From c65136e228eb2854afe1ae161fb8d3b91f6ab887 Mon Sep 17 00:00:00 2001
From: Go Sakayori <gsakayori@gmail.com>
Date: Thu, 6 Jun 2024 22:38:01 +0900
Subject: [PATCH] add prefix autoware_ to vehicle_cmd_gate package

Signed-off-by: Go Sakayori <gsakayori@gmail.com>
---
 .../CMakeLists.txt                                |   4 ++--
 .../README.md                                     |   0
 .../config/vehicle_cmd_gate.param.yaml            |   0
 .../image/filter.png                              | Bin
 .../launch/vehicle_cmd_gate.launch.xml            |   4 ++--
 .../msg/IsFilterActivated.msg                     |   0
 .../package.xml                                   |   2 +-
 .../schema/vehicle_cmd_gate.json                  |   0
 .../script/delays_checker.py                      |   0
 .../src/adapi_pause_interface.cpp                 |   4 ++--
 .../src/adapi_pause_interface.hpp                 |   4 ++--
 .../src/marker_helper.hpp                         |   4 ++--
 .../src/moderate_stop_interface.cpp               |   4 ++--
 .../src/moderate_stop_interface.hpp               |   4 ++--
 .../src/vehicle_cmd_filter.cpp                    |   4 ++--
 .../src/vehicle_cmd_filter.hpp                    |   8 ++++----
 .../src/vehicle_cmd_gate.cpp                      |   6 +++---
 .../src/vehicle_cmd_gate.hpp                      |  14 +++++++-------
 .../src/test_filter_in_vehicle_cmd_gate_node.cpp  |   4 ++--
 .../test/src/test_main.cpp                        |   0
 .../test/src/test_vehicle_cmd_filter.cpp          |  12 ++++++------
 .../tier4_control_launch/launch/control.launch.py |   4 ++--
 launch/tier4_control_launch/package.xml           |   2 +-
 23 files changed, 42 insertions(+), 42 deletions(-)
 rename control/{vehicle_cmd_gate => autoware_vehicle_cmd_gate}/CMakeLists.txt (93%)
 rename control/{vehicle_cmd_gate => autoware_vehicle_cmd_gate}/README.md (100%)
 rename control/{vehicle_cmd_gate => autoware_vehicle_cmd_gate}/config/vehicle_cmd_gate.param.yaml (100%)
 rename control/{vehicle_cmd_gate => autoware_vehicle_cmd_gate}/image/filter.png (100%)
 rename control/{vehicle_cmd_gate => autoware_vehicle_cmd_gate}/launch/vehicle_cmd_gate.launch.xml (92%)
 rename control/{vehicle_cmd_gate => autoware_vehicle_cmd_gate}/msg/IsFilterActivated.msg (100%)
 rename control/{vehicle_cmd_gate => autoware_vehicle_cmd_gate}/package.xml (97%)
 rename control/{vehicle_cmd_gate => autoware_vehicle_cmd_gate}/schema/vehicle_cmd_gate.json (100%)
 rename control/{vehicle_cmd_gate => autoware_vehicle_cmd_gate}/script/delays_checker.py (100%)
 rename control/{vehicle_cmd_gate => autoware_vehicle_cmd_gate}/src/adapi_pause_interface.cpp (95%)
 rename control/{vehicle_cmd_gate => autoware_vehicle_cmd_gate}/src/adapi_pause_interface.hpp (95%)
 rename control/{vehicle_cmd_gate => autoware_vehicle_cmd_gate}/src/marker_helper.hpp (97%)
 rename control/{vehicle_cmd_gate => autoware_vehicle_cmd_gate}/src/moderate_stop_interface.cpp (95%)
 rename control/{vehicle_cmd_gate => autoware_vehicle_cmd_gate}/src/moderate_stop_interface.hpp (95%)
 rename control/{vehicle_cmd_gate => autoware_vehicle_cmd_gate}/src/vehicle_cmd_filter.cpp (99%)
 rename control/{vehicle_cmd_gate => autoware_vehicle_cmd_gate}/src/vehicle_cmd_filter.hpp (94%)
 rename control/{vehicle_cmd_gate => autoware_vehicle_cmd_gate}/src/vehicle_cmd_gate.cpp (99%)
 rename control/{vehicle_cmd_gate => autoware_vehicle_cmd_gate}/src/vehicle_cmd_gate.hpp (97%)
 rename control/{vehicle_cmd_gate => autoware_vehicle_cmd_gate}/test/src/test_filter_in_vehicle_cmd_gate_node.cpp (99%)
 rename control/{vehicle_cmd_gate => autoware_vehicle_cmd_gate}/test/src/test_main.cpp (100%)
 rename control/{vehicle_cmd_gate => autoware_vehicle_cmd_gate}/test/src/test_vehicle_cmd_filter.cpp (98%)

