Merge branch 'main' into feat/lidar_transfusion

autowarefoundation · Jun 7, 2024 · 7044c30 · 7044c30
2 parents 61d4fc1 + ce0fcf5
commit 7044c30
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Showing 42 changed files with 96 additions and 94 deletions.
diff --git a/...rol/mpc_lateral_controller/CMakeLists.txt → ...are_mpc_lateral_controller/CMakeLists.txt b/...rol/mpc_lateral_controller/CMakeLists.txt → ...are_mpc_lateral_controller/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(mpc_lateral_controller)
+project(autoware_mpc_lateral_controller)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()

diff --git a/control/mpc_lateral_controller/README.md → ...autoware_mpc_lateral_controller/README.md b/control/mpc_lateral_controller/README.md → ...autoware_mpc_lateral_controller/README.md
diff --git a/...roller/image/vehicle_error_kinematics.png → ...roller/image/vehicle_error_kinematics.png b/...roller/image/vehicle_error_kinematics.png → ...roller/image/vehicle_error_kinematics.png
diff --git a/...l_controller/image/vehicle_kinematics.png → ...l_controller/image/vehicle_kinematics.png b/...l_controller/image/vehicle_kinematics.png → ...l_controller/image/vehicle_kinematics.png
diff --git a/...mpc_lateral_controller/lowpass_filter.hpp → ...mpc_lateral_controller/lowpass_filter.hpp b/...mpc_lateral_controller/lowpass_filter.hpp → ...mpc_lateral_controller/lowpass_filter.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MPC_LATERAL_CONTROLLER__LOWPASS_FILTER_HPP_
-#define MPC_LATERAL_CONTROLLER__LOWPASS_FILTER_HPP_
+#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__LOWPASS_FILTER_HPP_
+#define AUTOWARE_MPC_LATERAL_CONTROLLER__LOWPASS_FILTER_HPP_
 
 #include <algorithm>
 #include <cmath>
@@ -102,4 +102,4 @@ namespace MoveAverageFilter
 bool filt_vector(const int num, std::vector<double> & u);
 }  // namespace MoveAverageFilter
 }  // namespace autoware::motion::control::mpc_lateral_controller
-#endif  // MPC_LATERAL_CONTROLLER__LOWPASS_FILTER_HPP_
+#endif  // AUTOWARE_MPC_LATERAL_CONTROLLER__LOWPASS_FILTER_HPP_
diff --git a/...er/include/mpc_lateral_controller/mpc.hpp → ...e/autoware_mpc_lateral_controller/mpc.hpp b/...er/include/mpc_lateral_controller/mpc.hpp → ...e/autoware_mpc_lateral_controller/mpc.hpp
@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MPC_LATERAL_CONTROLLER__MPC_HPP_
-#define MPC_LATERAL_CONTROLLER__MPC_HPP_
-
-#include "mpc_lateral_controller/lowpass_filter.hpp"
-#include "mpc_lateral_controller/mpc_trajectory.hpp"
-#include "mpc_lateral_controller/qp_solver/qp_solver_interface.hpp"
-#include "mpc_lateral_controller/steering_predictor.hpp"
-#include "mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp"
+#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_HPP_
+#define AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_HPP_
+
+#include "autoware_mpc_lateral_controller/lowpass_filter.hpp"
+#include "autoware_mpc_lateral_controller/mpc_trajectory.hpp"
+#include "autoware_mpc_lateral_controller/qp_solver/qp_solver_interface.hpp"
+#include "autoware_mpc_lateral_controller/steering_predictor.hpp"
+#include "autoware_mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp"
 #include "rclcpp/rclcpp.hpp"
 
 #include "autoware_control_msgs/msg/lateral.hpp"
@@ -525,4 +525,4 @@ class MPC
 };  // class MPC
 }  // namespace autoware::motion::control::mpc_lateral_controller
 
-#endif  // MPC_LATERAL_CONTROLLER__MPC_HPP_
+#endif  // AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_HPP_
diff --git a/...ral_controller/mpc_lateral_controller.hpp → ...ral_controller/mpc_lateral_controller.hpp b/...ral_controller/mpc_lateral_controller.hpp → ...ral_controller/mpc_lateral_controller.hpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MPC_LATERAL_CONTROLLER__MPC_LATERAL_CONTROLLER_HPP_
-#define MPC_LATERAL_CONTROLLER__MPC_LATERAL_CONTROLLER_HPP_
+#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_LATERAL_CONTROLLER_HPP_
+#define AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_LATERAL_CONTROLLER_HPP_
 
