refactor(lidar_apollo_instance_segmentation)!: fix namespace and dire…

…ctory structure (#7995) * refactor: add autoware namespace prefix Signed-off-by: ktro2828 <[email protected]> * chore: update CODEOWNERS Signed-off-by: ktro2828 <[email protected]> * refactor: add `autoware` prefix Signed-off-by: ktro2828 <[email protected]> --------- Signed-off-by: ktro2828 <[email protected]>
autowarefoundation · Jul 24, 2024 · 3e501cf · 3e501cf
1 parent 28f9e7e
commit 3e501cf
Show file tree

Hide file tree

Showing 27 changed files with 117 additions and 62 deletions.
diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -126,7 +126,9 @@ perception/elevation_map_loader/** [email protected] shintaro.tomie@tier4
 perception/autoware_euclidean_cluster/** [email protected] [email protected]
 perception/autoware_ground_segmentation/** [email protected] [email protected] [email protected] [email protected] [email protected]
 perception/autoware_image_projection_based_fusion/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
-perception/lidar_apollo_instance_segmentation/** [email protected] [email protected]
+perception/autowar_lidar_apollo_instance_segmentation/** [email protected] [email protected]
+perception/lidar_apollo_segmentation_tvm/** [email protected] [email protected]
+perception/lidar_apollo_segmentation_tvm_nodes/** [email protected] [email protected]
 perception/autoware_lidar_centerpoint/** [email protected] [email protected]
 perception/occupancy_grid_map_outlier_filter/** [email protected] [email protected] [email protected]
 perception/probabilistic_occupancy_grid_map/** [email protected] [email protected] [email protected]

diff --git a/...ception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml b/...ception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
@@ -59,7 +59,7 @@
   <group if="$(eval &quot;'$(var lidar_detection_model)'=='apollo'&quot;)">
     <push-ros-namespace namespace="apollo"/>
     <group>
-      <include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml">
+      <include file="$(find-pkg-share autoware_lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml">
         <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
         <arg name="output/objects" value="labeled_clusters"/>
       </include>

diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml
@@ -22,6 +22,7 @@
   <exec_depend>autoware_euclidean_cluster</exec_depend>
   <exec_depend>autoware_ground_segmentation</exec_depend>
   <exec_depend>autoware_image_projection_based_fusion</exec_depend>
+  <exec_depend>autoware_lidar_apollo_instance_segmentation</exec_depend>
   <exec_depend>autoware_map_based_prediction</exec_depend>
   <exec_depend>autoware_multi_object_tracker</exec_depend>
   <exec_depend>autoware_object_merger</exec_depend>
@@ -37,7 +38,6 @@
   <exec_depend>autoware_tracking_object_merger</exec_depend>
   <exec_depend>elevation_map_loader</exec_depend>
   <exec_depend>image_transport_decompressor</exec_depend>
-  <exec_depend>lidar_apollo_instance_segmentation</exec_depend>
   <exec_depend>occupancy_grid_map_outlier_filter</exec_depend>
   <exec_depend>pointcloud_to_laserscan</exec_depend>
   <exec_depend>probabilistic_occupancy_grid_map</exec_depend>

diff --git a/...r_apollo_instance_segmentation/.gitignore → ...r_apollo_instance_segmentation/.gitignore b/...r_apollo_instance_segmentation/.gitignore → ...r_apollo_instance_segmentation/.gitignore
diff --git a/...ollo_instance_segmentation/CMakeLists.txt → ...ollo_instance_segmentation/CMakeLists.txt b/...ollo_instance_segmentation/CMakeLists.txt → ...ollo_instance_segmentation/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.17)
-project(lidar_apollo_instance_segmentation)
+project(autoware_lidar_apollo_instance_segmentation)
 
 find_package(ament_cmake REQUIRED)
 find_package(autoware_perception_msgs REQUIRED)
@@ -74,7 +74,7 @@ install(TARGETS ${PROJECT_NAME}
 )
 
