCL_DEFINITIONS})
+target_include_directories(${PROJECT_NAME}_node PRIVATE ${PCL_INCLUDE_DIRS})
 # Unfortunately, this one can't be PRIVATE because only the plain or only the
 # keyword (PRIVATE) signature of target_link_libraries can be used for one
 # target, not both. The plain signature is already used inside
 # `ament_target_dependencies` and possibly rosidl_target_interfaces.
-target_link_libraries(dummy_perception_publisher_node ${PCL_LIBRARIES})
-target_link_directories(dummy_perception_publisher_node PRIVATE ${PCL_LIBRARY_DIRS})
+target_link_libraries(${PROJECT_NAME}_node ${PCL_LIBRARIES})
+target_link_directories(${PROJECT_NAME}_node PRIVATE ${PCL_LIBRARY_DIRS})
 
 
 ament_auto_add_executable(empty_objects_publisher
diff --git a/simulator/dummy_perception_publisher/include/dummy_perception_publisher/node.hpp b/simulator/dummy_perception_publisher/include/dummy_perception_publisher/node.hpp
index cf46ecddf516f..7b552367f08c6 100644
--- a/simulator/dummy_perception_publisher/include/dummy_perception_publisher/node.hpp
+++ b/simulator/dummy_perception_publisher/include/dummy_perception_publisher/node.hpp
@@ -1,4 +1,4 @@
-// Copyright 2020 Tier IV, Inc.
+// Copyright 2025 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.
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef DUMMY_PERCEPTION_PUBLISHER__NODE_HPP_
-#define DUMMY_PERCEPTION_PUBLISHER__NODE_HPP_
+#ifndef AUTOWARE__SIMULATOR__DUMMY_PERCEPTION_PUBLISHER__NODE_HPP_
+#define AUTOWARE__SIMULATOR__DUMMY_PERCEPTION_PUBLISHER__NODE_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -41,6 +41,8 @@
 #include <random>
 #include <vector>
 
+namespace autoware::simulator::dummy_perception_publisher
+{
 struct ObjectInfo
 {
   ObjectInfo(
@@ -139,4 +141,6 @@ class DummyPerceptionPublisherNode : public rclcpp::Node
   ~DummyPerceptionPublisherNode() {}
 };
 
-#endif  // DUMMY_PERCEPTION_PUBLISHER__NODE_HPP_
+}  // namespace autoware::simulator::dummy_perception_publisher
+
+#endif  // AUTOWARE__SIMULATOR__DUMMY_PERCEPTION_PUBLISHER__NODE_HPP_
diff --git a/simulator/dummy_perception_publisher/include/dummy_perception_publisher/signed_distance_function.hpp b/simulator/dummy_perception_publisher/include/dummy_perception_publisher/signed_distance_function.hpp
index abf24cb8dd4e6..fbe1c86b61d62 100644
--- a/simulator/dummy_perception_publisher/include/dummy_perception_publisher/signed_distance_function.hpp
+++ b/simulator/dummy_perception_publisher/include/dummy_perception_publisher/signed_distance_function.hpp
@@ -1,4 +1,4 @@
-// Copyright 2022 Tier IV, Inc.
+// Copyright 2025 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.
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef DUMMY_PERCEPTION_PUBLISHER__SIGNED_DISTANCE_FUNCTION_HPP_
-#define DUMMY_PERCEPTION_PUBLISHER__SIGNED_DISTANCE_FUNCTION_HPP_
+#ifndef AUTOWARE__SIMULATOR__DUMMY_PERCEPTION_PUBLISHER__SIGNED_DISTANCE_FUNCTION_HPP_
+#define AUTOWARE__SIMULATOR__DUMMY_PERCEPTION_PUBLISHER__SIGNED_DISTANCE_FUNCTION_HPP_
 
 #include <tf2/LinearMath/Transform.h>
 
@@ -23,7 +23,7 @@
 #include <utility>
 #include <vector>
 
-namespace signed_distance_function
+namespace autoware::simulator::dummy_perception_publisher::signed_distance_function
 {
 
 class AbstractSignedDistanceFunction
@@ -69,6 +69,6 @@ class CompositeSDF : public AbstractSignedDistanceFunction
   std::vector<std::shared_ptr<AbstractSignedDistanceFunction>> sdf_ptrs_;
 };
 
-}  // namespace signed_distance_function
+}  // namespace autoware::simulator::dummy_perception_publisher::signed_distance_function
 
-#endif  // DUMMY_PERCEPTION_PUBLISHER__SIGNED_DISTANCE_FUNCTION_HPP_
+#endif  // AUTOWARE__SIMULATOR__DUMMY_PERCEPTION_PUBLISHER__SIGNED_DISTANCE_FUNCTION_HPP_
diff --git a/simulator/dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml b/simulator/dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml
index 41025f74cbe50..a79bd77496af1 100644
--- a/simulator/dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml
+++ b/simulator/dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml
@@ -9,7 +9,7 @@
   <group>
     <push-ros-namespace namespace="simulation"/>
     <group if="$(var real)">
-      <node pkg="dummy_perception_publisher" exec="dummy_perception_publisher_node" name="dummy_perception_publisher" output="screen">
+      <node pkg="autoware_dummy_perception_publisher" exec="autoware_dummy_perception_publisher_node" name="autoware_dummy_perception_publisher" output="screen">
         <remap from="output/dynamic_object" to="/perception/object_recognition/detection/labeled_clusters"/>
         <remap from="output/objects_pose" to="debug/object_pose"/>
         <remap from="output/points_raw" to="/perception/obstacle_segmentation/pointcloud"/>
@@ -30,7 +30,7 @@
       </include>
     </group>
     <group unless="$(var real)">
-      <node pkg="dummy_perception_publisher" exec="dummy_perception_publisher_node" name="dummy_perception_publisher" output="screen">
+      <node pkg="autoware_dummy_perception_publisher" exec="autoware_dummy_perception_publisher_node" name="autoware_dummy_perception_publisher" output="screen">
         <remap from="output/dynamic_object" to="/perception/object_recognition/detection/objects_with_feature"/>
         <remap from="output/objects_pose" to="debug/object_pose"/>
         <remap from="output/points_raw" to="/perception/obstacle_segmentation/pointcloud"/>
diff --git a/simulator/dummy_perception_publisher/package.xml b/simulator/dummy_perception_publisher/package.xml
index 4f78acd6c07f2..395e9a0275f3a 100644
--- a/simulator/dummy_perception_publisher/package.xml
+++ b/simulator/dummy_perception_publisher/package.xml
@@ -1,10 +1,11 @@
 <?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>dummy_perception_publisher</name>
+  <name>autoware_dummy_perception_publisher</name>
   <version>0.40.0</version>
   <description>The dummy_perception_publisher package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
+  <maintainer email="junya.sasaki@tier4.jp">Junya Sasaki</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
diff --git a/simulator/dummy_perception_publisher/src/empty_objects_publisher.cpp b/simulator/dummy_perception_publisher/src/empty_objects_publisher.cpp
index 2d1ea626fb1ac..beadf6bb45f46 100644
--- a/simulator/dummy_perception_publisher/src/empty_objects_publisher.cpp
+++ b/simulator/dummy_perception_publisher/src/empty_objects_publisher.cpp
@@ -1,4 +1,4 @@
-// Copyright 2020 Tier IV, Inc.
+// Copyright 2025 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.
@@ -19,6 +19,9 @@
 #include <memory>
 #include <utility>
 
+namespace autoware::simulator::dummy_perception_publisher
+{
+
 class EmptyObjectsPublisher : public rclcpp::Node
 {
 public:
@@ -45,10 +48,12 @@ class EmptyObjectsPublisher : public rclcpp::Node
   }
 };
 
