From 526fc1971f675a1dfff961451a82712f76815ea8 Mon Sep 17 00:00:00 2001
From: Esteve Fernandez <esteve.fernandez@tier4.jp>
Date: Tue, 12 Dec 2023 15:31:55 +0100
Subject: [PATCH 1/9] build(detected_object_validation): move header files to a
 separate directory to avoid conflicts

Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>
---
 .../detected_object_filter/object_lanelet_filter.hpp            | 2 +-
 .../detected_object_filter/object_position_filter.hpp           | 2 +-
 .../obstacle_pointcloud_based_validator/debugger.hpp            | 0
 .../obstacle_pointcloud_based_validator.hpp                     | 2 +-
 .../occupancy_grid_based_validator.hpp                          | 0
 .../include/{ => detected_object_validation}/utils/utils.hpp    | 0
 .../detected_object_validation/src/object_lanelet_filter.cpp    | 2 +-
 .../detected_object_validation/src/object_position_filter.cpp   | 2 +-
 .../src/obstacle_pointcloud_based_validator.cpp                 | 2 +-
 .../src/occupancy_grid_based_validator.cpp                      | 2 +-
 perception/detected_object_validation/src/utils.cpp             | 2 +-
 11 files changed, 8 insertions(+), 8 deletions(-)
 rename perception/detected_object_validation/include/{ => detected_object_validation}/detected_object_filter/object_lanelet_filter.hpp (97%)
 rename perception/detected_object_validation/include/{ => detected_object_validation}/detected_object_filter/object_position_filter.hpp (97%)
 rename perception/detected_object_validation/include/{ => detected_object_validation}/obstacle_pointcloud_based_validator/debugger.hpp (100%)
 rename perception/detected_object_validation/include/{ => detected_object_validation}/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp (98%)
 rename perception/detected_object_validation/include/{ => detected_object_validation}/occupancy_grid_based_validator/occupancy_grid_based_validator.hpp (100%)
 rename perception/detected_object_validation/include/{ => detected_object_validation}/utils/utils.hpp (100%)

diff --git a/perception/detected_object_validation/include/detected_object_filter/object_lanelet_filter.hpp b/perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_lanelet_filter.hpp
similarity index 97%
rename from perception/detected_object_validation/include/detected_object_filter/object_lanelet_filter.hpp
rename to perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_lanelet_filter.hpp
index ae6162542a1c..435c9fbc3d0e 100644
--- a/perception/detected_object_validation/include/detected_object_filter/object_lanelet_filter.hpp
+++ b/perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_lanelet_filter.hpp
@@ -15,7 +15,7 @@
 #ifndef DETECTED_OBJECT_FILTER__OBJECT_LANELET_FILTER_HPP_
 #define DETECTED_OBJECT_FILTER__OBJECT_LANELET_FILTER_HPP_
 
-#include "utils/utils.hpp"
+#include "detected_object_validation/utils/utils.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 #include <tier4_autoware_utils/geometry/geometry.hpp>
diff --git a/perception/detected_object_validation/include/detected_object_filter/object_position_filter.hpp b/perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_position_filter.hpp
similarity index 97%
rename from perception/detected_object_validation/include/detected_object_filter/object_position_filter.hpp
rename to perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_position_filter.hpp
index b9384e0f7037..50f435b015a7 100644
--- a/perception/detected_object_validation/include/detected_object_filter/object_position_filter.hpp
+++ b/perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_position_filter.hpp
@@ -15,7 +15,7 @@
 #ifndef DETECTED_OBJECT_FILTER__OBJECT_POSITION_FILTER_HPP_
 #define DETECTED_OBJECT_FILTER__OBJECT_POSITION_FILTER_HPP_
 
-#include "utils/utils.hpp"
+#include "detected_object_validation/utils/utils.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 #include <tier4_autoware_utils/geometry/geometry.hpp>
diff --git a/perception/detected_object_validation/include/obstacle_pointcloud_based_validator/debugger.hpp b/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/debugger.hpp
similarity index 100%
rename from perception/detected_object_validation/include/obstacle_pointcloud_based_validator/debugger.hpp
rename to perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/debugger.hpp
diff --git a/perception/detected_object_validation/include/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp b/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
similarity index 98%
rename from perception/detected_object_validation/include/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
rename to perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
index e7df2c409b18..563e13ed2901 100644
--- a/perception/detected_object_validation/include/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
+++ b/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
@@ -15,7 +15,7 @@
 #ifndef OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_
 #define OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_
 
