feat(obstacle_cruise_planner): remove include directory

Signed-off-by: Takayuki Murooka <[email protected]>
autowarefoundation · Jun 17, 2024 · bd4be72 · bd4be72
1 parent 89b3233
commit bd4be72
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Showing 21 changed files with 81 additions and 71 deletions.
diff --git a/...bstacle_cruise_planner/common_structs.hpp → ...cle_cruise_planner/src/common_structs.hpp b/...bstacle_cruise_planner/common_structs.hpp → ...cle_cruise_planner/src/common_structs.hpp
@@ -12,16 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__COMMON_STRUCTS_HPP_
-#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__COMMON_STRUCTS_HPP_
+#ifndef COMMON_STRUCTS_HPP_
+#define COMMON_STRUCTS_HPP_
 
-#include "autoware_obstacle_cruise_planner/type_alias.hpp"
 #include "motion_utils/trajectory/conversion.hpp"
 #include "motion_utils/trajectory/interpolation.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
 #include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp"
 #include "tier4_autoware_utils/ros/update_param.hpp"
 #include "tier4_autoware_utils/ros/uuid_helper.hpp"
+#include "type_alias.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -302,4 +302,4 @@ struct EgoNearestParam
   double yaw_threshold;
 };
 
-#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__COMMON_STRUCTS_HPP_
+#endif  // COMMON_STRUCTS_HPP_
diff --git a/planning/autoware_obstacle_cruise_planner/src/node.cpp b/planning/autoware_obstacle_cruise_planner/src/node.cpp
@@ -12,21 +12,23 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware_obstacle_cruise_planner/node.hpp"
+#include "node.hpp"
 
-#include "autoware_obstacle_cruise_planner/polygon_utils.hpp"
-#include "autoware_obstacle_cruise_planner/utils.hpp"
 #include "motion_utils/resample/resample.hpp"
 #include "motion_utils/trajectory/conversion.hpp"
 #include "object_recognition_utils/predicted_path_utils.hpp"
+#include "polygon_utils.hpp"
 #include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp"
 #include "tier4_autoware_utils/ros/marker_helper.hpp"
 #include "tier4_autoware_utils/ros/update_param.hpp"
+#include "utils.hpp"
 
 #include <boost/format.hpp>
 
 #include <algorithm>
 #include <chrono>
+#include <limits>
+#include <utility>
 
 namespace
 {

diff --git a/...autoware_obstacle_cruise_planner/node.hpp → ...ware_obstacle_cruise_planner/src/node.hpp b/...autoware_obstacle_cruise_planner/node.hpp → ...ware_obstacle_cruise_planner/src/node.hpp
@@ -12,17 +12,17 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__NODE_HPP_
-#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__NODE_HPP_
+#ifndef NODE_HPP_
+#define NODE_HPP_
 
-#include "autoware_obstacle_cruise_planner/common_structs.hpp"
-#include "autoware_obstacle_cruise_planner/optimization_based_planner/optimization_based_planner.hpp"
-#include "autoware_obstacle_cruise_planner/pid_based_planner/pid_based_planner.hpp"
-#include "autoware_obstacle_cruise_planner/type_alias.hpp"
+#include "common_structs.hpp"
+#include "optimization_based_planner/optimization_based_planner.hpp"
+#include "pid_based_planner/pid_based_planner.hpp"
 #include "signal_processing/lowpass_filter_1d.hpp"
 #include "tier4_autoware_utils/ros/logger_level_configure.hpp"
 #include "tier4_autoware_utils/ros/polling_subscriber.hpp"
 #include "tier4_autoware_utils/system/stop_watch.hpp"
+#include "type_alias.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 #include <tier4_autoware_utils/ros/published_time_publisher.hpp>
@@ -280,4 +280,4 @@ class ObstacleCruisePlannerNode : public rclcpp::Node
 };
 }  // namespace autoware::motion_planning
 
-#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__NODE_HPP_
+#endif  // NODE_HPP_
diff --git a/...are_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp b/...are_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp
@@ -12,9 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware_obstacle_cruise_planner/optimization_based_planner/optimization_based_planner.hpp"
+#include "optimization_based_planner/optimization_based_planner.hpp"
 
-#include "autoware_obstacle_cruise_planner/utils.hpp"
 #include "interpolation/linear_interpolation.hpp"
 #include "interpolation/spline_interpolation.hpp"
 #include "interpolation/zero_order_hold.hpp"
@@ -24,6 +23,7 @@
 #include "motion_utils/trajectory/trajectory.hpp"
 #include "tier4_autoware_utils/geometry/geometry.hpp"
 #include "tier4_autoware_utils/ros/marker_helper.hpp"
+#include "utils.hpp"
 