+}  // namespace autoware::simulator::dummy_perception_publisher
+
 int main(int argc, char ** argv)
 {
   rclcpp::init(argc, argv);
-  rclcpp::spin(std::make_shared<EmptyObjectsPublisher>());
+  rclcpp::spin(std::make_shared<autoware::simulator::dummy_perception_publisher::EmptyObjectsPublisher>());
   rclcpp::shutdown();
   return 0;
 }
diff --git a/simulator/dummy_perception_publisher/src/main.cpp b/simulator/dummy_perception_publisher/src/main.cpp
index 5e627f2cbc8ed..c4fc4042c6ae9 100644
--- a/simulator/dummy_perception_publisher/src/main.cpp
+++ b/simulator/dummy_perception_publisher/src/main.cpp
@@ -1,4 +1,4 @@
-// Copyright 2020 Tier IV, Inc.
+// Copyright 2025 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.
@@ -21,7 +21,7 @@
 int main(int argc, char ** argv)
 {
   rclcpp::init(argc, argv);
-  rclcpp::spin(std::make_shared<DummyPerceptionPublisherNode>());
+  rclcpp::spin(std::make_shared<autoware::simulator::dummy_perception_publisher::DummyPerceptionPublisherNode>());
   rclcpp::shutdown();
 
   return 0;
diff --git a/simulator/dummy_perception_publisher/src/node.cpp b/simulator/dummy_perception_publisher/src/node.cpp
index d72b16d303cec..70a958f717cf8 100644
--- a/simulator/dummy_perception_publisher/src/node.cpp
+++ b/simulator/dummy_perception_publisher/src/node.cpp
@@ -1,4 +1,4 @@
-// Copyright 2020 Tier IV, Inc.
+// Copyright 2025 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.
@@ -35,6 +35,9 @@
 #include <utility>
 #include <vector>
 
+namespace autoware::simulator::dummy_perception_publisher
+{
+
 using autoware_perception_msgs::msg::TrackedObject;
 using autoware_perception_msgs::msg::TrackedObjects;
 
@@ -428,3 +431,5 @@ void DummyPerceptionPublisherNode::objectCallback(
     }
   }
 }
+
+}  // namespace autoware::simulator::dummy_perception_publisher
diff --git a/simulator/dummy_perception_publisher/src/pointcloud_creator.cpp b/simulator/dummy_perception_publisher/src/pointcloud_creator.cpp
index 977336f63eee3..498a7d80110ca 100644
--- a/simulator/dummy_perception_publisher/src/pointcloud_creator.cpp
+++ b/simulator/dummy_perception_publisher/src/pointcloud_creator.cpp
@@ -1,4 +1,4 @@
-// Copyright 2020 Tier IV, Inc.
+// Copyright 2025 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.
@@ -26,7 +26,7 @@
 #include <memory>
 #include <vector>
 
-namespace
+namespace autoware::simulator::dummy_perception_publisher
 {
 
 static constexpr double epsilon = 0.001;
@@ -45,8 +45,6 @@ pcl::PointXYZ getPointWrtBaseLink(
   return pcl::PointXYZ(p_wrt_base.x(), p_wrt_base.y(), p_wrt_base.z());
 }
 
-}  // namespace
-
 void ObjectCentricPointCloudCreator::create_object_pointcloud(
   const ObjectInfo & obj_info, const tf2::Transform & tf_base_link2map,
   std::mt19937 & random_generator, pcl::PointCloud<pcl::PointXYZ>::Ptr pointcloud) const
@@ -261,3 +259,5 @@ std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> EgoCentricPointCloudCreator::cr
   }
   return pointclouds;
 }
+
+}  // namespace autoware::simulator::dummy_perception_publisher
diff --git a/simulator/dummy_perception_publisher/src/signed_distance_function.cpp b/simulator/dummy_perception_publisher/src/signed_distance_function.cpp
index 01bef1851b25e..739cbcdcfbe2d 100644
--- a/simulator/dummy_perception_publisher/src/signed_distance_function.cpp
+++ b/simulator/dummy_perception_publisher/src/signed_distance_function.cpp
@@ -1,4 +1,4 @@
-// Copyright 2022 Tier IV, Inc.
+// Copyright 2025 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.
@@ -20,7 +20,7 @@
 #include <iostream>
 #include <limits>
 
-namespace signed_distance_function
+namespace autoware::simulator::dummy_perception_publisher::signed_distance_function
 {
 
 double AbstractSignedDistanceFunction::getSphereTracingDist(
@@ -89,4 +89,4 @@ size_t CompositeSDF::nearest_sdf_index(double x, double y) const
   return idx_min;
 }
 
-}  // namespace signed_distance_function
+}  // namespace autoware::simulator::dummy_perception_publisher::signed_distance_function
diff --git a/simulator/dummy_perception_publisher/test/src/test_signed_distance_function.cpp b/simulator/dummy_perception_publisher/test/src/test_signed_distance_function.cpp
index 5b8dcee549ea7..a496d41cea541 100644
--- a/simulator/dummy_perception_publisher/test/src/test_signed_distance_function.cpp
+++ b/simulator/dummy_perception_publisher/test/src/test_signed_distance_function.cpp
@@ -1,4 +1,4 @@
-// Copyright 2022 Tier IV, Inc. All rights reserved.
+// Copyright 2025 Tier IV, Inc. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -23,6 +23,9 @@
 #include <limits>
 #include <memory>
 
+namespace autoware::simulator::dummy_perception_publisher::signed_distance_function
+{
+
 namespace sdf = signed_distance_function;
 
 TEST(SignedDistanceFunctionTest, BoxSDF)
@@ -77,6 +80,8 @@ TEST(SignedDistanceFunctionTest, CompositeSDF)
   // ASSERT_NEAR(func.getSphereTracingDist(0.0, 1.0, M_PI * -0.5, eps), 0.5, eps);
 }
 
+}  // namespace autoware::simulator::dummy_perception_publisher::signed_distance_function
+
 int main(int argc, char ** argv)
 {
   testing::InitGoogleTest(&argc, argv);

From 3ae179d2c12e0bdbd1c6c9bbc04c5d3f92abb4d1 Mon Sep 17 00:00:00 2001
From: Junya Sasaki <junya.sasaki@tier4.jp>
Date: Mon, 20 Jan 2025 18:50:17 +0900
Subject: [PATCH 02/12] rename(dummy_perception_publisher): move headers under
 `include/autoware`

  * Fixes due to this changes for .hpp/.cpp files will be applied in the next commit

Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>
---
 .../include/{ => autoware}/dummy_perception_publisher/node.hpp    | 0
 .../dummy_perception_publisher/signed_distance_function.hpp       | 0
 2 files changed, 0 insertions(+), 0 deletions(-)
 rename simulator/dummy_perception_publisher/include/{ => autoware}/dummy_perception_publisher/node.hpp (100%)
 rename simulator/dummy_perception_publisher/include/{ => autoware}/dummy_perception_publisher/signed_distance_function.hpp (100%)

diff --git a/simulator/dummy_perception_publisher/include/dummy_perception_publisher/node.hpp b/simulator/dummy_perception_publisher/include/autoware/dummy_perception_publisher/node.hpp
similarity index 100%
rename from simulator/dummy_perception_publisher/include/dummy_perception_publisher/node.hpp
rename to simulator/dummy_perception_publisher/include/autoware/dummy_perception_publisher/node.hpp
diff --git a/simulator/dummy_perception_publisher/include/dummy_perception_publisher/signed_distance_function.hpp b/simulator/dummy_perception_publisher/include/autoware/dummy_perception_publisher/signed_distance_function.hpp
similarity index 100%
rename from simulator/dummy_perception_publisher/include/dummy_perception_publisher/signed_distance_function.hpp
rename to simulator/dummy_perception_publisher/include/autoware/dummy_perception_publisher/signed_distance_function.hpp

