refactor(goal_planner): add autoware prefix (#7420)

autowarefoundation · Jun 10, 2024 · 213c7c3 · 213c7c3
1 parent d37dbb9
commit 213c7c3
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diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -164,7 +164,7 @@ planning/autoware_planning_topic_converter/** [email protected] satoshi.o
 planning/autoware_remaining_distance_time_calculator/** [email protected]
 planning/autoware_static_centerline_generator/** [email protected] [email protected]
 planning/autoware_velocity_smoother/** [email protected] [email protected] [email protected] [email protected]
-planning/behavior_path_goal_planner_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+planning/autoware_behavior_path_goal_planner_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/autoware_behavior_path_lane_change_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_path_planner/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_path_sampling_planner_module/** [email protected] [email protected]

diff --git a/...r_path_goal_planner_module/CMakeLists.txt → ...r_path_goal_planner_module/CMakeLists.txt b/...r_path_goal_planner_module/CMakeLists.txt → ...r_path_goal_planner_module/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(behavior_path_goal_planner_module)
+project(autoware_behavior_path_goal_planner_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()

diff --git a/...havior_path_goal_planner_module/README.md → ...havior_path_goal_planner_module/README.md b/...havior_path_goal_planner_module/README.md → ...havior_path_goal_planner_module/README.md
diff --git a/...ner_module/config/goal_planner.param.yaml → ...ner_module/config/goal_planner.param.yaml b/...ner_module/config/goal_planner.param.yaml → ...ner_module/config/goal_planner.param.yaml
diff --git a/...le/images/arc_backward_parking.drawio.svg → ...le/images/arc_backward_parking.drawio.svg b/...le/images/arc_backward_parking.drawio.svg → ...le/images/arc_backward_parking.drawio.svg
diff --git a/...ule/images/arc_forward_parking.drawio.svg → ...ule/images/arc_forward_parking.drawio.svg b/...ule/images/arc_forward_parking.drawio.svg → ...ule/images/arc_forward_parking.drawio.svg
diff --git a/...planner-collision_check_margin.drawio.svg → ...planner-collision_check_margin.drawio.svg b/...planner-collision_check_margin.drawio.svg → ...planner-collision_check_margin.drawio.svg
diff --git a/...ges/goal_planner-deciding_path.drawio.svg → ...ges/goal_planner-deciding_path.drawio.svg b/...ges/goal_planner-deciding_path.drawio.svg → ...ges/goal_planner-deciding_path.drawio.svg
diff --git a/...s/goal_planner-goal_candidates.drawio.svg → ...s/goal_planner-goal_candidates.drawio.svg b/...s/goal_planner-goal_candidates.drawio.svg → ...s/goal_planner-goal_candidates.drawio.svg
diff --git a/...ges/goal_planner-goal_distance.drawio.svg → ...ges/goal_planner-goal_distance.drawio.svg b/...ges/goal_planner-goal_distance.drawio.svg → ...ges/goal_planner-goal_distance.drawio.svg
diff --git a/...le/images/goal_planner-is_safe.drawio.svg → ...le/images/goal_planner-is_safe.drawio.svg b/...le/images/goal_planner-is_safe.drawio.svg → ...le/images/goal_planner-is_safe.drawio.svg
diff --git a/...al_planner-longitudinal_margin.drawio.svg → ...al_planner-longitudinal_margin.drawio.svg b/...al_planner-longitudinal_margin.drawio.svg → ...al_planner-longitudinal_margin.drawio.svg
diff --git a/...s/goal_planner-object_to_avoid.drawio.svg → ...s/goal_planner-object_to_avoid.drawio.svg b/...s/goal_planner-object_to_avoid.drawio.svg → ...s/goal_planner-object_to_avoid.drawio.svg
diff --git a/...ages/goal_planner-refined_goal.drawio.svg → ...ages/goal_planner-refined_goal.drawio.svg b/...ages/goal_planner-refined_goal.drawio.svg → ...ages/goal_planner-refined_goal.drawio.svg
diff --git a/...ages/goal_planner-safety_check.drawio.svg → ...ages/goal_planner-safety_check.drawio.svg b/...ages/goal_planner-safety_check.drawio.svg → ...ages/goal_planner-safety_check.drawio.svg
diff --git a/...le/images/goal_planner-threads.drawio.svg → ...le/images/goal_planner-threads.drawio.svg b/...le/images/goal_planner-threads.drawio.svg → ...le/images/goal_planner-threads.drawio.svg
diff --git a/...es/goal_priority_object_to_avoid_rviz.png → ...es/goal_priority_object_to_avoid_rviz.png b/...es/goal_priority_object_to_avoid_rviz.png → ...es/goal_priority_object_to_avoid_rviz.png
diff --git a/...nner_module/images/goal_priority_rviz.png → ...nner_module/images/goal_priority_rviz.png b/...nner_module/images/goal_priority_rviz.png → ...nner_module/images/goal_priority_rviz.png
diff --git a/...module/images/goal_priority_with_goal.png → ...module/images/goal_priority_with_goal.png b/...module/images/goal_priority_with_goal.png → ...module/images/goal_priority_with_goal.png
diff --git a/...le/images/path_goal_refinement.drawio.svg → ...le/images/path_goal_refinement.drawio.svg b/...le/images/path_goal_refinement.drawio.svg → ...le/images/path_goal_refinement.drawio.svg
diff --git a/...er_freespace_parking_flowchart.drawio.svg → ...er_freespace_parking_flowchart.drawio.svg b/...er_freespace_parking_flowchart.drawio.svg → ...er_freespace_parking_flowchart.drawio.svg
diff --git a/...er_module/images/shift_parking.drawio.svg → ...er_module/images/shift_parking.drawio.svg b/...er_module/images/shift_parking.drawio.svg → ...er_module/images/shift_parking.drawio.svg
diff --git a/...ner_module/default_fixed_goal_planner.hpp → ...ner_module/default_fixed_goal_planner.hpp b/...ner_module/default_fixed_goal_planner.hpp → ...ner_module/default_fixed_goal_planner.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_GOAL_PLANNER_MODULE__DEFAULT_FIXED_GOAL_PLANNER_HPP_
-#define BEHAVIOR_PATH_GOAL_PLANNER_MODULE__DEFAULT_FIXED_GOAL_PLANNER_HPP_
+#ifndef AUTOWARE_BEHAVIOR_PATH_GOAL_PLANNER_MODULE__DEFAULT_FIXED_GOAL_PLANNER_HPP_
+#define AUTOWARE_BEHAVIOR_PATH_GOAL_PLANNER_MODULE__DEFAULT_FIXED_GOAL_PLANNER_HPP_
 
