From 7675b06cfd6ad1782a6417075dda2f5ed85ab804 Mon Sep 17 00:00:00 2001
From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com>
Date: Wed, 24 Jul 2024 08:27:12 +0900
Subject: [PATCH] refactor(shape_estimation): add package name prefix of
 autoware_ (#7999)

* refactor(shape_estimation): add package name prefix of autoware_

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* style(pre-commit): autofix

* fix: mising prefix

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* fix: cmake

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

---------

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
---
 .github/CODEOWNERS                                            | 2 +-
 .../detection/detector/camera_lidar_detector.launch.xml       | 4 ++--
 .../detection/detector/lidar_dnn_detector.launch.xml          | 2 +-
 .../detection/detector/lidar_rule_detector.launch.xml         | 2 +-
 launch/tier4_perception_launch/package.xml                    | 2 +-
 perception/autoware_detection_by_tracker/package.xml          | 2 +-
 .../CMakeLists.txt                                            | 4 ++--
 .../{shape_estimation => autoware_shape_estimation}/README.md | 4 ++--
 .../config/shape_estimation.param.yaml                        | 0
 .../autoware/shape_estimation/corrector/bicycle_corrector.hpp | 0
 .../autoware/shape_estimation/corrector/bus_corrector.hpp     | 0
 .../autoware/shape_estimation/corrector/car_corrector.hpp     | 0
 .../include/autoware/shape_estimation/corrector/corrector.hpp | 0
 .../shape_estimation/corrector/corrector_interface.hpp        | 0
 .../autoware/shape_estimation/corrector/no_corrector.hpp      | 0
 .../corrector/reference_shape_size_corrector.hpp              | 0
 .../autoware/shape_estimation/corrector/trailer_corrector.hpp | 0
 .../autoware/shape_estimation/corrector/truck_corrector.hpp   | 0
 .../include/autoware/shape_estimation/corrector/utils.hpp     | 0
 .../autoware/shape_estimation/corrector/vehicle_corrector.hpp | 0
 .../include/autoware/shape_estimation/filter/bus_filter.hpp   | 0
 .../include/autoware/shape_estimation/filter/car_filter.hpp   | 0
 .../include/autoware/shape_estimation/filter/filter.hpp       | 0
 .../autoware/shape_estimation/filter/filter_interface.hpp     | 0
 .../include/autoware/shape_estimation/filter/no_filter.hpp    | 0
 .../autoware/shape_estimation/filter/trailer_filter.hpp       | 0
 .../include/autoware/shape_estimation/filter/truck_filter.hpp | 0
 .../include/autoware/shape_estimation/filter/utils.hpp        | 0
 .../include/autoware/shape_estimation/model/bounding_box.hpp  | 0
 .../include/autoware/shape_estimation/model/convex_hull.hpp   | 0
 .../include/autoware/shape_estimation/model/cylinder.hpp      | 0
 .../include/autoware/shape_estimation/model/model.hpp         | 0
 .../autoware/shape_estimation/model/model_interface.hpp       | 0
 .../include/autoware/shape_estimation/shape_estimator.hpp     | 0
 .../launch/shape_estimation.launch.xml                        | 4 ++--
 .../lib/corrector/no_corrector.cpp                            | 0
 .../lib/corrector/utils.cpp                                   | 0
 .../lib/filter/bus_filter.cpp                                 | 0
 .../lib/filter/car_filter.cpp                                 | 0
 .../lib/filter/no_filter.cpp                                  | 0
 .../lib/filter/trailer_filter.cpp                             | 0
 .../lib/filter/truck_filter.cpp                               | 0
 .../lib/filter/utils.cpp                                      | 0
 .../lib/model/bounding_box.cpp                                | 0
 .../lib/model/convex_hull.cpp                                 | 0
 .../lib/model/cylinder.cpp                                    | 0
 .../lib/shape_estimator.cpp                                   | 0
 .../package.xml                                               | 2 +-
 .../schema/shape_estimation.schema.json                       | 0
 .../src/shape_estimation_node.cpp                             | 0
 .../src/shape_estimation_node.hpp                             | 0
 .../test/shape_estimation/test_shape_estimator.cpp            | 0
 .../test/test_shape_estimation.cpp                            | 0
 .../launch/dummy_perception_publisher.launch.xml              | 2 +-
 54 files changed, 15 insertions(+), 15 deletions(-)
 rename perception/{shape_estimation => autoware_shape_estimation}/CMakeLists.txt (97%)
 rename perception/{shape_estimation => autoware_shape_estimation}/README.md (94%)
 rename perception/{shape_estimation => autoware_shape_estimation}/config/shape_estimation.param.yaml (100%)
 rename perception/{shape_estimation => autoware_shape_estimation}/include/autoware/shape_estimation/corrector/bicycle_corrector.hpp (100%)
 rename perception/{shape_estimation => autoware_shape_estimation}/include/autoware/shape_estimation/corrector/bus_corrector.hpp (100%)
