refactor(behavior_path_lane_change_module)!: prefix package and names…

…pace with autoware (#7370) Signed-off-by: Fumiya Watanabe <[email protected]>
autowarefoundation · Jun 10, 2024 · f7ac46f · f7ac46f
1 parent 7a55d57
commit f7ac46f
Show file tree

Hide file tree

Showing 57 changed files with 80 additions and 82 deletions.
diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -164,7 +164,7 @@ 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/behavior_path_lane_change_module/** [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]
 planning/autoware_behavior_path_side_shift_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]

diff --git a/planning/.pages b/planning/.pages
@@ -13,7 +13,7 @@ nav:
         - 'Avoidance by Lane Change': planning/autoware_behavior_path_avoidance_by_lane_change_module
         - 'Dynamic Obstacle Avoidance': planning/autoware_behavior_path_dynamic_obstacle_avoidance_module
         - 'Goal Planner': planning/behavior_path_goal_planner_module
-        - 'Lane Change': planning/behavior_path_lane_change_module
+        - 'Lane Change': planning/autoware_behavior_path_lane_change_module
         - 'Side Shift': planning/autoware_behavior_path_side_shift_module
         - 'Start Planner': planning/autoware_behavior_path_start_planner_module
         - 'Static Obstacle Avoidance': planning/autoware_behavior_path_static_obstacle_avoidance_module

diff --git a/planning/autoware_behavior_path_avoidance_by_lane_change_module/README.md b/planning/autoware_behavior_path_avoidance_by_lane_change_module/README.md
@@ -13,7 +13,7 @@ This module is designed as one of the obstacle avoidance features and generates
 
 ## Inner-workings / Algorithms
 
-Basically, this module is implemented by reusing the avoidance target filtering logic of the existing [Static Object Avoidance Module](../autoware_behavior_path_static_obstacle_avoidance_module/README.md) and the path generation logic of the [Normal Lane Change Module](../behavior_path_lane_change_module/README.md). On the other hand, the conditions under which the module is activated differ from those of a normal avoidance module.
+Basically, this module is implemented by reusing the avoidance target filtering logic of the existing [Static Object Avoidance Module](../autoware_behavior_path_static_obstacle_avoidance_module/README.md) and the path generation logic of the [Normal Lane Change Module](../autoware_behavior_path_lane_change_module/README.md). On the other hand, the conditions under which the module is activated differ from those of a normal avoidance module.
 
 Check that the following conditions are satisfied after the filtering process for the avoidance target.
 

diff --git a/planning/autoware_behavior_path_avoidance_by_lane_change_module/package.xml b/planning/autoware_behavior_path_avoidance_by_lane_change_module/package.xml
@@ -18,10 +18,10 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
+  <depend>autoware_behavior_path_lane_change_module</depend>
   <depend>autoware_behavior_path_planner_common</depend>
   <depend>autoware_behavior_path_static_obstacle_avoidance_module</depend>
   <depend>autoware_rtc_interface</depend>
-  <depend>behavior_path_lane_change_module</depend>
   <depend>behavior_path_planner</depend>
   <depend>lanelet2_extension</depend>
   <depend>motion_utils</depend>

diff --git a/planning/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.hpp b/planning/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.hpp
@@ -15,7 +15,7 @@
 #ifndef INTERFACE_HPP_
 #define INTERFACE_HPP_
 
-#include "behavior_path_lane_change_module/interface.hpp"
+#include "autoware_behavior_path_lane_change_module/interface.hpp"
 #include "data_structs.hpp"
 #include "scene.hpp"
 

diff --git a/planning/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.hpp b/planning/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.hpp
@@ -15,7 +15,7 @@
 #ifndef MANAGER_HPP_
 #define MANAGER_HPP_
 