diff --git a/control/vehicle_cmd_gate/CMakeLists.txt b/control/autoware_vehicle_cmd_gate/CMakeLists.txt
similarity index 93%
rename from control/vehicle_cmd_gate/CMakeLists.txt
rename to control/autoware_vehicle_cmd_gate/CMakeLists.txt
index c5db663ccc77e..7233608a5d25f 100644
--- a/control/vehicle_cmd_gate/CMakeLists.txt
+++ b/control/autoware_vehicle_cmd_gate/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(vehicle_cmd_gate)
+project(autoware_vehicle_cmd_gate)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
@@ -12,7 +12,7 @@ ament_auto_add_library(vehicle_cmd_gate_node SHARED
 )
 
 rclcpp_components_register_node(vehicle_cmd_gate_node
-  PLUGIN "vehicle_cmd_gate::VehicleCmdGate"
+  PLUGIN "autoware::vehicle_cmd_gate::VehicleCmdGate"
   EXECUTABLE vehicle_cmd_gate_exe
 )
 
diff --git a/control/vehicle_cmd_gate/README.md b/control/autoware_vehicle_cmd_gate/README.md
similarity index 100%
rename from control/vehicle_cmd_gate/README.md
rename to control/autoware_vehicle_cmd_gate/README.md
diff --git a/control/vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml b/control/autoware_vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml
similarity index 100%
rename from control/vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml
rename to control/autoware_vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml
diff --git a/control/vehicle_cmd_gate/image/filter.png b/control/autoware_vehicle_cmd_gate/image/filter.png
similarity index 100%
rename from control/vehicle_cmd_gate/image/filter.png
rename to control/autoware_vehicle_cmd_gate/image/filter.png
diff --git a/control/vehicle_cmd_gate/launch/vehicle_cmd_gate.launch.xml b/control/autoware_vehicle_cmd_gate/launch/vehicle_cmd_gate.launch.xml
similarity index 92%
rename from control/vehicle_cmd_gate/launch/vehicle_cmd_gate.launch.xml
rename to control/autoware_vehicle_cmd_gate/launch/vehicle_cmd_gate.launch.xml
index c5368276b488a..c9e83bf9878b8 100644
--- a/control/vehicle_cmd_gate/launch/vehicle_cmd_gate.launch.xml
+++ b/control/autoware_vehicle_cmd_gate/launch/vehicle_cmd_gate.launch.xml
@@ -1,11 +1,11 @@
 <launch>
-  <arg name="config_file" default="$(find-pkg-share vehicle_cmd_gate)/config/vehicle_cmd_gate.param.yaml"/>
+  <arg name="config_file" default="$(find-pkg-share autoware_vehicle_cmd_gate)/config/vehicle_cmd_gate.param.yaml"/>
   <arg name="check_external_emergency_heartbeat" default="true"/>
 
   <!-- vehicle info -->
   <arg name="vehicle_info_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml"/>
 