-#include "behavior_path_goal_planner_module/fixed_goal_planner_base.hpp"
+#include "autoware_behavior_path_goal_planner_module/fixed_goal_planner_base.hpp"
 
 #include <tier4_planning_msgs/msg/path_with_lane_id.hpp>
 
@@ -42,4 +42,4 @@ class DefaultFixedGoalPlanner : public FixedGoalPlannerBase
 };
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_GOAL_PLANNER_MODULE__DEFAULT_FIXED_GOAL_PLANNER_HPP_
+#endif  // AUTOWARE_BEHAVIOR_PATH_GOAL_PLANNER_MODULE__DEFAULT_FIXED_GOAL_PLANNER_HPP_
diff --git a/...lanner_module/fixed_goal_planner_base.hpp → ...lanner_module/fixed_goal_planner_base.hpp b/...lanner_module/fixed_goal_planner_base.hpp → ...lanner_module/fixed_goal_planner_base.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_GOAL_PLANNER_MODULE__FIXED_GOAL_PLANNER_BASE_HPP_
-#define BEHAVIOR_PATH_GOAL_PLANNER_MODULE__FIXED_GOAL_PLANNER_BASE_HPP_
+#ifndef AUTOWARE_BEHAVIOR_PATH_GOAL_PLANNER_MODULE__FIXED_GOAL_PLANNER_BASE_HPP_
+#define AUTOWARE_BEHAVIOR_PATH_GOAL_PLANNER_MODULE__FIXED_GOAL_PLANNER_BASE_HPP_
 