-#include "behavior_path_lane_change_module/manager.hpp"
+#include "autoware_behavior_path_lane_change_module/manager.hpp"
 #include "data_structs.hpp"
 #include "interface.hpp"
 

diff --git a/planning/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.cpp b/planning/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.cpp
@@ -20,8 +20,8 @@
 #include "autoware_behavior_path_planner_common/utils/utils.hpp"
 #include "autoware_behavior_path_static_obstacle_avoidance_module/utils.hpp"
 
+#include <autoware_behavior_path_lane_change_module/utils/utils.hpp>
 #include <autoware_behavior_path_static_obstacle_avoidance_module/data_structs.hpp>
-#include <behavior_path_lane_change_module/utils/utils.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <rclcpp/logging.hpp>
 

diff --git a/planning/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.hpp b/planning/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.hpp
@@ -15,8 +15,8 @@
 #ifndef SCENE_HPP_
 #define SCENE_HPP_
 
+#include "autoware_behavior_path_lane_change_module/scene.hpp"
 #include "autoware_behavior_path_static_obstacle_avoidance_module/helper.hpp"
-#include "behavior_path_lane_change_module/scene.hpp"
 #include "data_structs.hpp"
 
 #include <memory>

diff --git a/...r_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp b/...r_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
@@ -49,7 +49,7 @@ std::shared_ptr<BehaviorPathPlannerNode> generateNode()
   const auto behavior_path_planner_dir =
     ament_index_cpp::get_package_share_directory("behavior_path_planner");
   const auto behavior_path_lane_change_module_dir =
-    ament_index_cpp::get_package_share_directory("behavior_path_lane_change_module");
+    ament_index_cpp::get_package_share_directory("autoware_behavior_path_lane_change_module");
 
   std::vector<std::string> module_names;
   module_names.emplace_back("autoware::behavior_path_planner::AvoidanceByLaneChangeModuleManager");

diff --git a/planning/autoware_behavior_path_external_request_lane_change_module/package.xml b/planning/autoware_behavior_path_external_request_lane_change_module/package.xml
@@ -18,9 +18,9 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
+  <depend>autoware_behavior_path_lane_change_module</depend>
   <depend>autoware_behavior_path_planner_common</depend>
   <depend>autoware_rtc_interface</depend>
-  <depend>behavior_path_lane_change_module</depend>
   <depend>behavior_path_planner</depend>
   <depend>motion_utils</depend>
   <depend>pluginlib</depend>

diff --git a/planning/autoware_behavior_path_external_request_lane_change_module/src/manager.cpp b/planning/autoware_behavior_path_external_request_lane_change_module/src/manager.cpp
@@ -14,7 +14,7 @@
 
 #include "manager.hpp"
 
-#include "behavior_path_lane_change_module/interface.hpp"
+#include "autoware_behavior_path_lane_change_module/interface.hpp"
 #include "scene.hpp"
 
 namespace autoware::behavior_path_planner

diff --git a/planning/autoware_behavior_path_external_request_lane_change_module/src/manager.hpp b/planning/autoware_behavior_path_external_request_lane_change_module/src/manager.hpp
@@ -15,7 +15,7 @@
 #ifndef MANAGER_HPP_
 #define MANAGER_HPP_
 
-#include "behavior_path_lane_change_module/manager.hpp"
+#include "autoware_behavior_path_lane_change_module/manager.hpp"
 #include "route_handler/route_handler.hpp"
 
 #include <rclcpp/rclcpp.hpp>

diff --git a/planning/autoware_behavior_path_external_request_lane_change_module/src/scene.hpp b/planning/autoware_behavior_path_external_request_lane_change_module/src/scene.hpp
@@ -15,7 +15,7 @@
 #ifndef SCENE_HPP_
 #define SCENE_HPP_
 
-#include "behavior_path_lane_change_module/scene.hpp"
+#include "autoware_behavior_path_lane_change_module/scene.hpp"
 