-  <node pkg="vehicle_cmd_gate" exec="vehicle_cmd_gate_exe" name="vehicle_cmd_gate" output="screen">
+  <node pkg="autoware_vehicle_cmd_gate" exec="vehicle_cmd_gate_exe" name="vehicle_cmd_gate" output="screen">
     <remap from="input/steering" to="/vehicle/status/steering_status"/>
 
     <remap from="input/auto/control_cmd" to="trajectory_follower/control_cmd"/>
diff --git a/control/vehicle_cmd_gate/msg/IsFilterActivated.msg b/control/autoware_vehicle_cmd_gate/msg/IsFilterActivated.msg
similarity index 100%
rename from control/vehicle_cmd_gate/msg/IsFilterActivated.msg
rename to control/autoware_vehicle_cmd_gate/msg/IsFilterActivated.msg
diff --git a/control/vehicle_cmd_gate/package.xml b/control/autoware_vehicle_cmd_gate/package.xml
similarity index 97%
rename from control/vehicle_cmd_gate/package.xml
rename to control/autoware_vehicle_cmd_gate/package.xml
index e01d566c37df9..da0e885cc564a 100644
--- a/control/vehicle_cmd_gate/package.xml
+++ b/control/autoware_vehicle_cmd_gate/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>vehicle_cmd_gate</name>
+  <name>autoware_vehicle_cmd_gate</name>
   <version>0.1.0</version>
   <description>The vehicle_cmd_gate package</description>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
diff --git a/control/vehicle_cmd_gate/schema/vehicle_cmd_gate.json b/control/autoware_vehicle_cmd_gate/schema/vehicle_cmd_gate.json
similarity index 100%
rename from control/vehicle_cmd_gate/schema/vehicle_cmd_gate.json
rename to control/autoware_vehicle_cmd_gate/schema/vehicle_cmd_gate.json
diff --git a/control/vehicle_cmd_gate/script/delays_checker.py b/control/autoware_vehicle_cmd_gate/script/delays_checker.py
similarity index 100%
rename from control/vehicle_cmd_gate/script/delays_checker.py
rename to control/autoware_vehicle_cmd_gate/script/delays_checker.py
diff --git a/control/vehicle_cmd_gate/src/adapi_pause_interface.cpp b/control/autoware_vehicle_cmd_gate/src/adapi_pause_interface.cpp
similarity index 95%
rename from control/vehicle_cmd_gate/src/adapi_pause_interface.cpp
rename to control/autoware_vehicle_cmd_gate/src/adapi_pause_interface.cpp
index f4cf28d337a09..f14a62fba9661 100644
--- a/control/vehicle_cmd_gate/src/adapi_pause_interface.cpp
+++ b/control/autoware_vehicle_cmd_gate/src/adapi_pause_interface.cpp
@@ -14,7 +14,7 @@
 
 #include "adapi_pause_interface.hpp"
 
-namespace vehicle_cmd_gate
+namespace autoware::vehicle_cmd_gate
 {
 
 AdapiPauseInterface::AdapiPauseInterface(rclcpp::Node * node) : node_(node)
@@ -65,4 +65,4 @@ void AdapiPauseInterface::on_pause(
   res->status.success = true;
 }
 
-}  // namespace vehicle_cmd_gate
+}  // namespace autoware::vehicle_cmd_gate
diff --git a/control/vehicle_cmd_gate/src/adapi_pause_interface.hpp b/control/autoware_vehicle_cmd_gate/src/adapi_pause_interface.hpp
similarity index 95%
rename from control/vehicle_cmd_gate/src/adapi_pause_interface.hpp
rename to control/autoware_vehicle_cmd_gate/src/adapi_pause_interface.hpp
index 1d5f05e98975e..d75b544752e3f 100644
--- a/control/vehicle_cmd_gate/src/adapi_pause_interface.hpp
+++ b/control/autoware_vehicle_cmd_gate/src/adapi_pause_interface.hpp
@@ -21,7 +21,7 @@
 
 #include <autoware_control_msgs/msg/control.hpp>
 
-namespace vehicle_cmd_gate
+namespace autoware::vehicle_cmd_gate
 {
 
 class AdapiPauseInterface
@@ -55,6 +55,6 @@ class AdapiPauseInterface
     const SetPause::Service::Response::SharedPtr res);
 };
 