 #include "autoware_behavior_path_planner_common/data_manager.hpp"
 
@@ -50,4 +50,4 @@ class FixedGoalPlannerBase
 };
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_GOAL_PLANNER_MODULE__FIXED_GOAL_PLANNER_BASE_HPP_
+#endif  // AUTOWARE_BEHAVIOR_PATH_GOAL_PLANNER_MODULE__FIXED_GOAL_PLANNER_BASE_HPP_
diff --git a/...al_planner_module/freespace_pull_over.hpp → ...al_planner_module/freespace_pull_over.hpp b/...al_planner_module/freespace_pull_over.hpp → ...al_planner_module/freespace_pull_over.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_GOAL_PLANNER_MODULE__FREESPACE_PULL_OVER_HPP_
-#define BEHAVIOR_PATH_GOAL_PLANNER_MODULE__FREESPACE_PULL_OVER_HPP_
+#ifndef AUTOWARE_BEHAVIOR_PATH_GOAL_PLANNER_MODULE__FREESPACE_PULL_OVER_HPP_
+#define AUTOWARE_BEHAVIOR_PATH_GOAL_PLANNER_MODULE__FREESPACE_PULL_OVER_HPP_
 
-#include "behavior_path_goal_planner_module/pull_over_planner_base.hpp"
+#include "autoware_behavior_path_goal_planner_module/pull_over_planner_base.hpp"
 
 #include <autoware_freespace_planning_algorithms/abstract_algorithm.hpp>
 #include <autoware_freespace_planning_algorithms/astar_search.hpp>
@@ -51,4 +51,4 @@ class FreespacePullOver : public PullOverPlannerBase
 };
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_GOAL_PLANNER_MODULE__FREESPACE_PULL_OVER_HPP_
+#endif  // AUTOWARE_BEHAVIOR_PATH_GOAL_PLANNER_MODULE__FREESPACE_PULL_OVER_HPP_
diff --git a/...al_planner_module/geometric_pull_over.hpp → ...al_planner_module/geometric_pull_over.hpp b/...al_planner_module/geometric_pull_over.hpp → ...al_planner_module/geometric_pull_over.hpp
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GEOMETRIC_PULL_OVER_HPP_
-#define BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GEOMETRIC_PULL_OVER_HPP_
+#ifndef AUTOWARE_BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GEOMETRIC_PULL_OVER_HPP_
+#define AUTOWARE_BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GEOMETRIC_PULL_OVER_HPP_
 
+#include "autoware_behavior_path_goal_planner_module/pull_over_planner_base.hpp"
 #include "autoware_behavior_path_planner_common/utils/parking_departure/geometric_parallel_parking.hpp"
-#include "behavior_path_goal_planner_module/pull_over_planner_base.hpp"
 
 #include <autoware_lane_departure_checker/lane_departure_checker.hpp>
 
@@ -65,4 +65,4 @@ class GeometricPullOver : public PullOverPlannerBase
 };
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GEOMETRIC_PULL_OVER_HPP_
+#endif  // AUTOWARE_BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GEOMETRIC_PULL_OVER_HPP_
diff --git a/...al_planner_module/goal_planner_module.hpp → ...al_planner_module/goal_planner_module.hpp b/...al_planner_module/goal_planner_module.hpp → ...al_planner_module/goal_planner_module.hpp
@@ -12,21 +12,21 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GOAL_PLANNER_MODULE_HPP_
-#define BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GOAL_PLANNER_MODULE_HPP_
-
+#ifndef AUTOWARE_BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GOAL_PLANNER_MODULE_HPP_
+#define AUTOWARE_BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GOAL_PLANNER_MODULE_HPP_
+
+#include "autoware_behavior_path_goal_planner_module/default_fixed_goal_planner.hpp"
+#include "autoware_behavior_path_goal_planner_module/freespace_pull_over.hpp"
+#include "autoware_behavior_path_goal_planner_module/geometric_pull_over.hpp"
+#include "autoware_behavior_path_goal_planner_module/goal_planner_parameters.hpp"
+#include "autoware_behavior_path_goal_planner_module/goal_searcher.hpp"
+#include "autoware_behavior_path_goal_planner_module/shift_pull_over.hpp"
 #include "autoware_behavior_path_planner_common/interface/scene_module_interface.hpp"
 #include "autoware_behavior_path_planner_common/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp"
 #include "autoware_behavior_path_planner_common/utils/parking_departure/common_module_data.hpp"
 #include "autoware_behavior_path_planner_common/utils/parking_departure/geometric_parallel_parking.hpp"
 #include "autoware_behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp"
 #include "autoware_behavior_path_planner_common/utils/utils.hpp"
-#include "behavior_path_goal_planner_module/default_fixed_goal_planner.hpp"
-#include "behavior_path_goal_planner_module/freespace_pull_over.hpp"
-#include "behavior_path_goal_planner_module/geometric_pull_over.hpp"
-#include "behavior_path_goal_planner_module/goal_planner_parameters.hpp"
-#include "behavior_path_goal_planner_module/goal_searcher.hpp"
-#include "behavior_path_goal_planner_module/shift_pull_over.hpp"
 
