build(dummy_perception_publisher): fix include paths and namespaces for messages

Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>

Author: esteve

simulator/dummy_perception_publisher/README.md

@@ -10,10 +10,10 @@ This node publishes the result of the dummy detection with the type of perceptio
 
 ### Input
 
-| Name           | Type                                      | Description             |
-| -------------- | ----------------------------------------- | ----------------------- |
-| `/tf`          | `tf2_msgs/TFMessage`                      | TF (self-pose)          |
-| `input/object` | `dummy_perception_publisher::msg::Object` | dummy detection objects |
+| Name           | Type                                               | Description             |
+| -------------- | -------------------------------------------------- | ----------------------- |
+| `/tf`          | `tf2_msgs/TFMessage`                               | TF (self-pose)          |
+| `input/object` | `autoware_dummy_perception_publisher::msg::Object` | dummy detection objects |
 
 ### Output
 

simulator/dummy_perception_publisher/include/dummy_perception_publisher/node.hpp

@@ -15,7 +15,7 @@
 #ifndef DUMMY_PERCEPTION_PUBLISHER__NODE_HPP_
 #define DUMMY_PERCEPTION_PUBLISHER__NODE_HPP_
 
-#include "dummy_perception_publisher/msg/object.hpp"
+#include "autoware_dummy_perception_publisher/msg/object.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -45,7 +45,7 @@
 struct ObjectInfo
 {
   ObjectInfo(
-    const dummy_perception_publisher::msg::Object & object, const rclcpp::Time & current_time);
+    const autoware_dummy_perception_publisher::msg::Object & object, const rclcpp::Time & current_time);
   double length;
   double width;
   double height;
@@ -60,7 +60,7 @@ struct ObjectInfo
   // convert to TrackedObject
   // (todo) currently need object input to get id and header information, but it should be removed
   autoware_auto_perception_msgs::msg::TrackedObject toTrackedObject(
-    const dummy_perception_publisher::msg::Object & object) const;
+    const autoware_dummy_perception_publisher::msg::Object & object) const;
 };
 
 class PointCloudCreator
@@ -116,11 +116,11 @@ class DummyPerceptionPublisherNode : public rclcpp::Node
     detected_object_with_feature_pub_;
   rclcpp::Publisher<autoware_auto_perception_msgs::msg::TrackedObjects>::SharedPtr
     ground_truth_objects_pub_;
-  rclcpp::Subscription<dummy_perception_publisher::msg::Object>::SharedPtr object_sub_;
+  rclcpp::Subscription<autoware_dummy_perception_publisher::msg::Object>::SharedPtr object_sub_;
   rclcpp::TimerBase::SharedPtr timer_;
   tf2_ros::Buffer tf_buffer_;
   tf2_ros::TransformListener tf_listener_;
-  std::vector<dummy_perception_publisher::msg::Object> objects_;
+  std::vector<autoware_dummy_perception_publisher::msg::Object> objects_;
   double visible_range_;
   double detection_successful_rate_;
   bool enable_ray_tracing_;
@@ -134,7 +134,7 @@ class DummyPerceptionPublisherNode : public rclcpp::Node
 
   std::mt19937 random_generator_;
   void timerCallback();
-  void objectCallback(const dummy_perception_publisher::msg::Object::ConstSharedPtr msg);
+  void objectCallback(const autoware_dummy_perception_publisher::msg::Object::ConstSharedPtr msg);
 
 public:
   DummyPerceptionPublisherNode();

simulator/dummy_perception_publisher/src/node.cpp

@@ -37,7 +37,7 @@ using autoware_auto_perception_msgs::msg::TrackedObject;
 using autoware_auto_perception_msgs::msg::TrackedObjects;
 
 ObjectInfo::ObjectInfo(
-  const dummy_perception_publisher::msg::Object & object, const rclcpp::Time & current_time)
+  const autoware_dummy_perception_publisher::msg::Object & object, const rclcpp::Time & current_time)
 : length(object.shape.dimensions.x),
   width(object.shape.dimensions.y),
   height(object.shape.dimensions.z),
@@ -108,7 +108,7 @@ ObjectInfo::ObjectInfo(
 }
 
