autowarefoundation · xmfcx · May 27, 2024 · Mar 27, 2024 · Mar 27, 2024 · Apr 9, 2024
diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -157,6 +157,7 @@ perception/traffic_light_multi_camera_fusion/** [email protected] tao.zhon
 perception/traffic_light_occlusion_predictor/** [email protected] [email protected]
 perception/traffic_light_visualization/** [email protected] [email protected]
 planning/autoware_behavior_path_external_request_lane_change_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+planning/autoware_behavior_velocity_planner/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/autoware_planning_test_manager/** [email protected] [email protected]
 planning/autoware_remaining_distance_time_calculator/** [email protected]
 planning/autoware_static_centerline_generator/** [email protected] [email protected]
@@ -179,7 +180,6 @@ planning/behavior_velocity_no_drivable_lane_module/** [email protected]
 planning/behavior_velocity_no_stopping_area_module/** [email protected] [email protected] [email protected]
 planning/behavior_velocity_occlusion_spot_module/** [email protected] [email protected] [email protected]
 planning/behavior_velocity_out_of_lane_module/** [email protected] [email protected] [email protected] [email protected]
-planning/behavior_velocity_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_velocity_planner_common/** [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_run_out_module/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 planning/behavior_velocity_speed_bump_module/** [email protected] [email protected] [email protected]

@@ -220,7 +220,7 @@
       <extra_arg name="use_intra_process_comms" value="false"/>
     </composable_node>
 
-    <composable_node pkg="behavior_velocity_planner" plugin="behavior_velocity_planner::BehaviorVelocityPlannerNode" name="behavior_velocity_planner" namespace="">
+    <composable_node pkg="autoware_behavior_velocity_planner" plugin="autoware::behavior_velocity_planner::BehaviorVelocityPlannerNode" name="behavior_velocity_planner" namespace="">
       <!-- topic remap -->
       <remap from="~/input/path_with_lane_id" to="path_with_lane_id"/>
       <remap from="~/input/vector_map" to="$(var input_vector_map_topic_name)"/>

@@ -57,9 +57,9 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <exec_depend>autoware_behavior_velocity_planner</exec_depend>
   <exec_depend>autoware_remaining_distance_time_calculator</exec_depend>
   <exec_depend>behavior_path_planner</exec_depend>
-  <exec_depend>behavior_velocity_planner</exec_depend>
   <exec_depend>costmap_generator</exec_depend>
   <exec_depend>external_cmd_selector</exec_depend>
   <exec_depend>external_velocity_limit_selector</exec_depend>

diff --git a/planning/.pages b/planning/.pages
@@ -18,7 +18,7 @@ nav:
         - 'Side Shift': planning/behavior_path_side_shift_module
         - 'Start Planner': planning/behavior_path_start_planner_module
   - 'Behavior Velocity Planner':
-    - 'About Behavior Velocity': planning/behavior_velocity_planner
+    - 'About Behavior Velocity': planning/autoware_behavior_velocity_planner
     - 'Template for Custom Module': planning/behavior_velocity_template_module
     - 'Available Module':
         - 'Blind Spot': planning/behavior_velocity_blind_spot_module

diff --git a/.../behavior_velocity_planner/CMakeLists.txt → ..._behavior_velocity_planner/CMakeLists.txt b/.../behavior_velocity_planner/CMakeLists.txt → ..._behavior_velocity_planner/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(behavior_velocity_planner)
+project(autoware_behavior_velocity_planner)
 
 find_package(autoware_cmake REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
@@ -19,7 +19,7 @@ ament_auto_add_library(${PROJECT_NAME}_lib SHARED
 )
 
 rclcpp_components_register_node(${PROJECT_NAME}_lib
-  PLUGIN "behavior_velocity_planner::BehaviorVelocityPlannerNode"
+  PLUGIN "autoware::behavior_velocity_planner::BehaviorVelocityPlannerNode"
   EXECUTABLE ${PROJECT_NAME}_node
 )
 

diff --git a/planning/behavior_velocity_planner/README.md → ...oware_behavior_velocity_planner/README.md b/planning/behavior_velocity_planner/README.md → ...oware_behavior_velocity_planner/README.md
diff --git a/...nfig/behavior_velocity_planner.param.yaml → ...nfig/behavior_velocity_planner.param.yaml b/...nfig/behavior_velocity_planner.param.yaml → ...nfig/behavior_velocity_planner.param.yaml
diff --git a/...orVelocityPlanner-Architecture.drawio.svg → ...orVelocityPlanner-Architecture.drawio.svg b/...orVelocityPlanner-Architecture.drawio.svg → ...orVelocityPlanner-Architecture.drawio.svg
diff --git a/...planner/docs/set_stop_velocity.drawio.svg → ...planner/docs/set_stop_velocity.drawio.svg b/...planner/docs/set_stop_velocity.drawio.svg → ...planner/docs/set_stop_velocity.drawio.svg
diff --git a/...unch/behavior_velocity_planner.launch.xml → ...unch/behavior_velocity_planner.launch.xml b/...unch/behavior_velocity_planner.launch.xml → ...unch/behavior_velocity_planner.launch.xml
@@ -30,7 +30,7 @@
   <!-- <arg name="behavior_velocity_planner_template_module_param_path"/> -->
   <arg name="behavior_velocity_planner_param_file" default="$(find-pkg-share behavior_velocity_planner)/config/behavior_velocity_planner.param.yaml"/>
 