-#include "mpc_lateral_controller/mpc.hpp"
-#include "mpc_lateral_controller/mpc_trajectory.hpp"
-#include "mpc_lateral_controller/mpc_utils.hpp"
-#include "mpc_lateral_controller/steering_offset/steering_offset.hpp"
+#include "autoware_mpc_lateral_controller/mpc.hpp"
+#include "autoware_mpc_lateral_controller/mpc_trajectory.hpp"
+#include "autoware_mpc_lateral_controller/mpc_utils.hpp"
+#include "autoware_mpc_lateral_controller/steering_offset/steering_offset.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "trajectory_follower_base/lateral_controller_base.hpp"
 
@@ -281,4 +281,4 @@ class MpcLateralController : public trajectory_follower::LateralControllerBase
 };
 }  // namespace autoware::motion::control::mpc_lateral_controller
 
-#endif  // MPC_LATERAL_CONTROLLER__MPC_LATERAL_CONTROLLER_HPP_
+#endif  // AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_LATERAL_CONTROLLER_HPP_
diff --git a/...mpc_lateral_controller/mpc_trajectory.hpp → ...mpc_lateral_controller/mpc_trajectory.hpp b/...mpc_lateral_controller/mpc_trajectory.hpp → ...mpc_lateral_controller/mpc_trajectory.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MPC_LATERAL_CONTROLLER__MPC_TRAJECTORY_HPP_
-#define MPC_LATERAL_CONTROLLER__MPC_TRAJECTORY_HPP_
+#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_TRAJECTORY_HPP_
+#define AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_TRAJECTORY_HPP_
 
 #include "tier4_autoware_utils/geometry/geometry.hpp"
 
@@ -125,4 +125,4 @@ class MPCTrajectory
   }
 };
 }  // namespace autoware::motion::control::mpc_lateral_controller
-#endif  // MPC_LATERAL_CONTROLLER__MPC_TRAJECTORY_HPP_
+#endif  // AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_TRAJECTORY_HPP_
diff --git a/...lude/mpc_lateral_controller/mpc_utils.hpp → ...ware_mpc_lateral_controller/mpc_utils.hpp b/...lude/mpc_lateral_controller/mpc_utils.hpp → ...ware_mpc_lateral_controller/mpc_utils.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MPC_LATERAL_CONTROLLER__MPC_UTILS_HPP_
-#define MPC_LATERAL_CONTROLLER__MPC_UTILS_HPP_
+#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_UTILS_HPP_
+#define AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_UTILS_HPP_
 
 #include "rclcpp/rclcpp.hpp"
 #include "tf2/utils.h"
@@ -26,7 +26,7 @@
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 #endif
 
-#include "mpc_lateral_controller/mpc_trajectory.hpp"
+#include "autoware_mpc_lateral_controller/mpc_trajectory.hpp"
 
 #include "autoware_planning_msgs/msg/trajectory.hpp"
 #include "autoware_planning_msgs/msg/trajectory_point.hpp"
@@ -230,4 +230,4 @@ void update_param(
 
 }  // namespace MPCUtils
 }  // namespace autoware::motion::control::mpc_lateral_controller
-#endif  // MPC_LATERAL_CONTROLLER__MPC_UTILS_HPP_
+#endif  // AUTOWARE_MPC_LATERAL_CONTROLLER__MPC_UTILS_HPP_
diff --git a/...troller/qp_solver/qp_solver_interface.hpp → ...troller/qp_solver/qp_solver_interface.hpp b/...troller/qp_solver/qp_solver_interface.hpp → ...troller/qp_solver/qp_solver_interface.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_INTERFACE_HPP_
-#define MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_INTERFACE_HPP_
+#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_INTERFACE_HPP_
+#define AUTOWARE_MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_INTERFACE_HPP_
 
 #include <Eigen/Core>
 
@@ -51,4 +51,4 @@ class QPSolverInterface
   virtual double getObjVal() const { return 0.0; }
 };
 }  // namespace autoware::motion::control::mpc_lateral_controller
-#endif  // MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_INTERFACE_HPP_
+#endif  // AUTOWARE_MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_INTERFACE_HPP_
diff --git a/...l_controller/qp_solver/qp_solver_osqp.hpp → ...l_controller/qp_solver/qp_solver_osqp.hpp b/...l_controller/qp_solver/qp_solver_osqp.hpp → ...l_controller/qp_solver/qp_solver_osqp.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_OSQP_HPP_
-#define MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_OSQP_HPP_
+#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_OSQP_HPP_
+#define AUTOWARE_MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_OSQP_HPP_
 
