refactor(probabilistic_occupancy_grid_map)!: fix namespace and directory structure (autowarefoundation#7872)

* refactor: update include paths for probabilistic occupancy grid map

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* refactor: update include paths for probabilistic occupancy grid map

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* refactor: update namespace for nodes

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* refactor: update namespace for lib

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* refactor: remove unused dependency

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* refactor: use const pointer for occupancy grid map data

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

---------

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

Author: technolojin

perception/probabilistic_occupancy_grid_map/CMakeLists.txt

@@ -14,8 +14,8 @@ include_directories(
 )
 
 ament_auto_add_library(${PROJECT_NAME}_common SHARED
-  src/updater/occupancy_grid_map_binary_bayes_filter_updater.cpp
-  src/utils/utils.cpp
+  lib/updater/binary_bayes_filter_updater.cpp
+  lib/utils/utils.cpp
 )
 target_link_libraries(${PROJECT_NAME}_common
   ${PCL_LIBRARIES}
@@ -24,9 +24,9 @@ target_link_libraries(${PROJECT_NAME}_common
 # PointcloudBasedOccupancyGridMap
 ament_auto_add_library(pointcloud_based_occupancy_grid_map SHARED
   src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp
-  src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.cpp
-  src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.cpp
-  src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.cpp
+  lib/costmap_2d/occupancy_grid_map_base.cpp
+  lib/costmap_2d/occupancy_grid_map_fixed.cpp
+  lib/costmap_2d/occupancy_grid_map_projective.cpp
 )
 
 target_link_libraries(pointcloud_based_occupancy_grid_map
@@ -35,14 +35,14 @@ target_link_libraries(pointcloud_based_occupancy_grid_map
 )
 
 rclcpp_components_register_node(pointcloud_based_occupancy_grid_map
-  PLUGIN "occupancy_grid_map::PointcloudBasedOccupancyGridMapNode"
+  PLUGIN "autoware::occupancy_grid_map::PointcloudBasedOccupancyGridMapNode"
   EXECUTABLE pointcloud_based_occupancy_grid_map_node
 )
 
 # LaserscanBasedOccupancyGridMap
 ament_auto_add_library(laserscan_based_occupancy_grid_map SHARED
   src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp
-  src/laserscan_based_occupancy_grid_map/occupancy_grid_map.cpp
+  lib/costmap_2d/occupancy_grid_map.cpp
 )
 
 target_link_libraries(laserscan_based_occupancy_grid_map
@@ -51,25 +51,25 @@ target_link_libraries(laserscan_based_occupancy_grid_map
 )
 
 rclcpp_components_register_node(laserscan_based_occupancy_grid_map
-  PLUGIN "occupancy_grid_map::LaserscanBasedOccupancyGridMapNode"
+  PLUGIN "autoware::occupancy_grid_map::LaserscanBasedOccupancyGridMapNode"
   EXECUTABLE laserscan_based_occupancy_grid_map_node
 )
 
 # GridMapFusionNode
 ament_auto_add_library(synchronized_grid_map_fusion SHARED
   src/fusion/synchronized_grid_map_fusion_node.cpp
-  src/fusion/single_frame_fusion_policy.cpp
-  src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.cpp
-  src/updater/occupancy_grid_map_log_odds_bayes_filter_updater.cpp
-  src/utils/utils.cpp
+  lib/fusion_policy/fusion_policy.cpp
+  lib/costmap_2d/occupancy_grid_map_fixed.cpp
+  lib/updater/log_odds_bayes_filter_updater.cpp
+  lib/utils/utils.cpp
 )
 
 target_link_libraries(synchronized_grid_map_fusion
   ${PCL_LIBRARIES}
 )
 
 rclcpp_components_register_node(synchronized_grid_map_fusion
-  PLUGIN "synchronized_grid_map_fusion::GridMapFusionNode"
+  PLUGIN "autoware::occupancy_grid_map::GridMapFusionNode"
   EXECUTABLE synchronized_grid_map_fusion_node
 )
 
@@ -88,13 +88,14 @@ if(BUILD_TESTING)
 
