Merge branch 'main' into chore/perception_utils_maintainer

.github/CODEOWNERS

@@ -122,14 +122,14 @@ perception/lidar_centerpoint/** kenzo.lobos@tier4.jp koji.minoda@tier4.jp
 perception/lidar_transfusion/** amadeusz.szymko.2@tier4.jp kenzo.lobos@tier4.jp satoshi.tanaka@tier4.jp
 perception/multi_object_tracker/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/object_merger/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
-perception/object_range_splitter/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
-perception/object_velocity_splitter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp
+perception/autoware_object_range_splitter/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
+perception/autoware_object_velocity_splitter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp
 perception/occupancy_grid_map_outlier_filter/** abrahammonrroy@yahoo.com yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/probabilistic_occupancy_grid_map/** mamoru.sobue@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
-perception/radar_crossing_objects_noise_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
-perception/radar_fusion_to_detected_object/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
-perception/radar_object_clustering/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
-perception/radar_object_tracker/** satoshi.tanaka@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
+perception/autoware_radar_crossing_objects_noise_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
+perception/autoware_radar_fusion_to_detected_object/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
+perception/autoware_radar_object_clustering/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
+perception/autoware_radar_object_tracker/** satoshi.tanaka@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/radar_tracks_msgs_converter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
 perception/raindrop_cluster_filter/** dai.nguyen@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/shape_estimation/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp

common/autoware_universe_utils/include/autoware/universe_utils/geometry/geometry.hpp

@@ -413,7 +413,7 @@ geometry_msgs::msg::Pose transformPose(
   const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::TransformStamped & transform);
 
 geometry_msgs::msg::Pose transformPose(
-  const geometry_msgs::msg::Pose & pose, geometry_msgs::msg::Transform & transform);
+  const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Transform & transform);
 
 geometry_msgs::msg::Pose transformPose(
   const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Pose & pose_transform);

common/autoware_universe_utils/src/geometry/geometry.cpp

@@ -225,7 +225,7 @@ geometry_msgs::msg::Pose transformPose(
 }
 
 geometry_msgs::msg::Pose transformPose(
-  const geometry_msgs::msg::Pose & pose, geometry_msgs::msg::Transform & transform)
+  const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Transform & transform)
 {
   geometry_msgs::msg::TransformStamped transform_stamped;
   transform_stamped.transform = transform;

common/tensorrt_common/src/tensorrt_common.cpp

@@ -427,18 +427,18 @@ bool TrtCommon::buildEngineFromOnnx(
             layer->setPrecision(nvinfer1::DataType::kHALF);
             std::cout << "Set kHALF in " << name << std::endl;
           }
-          for (int i = num - 1; i >= 0; i--) {
-            nvinfer1::ILayer * layer = network->getLayer(i);
-            auto layer_type = layer->getType();
-            std::string name = layer->getName();
-            if (layer_type == nvinfer1::LayerType::kCONVOLUTION) {
-              layer->setPrecision(nvinfer1::DataType::kHALF);
-              std::cout << "Set kHALF in " << name << std::endl;
+          for (int j = num - 1; j >= 0; j--) {
+            nvinfer1::ILayer * inner_layer = network->getLayer(j);
+            auto inner_layer_type = inner_layer->getType();
+            std::string inner_name = inner_layer->getName();
+            if (inner_layer_type == nvinfer1::LayerType::kCONVOLUTION) {
+              inner_layer->setPrecision(nvinfer1::DataType::kHALF);
+              std::cout << "Set kHALF in " << inner_name << std::endl;
               break;
             }
-            if (layer_type == nvinfer1::LayerType::kMATRIX_MULTIPLY) {
-              layer->setPrecision(nvinfer1::DataType::kHALF);
-              std::cout << "Set kHALF in " << name << std::endl;
+            if (inner_layer_type == nvinfer1::LayerType::kMATRIX_MULTIPLY) {
+              inner_layer->setPrecision(nvinfer1::DataType::kHALF);
+              std::cout << "Set kHALF in " << inner_name << std::endl;
               break;
             }
           }

launch/tier4_localization_launch/package.xml

@@ -5,7 +5,6 @@
   <version>0.1.0</version>
   <description>The tier4_localization_launch package</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
-  <maintainer email="koji.minoda@tier4.jp">Koji Minoda</maintainer>
   <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
   <maintainer email="ryu.yamamoto@tier4.jp">Ryu Yamamoto</maintainer>
   <maintainer email="anh.nguyen.2@tier4.jp">NGUYEN Viet Anh</maintainer>

