Merge pull request #1615 from tier4/sync-upstream

chore: sync tier4/autoware.universe:awf-latest

Author: tier4-autoware-public-bot[bot]

.github/CODEOWNERS

@@ -1,34 +1,33 @@
 ### Automatically generated from package.xml ###
 common/autoware_ad_api_specs/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp
 common/autoware_auto_common/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
+common/autoware_component_interface_specs/** isamu.takagi@tier4.jp yukihiro.saito@tier4.jp
+common/autoware_component_interface_tools/** isamu.takagi@tier4.jp
 common/autoware_geography_utils/** koji.minoda@tier4.jp
+common/autoware_goal_distance_calculator/** taiki.tanaka@tier4.jp
 common/autoware_grid_map_utils/** maxime.clement@tier4.jp
 common/autoware_interpolation/** fumiya.watanabe@tier4.jp takayuki.murooka@tier4.jp
 common/autoware_kalman_filter/** koji.minoda@tier4.jp takeshi.ishita@tier4.jp yukihiro.saito@tier4.jp
 common/autoware_motion_utils/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 common/autoware_object_recognition_utils/** shunsuke.miura@tier4.jp takayuki.murooka@tier4.jp yoshi.ri@tier4.jp
+common/autoware_osqp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp
 common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/** ahmed.ebrahim@leodrive.ai
 common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/** khalil@leodrive.ai
 common/autoware_path_distance_calculator/** isamu.takagi@tier4.jp
 common/autoware_perception_rviz_plugin/** opensource@apex.ai shunsuke.miura@tier4.jp taiki.tanaka@tier4.jp takeshi.miura@tier4.jp yoshi.ri@tier4.jp
 common/autoware_point_types/** david.wong@tier4.jp max.schmeller@tier4.jp
+common/autoware_polar_grid/** yukihiro.saito@tier4.jp
 common/autoware_signal_processing/** ali.boyali@tier4.jp fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 common/autoware_test_utils/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp zulfaqar.azmi@tier4.jp
 common/autoware_testing/** adam.dabrowski@robotec.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 common/autoware_universe_utils/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
-common/autoware_vehicle_info_utils/** shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp
+common/autoware_vehicle_info_utils/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp
 common/bag_time_manager_rviz_plugin/** taiki.tanaka@tier4.jp
-common/component_interface_specs/** isamu.takagi@tier4.jp yukihiro.saito@tier4.jp
-common/component_interface_tools/** isamu.takagi@tier4.jp
 common/component_interface_utils/** isamu.takagi@tier4.jp yukihiro.saito@tier4.jp
 common/fake_test_node/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 common/global_parameter_loader/** ryohsuke.mitsudome@tier4.jp
 common/glog_component/** takamasa.horibe@tier4.jp
-common/goal_distance_calculator/** taiki.tanaka@tier4.jp
-common/osqp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp
-common/polar_grid/** yukihiro.saito@tier4.jp
 common/qp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp
-common/tensorrt_common/** amadeusz.szymko.2@tier4.jp dan.umeda@tier4.jp kenzo.lobos@tier4.jp manato.hirabayashi@tier4.jp
 common/tier4_adapi_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp
 common/tier4_api_utils/** isamu.takagi@tier4.jp
 common/tier4_camera_view_rviz_plugin/** makoto.ybauta@tier4.jp uken.ryu@tier4.jp
@@ -44,11 +43,13 @@ common/traffic_light_recognition_marker_publisher/** shumpei.wakabayashi@tier4.j
 common/traffic_light_utils/** kotaro.uetake@tier4.jp satoshi.ota@tier4.jp shunsuke.miura@tier4.jp
 common/tvm_utility/** ambroise.vincent@arm.com xinyu.wang@tier4.jp
 control/autoware_autonomous_emergency_braking/** daniel.sanchez@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp
+control/autoware_collision_detector/** go.sakayori@tier4.jp kyoichi.sugahara@tier4.jp
 control/autoware_control_validator/** kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 control/autoware_external_cmd_selector/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 control/autoware_joy_controller/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 control/autoware_lane_departure_checker/** kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp zulfaqar.azmi@tier4.jp
 control/autoware_mpc_lateral_controller/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
+control/autoware_obstacle_collision_checker/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 control/autoware_operation_mode_transition_manager/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 control/autoware_pid_longitudinal_controller/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 control/autoware_pure_pursuit/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
@@ -58,7 +59,6 @@ control/autoware_trajectory_follower_base/** takamasa.horibe@tier4.jp takayuki.m
 control/autoware_trajectory_follower_node/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 control/autoware_vehicle_cmd_gate/** takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp
 control/control_performance_analysis/** berkay@leodrive.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
