refactor(image_projection_based_fusion)!: add package name prefix of …

…autoware_ (autowarefoundation#8162) refactor: rename image_projection_based_fusion to autoware_image_projection_based_fusion Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
tier4 · Jul 25, 2024 · 8ff450f · 8ff450f
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diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -125,7 +125,7 @@ perception/autoware_detection_by_tracker/** taekjin.lee@tier4.jp yoshi.ri@tier4.
 perception/elevation_map_loader/** kosuke.takeuchi@tier4.jp shintaro.tomie@tier4.jp taichi.higashide@tier4.jp
 perception/autoware_euclidean_cluster/** dai.nguyen@tier4.jp yukihiro.saito@tier4.jp
 perception/autoware_ground_segmentation/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
-perception/image_projection_based_fusion/** dai.nguyen@tier4.jp koji.minoda@tier4.jp kotaro.uetake@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
+perception/autoware_image_projection_based_fusion/** dai.nguyen@tier4.jp koji.minoda@tier4.jp kotaro.uetake@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/lidar_apollo_instance_segmentation/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/lidar_apollo_segmentation_tvm/** ambroise.vincent@arm.com yoshi.ri@tier4.jp
 perception/lidar_apollo_segmentation_tvm_nodes/** ambroise.vincent@arm.com yoshi.ri@tier4.jp

diff --git a/...tion_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml b/...tion_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
@@ -57,7 +57,7 @@
   <!-- PointPainting -->
   <group if="$(eval &quot;'$(var lidar_detection_model)'=='pointpainting'&quot;)">
     <push-ros-namespace namespace="pointpainting"/>
-    <include file="$(find-pkg-share image_projection_based_fusion)/launch/pointpainting_fusion.launch.xml">
+    <include file="$(find-pkg-share autoware_image_projection_based_fusion)/launch/pointpainting_fusion.launch.xml">
       <arg name="input/rois_number" value="$(var number_of_cameras)"/>
       <arg name="input/rois0" value="$(var input/camera0/rois)"/>
       <arg name="input/rois1" value="$(var input/camera1/rois)"/>
@@ -98,7 +98,7 @@
 
   <!-- Image_segmentation based filter, apply for camera0 only-->
   <group>
-    <include file="$(find-pkg-share image_projection_based_fusion)/launch/segmentation_pointcloud_fusion.launch.xml" if="$(var use_image_segmentation_based_filter)">
+    <include file="$(find-pkg-share autoware_image_projection_based_fusion)/launch/segmentation_pointcloud_fusion.launch.xml" if="$(var use_image_segmentation_based_filter)">
       <arg name="input/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
       <arg name="output/pointcloud" value="/perception/object_recognition/detection/segmentation_based_filtered/pointcloud"/>
     </include>
@@ -123,7 +123,7 @@
     <group>
       <push-ros-namespace namespace="roi_cluster"/>
       <group>
-        <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_pointcloud_fusion.launch.xml" if="$(var use_roi_based_cluster)">
+        <include file="$(find-pkg-share autoware_image_projection_based_fusion)/launch/roi_pointcloud_fusion.launch.xml" if="$(var use_roi_based_cluster)">
           <arg name="input/rois_number" value="$(var number_of_cameras)"/>
           <arg name="input/rois0" value="$(var input/camera0/rois)"/>
           <arg name="input/rois1" value="$(var input/camera1/rois)"/>
@@ -179,7 +179,7 @@
 
       <!-- euclidean clustering -->
       <group>
-        <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_cluster_fusion.launch.xml">
+        <include file="$(find-pkg-share autoware_image_projection_based_fusion)/launch/roi_cluster_fusion.launch.xml">
           <arg name="input/rois_number" value="$(var number_of_cameras)"/>
           <arg name="input/rois0" value="$(var input/camera0/rois)"/>
           <arg name="input/rois1" value="$(var input/camera1/rois)"/>

diff --git a/...rception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml b/...rception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
@@ -75,7 +75,7 @@
 
