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feat(autoware_mission_planner)!: feat(autoware_mission_planner_universe)!: add _universe suffix to package name (#9941)
Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
1 parent a3bd66f commit 0ac8580

35 files changed

+78
-76
lines changed

‎codecov.yaml

+1-1
Original file line numberDiff line numberDiff line change
@@ -194,7 +194,7 @@ component_management:
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- planning/autoware_external_velocity_limit_selector/**
195195
- planning/autoware_freespace_planner/**
196196
- planning/autoware_freespace_planning_algorithms/**
197-
- planning/autoware_mission_planner/**
197+
- planning/autoware_mission_planner_universe/**
198198
# - planning/autoware_objects_of_interest_marker_interface/**
199199
- planning/autoware_obstacle_cruise_planner/**
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# - planning/autoware_obstacle_stop_planner/**

‎launch/tier4_planning_launch/launch/mission_planning/mission_planning.launch.xml

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@@ -1,11 +1,11 @@
11
<launch>
2-
<arg name="mission_planner_param_path" default="$(find-pkg-share autoware_mission_planner)/config/mission_planner.param.yaml"/>
2+
<arg name="mission_planner_param_path" default="$(find-pkg-share autoware_mission_planner_universe)/config/mission_planner.param.yaml"/>
33
<group>
4-
<include file="$(find-pkg-share autoware_mission_planner)/launch/mission_planner.launch.xml">
4+
<include file="$(find-pkg-share autoware_mission_planner_universe)/launch/mission_planner.launch.xml">
55
<arg name="mission_planner_param_path" value="$(var mission_planner_param_path)"/>
66
</include>
77
</group>
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<group>
9-
<include file="$(find-pkg-share autoware_mission_planner)/launch/goal_pose_visualizer.launch.xml"/>
9+
<include file="$(find-pkg-share autoware_mission_planner_universe)/launch/goal_pose_visualizer.launch.xml"/>
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</group>
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</launch>

‎launch/tier4_planning_launch/package.xml

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@@ -64,7 +64,7 @@
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<exec_depend>autoware_external_velocity_limit_selector</exec_depend>
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<exec_depend>autoware_freespace_planner</exec_depend>
6666
<exec_depend>autoware_glog_component</exec_depend>
67-
<exec_depend>autoware_mission_planner</exec_depend>
67+
<exec_depend>autoware_mission_planner_universe</exec_depend>
6868
<exec_depend>autoware_obstacle_cruise_planner</exec_depend>
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<exec_depend>autoware_obstacle_stop_planner</exec_depend>
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<exec_depend>autoware_path_optimizer</exec_depend>

‎planning/.pages

+1-1
Original file line numberDiff line numberDiff line change
@@ -39,7 +39,7 @@ nav:
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- 'About Freespace Planner': planning/autoware_freespace_planner
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- 'Algorithm': planning/autoware_freespace_planning_algorithms
4141
- 'RRT*': planning/autoware_freespace_planning_algorithms/rrtstar
42-
- 'Mission Planner': planning/autoware_mission_planner
42+
- 'Mission Planner': planning/autoware_mission_planner_universe
4343
- 'Motion Planning':
4444
- 'Path Optimizer':
4545
- 'About Path Optimizer': planning/autoware_path_optimizer

‎planning/autoware_mission_planner/plugins/plugin_description.xml

-3
This file was deleted.

‎planning/autoware_mission_planner/CHANGELOG.rst ‎planning/autoware_mission_planner_universe/CHANGELOG.rst

+3-3
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@@ -1,6 +1,6 @@
1-
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
2-
Changelog for package autoware_mission_planner
3-
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
1+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
2+
Changelog for package autoware_mission_planner_universe
3+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
44

55
0.40.0 (2024-12-12)
66
-------------------

‎planning/autoware_mission_planner/CMakeLists.txt ‎planning/autoware_mission_planner_universe/CMakeLists.txt

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Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
cmake_minimum_required(VERSION 3.14)
2-
project(autoware_mission_planner)
2+
project(autoware_mission_planner_universe)
33

44
find_package(autoware_cmake REQUIRED)
55
autoware_package()
@@ -9,7 +9,7 @@ ament_auto_add_library(goal_pose_visualizer_component SHARED
99
)
1010