 #ifdef ROS_DISTRO_GALACTIC
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
@@ -33,6 +33,9 @@
 
 #include <tf2/utils.h>
 
+#include <algorithm>
+#include <limits>
+
 constexpr double ZERO_VEL_THRESHOLD = 0.01;
 constexpr double CLOSE_S_DIST_THRESHOLD = 1e-3;
 

diff --git a/...ed_planner/optimization_based_planner.hpp → ...ed_planner/optimization_based_planner.hpp b/...ed_planner/optimization_based_planner.hpp → ...ed_planner/optimization_based_planner.hpp
@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__OPTIMIZATION_BASED_PLANNER_HPP_  // NOLINT
-#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__OPTIMIZATION_BASED_PLANNER_HPP_  // NOLINT
+#ifndef OPTIMIZATION_BASED_PLANNER__OPTIMIZATION_BASED_PLANNER_HPP_  // NOLINT
+#define OPTIMIZATION_BASED_PLANNER__OPTIMIZATION_BASED_PLANNER_HPP_  // NOLINT
 
-#include "autoware_obstacle_cruise_planner/optimization_based_planner/s_boundary.hpp"
-#include "autoware_obstacle_cruise_planner/optimization_based_planner/velocity_optimizer.hpp"
-#include "autoware_obstacle_cruise_planner/planner_interface.hpp"
-#include "autoware_obstacle_cruise_planner/type_alias.hpp"
 #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp"
+#include "optimization_based_planner/s_boundary.hpp"
+#include "optimization_based_planner/velocity_optimizer.hpp"
+#include "planner_interface.hpp"
+#include "type_alias.hpp"
 
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
@@ -118,5 +118,5 @@ class OptimizationBasedPlanner : public PlannerInterface
   double stop_dist_to_prohibit_engage_;
 };
 // clang-format off
-#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__OPTIMIZATION_BASED_PLANNER_HPP_  // NOLINT
+#endif  // OPTIMIZATION_BASED_PLANNER__OPTIMIZATION_BASED_PLANNER_HPP_  // NOLINT
 // clang-format on
diff --git a/...optimization_based_planner/s_boundary.hpp → ...optimization_based_planner/s_boundary.hpp b/...optimization_based_planner/s_boundary.hpp → ...optimization_based_planner/s_boundary.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 AUTOWARE_OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__S_BOUNDARY_HPP_
-#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__S_BOUNDARY_HPP_
+#ifndef OPTIMIZATION_BASED_PLANNER__S_BOUNDARY_HPP_
+#define OPTIMIZATION_BASED_PLANNER__S_BOUNDARY_HPP_
 
 #include <limits>
 #include <vector>
@@ -30,4 +30,4 @@ class SBoundary
 
 using SBoundaries = std::vector<SBoundary>;
 
-#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__S_BOUNDARY_HPP_
+#endif  // OPTIMIZATION_BASED_PLANNER__S_BOUNDARY_HPP_
diff --git a/...ng/autoware_obstacle_cruise_planner/src/optimization_based_planner/velocity_optimizer.cpp b/...ng/autoware_obstacle_cruise_planner/src/optimization_based_planner/velocity_optimizer.cpp
@@ -12,10 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware_obstacle_cruise_planner/optimization_based_planner/velocity_optimizer.hpp"
+#include "optimization_based_planner/velocity_optimizer.hpp"
 
 #include <Eigen/Core>
 
+#include <algorithm>
 #include <iostream>
 
 VelocityOptimizer::VelocityOptimizer(

diff --git a/...tion_based_planner/velocity_optimizer.hpp → ...tion_based_planner/velocity_optimizer.hpp b/...tion_based_planner/velocity_optimizer.hpp → ...tion_based_planner/velocity_optimizer.hpp
@@ -11,10 +11,10 @@
 // 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 AUTOWARE_OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__VELOCITY_OPTIMIZER_HPP_
-#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__VELOCITY_OPTIMIZER_HPP_
+#ifndef OPTIMIZATION_BASED_PLANNER__VELOCITY_OPTIMIZER_HPP_
+#define OPTIMIZATION_BASED_PLANNER__VELOCITY_OPTIMIZER_HPP_
 
-#include "autoware_obstacle_cruise_planner/optimization_based_planner/s_boundary.hpp"
+#include "optimization_based_planner/s_boundary.hpp"
 #include "osqp_interface/osqp_interface.hpp"
 
 #include <vector>
@@ -72,4 +72,4 @@ class VelocityOptimizer
   autoware::common::osqp::OSQPInterface qp_solver_;
 };
 