 #include <memory>
 

diff --git a/...th_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp b/...th_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
@@ -48,7 +48,7 @@ std::shared_ptr<BehaviorPathPlannerNode> generateNode()
   const auto behavior_path_planner_dir =
     ament_index_cpp::get_package_share_directory("behavior_path_planner");
   const auto behavior_path_lane_change_module_dir =
-    ament_index_cpp::get_package_share_directory("behavior_path_lane_change_module");
+    ament_index_cpp::get_package_share_directory("autoware_behavior_path_lane_change_module");
 
   std::vector<std::string> module_names;
   module_names.emplace_back(

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

diff --git a/...ehavior_path_lane_change_module/README.md → ...ehavior_path_lane_change_module/README.md b/...ehavior_path_lane_change_module/README.md → ...ehavior_path_lane_change_module/README.md
diff --git a/...ange_module/config/lane_change.param.yaml → ...ange_module/config/lane_change.param.yaml b/...ange_module/config/lane_change.param.yaml → ...ange_module/config/lane_change.param.yaml
diff --git a/...hange_module/images/lane_change-abort.png → ...hange_module/images/lane_change-abort.png b/...hange_module/images/lane_change-abort.png → ...hange_module/images/lane_change-abort.png
diff --git a/...ange_module/images/lane_change-cancel.png → ...ange_module/images/lane_change-cancel.png b/...ange_module/images/lane_change-cancel.png → ...ange_module/images/lane_change-cancel.png
diff --git a/...es/lane_change-candidate_path_samples.png → ...es/lane_change-candidate_path_samples.png b/...es/lane_change-candidate_path_samples.png → ...es/lane_change-candidate_path_samples.png
diff --git a/...ages/lane_change-cant_cancel_no_abort.png → ...ages/lane_change-cant_cancel_no_abort.png b/...ages/lane_change-cant_cancel_no_abort.png → ...ages/lane_change-cant_cancel_no_abort.png
diff --git a/...nge_module/images/lane_change-debug-1.png → ...nge_module/images/lane_change-debug-1.png b/...nge_module/images/lane_change-debug-1.png → ...nge_module/images/lane_change-debug-1.png
diff --git a/...nge_module/images/lane_change-debug-2.png → ...nge_module/images/lane_change-debug-2.png b/...nge_module/images/lane_change-debug-2.png → ...nge_module/images/lane_change-debug-2.png
diff --git a/...nge_module/images/lane_change-debug-3.png → ...nge_module/images/lane_change-debug-3.png b/...nge_module/images/lane_change-debug-3.png → ...nge_module/images/lane_change-debug-3.png
diff --git a/...able_collision_check_at_prepare_phase.png → ...able_collision_check_at_prepare_phase.png b/...able_collision_check_at_prepare_phase.png → ...able_collision_check_at_prepare_phase.png
diff --git a/.../images/lane_change-intersection_case.png → .../images/lane_change-intersection_case.png b/.../images/lane_change-intersection_case.png → .../images/lane_change-intersection_case.png
diff --git a/...images/lane_change-lane_change_phases.png → ...images/lane_change-lane_change_phases.png b/...images/lane_change-lane_change_phases.png → ...images/lane_change-lane_change_phases.png
diff --git a/...mages/lane_change-lane_expansion-with.png → ...mages/lane_change-lane_expansion-with.png b/...mages/lane_change-lane_expansion-with.png → ...mages/lane_change-lane_expansion-with.png
diff --git a/...es/lane_change-lane_expansion-without.png → ...es/lane_change-lane_expansion-without.png b/...es/lane_change-lane_expansion-without.png → ...es/lane_change-lane_expansion-without.png
diff --git a/...s/lane_change-stop_at_terminal.drawio.svg → ...s/lane_change-stop_at_terminal.drawio.svg b/...s/lane_change-stop_at_terminal.drawio.svg → ...s/lane_change-stop_at_terminal.drawio.svg
diff --git a/...ange-stop_at_terminal_no_block.drawio.svg → ...ange-stop_at_terminal_no_block.drawio.svg b/...ange-stop_at_terminal_no_block.drawio.svg → ...ange-stop_at_terminal_no_block.drawio.svg
diff --git a/...ange-stop_far_from_target_lane.drawio.svg → ...ange-stop_far_from_target_lane.drawio.svg b/...ange-stop_far_from_target_lane.drawio.svg → ...ange-stop_far_from_target_lane.drawio.svg
diff --git a/...ne_change-stop_not_at_terminal.drawio.svg → ...ne_change-stop_not_at_terminal.drawio.svg b/...ne_change-stop_not_at_terminal.drawio.svg → ...ne_change-stop_not_at_terminal.drawio.svg
diff --git a/...at_terminal_no_blocking_object.drawio.svg → ...at_terminal_no_blocking_object.drawio.svg b/...at_terminal_no_blocking_object.drawio.svg → ...at_terminal_no_blocking_object.drawio.svg
diff --git a/.../lane_change-when_cannot_change_lanes.png → .../lane_change-when_cannot_change_lanes.png b/.../lane_change-when_cannot_change_lanes.png → .../lane_change-when_cannot_change_lanes.png
diff --git a/...ange_module/images/lane_change.drawio.svg → ...ange_module/images/lane_change.drawio.svg b/...ange_module/images/lane_change.drawio.svg → ...ange_module/images/lane_change.drawio.svg
diff --git a/...nge_module/images/lane_objects.drawio.svg → ...nge_module/images/lane_objects.drawio.svg b/...nge_module/images/lane_objects.drawio.svg → ...nge_module/images/lane_objects.drawio.svg
diff --git a/...ior_path_lane_change_module/interface.hpp → ...ior_path_lane_change_module/interface.hpp b/...ior_path_lane_change_module/interface.hpp → ...ior_path_lane_change_module/interface.hpp
@@ -12,16 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_LANE_CHANGE_MODULE__INTERFACE_HPP_
-#define BEHAVIOR_PATH_LANE_CHANGE_MODULE__INTERFACE_HPP_
+#ifndef AUTOWARE_BEHAVIOR_PATH_LANE_CHANGE_MODULE__INTERFACE_HPP_
+#define AUTOWARE_BEHAVIOR_PATH_LANE_CHANGE_MODULE__INTERFACE_HPP_
 