   # gtest
   ament_add_gtest(test_utils
-  test/test_utils.cpp
+    test/test_utils.cpp
   )
   ament_add_gtest(costmap_unit_tests
-  test/cost_value_test.cpp)
+    test/cost_value_test.cpp
+  )
   ament_add_gtest(fusion_policy_unit_tests
-  test/fusion_policy_test.cpp
-  src/fusion/single_frame_fusion_policy.cpp
+    test/fusion_policy_test.cpp
+    lib/fusion_policy/fusion_policy.cpp
   )
   target_link_libraries(test_utils
     ${PCL_LIBRARIES}

perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/cost_value.hpp perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp

@@ -48,12 +48,14 @@
  * Author: Eitan Marder-Eppstein
  *********************************************************************/
 
-#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__COST_VALUE_HPP_
-#define PROBABILISTIC_OCCUPANCY_GRID_MAP__COST_VALUE_HPP_
+#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COST_VALUE__COST_VALUE_HPP_
+#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COST_VALUE__COST_VALUE_HPP_
 
 #include <algorithm>
 
-namespace occupancy_cost_value
+namespace autoware::occupancy_grid_map
+{
+namespace cost_value
 {
 static const unsigned char NO_INFORMATION = 128;  // 0.5 * 255
 static const unsigned char LETHAL_OBSTACLE = 255;
@@ -101,6 +103,8 @@ struct InverseCostTranslationTable
 
 static const CostTranslationTable cost_translation_table;
 static const InverseCostTranslationTable inverse_cost_translation_table;
-}  // namespace occupancy_cost_value
 
-#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__COST_VALUE_HPP_
+}  // namespace cost_value
+}  // namespace autoware::occupancy_grid_map
+
+#endif  // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COST_VALUE__COST_VALUE_HPP_

perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/laserscan_based_occupancy_grid_map/occupancy_grid_map.hpp perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map.hpp

@@ -49,8 +49,8 @@
  *         David V. Lu!!
  *********************************************************************/
 
-#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_HPP_
-#define PROBABILISTIC_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_HPP_
+#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_HPP_
+#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_HPP_
 
 #include <nav2_costmap_2d/costmap_2d.hpp>
 #include <rclcpp/rclcpp.hpp>
@@ -59,6 +59,8 @@
 #include <sensor_msgs/msg/laser_scan.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 
+namespace autoware::occupancy_grid_map
+{
 namespace costmap_2d
 {
 using geometry_msgs::msg::Pose;
@@ -90,5 +92,6 @@ class OccupancyGridMap : public nav2_costmap_2d::Costmap2D
 };
 
 }  // namespace costmap_2d
+}  // namespace autoware::occupancy_grid_map
 
-#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_HPP_
+#endif  // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_HPP_

perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_base.hpp

@@ -49,8 +49,8 @@
  *         David V. Lu!!
  *********************************************************************/
 
-#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_BASE_HPP_
-#define PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_BASE_HPP_
+#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_BASE_HPP_
+#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_BASE_HPP_
 
 #include <nav2_costmap_2d/costmap_2d.hpp>
 #include <rclcpp/rclcpp.hpp>
@@ -59,6 +59,8 @@
 #include <sensor_msgs/msg/laser_scan.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 
+namespace autoware::occupancy_grid_map
+{
 namespace costmap_2d
 {
 using geometry_msgs::msg::Pose;
@@ -91,5 +93,6 @@ class OccupancyGridMapInterface : public nav2_costmap_2d::Costmap2D
 };
 
 }  // namespace costmap_2d
+}  // namespace autoware::occupancy_grid_map
 
-#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_BASE_HPP_
+#endif  // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_BASE_HPP_

perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.hpp perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_fixed.hpp

@@ -12,11 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_FIXED_HPP_
-#define PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_FIXED_HPP_
+#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_FIXED_HPP_
+#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_FIXED_HPP_
 
-#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_base.hpp"
 
+namespace autoware::occupancy_grid_map
+{
 namespace costmap_2d
 {
 using geometry_msgs::msg::Pose;
@@ -43,5 +45,6 @@ class OccupancyGridMapFixedBlindSpot : public OccupancyGridMapInterface
 };
 
