tier4 · f0reachARR · Jun 19, 2025 · Jun 19, 2025 · Jun 19, 2025 · Jun 19, 2025
diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml
@@ -8,6 +8,7 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <test_depend>ament_cmake_clang_format</test_depend>
   <test_depend>ament_cmake_copyright</test_depend>

diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml
@@ -9,6 +9,7 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <depend>pugixml-dev</depend>
   <depend>boost</depend>

diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml
@@ -6,9 +6,13 @@
   <description>none</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>
+
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
   <depend>boost</depend>
   <depend>nlohmann-json-dev</depend>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>

diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml
@@ -10,10 +10,8 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_cmake_clang_format</test_depend>
   <test_depend>ament_cmake_copyright</test_depend>
   <test_depend>ament_cmake_lint_cmake</test_depend>
-  <test_depend>ament_cmake_pep257</test_depend>
   <test_depend>ament_cmake_xmllint</test_depend>
 
   <export>

diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml
@@ -10,10 +10,8 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_cmake_clang_format</test_depend>
   <test_depend>ament_cmake_copyright</test_depend>
   <test_depend>ament_cmake_lint_cmake</test_depend>
-  <test_depend>ament_cmake_pep257</test_depend>
   <test_depend>ament_cmake_xmllint</test_depend>
 
   <export>

diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml
@@ -8,6 +8,7 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <buildtool_export_depend>ament_cmake_test</buildtool_export_depend>
 

diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml
@@ -6,6 +6,7 @@
   <description>TIER IV experimental catalogs for OpenSCENARIO</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>
+  <buildtool_depend>ament_cmake</buildtool_depend>
   <export>
     <build_type>ament_cmake</build_type>
   </export>

diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml
@@ -8,6 +8,7 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <depend>concealer</depend>
   <depend>geometry_msgs</depend>

diff --git a/openscenario/openscenario_interpreter_example/package.xml b/openscenario/openscenario_interpreter_example/package.xml
@@ -9,6 +9,7 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <depend>autoware_system_msgs</depend>
   <depend>boost</depend>

diff --git a/openscenario/openscenario_interpreter_msgs/package.xml b/openscenario/openscenario_interpreter_msgs/package.xml
@@ -1,12 +1,13 @@
 <?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>openscenario_interpreter_msgs</name>
   <version>16.5.11</version>
   <description>ROS message types for package openscenario_interpreter</description>
   <maintainer email="[email protected]">Yamasaki Tatsuya</maintainer>
   <license>Apache License 2.0</license>
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
   <depend>builtin_interfaces</depend>
   <depend>rosidl_default_runtime</depend>

diff --git a/openscenario/openscenario_preprocessor_msgs/package.xml b/openscenario/openscenario_preprocessor_msgs/package.xml
@@ -1,12 +1,12 @@
 <?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>openscenario_preprocessor_msgs</name>
   <version>16.5.11</version>
   <description>ROS message types for package openscenario_preprocessor</description>
   <maintainer email="[email protected]">Kotaro Yoshimoto</maintainer>
   <license>Apache License 2.0</license>
-  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
   <depend>builtin_interfaces</depend>
   <depend>rosidl_default_runtime</depend>

diff --git a/...r/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp b/...r/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp
@@ -15,7 +15,7 @@
 #ifndef SIMPLE_SENSOR_SIMULATOR__SENSOR_SIMULATION__DETECTION_SENSOR__DETECTION_SENSOR_HPP_
 #define SIMPLE_SENSOR_SIMULATOR__SENSOR_SIMULATION__DETECTION_SENSOR__DETECTION_SENSOR_HPP_
 
-#include <simulation_api_schema.pb.h>
+#include <simulation_interface/simulation_api_schema.pb.h>
 
 #include <geometry/plane.hpp>
 #include <geometry_msgs/msg/pose.hpp>

diff --git a/...ple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/imu/imu_sensor.hpp b/...ple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/imu/imu_sensor.hpp
@@ -15,7 +15,7 @@
 #ifndef SIMPLE_SENSOR_SIMULATOR__SENSOR_SIMULATION__IMU_SENSOR_HPP_
 #define SIMPLE_SENSOR_SIMULATOR__SENSOR_SIMULATION__IMU_SENSOR_HPP_
 