From 19b16ad5e7aad1abc5ca045ec3f527b6912479dd Mon Sep 17 00:00:00 2001
From: Junya Sasaki <junya.sasaki@tier4.jp>
Date: Mon, 20 Jan 2025 18:54:31 +0900
Subject: [PATCH 03/12] fix(dummy_perception_publisher): fix include header
 paths

  * To follow the previous commit

Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>
---
 simulator/dummy_perception_publisher/src/main.cpp             | 2 +-
 simulator/dummy_perception_publisher/src/node.cpp             | 2 +-
 .../dummy_perception_publisher/src/pointcloud_creator.cpp     | 4 ++--
 .../src/signed_distance_function.cpp                          | 2 +-
 .../test/src/test_signed_distance_function.cpp                | 2 +-
 5 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/simulator/dummy_perception_publisher/src/main.cpp b/simulator/dummy_perception_publisher/src/main.cpp
index c4fc4042c6ae9..15a76748dcfff 100644
--- a/simulator/dummy_perception_publisher/src/main.cpp
+++ b/simulator/dummy_perception_publisher/src/main.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "dummy_perception_publisher/node.hpp"
+#include "autoware/dummy_perception_publisher/node.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
diff --git a/simulator/dummy_perception_publisher/src/node.cpp b/simulator/dummy_perception_publisher/src/node.cpp
index 70a958f717cf8..5b6776b53aba9 100644
--- a/simulator/dummy_perception_publisher/src/node.cpp
+++ b/simulator/dummy_perception_publisher/src/node.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "dummy_perception_publisher/node.hpp"
+#include "autoware/dummy_perception_publisher/node.hpp"
 
 #include "autoware/universe_utils/geometry/geometry.hpp"
 
diff --git a/simulator/dummy_perception_publisher/src/pointcloud_creator.cpp b/simulator/dummy_perception_publisher/src/pointcloud_creator.cpp
index 498a7d80110ca..5734178802057 100644
--- a/simulator/dummy_perception_publisher/src/pointcloud_creator.cpp
+++ b/simulator/dummy_perception_publisher/src/pointcloud_creator.cpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "dummy_perception_publisher/node.hpp"
-#include "dummy_perception_publisher/signed_distance_function.hpp"
+#include "autoware/dummy_perception_publisher/node.hpp"
+#include "autoware/dummy_perception_publisher/signed_distance_function.hpp"
 
 #include <pcl/impl/point_types.hpp>
 
diff --git a/simulator/dummy_perception_publisher/src/signed_distance_function.cpp b/simulator/dummy_perception_publisher/src/signed_distance_function.cpp
index 739cbcdcfbe2d..cbb172deb395e 100644
--- a/simulator/dummy_perception_publisher/src/signed_distance_function.cpp
+++ b/simulator/dummy_perception_publisher/src/signed_distance_function.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "dummy_perception_publisher/signed_distance_function.hpp"
+#include "autoware/dummy_perception_publisher/signed_distance_function.hpp"
 
 #include <tf2/LinearMath/Vector3.h>
 
diff --git a/simulator/dummy_perception_publisher/test/src/test_signed_distance_function.cpp b/simulator/dummy_perception_publisher/test/src/test_signed_distance_function.cpp
index a496d41cea541..cdcf0a717d42d 100644
--- a/simulator/dummy_perception_publisher/test/src/test_signed_distance_function.cpp
+++ b/simulator/dummy_perception_publisher/test/src/test_signed_distance_function.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "dummy_perception_publisher/signed_distance_function.hpp"
+#include "autoware/dummy_perception_publisher/signed_distance_function.hpp"
 
 #include <gtest/gtest.h>
 #include <tf2/LinearMath/Quaternion.h>

From 2b6cc5eba0ac0d138644c9daf32039248f2de287 Mon Sep 17 00:00:00 2001
From: Junya Sasaki <junya.sasaki@tier4.jp>
Date: Mon, 20 Jan 2025 18:56:40 +0900
Subject: [PATCH 04/12] rename: `dummy_perception_publisher` =>
 `autoware_dummy_perception_publisher`

Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>
---
 .../CHANGELOG.rst                                                 | 0
 .../CMakeLists.txt                                                | 0
 .../README.md                                                     | 0
 .../include/autoware/dummy_perception_publisher/node.hpp          | 0
 .../dummy_perception_publisher/signed_distance_function.hpp       | 0
 .../launch/dummy_perception_publisher.launch.xml                  | 0
 .../package.xml                                                   | 0
 .../src/empty_objects_publisher.cpp                               | 0
 .../src/main.cpp                                                  | 0
 .../src/node.cpp                                                  | 0
 .../src/pointcloud_creator.cpp                                    | 0
 .../src/signed_distance_function.cpp                              | 0
 .../test/src/test_signed_distance_function.cpp                    | 0
 13 files changed, 0 insertions(+), 0 deletions(-)
 rename simulator/{dummy_perception_publisher => autoware_dummy_perception_publisher}/CHANGELOG.rst (100%)
 rename simulator/{dummy_perception_publisher => autoware_dummy_perception_publisher}/CMakeLists.txt (100%)
 rename simulator/{dummy_perception_publisher => autoware_dummy_perception_publisher}/README.md (100%)
 rename simulator/{dummy_perception_publisher => autoware_dummy_perception_publisher}/include/autoware/dummy_perception_publisher/node.hpp (100%)
 rename simulator/{dummy_perception_publisher => autoware_dummy_perception_publisher}/include/autoware/dummy_perception_publisher/signed_distance_function.hpp (100%)
 rename simulator/{dummy_perception_publisher => autoware_dummy_perception_publisher}/launch/dummy_perception_publisher.launch.xml (100%)
 rename simulator/{dummy_perception_publisher => autoware_dummy_perception_publisher}/package.xml (100%)
 rename simulator/{dummy_perception_publisher => autoware_dummy_perception_publisher}/src/empty_objects_publisher.cpp (100%)
 rename simulator/{dummy_perception_publisher => autoware_dummy_perception_publisher}/src/main.cpp (100%)
 rename simulator/{dummy_perception_publisher => autoware_dummy_perception_publisher}/src/node.cpp (100%)
 rename simulator/{dummy_perception_publisher => autoware_dummy_perception_publisher}/src/pointcloud_creator.cpp (100%)
 rename simulator/{dummy_perception_publisher => autoware_dummy_perception_publisher}/src/signed_distance_function.cpp (100%)
 rename simulator/{dummy_perception_publisher => autoware_dummy_perception_publisher}/test/src/test_signed_distance_function.cpp (100%)