 }  // namespace costmap_2d
+}  // namespace autoware::occupancy_grid_map
 
-#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_FIXED_HPP_
+#endif  // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_FIXED_HPP_

perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.hpp perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_projective.hpp

@@ -12,15 +12,17 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_PROJECTIVE_HPP_
-#define PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_PROJECTIVE_HPP_
+#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_PROJECTIVE_HPP_
+#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_PROJECTIVE_HPP_
 
-#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_base.hpp"
 
 #include <grid_map_core/GridMap.hpp>
 
 #include <grid_map_msgs/msg/grid_map.hpp>
 
+namespace autoware::occupancy_grid_map
+{
 namespace costmap_2d
 {
 using geometry_msgs::msg::Pose;
@@ -51,5 +53,6 @@ class OccupancyGridMapProjectiveBlindSpot : public OccupancyGridMapInterface
 };
 
 }  // namespace costmap_2d
+}  // namespace autoware::occupancy_grid_map
 
-#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_PROJECTIVE_HPP_
+#endif  // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_PROJECTIVE_HPP_

perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/fusion/single_frame_fusion_policy.hpp perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/fusion_policy/fusion_policy.hpp

@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION__SINGLE_FRAME_FUSION_POLICY_HPP_
-#define PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION__SINGLE_FRAME_FUSION_POLICY_HPP_
+#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION_POLICY__FUSION_POLICY_HPP_
+#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION_POLICY__FUSION_POLICY_HPP_
 
-#include "probabilistic_occupancy_grid_map/cost_value.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp"
 
 #include <cmath>
 #include <iostream>
@@ -25,6 +25,8 @@
 /*min and max prob threshold to prevent log-odds to diverge*/
 #define EPSILON_PROB 0.03
 
+namespace autoware::occupancy_grid_map
+{
 namespace fusion_policy
 {
 enum class FusionMethod { OVERWRITE, LOG_ODDS, DEMPSTER_SHAFER };
@@ -61,6 +63,8 @@ unsigned char singleFrameOccupancyFusion(
 unsigned char singleFrameOccupancyFusion(
   const std::vector<unsigned char> & occupancy, FusionMethod method,
   const std::vector<double> & reliability);
+
 }  // namespace fusion_policy
+}  // namespace autoware::occupancy_grid_map
 
-#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION__SINGLE_FRAME_FUSION_POLICY_HPP_
+#endif  // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION_POLICY__FUSION_POLICY_HPP_

perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/updater/occupancy_grid_map_binary_bayes_filter_updater.hpp perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/binary_bayes_filter_updater.hpp

@@ -12,14 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_BINARY_BAYES_FILTER_UPDATER_HPP_
-#define PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_BINARY_BAYES_FILTER_UPDATER_HPP_
+#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__BINARY_BAYES_FILTER_UPDATER_HPP_
+#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__BINARY_BAYES_FILTER_UPDATER_HPP_
 
-#include "probabilistic_occupancy_grid_map/updater/occupancy_grid_map_updater_interface.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/updater/ogm_updater_interface.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 
+namespace autoware::occupancy_grid_map
+{
 namespace costmap_2d
 {
 class OccupancyGridMapBBFUpdater : public OccupancyGridMapUpdaterInterface
@@ -38,5 +40,6 @@ class OccupancyGridMapBBFUpdater : public OccupancyGridMapUpdaterInterface
 };
 
 }  // namespace costmap_2d
+}  // namespace autoware::occupancy_grid_map
 
-#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_BINARY_BAYES_FILTER_UPDATER_HPP_
+#endif  // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__BINARY_BAYES_FILTER_UPDATER_HPP_

perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/updater/occupancy_grid_map_log_odds_bayes_filter_updater.hpp perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/log_odds_bayes_filter_updater.hpp

@@ -12,19 +12,21 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_LOG_ODDS_BAYES_FILTER_UPDATER_HPP_
-#define PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_LOG_ODDS_BAYES_FILTER_UPDATER_HPP_
+#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__LOG_ODDS_BAYES_FILTER_UPDATER_HPP_
+#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__LOG_ODDS_BAYES_FILTER_UPDATER_HPP_
 