-#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__OPTIMIZATION_BASED_PLANNER__VELOCITY_OPTIMIZER_HPP_
+#endif  // OPTIMIZATION_BASED_PLANNER__VELOCITY_OPTIMIZER_HPP_
diff --git a/...ed_planner/cruise_planning_debug_info.hpp → ...ed_planner/cruise_planning_debug_info.hpp b/...ed_planner/cruise_planning_debug_info.hpp → ...ed_planner/cruise_planning_debug_info.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__CRUISE_PLANNING_DEBUG_INFO_HPP_
-#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__CRUISE_PLANNING_DEBUG_INFO_HPP_
+#ifndef PID_BASED_PLANNER__CRUISE_PLANNING_DEBUG_INFO_HPP_
+#define PID_BASED_PLANNER__CRUISE_PLANNING_DEBUG_INFO_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -94,4 +94,4 @@ class CruisePlanningDebugInfo
   std::array<double, static_cast<int>(TYPE::SIZE)> info_;
 };
 
-#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__CRUISE_PLANNING_DEBUG_INFO_HPP_
+#endif  // PID_BASED_PLANNER__CRUISE_PLANNING_DEBUG_INFO_HPP_
diff --git a/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp b/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp
@@ -12,17 +12,19 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware_obstacle_cruise_planner/pid_based_planner/pid_based_planner.hpp"
+#include "pid_based_planner/pid_based_planner.hpp"
 
-#include "autoware_obstacle_cruise_planner/utils.hpp"
 #include "interpolation/spline_interpolation.hpp"
 #include "motion_utils/marker/marker_helper.hpp"
 #include "tier4_autoware_utils/geometry/geometry.hpp"
 #include "tier4_autoware_utils/ros/marker_helper.hpp"
 #include "tier4_autoware_utils/ros/update_param.hpp"
+#include "utils.hpp"
 
 #include "tier4_planning_msgs/msg/velocity_limit.hpp"
 
+#include <algorithm>
+#include <string>
 namespace
 {
 VelocityLimit createVelocityLimitMsg(

diff --git a/...r/pid_based_planner/pid_based_planner.hpp → ...c/pid_based_planner/pid_based_planner.hpp b/...r/pid_based_planner/pid_based_planner.hpp → ...c/pid_based_planner/pid_based_planner.hpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__PID_BASED_PLANNER_HPP_
-#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__PID_BASED_PLANNER_HPP_
+#ifndef PID_BASED_PLANNER__PID_BASED_PLANNER_HPP_
+#define PID_BASED_PLANNER__PID_BASED_PLANNER_HPP_
 
-#include "autoware_obstacle_cruise_planner/pid_based_planner/cruise_planning_debug_info.hpp"
-#include "autoware_obstacle_cruise_planner/pid_based_planner/pid_controller.hpp"
-#include "autoware_obstacle_cruise_planner/planner_interface.hpp"
+#include "pid_based_planner/cruise_planning_debug_info.hpp"
+#include "pid_based_planner/pid_controller.hpp"
+#include "planner_interface.hpp"
 #include "signal_processing/lowpass_filter_1d.hpp"
 
 #include "visualization_msgs/msg/marker_array.hpp"
@@ -137,4 +137,4 @@ class PIDBasedPlanner : public PlannerInterface
   std::function<double(double)> error_func_;
 };
 
-#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__PID_BASED_PLANNER_HPP_
+#endif  // PID_BASED_PLANNER__PID_BASED_PLANNER_HPP_
diff --git a/...nner/pid_based_planner/pid_controller.hpp → .../src/pid_based_planner/pid_controller.hpp b/...nner/pid_based_planner/pid_controller.hpp → .../src/pid_based_planner/pid_controller.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__PID_CONTROLLER_HPP_
-#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__PID_CONTROLLER_HPP_
+#ifndef PID_BASED_PLANNER__PID_CONTROLLER_HPP_
+#define PID_BASED_PLANNER__PID_CONTROLLER_HPP_
 
 #include <optional>
 
@@ -59,4 +59,4 @@ class PIDController
   std::optional<double> prev_error_;
 };
 
-#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__PID_BASED_PLANNER__PID_CONTROLLER_HPP_
+#endif  // PID_BASED_PLANNER__PID_CONTROLLER_HPP_
diff --git a/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp b/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware_obstacle_cruise_planner/planner_interface.hpp"
+#include "planner_interface.hpp"
 
 #include "motion_utils/distance/distance.hpp"
 #include "motion_utils/marker/marker_helper.hpp"

diff --git a/...acle_cruise_planner/planner_interface.hpp → ..._cruise_planner/src/planner_interface.hpp b/...acle_cruise_planner/planner_interface.hpp → ..._cruise_planner/src/planner_interface.hpp
@@ -12,16 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__PLANNER_INTERFACE_HPP_
-#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__PLANNER_INTERFACE_HPP_
+#ifndef PLANNER_INTERFACE_HPP_
+#define PLANNER_INTERFACE_HPP_
 