 rclcpp_components_register_node(${PROJECT_NAME}
-  PLUGIN "lidar_apollo_instance_segmentation::LidarInstanceSegmentationNode"
+  PLUGIN "autoware::lidar_apollo_instance_segmentation::LidarInstanceSegmentationNode"
   EXECUTABLE ${PROJECT_NAME}_node
 )
 

diff --git a/...ar_apollo_instance_segmentation/README.md → ...ar_apollo_instance_segmentation/README.md b/...ar_apollo_instance_segmentation/README.md → ...ar_apollo_instance_segmentation/README.md
@@ -1,4 +1,4 @@
-# lidar_apollo_instance_segmentation
+# autoware_lidar_apollo_instance_segmentation
 
 ![Peek 2020-04-07 00-17](https://user-images.githubusercontent.com/8327598/78574862-92507d80-7865-11ea-9a2d-56d3453bdb7a.gif)
 

diff --git a/...nce_segmentation/config/hdl-64.param.yaml → ...nce_segmentation/config/hdl-64.param.yaml b/...nce_segmentation/config/hdl-64.param.yaml → ...nce_segmentation/config/hdl-64.param.yaml
diff --git a/...nce_segmentation/config/vlp-16.param.yaml → ...nce_segmentation/config/vlp-16.param.yaml b/...nce_segmentation/config/vlp-16.param.yaml → ...nce_segmentation/config/vlp-16.param.yaml
diff --git a/...ce_segmentation/config/vls-128.param.yaml → ...ce_segmentation/config/vls-128.param.yaml b/...ce_segmentation/config/vls-128.param.yaml → ...ce_segmentation/config/vls-128.param.yaml
diff --git a/...pollo_instance_segmentation/cluster2d.hpp → ...pollo_instance_segmentation/cluster2d.hpp b/...pollo_instance_segmentation/cluster2d.hpp → ...pollo_instance_segmentation/cluster2d.hpp
@@ -43,8 +43,8 @@
  * limitations under the License.
  *****************************************************************************/
 
-#ifndef LIDAR_APOLLO_INSTANCE_SEGMENTATION__CLUSTER2D_HPP_
-#define LIDAR_APOLLO_INSTANCE_SEGMENTATION__CLUSTER2D_HPP_
+#ifndef AUTOWARE__LIDAR_APOLLO_INSTANCE_SEGMENTATION__CLUSTER2D_HPP_
+#define AUTOWARE__LIDAR_APOLLO_INSTANCE_SEGMENTATION__CLUSTER2D_HPP_
 
 #include "disjoint_set.hpp"
 #include "util.hpp"
@@ -60,6 +60,8 @@
 #include <memory>
 #include <vector>
 
+namespace autoware
+{
 namespace lidar_apollo_instance_segmentation
 {
 enum MetaType {
@@ -161,5 +163,6 @@ class Cluster2D
   void traverse(Node * x);
 };
 }  // namespace lidar_apollo_instance_segmentation
+}  // namespace autoware
 
-#endif  // LIDAR_APOLLO_INSTANCE_SEGMENTATION__CLUSTER2D_HPP_
+#endif  // AUTOWARE__LIDAR_APOLLO_INSTANCE_SEGMENTATION__CLUSTER2D_HPP_
diff --git a/...apollo_instance_segmentation/debugger.hpp → ...apollo_instance_segmentation/debugger.hpp b/...apollo_instance_segmentation/debugger.hpp → ...apollo_instance_segmentation/debugger.hpp
@@ -12,13 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef LIDAR_APOLLO_INSTANCE_SEGMENTATION__DEBUGGER_HPP_
-#define LIDAR_APOLLO_INSTANCE_SEGMENTATION__DEBUGGER_HPP_
+#ifndef AUTOWARE__LIDAR_APOLLO_INSTANCE_SEGMENTATION__DEBUGGER_HPP_
+#define AUTOWARE__LIDAR_APOLLO_INSTANCE_SEGMENTATION__DEBUGGER_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
 #include <tier4_perception_msgs/msg/detected_objects_with_feature.hpp>
 