1111
rclcpp_components_register_node(goal_pose_visualizer_component
12-
PLUGIN "autoware::mission_planner::GoalPoseVisualizer"
12+
PLUGIN "autoware::mission_planner_universe::GoalPoseVisualizer"
1313
EXECUTABLE goal_pose_visualizer
1414
)
1515

@@ -21,20 +21,20 @@ ament_auto_add_library(${PROJECT_NAME}_component SHARED
2121
)
2222

2323
rclcpp_components_register_node(${PROJECT_NAME}_component
24-
PLUGIN "autoware::mission_planner::MissionPlanner"
24+
PLUGIN "autoware::mission_planner_universe::MissionPlanner"
2525
EXECUTABLE mission_planner
2626
)
2727

2828
rclcpp_components_register_node(${PROJECT_NAME}_component
29-
PLUGIN "autoware::mission_planner::RouteSelector"
29+
PLUGIN "autoware::mission_planner_universe::RouteSelector"
3030
EXECUTABLE route_selector
3131
)
3232

3333
ament_auto_add_library(${PROJECT_NAME}_lanelet2_plugins SHARED
3434
src/lanelet2_plugins/default_planner.cpp
3535
src/lanelet2_plugins/utility_functions.cpp
3636
)
37-
pluginlib_export_plugin_description_file(autoware_mission_planner plugins/plugin_description.xml)
37+
pluginlib_export_plugin_description_file(autoware_mission_planner_universe plugins/plugin_description.xml)
3838

3939
if(BUILD_TESTING)
4040
ament_add_ros_isolated_gtest(test_${PROJECT_NAME}

‎planning/autoware_mission_planner/README.md ‎planning/autoware_mission_planner_universe/README.md

File renamed without changes.

‎planning/autoware_mission_planner/config/mission_planner.param.yaml ‎planning/autoware_mission_planner_universe/config/mission_planner.param.yaml

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‎planning/autoware_mission_planner/include/autoware/mission_planner/mission_planner_plugin.hpp ‎planning/autoware_mission_planner_universe/include/autoware/mission_planner_universe/mission_planner_plugin.hpp

+5-5
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@@ -12,8 +12,8 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#ifndef AUTOWARE__MISSION_PLANNER__MISSION_PLANNER_PLUGIN_HPP_
16-
#define AUTOWARE__MISSION_PLANNER__MISSION_PLANNER_PLUGIN_HPP_
15+
#ifndef AUTOWARE__MISSION_PLANNER_UNIVERSE__MISSION_PLANNER_PLUGIN_HPP_
16+
#define AUTOWARE__MISSION_PLANNER_UNIVERSE__MISSION_PLANNER_PLUGIN_HPP_
1717

1818
#include <rclcpp/rclcpp.hpp>
1919

@@ -24,7 +24,7 @@
2424

2525
#include <vector>
2626

27-
namespace autoware::mission_planner
27+
namespace autoware::mission_planner_universe
2828
{
2929

3030
class PlannerPlugin
@@ -45,6 +45,6 @@ class PlannerPlugin
4545
virtual void clearRoute() = 0;
4646
};
4747

48-
} // namespace autoware::mission_planner
48+
} // namespace autoware::mission_planner_universe
4949

50-
#endif // AUTOWARE__MISSION_PLANNER__MISSION_PLANNER_PLUGIN_HPP_
50+
#endif // AUTOWARE__MISSION_PLANNER_UNIVERSE__MISSION_PLANNER_PLUGIN_HPP_

‎planning/autoware_mission_planner/launch/goal_pose_visualizer.launch.xml ‎planning/autoware_mission_planner_universe/launch/goal_pose_visualizer.launch.xml

+1-1
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@@ -2,7 +2,7 @@
22
<arg name="route_topic_name" default="/planning/mission_planning/route"/>
33
<arg name="echo_back_goal_pose_topic_name" default="/planning/mission_planning/echo_back_goal_pose"/>
44

5-
<node pkg="autoware_mission_planner" exec="goal_pose_visualizer" name="goal_pose_visualizer" output="screen">
5+
<node pkg="autoware_mission_planner_universe" exec="goal_pose_visualizer" name="goal_pose_visualizer" output="screen">
66
<remap from="input/route" to="$(var route_topic_name)"/>
77
<remap from="output/goal_pose" to="$(var echo_back_goal_pose_topic_name)"/>
88
</node>