-#include <simulation_api_schema.pb.h>
+#include <simulation_interface/simulation_api_schema.pb.h>
 
 #include <array>
 #include <geometry_msgs/msg/accel.hpp>

diff --git a/...sensor_simulator/include/simple_sensor_simulator/sensor_simulation/lidar/lidar_sensor.hpp b/...sensor_simulator/include/simple_sensor_simulator/sensor_simulation/lidar/lidar_sensor.hpp
@@ -15,7 +15,7 @@
 #ifndef SIMPLE_SENSOR_SIMULATOR__SENSOR_SIMULATION__LIDAR__LIDAR_SENSOR_HPP_
 #define SIMPLE_SENSOR_SIMULATOR__SENSOR_SIMULATION__LIDAR__LIDAR_SENSOR_HPP_
 
-#include <simulation_api_schema.pb.h>
+#include <simulation_interface/simulation_api_schema.pb.h>
 
 #include <agnocast_wrapper/agnocast_wrapper.hpp>
 #include <geometry/quaternion/get_rotation_matrix.hpp>

diff --git a/...nclude/simple_sensor_simulator/sensor_simulation/occupancy_grid/occupancy_grid_sensor.hpp b/...nclude/simple_sensor_simulator/sensor_simulation/occupancy_grid/occupancy_grid_sensor.hpp
@@ -15,7 +15,7 @@
 #ifndef SIMPLE_SENSOR_SIMULATOR__SENSOR_SIMULATION__OCCUPANCY_GRID__OCCUPANCY_GRID_SENSOR_HPP_
 #define SIMPLE_SENSOR_SIMULATOR__SENSOR_SIMULATION__OCCUPANCY_GRID__OCCUPANCY_GRID_SENSOR_HPP_
 
-#include <simulation_api_schema.pb.h>
+#include <simulation_interface/simulation_api_schema.pb.h>
 
 #include <memory>
 #include <nav_msgs/msg/occupancy_grid.hpp>

diff --git a/...ple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/primitives/box.hpp b/...ple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/primitives/box.hpp
@@ -15,7 +15,7 @@
 #ifndef SIMPLE_SENSOR_SIMULATOR__SENSOR_SIMULATION__PRIMITIVES__BOX_HPP_
 #define SIMPLE_SENSOR_SIMULATOR__SENSOR_SIMULATION__PRIMITIVES__BOX_HPP_
 
-#include <simulation_api_schema.pb.h>
+#include <simulation_interface/simulation_api_schema.pb.h>
 
 #include <simple_sensor_simulator/sensor_simulation/primitives/primitive.hpp>
 

diff --git a/..._sensor_simulator/include/simple_sensor_simulator/sensor_simulation/sensor_simulation.hpp b/..._sensor_simulator/include/simple_sensor_simulator/sensor_simulation/sensor_simulation.hpp
@@ -15,7 +15,7 @@
 #ifndef SIMPLE_SENSOR_SIMULATOR__SENSOR_SIMULATION__SENSOR_SIMULATION_HPP_
 #define SIMPLE_SENSOR_SIMULATOR__SENSOR_SIMULATION__SENSOR_SIMULATION_HPP_
 
-#include <simulation_api_schema.pb.h>
+#include <simulation_interface/simulation_api_schema.pb.h>
 
 #include <agnocast_wrapper/agnocast_wrapper.hpp>
 #include <autoware_perception_msgs/msg/detected_objects.hpp>

diff --git a/simulation/simple_sensor_simulator/package.xml b/simulation/simple_sensor_simulator/package.xml
@@ -1,4 +1,5 @@
 <?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>simple_sensor_simulator</name>
   <version>16.5.11</version>

diff --git a/simulation/simple_sensor_simulator/test/src/utils/helper_functions.hpp b/simulation/simple_sensor_simulator/test/src/utils/helper_functions.hpp
@@ -15,7 +15,7 @@
 #ifndef SIMPLE_SENSOR_SIMULATOR__TEST__UTILS__HELPER_FUNCTIONS_HPP_
 #define SIMPLE_SENSOR_SIMULATOR__TEST__UTILS__HELPER_FUNCTIONS_HPP_
 