-#include "autoware_obstacle_cruise_planner/common_structs.hpp"
-#include "autoware_obstacle_cruise_planner/stop_planning_debug_info.hpp"
-#include "autoware_obstacle_cruise_planner/type_alias.hpp"
-#include "autoware_obstacle_cruise_planner/utils.hpp"
+#include "common_structs.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
+#include "stop_planning_debug_info.hpp"
 #include "tier4_autoware_utils/ros/update_param.hpp"
 #include "tier4_autoware_utils/system/stop_watch.hpp"
+#include "type_alias.hpp"
+#include "utils.hpp"
 
 #include <algorithm>
 #include <limits>
@@ -425,4 +425,4 @@ class PlannerInterface
     std::nullopt};
 };
 
-#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__PLANNER_INTERFACE_HPP_
+#endif  // PLANNER_INTERFACE_HPP_
diff --git a/planning/autoware_obstacle_cruise_planner/src/polygon_utils.cpp b/planning/autoware_obstacle_cruise_planner/src/polygon_utils.cpp
@@ -12,12 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware_obstacle_cruise_planner/polygon_utils.hpp"
+#include "polygon_utils.hpp"
 
 #include "motion_utils/trajectory/trajectory.hpp"
 #include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp"
 #include "tier4_autoware_utils/geometry/geometry.hpp"
 
+#include <algorithm>
+
 namespace
 {
 PointWithStamp calcNearestCollisionPoint(

diff --git a/...obstacle_cruise_planner/polygon_utils.hpp → ...acle_cruise_planner/src/polygon_utils.hpp b/...obstacle_cruise_planner/polygon_utils.hpp → ...acle_cruise_planner/src/polygon_utils.hpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__POLYGON_UTILS_HPP_
-#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__POLYGON_UTILS_HPP_
+#ifndef POLYGON_UTILS_HPP_
+#define POLYGON_UTILS_HPP_
 
-#include "autoware_obstacle_cruise_planner/common_structs.hpp"
-#include "autoware_obstacle_cruise_planner/type_alias.hpp"
 #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp"
+#include "common_structs.hpp"
 #include "tier4_autoware_utils/geometry/boost_geometry.hpp"
+#include "type_alias.hpp"
 
 #include <boost/geometry.hpp>
 
@@ -52,4 +52,4 @@ std::vector<PointWithStamp> getCollisionPoints(
 
 }  // namespace polygon_utils
 
-#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__POLYGON_UTILS_HPP_
+#endif  // POLYGON_UTILS_HPP_
diff --git a/...uise_planner/stop_planning_debug_info.hpp → ..._planner/src/stop_planning_debug_info.hpp b/...uise_planner/stop_planning_debug_info.hpp → ..._planner/src/stop_planning_debug_info.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__STOP_PLANNING_DEBUG_INFO_HPP_
-#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__STOP_PLANNING_DEBUG_INFO_HPP_
+#ifndef STOP_PLANNING_DEBUG_INFO_HPP_
+#define STOP_PLANNING_DEBUG_INFO_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -85,4 +85,4 @@ class StopPlanningDebugInfo
   std::array<double, static_cast<int>(TYPE::SIZE)> info_;
 };
 
-#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__STOP_PLANNING_DEBUG_INFO_HPP_
+#endif  // STOP_PLANNING_DEBUG_INFO_HPP_
diff --git a/...re_obstacle_cruise_planner/type_alias.hpp → ...bstacle_cruise_planner/src/type_alias.hpp b/...re_obstacle_cruise_planner/type_alias.hpp → ...bstacle_cruise_planner/src/type_alias.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_OBSTACLE_CRUISE_PLANNER__TYPE_ALIAS_HPP_
-#define AUTOWARE_OBSTACLE_CRUISE_PLANNER__TYPE_ALIAS_HPP_
+#ifndef TYPE_ALIAS_HPP_
+#define TYPE_ALIAS_HPP_
 
 #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp"
 
@@ -63,4 +63,4 @@ namespace bg = boost::geometry;
 using tier4_autoware_utils::Point2d;
 using tier4_autoware_utils::Polygon2d;
 
-#endif  // AUTOWARE_OBSTACLE_CRUISE_PLANNER__TYPE_ALIAS_HPP_
+#endif  // TYPE_ALIAS_HPP_
diff --git a/planning/autoware_obstacle_cruise_planner/src/utils.cpp b/planning/autoware_obstacle_cruise_planner/src/utils.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware_obstacle_cruise_planner/utils.hpp"
+#include "utils.hpp"
 
 #include "object_recognition_utils/predicted_path_utils.hpp"
 #include "tier4_autoware_utils/ros/marker_helper.hpp"