-  <node pkg="behavior_velocity_planner" exec="behavior_velocity_planner_node" name="behavior_velocity_planner" output="screen">
+  <node pkg="autoware_behavior_velocity_planner" exec="behavior_velocity_planner_node" name="behavior_velocity_planner" output="screen">
     <!-- topic remap -->
     <remap from="~/input/path_with_lane_id" to="path_with_lane_id"/>
     <remap from="~/input/vector_map" to="/map/vector_map"/>

diff --git a/...ing/behavior_velocity_planner/package.xml → ...are_behavior_velocity_planner/package.xml b/...ing/behavior_velocity_planner/package.xml → ...are_behavior_velocity_planner/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_velocity_planner</name>
+  <name>autoware_behavior_velocity_planner</name>
   <version>0.1.0</version>
-  <description>The behavior_velocity_planner package</description>
+  <description>The autoware_behavior_velocity_planner package</description>
 
   <maintainer email="[email protected]">Mamoru Sobue</maintainer>
   <maintainer email="[email protected]">Takayuki Murooka</maintainer>

diff --git a/...ema/behavior_velocity_planner.schema.json → ...ema/behavior_velocity_planner.schema.json b/...ema/behavior_velocity_planner.schema.json → ...ema/behavior_velocity_planner.schema.json
diff --git a/...ng/behavior_velocity_planner/src/node.cpp → ...re_behavior_velocity_planner/src/node.cpp b/...ng/behavior_velocity_planner/src/node.cpp → ...re_behavior_velocity_planner/src/node.cpp
@@ -52,7 +52,7 @@ rclcpp::SubscriptionOptions createSubscriptionOptions(rclcpp::Node * node_ptr)
 }
 }  // namespace
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 namespace
 {
@@ -436,14 +436,15 @@ autoware_auto_planning_msgs::msg::Path BehaviorVelocityPlannerNode::generatePath
     std::make_shared<const PlannerData>(planner_data), *input_path_msg);
 
   // screening
-  const auto filtered_path = filterLitterPathPoint(to_path(velocity_planned_path));
+  const auto filtered_path =
+    ::behavior_velocity_planner::filterLitterPathPoint(to_path(velocity_planned_path));
 
   // interpolation
-  const auto interpolated_path_msg =
-    interpolatePath(filtered_path, forward_path_length_, behavior_output_path_interval_);
+  const auto interpolated_path_msg = ::behavior_velocity_planner::interpolatePath(
+    filtered_path, forward_path_length_, behavior_output_path_interval_);
 
   // check stop point
-  output_path_msg = filterStopPathPoint(interpolated_path_msg);
+  output_path_msg = ::behavior_velocity_planner::filterStopPathPoint(interpolated_path_msg);
 
   output_path_msg.header.frame_id = "map";
   output_path_msg.header.stamp = this->now();
@@ -477,7 +478,7 @@ void BehaviorVelocityPlannerNode::publishDebugMarker(
   }
   debug_viz_pub_->publish(output_msg);
 }
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(behavior_velocity_planner::BehaviorVelocityPlannerNode)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::behavior_velocity_planner::BehaviorVelocityPlannerNode)
diff --git a/...ng/behavior_velocity_planner/src/node.hpp → ...re_behavior_velocity_planner/src/node.hpp b/...ng/behavior_velocity_planner/src/node.hpp → ...re_behavior_velocity_planner/src/node.hpp
@@ -18,8 +18,8 @@
 #include "planner_manager.hpp"
 #include "tier4_autoware_utils/ros/logger_level_configure.hpp"
 