 rename perception/{shape_estimation => autoware_shape_estimation}/include/autoware/shape_estimation/corrector/car_corrector.hpp (100%)
 rename perception/{shape_estimation => autoware_shape_estimation}/include/autoware/shape_estimation/corrector/corrector.hpp (100%)
 rename perception/{shape_estimation => autoware_shape_estimation}/include/autoware/shape_estimation/corrector/corrector_interface.hpp (100%)
 rename perception/{shape_estimation => autoware_shape_estimation}/include/autoware/shape_estimation/corrector/no_corrector.hpp (100%)
 rename perception/{shape_estimation => autoware_shape_estimation}/include/autoware/shape_estimation/corrector/reference_shape_size_corrector.hpp (100%)
 rename perception/{shape_estimation => autoware_shape_estimation}/include/autoware/shape_estimation/corrector/trailer_corrector.hpp (100%)
 rename perception/{shape_estimation => autoware_shape_estimation}/include/autoware/shape_estimation/corrector/truck_corrector.hpp (100%)
 rename perception/{shape_estimation => autoware_shape_estimation}/include/autoware/shape_estimation/corrector/utils.hpp (100%)
 rename perception/{shape_estimation => autoware_shape_estimation}/include/autoware/shape_estimation/corrector/vehicle_corrector.hpp (100%)
 rename perception/{shape_estimation => autoware_shape_estimation}/include/autoware/shape_estimation/filter/bus_filter.hpp (100%)
 rename perception/{shape_estimation => autoware_shape_estimation}/include/autoware/shape_estimation/filter/car_filter.hpp (100%)
 rename perception/{shape_estimation => autoware_shape_estimation}/include/autoware/shape_estimation/filter/filter.hpp (100%)
 rename perception/{shape_estimation => autoware_shape_estimation}/include/autoware/shape_estimation/filter/filter_interface.hpp (100%)
 rename perception/{shape_estimation => autoware_shape_estimation}/include/autoware/shape_estimation/filter/no_filter.hpp (100%)
 rename perception/{shape_estimation => autoware_shape_estimation}/include/autoware/shape_estimation/filter/trailer_filter.hpp (100%)
 rename perception/{shape_estimation => autoware_shape_estimation}/include/autoware/shape_estimation/filter/truck_filter.hpp (100%)
 rename perception/{shape_estimation => autoware_shape_estimation}/include/autoware/shape_estimation/filter/utils.hpp (100%)
 rename perception/{shape_estimation => autoware_shape_estimation}/include/autoware/shape_estimation/model/bounding_box.hpp (100%)
 rename perception/{shape_estimation => autoware_shape_estimation}/include/autoware/shape_estimation/model/convex_hull.hpp (100%)
 rename perception/{shape_estimation => autoware_shape_estimation}/include/autoware/shape_estimation/model/cylinder.hpp (100%)
 rename perception/{shape_estimation => autoware_shape_estimation}/include/autoware/shape_estimation/model/model.hpp (100%)
 rename perception/{shape_estimation => autoware_shape_estimation}/include/autoware/shape_estimation/model/model_interface.hpp (100%)
 rename perception/{shape_estimation => autoware_shape_estimation}/include/autoware/shape_estimation/shape_estimator.hpp (100%)
 rename perception/{shape_estimation => autoware_shape_estimation}/launch/shape_estimation.launch.xml (62%)
 rename perception/{shape_estimation => autoware_shape_estimation}/lib/corrector/no_corrector.cpp (100%)
 rename perception/{shape_estimation => autoware_shape_estimation}/lib/corrector/utils.cpp (100%)
 rename perception/{shape_estimation => autoware_shape_estimation}/lib/filter/bus_filter.cpp (100%)
 rename perception/{shape_estimation => autoware_shape_estimation}/lib/filter/car_filter.cpp (100%)
 rename perception/{shape_estimation => autoware_shape_estimation}/lib/filter/no_filter.cpp (100%)
 rename perception/{shape_estimation => autoware_shape_estimation}/lib/filter/trailer_filter.cpp (100%)
 rename perception/{shape_estimation => autoware_shape_estimation}/lib/filter/truck_filter.cpp (100%)
 rename perception/{shape_estimation => autoware_shape_estimation}/lib/filter/utils.cpp (100%)
 rename perception/{shape_estimation => autoware_shape_estimation}/lib/model/bounding_box.cpp (100%)
 rename perception/{shape_estimation => autoware_shape_estimation}/lib/model/convex_hull.cpp (100%)
 rename perception/{shape_estimation => autoware_shape_estimation}/lib/model/cylinder.cpp (100%)
 rename perception/{shape_estimation => autoware_shape_estimation}/lib/shape_estimator.cpp (100%)
 rename perception/{shape_estimation => autoware_shape_estimation}/package.xml (96%)
 rename perception/{shape_estimation => autoware_shape_estimation}/schema/shape_estimation.schema.json (100%)
 rename perception/{shape_estimation => autoware_shape_estimation}/src/shape_estimation_node.cpp (100%)
 rename perception/{shape_estimation => autoware_shape_estimation}/src/shape_estimation_node.hpp (100%)
 rename perception/{shape_estimation => autoware_shape_estimation}/test/shape_estimation/test_shape_estimator.cpp (100%)
 rename perception/{shape_estimation => autoware_shape_estimation}/test/test_shape_estimation.cpp (100%)

diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index 2aa4240652244..44efd809f3f08 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -134,7 +134,7 @@ perception/occupancy_grid_map_outlier_filter/** abrahammonrroy@yahoo.com yoshi.r
 perception/probabilistic_occupancy_grid_map/** mamoru.sobue@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/radar_tracks_msgs_converter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
 perception/autoware_raindrop_cluster_filter/** dai.nguyen@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
-perception/shape_estimation/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
+perception/autoware_shape_estimation/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/simple_object_merger/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp
 perception/autoware_tensorrt_classifier/** kotaro.uetake@tier4.jp shunsuke.miura@tier4.jp
 perception/tensorrt_yolox/** dan.umeda@tier4.jp manato.hirabayashi@tier4.jp
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
index 3fcf4eeb9db8a..8b2d6ab79bf57 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
@@ -166,7 +166,7 @@
     </group>
 
     <group>
-      <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
+      <include file="$(find-pkg-share autoware_shape_estimation)/launch/shape_estimation.launch.xml">
         <arg name="input/objects" value="clusters"/>
         <arg name="output/objects" value="objects_with_feature"/>
       </include>
@@ -222,7 +222,7 @@
       <group>
         <let name="shape_estimation/input" value="filtered/clusters" if="$(var use_low_intensity_cluster_filter)"/>
         <let name="shape_estimation/input" value="clusters" unless="$(var use_low_intensity_cluster_filter)"/>
-        <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
+        <include file="$(find-pkg-share autoware_shape_estimation)/launch/shape_estimation.launch.xml">
           <arg name="input/objects" value="$(var shape_estimation/input)"/>
           <arg name="output/objects" value="objects_with_feature"/>
         </include>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
index 52af37150cea5..d60de26341a0a 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
@@ -66,7 +66,7 @@
     </group>
 