diff --git a/simulator/dummy_perception_publisher/CHANGELOG.rst b/simulator/autoware_dummy_perception_publisher/CHANGELOG.rst
similarity index 100%
rename from simulator/dummy_perception_publisher/CHANGELOG.rst
rename to simulator/autoware_dummy_perception_publisher/CHANGELOG.rst
diff --git a/simulator/dummy_perception_publisher/CMakeLists.txt b/simulator/autoware_dummy_perception_publisher/CMakeLists.txt
similarity index 100%
rename from simulator/dummy_perception_publisher/CMakeLists.txt
rename to simulator/autoware_dummy_perception_publisher/CMakeLists.txt
diff --git a/simulator/dummy_perception_publisher/README.md b/simulator/autoware_dummy_perception_publisher/README.md
similarity index 100%
rename from simulator/dummy_perception_publisher/README.md
rename to simulator/autoware_dummy_perception_publisher/README.md
diff --git a/simulator/dummy_perception_publisher/include/autoware/dummy_perception_publisher/node.hpp b/simulator/autoware_dummy_perception_publisher/include/autoware/dummy_perception_publisher/node.hpp
similarity index 100%
rename from simulator/dummy_perception_publisher/include/autoware/dummy_perception_publisher/node.hpp
rename to simulator/autoware_dummy_perception_publisher/include/autoware/dummy_perception_publisher/node.hpp
diff --git a/simulator/dummy_perception_publisher/include/autoware/dummy_perception_publisher/signed_distance_function.hpp b/simulator/autoware_dummy_perception_publisher/include/autoware/dummy_perception_publisher/signed_distance_function.hpp
similarity index 100%
rename from simulator/dummy_perception_publisher/include/autoware/dummy_perception_publisher/signed_distance_function.hpp
rename to simulator/autoware_dummy_perception_publisher/include/autoware/dummy_perception_publisher/signed_distance_function.hpp
diff --git a/simulator/dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml b/simulator/autoware_dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml
similarity index 100%
rename from simulator/dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml
rename to simulator/autoware_dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml
diff --git a/simulator/dummy_perception_publisher/package.xml b/simulator/autoware_dummy_perception_publisher/package.xml
similarity index 100%
rename from simulator/dummy_perception_publisher/package.xml
rename to simulator/autoware_dummy_perception_publisher/package.xml
diff --git a/simulator/dummy_perception_publisher/src/empty_objects_publisher.cpp b/simulator/autoware_dummy_perception_publisher/src/empty_objects_publisher.cpp
similarity index 100%
rename from simulator/dummy_perception_publisher/src/empty_objects_publisher.cpp
rename to simulator/autoware_dummy_perception_publisher/src/empty_objects_publisher.cpp
diff --git a/simulator/dummy_perception_publisher/src/main.cpp b/simulator/autoware_dummy_perception_publisher/src/main.cpp
similarity index 100%
rename from simulator/dummy_perception_publisher/src/main.cpp
rename to simulator/autoware_dummy_perception_publisher/src/main.cpp
diff --git a/simulator/dummy_perception_publisher/src/node.cpp b/simulator/autoware_dummy_perception_publisher/src/node.cpp
similarity index 100%
rename from simulator/dummy_perception_publisher/src/node.cpp
rename to simulator/autoware_dummy_perception_publisher/src/node.cpp
diff --git a/simulator/dummy_perception_publisher/src/pointcloud_creator.cpp b/simulator/autoware_dummy_perception_publisher/src/pointcloud_creator.cpp
similarity index 100%
rename from simulator/dummy_perception_publisher/src/pointcloud_creator.cpp
rename to simulator/autoware_dummy_perception_publisher/src/pointcloud_creator.cpp
diff --git a/simulator/dummy_perception_publisher/src/signed_distance_function.cpp b/simulator/autoware_dummy_perception_publisher/src/signed_distance_function.cpp
similarity index 100%
rename from simulator/dummy_perception_publisher/src/signed_distance_function.cpp
rename to simulator/autoware_dummy_perception_publisher/src/signed_distance_function.cpp
diff --git a/simulator/dummy_perception_publisher/test/src/test_signed_distance_function.cpp b/simulator/autoware_dummy_perception_publisher/test/src/test_signed_distance_function.cpp
similarity index 100%
rename from simulator/dummy_perception_publisher/test/src/test_signed_distance_function.cpp
rename to simulator/autoware_dummy_perception_publisher/test/src/test_signed_distance_function.cpp

From 2cbf5531b52a730bcaaf680a03bce71f38b8c43a Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Mon, 20 Jan 2025 10:06:49 +0000
Subject: [PATCH 05/12] style(pre-commit): autofix

---
 .../include/autoware/dummy_perception_publisher/node.hpp    | 6 +++---
 .../dummy_perception_publisher/signed_distance_function.hpp | 6 +++---
 .../src/empty_objects_publisher.cpp                         | 3 ++-
 simulator/autoware_dummy_perception_publisher/src/main.cpp  | 3 ++-
 4 files changed, 10 insertions(+), 8 deletions(-)

diff --git a/simulator/autoware_dummy_perception_publisher/include/autoware/dummy_perception_publisher/node.hpp b/simulator/autoware_dummy_perception_publisher/include/autoware/dummy_perception_publisher/node.hpp
index 7b552367f08c6..149ecf0c9438b 100644
--- a/simulator/autoware_dummy_perception_publisher/include/autoware/dummy_perception_publisher/node.hpp
+++ b/simulator/autoware_dummy_perception_publisher/include/autoware/dummy_perception_publisher/node.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__SIMULATOR__DUMMY_PERCEPTION_PUBLISHER__NODE_HPP_
-#define AUTOWARE__SIMULATOR__DUMMY_PERCEPTION_PUBLISHER__NODE_HPP_
+#ifndef AUTOWARE__DUMMY_PERCEPTION_PUBLISHER__NODE_HPP_
+#define AUTOWARE__DUMMY_PERCEPTION_PUBLISHER__NODE_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -143,4 +143,4 @@ class DummyPerceptionPublisherNode : public rclcpp::Node
 
 }  // namespace autoware::simulator::dummy_perception_publisher
 
-#endif  // AUTOWARE__SIMULATOR__DUMMY_PERCEPTION_PUBLISHER__NODE_HPP_
+#endif  // AUTOWARE__DUMMY_PERCEPTION_PUBLISHER__NODE_HPP_
diff --git a/simulator/autoware_dummy_perception_publisher/include/autoware/dummy_perception_publisher/signed_distance_function.hpp b/simulator/autoware_dummy_perception_publisher/include/autoware/dummy_perception_publisher/signed_distance_function.hpp
index fbe1c86b61d62..176bf828ab09c 100644
--- a/simulator/autoware_dummy_perception_publisher/include/autoware/dummy_perception_publisher/signed_distance_function.hpp
+++ b/simulator/autoware_dummy_perception_publisher/include/autoware/dummy_perception_publisher/signed_distance_function.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__SIMULATOR__DUMMY_PERCEPTION_PUBLISHER__SIGNED_DISTANCE_FUNCTION_HPP_
-#define AUTOWARE__SIMULATOR__DUMMY_PERCEPTION_PUBLISHER__SIGNED_DISTANCE_FUNCTION_HPP_
+#ifndef AUTOWARE__DUMMY_PERCEPTION_PUBLISHER__SIGNED_DISTANCE_FUNCTION_HPP_
+#define AUTOWARE__DUMMY_PERCEPTION_PUBLISHER__SIGNED_DISTANCE_FUNCTION_HPP_
 
 #include <tf2/LinearMath/Transform.h>
 
@@ -71,4 +71,4 @@ class CompositeSDF : public AbstractSignedDistanceFunction
 
 }  // namespace autoware::simulator::dummy_perception_publisher::signed_distance_function
 