-control/autoware_obstacle_collision_checker/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 control/predicted_path_checker/** berkay@leodrive.ai
 evaluator/autoware_control_evaluator/** daniel.sanchez@tier4.jp kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp temkei.kem@tier4.jp
 evaluator/autoware_evaluator_utils/** daniel.sanchez@tier4.jp takayuki.murooka@tier4.jp
@@ -116,7 +116,7 @@ perception/autoware_image_projection_based_fusion/** dai.nguyen@tier4.jp koji.mi
 perception/autoware_lidar_apollo_instance_segmentation/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/autoware_lidar_centerpoint/** kenzo.lobos@tier4.jp koji.minoda@tier4.jp
 perception/autoware_lidar_transfusion/** amadeusz.szymko.2@tier4.jp kenzo.lobos@tier4.jp satoshi.tanaka@tier4.jp
-perception/autoware_map_based_prediction/** kotaro.uetake@tier4.jp kyoichi.sugahara@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp yoshi.ri@tier4.jp
+perception/autoware_map_based_prediction/** kotaro.uetake@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp taekjin.lee@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp yoshi.ri@tier4.jp
 perception/autoware_multi_object_tracker/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/autoware_object_merger/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/autoware_object_range_splitter/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
@@ -132,6 +132,7 @@ perception/autoware_raindrop_cluster_filter/** dai.nguyen@tier4.jp yoshi.ri@tier
 perception/autoware_shape_estimation/** kcolak@leodrive.ai yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/autoware_simple_object_merger/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp
 perception/autoware_tensorrt_classifier/** kotaro.uetake@tier4.jp shunsuke.miura@tier4.jp
+perception/autoware_tensorrt_common/** amadeusz.szymko.2@tier4.jp dan.umeda@tier4.jp kenzo.lobos@tier4.jp manato.hirabayashi@tier4.jp
 perception/autoware_tensorrt_yolox/** dan.umeda@tier4.jp kotaro.uetake@tier4.jp manato.hirabayashi@tier4.jp
 perception/autoware_tracking_object_merger/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/autoware_traffic_light_arbiter/** kenzo.lobos@tier4.jp shunsuke.miura@tier4.jp
@@ -148,7 +149,7 @@ planning/autoware_freespace_planner/** kosuke.takeuchi@tier4.jp takamasa.horibe@
 planning/autoware_freespace_planning_algorithms/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 planning/autoware_mission_planner/** isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp ryohsuke.mitsudome@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 planning/autoware_objects_of_interest_marker_interface/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp zulfaqar.azmi@tier4.jp
-planning/autoware_obstacle_cruise_planner/** kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp yuki.takagi@tier4.jp
+planning/autoware_obstacle_cruise_planner/** berkay@leodrive.ai kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp yuki.takagi@tier4.jp
 planning/autoware_obstacle_stop_planner/** berkay@leodrive.ai bnk@leodrive.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp
 planning/autoware_path_optimizer/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 planning/autoware_path_smoother/** maxime.clement@tier4.jp takayuki.murooka@tier4.jp
@@ -178,7 +179,7 @@ planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/*
 planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/** kyoichi.sugahara@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp yukinari.hisaki.2@tier4.jp
 planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/** ahmed.ebrahim@leodrive.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
-planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/** kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
+planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/** kosuke.takeuchi@tier4.jp maxime.clement@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/** shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_planner/autoware_behavior_velocity_planner/** kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/** fumiya.watanabe@tier4.jp isamu.takagi@tier4.jp mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
@@ -187,7 +188,7 @@ planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/
 planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/** fumiya.watanabe@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp zhe.shen@tier4.jp
 planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/** daniel.sanchez@tier4.jp
 planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/** mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
-planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/** kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
+planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/** kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/** satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/** mamoru.sobue@tier4.jp maxime.clement@tier4.jp
 planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/** alqudah.mohammad@tier4.jp maxime.clement@tier4.jp