   <!-- Camera ROI fusion -->
   <group>
-    <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_detected_object_fusion.launch.xml">
+    <include file="$(find-pkg-share autoware_image_projection_based_fusion)/launch/roi_detected_object_fusion.launch.xml">
       <arg name="input/rois_number" value="$(var number_of_cameras)"/>
       <arg name="input/rois0" value="$(var input/camera0/rois)"/>
       <arg name="input/rois1" value="$(var input/camera1/rois)"/>

diff --git a/...on_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml b/...on_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml
@@ -98,7 +98,7 @@
 
   <!-- Camera ROI fusion -->
   <group>
-    <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_detected_object_fusion.launch.xml">
+    <include file="$(find-pkg-share autoware_image_projection_based_fusion)/launch/roi_detected_object_fusion.launch.xml">
       <arg name="input/rois_number" value="$(var number_of_cameras)"/>
       <arg name="input/rois0" value="$(var input/camera0/rois)"/>
       <arg name="input/rois1" value="$(var input/camera1/rois)"/>

diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml
@@ -20,6 +20,7 @@
   <exec_depend>autoware_detection_by_tracker</exec_depend>
   <exec_depend>autoware_euclidean_cluster</exec_depend>
   <exec_depend>autoware_ground_segmentation</exec_depend>
+  <exec_depend>autoware_image_projection_based_fusion</exec_depend>
   <exec_depend>autoware_map_based_prediction</exec_depend>
   <exec_depend>autoware_multi_object_tracker</exec_depend>
   <exec_depend>autoware_object_merger</exec_depend>
@@ -35,7 +36,6 @@
   <exec_depend>autoware_tracking_object_merger</exec_depend>
   <exec_depend>compare_map_segmentation</exec_depend>
   <exec_depend>elevation_map_loader</exec_depend>
-  <exec_depend>image_projection_based_fusion</exec_depend>
   <exec_depend>image_transport_decompressor</exec_depend>
   <exec_depend>lidar_apollo_instance_segmentation</exec_depend>
   <exec_depend>occupancy_grid_map_outlier_filter</exec_depend>

diff --git a/.../image_projection_based_fusion/.gitignore → ..._image_projection_based_fusion/.gitignore b/.../image_projection_based_fusion/.gitignore → ..._image_projection_based_fusion/.gitignore
diff --git a/...ge_projection_based_fusion/CMakeLists.txt → ...ge_projection_based_fusion/CMakeLists.txt b/...ge_projection_based_fusion/CMakeLists.txt → ...ge_projection_based_fusion/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(image_projection_based_fusion)
+project(autoware_image_projection_based_fusion)
 # add_compile_options(-Wno-unknown-pragmas)
 add_compile_options(-Wno-unknown-pragmas -fopenmp)
 

diff --git a/...n/image_projection_based_fusion/README.md → ...e_image_projection_based_fusion/README.md b/...n/image_projection_based_fusion/README.md → ...e_image_projection_based_fusion/README.md
@@ -1,8 +1,8 @@
-# image_projection_based_fusion
+# autoware_image_projection_based_fusion
 
 ## Purpose
 
-The `image_projection_based_fusion` is a package to fuse detected obstacles (bounding box or segmentation) from image and 3d pointcloud or obstacles (bounding box, cluster or segmentation).
+The `autoware_image_projection_based_fusion` is a package to fuse detected obstacles (bounding box or segmentation) from image and 3d pointcloud or obstacles (bounding box, cluster or segmentation).
 
 ## Inner-workings / Algorithms
 
@@ -59,7 +59,7 @@ The `pointpainting_fusion` node has `build_only` option to build the TensorRT en
 Although it is preferred to move all the ROS parameters in `.param.yaml` file in Autoware Universe, the `build_only` option is not moved to the `.param.yaml` file for now, because it may be used as a flag to execute the build as a pre-task. You can execute with the following command:
 
 ```bash
-ros2 launch image_projection_based_fusion pointpainting_fusion.launch.xml model_name:=pointpainting model_path:=/home/autoware/autoware_data/image_projection_based_fusion model_param_path:=$(ros2 pkg prefix image_projection_based_fusion --share)/config/pointpainting.param.yaml build_only:=true
+ros2 launch autoware_image_projection_based_fusion pointpainting_fusion.launch.xml model_name:=pointpainting model_path:=/home/autoware/autoware_data/image_projection_based_fusion model_param_path:=$(ros2 pkg prefix autoware_image_projection_based_fusion --share)/config/pointpainting.param.yaml build_only:=true
 ```
 