+#include "autoware_behavior_path_lane_change_module/scene.hpp"
+#include "autoware_behavior_path_lane_change_module/utils/base_class.hpp"
+#include "autoware_behavior_path_lane_change_module/utils/data_structs.hpp"
+#include "autoware_behavior_path_lane_change_module/utils/path.hpp"
 #include "autoware_behavior_path_planner_common/interface/scene_module_interface.hpp"
 #include "autoware_behavior_path_planner_common/turn_signal_decider.hpp"
 #include "autoware_behavior_path_planner_common/utils/path_shifter/path_shifter.hpp"
-#include "behavior_path_lane_change_module/scene.hpp"
-#include "behavior_path_lane_change_module/utils/base_class.hpp"
-#include "behavior_path_lane_change_module/utils/data_structs.hpp"
-#include "behavior_path_lane_change_module/utils/path.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -156,4 +156,4 @@ class LaneChangeInterface : public SceneModuleInterface
 };
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_LANE_CHANGE_MODULE__INTERFACE_HPP_
+#endif  // AUTOWARE_BEHAVIOR_PATH_LANE_CHANGE_MODULE__INTERFACE_HPP_
diff --git a/...avior_path_lane_change_module/manager.hpp → ...avior_path_lane_change_module/manager.hpp b/...avior_path_lane_change_module/manager.hpp → ...avior_path_lane_change_module/manager.hpp
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_LANE_CHANGE_MODULE__MANAGER_HPP_
-#define BEHAVIOR_PATH_LANE_CHANGE_MODULE__MANAGER_HPP_
+#ifndef AUTOWARE_BEHAVIOR_PATH_LANE_CHANGE_MODULE__MANAGER_HPP_
+#define AUTOWARE_BEHAVIOR_PATH_LANE_CHANGE_MODULE__MANAGER_HPP_
 
