From 7714bb3d5dc4fffbc08c9aa3903934eeddc8e996 Mon Sep 17 00:00:00 2001
From: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp>
Date: Thu, 11 Jul 2024 20:47:57 +0900
Subject: [PATCH] refactor!: pointcloud_preprocessor prefix package and
 namespace with autoware

Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp>
---
 .../launch/nebula_node_container.launch.py       | 16 ++++++++--------
 .../launch/pointcloud_preprocessor.launch.py     |  4 ++--
 sample_sensor_kit_launch/package.xml             |  2 +-
 3 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
index d24b1ff8..49e0b958 100644
--- a/common_sensor_launch/launch/nebula_node_container.launch.py
+++ b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -147,8 +147,8 @@ def create_parameter_dict(*args):
 
     nodes.append(
         ComposableNode(
-            package="pointcloud_preprocessor",
-            plugin="pointcloud_preprocessor::CropBoxFilterComponent",
+            package="autoware_pointcloud_preprocessor",
+            plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
             name="crop_box_filter_self",
             remappings=[
                 ("input", "pointcloud_raw_ex"),
@@ -169,8 +169,8 @@ def create_parameter_dict(*args):
 
     nodes.append(
         ComposableNode(
-            package="pointcloud_preprocessor",
-            plugin="pointcloud_preprocessor::CropBoxFilterComponent",
+            package="autoware_pointcloud_preprocessor",
+            plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
             name="crop_box_filter_mirror",
             remappings=[
                 ("input", "self_cropped/pointcloud_ex"),
@@ -183,8 +183,8 @@ def create_parameter_dict(*args):
 
     nodes.append(
         ComposableNode(
-            package="pointcloud_preprocessor",
-            plugin="pointcloud_preprocessor::DistortionCorrectorComponent",
+            package="autoware_pointcloud_preprocessor",
+            plugin="autoware::pointcloud_preprocessor::DistortionCorrectorComponent",
             name="distortion_corrector_node",
             remappings=[
                 ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
@@ -206,8 +206,8 @@ def create_parameter_dict(*args):
         }  # keep the output frame as the input frame
     nodes.append(
         ComposableNode(
-            package="pointcloud_preprocessor",
-            plugin="pointcloud_preprocessor::RingOutlierFilterComponent",
+            package="autoware_pointcloud_preprocessor",
+            plugin="autoware::pointcloud_preprocessor::RingOutlierFilterComponent",
             name="ring_outlier_filter",
             remappings=[
                 ("input", "rectified/pointcloud_ex"),
diff --git a/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py b/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
index 8122b07e..c29d74e3 100644
--- a/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
+++ b/sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
@@ -27,8 +27,8 @@
 def launch_setup(context, *args, **kwargs):
     # set concat filter as a component
     concat_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
+        package="autoware_pointcloud_preprocessor",
+        plugin="autoware::pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
         name="concatenate_data",
         remappings=[
             ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
diff --git a/sample_sensor_kit_launch/package.xml b/sample_sensor_kit_launch/package.xml
index 054149b0..9c34e68a 100644
--- a/sample_sensor_kit_launch/package.xml
+++ b/sample_sensor_kit_launch/package.xml
@@ -12,7 +12,7 @@
 
   <exec_depend>common_sensor_launch</exec_depend>
   <exec_depend>gnss_poser</exec_depend>
-  <exec_depend>pointcloud_preprocessor</exec_depend>
+  <exec_depend>autoware_pointcloud_preprocessor</exec_depend>
   <exec_depend>tamagawa_imu_driver</exec_depend>
   <exec_depend>topic_tools</exec_depend>
   <exec_depend>ublox_gps</exec_depend>