‎planning/autoware_mission_planner/launch/mission_planner.launch.xml ‎planning/autoware_mission_planner_universe/launch/mission_planner.launch.xml

+3-3
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@@ -2,10 +2,10 @@
22
<arg name="modified_goal_topic_name" default="/planning/scenario_planning/modified_goal"/>
33
<arg name="map_topic_name" default="/map/vector_map"/>
44
<arg name="visualization_topic_name" default="/planning/mission_planning/route_marker"/>
5-
<arg name="mission_planner_param_path" default="$(find-pkg-share autoware_mission_planner)/config/mission_planner.param.yaml"/>
5+
<arg name="mission_planner_param_path" default="$(find-pkg-share autoware_mission_planner_universe)/config/mission_planner.param.yaml"/>
66

77
<node_container pkg="rclcpp_components" exec="component_container_mt" name="mission_planner_container" namespace="">
8-
<composable_node pkg="autoware_mission_planner" plugin="autoware::mission_planner::MissionPlanner" name="mission_planner" namespace="">
8+
<composable_node pkg="autoware_mission_planner_universe" plugin="autoware::mission_planner_universe::MissionPlanner" name="mission_planner" namespace="">
99
<param from="$(var mission_planner_param_path)"/>
1010
<remap from="~/input/modified_goal" to="$(var modified_goal_topic_name)"/>
1111
<remap from="~/input/vector_map" to="$(var map_topic_name)"/>
@@ -16,7 +16,7 @@
1616
<remap from="~/state" to="state"/>
1717
<remap from="~/debug/route_marker" to="$(var visualization_topic_name)"/>
1818
</composable_node>
19-
<composable_node pkg="autoware_mission_planner" plugin="autoware::mission_planner::RouteSelector" name="route_selector" namespace="">
19+
<composable_node pkg="autoware_mission_planner_universe" plugin="autoware::mission_planner_universe::RouteSelector" name="route_selector" namespace="">
2020
<remap from="~/planner/clear_route" to="mission_planner/clear_route"/>
2121
<remap from="~/planner/set_lanelet_route" to="mission_planner/set_lanelet_route"/>
2222
<remap from="~/planner/set_waypoint_route" to="mission_planner/set_waypoint_route"/>

‎planning/autoware_mission_planner/media/architecture.drawio.svg ‎planning/autoware_mission_planner_universe/media/architecture.drawio.svg

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‎planning/autoware_mission_planner/media/goal_footprints.svg ‎planning/autoware_mission_planner_universe/media/goal_footprints.svg

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‎planning/autoware_mission_planner/media/rerouting_safety.svg ‎planning/autoware_mission_planner_universe/media/rerouting_safety.svg

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‎planning/autoware_mission_planner/media/route_sections.svg ‎planning/autoware_mission_planner_universe/media/route_sections.svg

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‎planning/autoware_mission_planner/package.xml ‎planning/autoware_mission_planner_universe/package.xml

+2-2
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@@ -1,9 +1,9 @@
11
<?xml version="1.0"?>
22
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
33
<package format="3">
4-
<name>autoware_mission_planner</name>
4+
<name>autoware_mission_planner_universe</name>
55
<version>0.40.0</version>
6-
<description>The autoware_mission_planner package</description>
6+
<description>The autoware_mission_planner_universe package</description>
77
<maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
88
<maintainer email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</maintainer>
99
<maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>

‎planning/autoware_mission_planner_universe/plugins/plugin_description.xml

+3
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,3 @@
1+
<library path="autoware_mission_planner_universe_lanelet2_plugins">
2+
<class type="autoware::mission_planner_universe::lanelet2::DefaultPlanner" base_class_type="autoware::mission_planner_universe::PlannerPlugin"/>
3+
</library>

‎planning/autoware_mission_planner/schema/mission_planner.schema.json ‎planning/autoware_mission_planner_universe/schema/mission_planner.schema.json

File renamed without changes.