+namespace autoware
+{
 namespace lidar_apollo_instance_segmentation
 {
 class Debugger
@@ -33,5 +35,6 @@ class Debugger
   rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr instance_pointcloud_pub_;
 };
 }  // namespace lidar_apollo_instance_segmentation
+}  // namespace autoware
 
-#endif  // LIDAR_APOLLO_INSTANCE_SEGMENTATION__DEBUGGER_HPP_
+#endif  // AUTOWARE__LIDAR_APOLLO_INSTANCE_SEGMENTATION__DEBUGGER_HPP_
diff --git a/...apollo_instance_segmentation/detector.hpp → ...apollo_instance_segmentation/detector.hpp b/...apollo_instance_segmentation/detector.hpp → ...apollo_instance_segmentation/detector.hpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef LIDAR_APOLLO_INSTANCE_SEGMENTATION__DETECTOR_HPP_
-#define LIDAR_APOLLO_INSTANCE_SEGMENTATION__DETECTOR_HPP_
+#ifndef AUTOWARE__LIDAR_APOLLO_INSTANCE_SEGMENTATION__DETECTOR_HPP_
+#define AUTOWARE__LIDAR_APOLLO_INSTANCE_SEGMENTATION__DETECTOR_HPP_
 
-#include "cluster2d.hpp"
-#include "feature_generator.hpp"
-#include "lidar_apollo_instance_segmentation/node.hpp"
+#include "autoware/lidar_apollo_instance_segmentation/cluster2d.hpp"
+#include "autoware/lidar_apollo_instance_segmentation/feature_generator.hpp"
+#include "autoware/lidar_apollo_instance_segmentation/node.hpp"
 
 #include <autoware/universe_utils/transform/transforms.hpp>
 #include <cuda_utils/cuda_unique_ptr.hpp>
@@ -31,6 +31,8 @@
 #include <memory>
 #include <string>
 
+namespace autoware
+{
 namespace lidar_apollo_instance_segmentation
 {
 using cuda_utils::CudaUniquePtr;
@@ -72,5 +74,6 @@ class LidarApolloInstanceSegmentation : public LidarInstanceSegmentationInterfac
   StreamUniquePtr stream_{makeCudaStream()};
 };
 }  // namespace lidar_apollo_instance_segmentation
+}  // namespace autoware
 
-#endif  // LIDAR_APOLLO_INSTANCE_SEGMENTATION__DETECTOR_HPP_
+#endif  // AUTOWARE__LIDAR_APOLLO_INSTANCE_SEGMENTATION__DETECTOR_HPP_
diff --git a/...lo_instance_segmentation/disjoint_set.hpp → ...lo_instance_segmentation/disjoint_set.hpp b/...lo_instance_segmentation/disjoint_set.hpp → ...lo_instance_segmentation/disjoint_set.hpp
@@ -14,9 +14,11 @@
  * limitations under the License.
  *****************************************************************************/
 
-#ifndef LIDAR_APOLLO_INSTANCE_SEGMENTATION__DISJOINT_SET_HPP_
-#define LIDAR_APOLLO_INSTANCE_SEGMENTATION__DISJOINT_SET_HPP_
+#ifndef AUTOWARE__LIDAR_APOLLO_INSTANCE_SEGMENTATION__DISJOINT_SET_HPP_
+#define AUTOWARE__LIDAR_APOLLO_INSTANCE_SEGMENTATION__DISJOINT_SET_HPP_
 