-}  // namespace vehicle_cmd_gate
+}  // namespace autoware::vehicle_cmd_gate
 
 #endif  // ADAPI_PAUSE_INTERFACE_HPP_
diff --git a/control/vehicle_cmd_gate/src/marker_helper.hpp b/control/autoware_vehicle_cmd_gate/src/marker_helper.hpp
similarity index 97%
rename from control/vehicle_cmd_gate/src/marker_helper.hpp
rename to control/autoware_vehicle_cmd_gate/src/marker_helper.hpp
index 44c43a3630151..c9d7e86fa23dd 100644
--- a/control/vehicle_cmd_gate/src/marker_helper.hpp
+++ b/control/autoware_vehicle_cmd_gate/src/marker_helper.hpp
@@ -21,7 +21,7 @@
 
 #include <string>
 
-namespace vehicle_cmd_gate
+namespace autoware::vehicle_cmd_gate
 {
 inline geometry_msgs::msg::Point createMarkerPosition(double x, double y, double z)
 {
@@ -114,6 +114,6 @@ inline void appendMarkerArray(
     marker_array->markers.push_back(marker);
   }
 }
-}  // namespace vehicle_cmd_gate
+}  // namespace autoware::vehicle_cmd_gate
 
 #endif  // MARKER_HELPER_HPP_
diff --git a/control/vehicle_cmd_gate/src/moderate_stop_interface.cpp b/control/autoware_vehicle_cmd_gate/src/moderate_stop_interface.cpp
similarity index 95%
rename from control/vehicle_cmd_gate/src/moderate_stop_interface.cpp
rename to control/autoware_vehicle_cmd_gate/src/moderate_stop_interface.cpp
index 72dbdfd26a6b3..0fe90adfd0a72 100644
--- a/control/vehicle_cmd_gate/src/moderate_stop_interface.cpp
+++ b/control/autoware_vehicle_cmd_gate/src/moderate_stop_interface.cpp
@@ -14,7 +14,7 @@
 
 #include "moderate_stop_interface.hpp"
 
-namespace vehicle_cmd_gate
+namespace autoware::vehicle_cmd_gate
 {
 
 ModerateStopInterface::ModerateStopInterface(rclcpp::Node * node) : node_(node)
@@ -66,4 +66,4 @@ void ModerateStopInterface::update_stop_state()
   }
 }
 
-}  // namespace vehicle_cmd_gate
+}  // namespace autoware::vehicle_cmd_gate
diff --git a/control/vehicle_cmd_gate/src/moderate_stop_interface.hpp b/control/autoware_vehicle_cmd_gate/src/moderate_stop_interface.hpp
similarity index 95%
rename from control/vehicle_cmd_gate/src/moderate_stop_interface.hpp
rename to control/autoware_vehicle_cmd_gate/src/moderate_stop_interface.hpp
index b643afc212f61..012e75d0c207e 100644
--- a/control/vehicle_cmd_gate/src/moderate_stop_interface.hpp
+++ b/control/autoware_vehicle_cmd_gate/src/moderate_stop_interface.hpp
@@ -22,7 +22,7 @@
 #include <string>
 #include <unordered_map>
 
-namespace vehicle_cmd_gate
+namespace autoware::vehicle_cmd_gate
 {
 
 class ModerateStopInterface
@@ -53,6 +53,6 @@ class ModerateStopInterface
   void update_stop_state();
 };
 
-}  // namespace vehicle_cmd_gate
+}  // namespace autoware::vehicle_cmd_gate
 
 #endif  // MODERATE_STOP_INTERFACE_HPP_
diff --git a/control/vehicle_cmd_gate/src/vehicle_cmd_filter.cpp b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_filter.cpp
similarity index 99%
rename from control/vehicle_cmd_gate/src/vehicle_cmd_filter.cpp
rename to control/autoware_vehicle_cmd_gate/src/vehicle_cmd_filter.cpp
index bd9955e773020..cec23b05b8191 100644
--- a/control/vehicle_cmd_gate/src/vehicle_cmd_filter.cpp
+++ b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_filter.cpp
@@ -17,7 +17,7 @@
 #include <algorithm>
 #include <cmath>
 
