feat: apply autoware_ prefix for simple_planning_simulator (#9995)

* feat(simple_planning_simulator): apply `autoware_` prefix (see below): Note: * In this commit, I did not organize a folder structure. The folder structure will be organized in the next some commits. * The changes will follow the Autoware's guideline as below: - https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/directory-structure/#package-folder Signed-off-by: Junya Sasaki <[email protected]> * rename(simple_planning_simulator): move headers under `include/autoware`: * Fixes due to this changes for .hpp/.cpp files will be applied in the next commit Signed-off-by: Junya Sasaki <[email protected]> * fix(simple_planning_simulator): fix include header paths * To follow the previous commit Signed-off-by: Junya Sasaki <[email protected]> * rename: `simple_planning_simulator` => `autoware_simple_planning_simulator` Signed-off-by: Junya Sasaki <[email protected]> * bug(autoware_simple_planning_simulator): fix missing changes Signed-off-by: Junya Sasaki <[email protected]> * style(pre-commit): autofix * bug(autoware_simple_planning_simulator): fix errors in build and tests * I had to run after `rm -rf install build`, ... sorry Signed-off-by: Junya Sasaki <[email protected]> * style(pre-commit): autofix * Fixed NOLINT Signed-off-by: Shintaro Sakoda <[email protected]> * Added NOLINT Signed-off-by: Shintaro Sakoda <[email protected]> * Fixed to autoware_simple_planning_simulator Signed-off-by: Shintaro Sakoda <[email protected]> --------- Signed-off-by: Junya Sasaki <[email protected]> Signed-off-by: Shintaro Sakoda <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shintaro Sakoda <[email protected]>
autowarefoundation · Jan 23, 2025 · 1a1a18a · 1a1a18a
1 parent cacab80
commit 1a1a18a
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Showing 56 changed files with 297 additions and 181 deletions.
diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -204,7 +204,7 @@ simulator/autoware_carla_interface/** [email protected] mradityagio@gmail.
 simulator/dummy_perception_publisher/** [email protected]
 simulator/fault_injection/** [email protected]
 simulator/learning_based_vehicle_model/** [email protected] [email protected]
-simulator/simple_planning_simulator/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
+simulator/autoware_simple_planning_simulator/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] kotaro.yoshimoto@tier4.jp junya.sasaki@tier4.jp
 simulator/tier4_dummy_object_rviz_plugin/** [email protected]
 simulator/autoware_vehicle_door_simulator/** [email protected] [email protected]
 system/autoware_component_monitor/** [email protected] [email protected] [email protected]

diff --git a/launch/tier4_simulator_launch/launch/simulator.launch.xml b/launch/tier4_simulator_launch/launch/simulator.launch.xml
@@ -219,7 +219,7 @@
     <!-- 'pose_only' mode publishes the pose topic as an alternative to ndt_localizer. 'full_motion' mode publishes the odometry and acceleration topics as an alternative to localization modules. -->
     <let name="motion_publish_mode" value="pose_only" if="$(eval '&quot;$(var localization_sim_mode)&quot;==&quot;pose_twist_estimator&quot;')"/>
     <let name="motion_publish_mode" value="full_motion" unless="$(eval '&quot;$(var localization_sim_mode)&quot;==&quot;pose_twist_estimator&quot;')"/>
-    <include file="$(find-pkg-share simple_planning_simulator)/launch/simple_planning_simulator.launch.py">
+    <include file="$(find-pkg-share autoware_simple_planning_simulator)/launch/simple_planning_simulator.launch.py">
       <arg name="vehicle_info_param_file" value="$(var vehicle_info_param_file)"/>
       <arg name="simulator_model_param_file" value="$(var simulator_model)"/>
       <arg name="initial_engage_state" value="$(var initial_engage_state)"/>

diff --git a/launch/tier4_simulator_launch/package.xml b/launch/tier4_simulator_launch/package.xml
@@ -15,8 +15,8 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <exec_depend>autoware_fault_injection</exec_depend>
+  <exec_depend>autoware_simple_planning_simulator</exec_depend>
   <exec_depend>dummy_perception_publisher</exec_depend>
-  <exec_depend>simple_planning_simulator</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