 #include <autoware_freespace_planning_algorithms/astar_search.hpp>
 #include <autoware_freespace_planning_algorithms/rrtstar.hpp>
@@ -668,4 +668,4 @@ class GoalPlannerModule : public SceneModuleInterface
 };
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GOAL_PLANNER_MODULE_HPP_
+#endif  // AUTOWARE_BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GOAL_PLANNER_MODULE_HPP_
diff --git a/...lanner_module/goal_planner_parameters.hpp → ...lanner_module/goal_planner_parameters.hpp b/...lanner_module/goal_planner_parameters.hpp → ...lanner_module/goal_planner_parameters.hpp
@@ -13,8 +13,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GOAL_PLANNER_PARAMETERS_HPP_
-#define BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GOAL_PLANNER_PARAMETERS_HPP_
+#ifndef AUTOWARE_BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GOAL_PLANNER_PARAMETERS_HPP_
+#define AUTOWARE_BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GOAL_PLANNER_PARAMETERS_HPP_
 
 #include "autoware_behavior_path_planner_common/utils/parking_departure/geometric_parallel_parking.hpp"
 #include "autoware_behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp"
@@ -128,4 +128,4 @@ struct GoalPlannerParameters
 };
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GOAL_PLANNER_PARAMETERS_HPP_
+#endif  // AUTOWARE_BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GOAL_PLANNER_PARAMETERS_HPP_
diff --git a/...ath_goal_planner_module/goal_searcher.hpp → ...ath_goal_planner_module/goal_searcher.hpp b/...ath_goal_planner_module/goal_searcher.hpp → ...ath_goal_planner_module/goal_searcher.hpp
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GOAL_SEARCHER_HPP_
-#define BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GOAL_SEARCHER_HPP_
+#ifndef AUTOWARE_BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GOAL_SEARCHER_HPP_
+#define AUTOWARE_BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GOAL_SEARCHER_HPP_
 
+#include "autoware_behavior_path_goal_planner_module/goal_searcher_base.hpp"
 #include "autoware_behavior_path_planner_common/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp"
-#include "behavior_path_goal_planner_module/goal_searcher_base.hpp"
 
 #include <memory>
 #include <vector>
@@ -72,4 +72,4 @@ class GoalSearcher : public GoalSearcherBase
 };
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GOAL_SEARCHER_HPP_
+#endif  // AUTOWARE_BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GOAL_SEARCHER_HPP_
diff --git a/...oal_planner_module/goal_searcher_base.hpp → ...oal_planner_module/goal_searcher_base.hpp b/...oal_planner_module/goal_searcher_base.hpp → ...oal_planner_module/goal_searcher_base.hpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GOAL_SEARCHER_BASE_HPP_
-#define BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GOAL_SEARCHER_BASE_HPP_
+#ifndef AUTOWARE_BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GOAL_SEARCHER_BASE_HPP_
+#define AUTOWARE_BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GOAL_SEARCHER_BASE_HPP_
 
