refactor: update include paths for debugger and processor modules

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

Author: technolojin

perception/multi_object_tracker/CMakeLists.txt

@@ -56,7 +56,7 @@ target_link_libraries(${PROJECT_NAME}
 )
 
 rclcpp_components_register_node(${PROJECT_NAME}
-  PLUGIN "multi_object_tracker::MultiObjectTracker"
+  PLUGIN "autoware::multi_object_tracker::MultiObjectTracker"
   EXECUTABLE multi_object_tracker_node
 )
 

perception/multi_object_tracker/src/debugger/debug_object.cpp

@@ -48,6 +48,9 @@ int32_t uuidToInt(const boost::uuids::uuid & uuid)
 }
 }  // namespace
 
+namespace autoware::multi_object_tracker
+{
+
 TrackerObjectDebugger::TrackerObjectDebugger(std::string frame_id)
 {
   // set frame id
@@ -391,3 +394,5 @@ void TrackerObjectDebugger::getMessage(visualization_msgs::msg::MarkerArray & ma
 
   return;
 }
+
+}  // namespace autoware::multi_object_tracker

perception/multi_object_tracker/src/debugger/debug_object.hpp

@@ -37,6 +37,9 @@
 #include <unordered_set>
 #include <vector>
 
+namespace autoware::multi_object_tracker
+{
+
 struct ObjectData
 {
   rclcpp::Time time;
@@ -99,4 +102,6 @@ class TrackerObjectDebugger
   void getMessage(visualization_msgs::msg::MarkerArray & marker_array) const;
 };
 
+}  // namespace autoware::multi_object_tracker
+
 #endif  // DEBUGGER__DEBUG_OBJECT_HPP_

perception/multi_object_tracker/src/debugger/debugger.cpp

@@ -16,6 +16,8 @@
 
 #include <memory>
 
+namespace autoware::multi_object_tracker
+{
 TrackerDebugger::TrackerDebugger(rclcpp::Node & node, const std::string & frame_id)
 : node_(node), diagnostic_updater_(&node), object_debugger_(frame_id)
 {
@@ -207,3 +209,5 @@ void TrackerDebugger::publishObjectsMarkers()
   // reset object data
   object_debugger_.reset();
 }
+
+}  // namespace autoware::multi_object_tracker

perception/multi_object_tracker/src/debugger/debugger.hpp

@@ -33,6 +33,9 @@
 #include <unordered_map>
 #include <vector>
 
+namespace autoware::multi_object_tracker
+{
+
 /**
  * @brief Debugger class for multi object tracker
  * @details This class is used to publish debug information of multi object tracker
@@ -104,4 +107,6 @@ class TrackerDebugger
   void publishObjectsMarkers();
 };
 
+}  // namespace autoware::multi_object_tracker
+
 #endif  // DEBUGGER__DEBUGGER_HPP_

perception/multi_object_tracker/src/multi_object_tracker_node.cpp

@@ -21,7 +21,6 @@
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
-#include <rclcpp_components/register_node_macro.hpp>
 
 #include <boost/optional.hpp>
 
@@ -66,7 +65,7 @@ boost::optional<geometry_msgs::msg::Transform> getTransformAnonymous(
 
 }  // namespace
 
-namespace multi_object_tracker
+namespace autoware::multi_object_tracker
 {
 using Label = autoware_perception_msgs::msg::ObjectClassification;
 
@@ -358,6 +357,8 @@ void MultiObjectTracker::publish(const rclcpp::Time & time) const
   debugger_->publishObjectsMarkers();
 }
 
-}  // namespace multi_object_tracker
+}  // namespace autoware::multi_object_tracker
+
+#include <rclcpp_components/register_node_macro.hpp>
 
-RCLCPP_COMPONENTS_REGISTER_NODE(multi_object_tracker::MultiObjectTracker)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::multi_object_tracker::MultiObjectTracker)

perception/multi_object_tracker/src/multi_object_tracker_node.hpp

@@ -52,7 +52,7 @@
 #include <utility>
 #include <vector>
 
-namespace multi_object_tracker
+namespace autoware::multi_object_tracker
 {
 
 using DetectedObject = autoware_perception_msgs::msg::DetectedObject;
@@ -103,6 +103,6 @@ class MultiObjectTracker : public rclcpp::Node
   inline bool shouldTrackerPublish(const std::shared_ptr<const Tracker> tracker) const;
 };
 
-}  // namespace multi_object_tracker
+}  // namespace autoware::multi_object_tracker
 
 #endif  // MULTI_OBJECT_TRACKER_NODE_HPP_

perception/multi_object_tracker/src/processor/input_manager.cpp

@@ -16,7 +16,7 @@
 
 #include <cassert>
 
-namespace multi_object_tracker
+namespace autoware::multi_object_tracker
 {
 ///////////////////////////
 /////// InputStream ///////
@@ -368,4 +368,4 @@ bool InputManager::getObjects(const rclcpp::Time & now, ObjectsList & objects_li
   return is_any_object;
 }
 
-}  // namespace multi_object_tracker
+}  // namespace autoware::multi_object_tracker

perception/multi_object_tracker/src/processor/input_manager.hpp

@@ -26,7 +26,7 @@
 #include <utility>
 #include <vector>
 
-namespace multi_object_tracker
+namespace autoware::multi_object_tracker
 {
 using DetectedObjects = autoware_perception_msgs::msg::DetectedObjects;
 using ObjectsList = std::vector<std::pair<uint, DetectedObjects>>;
@@ -155,6 +155,6 @@ class InputManager
   void optimizeTimings();
 };
 
-}  // namespace multi_object_tracker
+}  // namespace autoware::multi_object_tracker
 
 #endif  // PROCESSOR__INPUT_MANAGER_HPP_

perception/multi_object_tracker/src/processor/processor.cpp

@@ -21,6 +21,9 @@
 
 #include <iterator>
 
+namespace autoware::multi_object_tracker
+{
+
 using Label = autoware_perception_msgs::msg::ObjectClassification;
 
 TrackerProcessor::TrackerProcessor(
@@ -248,3 +251,5 @@ void TrackerProcessor::getTentativeObjects(
     }
   }
 }
+
+}  // namespace autoware::multi_object_tracker

perception/multi_object_tracker/src/processor/processor.hpp

@@ -29,6 +29,8 @@
 #include <unordered_map>
 #include <vector>
 
+namespace autoware::multi_object_tracker
+{
 class TrackerProcessor
 {
 public:
@@ -78,4 +80,6 @@ class TrackerProcessor
     const geometry_msgs::msg::Transform & self_transform, const uint & channel_index) const;
 };
 
+}  // namespace autoware::multi_object_tracker
+
 #endif  // PROCESSOR__PROCESSOR_HPP_