     <group>
-      <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
+      <include file="$(find-pkg-share autoware_shape_estimation)/launch/shape_estimation.launch.xml">
         <arg name="input/objects" value="labeled_clusters"/>
         <arg name="output/objects" value="objects_with_feature"/>
         <arg name="use_vehicle_reference_yaw" value="true"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
index abfe692ed6e70..76ed8ad5b2700 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
@@ -21,7 +21,7 @@
     </group>
 
     <group>
-      <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
+      <include file="$(find-pkg-share autoware_shape_estimation)/launch/shape_estimation.launch.xml">
         <arg name="input/objects" value="clusters"/>
         <arg name="output/objects" value="objects_with_feature"/>
       </include>
diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml
index 0e99bd5af69d9..018b4142547d0 100644
--- a/launch/tier4_perception_launch/package.xml
+++ b/launch/tier4_perception_launch/package.xml
@@ -31,6 +31,7 @@
   <exec_depend>autoware_radar_object_clustering</exec_depend>
   <exec_depend>autoware_radar_object_tracker</exec_depend>
   <exec_depend>autoware_raindrop_cluster_filter</exec_depend>
+  <exec_depend>autoware_shape_estimation</exec_depend>
   <exec_depend>autoware_tracking_object_merger</exec_depend>
   <exec_depend>compare_map_segmentation</exec_depend>
   <exec_depend>elevation_map_loader</exec_depend>
@@ -40,7 +41,6 @@
   <exec_depend>occupancy_grid_map_outlier_filter</exec_depend>
   <exec_depend>pointcloud_to_laserscan</exec_depend>
   <exec_depend>probabilistic_occupancy_grid_map</exec_depend>
-  <exec_depend>shape_estimation</exec_depend>
   <exec_depend>topic_tools</exec_depend>
   <exec_depend>traffic_light_arbiter</exec_depend>
   <exec_depend>traffic_light_classifier</exec_depend>
diff --git a/perception/autoware_detection_by_tracker/package.xml b/perception/autoware_detection_by_tracker/package.xml
index dd5a719e70270..6f23baeefbd3e 100644
--- a/perception/autoware_detection_by_tracker/package.xml
+++ b/perception/autoware_detection_by_tracker/package.xml
@@ -14,12 +14,12 @@
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
   <depend>autoware_euclidean_cluster</depend>
+  <depend>autoware_shape_estimation</depend>
   <depend>autoware_universe_utils</depend>
   <depend>eigen</depend>
   <depend>object_recognition_utils</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
-  <depend>shape_estimation</depend>
   <depend>tf2</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
diff --git a/perception/shape_estimation/CMakeLists.txt b/perception/autoware_shape_estimation/CMakeLists.txt
similarity index 97%
rename from perception/shape_estimation/CMakeLists.txt
rename to perception/autoware_shape_estimation/CMakeLists.txt
index 21517f8c0f766..b19f422c28d27 100644
--- a/perception/shape_estimation/CMakeLists.txt
+++ b/perception/autoware_shape_estimation/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(shape_estimation)
+project(autoware_shape_estimation)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
@@ -54,7 +54,7 @@ target_include_directories(${PROJECT_NAME}
 ament_target_dependencies(${PROJECT_NAME} ${SHAPE_ESTIMATION_DEPENDENCIES})
 
 target_link_libraries(${PROJECT_NAME}
-  shape_estimation_lib
+  ${PROJECT_NAME}_lib
 )
 
 rclcpp_components_register_node(${PROJECT_NAME}
diff --git a/perception/shape_estimation/README.md b/perception/autoware_shape_estimation/README.md
similarity index 94%
rename from perception/shape_estimation/README.md
rename to perception/autoware_shape_estimation/README.md
index 9615b314f62c6..5f184c32f1805 100644
--- a/perception/shape_estimation/README.md
+++ b/perception/autoware_shape_estimation/README.md
@@ -1,4 +1,4 @@
-# shape_estimation
+# autoware_shape_estimation
 