-namespace vehicle_cmd_gate
+namespace autoware::vehicle_cmd_gate
 {
 
 VehicleCmdFilter::VehicleCmdFilter()
@@ -319,4 +319,4 @@ double VehicleCmdFilter::getSteerDiffLim() const
   return interpolateFromSpeed(param_.actual_steer_diff_lim);
 }
 
-}  // namespace vehicle_cmd_gate
+}  // namespace autoware::vehicle_cmd_gate
diff --git a/control/vehicle_cmd_gate/src/vehicle_cmd_filter.hpp b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_filter.hpp
similarity index 94%
rename from control/vehicle_cmd_gate/src/vehicle_cmd_filter.hpp
rename to control/autoware_vehicle_cmd_gate/src/vehicle_cmd_filter.hpp
index d9b8383a1de51..f220267520282 100644
--- a/control/vehicle_cmd_gate/src/vehicle_cmd_filter.hpp
+++ b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_filter.hpp
@@ -16,16 +16,16 @@
 #define VEHICLE_CMD_FILTER_HPP_
 
 #include <rclcpp/rclcpp.hpp>
-#include <vehicle_cmd_gate/msg/is_filter_activated.hpp>
+#include <autoware_vehicle_cmd_gate/msg/is_filter_activated.hpp>
 
 #include <autoware_control_msgs/msg/control.hpp>
 
 #include <vector>
 
-namespace vehicle_cmd_gate
+namespace autoware::vehicle_cmd_gate
 {
 using autoware_control_msgs::msg::Control;
-using vehicle_cmd_gate::msg::IsFilterActivated;
+using autoware_vehicle_cmd_gate::msg::IsFilterActivated;
 using LimitArray = std::vector<double>;
 
 struct VehicleCmdFilterParam
@@ -98,6 +98,6 @@ class VehicleCmdFilter
   double getSteerRateLim() const;
   double getSteerDiffLim() const;
 };
-}  // namespace vehicle_cmd_gate
+}  // namespace autoware::vehicle_cmd_gate
 
 #endif  // VEHICLE_CMD_FILTER_HPP_
diff --git a/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp
similarity index 99%
rename from control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp
rename to control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp
index cc9d7813083f4..e8d35beb94b1f 100644
--- a/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp
+++ b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp
@@ -28,7 +28,7 @@
 #include <utility>
 #include <vector>
 
-namespace vehicle_cmd_gate
+namespace autoware::vehicle_cmd_gate
 {
 
 namespace
@@ -906,7 +906,7 @@ void VehicleCmdGate::publishMarkers(const IsFilterActivated & filter_activated)
   filter_activated_flag_pub_->publish(filter_activated_flag);
   filter_activated_marker_raw_pub_->publish(createMarkerArray(filter_activated));
 }
-}  // namespace vehicle_cmd_gate
+}  // namespace autoware::vehicle_cmd_gate
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(vehicle_cmd_gate::VehicleCmdGate)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::vehicle_cmd_gate::VehicleCmdGate)
diff --git a/control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.hpp
similarity index 97%
rename from control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp
rename to control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.hpp
index f45280d9d2e48..a947f9734b3c5 100644
--- a/control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp
+++ b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef VEHICLE_CMD_GATE_HPP_
-#define VEHICLE_CMD_GATE_HPP_
+#ifndef AUTOWARE_VEHICLE_CMD_GATE_HPP_
+#define AUTOWARE_VEHICLE_CMD_GATE_HPP_
 