-#include "mpc_lateral_controller/qp_solver/qp_solver_interface.hpp"
+#include "autoware_mpc_lateral_controller/qp_solver/qp_solver_interface.hpp"
 #include "osqp_interface/osqp_interface.hpp"
 #include "rclcpp/rclcpp.hpp"
 
@@ -62,4 +62,4 @@ class QPSolverOSQP : public QPSolverInterface
   rclcpp::Logger logger_;
 };
 }  // namespace autoware::motion::control::mpc_lateral_controller
-#endif  // MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_OSQP_HPP_
+#endif  // AUTOWARE_MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_OSQP_HPP_
diff --git a/...qp_solver/qp_solver_unconstraint_fast.hpp → ...qp_solver/qp_solver_unconstraint_fast.hpp b/...qp_solver/qp_solver_unconstraint_fast.hpp → ...qp_solver/qp_solver_unconstraint_fast.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_UNCONSTRAINT_FAST_HPP_
-#define MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_UNCONSTRAINT_FAST_HPP_
+#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_UNCONSTRAINT_FAST_HPP_
+#define AUTOWARE_MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_UNCONSTRAINT_FAST_HPP_
 
-#include "mpc_lateral_controller/qp_solver/qp_solver_interface.hpp"
+#include "autoware_mpc_lateral_controller/qp_solver/qp_solver_interface.hpp"
 
 namespace autoware::motion::control::mpc_lateral_controller
 {
@@ -62,4 +62,4 @@ class QPSolverEigenLeastSquareLLT : public QPSolverInterface
 private:
 };
 }  // namespace autoware::motion::control::mpc_lateral_controller
-#endif  // MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_UNCONSTRAINT_FAST_HPP_
+#endif  // AUTOWARE_MPC_LATERAL_CONTROLLER__QP_SOLVER__QP_SOLVER_UNCONSTRAINT_FAST_HPP_
diff --git a/...oller/steering_offset/steering_offset.hpp → ...oller/steering_offset/steering_offset.hpp b/...oller/steering_offset/steering_offset.hpp → ...oller/steering_offset/steering_offset.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MPC_LATERAL_CONTROLLER__STEERING_OFFSET__STEERING_OFFSET_HPP_
-#define MPC_LATERAL_CONTROLLER__STEERING_OFFSET__STEERING_OFFSET_HPP_
+#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__STEERING_OFFSET__STEERING_OFFSET_HPP_
+#define AUTOWARE_MPC_LATERAL_CONTROLLER__STEERING_OFFSET__STEERING_OFFSET_HPP_
 
 #include <geometry_msgs/msg/twist.hpp>
 
@@ -45,4 +45,4 @@ class SteeringOffsetEstimator
   double steering_offset_ = 0.0;
 };
 
-#endif  // MPC_LATERAL_CONTROLLER__STEERING_OFFSET__STEERING_OFFSET_HPP_
+#endif  // AUTOWARE_MPC_LATERAL_CONTROLLER__STEERING_OFFSET__STEERING_OFFSET_HPP_
diff --git a/...lateral_controller/steering_predictor.hpp → ...lateral_controller/steering_predictor.hpp b/...lateral_controller/steering_predictor.hpp → ...lateral_controller/steering_predictor.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MPC_LATERAL_CONTROLLER__STEERING_PREDICTOR_HPP_
-#define MPC_LATERAL_CONTROLLER__STEERING_PREDICTOR_HPP_
+#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__STEERING_PREDICTOR_HPP_
+#define AUTOWARE_MPC_LATERAL_CONTROLLER__STEERING_PREDICTOR_HPP_
 
 #include "rclcpp/rclcpp.hpp"
 
@@ -81,4 +81,4 @@ class SteeringPredictor
 
 }  // namespace autoware::motion::control::mpc_lateral_controller
 
-#endif  // MPC_LATERAL_CONTROLLER__STEERING_PREDICTOR_HPP_
+#endif  // AUTOWARE_MPC_LATERAL_CONTROLLER__STEERING_PREDICTOR_HPP_
diff --git a/..._model/vehicle_model_bicycle_dynamics.hpp → ..._model/vehicle_model_bicycle_dynamics.hpp b/..._model/vehicle_model_bicycle_dynamics.hpp → ..._model/vehicle_model_bicycle_dynamics.hpp
@@ -44,10 +44,10 @@
  * Tracking", Robotics Institute, Carnegie Mellon University, February 2009.
  */
 