 #### Known Limits

diff --git a/...ed_fusion/config/fusion_common.param.yaml → ...ed_fusion/config/fusion_common.param.yaml b/...ed_fusion/config/fusion_common.param.yaml → ...ed_fusion/config/fusion_common.param.yaml
diff --git a/...ed_fusion/config/pointpainting.param.yaml → ...ed_fusion/config/pointpainting.param.yaml b/...ed_fusion/config/pointpainting.param.yaml → ...ed_fusion/config/pointpainting.param.yaml
diff --git a/...onfig/pointpainting_ml_package.param.yaml → ...onfig/pointpainting_ml_package.param.yaml b/...onfig/pointpainting_ml_package.param.yaml → ...onfig/pointpainting_ml_package.param.yaml
diff --git a/...sion/config/roi_cluster_fusion.param.yaml → ...sion/config/roi_cluster_fusion.param.yaml b/...sion/config/roi_cluster_fusion.param.yaml → ...sion/config/roi_cluster_fusion.param.yaml
diff --git a/...fig/roi_detected_object_fusion.param.yaml → ...fig/roi_detected_object_fusion.param.yaml b/...fig/roi_detected_object_fusion.param.yaml → ...fig/roi_detected_object_fusion.param.yaml
diff --git a/...n/config/roi_pointcloud_fusion.param.yaml → ...n/config/roi_pointcloud_fusion.param.yaml b/...n/config/roi_pointcloud_fusion.param.yaml → ...n/config/roi_pointcloud_fusion.param.yaml
diff --git a/...segmentation_pointcloud_fusion.param.yaml → ...segmentation_pointcloud_fusion.param.yaml b/...segmentation_pointcloud_fusion.param.yaml → ...segmentation_pointcloud_fusion.param.yaml
diff --git a/...sion/docs/images/pointpainting_fusion.jpg → ...sion/docs/images/pointpainting_fusion.jpg b/...sion/docs/images/pointpainting_fusion.jpg → ...sion/docs/images/pointpainting_fusion.jpg
diff --git a/...fusion/docs/images/roi_cluster_fusion.png → ...fusion/docs/images/roi_cluster_fusion.png b/...fusion/docs/images/roi_cluster_fusion.png → ...fusion/docs/images/roi_cluster_fusion.png
diff --git a/...cs/images/roi_cluster_fusion_pipeline.svg → ...cs/images/roi_cluster_fusion_pipeline.svg b/...cs/images/roi_cluster_fusion_pipeline.svg → ...cs/images/roi_cluster_fusion_pipeline.svg
diff --git a/...ion/docs/images/roi_pointcloud_fusion.png → ...ion/docs/images/roi_pointcloud_fusion.png b/...ion/docs/images/roi_pointcloud_fusion.png → ...ion/docs/images/roi_pointcloud_fusion.png
diff --git a/...n_based_fusion/docs/images/roi_sync_1.png → ...n_based_fusion/docs/images/roi_sync_1.png b/...n_based_fusion/docs/images/roi_sync_1.png → ...n_based_fusion/docs/images/roi_sync_1.png
diff --git a/...n_based_fusion/docs/images/roi_sync_2.png → ...n_based_fusion/docs/images/roi_sync_2.png b/...n_based_fusion/docs/images/roi_sync_2.png → ...n_based_fusion/docs/images/roi_sync_2.png
diff --git a/...images/segmentation_pointcloud_fusion.png → ...images/segmentation_pointcloud_fusion.png b/...images/segmentation_pointcloud_fusion.png → ...images/segmentation_pointcloud_fusion.png
diff --git a/...based_fusion/docs/pointpainting-fusion.md → ...based_fusion/docs/pointpainting-fusion.md b/...based_fusion/docs/pointpainting-fusion.md → ...based_fusion/docs/pointpainting-fusion.md
diff --git a/...n_based_fusion/docs/roi-cluster-fusion.md → ...n_based_fusion/docs/roi-cluster-fusion.md b/...n_based_fusion/docs/roi-cluster-fusion.md → ...n_based_fusion/docs/roi-cluster-fusion.md
diff --git a/...fusion/docs/roi-detected-object-fusion.md → ...fusion/docs/roi-detected-object-fusion.md b/...fusion/docs/roi-detected-object-fusion.md → ...fusion/docs/roi-detected-object-fusion.md
diff --git a/...ased_fusion/docs/roi-pointcloud-fusion.md → ...ased_fusion/docs/roi-pointcloud-fusion.md b/...ased_fusion/docs/roi-pointcloud-fusion.md → ...ased_fusion/docs/roi-pointcloud-fusion.md
diff --git a/...on/docs/segmentation-pointcloud-fusion.md → ...on/docs/segmentation-pointcloud-fusion.md b/...on/docs/segmentation-pointcloud-fusion.md → ...on/docs/segmentation-pointcloud-fusion.md
@@ -32,7 +32,7 @@ The node `segmentation_pointcloud_fusion` is a package for filtering pointcloud
 