+#include "autoware_behavior_path_lane_change_module/utils/data_structs.hpp"
 #include "autoware_behavior_path_planner_common/interface/scene_module_manager_interface.hpp"
-#include "behavior_path_lane_change_module/utils/data_structs.hpp"
 #include "route_handler/route_handler.hpp"
 
 #include <rclcpp/rclcpp.hpp>
@@ -75,4 +75,4 @@ class LaneChangeLeftModuleManager : public LaneChangeModuleManager
 };
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_LANE_CHANGE_MODULE__MANAGER_HPP_
+#endif  // AUTOWARE_BEHAVIOR_PATH_LANE_CHANGE_MODULE__MANAGER_HPP_
diff --git a/...ehavior_path_lane_change_module/scene.hpp → ...ehavior_path_lane_change_module/scene.hpp b/...ehavior_path_lane_change_module/scene.hpp → ...ehavior_path_lane_change_module/scene.hpp
@@ -11,11 +11,11 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef BEHAVIOR_PATH_LANE_CHANGE_MODULE__SCENE_HPP_
-#define BEHAVIOR_PATH_LANE_CHANGE_MODULE__SCENE_HPP_
+#ifndef AUTOWARE_BEHAVIOR_PATH_LANE_CHANGE_MODULE__SCENE_HPP_
+#define AUTOWARE_BEHAVIOR_PATH_LANE_CHANGE_MODULE__SCENE_HPP_
 
-#include "behavior_path_lane_change_module/utils/base_class.hpp"
-#include "behavior_path_lane_change_module/utils/data_structs.hpp"
+#include "autoware_behavior_path_lane_change_module/utils/base_class.hpp"
+#include "autoware_behavior_path_lane_change_module/utils/data_structs.hpp"
 
 #include <memory>
 #include <utility>
@@ -205,4 +205,4 @@ class NormalLaneChange : public LaneChangeBase
   double stop_time_{0.0};
 };
 }  // namespace behavior_path_planner
-#endif  // BEHAVIOR_PATH_LANE_CHANGE_MODULE__SCENE_HPP_
+#endif  // AUTOWARE_BEHAVIOR_PATH_LANE_CHANGE_MODULE__SCENE_HPP_
diff --git a/...h_lane_change_module/utils/base_class.hpp → ...h_lane_change_module/utils/base_class.hpp b/...h_lane_change_module/utils/base_class.hpp → ...h_lane_change_module/utils/base_class.hpp
@@ -11,16 +11,16 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__BASE_CLASS_HPP_
-#define BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__BASE_CLASS_HPP_
+#ifndef AUTOWARE_BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__BASE_CLASS_HPP_
+#define AUTOWARE_BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__BASE_CLASS_HPP_
 
+#include "autoware_behavior_path_lane_change_module/utils/data_structs.hpp"
+#include "autoware_behavior_path_lane_change_module/utils/debug_structs.hpp"
+#include "autoware_behavior_path_lane_change_module/utils/path.hpp"
+#include "autoware_behavior_path_lane_change_module/utils/utils.hpp"
 #include "autoware_behavior_path_planner_common/interface/scene_module_interface.hpp"
 #include "autoware_behavior_path_planner_common/turn_signal_decider.hpp"
 #include "autoware_behavior_path_planner_common/utils/path_shifter/path_shifter.hpp"
-#include "behavior_path_lane_change_module/utils/data_structs.hpp"
-#include "behavior_path_lane_change_module/utils/debug_structs.hpp"
-#include "behavior_path_lane_change_module/utils/path.hpp"
-#include "behavior_path_lane_change_module/utils/utils.hpp"
 #include "tier4_autoware_utils/system/stop_watch.hpp"
 