-#ifndef MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_DYNAMICS_HPP_
-#define MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_DYNAMICS_HPP_
+#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_DYNAMICS_HPP_
+#define AUTOWARE_MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_DYNAMICS_HPP_
 
-#include "mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp"
+#include "autoware_mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/LU>
@@ -122,4 +122,4 @@ class DynamicsBicycleModel : public VehicleModelInterface
   double m_cr;    //!< @brief rear cornering power [N/rad]
 };
 }  // namespace autoware::motion::control::mpc_lateral_controller
-#endif  // MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_DYNAMICS_HPP_
+#endif  // AUTOWARE_MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_DYNAMICS_HPP_
diff --git a/...odel/vehicle_model_bicycle_kinematics.hpp → ...odel/vehicle_model_bicycle_kinematics.hpp b/...odel/vehicle_model_bicycle_kinematics.hpp → ...odel/vehicle_model_bicycle_kinematics.hpp
@@ -38,10 +38,10 @@
  *
  */
 
-#ifndef MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_HPP_
-#define MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_HPP_
+#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_HPP_
+#define AUTOWARE_MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_HPP_
 
-#include "mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp"
+#include "autoware_mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/LU>
@@ -106,4 +106,4 @@ class KinematicsBicycleModel : public VehicleModelInterface
   double m_steer_tau;  //!< @brief steering time constant for 1d-model [s]
 };
 }  // namespace autoware::motion::control::mpc_lateral_controller
-#endif  // MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_HPP_
+#endif  // AUTOWARE_MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_HPP_
diff --git a/...cle_model_bicycle_kinematics_no_delay.hpp → ...cle_model_bicycle_kinematics_no_delay.hpp b/...cle_model_bicycle_kinematics_no_delay.hpp → ...cle_model_bicycle_kinematics_no_delay.hpp
@@ -35,10 +35,10 @@
  *
  */
 
-#ifndef MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_NO_DELAY_HPP_
-#define MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_NO_DELAY_HPP_
+#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_NO_DELAY_HPP_  // NOLINT
+#define AUTOWARE_MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_NO_DELAY_HPP_  // NOLINT
 
-#include "mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp"
+#include "autoware_mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/LU>
@@ -101,4 +101,6 @@ class KinematicsBicycleModelNoDelay : public VehicleModelInterface
   double m_steer_lim;  //!< @brief steering angle limit [rad]
 };
 }  // namespace autoware::motion::control::mpc_lateral_controller
-#endif  // MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_NO_DELAY_HPP_
+// clang-format off
+#endif  // AUTOWARE_MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_BICYCLE_KINEMATICS_NO_DELAY_HPP_  // NOLINT
+// clang-format on
diff --git a/...vehicle_model/vehicle_model_interface.hpp → ...vehicle_model/vehicle_model_interface.hpp b/...vehicle_model/vehicle_model_interface.hpp → ...vehicle_model/vehicle_model_interface.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_INTERFACE_HPP_
-#define MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_INTERFACE_HPP_
+#ifndef AUTOWARE_MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_INTERFACE_HPP_
+#define AUTOWARE_MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_INTERFACE_HPP_
 
-#include "mpc_lateral_controller/mpc_trajectory.hpp"
+#include "autoware_mpc_lateral_controller/mpc_trajectory.hpp"
 
 #include <Eigen/Core>
 
@@ -149,4 +149,4 @@ class VehicleModelInterface
     const MPCTrajectory & reference_trajectory, const double dt) const = 0;
 };
 }  // namespace autoware::motion::control::mpc_lateral_controller
-#endif  // MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_INTERFACE_HPP_
+#endif  // AUTOWARE_MPC_LATERAL_CONTROLLER__VEHICLE_MODEL__VEHICLE_MODEL_INTERFACE_HPP_
diff --git a/...ler/model_predictive_control_algorithm.md → ...ler/model_predictive_control_algorithm.md b/...ler/model_predictive_control_algorithm.md → ...ler/model_predictive_control_algorithm.md
diff --git a/control/mpc_lateral_controller/package.xml → ...toware_mpc_lateral_controller/package.xml b/control/mpc_lateral_controller/package.xml → ...toware_mpc_lateral_controller/package.xml
@@ -1,7 +1,7 @@
 <?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>mpc_lateral_controller</name>
+  <name>autoware_mpc_lateral_controller</name>
   <version>1.0.0</version>
   <description>MPC-based lateral controller</description>
 

diff --git a/...am/lateral_controller_defaults.param.yaml → ...am/lateral_controller_defaults.param.yaml b/...am/lateral_controller_defaults.param.yaml → ...am/lateral_controller_defaults.param.yaml
diff --git a/...lateral_controller/src/lowpass_filter.cpp → ...lateral_controller/src/lowpass_filter.cpp b/...lateral_controller/src/lowpass_filter.cpp → ...lateral_controller/src/lowpass_filter.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "mpc_lateral_controller/lowpass_filter.hpp"
+#include "autoware_mpc_lateral_controller/lowpass_filter.hpp"
 