diff --git a/...r/simple_planning_simulator/CHANGELOG.rst → ...e_simple_planning_simulator/CHANGELOG.rst b/...r/simple_planning_simulator/CHANGELOG.rst → ...e_simple_planning_simulator/CHANGELOG.rst
diff --git a/.../simple_planning_simulator/CMakeLists.txt → ..._simple_planning_simulator/CMakeLists.txt b/.../simple_planning_simulator/CMakeLists.txt → ..._simple_planning_simulator/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(simple_planning_simulator)
+project(autoware_simple_planning_simulator)
 
 find_package(autoware_cmake REQUIRED)
 find_package(Python3 COMPONENTS Interpreter Development)
@@ -8,8 +8,8 @@ autoware_package()
 
 # Component
 ament_auto_add_library(${PROJECT_NAME} SHARED
-  include/simple_planning_simulator/simple_planning_simulator_core.hpp
-  include/simple_planning_simulator/visibility_control.hpp
+  include/autoware/simple_planning_simulator/simple_planning_simulator_core.hpp
+  include/autoware/simple_planning_simulator/visibility_control.hpp
   src/simple_planning_simulator/simple_planning_simulator_core.cpp
   src/simple_planning_simulator/vehicle_model/sim_model_interface.cpp
   src/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_vel.cpp
@@ -28,8 +28,8 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
 target_include_directories(${PROJECT_NAME} PUBLIC ${Python3_INCLUDE_DIRS} ${learning_based_vehicle_model_INCLUDE_DIRS})
 # Node executable
 rclcpp_components_register_node(${PROJECT_NAME}
-  PLUGIN "simulation::simple_planning_simulator::SimplePlanningSimulator"
-  EXECUTABLE ${PROJECT_NAME}_exe
+  PLUGIN "autoware::simulator::simple_planning_simulator::SimplePlanningSimulator"
+  EXECUTABLE ${PROJECT_NAME}_node
 )
 
 if(BUILD_TESTING)

diff --git a/...lator/simple_planning_simulator/README.md → ...oware_simple_planning_simulator/README.md b/...lator/simple_planning_simulator/README.md → ...oware_simple_planning_simulator/README.md
@@ -1,4 +1,4 @@
-# simple_planning_simulator
+# autoware_simple_planning_simulator
 
 ## Purpose / Use cases
 

diff --git a/...ator/data/actuation_cmd_map/accel_map.csv → ...ator/data/actuation_cmd_map/accel_map.csv b/...ator/data/actuation_cmd_map/accel_map.csv → ...ator/data/actuation_cmd_map/accel_map.csv
diff --git a/...ator/data/actuation_cmd_map/brake_map.csv → ...ator/data/actuation_cmd_map/brake_map.csv b/...ator/data/actuation_cmd_map/brake_map.csv → ...ator/data/actuation_cmd_map/brake_map.csv
diff --git a/...ator/data/actuation_cmd_map/steer_map.csv → ...ator/data/actuation_cmd_map/steer_map.csv b/...ator/data/actuation_cmd_map/steer_map.csv → ...ator/data/actuation_cmd_map/steer_map.csv
diff --git a/...nning_simulator/docs/actuation_cmd_sim.md → ...nning_simulator/docs/actuation_cmd_sim.md b/...nning_simulator/docs/actuation_cmd_sim.md → ...nning_simulator/docs/actuation_cmd_sim.md
diff --git a/...ulator/simple_planning_simulator_core.hpp → ...ulator/simple_planning_simulator_core.hpp b/...ulator/simple_planning_simulator_core.hpp → ...ulator/simple_planning_simulator_core.hpp
@@ -1,4 +1,4 @@
-// Copyright 2021 The Autoware Foundation.
+// Copyright 2025 The Autoware Foundation.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef SIMPLE_PLANNING_SIMULATOR__SIMPLE_PLANNING_SIMULATOR_CORE_HPP_
-#define SIMPLE_PLANNING_SIMULATOR__SIMPLE_PLANNING_SIMULATOR_CORE_HPP_
+#ifndef AUTOWARE__SIMPLE_PLANNING_SIMULATOR__SIMPLE_PLANNING_SIMULATOR_CORE_HPP_
+#define AUTOWARE__SIMPLE_PLANNING_SIMULATOR__SIMPLE_PLANNING_SIMULATOR_CORE_HPP_
 