-#include <behavior_velocity_planner/srv/load_plugin.hpp>
-#include <behavior_velocity_planner/srv/unload_plugin.hpp>
+#include <autoware_behavior_velocity_planner/srv/load_plugin.hpp>
+#include <autoware_behavior_velocity_planner/srv/unload_plugin.hpp>
 #include <behavior_velocity_planner_common/planner_data.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <tier4_autoware_utils/ros/published_time_publisher.hpp>
@@ -44,11 +44,12 @@
 #include <string>
 #include <vector>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 using autoware_auto_mapping_msgs::msg::HADMapBin;
-using behavior_velocity_planner::srv::LoadPlugin;
-using behavior_velocity_planner::srv::UnloadPlugin;
+using autoware_behavior_velocity_planner::srv::LoadPlugin;
+using autoware_behavior_velocity_planner::srv::UnloadPlugin;
+using ::behavior_velocity_planner::TrafficSignalStamped;
 using tier4_planning_msgs::msg::VelocityLimit;
 
 class BehaviorVelocityPlannerNode : public rclcpp::Node
@@ -134,6 +135,6 @@ class BehaviorVelocityPlannerNode : public rclcpp::Node
 
   std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
 };
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #endif  // NODE_HPP_
diff --git a/..._velocity_planner/src/planner_manager.cpp → ..._velocity_planner/src/planner_manager.cpp b/..._velocity_planner/src/planner_manager.cpp → ..._velocity_planner/src/planner_manager.cpp
@@ -19,7 +19,7 @@
 #include <memory>
 #include <string>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 namespace
 {
@@ -50,7 +50,7 @@ diagnostic_msgs::msg::DiagnosticStatus makeStopReasonDiag(
 }  // namespace
 
 BehaviorVelocityPlannerManager::BehaviorVelocityPlannerManager()
-: plugin_loader_("behavior_velocity_planner", "behavior_velocity_planner::PluginInterface")
+: plugin_loader_("autoware_behavior_velocity_planner", "behavior_velocity_planner::PluginInterface")
 {
 }
 
@@ -128,4 +128,4 @@ diagnostic_msgs::msg::DiagnosticStatus BehaviorVelocityPlannerManager::getStopRe
 {
   return stop_reason_diag_;
 }
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
diff --git a/..._velocity_planner/src/planner_manager.hpp → ..._velocity_planner/src/planner_manager.hpp b/..._velocity_planner/src/planner_manager.hpp → ..._velocity_planner/src/planner_manager.hpp
@@ -36,8 +36,11 @@
 #include <string>
 #include <vector>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
+using ::behavior_velocity_planner::PlannerData;
+using ::behavior_velocity_planner::PluginInterface;
+
 class BehaviorVelocityPlannerManager
 {
 public:
@@ -56,6 +59,6 @@ class BehaviorVelocityPlannerManager
   pluginlib::ClassLoader<PluginInterface> plugin_loader_;
   std::vector<std::shared_ptr<PluginInterface>> scene_manager_plugins_;
 };
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #endif  // PLANNER_MANAGER_HPP_
diff --git a/...avior_velocity_planner/srv/LoadPlugin.srv → ...avior_velocity_planner/srv/LoadPlugin.srv b/...avior_velocity_planner/srv/LoadPlugin.srv → ...avior_velocity_planner/srv/LoadPlugin.srv
diff --git a/...ior_velocity_planner/srv/UnloadPlugin.srv → ...ior_velocity_planner/srv/UnloadPlugin.srv b/...ior_velocity_planner/srv/UnloadPlugin.srv → ...ior_velocity_planner/srv/UnloadPlugin.srv
diff --git a/..._planner/test/src/test_node_interface.cpp → ..._planner/test/src/test_node_interface.cpp b/..._planner/test/src/test_node_interface.cpp → ..._planner/test/src/test_node_interface.cpp
@@ -23,7 +23,7 @@
 #include <cmath>
 #include <vector>
 
-using behavior_velocity_planner::BehaviorVelocityPlannerNode;
+using autoware::behavior_velocity_planner::BehaviorVelocityPlannerNode;
 using planning_test_utils::PlanningInterfaceTestManager;
 
 std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
@@ -50,7 +50,7 @@ std::shared_ptr<BehaviorVelocityPlannerNode> generateNode()
   const auto planning_test_utils_dir =
     ament_index_cpp::get_package_share_directory("planning_test_utils");
   const auto behavior_velocity_planner_dir =
-    ament_index_cpp::get_package_share_directory("behavior_velocity_planner");
+    ament_index_cpp::get_package_share_directory("autoware_behavior_velocity_planner");
   const auto motion_velocity_smoother_dir =
     ament_index_cpp::get_package_share_directory("motion_velocity_smoother");
 

@@ -43,9 +43,9 @@
 
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_behavior_velocity_planner</test_depend>
   <test_depend>autoware_lint_common</test_depend>
   <test_depend>behavior_path_planner</test_depend>
-  <test_depend>behavior_velocity_planner</test_depend>
   <test_depend>ros_testing</test_depend>
 