-#include "probabilistic_occupancy_grid_map/fusion/single_frame_fusion_policy.hpp"
-#include "probabilistic_occupancy_grid_map/updater/occupancy_grid_map_updater_interface.hpp"
-#include "probabilistic_occupancy_grid_map/utils/utils.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/fusion_policy/fusion_policy.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/updater/ogm_updater_interface.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/utils/utils.hpp"
 
 #include <eigen3/Eigen/Core>
 #include <eigen3/Eigen/Geometry>
 
 // LOBF means: Log Odds Bayes Filter
 // cspell: ignore LOBF
 
+namespace autoware::occupancy_grid_map
+{
 namespace costmap_2d
 {
 class OccupancyGridMapLOBFUpdater : public OccupancyGridMapUpdaterInterface
@@ -45,5 +47,6 @@ class OccupancyGridMapLOBFUpdater : public OccupancyGridMapUpdaterInterface
 };
 
 }  // namespace costmap_2d
+}  // namespace autoware::occupancy_grid_map
 
-#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_LOG_ODDS_BAYES_FILTER_UPDATER_HPP_
+#endif  // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__LOG_ODDS_BAYES_FILTER_UPDATER_HPP_

perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/updater/occupancy_grid_map_updater_interface.hpp perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/ogm_updater_interface.hpp

@@ -12,23 +12,24 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_UPDATER_INTERFACE_HPP_
-#define PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_UPDATER_INTERFACE_HPP_
+#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OGM_UPDATER_INTERFACE_HPP_
+#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OGM_UPDATER_INTERFACE_HPP_
 
-#include "probabilistic_occupancy_grid_map/cost_value.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp"
 
 #include <nav2_costmap_2d/costmap_2d.hpp>
 #include <rclcpp/node.hpp>
 
+namespace autoware::occupancy_grid_map
+{
 namespace costmap_2d
 {
 class OccupancyGridMapUpdaterInterface : public nav2_costmap_2d::Costmap2D
 {
 public:
   OccupancyGridMapUpdaterInterface(
     const unsigned int cells_size_x, const unsigned int cells_size_y, const float resolution)
-  : Costmap2D(
-      cells_size_x, cells_size_y, resolution, 0.f, 0.f, occupancy_cost_value::NO_INFORMATION)
+  : Costmap2D(cells_size_x, cells_size_y, resolution, 0.f, 0.f, cost_value::NO_INFORMATION)
   {
   }
   virtual ~OccupancyGridMapUpdaterInterface() = default;
@@ -37,5 +38,6 @@ class OccupancyGridMapUpdaterInterface : public nav2_costmap_2d::Costmap2D
 };
 
 }  // namespace costmap_2d
+}  // namespace autoware::occupancy_grid_map
 
-#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_UPDATER_INTERFACE_HPP_
+#endif  // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OGM_UPDATER_INTERFACE_HPP_

perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/utils/utils.hpp perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/utils/utils.hpp

@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__UTILS__UTILS_HPP_
-#define PROBABILISTIC_OCCUPANCY_GRID_MAP__UTILS__UTILS_HPP_
+#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UTILS__UTILS_HPP_
+#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UTILS__UTILS_HPP_
 
-#include "probabilistic_occupancy_grid_map/cost_value.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp"
 
 #include <builtin_interfaces/msg/time.hpp>
 #include <pcl_ros/transforms.hpp>
@@ -45,6 +45,8 @@
 #include <cmath>
 #include <vector>
 
+namespace autoware::occupancy_grid_map
+{
 namespace utils
 {
 
@@ -117,6 +119,8 @@ bool extractCommonPointCloud(
   sensor_msgs::msg::PointCloud2 & output_obstacle_pc);
 
 unsigned char getApproximateOccupancyState(const unsigned char & value);
+
 }  // namespace utils
+}  // namespace autoware::occupancy_grid_map
 
-#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__UTILS__UTILS_HPP_
+#endif  // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UTILS__UTILS_HPP_