 ## Purpose
 
@@ -36,7 +36,7 @@ This node calculates a refined object shape (bounding box, cylinder, convex hull
 
 ## Parameters
 
-{{ json_to_markdown("perception/autoware/shape_estimation/schema/shape_estimation.schema.json") }}
+{{ json_to_markdown("perception/autoware_shape_estimation/schema/shape_estimation.schema.json") }}
 
 ## Assumptions / Known limits
 
diff --git a/perception/shape_estimation/config/shape_estimation.param.yaml b/perception/autoware_shape_estimation/config/shape_estimation.param.yaml
similarity index 100%
rename from perception/shape_estimation/config/shape_estimation.param.yaml
rename to perception/autoware_shape_estimation/config/shape_estimation.param.yaml
diff --git a/perception/shape_estimation/include/autoware/shape_estimation/corrector/bicycle_corrector.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/bicycle_corrector.hpp
similarity index 100%
rename from perception/shape_estimation/include/autoware/shape_estimation/corrector/bicycle_corrector.hpp
rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/bicycle_corrector.hpp
diff --git a/perception/shape_estimation/include/autoware/shape_estimation/corrector/bus_corrector.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/bus_corrector.hpp
similarity index 100%
rename from perception/shape_estimation/include/autoware/shape_estimation/corrector/bus_corrector.hpp
rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/bus_corrector.hpp
diff --git a/perception/shape_estimation/include/autoware/shape_estimation/corrector/car_corrector.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/car_corrector.hpp
similarity index 100%
rename from perception/shape_estimation/include/autoware/shape_estimation/corrector/car_corrector.hpp
rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/car_corrector.hpp
diff --git a/perception/shape_estimation/include/autoware/shape_estimation/corrector/corrector.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/corrector.hpp
similarity index 100%
rename from perception/shape_estimation/include/autoware/shape_estimation/corrector/corrector.hpp
rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/corrector.hpp
diff --git a/perception/shape_estimation/include/autoware/shape_estimation/corrector/corrector_interface.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/corrector_interface.hpp
similarity index 100%
rename from perception/shape_estimation/include/autoware/shape_estimation/corrector/corrector_interface.hpp
rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/corrector_interface.hpp
diff --git a/perception/shape_estimation/include/autoware/shape_estimation/corrector/no_corrector.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/no_corrector.hpp
similarity index 100%
rename from perception/shape_estimation/include/autoware/shape_estimation/corrector/no_corrector.hpp
rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/no_corrector.hpp
diff --git a/perception/shape_estimation/include/autoware/shape_estimation/corrector/reference_shape_size_corrector.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/reference_shape_size_corrector.hpp
similarity index 100%
rename from perception/shape_estimation/include/autoware/shape_estimation/corrector/reference_shape_size_corrector.hpp
rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/reference_shape_size_corrector.hpp
diff --git a/perception/shape_estimation/include/autoware/shape_estimation/corrector/trailer_corrector.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/trailer_corrector.hpp
similarity index 100%
rename from perception/shape_estimation/include/autoware/shape_estimation/corrector/trailer_corrector.hpp
rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/trailer_corrector.hpp
diff --git a/perception/shape_estimation/include/autoware/shape_estimation/corrector/truck_corrector.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/truck_corrector.hpp
similarity index 100%
rename from perception/shape_estimation/include/autoware/shape_estimation/corrector/truck_corrector.hpp
rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/truck_corrector.hpp
diff --git a/perception/shape_estimation/include/autoware/shape_estimation/corrector/utils.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/utils.hpp
similarity index 100%
rename from perception/shape_estimation/include/autoware/shape_estimation/corrector/utils.hpp
rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/utils.hpp
diff --git a/perception/shape_estimation/include/autoware/shape_estimation/corrector/vehicle_corrector.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/vehicle_corrector.hpp
similarity index 100%
rename from perception/shape_estimation/include/autoware/shape_estimation/corrector/vehicle_corrector.hpp
rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/corrector/vehicle_corrector.hpp
diff --git a/perception/shape_estimation/include/autoware/shape_estimation/filter/bus_filter.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/filter/bus_filter.hpp
similarity index 100%
rename from perception/shape_estimation/include/autoware/shape_estimation/filter/bus_filter.hpp
rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/filter/bus_filter.hpp
diff --git a/perception/shape_estimation/include/autoware/shape_estimation/filter/car_filter.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/filter/car_filter.hpp
similarity index 100%