-#endif  // AUTOWARE__SIMULATOR__DUMMY_PERCEPTION_PUBLISHER__SIGNED_DISTANCE_FUNCTION_HPP_
+#endif  // AUTOWARE__DUMMY_PERCEPTION_PUBLISHER__SIGNED_DISTANCE_FUNCTION_HPP_
diff --git a/simulator/autoware_dummy_perception_publisher/src/empty_objects_publisher.cpp b/simulator/autoware_dummy_perception_publisher/src/empty_objects_publisher.cpp
index beadf6bb45f46..145d3aa8144fd 100644
--- a/simulator/autoware_dummy_perception_publisher/src/empty_objects_publisher.cpp
+++ b/simulator/autoware_dummy_perception_publisher/src/empty_objects_publisher.cpp
@@ -53,7 +53,8 @@ class EmptyObjectsPublisher : public rclcpp::Node
 int main(int argc, char ** argv)
 {
   rclcpp::init(argc, argv);
-  rclcpp::spin(std::make_shared<autoware::simulator::dummy_perception_publisher::EmptyObjectsPublisher>());
+  rclcpp::spin(
+    std::make_shared<autoware::simulator::dummy_perception_publisher::EmptyObjectsPublisher>());
   rclcpp::shutdown();
   return 0;
 }
diff --git a/simulator/autoware_dummy_perception_publisher/src/main.cpp b/simulator/autoware_dummy_perception_publisher/src/main.cpp
index 15a76748dcfff..de79cddeaa287 100644
--- a/simulator/autoware_dummy_perception_publisher/src/main.cpp
+++ b/simulator/autoware_dummy_perception_publisher/src/main.cpp
@@ -21,7 +21,8 @@
 int main(int argc, char ** argv)
 {
   rclcpp::init(argc, argv);
-  rclcpp::spin(std::make_shared<autoware::simulator::dummy_perception_publisher::DummyPerceptionPublisherNode>());
+  rclcpp::spin(std::make_shared<
+               autoware::simulator::dummy_perception_publisher::DummyPerceptionPublisherNode>());
   rclcpp::shutdown();
 
   return 0;

From 2f8d6671835540b9892fd09ce01a01ca54d1950c Mon Sep 17 00:00:00 2001
From: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
Date: Wed, 22 Jan 2025 23:29:53 +0900
Subject: [PATCH 06/12] fix: fix package name in the launch files

Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
---
 launch/tier4_perception_launch/launch/perception.launch.xml | 2 +-
 launch/tier4_simulator_launch/launch/simulator.launch.xml   | 4 ++--
 launch/tier4_simulator_launch/package.xml                   | 2 +-
 3 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index 02a34eab8fe9a..e652552fe7a87 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -287,7 +287,7 @@
 
     <group if="$(var use_empty_dynamic_object_publisher)">
       <push-ros-namespace namespace="object_recognition"/>
-      <node pkg="dummy_perception_publisher" exec="empty_objects_publisher" name="empty_objects_publisher" output="screen">
+      <node pkg="autoware_dummy_perception_publisher" exec="empty_objects_publisher" name="empty_objects_publisher" output="screen">
         <remap from="~/output/objects" to="/perception/object_recognition/objects"/>
       </node>
     </group>
diff --git a/launch/tier4_simulator_launch/launch/simulator.launch.xml b/launch/tier4_simulator_launch/launch/simulator.launch.xml
index 73b00adf923be..13e2396046f43 100644
--- a/launch/tier4_simulator_launch/launch/simulator.launch.xml
+++ b/launch/tier4_simulator_launch/launch/simulator.launch.xml
@@ -47,7 +47,7 @@
 
     <!-- Dummy Perception -->
     <group if="$(var launch_dummy_perception)">
-      <include file="$(find-pkg-share dummy_perception_publisher)/launch/dummy_perception_publisher.launch.xml">
+      <include file="$(find-pkg-share autowaredummy_perception_publisher)/launch/dummy_perception_publisher.launch.xml">
         <arg name="real" value="$(var perception/enable_detection_failure)"/>
         <arg name="use_object_recognition" value="$(var perception/enable_object_recognition)"/>
         <arg name="use_base_link_z" value="$(var perception/use_base_link_z)"/>
@@ -111,7 +111,7 @@
       <!-- publish empty objects instead of object recognition module -->
       <group unless="$(var perception/enable_object_recognition)">
         <push-ros-namespace namespace="object_recognition"/>
-        <node pkg="dummy_perception_publisher" exec="empty_objects_publisher" name="empty_objects_publisher" output="screen">
+        <node pkg="autoware_dummy_perception_publisher" exec="empty_objects_publisher" name="empty_objects_publisher" output="screen">
           <remap from="~/output/objects" to="/perception/object_recognition/objects"/>
         </node>
       </group>
diff --git a/launch/tier4_simulator_launch/package.xml b/launch/tier4_simulator_launch/package.xml
index 19bc81b056b60..b438493848c66 100644
--- a/launch/tier4_simulator_launch/package.xml
+++ b/launch/tier4_simulator_launch/package.xml
@@ -14,7 +14,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <exec_depend>dummy_perception_publisher</exec_depend>
+  <exec_depend>autoware_dummy_perception_publisher</exec_depend>
   <exec_depend>fault_injection</exec_depend>
   <exec_depend>simple_planning_simulator</exec_depend>
 

From 78556ba8aec1eb8d77faaf46d19a4043fa51ad8e Mon Sep 17 00:00:00 2001
From: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
Date: Wed, 22 Jan 2025 23:30:19 +0900
Subject: [PATCH 07/12] docs: fix package name in package.xml and CHANGELOG.rst

Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
---
 simulator/autoware_dummy_perception_publisher/CHANGELOG.rst | 6 +++---
 simulator/autoware_dummy_perception_publisher/package.xml   | 2 +-
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/simulator/autoware_dummy_perception_publisher/CHANGELOG.rst b/simulator/autoware_dummy_perception_publisher/CHANGELOG.rst
index 50b2396ae0311..ada832a084f22 100644
--- a/simulator/autoware_dummy_perception_publisher/CHANGELOG.rst
+++ b/simulator/autoware_dummy_perception_publisher/CHANGELOG.rst
@@ -1,6 +1,6 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package dummy_perception_publisher
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package autoware_dummy_perception_publisher
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 0.40.0 (2024-12-12)
 -------------------
diff --git a/simulator/autoware_dummy_perception_publisher/package.xml b/simulator/autoware_dummy_perception_publisher/package.xml
index 395e9a0275f3a..6c75a9b3c0277 100644
--- a/simulator/autoware_dummy_perception_publisher/package.xml
+++ b/simulator/autoware_dummy_perception_publisher/package.xml
@@ -3,7 +3,7 @@
 <package format="3">
   <name>autoware_dummy_perception_publisher</name>
   <version>0.40.0</version>
-  <description>The dummy_perception_publisher package</description>
+  <description>The autoware_dummy_perception_publisher package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="junya.sasaki@tier4.jp">Junya Sasaki</maintainer>
   <license>Apache License 2.0</license>

From b2ac1a46a74814d9337fa9b9005d8dd50f8e51d3 Mon Sep 17 00:00:00 2001
From: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
Date: Wed, 22 Jan 2025 23:34:38 +0900
Subject: [PATCH 08/12] fix: revert unnecessary modification in Copyright
 notice

Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
---
 .../include/autoware/dummy_perception_publisher/node.hpp        | 2 +-
 .../dummy_perception_publisher/signed_distance_function.hpp     | 2 +-
 .../src/empty_objects_publisher.cpp                             | 2 +-
 simulator/autoware_dummy_perception_publisher/src/main.cpp      | 2 +-
 simulator/autoware_dummy_perception_publisher/src/node.cpp      | 2 +-
 .../src/signed_distance_function.cpp                            | 2 +-
 .../test/src/test_signed_distance_function.cpp                  | 2 +-
 7 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/simulator/autoware_dummy_perception_publisher/include/autoware/dummy_perception_publisher/node.hpp b/simulator/autoware_dummy_perception_publisher/include/autoware/dummy_perception_publisher/node.hpp
index 149ecf0c9438b..25bfa08c11bd2 100644
--- a/simulator/autoware_dummy_perception_publisher/include/autoware/dummy_perception_publisher/node.hpp
+++ b/simulator/autoware_dummy_perception_publisher/include/autoware/dummy_perception_publisher/node.hpp
@@ -1,4 +1,4 @@
-// Copyright 2025 Tier IV, Inc.
+// 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.
diff --git a/simulator/autoware_dummy_perception_publisher/include/autoware/dummy_perception_publisher/signed_distance_function.hpp b/simulator/autoware_dummy_perception_publisher/include/autoware/dummy_perception_publisher/signed_distance_function.hpp
index 176bf828ab09c..dddd37ab4bf29 100644
--- a/simulator/autoware_dummy_perception_publisher/include/autoware/dummy_perception_publisher/signed_distance_function.hpp
+++ b/simulator/autoware_dummy_perception_publisher/include/autoware/dummy_perception_publisher/signed_distance_function.hpp
@@ -1,4 +1,4 @@
-// Copyright 2025 Tier IV, Inc.
+// Copyright 2022 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.
diff --git a/simulator/autoware_dummy_perception_publisher/src/empty_objects_publisher.cpp b/simulator/autoware_dummy_perception_publisher/src/empty_objects_publisher.cpp
index 145d3aa8144fd..13fb4734fb12e 100644
--- a/simulator/autoware_dummy_perception_publisher/src/empty_objects_publisher.cpp
+++ b/simulator/autoware_dummy_perception_publisher/src/empty_objects_publisher.cpp
@@ -1,4 +1,4 @@
-// Copyright 2025 Tier IV, Inc.
+// 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.
diff --git a/simulator/autoware_dummy_perception_publisher/src/main.cpp b/simulator/autoware_dummy_perception_publisher/src/main.cpp
index de79cddeaa287..2d7a81c135fd9 100644
--- a/simulator/autoware_dummy_perception_publisher/src/main.cpp
+++ b/simulator/autoware_dummy_perception_publisher/src/main.cpp
@@ -1,4 +1,4 @@
-// Copyright 2025 Tier IV, Inc.
+// 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.
diff --git a/simulator/autoware_dummy_perception_publisher/src/node.cpp b/simulator/autoware_dummy_perception_publisher/src/node.cpp
index 5b6776b53aba9..5d2b894cf3223 100644
--- a/simulator/autoware_dummy_perception_publisher/src/node.cpp
+++ b/simulator/autoware_dummy_perception_publisher/src/node.cpp
@@ -1,4 +1,4 @@
-// Copyright 2025 Tier IV, Inc.
+// 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.
diff --git a/simulator/autoware_dummy_perception_publisher/src/signed_distance_function.cpp b/simulator/autoware_dummy_perception_publisher/src/signed_distance_function.cpp
index cbb172deb395e..589bffd0b96bc 100644
--- a/simulator/autoware_dummy_perception_publisher/src/signed_distance_function.cpp
+++ b/simulator/autoware_dummy_perception_publisher/src/signed_distance_function.cpp
@@ -1,4 +1,4 @@
-// Copyright 2025 Tier IV, Inc.
+// Copyright 2022 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.
diff --git a/simulator/autoware_dummy_perception_publisher/test/src/test_signed_distance_function.cpp b/simulator/autoware_dummy_perception_publisher/test/src/test_signed_distance_function.cpp
index cdcf0a717d42d..edcc8862ab196 100644
--- a/simulator/autoware_dummy_perception_publisher/test/src/test_signed_distance_function.cpp
+++ b/simulator/autoware_dummy_perception_publisher/test/src/test_signed_distance_function.cpp
@@ -1,4 +1,4 @@
-// Copyright 2025 Tier IV, Inc. All rights reserved.
+// Copyright 2022 Tier IV, Inc. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

From ef6f534db01125ac347282b8695d3466bb4ff652 Mon Sep 17 00:00:00 2001
From: Junya Sasaki <j2sasaki1990@gmail.com>
Date: Thu, 23 Jan 2025 13:46:05 +0900
Subject: [PATCH 09/12] Update
 launch/tier4_simulator_launch/launch/simulator.launch.xml

Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>

Co-authored-by: SakodaShintaro <rgbygscrsedppbwg@gmail.com>
---
 launch/tier4_simulator_launch/launch/simulator.launch.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/launch/tier4_simulator_launch/launch/simulator.launch.xml b/launch/tier4_simulator_launch/launch/simulator.launch.xml
index 13e2396046f43..c3882bc5e7a8d 100644
--- a/launch/tier4_simulator_launch/launch/simulator.launch.xml
+++ b/launch/tier4_simulator_launch/launch/simulator.launch.xml
@@ -47,7 +47,7 @@
 
     <!-- Dummy Perception -->
     <group if="$(var launch_dummy_perception)">
-      <include file="$(find-pkg-share autowaredummy_perception_publisher)/launch/dummy_perception_publisher.launch.xml">
+      <include file="$(find-pkg-share autoware_dummy_perception_publisher)/launch/dummy_perception_publisher.launch.xml">
         <arg name="real" value="$(var perception/enable_detection_failure)"/>
         <arg name="use_object_recognition" value="$(var perception/enable_object_recognition)"/>
         <arg name="use_base_link_z" value="$(var perception/use_base_link_z)"/>

From a42c5da92912d1b34a9cbf54ec108d9094803bb6 Mon Sep 17 00:00:00 2001
From: Junya Sasaki <junya.sasaki@tier4.jp>
Date: Thu, 23 Jan 2025 18:24:38 +0900
Subject: [PATCH 10/12] bug(autoware_dummy_perception_publisher): fix naming
 consistency bugs

  * The node name does not need `autoware_` prefix

Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>
---
 .../launch/dummy_perception_publisher.launch.xml              | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/simulator/autoware_dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml b/simulator/autoware_dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml
index a79bd77496af1..ed9c38f7dc9b5 100644
--- a/simulator/autoware_dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml
+++ b/simulator/autoware_dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml
@@ -9,7 +9,7 @@
   <group>
     <push-ros-namespace namespace="simulation"/>
     <group if="$(var real)">
-      <node pkg="autoware_dummy_perception_publisher" exec="autoware_dummy_perception_publisher_node" name="autoware_dummy_perception_publisher" output="screen">
+      <node pkg="autoware_dummy_perception_publisher" exec="autoware_dummy_perception_publisher_node" name="dummy_perception_publisher" output="screen">
         <remap from="output/dynamic_object" to="/perception/object_recognition/detection/labeled_clusters"/>
         <remap from="output/objects_pose" to="debug/object_pose"/>
         <remap from="output/points_raw" to="/perception/obstacle_segmentation/pointcloud"/>
@@ -30,7 +30,7 @@
       </include>
     </group>
     <group unless="$(var real)">
-      <node pkg="autoware_dummy_perception_publisher" exec="autoware_dummy_perception_publisher_node" name="autoware_dummy_perception_publisher" output="screen">
+      <node pkg="autoware_dummy_perception_publisher" exec="autoware_dummy_perception_publisher_node" name="dummy_perception_publisher" output="screen">
         <remap from="output/dynamic_object" to="/perception/object_recognition/detection/objects_with_feature"/>
         <remap from="output/objects_pose" to="debug/object_pose"/>
         <remap from="output/points_raw" to="/perception/obstacle_segmentation/pointcloud"/>

From deea2de3e5d8974586d915c33d5f8d88beb76aa5 Mon Sep 17 00:00:00 2001
From: Junya Sasaki <junya.sasaki@tier4.jp>
Date: Thu, 23 Jan 2025 19:14:14 +0900
Subject: [PATCH 11/12] bug(autoware_dummy_perception_publisher): fix
 inconsistent namespacings

Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>
---
 .../autoware/dummy_perception_publisher/node.hpp |  4 ++--
 .../signed_distance_function.hpp                 |  4 ++--
 .../src/empty_objects_publisher.cpp              |  6 +++---
 .../src/main.cpp                                 |  2 +-
 .../src/node.cpp                                 |  4 ++--
 .../src/pointcloud_creator.cpp                   | 10 +++++-----
 .../src/signed_distance_function.cpp             |  4 ++--
 .../test/src/test_signed_distance_function.cpp   | 16 +++++++---------
 8 files changed, 24 insertions(+), 26 deletions(-)

diff --git a/simulator/autoware_dummy_perception_publisher/include/autoware/dummy_perception_publisher/node.hpp b/simulator/autoware_dummy_perception_publisher/include/autoware/dummy_perception_publisher/node.hpp
index 25bfa08c11bd2..413ba4d82b836 100644
--- a/simulator/autoware_dummy_perception_publisher/include/autoware/dummy_perception_publisher/node.hpp
+++ b/simulator/autoware_dummy_perception_publisher/include/autoware/dummy_perception_publisher/node.hpp
@@ -41,7 +41,7 @@
 #include <random>
 #include <vector>
 
-namespace autoware::simulator::dummy_perception_publisher
+namespace autoware::dummy_perception_publisher
 {
 struct ObjectInfo
 {
@@ -141,6 +141,6 @@ class DummyPerceptionPublisherNode : public rclcpp::Node
   ~DummyPerceptionPublisherNode() {}
 };
 
-}  // namespace autoware::simulator::dummy_perception_publisher
+}  // namespace autoware::dummy_perception_publisher
 
 #endif  // AUTOWARE__DUMMY_PERCEPTION_PUBLISHER__NODE_HPP_
diff --git a/simulator/autoware_dummy_perception_publisher/include/autoware/dummy_perception_publisher/signed_distance_function.hpp b/simulator/autoware_dummy_perception_publisher/include/autoware/dummy_perception_publisher/signed_distance_function.hpp
index dddd37ab4bf29..349cbe42ec0bc 100644
--- a/simulator/autoware_dummy_perception_publisher/include/autoware/dummy_perception_publisher/signed_distance_function.hpp
+++ b/simulator/autoware_dummy_perception_publisher/include/autoware/dummy_perception_publisher/signed_distance_function.hpp
@@ -23,7 +23,7 @@
 #include <utility>
 #include <vector>
 
-namespace autoware::simulator::dummy_perception_publisher::signed_distance_function
+namespace autoware::dummy_perception_publisher
 {
 
 class AbstractSignedDistanceFunction
@@ -69,6 +69,6 @@ class CompositeSDF : public AbstractSignedDistanceFunction
   std::vector<std::shared_ptr<AbstractSignedDistanceFunction>> sdf_ptrs_;
 };
 
-}  // namespace autoware::simulator::dummy_perception_publisher::signed_distance_function
+}  // namespace autoware::dummy_perception_publisher
 
 #endif  // AUTOWARE__DUMMY_PERCEPTION_PUBLISHER__SIGNED_DISTANCE_FUNCTION_HPP_
diff --git a/simulator/autoware_dummy_perception_publisher/src/empty_objects_publisher.cpp b/simulator/autoware_dummy_perception_publisher/src/empty_objects_publisher.cpp
index 13fb4734fb12e..a1b8b4ca44850 100644
--- a/simulator/autoware_dummy_perception_publisher/src/empty_objects_publisher.cpp
+++ b/simulator/autoware_dummy_perception_publisher/src/empty_objects_publisher.cpp
@@ -19,7 +19,7 @@
 #include <memory>
 #include <utility>
 
-namespace autoware::simulator::dummy_perception_publisher
+namespace autoware::dummy_perception_publisher
 {
 
 class EmptyObjectsPublisher : public rclcpp::Node
@@ -48,13 +48,13 @@ class EmptyObjectsPublisher : public rclcpp::Node
   }
 };
 
-}  // namespace autoware::simulator::dummy_perception_publisher
+}  // namespace autoware::dummy_perception_publisher
 
 int main(int argc, char ** argv)
 {
   rclcpp::init(argc, argv);
   rclcpp::spin(
-    std::make_shared<autoware::simulator::dummy_perception_publisher::EmptyObjectsPublisher>());
+    std::make_shared<autoware::dummy_perception_publisher::EmptyObjectsPublisher>());
   rclcpp::shutdown();
   return 0;
 }
diff --git a/simulator/autoware_dummy_perception_publisher/src/main.cpp b/simulator/autoware_dummy_perception_publisher/src/main.cpp
index 2d7a81c135fd9..28b9cc90e142e 100644
--- a/simulator/autoware_dummy_perception_publisher/src/main.cpp
+++ b/simulator/autoware_dummy_perception_publisher/src/main.cpp
@@ -22,7 +22,7 @@ int main(int argc, char ** argv)
 {
   rclcpp::init(argc, argv);
   rclcpp::spin(std::make_shared<
-               autoware::simulator::dummy_perception_publisher::DummyPerceptionPublisherNode>());
+               autoware::dummy_perception_publisher::DummyPerceptionPublisherNode>());
   rclcpp::shutdown();
 
   return 0;
diff --git a/simulator/autoware_dummy_perception_publisher/src/node.cpp b/simulator/autoware_dummy_perception_publisher/src/node.cpp
index 5d2b894cf3223..22797e252813c 100644
--- a/simulator/autoware_dummy_perception_publisher/src/node.cpp
+++ b/simulator/autoware_dummy_perception_publisher/src/node.cpp
@@ -35,7 +35,7 @@
 #include <utility>
 #include <vector>
 
-namespace autoware::simulator::dummy_perception_publisher
+namespace autoware::dummy_perception_publisher
 {
 
 using autoware_perception_msgs::msg::TrackedObject;
@@ -432,4 +432,4 @@ void DummyPerceptionPublisherNode::objectCallback(
   }
 }
 
-}  // namespace autoware::simulator::dummy_perception_publisher
+}  // namespace autoware::dummy_perception_publisher
diff --git a/simulator/autoware_dummy_perception_publisher/src/pointcloud_creator.cpp b/simulator/autoware_dummy_perception_publisher/src/pointcloud_creator.cpp
index 5734178802057..a2f84841e4ff2 100644
--- a/simulator/autoware_dummy_perception_publisher/src/pointcloud_creator.cpp
+++ b/simulator/autoware_dummy_perception_publisher/src/pointcloud_creator.cpp
@@ -26,7 +26,7 @@
 #include <memory>
 #include <vector>
 
-namespace autoware::simulator::dummy_perception_publisher
+namespace autoware::dummy_perception_publisher
 {
 
 static constexpr double epsilon = 0.001;
@@ -198,13 +198,13 @@ std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> EgoCentricPointCloudCreator::cr
   const std::vector<ObjectInfo> & obj_infos, const tf2::Transform & tf_base_link2map,
   std::mt19937 & random_generator, pcl::PointCloud<pcl::PointXYZ>::Ptr & merged_pointcloud) const
 {
-  std::vector<std::shared_ptr<signed_distance_function::AbstractSignedDistanceFunction>> sdf_ptrs;
+  std::vector<std::shared_ptr<AbstractSignedDistanceFunction>> sdf_ptrs;
   for (const auto & obj_info : obj_infos) {
-    const auto sdf_ptr = std::make_shared<signed_distance_function::BoxSDF>(
+    const auto sdf_ptr = std::make_shared<BoxSDF>(
       obj_info.length, obj_info.width, tf_base_link2map * obj_info.tf_map2moved_object);
     sdf_ptrs.push_back(sdf_ptr);
   }
-  const auto composite_sdf = signed_distance_function::CompositeSDF(sdf_ptrs);
+  const auto composite_sdf = CompositeSDF(sdf_ptrs);
 
   std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> pointclouds(obj_infos.size());
   for (size_t i = 0; i < obj_infos.size(); ++i) {
@@ -260,4 +260,4 @@ std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> EgoCentricPointCloudCreator::cr
   return pointclouds;
 }
 