 #include "adapi_pause_interface.hpp"
 #include "moderate_stop_interface.hpp"
@@ -24,7 +24,7 @@
 #include <motion_utils/vehicle/vehicle_state_checker.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <tier4_autoware_utils/ros/published_time_publisher.hpp>
-#include <vehicle_cmd_gate/msg/is_filter_activated.hpp>
+#include <autoware_vehicle_cmd_gate/msg/is_filter_activated.hpp>
 #include <vehicle_info_util/vehicle_info_util.hpp>
 
 #include <autoware_adapi_v1_msgs/msg/mrm_state.hpp>
@@ -51,7 +51,7 @@
 #include <memory>
 #include <vector>
 
-namespace vehicle_cmd_gate
+namespace autoware::vehicle_cmd_gate
 {
 
 using autoware_adapi_v1_msgs::msg::MrmState;
@@ -71,7 +71,7 @@ using tier4_external_api_msgs::msg::Heartbeat;
 using tier4_external_api_msgs::srv::SetEmergency;
 using tier4_system_msgs::msg::MrmBehaviorStatus;
 using tier4_vehicle_msgs::msg::VehicleEmergencyStamped;
-using vehicle_cmd_gate::msg::IsFilterActivated;
+using autoware_vehicle_cmd_gate::msg::IsFilterActivated;
 using visualization_msgs::msg::MarkerArray;
 
 using diagnostic_msgs::msg::DiagnosticStatus;
@@ -257,5 +257,5 @@ class VehicleCmdGate : public rclcpp::Node
   std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
 };
 
-}  // namespace vehicle_cmd_gate
-#endif  // VEHICLE_CMD_GATE_HPP_
+}  // namespace autoware::vehicle_cmd_gate
+#endif  // AUTOWARE_VEHICLE_CMD_GATE_HPP_
diff --git a/control/vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp b/control/autoware_vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp
similarity index 99%
rename from control/vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp
rename to control/autoware_vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp
index d51db90c8a260..6f148fe6c8140 100644
--- a/control/vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp
+++ b/control/autoware_vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp
@@ -54,7 +54,7 @@ const std::vector<double> lat_jerk_lim = {1.7, 1.3, 0.9, 0.6};
 const std::vector<double> actual_steer_diff_lim = {0.5, 0.4, 0.2, 0.1};
 const double wheelbase = 2.89;
 
-using vehicle_cmd_gate::VehicleCmdGate;
+using autoware::vehicle_cmd_gate::VehicleCmdGate;
 
 using autoware_adapi_v1_msgs::msg::MrmState;
 using autoware_adapi_v1_msgs::msg::OperationModeState;
@@ -369,7 +369,7 @@ std::shared_ptr<VehicleCmdGate> generateNode()
   auto node_options = rclcpp::NodeOptions{};
 
   const auto vehicle_cmd_gate_dir =
-    ament_index_cpp::get_package_share_directory("vehicle_cmd_gate");
+    ament_index_cpp::get_package_share_directory("autoware_vehicle_cmd_gate");
   const auto vehicle_info_util_dir =
     ament_index_cpp::get_package_share_directory("vehicle_info_util");
 
diff --git a/control/vehicle_cmd_gate/test/src/test_main.cpp b/control/autoware_vehicle_cmd_gate/test/src/test_main.cpp
similarity index 100%
rename from control/vehicle_cmd_gate/test/src/test_main.cpp
rename to control/autoware_vehicle_cmd_gate/test/src/test_main.cpp
diff --git a/control/vehicle_cmd_gate/test/src/test_vehicle_cmd_filter.cpp b/control/autoware_vehicle_cmd_gate/test/src/test_vehicle_cmd_filter.cpp
similarity index 98%
rename from control/vehicle_cmd_gate/test/src/test_vehicle_cmd_filter.cpp
rename to control/autoware_vehicle_cmd_gate/test/src/test_vehicle_cmd_filter.cpp
index 5fbab1c5cfb4f..ff77fc1a1b89c 100644
--- a/control/vehicle_cmd_gate/test/src/test_vehicle_cmd_filter.cpp
+++ b/control/autoware_vehicle_cmd_gate/test/src/test_vehicle_cmd_filter.cpp
@@ -25,16 +25,16 @@
 #define ASSERT_GT_NEAR(x, y) ASSERT_GT(x, y - THRESHOLD)
 