 #include <magic_enum.hpp>
@@ -239,4 +239,4 @@ class LaneChangeBase
   mutable rclcpp::Clock clock_{RCL_ROS_TIME};
 };
 }  // namespace behavior_path_planner
-#endif  // BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__BASE_CLASS_HPP_
+#endif  // AUTOWARE_BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__BASE_CLASS_HPP_
diff --git a/...lane_change_module/utils/data_structs.hpp → ...lane_change_module/utils/data_structs.hpp b/...lane_change_module/utils/data_structs.hpp → ...lane_change_module/utils/data_structs.hpp
@@ -11,8 +11,8 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DATA_STRUCTS_HPP_
-#define BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DATA_STRUCTS_HPP_
+#ifndef AUTOWARE_BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DATA_STRUCTS_HPP_
+#define AUTOWARE_BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DATA_STRUCTS_HPP_
 
 #include "autoware_behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp"
 #include "autoware_behavior_path_planner_common/utils/path_shifter/path_shifter.hpp"
@@ -226,4 +226,4 @@ struct LanesPolygon
 };
 }  // namespace behavior_path_planner::data::lane_change
 
-#endif  // BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DATA_STRUCTS_HPP_
+#endif  // AUTOWARE_BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DATA_STRUCTS_HPP_
diff --git a/...ane_change_module/utils/debug_structs.hpp → ...ane_change_module/utils/debug_structs.hpp b/...ane_change_module/utils/debug_structs.hpp → ...ane_change_module/utils/debug_structs.hpp
@@ -11,11 +11,11 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DEBUG_STRUCTS_HPP_
-#define BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DEBUG_STRUCTS_HPP_
+#ifndef AUTOWARE_BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DEBUG_STRUCTS_HPP_
+#define AUTOWARE_BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DEBUG_STRUCTS_HPP_
 
-#include "behavior_path_lane_change_module/utils/data_structs.hpp"
-#include "behavior_path_lane_change_module/utils/path.hpp"
+#include "autoware_behavior_path_lane_change_module/utils/data_structs.hpp"
+#include "autoware_behavior_path_lane_change_module/utils/path.hpp"
 
 #include <autoware_behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp>
 
@@ -73,4 +73,4 @@ struct Debug
 };
 }  // namespace behavior_path_planner::data::lane_change
 
-#endif  // BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DEBUG_STRUCTS_HPP_
+#endif  // AUTOWARE_BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DEBUG_STRUCTS_HPP_
diff --git a/...path_lane_change_module/utils/markers.hpp → ...path_lane_change_module/utils/markers.hpp b/...path_lane_change_module/utils/markers.hpp → ...path_lane_change_module/utils/markers.hpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__MARKERS_HPP_
-#define BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__MARKERS_HPP_
+#ifndef AUTOWARE_BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__MARKERS_HPP_
+#define AUTOWARE_BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__MARKERS_HPP_
 
+#include "autoware_behavior_path_lane_change_module/utils/debug_structs.hpp"
+#include "autoware_behavior_path_lane_change_module/utils/path.hpp"
 #include "autoware_behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp"
-#include "behavior_path_lane_change_module/utils/debug_structs.hpp"
-#include "behavior_path_lane_change_module/utils/path.hpp"
 
 #include <geometry_msgs/msg/detail/polygon__struct.hpp>
 #include <geometry_msgs/msg/detail/pose__struct.hpp>
@@ -48,4 +48,4 @@ MarkerArray createDebugMarkerArray(
   const Debug & debug_data, const geometry_msgs::msg::Pose & ego_pose);
 
 }  // namespace marker_utils::lane_change_markers
-#endif  // BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__MARKERS_HPP_
+#endif  // AUTOWARE_BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__MARKERS_HPP_
diff --git a/...or_path_lane_change_module/utils/path.hpp → ...or_path_lane_change_module/utils/path.hpp b/...or_path_lane_change_module/utils/path.hpp → ...or_path_lane_change_module/utils/path.hpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__PATH_HPP_
-#define BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__PATH_HPP_
+#ifndef AUTOWARE_BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__PATH_HPP_
+#define AUTOWARE_BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__PATH_HPP_
 