.github/labeler.yaml

@@ -42,5 +42,3 @@
 "tag:require-cuda-build-and-test":
   - perception/**/*
   - sensing/**/*
-  - common/cuda_utils/**/*
-  - common/tensorrt_common/**/*

.github/workflows/build-and-test-differential-arm64.yaml

@@ -76,7 +76,7 @@ jobs:
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
           build-depends-repos: ${{ matrix.build-depends-repos }}
           cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
-          build-pre-command: taskset --cpu-list 0-6
+          build-pre-command: taskset --cpu-list 0-5
 
       - name: Test
         id: test

.github/workflows/build-and-test-differential.yaml

@@ -46,7 +46,7 @@ jobs:
             build-depends-repos: build_depends.repos
           - container-suffix: -cuda
             runner: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large
-            build-pre-command: taskset --cpu-list 0-6
+            build-pre-command: taskset --cpu-list 0-5
           - container-suffix: ""
             runner: ubuntu-latest
             build-pre-command: ""

.github/workflows/build-and-test.yaml

@@ -93,7 +93,7 @@ jobs:
           target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
           build-depends-repos: ${{ matrix.build-depends-repos }}
           cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
-          build-pre-command: taskset --cpu-list 0-6
+          build-pre-command: taskset --cpu-list 0-5
 
       - name: Show ccache stats after build
         run: du -sh ${CCACHE_DIR} && ccache -s

common/.pages

@@ -9,7 +9,6 @@ nav:
       - 'comparisons': common/autoware_auto_common/design/comparisons
     - 'autoware_grid_map_utils': common/autoware_grid_map_utils
     - 'autoware_point_types': common/autoware_point_types
-    - 'Cuda Utils': common/cuda_utils
     - 'Geography Utils': common/geography_utils
     - 'Global Parameter Loader': common/global_parameter_loader/Readme
     - 'Glog Component': common/glog_component
@@ -24,7 +23,6 @@ nav:
     - 'Signal Processing':
       - 'Introduction': common/signal_processing
       - 'Butterworth Filter': common/signal_processing/documentation/ButterworthFilter
-    - 'TensorRT Common': common/tensorrt_common
     - 'autoware_universe_utils': common/autoware_universe_utils
     - 'traffic_light_utils': common/traffic_light_utils
     - 'TVM Utility':

common/component_interface_specs/CMakeLists.txt common/autoware_component_interface_specs/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(component_interface_specs)
+project(autoware_component_interface_specs)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()

common/component_interface_specs/README.md common/autoware_component_interface_specs/README.md

@@ -1,3 +1,3 @@
-# component_interface_specs
+# autoware_component_interface_specs
 
 This package is a specification of component interfaces.

common/component_interface_specs/include/component_interface_specs/control.hpp common/autoware_component_interface_specs/include/autoware/component_interface_specs/control.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef COMPONENT_INTERFACE_SPECS__CONTROL_HPP_
-#define COMPONENT_INTERFACE_SPECS__CONTROL_HPP_
+#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__CONTROL_HPP_
+#define AUTOWARE__COMPONENT_INTERFACE_SPECS__CONTROL_HPP_
 
 #include <rclcpp/qos.hpp>
 
@@ -23,7 +23,7 @@
 #include <tier4_control_msgs/srv/set_pause.hpp>
 #include <tier4_control_msgs/srv/set_stop.hpp>
 