+namespace autoware
+{
 namespace lidar_apollo_instance_segmentation
 {
 template <class T>
@@ -74,5 +76,5 @@ void DisjointSetUnion(T * x, T * y)
   }
 }
 }  // namespace lidar_apollo_instance_segmentation
-
-#endif  // LIDAR_APOLLO_INSTANCE_SEGMENTATION__DISJOINT_SET_HPP_
+}  // namespace autoware
+#endif  // AUTOWARE__LIDAR_APOLLO_INSTANCE_SEGMENTATION__DISJOINT_SET_HPP_
diff --git a/...stance_segmentation/feature_generator.hpp → ...stance_segmentation/feature_generator.hpp b/...stance_segmentation/feature_generator.hpp → ...stance_segmentation/feature_generator.hpp
@@ -12,17 +12,19 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef LIDAR_APOLLO_INSTANCE_SEGMENTATION__FEATURE_GENERATOR_HPP_
-#define LIDAR_APOLLO_INSTANCE_SEGMENTATION__FEATURE_GENERATOR_HPP_
+#ifndef AUTOWARE__LIDAR_APOLLO_INSTANCE_SEGMENTATION__FEATURE_GENERATOR_HPP_
+#define AUTOWARE__LIDAR_APOLLO_INSTANCE_SEGMENTATION__FEATURE_GENERATOR_HPP_
 
-#include "lidar_apollo_instance_segmentation/feature_map.hpp"
+#include "autoware/lidar_apollo_instance_segmentation/feature_map.hpp"
 #include "util.hpp"
 
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
 
 #include <memory>
 
+namespace autoware
+{
 namespace lidar_apollo_instance_segmentation
 {
 class FeatureGenerator
@@ -44,5 +46,5 @@ class FeatureGenerator
     const pcl::PointCloud<pcl::PointXYZI>::Ptr & pc_ptr);
 };
 }  // namespace lidar_apollo_instance_segmentation
-
-#endif  // LIDAR_APOLLO_INSTANCE_SEGMENTATION__FEATURE_GENERATOR_HPP_
+}  // namespace autoware
+#endif  // AUTOWARE__LIDAR_APOLLO_INSTANCE_SEGMENTATION__FEATURE_GENERATOR_HPP_
diff --git a/...llo_instance_segmentation/feature_map.hpp → ...llo_instance_segmentation/feature_map.hpp b/...llo_instance_segmentation/feature_map.hpp → ...llo_instance_segmentation/feature_map.hpp
@@ -12,12 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef LIDAR_APOLLO_INSTANCE_SEGMENTATION__FEATURE_MAP_HPP_
-#define LIDAR_APOLLO_INSTANCE_SEGMENTATION__FEATURE_MAP_HPP_
+#ifndef AUTOWARE__LIDAR_APOLLO_INSTANCE_SEGMENTATION__FEATURE_MAP_HPP_
+#define AUTOWARE__LIDAR_APOLLO_INSTANCE_SEGMENTATION__FEATURE_MAP_HPP_
 
 #include <memory>
 #include <vector>
 
+namespace autoware
+{
 namespace lidar_apollo_instance_segmentation
 {
 struct FeatureMapInterface
@@ -69,5 +71,5 @@ struct FeatureMapWithConstantAndIntensity : public FeatureMapInterface
   void resetMap(std::vector<float> & map) override;
 };
 }  // namespace lidar_apollo_instance_segmentation
-
-#endif  // LIDAR_APOLLO_INSTANCE_SEGMENTATION__FEATURE_MAP_HPP_
+}  // namespace autoware
+#endif  // AUTOWARE__LIDAR_APOLLO_INSTANCE_SEGMENTATION__FEATURE_MAP_HPP_
diff --git a/...pollo_instance_segmentation/log_table.hpp → ...pollo_instance_segmentation/log_table.hpp b/...pollo_instance_segmentation/log_table.hpp → ...pollo_instance_segmentation/log_table.hpp
@@ -12,12 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef LIDAR_APOLLO_INSTANCE_SEGMENTATION__LOG_TABLE_HPP_
-#define LIDAR_APOLLO_INSTANCE_SEGMENTATION__LOG_TABLE_HPP_
+#ifndef AUTOWARE__LIDAR_APOLLO_INSTANCE_SEGMENTATION__LOG_TABLE_HPP_
+#define AUTOWARE__LIDAR_APOLLO_INSTANCE_SEGMENTATION__LOG_TABLE_HPP_
 