 ### Core Parameters
 
-{{ json_to_markdown("perception/image_projection_based_fusion/schema/segmentation_pointcloud_fusion.schema.json") }}
+{{ json_to_markdown("perception/autoware_image_projection_based_fusion/schema/segmentation_pointcloud_fusion.schema.json") }}
 
 ## Assumptions / Known limits
 

diff --git a/...mage_projection_based_fusion/debugger.hpp → ...mage_projection_based_fusion/debugger.hpp b/...mage_projection_based_fusion/debugger.hpp → ...mage_projection_based_fusion/debugger.hpp
diff --git a/...e_projection_based_fusion/fusion_node.hpp → ...e_projection_based_fusion/fusion_node.hpp b/...e_projection_based_fusion/fusion_node.hpp → ...e_projection_based_fusion/fusion_node.hpp
diff --git a/...ased_fusion/pointpainting_fusion/node.hpp → ...ased_fusion/pointpainting_fusion/node.hpp b/...ased_fusion/pointpainting_fusion/node.hpp → ...ased_fusion/pointpainting_fusion/node.hpp
diff --git a/...nting_fusion/pointcloud_densification.hpp → ...nting_fusion/pointcloud_densification.hpp b/...nting_fusion/pointcloud_densification.hpp → ...nting_fusion/pointcloud_densification.hpp
diff --git a/...ointpainting_fusion/pointpainting_trt.hpp → ...ointpainting_fusion/pointpainting_trt.hpp b/...ointpainting_fusion/pointpainting_trt.hpp → ...ointpainting_fusion/pointpainting_trt.hpp
diff --git a/...ointpainting_fusion/preprocess_kernel.hpp → ...ointpainting_fusion/preprocess_kernel.hpp b/...ointpainting_fusion/preprocess_kernel.hpp → ...ointpainting_fusion/preprocess_kernel.hpp
diff --git a/.../pointpainting_fusion/voxel_generator.hpp → .../pointpainting_fusion/voxel_generator.hpp b/.../pointpainting_fusion/voxel_generator.hpp → .../pointpainting_fusion/voxel_generator.hpp
diff --git a/..._based_fusion/roi_cluster_fusion/node.hpp → ..._based_fusion/roi_cluster_fusion/node.hpp b/..._based_fusion/roi_cluster_fusion/node.hpp → ..._based_fusion/roi_cluster_fusion/node.hpp
diff --git a/...usion/roi_detected_object_fusion/node.hpp → ...usion/roi_detected_object_fusion/node.hpp b/...usion/roi_detected_object_fusion/node.hpp → ...usion/roi_detected_object_fusion/node.hpp
diff --git a/...sed_fusion/roi_pointcloud_fusion/node.hpp → ...sed_fusion/roi_pointcloud_fusion/node.hpp b/...sed_fusion/roi_pointcloud_fusion/node.hpp → ...sed_fusion/roi_pointcloud_fusion/node.hpp
diff --git a/...n/segmentation_pointcloud_fusion/node.hpp → ...n/segmentation_pointcloud_fusion/node.hpp b/...n/segmentation_pointcloud_fusion/node.hpp → ...n/segmentation_pointcloud_fusion/node.hpp
diff --git a/...rojection_based_fusion/utils/geometry.hpp → ...rojection_based_fusion/utils/geometry.hpp b/...rojection_based_fusion/utils/geometry.hpp → ...rojection_based_fusion/utils/geometry.hpp
diff --git a/...e_projection_based_fusion/utils/utils.hpp → ...e_projection_based_fusion/utils/utils.hpp b/...e_projection_based_fusion/utils/utils.hpp → ...e_projection_based_fusion/utils/utils.hpp
diff --git a/...on/launch/pointpainting_fusion.launch.xml → ...on/launch/pointpainting_fusion.launch.xml b/...on/launch/pointpainting_fusion.launch.xml → ...on/launch/pointpainting_fusion.launch.xml
@@ -21,10 +21,10 @@
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
   <arg name="model_name" default="pointpainting" description="options: `pointpainting`"/>
   <arg name="model_path" default="$(var data_path)/image_projection_based_fusion"/>
-  <arg name="model_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/pointpainting.param.yaml"/>
+  <arg name="model_param_path" default="$(find-pkg-share autoware_image_projection_based_fusion)/config/pointpainting.param.yaml"/>
   <arg name="ml_package_param_path" default="$(var model_path)/$(var model_name)_ml_package.param.yaml"/>
   <arg name="class_remapper_param_path" default="$(var model_path)/detection_class_remapper.param.yaml"/>
-  <arg name="sync_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/fusion_common.param.yaml"/>
+  <arg name="sync_param_path" default="$(find-pkg-share autoware_image_projection_based_fusion)/config/fusion_common.param.yaml"/>
   <arg name="build_only" default="false" description="shutdown node after TensorRT engine file is built"/>
 