‎planning/autoware_mission_planner/src/goal_pose_visualizer/goal_pose_visualizer.cpp ‎planning/autoware_mission_planner_universe/src/goal_pose_visualizer/goal_pose_visualizer.cpp

+3-3
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@@ -14,7 +14,7 @@
1414

1515
#include "goal_pose_visualizer.hpp"
1616

17-
namespace autoware::mission_planner
17+
namespace autoware::mission_planner_universe
1818
{
1919
GoalPoseVisualizer::GoalPoseVisualizer(const rclcpp::NodeOptions & node_options)
2020
: Node("goal_pose_visualizer", node_options)
@@ -34,7 +34,7 @@ void GoalPoseVisualizer::echo_back_route_callback(
3434
goal_pose.pose = msg->goal_pose;
3535
pub_goal_pose_->publish(goal_pose);
3636
}
37-
} // namespace autoware::mission_planner
37+
} // namespace autoware::mission_planner_universe
3838

3939
#include <rclcpp_components/register_node_macro.hpp>
40-
RCLCPP_COMPONENTS_REGISTER_NODE(autoware::mission_planner::GoalPoseVisualizer)
40+
RCLCPP_COMPONENTS_REGISTER_NODE(autoware::mission_planner_universe::GoalPoseVisualizer)

‎planning/autoware_mission_planner/src/goal_pose_visualizer/goal_pose_visualizer.hpp ‎planning/autoware_mission_planner_universe/src/goal_pose_visualizer/goal_pose_visualizer.hpp

+2-2
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@@ -20,7 +20,7 @@
2020
#include <autoware_planning_msgs/msg/lanelet_route.hpp>
2121
#include <geometry_msgs/msg/pose_stamped.hpp>
2222

23-
namespace autoware::mission_planner
23+
namespace autoware::mission_planner_universe
2424
{
2525
class GoalPoseVisualizer : public rclcpp::Node
2626
{
@@ -35,5 +35,5 @@ class GoalPoseVisualizer : public rclcpp::Node
3535
const autoware_planning_msgs::msg::LaneletRoute::ConstSharedPtr msg);
3636
};
3737

38-
} // namespace autoware::mission_planner
38+
} // namespace autoware::mission_planner_universe
3939
#endif // GOAL_POSE_VISUALIZER__GOAL_POSE_VISUALIZER_HPP_

‎planning/autoware_mission_planner/src/lanelet2_plugins/default_planner.cpp ‎planning/autoware_mission_planner_universe/src/lanelet2_plugins/default_planner.cpp

+4-3
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@@ -41,7 +41,7 @@
4141
#include <limits>
4242
#include <vector>
4343

44-
namespace autoware::mission_planner::lanelet2
44+
namespace autoware::mission_planner_universe::lanelet2
4545
{
4646

4747
void DefaultPlanner::initialize_common(rclcpp::Node * node)
@@ -383,8 +383,9 @@ void DefaultPlanner::clearRoute()
383383
route_handler_.clearRoute();
384384
}
385385

386-
} // namespace autoware::mission_planner::lanelet2
386+
} // namespace autoware::mission_planner_universe::lanelet2
387387

388388
#include <pluginlib/class_list_macros.hpp>
389389
PLUGINLIB_EXPORT_CLASS(
390-
autoware::mission_planner::lanelet2::DefaultPlanner, autoware::mission_planner::PlannerPlugin)
390+
autoware::mission_planner_universe::lanelet2::DefaultPlanner,
391+
autoware::mission_planner_universe::PlannerPlugin)

‎planning/autoware_mission_planner/src/lanelet2_plugins/default_planner.hpp ‎planning/autoware_mission_planner_universe/src/lanelet2_plugins/default_planner.hpp

+4-4
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@@ -15,7 +15,7 @@
1515
#ifndef LANELET2_PLUGINS__DEFAULT_PLANNER_HPP_
1616
#define LANELET2_PLUGINS__DEFAULT_PLANNER_HPP_
1717

18-
#include <autoware/mission_planner/mission_planner_plugin.hpp>
18+
#include <autoware/mission_planner_universe/mission_planner_plugin.hpp>
1919
#include <autoware/route_handler/route_handler.hpp>
2020
#include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
2121
#include <rclcpp/rclcpp.hpp>
@@ -29,7 +29,7 @@
2929