+namespace autoware
+{
 namespace lidar_apollo_instance_segmentation
 {
 float calcApproximateLog(float num);
 }  // namespace lidar_apollo_instance_segmentation
-
-#endif  // LIDAR_APOLLO_INSTANCE_SEGMENTATION__LOG_TABLE_HPP_
+}  // namespace autoware
+#endif  // AUTOWARE__LIDAR_APOLLO_INSTANCE_SEGMENTATION__LOG_TABLE_HPP_
diff --git a/...dar_apollo_instance_segmentation/node.hpp → ...dar_apollo_instance_segmentation/node.hpp b/...dar_apollo_instance_segmentation/node.hpp → ...dar_apollo_instance_segmentation/node.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef LIDAR_APOLLO_INSTANCE_SEGMENTATION__NODE_HPP_
-#define LIDAR_APOLLO_INSTANCE_SEGMENTATION__NODE_HPP_
+#ifndef AUTOWARE__LIDAR_APOLLO_INSTANCE_SEGMENTATION__NODE_HPP_
+#define AUTOWARE__LIDAR_APOLLO_INSTANCE_SEGMENTATION__NODE_HPP_
 
-#include "lidar_apollo_instance_segmentation/debugger.hpp"
+#include "autoware/lidar_apollo_instance_segmentation/debugger.hpp"
 
 #include <autoware/universe_utils/ros/debug_publisher.hpp>
 #include <autoware/universe_utils/system/stop_watch.hpp>
@@ -26,6 +26,8 @@
 
 #include <memory>
 
+namespace autoware
+{
 namespace lidar_apollo_instance_segmentation
 {
 class LidarInstanceSegmentationInterface
@@ -54,5 +56,5 @@ class LidarInstanceSegmentationNode : public rclcpp::Node
   explicit LidarInstanceSegmentationNode(const rclcpp::NodeOptions & node_options);
 };
 }  // namespace lidar_apollo_instance_segmentation
-
-#endif  // LIDAR_APOLLO_INSTANCE_SEGMENTATION__NODE_HPP_
+}  // namespace autoware
+#endif  // AUTOWARE__LIDAR_APOLLO_INSTANCE_SEGMENTATION__NODE_HPP_
diff --git a/...dar_apollo_instance_segmentation/util.hpp → ...dar_apollo_instance_segmentation/util.hpp b/...dar_apollo_instance_segmentation/util.hpp → ...dar_apollo_instance_segmentation/util.hpp
@@ -28,12 +28,13 @@
  * limitations under the License.
  *****************************************************************************/
 
-#ifndef LIDAR_APOLLO_INSTANCE_SEGMENTATION__UTIL_HPP_
-#define LIDAR_APOLLO_INSTANCE_SEGMENTATION__UTIL_HPP_
+#ifndef AUTOWARE__LIDAR_APOLLO_INSTANCE_SEGMENTATION__UTIL_HPP_
+#define AUTOWARE__LIDAR_APOLLO_INSTANCE_SEGMENTATION__UTIL_HPP_
 
 #include <cmath>
-#include <string>
 
+namespace autoware
+{
 namespace lidar_apollo_instance_segmentation
 {
 // project point cloud to 2d map. calc in which grid point is.
@@ -58,5 +59,5 @@ inline float Pixel2Pc(int in_pixel, float in_size, float out_range)
   return out_range - (static_cast<float>(in_pixel) + 0.5f) * res;
 }
 }  // namespace lidar_apollo_instance_segmentation
-
-#endif  // LIDAR_APOLLO_INSTANCE_SEGMENTATION__UTIL_HPP_
+}  // namespace autoware
+#endif  // AUTOWARE__LIDAR_APOLLO_INSTANCE_SEGMENTATION__UTIL_HPP_
diff --git a/...r_apollo_instance_segmentation.launch.xml → ...r_apollo_instance_segmentation.launch.xml b/...r_apollo_instance_segmentation.launch.xml → ...r_apollo_instance_segmentation.launch.xml
@@ -10,14 +10,14 @@
 