+#include "autoware_behavior_path_goal_planner_module/goal_planner_parameters.hpp"
 #include "autoware_behavior_path_planner_common/data_manager.hpp"
 #include "autoware_behavior_path_planner_common/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp"
-#include "behavior_path_goal_planner_module/goal_planner_parameters.hpp"
 
 #include <geometry_msgs/msg/pose_stamped.hpp>
 
@@ -78,4 +78,4 @@ class GoalSearcherBase
 };
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GOAL_SEARCHER_BASE_HPP_
+#endif  // AUTOWARE_BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GOAL_SEARCHER_BASE_HPP_
diff --git a/...vior_path_goal_planner_module/manager.hpp → ...vior_path_goal_planner_module/manager.hpp b/...vior_path_goal_planner_module/manager.hpp → ...vior_path_goal_planner_module/manager.hpp
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_GOAL_PLANNER_MODULE__MANAGER_HPP_
-#define BEHAVIOR_PATH_GOAL_PLANNER_MODULE__MANAGER_HPP_
+#ifndef AUTOWARE_BEHAVIOR_PATH_GOAL_PLANNER_MODULE__MANAGER_HPP_
+#define AUTOWARE_BEHAVIOR_PATH_GOAL_PLANNER_MODULE__MANAGER_HPP_
 
+#include "autoware_behavior_path_goal_planner_module/goal_planner_module.hpp"
 #include "autoware_behavior_path_planner_common/interface/scene_module_manager_interface.hpp"
-#include "behavior_path_goal_planner_module/goal_planner_module.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -55,4 +55,4 @@ class GoalPlannerModuleManager : public SceneModuleManagerInterface
 
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_GOAL_PLANNER_MODULE__MANAGER_HPP_
+#endif  // AUTOWARE_BEHAVIOR_PATH_GOAL_PLANNER_MODULE__MANAGER_HPP_
diff --git a/...planner_module/pull_over_planner_base.hpp → ...planner_module/pull_over_planner_base.hpp b/...planner_module/pull_over_planner_base.hpp → ...planner_module/pull_over_planner_base.hpp
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_GOAL_PLANNER_MODULE__PULL_OVER_PLANNER_BASE_HPP_
-#define BEHAVIOR_PATH_GOAL_PLANNER_MODULE__PULL_OVER_PLANNER_BASE_HPP_
+#ifndef AUTOWARE_BEHAVIOR_PATH_GOAL_PLANNER_MODULE__PULL_OVER_PLANNER_BASE_HPP_
+#define AUTOWARE_BEHAVIOR_PATH_GOAL_PLANNER_MODULE__PULL_OVER_PLANNER_BASE_HPP_
 
+#include "autoware_behavior_path_goal_planner_module/goal_planner_parameters.hpp"
 #include "autoware_behavior_path_planner_common/data_manager.hpp"
-#include "behavior_path_goal_planner_module/goal_planner_parameters.hpp"
 
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <tier4_planning_msgs/msg/path_with_lane_id.hpp>
@@ -141,4 +141,4 @@ class PullOverPlannerBase
 };
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_GOAL_PLANNER_MODULE__PULL_OVER_PLANNER_BASE_HPP_
+#endif  // AUTOWARE_BEHAVIOR_PATH_GOAL_PLANNER_MODULE__PULL_OVER_PLANNER_BASE_HPP_
diff --git a/...h_goal_planner_module/shift_pull_over.hpp → ...h_goal_planner_module/shift_pull_over.hpp b/...h_goal_planner_module/shift_pull_over.hpp → ...h_goal_planner_module/shift_pull_over.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_GOAL_PLANNER_MODULE__SHIFT_PULL_OVER_HPP_
-#define BEHAVIOR_PATH_GOAL_PLANNER_MODULE__SHIFT_PULL_OVER_HPP_
+#ifndef AUTOWARE_BEHAVIOR_PATH_GOAL_PLANNER_MODULE__SHIFT_PULL_OVER_HPP_
+#define AUTOWARE_BEHAVIOR_PATH_GOAL_PLANNER_MODULE__SHIFT_PULL_OVER_HPP_
 