-}  // namespace autoware::simulator::dummy_perception_publisher
+}  // namespace autoware::dummy_perception_publisher
diff --git a/simulator/autoware_dummy_perception_publisher/src/signed_distance_function.cpp b/simulator/autoware_dummy_perception_publisher/src/signed_distance_function.cpp
index 589bffd0b96bc..c6a720e33fefa 100644
--- a/simulator/autoware_dummy_perception_publisher/src/signed_distance_function.cpp
+++ b/simulator/autoware_dummy_perception_publisher/src/signed_distance_function.cpp
@@ -20,7 +20,7 @@
 #include <iostream>
 #include <limits>
 
-namespace autoware::simulator::dummy_perception_publisher::signed_distance_function
+namespace autoware::dummy_perception_publisher
 {
 
 double AbstractSignedDistanceFunction::getSphereTracingDist(
@@ -89,4 +89,4 @@ size_t CompositeSDF::nearest_sdf_index(double x, double y) const
   return idx_min;
 }
 
-}  // namespace autoware::simulator::dummy_perception_publisher::signed_distance_function
+}  // namespace autoware::dummy_perception_publisher
diff --git a/simulator/autoware_dummy_perception_publisher/test/src/test_signed_distance_function.cpp b/simulator/autoware_dummy_perception_publisher/test/src/test_signed_distance_function.cpp
index edcc8862ab196..e7bb667a1dec2 100644
--- a/simulator/autoware_dummy_perception_publisher/test/src/test_signed_distance_function.cpp
+++ b/simulator/autoware_dummy_perception_publisher/test/src/test_signed_distance_function.cpp
@@ -23,11 +23,9 @@
 #include <limits>
 #include <memory>
 
-namespace autoware::simulator::dummy_perception_publisher::signed_distance_function
+namespace autoware::dummy_perception_publisher
 {
 
-namespace sdf = signed_distance_function;
-
 TEST(SignedDistanceFunctionTest, BoxSDF)
 {
   const double eps = 1e-5;
@@ -36,7 +34,7 @@ TEST(SignedDistanceFunctionTest, BoxSDF)
     // test with identity transform
     const auto q = tf2::Quaternion(tf2::Vector3(0, 0, 1.0), 0.0);
     const auto tf_global2local = tf2::Transform(q);
-    const auto func = sdf::BoxSDF(1., 2., tf_global2local);
+    const auto func = BoxSDF(1., 2., tf_global2local);
     ASSERT_NEAR(func(0.0, 0.0), -0.5, eps);
     ASSERT_NEAR(func(0.0, 1.0), 0.0, eps);
     ASSERT_NEAR(func(0.0, 1.5), 0.5, eps);
@@ -53,7 +51,7 @@ TEST(SignedDistanceFunctionTest, BoxSDF)
     // test with rotation (90 deg) and translation
     const auto q = tf2::Quaternion(tf2::Vector3(0, 0, 1.0), M_PI * 0.5);
     const auto tf_global2local = tf2::Transform(q, tf2::Vector3(1.0, 1.0, 0.0));
-    const auto func = sdf::BoxSDF(1., 2., tf_global2local);
+    const auto func = BoxSDF(1., 2., tf_global2local);
     ASSERT_NEAR(func(1.0, 1.0), -0.5, eps);
     ASSERT_NEAR(func(0.0, 0.0), 0.5, eps);
 
@@ -66,11 +64,11 @@ TEST(SignedDistanceFunctionTest, CompositeSDF)
   const double eps = 1e-5;
   const auto q_identity = tf2::Quaternion(tf2::Vector3(0, 0, 1.0), 0.0);
   const auto f1 =
-    std::make_shared<sdf::BoxSDF>(1., 1., tf2::Transform(q_identity, tf2::Vector3(0, 0, 0)));
+    std::make_shared<BoxSDF>(1., 1., tf2::Transform(q_identity, tf2::Vector3(0, 0, 0)));
   const auto f2 =
-    std::make_shared<sdf::BoxSDF>(1., 1., tf2::Transform(q_identity, tf2::Vector3(0, 2.0, 0)));
+    std::make_shared<BoxSDF>(1., 1., tf2::Transform(q_identity, tf2::Vector3(0, 2.0, 0)));
   const auto func =
-    sdf::CompositeSDF(std::vector<std::shared_ptr<sdf::AbstractSignedDistanceFunction>>{f1, f2});
+    CompositeSDF(std::vector<std::shared_ptr<AbstractSignedDistanceFunction>>{f1, f2});
   ASSERT_NEAR(func(0.0, 0.9), 0.4, eps);
   ASSERT_NEAR(func(0.0, 1.1), 0.4, eps);
   ASSERT_NEAR(func(0.0, 0.1), -0.4, eps);
@@ -80,7 +78,7 @@ TEST(SignedDistanceFunctionTest, CompositeSDF)
   // ASSERT_NEAR(func.getSphereTracingDist(0.0, 1.0, M_PI * -0.5, eps), 0.5, eps);
 }
 
-}  // namespace autoware::simulator::dummy_perception_publisher::signed_distance_function
+}  // namespace autoware::dummy_perception_publisher
 
 int main(int argc, char ** argv)
 {

From 9ab4e6881b37fc6832d091da6c9dbb57ccb38990 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Thu, 23 Jan 2025 10:20:01 +0000
Subject: [PATCH 12/12] style(pre-commit): autofix

---
 .../src/empty_objects_publisher.cpp                           | 3 +--
 simulator/autoware_dummy_perception_publisher/src/main.cpp    | 4 ++--
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/simulator/autoware_dummy_perception_publisher/src/empty_objects_publisher.cpp b/simulator/autoware_dummy_perception_publisher/src/empty_objects_publisher.cpp
index a1b8b4ca44850..2a2a1d89ffcb8 100644
--- a/simulator/autoware_dummy_perception_publisher/src/empty_objects_publisher.cpp
+++ b/simulator/autoware_dummy_perception_publisher/src/empty_objects_publisher.cpp
@@ -53,8 +53,7 @@ class EmptyObjectsPublisher : public rclcpp::Node
 int main(int argc, char ** argv)
 {
   rclcpp::init(argc, argv);
-  rclcpp::spin(
-    std::make_shared<autoware::dummy_perception_publisher::EmptyObjectsPublisher>());
+  rclcpp::spin(std::make_shared<autoware::dummy_perception_publisher::EmptyObjectsPublisher>());
   rclcpp::shutdown();
   return 0;
 }
diff --git a/simulator/autoware_dummy_perception_publisher/src/main.cpp b/simulator/autoware_dummy_perception_publisher/src/main.cpp
index 28b9cc90e142e..224074f15f3c5 100644
--- a/simulator/autoware_dummy_perception_publisher/src/main.cpp
+++ b/simulator/autoware_dummy_perception_publisher/src/main.cpp
@@ -21,8 +21,8 @@
 int main(int argc, char ** argv)
 {
   rclcpp::init(argc, argv);
-  rclcpp::spin(std::make_shared<
-               autoware::dummy_perception_publisher::DummyPerceptionPublisherNode>());
+  rclcpp::spin(
+    std::make_shared<autoware::dummy_perception_publisher::DummyPerceptionPublisherNode>());
   rclcpp::shutdown();
 
   return 0;