   <member_of_group>rosidl_interface_packages</member_of_group>

@@ -59,7 +59,7 @@ def generate_test_description():
                 "config/behavior_path_planner.param.yaml",
             ),
             os.path.join(
-                get_package_share_directory("behavior_velocity_planner"),
+                get_package_share_directory("autoware_behavior_velocity_planner"),
                 "config/behavior_velocity_planner.param.yaml",
             ),
             os.path.join(

diff --git a/planning/behavior_velocity_blind_spot_module/CMakeLists.txt b/planning/behavior_velocity_blind_spot_module/CMakeLists.txt
@@ -3,7 +3,7 @@ project(behavior_velocity_blind_spot_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/debug.cpp

diff --git a/planning/behavior_velocity_crosswalk_module/CMakeLists.txt b/planning/behavior_velocity_crosswalk_module/CMakeLists.txt
@@ -3,7 +3,7 @@ project(behavior_velocity_crosswalk_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   DIRECTORY

diff --git a/planning/behavior_velocity_detection_area_module/CMakeLists.txt b/planning/behavior_velocity_detection_area_module/CMakeLists.txt
@@ -3,7 +3,7 @@ project(behavior_velocity_detection_area_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/debug.cpp

diff --git a/planning/behavior_velocity_dynamic_obstacle_stop_module/CMakeLists.txt b/planning/behavior_velocity_dynamic_obstacle_stop_module/CMakeLists.txt
@@ -3,7 +3,7 @@ project(behavior_velocity_dynamic_obstacle_stop_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   DIRECTORY src

diff --git a/planning/behavior_velocity_intersection_module/CMakeLists.txt b/planning/behavior_velocity_intersection_module/CMakeLists.txt
@@ -3,7 +3,7 @@ project(behavior_velocity_intersection_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml)
 
 find_package(OpenCV REQUIRED)
 

diff --git a/planning/behavior_velocity_no_drivable_lane_module/CMakeLists.txt b/planning/behavior_velocity_no_drivable_lane_module/CMakeLists.txt
@@ -3,7 +3,7 @@ project(behavior_velocity_no_drivable_lane_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/debug.cpp

diff --git a/planning/behavior_velocity_no_stopping_area_module/CMakeLists.txt b/planning/behavior_velocity_no_stopping_area_module/CMakeLists.txt
@@ -3,7 +3,7 @@ project(behavior_velocity_no_stopping_area_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/debug.cpp

diff --git a/planning/behavior_velocity_occlusion_spot_module/CMakeLists.txt b/planning/behavior_velocity_occlusion_spot_module/CMakeLists.txt
@@ -3,7 +3,7 @@ project(behavior_velocity_occlusion_spot_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/debug.cpp

diff --git a/planning/behavior_velocity_out_of_lane_module/CMakeLists.txt b/planning/behavior_velocity_out_of_lane_module/CMakeLists.txt
@@ -3,7 +3,7 @@ project(behavior_velocity_out_of_lane_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   DIRECTORY src

diff --git a/planning/behavior_velocity_run_out_module/CMakeLists.txt b/planning/behavior_velocity_run_out_module/CMakeLists.txt
@@ -3,7 +3,7 @@ project(behavior_velocity_run_out_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/debug.cpp

diff --git a/planning/behavior_velocity_speed_bump_module/CMakeLists.txt b/planning/behavior_velocity_speed_bump_module/CMakeLists.txt
@@ -3,7 +3,7 @@ project(behavior_velocity_speed_bump_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/debug.cpp

diff --git a/planning/behavior_velocity_stop_line_module/CMakeLists.txt b/planning/behavior_velocity_stop_line_module/CMakeLists.txt
@@ -3,7 +3,7 @@ project(behavior_velocity_stop_line_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/debug.cpp

diff --git a/planning/behavior_velocity_template_module/CMakeLists.txt b/planning/behavior_velocity_template_module/CMakeLists.txt
@@ -3,7 +3,7 @@ project(behavior_velocity_template_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/manager.cpp

diff --git a/planning/behavior_velocity_traffic_light_module/CMakeLists.txt b/planning/behavior_velocity_traffic_light_module/CMakeLists.txt
@@ -3,7 +3,7 @@ project(behavior_velocity_traffic_light_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/debug.cpp

diff --git a/planning/behavior_velocity_virtual_traffic_light_module/CMakeLists.txt b/planning/behavior_velocity_virtual_traffic_light_module/CMakeLists.txt
@@ -3,7 +3,7 @@ project(behavior_velocity_virtual_traffic_light_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/debug.cpp

diff --git a/planning/behavior_velocity_walkway_module/CMakeLists.txt b/planning/behavior_velocity_walkway_module/CMakeLists.txt
@@ -3,7 +3,7 @@ project(behavior_velocity_walkway_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/debug.cpp