 #include <vector>
 

diff --git a/control/mpc_lateral_controller/src/mpc.cpp → ...toware_mpc_lateral_controller/src/mpc.cpp b/control/mpc_lateral_controller/src/mpc.cpp → ...toware_mpc_lateral_controller/src/mpc.cpp
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "mpc_lateral_controller/mpc.hpp"
+#include "autoware_mpc_lateral_controller/mpc.hpp"
 
+#include "autoware_mpc_lateral_controller/mpc_utils.hpp"
 #include "interpolation/linear_interpolation.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
-#include "mpc_lateral_controller/mpc_utils.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "tier4_autoware_utils/math/unit_conversion.hpp"
 

diff --git a/...controller/src/mpc_lateral_controller.cpp → ...controller/src/mpc_lateral_controller.cpp b/...controller/src/mpc_lateral_controller.cpp → ...controller/src/mpc_lateral_controller.cpp
@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "mpc_lateral_controller/mpc_lateral_controller.hpp"
+#include "autoware_mpc_lateral_controller/mpc_lateral_controller.hpp"
 
+#include "autoware_mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp"
+#include "autoware_mpc_lateral_controller/qp_solver/qp_solver_unconstraint_fast.hpp"
+#include "autoware_mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_dynamics.hpp"
+#include "autoware_mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics.hpp"
+#include "autoware_mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
-#include "mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp"
-#include "mpc_lateral_controller/qp_solver/qp_solver_unconstraint_fast.hpp"
-#include "mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_dynamics.hpp"
-#include "mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics.hpp"
-#include "mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.hpp"
 #include "tf2/utils.h"
 #include "tf2_ros/create_timer_ros.h"
 #include "vehicle_info_util/vehicle_info_util.hpp"

diff --git a/...lateral_controller/src/mpc_trajectory.cpp → ...lateral_controller/src/mpc_trajectory.cpp b/...lateral_controller/src/mpc_trajectory.cpp → ...lateral_controller/src/mpc_trajectory.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "mpc_lateral_controller/mpc_trajectory.hpp"
+#include "autoware_mpc_lateral_controller/mpc_trajectory.hpp"
 
 namespace autoware::motion::control::mpc_lateral_controller
 {

diff --git a/.../mpc_lateral_controller/src/mpc_utils.cpp → ..._mpc_lateral_controller/src/mpc_utils.cpp b/.../mpc_lateral_controller/src/mpc_utils.cpp → ..._mpc_lateral_controller/src/mpc_utils.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "mpc_lateral_controller/mpc_utils.hpp"
+#include "autoware_mpc_lateral_controller/mpc_utils.hpp"
 
 #include "interpolation/linear_interpolation.hpp"
 #include "interpolation/spline_interpolation.hpp"

diff --git a/...ntroller/src/qp_solver/qp_solver_osqp.cpp → ...ntroller/src/qp_solver/qp_solver_osqp.cpp b/...ntroller/src/qp_solver/qp_solver_osqp.cpp → ...ntroller/src/qp_solver/qp_solver_osqp.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp"
+#include "autoware_mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp"
 
 #include <string>
 #include <vector>

diff --git a/...qp_solver/qp_solver_unconstraint_fast.cpp → ...qp_solver/qp_solver_unconstraint_fast.cpp b/...qp_solver/qp_solver_unconstraint_fast.cpp → ...qp_solver/qp_solver_unconstraint_fast.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "mpc_lateral_controller/qp_solver/qp_solver_unconstraint_fast.hpp"
+#include "autoware_mpc_lateral_controller/qp_solver/qp_solver_unconstraint_fast.hpp"
 
 #include <Eigen/Dense>
 

diff --git a/...r/src/steering_offset/steering_offset.cpp → ...r/src/steering_offset/steering_offset.cpp b/...r/src/steering_offset/steering_offset.cpp → ...r/src/steering_offset/steering_offset.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "mpc_lateral_controller/steering_offset/steering_offset.hpp"
+#include "autoware_mpc_lateral_controller/steering_offset/steering_offset.hpp"
 
 #include <algorithm>
 #include <iostream>