rename from perception/shape_estimation/include/autoware/shape_estimation/filter/car_filter.hpp
rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/filter/car_filter.hpp
diff --git a/perception/shape_estimation/include/autoware/shape_estimation/filter/filter.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/filter/filter.hpp
similarity index 100%
rename from perception/shape_estimation/include/autoware/shape_estimation/filter/filter.hpp
rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/filter/filter.hpp
diff --git a/perception/shape_estimation/include/autoware/shape_estimation/filter/filter_interface.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/filter/filter_interface.hpp
similarity index 100%
rename from perception/shape_estimation/include/autoware/shape_estimation/filter/filter_interface.hpp
rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/filter/filter_interface.hpp
diff --git a/perception/shape_estimation/include/autoware/shape_estimation/filter/no_filter.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/filter/no_filter.hpp
similarity index 100%
rename from perception/shape_estimation/include/autoware/shape_estimation/filter/no_filter.hpp
rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/filter/no_filter.hpp
diff --git a/perception/shape_estimation/include/autoware/shape_estimation/filter/trailer_filter.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/filter/trailer_filter.hpp
similarity index 100%
rename from perception/shape_estimation/include/autoware/shape_estimation/filter/trailer_filter.hpp
rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/filter/trailer_filter.hpp
diff --git a/perception/shape_estimation/include/autoware/shape_estimation/filter/truck_filter.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/filter/truck_filter.hpp
similarity index 100%
rename from perception/shape_estimation/include/autoware/shape_estimation/filter/truck_filter.hpp
rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/filter/truck_filter.hpp
diff --git a/perception/shape_estimation/include/autoware/shape_estimation/filter/utils.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/filter/utils.hpp
similarity index 100%
rename from perception/shape_estimation/include/autoware/shape_estimation/filter/utils.hpp
rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/filter/utils.hpp
diff --git a/perception/shape_estimation/include/autoware/shape_estimation/model/bounding_box.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/model/bounding_box.hpp
similarity index 100%
rename from perception/shape_estimation/include/autoware/shape_estimation/model/bounding_box.hpp
rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/model/bounding_box.hpp
diff --git a/perception/shape_estimation/include/autoware/shape_estimation/model/convex_hull.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/model/convex_hull.hpp
similarity index 100%
rename from perception/shape_estimation/include/autoware/shape_estimation/model/convex_hull.hpp
rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/model/convex_hull.hpp
diff --git a/perception/shape_estimation/include/autoware/shape_estimation/model/cylinder.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/model/cylinder.hpp
similarity index 100%
rename from perception/shape_estimation/include/autoware/shape_estimation/model/cylinder.hpp
rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/model/cylinder.hpp
diff --git a/perception/shape_estimation/include/autoware/shape_estimation/model/model.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/model/model.hpp
similarity index 100%
rename from perception/shape_estimation/include/autoware/shape_estimation/model/model.hpp
rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/model/model.hpp
diff --git a/perception/shape_estimation/include/autoware/shape_estimation/model/model_interface.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/model/model_interface.hpp
similarity index 100%
rename from perception/shape_estimation/include/autoware/shape_estimation/model/model_interface.hpp
rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/model/model_interface.hpp
diff --git a/perception/shape_estimation/include/autoware/shape_estimation/shape_estimator.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/shape_estimator.hpp
similarity index 100%
rename from perception/shape_estimation/include/autoware/shape_estimation/shape_estimator.hpp
rename to perception/autoware_shape_estimation/include/autoware/shape_estimation/shape_estimator.hpp
diff --git a/perception/shape_estimation/launch/shape_estimation.launch.xml b/perception/autoware_shape_estimation/launch/shape_estimation.launch.xml
similarity index 62%
rename from perception/shape_estimation/launch/shape_estimation.launch.xml
rename to perception/autoware_shape_estimation/launch/shape_estimation.launch.xml
index 88cea81412d97..816653013c6c8 100644
--- a/perception/shape_estimation/launch/shape_estimation.launch.xml
+++ b/perception/autoware_shape_estimation/launch/shape_estimation.launch.xml
@@ -3,9 +3,9 @@
   <arg name="output/objects" default="shape_estimated_objects"/>
   <arg name="node_name" default="shape_estimation"/>
   <!-- Parameter -->
-  <arg name="config_file" default="$(find-pkg-share shape_estimation)/config/shape_estimation.param.yaml"/>
+  <arg name="config_file" default="$(find-pkg-share autoware_shape_estimation)/config/shape_estimation.param.yaml"/>
 