   <arg name="use_pointcloud_container" default="false" description="use pointcloud_container"/>
@@ -45,7 +45,7 @@
 
   <group if="$(var use_pointcloud_container)">
     <load_composable_node target="$(var pointcloud_container_name)">
-      <composable_node pkg="image_projection_based_fusion" plugin="autoware::image_projection_based_fusion::PointPaintingFusionNode" name="pointpainting">
+      <composable_node pkg="autoware_image_projection_based_fusion" plugin="autoware::image_projection_based_fusion::PointPaintingFusionNode" name="pointpainting">
         <remap from="~/input/pointcloud" to="$(var input/pointcloud)"/>
         <remap from="~/output/objects" to="$(var output/objects)"/>
         <param from="$(var model_param_path)" allow_substs="true"/>
@@ -87,7 +87,7 @@
     </load_composable_node>
   </group>
   <group unless="$(var use_pointcloud_container)">
-    <node pkg="image_projection_based_fusion" exec="pointpainting_fusion_node" name="pointpainting" output="screen">
+    <node pkg="autoware_image_projection_based_fusion" exec="pointpainting_fusion_node" name="pointpainting" output="screen">
       <remap from="~/input/pointcloud" to="$(var input/pointcloud)"/>
       <remap from="~/output/objects" to="$(var output/objects)"/>
       <param from="$(var model_param_path)" allow_substs="true"/>

diff --git a/...sion/launch/roi_cluster_fusion.launch.xml → ...sion/launch/roi_cluster_fusion.launch.xml b/...sion/launch/roi_cluster_fusion.launch.xml → ...sion/launch/roi_cluster_fusion.launch.xml
@@ -18,8 +18,8 @@
   <arg name="input/camera_info7" default="/camera_info7"/>
   <arg name="input/clusters" default="clusters"/>
   <arg name="output/clusters" default="labeled_clusters"/>
-  <arg name="param_path" default="$(find-pkg-share image_projection_based_fusion)/config/roi_cluster_fusion.param.yaml"/>
-  <arg name="sync_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/fusion_common.param.yaml"/>
+  <arg name="param_path" default="$(find-pkg-share autoware_image_projection_based_fusion)/config/roi_cluster_fusion.param.yaml"/>
+  <arg name="sync_param_path" default="$(find-pkg-share autoware_image_projection_based_fusion)/config/fusion_common.param.yaml"/>
 