-namespace control_interface
+namespace autoware::component_interface_specs::control
 {
 
 struct SetPause
@@ -65,6 +65,6 @@ struct IsStopped
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
 };
 
-}  // namespace control_interface
+}  // namespace autoware::component_interface_specs::control
 
-#endif  // COMPONENT_INTERFACE_SPECS__CONTROL_HPP_
+#endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__CONTROL_HPP_

common/component_interface_specs/include/component_interface_specs/localization.hpp common/autoware_component_interface_specs/include/autoware/component_interface_specs/localization.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_
-#define COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_
+#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_
+#define AUTOWARE__COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_
 
 #include <rclcpp/qos.hpp>
 
@@ -22,7 +22,7 @@
 #include <nav_msgs/msg/odometry.hpp>
 #include <tier4_localization_msgs/srv/initialize_localization.hpp>
 
-namespace localization_interface
+namespace autoware::component_interface_specs::localization
 {
 
 struct Initialize
@@ -58,6 +58,6 @@ struct Acceleration
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
 };
 
-}  // namespace localization_interface
+}  // namespace autoware::component_interface_specs::localization
 
-#endif  // COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_
+#endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_

common/component_interface_specs/include/component_interface_specs/map.hpp common/autoware_component_interface_specs/include/autoware/component_interface_specs/map.hpp

@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef COMPONENT_INTERFACE_SPECS__MAP_HPP_
-#define COMPONENT_INTERFACE_SPECS__MAP_HPP_
+#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__MAP_HPP_
+#define AUTOWARE__COMPONENT_INTERFACE_SPECS__MAP_HPP_
 
 #include <rclcpp/qos.hpp>
 
 #include <tier4_map_msgs/msg/map_projector_info.hpp>
 
-namespace map_interface
+namespace autoware::component_interface_specs::map
 {
 
 struct MapProjectorInfo
@@ -31,6 +31,6 @@ struct MapProjectorInfo
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
 };
 
-}  // namespace map_interface
+}  // namespace autoware::component_interface_specs::map
 
-#endif  // COMPONENT_INTERFACE_SPECS__MAP_HPP_
+#endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__MAP_HPP_

common/component_interface_specs/include/component_interface_specs/perception.hpp common/autoware_component_interface_specs/include/autoware/component_interface_specs/perception.hpp

@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_
-#define COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_
+#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_
+#define AUTOWARE__COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_
 
 #include <rclcpp/qos.hpp>
 
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
 
-namespace perception_interface
+namespace autoware::component_interface_specs::perception
 {
 
 struct ObjectRecognition
@@ -31,6 +31,6 @@ struct ObjectRecognition
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
 };
 
-}  // namespace perception_interface
+}  // namespace autoware::component_interface_specs::perception
 
-#endif  // COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_
+#endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_

common/component_interface_specs/include/component_interface_specs/planning.hpp common/autoware_component_interface_specs/include/autoware/component_interface_specs/planning.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef COMPONENT_INTERFACE_SPECS__PLANNING_HPP_
-#define COMPONENT_INTERFACE_SPECS__PLANNING_HPP_
+#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__PLANNING_HPP_
+#define AUTOWARE__COMPONENT_INTERFACE_SPECS__PLANNING_HPP_
 
 #include <rclcpp/qos.hpp>
 
@@ -24,7 +24,7 @@
 #include <tier4_planning_msgs/srv/set_lanelet_route.hpp>
 #include <tier4_planning_msgs/srv/set_waypoint_route.hpp>
 
-namespace planning_interface
+namespace autoware::component_interface_specs::planning
 {
 
 struct SetLaneletRoute
@@ -73,6 +73,6 @@ struct Trajectory
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
 };
 
-}  // namespace planning_interface
+}  // namespace autoware::component_interface_specs::planning
 
-#endif  // COMPONENT_INTERFACE_SPECS__PLANNING_HPP_
+#endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__PLANNING_HPP_