-#include <simulation_api_schema.pb.h>
+#include <simulation_interface/simulation_api_schema.pb.h>
 
 #include <cmath>
 #include <geometry_msgs/msg/point.hpp>

diff --git a/simulation/simulation_interface/CMakeLists.txt b/simulation/simulation_interface/CMakeLists.txt
@@ -32,10 +32,23 @@ set(PROTO_FILES
   "proto/std_msgs.proto"
   "proto/traffic_simulator_msgs.proto"
 )
-protobuf_generate_cpp(PROTO_SRCS PROTO_HDRS ${PROTO_FILES})
+set(PROTO_OUTPUT_DIR ${CMAKE_BINARY_DIR}/proto/${PROJECT_NAME})
+
+# Ensure the output directory exists
+file(MAKE_DIRECTORY ${PROTO_OUTPUT_DIR})
+
+protobuf_generate(
+  PROTOS ${PROTO_FILES}
+  APPEND_PATH
+  LANGUAGE cpp
+  OUT_VAR PROTO_SRCS
+  IMPORT_DIRS proto/
+  PROTOC_OUT_DIR ${PROTO_OUTPUT_DIR}
+)
+
 include_directories(
   include
-  ${CMAKE_BINARY_DIR}
+  ${CMAKE_BINARY_DIR}/proto/
 )
 
 ament_auto_add_library(simulation_interface SHARED
@@ -60,8 +73,8 @@ install(TARGETS simulation_interface
   INCLUDES DESTINATION include)
 
 install(
-  FILES ${PROTO_HDRS}
-  DESTINATION include
+  DIRECTORY ${CMAKE_BINARY_DIR}/proto/
+  DESTINATION include/
 )
 
 install(

diff --git a/simulation/simulation_interface/include/simulation_interface/conversions.hpp b/simulation/simulation_interface/include/simulation_interface/conversions.hpp
@@ -15,12 +15,12 @@
 #ifndef SIMULATION_INTERFACE__CONVERSIONS_HPP_
 #define SIMULATION_INTERFACE__CONVERSIONS_HPP_
 
-#include <builtin_interfaces.pb.h>
-#include <geometry_msgs.pb.h>
-#include <rosgraph_msgs.pb.h>
-#include <simulation_api_schema.pb.h>
-#include <std_msgs.pb.h>
-#include <traffic_simulator_msgs.pb.h>
+#include <simulation_interface/builtin_interfaces.pb.h>
+#include <simulation_interface/geometry_msgs.pb.h>
+#include <simulation_interface/rosgraph_msgs.pb.h>
+#include <simulation_interface/simulation_api_schema.pb.h>
+#include <simulation_interface/std_msgs.pb.h>
+#include <simulation_interface/traffic_simulator_msgs.pb.h>
 
 #include <autoware_control_msgs/msg/control.hpp>
 #include <autoware_vehicle_msgs/msg/gear_command.hpp>

diff --git a/simulation/simulation_interface/include/simulation_interface/zmq_multi_client.hpp b/simulation/simulation_interface/include/simulation_interface/zmq_multi_client.hpp
@@ -15,7 +15,7 @@
 #ifndef SIMULATION_INTERFACE__ZMQ_MULTI_CLIENT_HPP_
 #define SIMULATION_INTERFACE__ZMQ_MULTI_CLIENT_HPP_
 
-#include <simulation_api_schema.pb.h>
+#include <simulation_interface/simulation_api_schema.pb.h>
 
 #include <functional>
 #include <iostream>

diff --git a/simulation/simulation_interface/include/simulation_interface/zmq_multi_server.hpp b/simulation/simulation_interface/include/simulation_interface/zmq_multi_server.hpp
@@ -15,7 +15,7 @@
 #ifndef SIMULATION_INTERFACE__ZMQ_MULTI_SERVER_HPP_
 #define SIMULATION_INTERFACE__ZMQ_MULTI_SERVER_HPP_
 
-#include <simulation_api_schema.pb.h>
+#include <simulation_interface/simulation_api_schema.pb.h>
 
