feat: apply autoware_ prefix for dummy_perception_publisher

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>

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>

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>
 

simulator/dummy_perception_publisher/CHANGELOG.rst → 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)
 -------------------

simulator/dummy_perception_publisher/CMakeLists.txt → simulator/autoware_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()
@@ -23,34 +23,34 @@ 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>)
 
 # 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

simulator/dummy_perception_publisher/include/dummy_perception_publisher/node.hpp → 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 DUMMY_PERCEPTION_PUBLISHER__NODE_HPP_
-#define DUMMY_PERCEPTION_PUBLISHER__NODE_HPP_
+#ifndef AUTOWARE__DUMMY_PERCEPTION_PUBLISHER__NODE_HPP_
+#define AUTOWARE__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__DUMMY_PERCEPTION_PUBLISHER__NODE_HPP_

simulator/dummy_perception_publisher/include/dummy_perception_publisher/signed_distance_function.hpp → 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 DUMMY_PERCEPTION_PUBLISHER__SIGNED_DISTANCE_FUNCTION_HPP_
-#define 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>
 
@@ -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__DUMMY_PERCEPTION_PUBLISHER__SIGNED_DISTANCE_FUNCTION_HPP_

simulator/dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml → simulator/autoware_dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml

@@ -9,7 +9,7 @@
   <group>
     <push-ros-namespace namespace="simulation"/>
     <group if="$(var real)">
-      <node pkg="dummy_perception_publisher" exec="dummy_perception_publisher_node" name="dummy_perception_publisher" output="screen">
+      <node pkg="autoware_dummy_perception_publisher" exec="autoware_dummy_perception_publisher_node" name="autoware_dummy_perception_publisher" output="screen">
         <remap from="output/dynamic_object" to="/perception/object_recognition/detection/labeled_clusters"/>
         <remap from="output/objects_pose" to="debug/object_pose"/>
         <remap from="output/points_raw" to="/perception/obstacle_segmentation/pointcloud"/>
@@ -30,7 +30,7 @@
       </include>
     </group>
     <group unless="$(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"/>

simulator/dummy_perception_publisher/package.xml → simulator/autoware_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>
+  <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>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>

simulator/dummy_perception_publisher/src/empty_objects_publisher.cpp → simulator/autoware_dummy_perception_publisher/src/empty_objects_publisher.cpp

@@ -19,6 +19,9 @@
 #include <memory>
 #include <utility>
 
+namespace autoware::simulator::dummy_perception_publisher
+{
+
 class EmptyObjectsPublisher : public rclcpp::Node
 {
 public:
@@ -45,10 +48,13 @@
   }
 };
 
+}  // 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;
 }

simulator/dummy_perception_publisher/src/main.cpp → simulator/autoware_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>
 
@@ -21,7 +21,8 @@
 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;

simulator/dummy_perception_publisher/src/node.cpp → simulator/autoware_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"
 
@@ -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

simulator/dummy_perception_publisher/src/pointcloud_creator.cpp → simulator/autoware_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.
@@ -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>
 
@@ -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

simulator/dummy_perception_publisher/src/signed_distance_function.cpp → simulator/autoware_dummy_perception_publisher/src/signed_distance_function.cpp

@@ -12,15 +12,15 @@
 // 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>
 
 #include <algorithm>
 #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

simulator/dummy_perception_publisher/test/src/test_signed_distance_function.cpp → simulator/autoware_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>
@@ -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);