-  <node pkg="shape_estimation" exec="shape_estimation_node" name="$(var node_name)" output="screen">
+  <node pkg="autoware_shape_estimation" exec="shape_estimation_node" name="$(var node_name)" output="screen">
     <remap from="input" to="$(var input/objects)"/>
     <remap from="objects" to="$(var output/objects)"/>
     <param from="$(var config_file)"/>
diff --git a/perception/shape_estimation/lib/corrector/no_corrector.cpp b/perception/autoware_shape_estimation/lib/corrector/no_corrector.cpp
similarity index 100%
rename from perception/shape_estimation/lib/corrector/no_corrector.cpp
rename to perception/autoware_shape_estimation/lib/corrector/no_corrector.cpp
diff --git a/perception/shape_estimation/lib/corrector/utils.cpp b/perception/autoware_shape_estimation/lib/corrector/utils.cpp
similarity index 100%
rename from perception/shape_estimation/lib/corrector/utils.cpp
rename to perception/autoware_shape_estimation/lib/corrector/utils.cpp
diff --git a/perception/shape_estimation/lib/filter/bus_filter.cpp b/perception/autoware_shape_estimation/lib/filter/bus_filter.cpp
similarity index 100%
rename from perception/shape_estimation/lib/filter/bus_filter.cpp
rename to perception/autoware_shape_estimation/lib/filter/bus_filter.cpp
diff --git a/perception/shape_estimation/lib/filter/car_filter.cpp b/perception/autoware_shape_estimation/lib/filter/car_filter.cpp
similarity index 100%
rename from perception/shape_estimation/lib/filter/car_filter.cpp
rename to perception/autoware_shape_estimation/lib/filter/car_filter.cpp
diff --git a/perception/shape_estimation/lib/filter/no_filter.cpp b/perception/autoware_shape_estimation/lib/filter/no_filter.cpp
similarity index 100%
rename from perception/shape_estimation/lib/filter/no_filter.cpp
rename to perception/autoware_shape_estimation/lib/filter/no_filter.cpp
diff --git a/perception/shape_estimation/lib/filter/trailer_filter.cpp b/perception/autoware_shape_estimation/lib/filter/trailer_filter.cpp
similarity index 100%
rename from perception/shape_estimation/lib/filter/trailer_filter.cpp
rename to perception/autoware_shape_estimation/lib/filter/trailer_filter.cpp
diff --git a/perception/shape_estimation/lib/filter/truck_filter.cpp b/perception/autoware_shape_estimation/lib/filter/truck_filter.cpp
similarity index 100%
rename from perception/shape_estimation/lib/filter/truck_filter.cpp
rename to perception/autoware_shape_estimation/lib/filter/truck_filter.cpp
diff --git a/perception/shape_estimation/lib/filter/utils.cpp b/perception/autoware_shape_estimation/lib/filter/utils.cpp
similarity index 100%
rename from perception/shape_estimation/lib/filter/utils.cpp
rename to perception/autoware_shape_estimation/lib/filter/utils.cpp
diff --git a/perception/shape_estimation/lib/model/bounding_box.cpp b/perception/autoware_shape_estimation/lib/model/bounding_box.cpp
similarity index 100%
rename from perception/shape_estimation/lib/model/bounding_box.cpp
rename to perception/autoware_shape_estimation/lib/model/bounding_box.cpp
diff --git a/perception/shape_estimation/lib/model/convex_hull.cpp b/perception/autoware_shape_estimation/lib/model/convex_hull.cpp
similarity index 100%
rename from perception/shape_estimation/lib/model/convex_hull.cpp
rename to perception/autoware_shape_estimation/lib/model/convex_hull.cpp
diff --git a/perception/shape_estimation/lib/model/cylinder.cpp b/perception/autoware_shape_estimation/lib/model/cylinder.cpp
similarity index 100%
rename from perception/shape_estimation/lib/model/cylinder.cpp