 #include <functional>
 #include <rclcpp/rclcpp.hpp>

diff --git a/simulation/simulation_interface/test/expect_equal_macros.hpp b/simulation/simulation_interface/test/expect_equal_macros.hpp
@@ -15,8 +15,8 @@
 #ifndef SIMULATION_INTERFACE__TEST__EXPECT_EQUAL_MACROS_HPP_
 #define SIMULATION_INTERFACE__TEST__EXPECT_EQUAL_MACROS_HPP_
 
-#include <geometry_msgs.pb.h>
 #include <gtest/gtest.h>
+#include <simulation_interface/geometry_msgs.pb.h>
 
 #include <geometry_msgs/msg/accel.hpp>
 #include <geometry_msgs/msg/point.hpp>

diff --git a/simulation/simulation_interface/test/test_conversions.cpp b/simulation/simulation_interface/test/test_conversions.cpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <geometry_msgs.pb.h>
 #include <gtest/gtest.h>
+#include <simulation_interface/geometry_msgs.pb.h>
 
 #include "expect_equal_macros.hpp"
 /**

diff --git a/simulation/traffic_simulator/include/traffic_simulator/api/api.hpp b/simulation/traffic_simulator/include/traffic_simulator/api/api.hpp
@@ -15,7 +15,7 @@
 #ifndef TRAFFIC_SIMULATOR__API__API_HPP_
 #define TRAFFIC_SIMULATOR__API__API_HPP_
 
-#include <simulation_api_schema.pb.h>
+#include <simulation_interface/simulation_api_schema.pb.h>
 
 #include <simulation_interface/conversions.hpp>
 #include <simulation_interface/zmq_multi_client.hpp>

diff --git a/simulation/traffic_simulator/include/traffic_simulator/helper/helper.hpp b/simulation/traffic_simulator/include/traffic_simulator/helper/helper.hpp
@@ -15,7 +15,7 @@
 #ifndef TRAFFIC_SIMULATOR__HELPER__HELPER_HPP_
 #define TRAFFIC_SIMULATOR__HELPER__HELPER_HPP_
 
-#include <simulation_api_schema.pb.h>
+#include <simulation_interface/simulation_api_schema.pb.h>
 
 #include <algorithm>
 #include <cmath>

diff --git a/simulation/traffic_simulator/include/traffic_simulator/traffic_lights/traffic_light.hpp b/simulation/traffic_simulator/include/traffic_simulator/traffic_lights/traffic_light.hpp
@@ -15,7 +15,7 @@
 #ifndef TRAFFIC_SIMULATOR__TRAFFIC_LIGHTS__TRAFFIC_LIGHT_HPP_
 #define TRAFFIC_SIMULATOR__TRAFFIC_LIGHTS__TRAFFIC_LIGHT_HPP_
 
-#include <simulation_api_schema.pb.h>
+#include <simulation_interface/simulation_api_schema.pb.h>
 
 #include <color_names/color_names.hpp>
 #include <cstdint>

diff --git a/...lation/traffic_simulator/include/traffic_simulator/traffic_lights/traffic_lights_base.hpp b/...lation/traffic_simulator/include/traffic_simulator/traffic_lights/traffic_lights_base.hpp
@@ -15,7 +15,7 @@
 #ifndef TRAFFIC_SIMULATOR__TRAFFIC_LIGHTS__TRAFFIC_LIGHTS_BASE_HPP_
 #define TRAFFIC_SIMULATOR__TRAFFIC_LIGHTS__TRAFFIC_LIGHTS_BASE_HPP_
 
-#include <simulation_api_schema.pb.h>
+#include <simulation_interface/simulation_api_schema.pb.h>
 
 #include <memory>
 #include <rclcpp/rclcpp.hpp>

diff --git a/simulation/traffic_simulator/package.xml b/simulation/traffic_simulator/package.xml
@@ -1,4 +1,5 @@
 <?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>traffic_simulator</name>
   <version>16.5.11</version>

diff --git a/test_runner/random_test_runner/package.xml b/test_runner/random_test_runner/package.xml
@@ -8,6 +8,7 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <depend>traffic_simulator</depend>
   <depend>simple_sensor_simulator</depend>