   <!-- debug -->
   <arg name="input/image0" default="/image_raw0"/>
@@ -31,7 +31,7 @@
   <arg name="input/image6" default="/image_raw6"/>
   <arg name="input/image7" default="/image_raw7"/>
   <group>
-    <node pkg="image_projection_based_fusion" exec="roi_cluster_fusion_node" name="roi_cluster_fusion" output="screen">
+    <node pkg="autoware_image_projection_based_fusion" exec="roi_cluster_fusion_node" name="roi_cluster_fusion" output="screen">
       <param name="rois_number" value="$(var input/rois_number)"/>
       <param from="$(var param_path)"/>
       <param from="$(var sync_param_path)"/>

diff --git a/...nch/roi_detected_object_fusion.launch.xml → ...nch/roi_detected_object_fusion.launch.xml b/...nch/roi_detected_object_fusion.launch.xml → ...nch/roi_detected_object_fusion.launch.xml
@@ -18,8 +18,8 @@
   <arg name="input/camera_info7" default="/camera_info7"/>
   <arg name="input/objects" default="objects"/>
   <arg name="output/objects" default="fused_objects"/>
-  <arg name="param_path" default="$(find-pkg-share image_projection_based_fusion)/config/roi_detected_object_fusion.param.yaml"/>
-  <arg name="sync_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/fusion_common.param.yaml"/>
+  <arg name="param_path" default="$(find-pkg-share autoware_image_projection_based_fusion)/config/roi_detected_object_fusion.param.yaml"/>
+  <arg name="sync_param_path" default="$(find-pkg-share autoware_image_projection_based_fusion)/config/fusion_common.param.yaml"/>
 
   <!-- for eval variable-->
   <arg name="input_rois_number" default="$(var input/rois_number)"/>
@@ -35,7 +35,7 @@
   <arg name="input/image7" default="/image_raw7"/>
 
   <group>
-    <node pkg="image_projection_based_fusion" exec="roi_detected_object_fusion_node" name="roi_detected_object_fusion" output="screen">
+    <node pkg="autoware_image_projection_based_fusion" exec="roi_detected_object_fusion_node" name="roi_detected_object_fusion" output="screen">
       <param name="rois_number" value="$(var input/rois_number)"/>
       <param from="$(var sync_param_path)"/>
       <param from="$(var param_path)"/>

diff --git a/...n/launch/roi_pointcloud_fusion.launch.xml → ...n/launch/roi_pointcloud_fusion.launch.xml b/...n/launch/roi_pointcloud_fusion.launch.xml → ...n/launch/roi_pointcloud_fusion.launch.xml
@@ -20,8 +20,8 @@
   <arg name="output/pointcloud" default="roi_pointcloud_fusion/output/pointcloud"/>
   <arg name="output_clusters" default="output_clusters"/>
   <arg name="debug/clusters" default="roi_pointcloud_fusion/debug/clusters"/>
-  <arg name="param_path" default="$(find-pkg-share image_projection_based_fusion)/config/roi_pointcloud_fusion.param.yaml"/>
-  <arg name="sync_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/fusion_common.param.yaml"/>
+  <arg name="param_path" default="$(find-pkg-share autoware_image_projection_based_fusion)/config/roi_pointcloud_fusion.param.yaml"/>
+  <arg name="sync_param_path" default="$(find-pkg-share autoware_image_projection_based_fusion)/config/fusion_common.param.yaml"/>
 
   <!-- for eval variable-->
   <arg name="input_rois_number" default="$(var input/rois_number)"/>
@@ -34,7 +34,7 @@
   <arg name="input/image6" default="/image_raw6"/>
   <arg name="input/image7" default="/image_raw7"/>
   <group>
-    <node pkg="image_projection_based_fusion" exec="roi_pointcloud_fusion_node" name="roi_pointcloud_fusion" output="screen">
+    <node pkg="autoware_image_projection_based_fusion" exec="roi_pointcloud_fusion_node" name="roi_pointcloud_fusion" output="screen">
       <param name="rois_number" value="$(var input/rois_number)"/>
       <param from="$(var param_path)"/>
       <param from="$(var sync_param_path)"/>