launch/tier4_map_launch/package.xml

@@ -5,7 +5,6 @@
   <version>0.1.0</version>
   <description>The tier4_map_launch package</description>
   <maintainer email="ryu.yamamoto@tier4.jp">Ryu Yamamoto</maintainer>
-  <maintainer email="koji.minoda@tier4.jp">Koji Minoda</maintainer>
   <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="anh.nguyen.2@tier4.jp">NGUYEN Viet Anh</maintainer>

launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml

@@ -359,7 +359,7 @@
     </group>
     <!-- Lidar-Radar object merger-->
     <group>
-      <include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml">
+      <include file="$(find-pkg-share autoware_radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml">
         <arg name="input/objects" value="lidar/objects"/>
         <arg name="input/radars" value="radar/noise_filtered_objects"/>
         <arg name="output/objects" value="$(var output/objects)"/>

launch/tier4_perception_launch/launch/object_recognition/detection/filter/pointcloud_map_filter.launch.py

@@ -106,7 +106,7 @@ def create_compare_map_pipeline(self):
         components.append(
             ComposableNode(
                 package="compare_map_segmentation",
-                plugin="compare_map_segmentation::VoxelBasedCompareMapFilterComponent",
+                plugin="autoware::compare_map_segmentation::VoxelBasedCompareMapFilterComponent",
                 name="voxel_based_compare_map_filter",
                 remappings=[
                     ("input", down_sample_topic),

launch/tier4_perception_launch/launch/object_recognition/detection/filter/radar_filter.launch.xml

@@ -5,28 +5,28 @@
   <arg name="object_velocity_splitter_param_path" default="$(var object_recognition_detection_object_velocity_splitter_radar_param_path)"/>
   <arg name="object_range_splitter_param_path" default="$(var object_recognition_detection_object_range_splitter_radar_param_path)"/>
   <arg name="radar_lanelet_filtering_range_param_path" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>
-  <arg name="radar_object_clustering_param_path" default="$(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml"/>
+  <arg name="radar_object_clustering_param_path" default="$(find-pkg-share autoware_radar_object_clustering)/config/radar_object_clustering.param.yaml"/>
 
   <!-- External interfaces -->
   <arg name="input/radar"/>
   <arg name="output/objects"/>
 
   <!-- Radar filter pipeline -->
-  <include file="$(find-pkg-share radar_crossing_objects_noise_filter)/launch/radar_crossing_objects_noise_filter.launch.xml">
+  <include file="$(find-pkg-share autoware_radar_crossing_objects_noise_filter)/launch/radar_crossing_objects_noise_filter.launch.xml">
     <arg name="input/objects" value="$(var input/radar)"/>
     <arg name="output/noise_objects" value="noise_objects"/>
     <arg name="output/filtered_objects" value="noise_filtered_objects"/>
     <arg name="param_path" value="$(var radar_crossing_objects_noise_filter_param_path)"/>
   </include>
 
-  <include file="$(find-pkg-share object_velocity_splitter)/launch/object_velocity_splitter.launch.xml">
+  <include file="$(find-pkg-share autoware_object_velocity_splitter)/launch/object_velocity_splitter.launch.xml">
     <arg name="input/objects" value="noise_filtered_objects"/>
     <arg name="output/low_speed_objects" value="low_speed_objects"/>
     <arg name="output/high_speed_objects" value="high_speed_objects"/>
     <arg name="param_path" value="$(var object_velocity_splitter_param_path)"/>
   </include>
 
-  <include file="$(find-pkg-share object_range_splitter)/launch/object_range_splitter.launch.xml">
+  <include file="$(find-pkg-share autoware_object_range_splitter)/launch/object_range_splitter.launch.xml">
     <arg name="input/object" value="high_speed_objects"/>
     <arg name="output/long_range_object" value="far_high_speed_objects"/>
     <arg name="output/short_range_object" value="near_high_speed_objects"/>
@@ -39,7 +39,7 @@
     <arg name="filtering_range_param" value="$(var radar_lanelet_filtering_range_param_path)"/>
   </include>
 
-  <include file="$(find-pkg-share radar_object_clustering)/launch/radar_object_clustering.launch.xml">
+  <include file="$(find-pkg-share autoware_radar_object_clustering)/launch/radar_object_clustering.launch.xml">
     <arg name="input/objects" value="lanelet_filtered_objects"/>
     <arg name="output/objects" value="$(var output/objects)"/>
     <arg name="param_path" value="$(var radar_object_clustering_param_path)"/>

launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml

@@ -89,7 +89,7 @@
 
   <!-- Radar fusion -->
   <group>
-    <include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml" if="$(var use_near_radar_fusion)">
+    <include file="$(find-pkg-share autoware_radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml" if="$(var use_near_radar_fusion)">
       <arg name="input/objects" value="$(var radar_objects_fusion/input/objects)"/>
       <arg name="input/radars" value="$(var radar_objects_fusion/input/radars)"/>
       <arg name="output/objects" value="$(var radar_objects_fusion/output/objects)"/>

launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml

@@ -46,7 +46,7 @@
     <!-- Run with tracking merger to add far radar information -->
     <group if="$(var use_radar_tracking_fusion)">
       <!-- radar long range dynamic object tracking -->
-      <include file="$(find-pkg-share radar_object_tracker)/launch/radar_object_tracker.launch.xml">
+      <include file="$(find-pkg-share autoware_radar_object_tracker)/launch/radar_object_tracker.launch.xml">
         <arg name="input" value="$(var radar_tracker/input/objects)"/>
         <arg name="output" value="$(var radar_tracker/output/objects)"/>
         <arg name="data_association_matrix_path" value="$(var object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path)"/>

launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py

@@ -391,7 +391,7 @@ def create_single_frame_outlier_filter_components(input_topic, output_topic, con
         components.append(
             ComposableNode(
                 package="compare_map_segmentation",
-                plugin="compare_map_segmentation::CompareElevationMapFilterComponent",
+                plugin="autoware::compare_map_segmentation::CompareElevationMapFilterComponent",
                 name="compare_elevation_map_filter",
                 namespace="elevation_map",
                 remappings=[

launch/tier4_perception_launch/package.xml

@@ -15,6 +15,12 @@
 
   <exec_depend>autoware_crosswalk_traffic_light_estimator</exec_depend>
   <exec_depend>autoware_map_based_prediction</exec_depend>
+  <exec_depend>autoware_object_range_splitter</exec_depend>
+  <exec_depend>autoware_object_velocity_splitter</exec_depend>
+  <exec_depend>autoware_radar_crossing_objects_noise_filter</exec_depend>
+  <exec_depend>autoware_radar_fusion_to_detected_object</exec_depend>
+  <exec_depend>autoware_radar_object_clustering</exec_depend>
+  <exec_depend>autoware_radar_object_tracker</exec_depend>
   <exec_depend>cluster_merger</exec_depend>
   <exec_depend>compare_map_segmentation</exec_depend>
   <exec_depend>detected_object_feature_remover</exec_depend>
@@ -28,16 +34,10 @@
   <exec_depend>lidar_apollo_instance_segmentation</exec_depend>
   <exec_depend>multi_object_tracker</exec_depend>
   <exec_depend>object_merger</exec_depend>
-  <exec_depend>object_range_splitter</exec_depend>
-  <exec_depend>object_velocity_splitter</exec_depend>
   <exec_depend>occupancy_grid_map_outlier_filter</exec_depend>
   <exec_depend>pointcloud_preprocessor</exec_depend>
   <exec_depend>pointcloud_to_laserscan</exec_depend>
   <exec_depend>probabilistic_occupancy_grid_map</exec_depend>
-  <exec_depend>radar_crossing_objects_noise_filter</exec_depend>
-  <exec_depend>radar_fusion_to_detected_object</exec_depend>
-  <exec_depend>radar_object_clustering</exec_depend>
-  <exec_depend>radar_object_tracker</exec_depend>
   <exec_depend>raindrop_cluster_filter</exec_depend>
   <exec_depend>shape_estimation</exec_depend>
   <exec_depend>topic_tools</exec_depend>

launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml

@@ -260,7 +260,12 @@
   <group if="$(var launch_compare_map_pipeline)">
     <!-- use pointcloud container -->
     <load_composable_node target="$(var pointcloud_container_name)">
-      <composable_node pkg="compare_map_segmentation" plugin="compare_map_segmentation::VoxelDistanceBasedCompareMapFilterComponent" name="voxel_distance_based_compare_map_filter_node" namespace="">
+      <composable_node
+        pkg="compare_map_segmentation"
+        plugin="autoware::compare_map_segmentation::VoxelDistanceBasedCompareMapFilterComponent"
+        name="voxel_distance_based_compare_map_filter_node"
+        namespace=""
+      >
         <!-- topic remap -->
         <remap from="map" to="$(var input_pointcloud_map_topic_name)"/>
         <remap from="kinematic_state" to="/localization/kinematic_state"/>

localization/autoware_stop_filter/package.xml

@@ -4,7 +4,6 @@
   <name>autoware_stop_filter</name>
   <version>0.0.0</version>
   <description>The stop filter package</description>
-  <maintainer email="koji.minoda@tier4.jp">Koji Minoda</maintainer>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
   <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>

localization/ekf_localizer/package.xml

@@ -5,7 +5,6 @@
   <version>0.1.0</version>
   <description>The ekf_localizer package</description>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
-  <maintainer email="koji.minoda@tier4.jp">Koji Minoda</maintainer>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="takeshi.ishita@tier4.jp">Takeshi Ishita</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>