3030
#include <vector>
3131

32-
namespace autoware::mission_planner::lanelet2
32+
namespace autoware::mission_planner_universe::lanelet2
3333
{
3434

3535
struct DefaultPlannerParameters
@@ -40,7 +40,7 @@ struct DefaultPlannerParameters
4040
bool check_footprint_inside_lanes;
4141
};
4242

43-
class DefaultPlanner : public mission_planner::PlannerPlugin
43+
class DefaultPlanner : public mission_planner_universe::PlannerPlugin
4444
{
4545
public:
4646
DefaultPlanner() : vehicle_info_(), is_graph_ready_(false), param_(), node_(nullptr) {}
@@ -101,6 +101,6 @@ class DefaultPlanner : public mission_planner::PlannerPlugin
101101
Pose refine_goal_height(const Pose & goal, const RouteSections & route_sections);
102102
};
103103

104-
} // namespace autoware::mission_planner::lanelet2
104+
} // namespace autoware::mission_planner_universe::lanelet2
105105

106106
#endif // LANELET2_PLUGINS__DEFAULT_PLANNER_HPP_

‎planning/autoware_mission_planner/src/lanelet2_plugins/utility_functions.cpp ‎planning/autoware_mission_planner_universe/src/lanelet2_plugins/utility_functions.cpp

+2-2
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@@ -25,7 +25,7 @@
2525
#include <limits>
2626
#include <vector>
2727

28-
namespace autoware::mission_planner::lanelet2
28+
namespace autoware::mission_planner_universe::lanelet2
2929
{
3030
autoware::universe_utils::Polygon2d convert_linear_ring_to_polygon(
3131
autoware::universe_utils::LinearRing2d footprint)
@@ -158,4 +158,4 @@ geometry_msgs::msg::Pose get_closest_centerline_pose(
158158
return convertBasicPoint3dToPose(refined_point, lane_yaw);
159159
}
160160

161-
} // namespace autoware::mission_planner::lanelet2
161+
} // namespace autoware::mission_planner_universe::lanelet2

‎planning/autoware_mission_planner/src/lanelet2_plugins/utility_functions.hpp ‎planning/autoware_mission_planner_universe/src/lanelet2_plugins/utility_functions.hpp

+2-2
Original file line numberDiff line numberDiff line change
@@ -29,7 +29,7 @@
2929

3030
#include <vector>
3131

32-
namespace autoware::mission_planner::lanelet2
32+
namespace autoware::mission_planner_universe::lanelet2
3333
{
3434
using RouteSections = std::vector<autoware_planning_msgs::msg::LaneletSegment>;
3535

@@ -64,5 +64,5 @@ geometry_msgs::msg::Pose get_closest_centerline_pose(
6464
const lanelet::ConstLanelets & road_lanelets, const geometry_msgs::msg::Pose & point,
6565
autoware::vehicle_info_utils::VehicleInfo vehicle_info);
6666

67-
} // namespace autoware::mission_planner::lanelet2
67+
} // namespace autoware::mission_planner_universe::lanelet2
6868
#endif // LANELET2_PLUGINS__UTILITY_FUNCTIONS_HPP_

‎planning/autoware_mission_planner/src/mission_planner/arrival_checker.cpp ‎planning/autoware_mission_planner_universe/src/mission_planner/arrival_checker.cpp

+2-2
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@@ -20,7 +20,7 @@
2020

2121
#include <tf2/utils.h>
2222

23-
namespace autoware::mission_planner
23+
namespace autoware::mission_planner_universe
2424
{
2525

2626
ArrivalChecker::ArrivalChecker(rclcpp::Node * node) : vehicle_stop_checker_(node)
@@ -72,4 +72,4 @@ bool ArrivalChecker::is_arrived(const PoseStamped & pose) const
7272
return vehicle_stop_checker_.isVehicleStopped(duration_);
7373
}
7474

75-
} // namespace autoware::mission_planner
75+
} // namespace autoware::mission_planner_universe

‎planning/autoware_mission_planner/src/mission_planner/arrival_checker.hpp ‎planning/autoware_mission_planner_universe/src/mission_planner/arrival_checker.hpp

+2-2
Original file line numberDiff line numberDiff line change
@@ -22,7 +22,7 @@
2222
#include <geometry_msgs/msg/pose.hpp>
2323
#include <geometry_msgs/msg/pose_stamped.hpp>
2424