 using autoware_control_msgs::msg::Control;
-using vehicle_cmd_gate::LimitArray;
+using autoware::vehicle_cmd_gate::LimitArray;
 
 constexpr double NOMINAL_INTERVAL = 1.0;
 
 void setFilterParams(
-  vehicle_cmd_gate::VehicleCmdFilter & f, double v, LimitArray speed_points, LimitArray a,
+  autoware::vehicle_cmd_gate::VehicleCmdFilter & f, double v, LimitArray speed_points, LimitArray a,
   LimitArray j, LimitArray lat_a, LimitArray lat_j, LimitArray steer_diff, LimitArray steer_lim,
   LimitArray steer_rate_lim, const double wheelbase)
 {
-  vehicle_cmd_gate::VehicleCmdFilterParam p;
+  autoware::vehicle_cmd_gate::VehicleCmdFilterParam p;
   p.vel_lim = v;
   p.wheel_base = wheelbase;
   p.reference_speed_points = speed_points;
@@ -105,7 +105,7 @@ void test_1d_limit(
   const double WHEELBASE = 3.0;
   const double DT = 0.1;  // [s]
 
-  vehicle_cmd_gate::VehicleCmdFilter filter;
+  autoware::vehicle_cmd_gate::VehicleCmdFilter filter;
   filter.setCurrentSpeed(ego_v);
   setFilterParams(
     filter, V_LIM, {0.0}, {A_LIM}, {J_LIM}, {LAT_A_LIM}, {LAT_J_LIM}, {STEER_DIFF}, {STEER_LIM},
@@ -275,9 +275,9 @@ TEST(VehicleCmdFilter, VehicleCmdFilter)
 TEST(VehicleCmdFilter, VehicleCmdFilterInterpolate)
 {
   constexpr double WHEELBASE = 2.8;
-  vehicle_cmd_gate::VehicleCmdFilter filter;
+  autoware::vehicle_cmd_gate::VehicleCmdFilter filter;
 
-  vehicle_cmd_gate::VehicleCmdFilterParam p;
+  autoware::vehicle_cmd_gate::VehicleCmdFilterParam p;
   p.wheel_base = WHEELBASE;
   p.vel_lim = 20.0;
   p.reference_speed_points = std::vector<double>{2.0, 4.0, 10.0};
diff --git a/launch/tier4_control_launch/launch/control.launch.py b/launch/tier4_control_launch/launch/control.launch.py
index 77140b0e0f630..8bcd357111aa0 100644
--- a/launch/tier4_control_launch/launch/control.launch.py
+++ b/launch/tier4_control_launch/launch/control.launch.py
@@ -194,8 +194,8 @@ def launch_setup(context, *args, **kwargs):
 
     # vehicle cmd gate
     vehicle_cmd_gate_component = ComposableNode(
-        package="vehicle_cmd_gate",
-        plugin="vehicle_cmd_gate::VehicleCmdGate",
+        package="autoware_vehicle_cmd_gate",
+        plugin="autoware::vehicle_cmd_gate::VehicleCmdGate",
         name="vehicle_cmd_gate",
         remappings=[
             ("input/steering", "/vehicle/status/steering_status"),
diff --git a/launch/tier4_control_launch/package.xml b/launch/tier4_control_launch/package.xml
index 801fa274dd086..4258c1e99199f 100644
--- a/launch/tier4_control_launch/package.xml
+++ b/launch/tier4_control_launch/package.xml
@@ -17,7 +17,7 @@
   <exec_depend>lane_departure_checker</exec_depend>
   <exec_depend>shift_decider</exec_depend>
   <exec_depend>trajectory_follower_node</exec_depend>
-  <exec_depend>vehicle_cmd_gate</exec_depend>
+  <exec_depend>autoware_vehicle_cmd_gate</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>