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_interface.hpp"
+#include "autoware/simple_planning_simulator/visibility_control.hpp"
 #include "rclcpp/rclcpp.hpp"
-#include "simple_planning_simulator/vehicle_model/sim_model_interface.hpp"
-#include "simple_planning_simulator/visibility_control.hpp"
 #include "tier4_api_utils/tier4_api_utils.hpp"
 
 #include "autoware_control_msgs/msg/control.hpp"
@@ -57,9 +57,7 @@
 #include <variant>
 #include <vector>
 
-namespace simulation
-{
-namespace simple_planning_simulator
+namespace autoware::simulator::simple_planning_simulator
 {
 
 using autoware_control_msgs::msg::Control;
@@ -406,7 +404,6 @@ class PLANNING_SIMULATOR_PUBLIC SimplePlanningSimulator : public rclcpp::Node
    */
   void publish_tf(const Odometry & odometry);
 };
-}  // namespace simple_planning_simulator
-}  // namespace simulation
+}  // namespace autoware::simulator::simple_planning_simulator
 
-#endif  // SIMPLE_PLANNING_SIMULATOR__SIMPLE_PLANNING_SIMULATOR_CORE_HPP_
+#endif  // AUTOWARE__SIMPLE_PLANNING_SIMULATOR__SIMPLE_PLANNING_SIMULATOR_CORE_HPP_
diff --git a/...e_planning_simulator/utils/csv_loader.hpp → ...e_planning_simulator/utils/csv_loader.hpp b/...e_planning_simulator/utils/csv_loader.hpp → ...e_planning_simulator/utils/csv_loader.hpp
@@ -1,4 +1,4 @@
-// Copyright 2023 Autoware Foundation
+// Copyright 2025 Autoware Foundation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,15 +12,18 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef SIMPLE_PLANNING_SIMULATOR__UTILS__CSV_LOADER_HPP_
-#define SIMPLE_PLANNING_SIMULATOR__UTILS__CSV_LOADER_HPP_
+#ifndef AUTOWARE__SIMPLE_PLANNING_SIMULATOR__UTILS__CSV_LOADER_HPP_
+#define AUTOWARE__SIMPLE_PLANNING_SIMULATOR__UTILS__CSV_LOADER_HPP_
 
 #include <fstream>
 #include <iostream>
 #include <sstream>
 #include <string>
 #include <vector>
 
+namespace autoware::simulator::simple_planning_simulator
+{
+
 using Table = std::vector<std::vector<std::string>>;
 using Map = std::vector<std::vector<double>>;
 class CSVLoader
@@ -40,4 +43,6 @@ class CSVLoader
   std::string csv_path_;
 };
 
-#endif  // SIMPLE_PLANNING_SIMULATOR__UTILS__CSV_LOADER_HPP_
+}  // namespace autoware::simulator::simple_planning_simulator
+
+#endif  // AUTOWARE__SIMPLE_PLANNING_SIMULATOR__UTILS__CSV_LOADER_HPP_
diff --git a/...simulator/utils/mechanical_controller.hpp → ...simulator/utils/mechanical_controller.hpp b/...simulator/utils/mechanical_controller.hpp → ...simulator/utils/mechanical_controller.hpp
@@ -1,4 +1,4 @@
-// Copyright 2024 The Autoware Foundation.
+// Copyright 2025 The Autoware Foundation.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,16 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef SIMPLE_PLANNING_SIMULATOR__UTILS__MECHANICAL_CONTROLLER_HPP_
-#define SIMPLE_PLANNING_SIMULATOR__UTILS__MECHANICAL_CONTROLLER_HPP_
+#ifndef AUTOWARE__SIMPLE_PLANNING_SIMULATOR__UTILS__MECHANICAL_CONTROLLER_HPP_
+#define AUTOWARE__SIMPLE_PLANNING_SIMULATOR__UTILS__MECHANICAL_CONTROLLER_HPP_
 