localization/geo_pose_projector/package.xml

@@ -5,7 +5,6 @@
   <version>0.1.0</version>
   <description>The geo_pose_projector package</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
-  <maintainer email="koji.minoda@tier4.jp">Koji Minoda</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
   <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
   <maintainer email="anh.nguyen.2@tier4.jp">NGUYEN Viet Anh</maintainer>

localization/localization_error_monitor/package.xml

@@ -5,7 +5,6 @@
   <version>0.1.0</version>
   <description>ros node for monitoring localization error</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
-  <maintainer email="koji.minoda@tier4.jp">Koji Minoda</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
   <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
   <maintainer email="anh.nguyen.2@tier4.jp">NGUYEN Viet Anh</maintainer>

localization/ndt_scan_matcher/package.xml

@@ -6,7 +6,6 @@
   <description>The ndt_scan_matcher package</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
-  <maintainer email="koji.minoda@tier4.jp">Koji Minoda</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
   <maintainer email="anh.nguyen.2@tier4.jp">NGUYEN Viet Anh</maintainer>
   <maintainer email="taiki.yamada@tier4.jp">Taiki Yamada</maintainer>

localization/twist2accel/package.xml

@@ -4,7 +4,6 @@
   <name>twist2accel</name>
   <version>0.0.0</version>
   <description>The acceleration estimation package</description>
-  <maintainer email="koji.minoda@tier4.jp">Koji Minoda</maintainer>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
   <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>

localization/yabloc/yabloc_monitor/package.xml

@@ -5,7 +5,6 @@
   <version>0.1.0</version>
   <description>YabLoc monitor package</description>
   <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
-  <maintainer email="koji.minoda@tier4.jp">Koji Minoda</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="anh.nguyen.2@tier4.jp">NGUYEN Viet Anh</maintainer>

map/map_loader/package.xml

@@ -6,7 +6,6 @@
   <description>The map_loader package</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="ryu.yamamoto@tier4.jp">Ryu Yamamoto</maintainer>
-  <maintainer email="koji.minoda@tier4.jp">Koji Minoda</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
   <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
   <maintainer email="anh.nguyen.2@tier4.jp">NGUYEN Viet Anh</maintainer>

map/map_projection_loader/package.xml

@@ -4,7 +4,6 @@
   <name>map_projection_loader</name>
   <version>0.1.0</version>
   <description>map_projection_loader package as a ROS 2 node</description>
-  <maintainer email="koji.minoda@tier4.jp">Koji Minoda</maintainer>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
   <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>

perception/object_range_splitter/CMakeLists.txt → perception/autoware_object_range_splitter/CMakeLists.txt

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

perception/object_range_splitter/README.md → perception/autoware_object_range_splitter/README.md

@@ -1,8 +1,8 @@
-# object_range_splitter
+# `autoware_object_range_splitter`
 
 ## Purpose
 
-object_range_splitter is a package to divide detected objects into two messages by the distance from the origin.
+autoware_object_range_splitter is a package to divide detected objects into two messages by the distance from the origin.
 
 ## Inner-workings / Algorithms
 

perception/object_range_splitter/launch/object_range_splitter.launch.xml → perception/autoware_object_range_splitter/launch/object_range_splitter.launch.xml

@@ -3,9 +3,9 @@
   <arg name="input/object" default="object"/>
   <arg name="output/long_range_object" default="long_range_object"/>
   <arg name="output/short_range_object" default="short_range_object"/>
-  <arg name="param_path" default="$(find-pkg-share object_range_splitter)/config/object_range_splitter.param.yaml"/>
+  <arg name="param_path" default="$(find-pkg-share autoware_object_range_splitter)/config/object_range_splitter.param.yaml"/>
 
-  <node pkg="object_range_splitter" exec="object_range_splitter_node" name="object_range_splitter" output="screen">
+  <node pkg="autoware_object_range_splitter" exec="object_range_splitter_node" name="object_range_splitter" output="screen">
     <remap from="input/object" to="$(var input/object)"/>
     <remap from="output/long_range_object" to="$(var output/long_range_object)"/>
     <remap from="output/short_range_object" to="$(var output/short_range_object)"/>

perception/object_range_splitter/package.xml → perception/autoware_object_range_splitter/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>object_range_splitter</name>
+  <name>autoware_object_range_splitter</name>
   <version>0.1.0</version>
-  <description>The object_range_splitter package</description>
+  <description>The autoware_object_range_splitter package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="yoshi.ri@tier4.jp">Yoshi Ri</maintainer>
   <license>Apache License 2.0</license>