diff --git a/...segmentation_pointcloud_fusion.launch.xml → ...segmentation_pointcloud_fusion.launch.xml b/...segmentation_pointcloud_fusion.launch.xml → ...segmentation_pointcloud_fusion.launch.xml
@@ -18,8 +18,8 @@
   <arg name="input/camera_info7" default="/sensing/camera/camera0/camera_info"/>
   <arg name="input/pointcloud" default="/sensing/lidar/top/outlier_filtered/pointcloud"/>
   <arg name="output/pointcloud" default="output/pointcloud"/>
-  <arg name="sync_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/fusion_common.param.yaml"/>
-  <arg name="semantic_segmentation_based_filter_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/segmentation_pointcloud_fusion.param.yaml"/>
+  <arg name="sync_param_path" default="$(find-pkg-share autoware_image_projection_based_fusion)/config/fusion_common.param.yaml"/>
+  <arg name="semantic_segmentation_based_filter_param_path" default="$(find-pkg-share autoware_image_projection_based_fusion)/config/segmentation_pointcloud_fusion.param.yaml"/>
   <arg name="input/image0" default="/image_raw0"/>
   <arg name="input/image1" default="/image_raw1"/>
   <arg name="input/image2" default="/image_raw2"/>
@@ -29,7 +29,7 @@
   <arg name="input/image6" default="/image_raw6"/>
   <arg name="input/image7" default="/image_raw7"/>
   <group>
-    <node pkg="image_projection_based_fusion" exec="segmentation_pointcloud_fusion_node" name="segmentation_pointcloud_fusion" output="screen">
+    <node pkg="autoware_image_projection_based_fusion" exec="segmentation_pointcloud_fusion_node" name="segmentation_pointcloud_fusion" output="screen">
       <param name="rois_number" value="$(var input/camera_number)"/>
       <param from="$(var semantic_segmentation_based_filter_param_path)"/>
       <param from="$(var sync_param_path)"/>

diff --git a/...image_projection_based_fusion/package.xml → ...image_projection_based_fusion/package.xml b/...image_projection_based_fusion/package.xml → ...image_projection_based_fusion/package.xml
@@ -1,9 +1,9 @@
 <?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>image_projection_based_fusion</name>
+  <name>autoware_image_projection_based_fusion</name>
   <version>0.1.0</version>
-  <description>The image_projection_based_fusion package</description>
+  <description>The autoware_image_projection_based_fusion package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
   <maintainer email="yoshi.ri@tier4.jp">Yoshi Ri</maintainer>