 #include <deque>
 #include <map>
 #include <optional>
 #include <string>
 #include <utility>
 
-namespace autoware::simple_planning_simulator::utils::mechanical_controller
+namespace autoware::simulator::simple_planning_simulator
 {
 
 using DelayBuffer = std::deque<std::pair<double, double>>;
@@ -203,6 +203,6 @@ class MechanicalController
     const SteeringDynamics & dynamics) const;
 };
 
-}  // namespace autoware::simple_planning_simulator::utils::mechanical_controller
+}  // namespace autoware::simulator::simple_planning_simulator
 
-#endif  // SIMPLE_PLANNING_SIMULATOR__UTILS__MECHANICAL_CONTROLLER_HPP_
+#endif  // AUTOWARE__SIMPLE_PLANNING_SIMULATOR__UTILS__MECHANICAL_CONTROLLER_HPP_
diff --git a/...planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model.hpp b/...planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model.hpp
@@ -0,0 +1,30 @@
+// Copyright 2025 The Autoware Foundation.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// 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__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_HPP_
+#define AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_HPP_
+
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc_geared.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_vel.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_interface.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.hpp"
+
+#endif  // AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_HPP_
diff --git a/...vehicle_model/sim_model_actuation_cmd.hpp → ...vehicle_model/sim_model_actuation_cmd.hpp b/...vehicle_model/sim_model_actuation_cmd.hpp → ...vehicle_model/sim_model_actuation_cmd.hpp
@@ -1,4 +1,4 @@
-// Copyright 2024 The Autoware Foundation.
+// Copyright 2025 The Autoware Foundation.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_ACTUATION_CMD_HPP_
-#define SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_ACTUATION_CMD_HPP_
+#ifndef AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_ACTUATION_CMD_HPP_
+#define AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_ACTUATION_CMD_HPP_
 
 #include "autoware/interpolation/linear_interpolation.hpp"
+#include "autoware/simple_planning_simulator/utils/csv_loader.hpp"
+#include "autoware/simple_planning_simulator/utils/mechanical_controller.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_interface.hpp"
 #include "eigen3/Eigen/Core"
 #include "eigen3/Eigen/LU"
-#include "simple_planning_simulator/utils/csv_loader.hpp"
-#include "simple_planning_simulator/utils/mechanical_controller.hpp"
-#include "simple_planning_simulator/vehicle_model/sim_model_interface.hpp"
 
 #include <deque>
 #include <iostream>
@@ -30,8 +30,11 @@
 #include <string>
 #include <vector>
 
-using autoware::simple_planning_simulator::utils::mechanical_controller::MechanicalController;
-using autoware::simple_planning_simulator::utils::mechanical_controller::MechanicalParams;
+namespace autoware::simulator::simple_planning_simulator
+{
+
+using autoware::simulator::simple_planning_simulator::MechanicalController;
+using autoware::simulator::simple_planning_simulator::MechanicalParams;
 
 /**
  * @class ActuationMap
@@ -397,4 +400,6 @@ class SimModelActuationCmdMechanical : public SimModelActuationCmdVGR
   double prev_steer_tire_des_{0.0};  //
 };
 
-#endif  // SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_ACTUATION_CMD_HPP_
+}  // namespace autoware::simulator::simple_planning_simulator
+
+#endif  // AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_ACTUATION_CMD_HPP_
diff --git a/...hicle_model/sim_model_delay_steer_acc.hpp → ...hicle_model/sim_model_delay_steer_acc.hpp b/...hicle_model/sim_model_delay_steer_acc.hpp → ...hicle_model/sim_model_delay_steer_acc.hpp
@@ -1,4 +1,4 @@
-// Copyright 2021 The Autoware Foundation.
+// Copyright 2025 The Autoware Foundation.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_HPP_
-#define SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_HPP_
+#ifndef AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_HPP_
+#define AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_HPP_
 