25-
namespace autoware::mission_planner
25+
namespace autoware::mission_planner_universe
2626
{
2727

2828
class ArrivalChecker
@@ -44,6 +44,6 @@ class ArrivalChecker
4444
autoware::motion_utils::VehicleStopChecker vehicle_stop_checker_;
4545
};
4646

47-
} // namespace autoware::mission_planner
47+
} // namespace autoware::mission_planner_universe
4848

4949
#endif // MISSION_PLANNER__ARRIVAL_CHECKER_HPP_

‎planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp ‎planning/autoware_mission_planner_universe/src/mission_planner/mission_planner.cpp

+7-6
Original file line numberDiff line numberDiff line change
@@ -32,13 +32,14 @@
3232
#include <utility>
3333
#include <vector>
3434

35-
namespace autoware::mission_planner
35+
namespace autoware::mission_planner_universe
3636
{
3737

3838
MissionPlanner::MissionPlanner(const rclcpp::NodeOptions & options)
3939
: Node("mission_planner", options),
4040
arrival_checker_(this),
41-
plugin_loader_("autoware_mission_planner", "autoware::mission_planner::PlannerPlugin"),
41+
plugin_loader_(
42+
"autoware_mission_planner_universe", "autoware::mission_planner_universe::PlannerPlugin"),
4243
tf_buffer_(get_clock()),
4344
tf_listener_(tf_buffer_),
4445
odometry_(nullptr),
@@ -52,8 +53,8 @@ MissionPlanner::MissionPlanner(const rclcpp::NodeOptions & options)
5253
minimum_reroute_length_ = declare_parameter<double>("minimum_reroute_length");
5354
allow_reroute_in_autonomous_mode_ = declare_parameter<bool>("allow_reroute_in_autonomous_mode");
5455

55-
planner_ =
56-
plugin_loader_.createSharedInstance("autoware::mission_planner::lanelet2::DefaultPlanner");
56+
planner_ = plugin_loader_.createSharedInstance(
57+
"autoware::mission_planner_universe::lanelet2::DefaultPlanner");
5758
planner_->initialize(this);
5859

5960
const auto durable_qos = rclcpp::QoS(1).transient_local();
@@ -671,7 +672,7 @@ bool MissionPlanner::check_reroute_safety(
671672
accumulated_length, safety_length);
672673
return false;
673674
}
674-
} // namespace autoware::mission_planner
675+
} // namespace autoware::mission_planner_universe
675676

676677
#include <rclcpp_components/register_node_macro.hpp>
677-
RCLCPP_COMPONENTS_REGISTER_NODE(autoware::mission_planner::MissionPlanner)
678+
RCLCPP_COMPONENTS_REGISTER_NODE(autoware::mission_planner_universe::MissionPlanner)

‎planning/autoware_mission_planner/src/mission_planner/mission_planner.hpp ‎planning/autoware_mission_planner_universe/src/mission_planner/mission_planner.hpp

+3-3
Original file line numberDiff line numberDiff line change
@@ -18,7 +18,7 @@
1818
#include "arrival_checker.hpp"
1919
#include "autoware/universe_utils/ros/polling_subscriber.hpp"
2020

21-
#include <autoware/mission_planner/mission_planner_plugin.hpp>
21+
#include <autoware/mission_planner_universe/mission_planner_plugin.hpp>
2222
#include <autoware/route_handler/route_handler.hpp>
2323
#include <autoware/universe_utils/ros/logger_level_configure.hpp>
2424
#include <autoware/universe_utils/system/stop_watch.hpp>
@@ -45,7 +45,7 @@
4545
#include <string>
4646
#include <vector>
4747

48-
namespace autoware::mission_planner
48+
namespace autoware::mission_planner_universe
4949
{
5050

5151
using autoware_adapi_v1_msgs::msg::OperationModeState;
@@ -150,6 +150,6 @@ class MissionPlanner : public rclcpp::Node
150150
pub_processing_time_;
151151
};
152152

153-
} // namespace autoware::mission_planner
153+
} // namespace autoware::mission_planner_universe
154154

155155
#endif // MISSION_PLANNER__MISSION_PLANNER_HPP_

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