diff --git a/...d_fusion/schema/fusion_common.schema.json → ...d_fusion/schema/fusion_common.schema.json b/...d_fusion/schema/fusion_common.schema.json → ...d_fusion/schema/fusion_common.schema.json
diff --git a/...d_fusion/schema/pointpainting.schema.json → ...d_fusion/schema/pointpainting.schema.json b/...d_fusion/schema/pointpainting.schema.json → ...d_fusion/schema/pointpainting.schema.json
diff --git a/...hema/pointpainting_ml_package.schema.json → ...hema/pointpainting_ml_package.schema.json b/...hema/pointpainting_ml_package.schema.json → ...hema/pointpainting_ml_package.schema.json
diff --git a/...ion/schema/roi_cluster_fusion.schema.json → ...ion/schema/roi_cluster_fusion.schema.json b/...ion/schema/roi_cluster_fusion.schema.json → ...ion/schema/roi_cluster_fusion.schema.json
diff --git a/...ma/roi_detected_object_fusion.schema.json → ...ma/roi_detected_object_fusion.schema.json b/...ma/roi_detected_object_fusion.schema.json → ...ma/roi_detected_object_fusion.schema.json
diff --git a/.../schema/roi_pointcloud_fusion.schema.json → .../schema/roi_pointcloud_fusion.schema.json b/.../schema/roi_pointcloud_fusion.schema.json → .../schema/roi_pointcloud_fusion.schema.json
diff --git a/...egmentation_pointcloud_fusion.schema.json → ...egmentation_pointcloud_fusion.schema.json b/...egmentation_pointcloud_fusion.schema.json → ...egmentation_pointcloud_fusion.schema.json
diff --git a/..._projection_based_fusion/src/debugger.cpp → ..._projection_based_fusion/src/debugger.cpp b/..._projection_based_fusion/src/debugger.cpp → ..._projection_based_fusion/src/debugger.cpp
diff --git a/...ojection_based_fusion/src/fusion_node.cpp → ...ojection_based_fusion/src/fusion_node.cpp b/...ojection_based_fusion/src/fusion_node.cpp → ...ojection_based_fusion/src/fusion_node.cpp
diff --git a/..._fusion/src/pointpainting_fusion/node.cpp → ..._fusion/src/pointpainting_fusion/node.cpp b/..._fusion/src/pointpainting_fusion/node.cpp → ..._fusion/src/pointpainting_fusion/node.cpp
diff --git a/...nting_fusion/pointcloud_densification.cpp → ...nting_fusion/pointcloud_densification.cpp b/...nting_fusion/pointcloud_densification.cpp → ...nting_fusion/pointcloud_densification.cpp
diff --git a/...ointpainting_fusion/pointpainting_trt.cpp → ...ointpainting_fusion/pointpainting_trt.cpp b/...ointpainting_fusion/pointpainting_trt.cpp → ...ointpainting_fusion/pointpainting_trt.cpp
diff --git a/...pointpainting_fusion/preprocess_kernel.cu → ...pointpainting_fusion/preprocess_kernel.cu b/...pointpainting_fusion/preprocess_kernel.cu → ...pointpainting_fusion/preprocess_kernel.cu
diff --git a/.../pointpainting_fusion/voxel_generator.cpp → .../pointpainting_fusion/voxel_generator.cpp b/.../pointpainting_fusion/voxel_generator.cpp → .../pointpainting_fusion/voxel_generator.cpp
diff --git a/...ed_fusion/src/roi_cluster_fusion/node.cpp → ...ed_fusion/src/roi_cluster_fusion/node.cpp b/...ed_fusion/src/roi_cluster_fusion/node.cpp → ...ed_fusion/src/roi_cluster_fusion/node.cpp
diff --git a/...n/src/roi_detected_object_fusion/node.cpp → ...n/src/roi_detected_object_fusion/node.cpp b/...n/src/roi_detected_object_fusion/node.cpp → ...n/src/roi_detected_object_fusion/node.cpp
diff --git a/...fusion/src/roi_pointcloud_fusion/node.cpp → ...fusion/src/roi_pointcloud_fusion/node.cpp b/...fusion/src/roi_pointcloud_fusion/node.cpp → ...fusion/src/roi_pointcloud_fusion/node.cpp
diff --git a/...c/segmentation_pointcloud_fusion/node.cpp → ...c/segmentation_pointcloud_fusion/node.cpp b/...c/segmentation_pointcloud_fusion/node.cpp → ...c/segmentation_pointcloud_fusion/node.cpp
diff --git a/...ction_based_fusion/src/utils/geometry.cpp → ...ction_based_fusion/src/utils/geometry.cpp b/...ction_based_fusion/src/utils/geometry.cpp → ...ction_based_fusion/src/utils/geometry.cpp
diff --git a/...ojection_based_fusion/src/utils/utils.cpp → ...ojection_based_fusion/src/utils/utils.cpp b/...ojection_based_fusion/src/utils/utils.cpp → ...ojection_based_fusion/src/utils/utils.cpp
diff --git a/...d_fusion/test/test_calc_iou_functions.cpp → ...d_fusion/test/test_calc_iou_functions.cpp b/...d_fusion/test/test_calc_iou_functions.cpp → ...d_fusion/test/test_calc_iou_functions.cpp
diff --git a/...ction_based_fusion/test/test_geometry.cpp → ...ction_based_fusion/test/test_geometry.cpp b/...ction_based_fusion/test/test_geometry.cpp → ...ction_based_fusion/test/test_geometry.cpp
diff --git a/...fusion/test/test_pointpainting_fusion.cpp → ...fusion/test/test_pointpainting_fusion.cpp b/...fusion/test/test_pointpainting_fusion.cpp → ...fusion/test/test_pointpainting_fusion.cpp
diff --git a/...ojection_based_fusion/test/test_utils.cpp → ...ojection_based_fusion/test/test_utils.cpp b/...ojection_based_fusion/test/test_utils.cpp → ...ojection_based_fusion/test/test_utils.cpp