-#include "behavior_path_goal_planner_module/pull_over_planner_base.hpp"
+#include "autoware_behavior_path_goal_planner_module/pull_over_planner_base.hpp"
 
 #include <autoware_lane_departure_checker/lane_departure_checker.hpp>
 
@@ -59,4 +59,4 @@ class ShiftPullOver : public PullOverPlannerBase
 };
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_GOAL_PLANNER_MODULE__SHIFT_PULL_OVER_HPP_
+#endif  // AUTOWARE_BEHAVIOR_PATH_GOAL_PLANNER_MODULE__SHIFT_PULL_OVER_HPP_
diff --git a/...ehavior_path_goal_planner_module/util.hpp → ...ehavior_path_goal_planner_module/util.hpp b/...ehavior_path_goal_planner_module/util.hpp → ...ehavior_path_goal_planner_module/util.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_GOAL_PLANNER_MODULE__UTIL_HPP_
-#define BEHAVIOR_PATH_GOAL_PLANNER_MODULE__UTIL_HPP_
+#ifndef AUTOWARE_BEHAVIOR_PATH_GOAL_PLANNER_MODULE__UTIL_HPP_
+#define AUTOWARE_BEHAVIOR_PATH_GOAL_PLANNER_MODULE__UTIL_HPP_
 
-#include "behavior_path_goal_planner_module/goal_searcher_base.hpp"
+#include "autoware_behavior_path_goal_planner_module/goal_searcher_base.hpp"
 #include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp"
 
 #include <autoware_lane_departure_checker/lane_departure_checker.hpp>
@@ -110,4 +110,4 @@ MarkerArray createNumObjectsToAvoidTextsMarkerArray(
   const std_msgs::msg::ColorRGBA & color);
 }  // namespace behavior_path_planner::goal_planner_utils
 
-#endif  // BEHAVIOR_PATH_GOAL_PLANNER_MODULE__UTIL_HPP_
+#endif  // AUTOWARE_BEHAVIOR_PATH_GOAL_PLANNER_MODULE__UTIL_HPP_
diff --git a/...vior_path_goal_planner_module/package.xml → ...vior_path_goal_planner_module/package.xml b/...vior_path_goal_planner_module/package.xml → ...vior_path_goal_planner_module/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>behavior_path_goal_planner_module</name>
+  <name>autoware_behavior_path_goal_planner_module</name>
   <version>0.1.0</version>
-  <description>The behavior_path_goal_planner_module package</description>
+  <description>The autoware_behavior_path_goal_planner_module package</description>
 
   <maintainer email="[email protected]">Kosuke Takeuchi</maintainer>
   <maintainer email="[email protected]">Kyoichi Sugahara</maintainer>

diff --git a/...vior_path_goal_planner_module/plugins.xml → ...vior_path_goal_planner_module/plugins.xml b/...vior_path_goal_planner_module/plugins.xml → ...vior_path_goal_planner_module/plugins.xml
@@ -1,3 +1,3 @@
-<library path="behavior_path_goal_planner_module">
+<library path="autoware_behavior_path_goal_planner_module">
   <class type="behavior_path_planner::GoalPlannerModuleManager" base_class_type="behavior_path_planner::SceneModuleManagerInterface"/>
 </library>
diff --git a/...module/src/default_fixed_goal_planner.cpp → ...module/src/default_fixed_goal_planner.cpp b/...module/src/default_fixed_goal_planner.cpp → ...module/src/default_fixed_goal_planner.cpp
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_goal_planner_module/default_fixed_goal_planner.hpp"
+#include "autoware_behavior_path_goal_planner_module/default_fixed_goal_planner.hpp"
 
+#include "autoware_behavior_path_goal_planner_module/util.hpp"
 #include "autoware_behavior_path_planner_common/utils/path_utils.hpp"
 #include "autoware_behavior_path_planner_common/utils/utils.hpp"
-#include "behavior_path_goal_planner_module/util.hpp"
 