+#include "autoware_behavior_path_lane_change_module/utils/data_structs.hpp"
 #include "autoware_behavior_path_planner_common/turn_signal_decider.hpp"
 #include "autoware_behavior_path_planner_common/utils/path_shifter/path_shifter.hpp"
-#include "behavior_path_lane_change_module/utils/data_structs.hpp"
 
 #include <tier4_planning_msgs/msg/path_with_lane_id.hpp>
 
@@ -50,4 +50,4 @@ struct LaneChangeStatus
 };
 
 }  // namespace behavior_path_planner
-#endif  // BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__PATH_HPP_
+#endif  // AUTOWARE_BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__PATH_HPP_
diff --git a/...r_path_lane_change_module/utils/utils.hpp → ...r_path_lane_change_module/utils/utils.hpp b/...r_path_lane_change_module/utils/utils.hpp → ...r_path_lane_change_module/utils/utils.hpp
@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__UTILS_HPP_
-#define BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__UTILS_HPP_
+#ifndef AUTOWARE_BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__UTILS_HPP_
+#define AUTOWARE_BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__UTILS_HPP_
 
+#include "autoware_behavior_path_lane_change_module/utils/data_structs.hpp"
+#include "autoware_behavior_path_lane_change_module/utils/path.hpp"
 #include "autoware_behavior_path_planner_common/parameters.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_lane_change_module/utils/data_structs.hpp"
-#include "behavior_path_lane_change_module/utils/path.hpp"
 #include "rclcpp/logger.hpp"
 
 #include <route_handler/route_handler.hpp>
@@ -308,4 +308,4 @@ geometry_msgs::msg::Polygon createExecutionArea(
   double additional_lon_offset, double additional_lat_offset);
 }  // namespace behavior_path_planner::utils::lane_change::debug
 
-#endif  // BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__UTILS_HPP_
+#endif  // AUTOWARE_BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__UTILS_HPP_
diff --git a/...avior_path_lane_change_module/package.xml → ...avior_path_lane_change_module/package.xml b/...avior_path_lane_change_module/package.xml → ...avior_path_lane_change_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_lane_change_module</name>
+  <name>autoware_behavior_path_lane_change_module</name>
   <version>0.1.0</version>
-  <description>The behavior_path_lane_change_module package</description>
+  <description>The autoware_behavior_path_lane_change_module package</description>
 
   <maintainer email="[email protected]">Fumiya Watanabe</maintainer>
   <maintainer email="[email protected]">Satoshi Ota</maintainer>

diff --git a/planning/autoware_behavior_path_lane_change_module/plugins.xml b/planning/autoware_behavior_path_lane_change_module/plugins.xml
@@ -0,0 +1,4 @@
+<library path="autoware_behavior_path_lane_change_module">
+  <class type="behavior_path_planner::LaneChangeLeftModuleManager" base_class_type="behavior_path_planner::SceneModuleManagerInterface"/>
+  <class type="behavior_path_planner::LaneChangeRightModuleManager" base_class_type="behavior_path_planner::SceneModuleManagerInterface"/>
+</library>
diff --git a/...path_lane_change_module/src/interface.cpp → ...path_lane_change_module/src/interface.cpp b/...path_lane_change_module/src/interface.cpp → ...path_lane_change_module/src/interface.cpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "behavior_path_lane_change_module/interface.hpp"
+#include "autoware_behavior_path_lane_change_module/interface.hpp"
 
+#include "autoware_behavior_path_lane_change_module/utils/markers.hpp"
+#include "autoware_behavior_path_lane_change_module/utils/utils.hpp"
 #include "autoware_behavior_path_planner_common/interface/scene_module_interface.hpp"
 #include "autoware_behavior_path_planner_common/interface/scene_module_visitor.hpp"
 #include "autoware_behavior_path_planner_common/marker_utils/utils.hpp"
-#include "behavior_path_lane_change_module/utils/markers.hpp"
-#include "behavior_path_lane_change_module/utils/utils.hpp"
 
 #include <tier4_autoware_utils/ros/marker_helper.hpp>