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
   <arg name="trained_onnx_file" default="$(var data_path)/lidar_apollo_instance_segmentation/$(var base_name).onnx"/>
-  <arg name="param_file" default="$(find-pkg-share lidar_apollo_instance_segmentation)/config/$(var base_name).param.yaml"/>
+  <arg name="param_file" default="$(find-pkg-share autoware_lidar_apollo_instance_segmentation)/config/$(var base_name).param.yaml"/>
 
   <arg name="target_frame" default="base_link"/>
   <arg name="z_offset" default="-2.0"/>
 
   <arg name="precision" default="fp32"/>
 
-  <node pkg="lidar_apollo_instance_segmentation" exec="lidar_apollo_instance_segmentation_node" name="lidar_apollo_instance_segmentation" output="screen">
+  <node pkg="autoware_lidar_apollo_instance_segmentation" exec="autoware_lidar_apollo_instance_segmentation_node" name="lidar_apollo_instance_segmentation" output="screen">
     <remap from="input/pointcloud" to="$(var input/pointcloud)"/>
     <remap from="output/labeled_clusters" to="$(var output/objects)"/>
     <param name="onnx_file" value="$(var trained_onnx_file)"/>

diff --git a/..._apollo_instance_segmentation/package.xml → ..._apollo_instance_segmentation/package.xml b/..._apollo_instance_segmentation/package.xml → ..._apollo_instance_segmentation/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>lidar_apollo_instance_segmentation</name>
+  <name>autoware_lidar_apollo_instance_segmentation</name>
   <version>0.1.0</version>
-  <description>lidar_apollo_instance_segmentation</description>
+  <description>autoware_lidar_apollo_instance_segmentation</description>
   <maintainer email="[email protected]">Yoshi Ri</maintainer>
   <maintainer email="[email protected]">Yukihiro Saito</maintainer>
   <license>Apache License 2.0</license>

diff --git a/...o_instance_segmentation/src/cluster2d.cpp → ...o_instance_segmentation/src/cluster2d.cpp b/...o_instance_segmentation/src/cluster2d.cpp → ...o_instance_segmentation/src/cluster2d.cpp
@@ -44,7 +44,7 @@
  * limitations under the License.
  *****************************************************************************/
 
-#include "lidar_apollo_instance_segmentation/cluster2d.hpp"
+#include "autoware/lidar_apollo_instance_segmentation/cluster2d.hpp"
 
 #include <autoware_perception_msgs/msg/detected_object_kinematics.hpp>
 #include <autoware_perception_msgs/msg/object_classification.hpp>
@@ -54,8 +54,15 @@
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #else
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+
+#include <algorithm>
+#include <cmath>
+#include <vector>
+
 #endif
 
+namespace autoware
+{
 namespace lidar_apollo_instance_segmentation
 {
 geometry_msgs::msg::Quaternion getQuaternionFromRPY(const double r, const double p, const double y)
@@ -377,3 +384,4 @@ void Cluster2D::getObjects(
   objects.header = in_header;
 }
 }  // namespace lidar_apollo_instance_segmentation
+}  // namespace autoware
diff --git a/...lo_instance_segmentation/src/debugger.cpp → ...lo_instance_segmentation/src/debugger.cpp b/...lo_instance_segmentation/src/debugger.cpp → ...lo_instance_segmentation/src/debugger.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "lidar_apollo_instance_segmentation/debugger.hpp"
+#include "autoware/lidar_apollo_instance_segmentation/debugger.hpp"
 
 #include <autoware_perception_msgs/msg/object_classification.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
@@ -21,6 +21,8 @@
 #include <pcl/point_types.h>
 #include <pcl_conversions/pcl_conversions.h>
 
+namespace autoware
+{
 namespace lidar_apollo_instance_segmentation
 {
 Debugger::Debugger(rclcpp::Node * node)
@@ -101,3 +103,4 @@ void Debugger::publishColoredPointCloud(
   instance_pointcloud_pub_->publish(output_msg);
 }
 }  // namespace lidar_apollo_instance_segmentation
+}  // namespace autoware