 #include <lanelet2_extension/utility/query.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>

diff --git a/...lanner_module/src/freespace_pull_over.cpp → ...lanner_module/src/freespace_pull_over.cpp b/...lanner_module/src/freespace_pull_over.cpp → ...lanner_module/src/freespace_pull_over.cpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_goal_planner_module/freespace_pull_over.hpp"
+#include "autoware_behavior_path_goal_planner_module/freespace_pull_over.hpp"
 
+#include "autoware_behavior_path_goal_planner_module/util.hpp"
 #include "autoware_behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp"
 #include "autoware_behavior_path_planner_common/utils/parking_departure/utils.hpp"
 #include "autoware_behavior_path_planner_common/utils/path_utils.hpp"
 #include "autoware_behavior_path_planner_common/utils/utils.hpp"
-#include "behavior_path_goal_planner_module/util.hpp"
 
 #include <memory>
 #include <vector>

diff --git a/...lanner_module/src/geometric_pull_over.cpp → ...lanner_module/src/geometric_pull_over.cpp b/...lanner_module/src/geometric_pull_over.cpp → ...lanner_module/src/geometric_pull_over.cpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_goal_planner_module/geometric_pull_over.hpp"
+#include "autoware_behavior_path_goal_planner_module/geometric_pull_over.hpp"
 
+#include "autoware_behavior_path_goal_planner_module/util.hpp"
 #include "autoware_behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp"
-#include "behavior_path_goal_planner_module/util.hpp"
 
 #include <lanelet2_extension/utility/query.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>

diff --git a/...lanner_module/src/goal_planner_module.cpp → ...lanner_module/src/goal_planner_module.cpp b/...lanner_module/src/goal_planner_module.cpp → ...lanner_module/src/goal_planner_module.cpp
@@ -12,16 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_goal_planner_module/goal_planner_module.hpp"
+#include "autoware_behavior_path_goal_planner_module/goal_planner_module.hpp"
 
+#include "autoware_behavior_path_goal_planner_module/util.hpp"
 #include "autoware_behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp"
 #include "autoware_behavior_path_planner_common/utils/parking_departure/utils.hpp"
 #include "autoware_behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp"
 #include "autoware_behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp"
 #include "autoware_behavior_path_planner_common/utils/path_shifter/path_shifter.hpp"
 #include "autoware_behavior_path_planner_common/utils/path_utils.hpp"
 #include "autoware_behavior_path_planner_common/utils/utils.hpp"
-#include "behavior_path_goal_planner_module/util.hpp"
 #include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp"
 #include "tier4_autoware_utils/math/unit_conversion.hpp"
 

diff --git a/...goal_planner_module/src/goal_searcher.cpp → ...goal_planner_module/src/goal_searcher.cpp b/...goal_planner_module/src/goal_searcher.cpp → ...goal_planner_module/src/goal_searcher.cpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_goal_planner_module/goal_searcher.hpp"
+#include "autoware_behavior_path_goal_planner_module/goal_searcher.hpp"
 
+#include "autoware_behavior_path_goal_planner_module/util.hpp"
 #include "autoware_behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp"
 #include "autoware_behavior_path_planner_common/utils/path_utils.hpp"
 #include "autoware_behavior_path_planner_common/utils/utils.hpp"
-#include "behavior_path_goal_planner_module/util.hpp"
 #include "lanelet2_extension/regulatory_elements/no_parking_area.hpp"
 #include "lanelet2_extension/regulatory_elements/no_stopping_area.hpp"
 #include "lanelet2_extension/utility/utilities.hpp"

diff --git a/..._path_goal_planner_module/src/manager.cpp → ..._path_goal_planner_module/src/manager.cpp b/..._path_goal_planner_module/src/manager.cpp → ..._path_goal_planner_module/src/manager.cpp
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_goal_planner_module/manager.hpp"
+#include "autoware_behavior_path_goal_planner_module/manager.hpp"
 
-#include "behavior_path_goal_planner_module/util.hpp"
+#include "autoware_behavior_path_goal_planner_module/util.hpp"
 #include "tier4_autoware_utils/ros/update_param.hpp"
 
 #include <rclcpp/rclcpp.hpp>