 TrackedObject ObjectInfo::toTrackedObject(
-  const dummy_perception_publisher::msg::Object & object) const
+  const autoware_dummy_perception_publisher::msg::Object & object) const
 {
   TrackedObject tracked_object;
   tracked_object.kinematics.pose_with_covariance = pose_covariance_;
@@ -162,7 +162,7 @@ DummyPerceptionPublisherNode::DummyPerceptionPublisherNode()
     this->create_publisher<tier4_perception_msgs::msg::DetectedObjectsWithFeature>(
       "output/dynamic_object", qos);
   pointcloud_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>("output/points_raw", qos);
-  object_sub_ = this->create_subscription<dummy_perception_publisher::msg::Object>(
+  object_sub_ = this->create_subscription<autoware_dummy_perception_publisher::msg::Object>(
     "input/object", 100,
     std::bind(&DummyPerceptionPublisherNode::objectCallback, this, std::placeholders::_1));
 
@@ -329,10 +329,10 @@ void DummyPerceptionPublisherNode::timerCallback()
 }
 
 void DummyPerceptionPublisherNode::objectCallback(
-  const dummy_perception_publisher::msg::Object::ConstSharedPtr msg)
+  const autoware_dummy_perception_publisher::msg::Object::ConstSharedPtr msg)
 {
   switch (msg->action) {
-    case dummy_perception_publisher::msg::Object::ADD: {
+    case autoware_dummy_perception_publisher::msg::Object::ADD: {
       tf2::Transform tf_input2map;
       tf2::Transform tf_input2object_origin;
       tf2::Transform tf_map2object_origin;
@@ -348,7 +348,7 @@ void DummyPerceptionPublisherNode::objectCallback(
       }
       tf2::fromMsg(msg->initial_state.pose_covariance.pose, tf_input2object_origin);
       tf_map2object_origin = tf_input2map.inverse() * tf_input2object_origin;
-      dummy_perception_publisher::msg::Object object;
+      autoware_dummy_perception_publisher::msg::Object object;
       object = *msg;
       tf2::toMsg(tf_map2object_origin, object.initial_state.pose_covariance.pose);
 
@@ -369,7 +369,7 @@ void DummyPerceptionPublisherNode::objectCallback(
       objects_.push_back(object);
       break;
     }
-    case dummy_perception_publisher::msg::Object::DELETE: {
+    case autoware_dummy_perception_publisher::msg::Object::DELETE: {
       for (size_t i = 0; i < objects_.size(); ++i) {
         if (objects_.at(i).id.uuid == msg->id.uuid) {
           objects_.erase(objects_.begin() + i);
@@ -378,7 +378,7 @@ void DummyPerceptionPublisherNode::objectCallback(
       }
       break;
     }
-    case dummy_perception_publisher::msg::Object::MODIFY: {
+    case autoware_dummy_perception_publisher::msg::Object::MODIFY: {
       for (size_t i = 0; i < objects_.size(); ++i) {
         if (objects_.at(i).id.uuid == msg->id.uuid) {
           tf2::Transform tf_input2map;
@@ -396,7 +396,7 @@ void DummyPerceptionPublisherNode::objectCallback(
           }
           tf2::fromMsg(msg->initial_state.pose_covariance.pose, tf_input2object_origin);
           tf_map2object_origin = tf_input2map.inverse() * tf_input2object_origin;
-          dummy_perception_publisher::msg::Object object;
+          autoware_dummy_perception_publisher::msg::Object object;
           objects_.at(i) = *msg;
           tf2::toMsg(tf_map2object_origin, objects_.at(i).initial_state.pose_covariance.pose);
           if (use_base_link_z_) {
@@ -418,7 +418,7 @@ void DummyPerceptionPublisherNode::objectCallback(
       }
       break;
     }
-    case dummy_perception_publisher::msg::Object::DELETEALL: {
+    case autoware_dummy_perception_publisher::msg::Object::DELETEALL: {
       objects_.clear();
       break;
     }