-#include "simple_planning_simulator/vehicle_model/sim_model_interface.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_interface.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/LU>
@@ -24,6 +24,9 @@
 #include <iostream>
 #include <queue>
 
+namespace autoware::simulator::simple_planning_simulator
+{
+
 class SimModelDelaySteerAcc : public SimModelInterface
 {
 public:
@@ -149,4 +152,6 @@ class SimModelDelaySteerAcc : public SimModelInterface
   Eigen::VectorXd calcModel(const Eigen::VectorXd & state, const Eigen::VectorXd & input) override;
 };
 
-#endif  // SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_HPP_
+}  // namespace autoware::simulator::simple_planning_simulator
+
+#endif  // AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_HPP_
diff --git a/...odel/sim_model_delay_steer_acc_geared.hpp → ...odel/sim_model_delay_steer_acc_geared.hpp b/...odel/sim_model_delay_steer_acc_geared.hpp → ...odel/sim_model_delay_steer_acc_geared.hpp
@@ -1,4 +1,4 @@
-// Copyright 2021 The Autoware Foundation.
+// Copyright 2025 The Autoware Foundation.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_GEARED_HPP_
-#define SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_GEARED_HPP_
+#ifndef AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_GEARED_HPP_  // NOLINT
+#define AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_GEARED_HPP_  // NOLINT
 
-#include "simple_planning_simulator/vehicle_model/sim_model_interface.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_interface.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/LU>
@@ -24,6 +24,9 @@
 #include <iostream>
 #include <queue>
 
+namespace autoware::simulator::simple_planning_simulator
+{
+
 class SimModelDelaySteerAccGeared : public SimModelInterface
 {
 public:
@@ -160,4 +163,7 @@ class SimModelDelaySteerAccGeared : public SimModelInterface
     const double dt);
 };
 
-#endif  // SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_GEARED_HPP_
+}  // namespace autoware::simulator::simple_planning_simulator
+
+// NOLINTNEXTLINE
+#endif  // AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_GEARED_HPP_
diff --git a/..._delay_steer_acc_geared_wo_fall_guard.hpp → ..._delay_steer_acc_geared_wo_fall_guard.hpp b/..._delay_steer_acc_geared_wo_fall_guard.hpp → ..._delay_steer_acc_geared_wo_fall_guard.hpp
@@ -1,4 +1,4 @@
-// Copyright 2024 The Autoware Foundation.
+// Copyright 2025 The Autoware Foundation.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_GEARED_WO_FALL_GUARD_HPP_  // NOLINT
-#define SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_GEARED_WO_FALL_GUARD_HPP_  // NOLINT
+#ifndef AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_GEARED_WO_FALL_GUARD_HPP_  // NOLINT
+#define AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_GEARED_WO_FALL_GUARD_HPP_  // NOLINT
 
-#include "simple_planning_simulator/vehicle_model/sim_model_interface.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_interface.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/LU>
@@ -24,6 +24,9 @@
 #include <iostream>
 #include <queue>
 
+namespace autoware::simulator::simple_planning_simulator
+{
+
 class SimModelDelaySteerAccGearedWoFallGuard : public SimModelInterface
 {
 public:
@@ -145,6 +148,7 @@ class SimModelDelaySteerAccGearedWoFallGuard : public SimModelInterface
   Eigen::VectorXd calcModel(const Eigen::VectorXd & state, const Eigen::VectorXd & input) override;
 };
 
-// clang-format off
-#endif  // SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_GEARED_WO_FALL_GUARD_HPP_  // NOLINT
-// clang-format on
+}  // namespace autoware::simulator::simple_planning_simulator
+
+// NOLINTNEXTLINE
+#endif  // AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_GEARED_WO_FALL_GUARD_HPP_