rename to perception/autoware_shape_estimation/lib/model/cylinder.cpp
diff --git a/perception/shape_estimation/lib/shape_estimator.cpp b/perception/autoware_shape_estimation/lib/shape_estimator.cpp
similarity index 100%
rename from perception/shape_estimation/lib/shape_estimator.cpp
rename to perception/autoware_shape_estimation/lib/shape_estimator.cpp
diff --git a/perception/shape_estimation/package.xml b/perception/autoware_shape_estimation/package.xml
similarity index 96%
rename from perception/shape_estimation/package.xml
rename to perception/autoware_shape_estimation/package.xml
index 8eab542036177..ad226a5cc2f66 100644
--- a/perception/shape_estimation/package.xml
+++ b/perception/autoware_shape_estimation/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>shape_estimation</name>
+  <name>autoware_shape_estimation</name>
   <version>0.1.0</version>
   <description>This package implements a shape estimation algorithm as a ROS 2 node</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
diff --git a/perception/shape_estimation/schema/shape_estimation.schema.json b/perception/autoware_shape_estimation/schema/shape_estimation.schema.json
similarity index 100%
rename from perception/shape_estimation/schema/shape_estimation.schema.json
rename to perception/autoware_shape_estimation/schema/shape_estimation.schema.json
diff --git a/perception/shape_estimation/src/shape_estimation_node.cpp b/perception/autoware_shape_estimation/src/shape_estimation_node.cpp
similarity index 100%
rename from perception/shape_estimation/src/shape_estimation_node.cpp
rename to perception/autoware_shape_estimation/src/shape_estimation_node.cpp
diff --git a/perception/shape_estimation/src/shape_estimation_node.hpp b/perception/autoware_shape_estimation/src/shape_estimation_node.hpp
similarity index 100%
rename from perception/shape_estimation/src/shape_estimation_node.hpp
rename to perception/autoware_shape_estimation/src/shape_estimation_node.hpp
diff --git a/perception/shape_estimation/test/shape_estimation/test_shape_estimator.cpp b/perception/autoware_shape_estimation/test/shape_estimation/test_shape_estimator.cpp
similarity index 100%
rename from perception/shape_estimation/test/shape_estimation/test_shape_estimator.cpp
rename to perception/autoware_shape_estimation/test/shape_estimation/test_shape_estimator.cpp
diff --git a/perception/shape_estimation/test/test_shape_estimation.cpp b/perception/autoware_shape_estimation/test/test_shape_estimation.cpp
similarity index 100%
rename from perception/shape_estimation/test/test_shape_estimation.cpp
rename to perception/autoware_shape_estimation/test/test_shape_estimation.cpp
diff --git a/simulator/dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml b/simulator/dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml
index 67a76b510e1bf..41025f74cbe50 100644
--- a/simulator/dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml
+++ b/simulator/dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml
@@ -24,7 +24,7 @@
         <param name="publish_ground_truth" value="true"/>
         <remap from="output/debug/ground_truth_objects" to="debug/ground_truth_objects"/>
       </node>
-      <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
+      <include file="$(find-pkg-share autoware_shape_estimation)/launch/shape_estimation.launch.xml">
         <arg name="input/objects" value="/perception/object_recognition/detection/labeled_clusters"/>
         <arg name="output/objects" value="/perception/object_recognition/detection/objects_with_feature"/>
       </include>