-#include "obstacle_pointcloud_based_validator/debugger.hpp"
+#include "detected_object_validation/obstacle_pointcloud_based_validator/debugger.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
diff --git a/perception/detected_object_validation/include/occupancy_grid_based_validator/occupancy_grid_based_validator.hpp b/perception/detected_object_validation/include/detected_object_validation/occupancy_grid_based_validator/occupancy_grid_based_validator.hpp
similarity index 100%
rename from perception/detected_object_validation/include/occupancy_grid_based_validator/occupancy_grid_based_validator.hpp
rename to perception/detected_object_validation/include/detected_object_validation/occupancy_grid_based_validator/occupancy_grid_based_validator.hpp
diff --git a/perception/detected_object_validation/include/utils/utils.hpp b/perception/detected_object_validation/include/detected_object_validation/utils/utils.hpp
similarity index 100%
rename from perception/detected_object_validation/include/utils/utils.hpp
rename to perception/detected_object_validation/include/detected_object_validation/utils/utils.hpp
diff --git a/perception/detected_object_validation/src/object_lanelet_filter.cpp b/perception/detected_object_validation/src/object_lanelet_filter.cpp
index fe8de37c778a..cd16d414425c 100644
--- a/perception/detected_object_validation/src/object_lanelet_filter.cpp
+++ b/perception/detected_object_validation/src/object_lanelet_filter.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "detected_object_filter/object_lanelet_filter.hpp"
+#include "detected_object_validation/detected_object_filter/object_lanelet_filter.hpp"
 
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/query.hpp>
diff --git a/perception/detected_object_validation/src/object_position_filter.cpp b/perception/detected_object_validation/src/object_position_filter.cpp
index 0f59e60d57d5..a509fc7571dd 100644
--- a/perception/detected_object_validation/src/object_position_filter.cpp
+++ b/perception/detected_object_validation/src/object_position_filter.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "detected_object_filter/object_position_filter.hpp"
+#include "detected_object_validation/detected_object_filter/object_position_filter.hpp"
 
 namespace object_position_filter
 {
diff --git a/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp b/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp
index 3249581513dd..d903a9ca3bb4 100644
--- a/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp
+++ b/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp"
+#include "detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp"
 
 #include <object_recognition_utils/object_recognition_utils.hpp>
 #include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
diff --git a/perception/detected_object_validation/src/occupancy_grid_based_validator.cpp b/perception/detected_object_validation/src/occupancy_grid_based_validator.cpp
index 948f040d7ebd..80e4dc66d35c 100644
--- a/perception/detected_object_validation/src/occupancy_grid_based_validator.cpp
+++ b/perception/detected_object_validation/src/occupancy_grid_based_validator.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "occupancy_grid_based_validator/occupancy_grid_based_validator.hpp"
+#include "detected_object_validation/occupancy_grid_based_validator/occupancy_grid_based_validator.hpp"
 
 #include <object_recognition_utils/object_classification.hpp>
 #include <object_recognition_utils/object_recognition_utils.hpp>
diff --git a/perception/detected_object_validation/src/utils.cpp b/perception/detected_object_validation/src/utils.cpp
index d8f438e265c3..53b21ee7ff5b 100644
--- a/perception/detected_object_validation/src/utils.cpp
+++ b/perception/detected_object_validation/src/utils.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "utils/utils.hpp"
+#include "detected_object_validation/utils/utils.hpp"
 
 #include <autoware_auto_perception_msgs/msg/object_classification.hpp>
 

From 5c4648d5feba03ad647872cda5a79e9d9121d6c9 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Tue, 12 Dec 2023 14:35:15 +0000
Subject: [PATCH 2/9] style(pre-commit): autofix

---
 .../detected_object_filter/object_lanelet_filter.hpp        | 6 +++---
 .../detected_object_filter/object_position_filter.hpp       | 6 +++---
 .../obstacle_pointcloud_based_validator/debugger.hpp        | 6 +++---
 .../obstacle_pointcloud_based_validator.hpp                 | 6 +++---
 .../occupancy_grid_based_validator.hpp                      | 6 +++---
 .../include/detected_object_validation/utils/utils.hpp      | 6 +++---
 6 files changed, 18 insertions(+), 18 deletions(-)

diff --git a/perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_lanelet_filter.hpp b/perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_lanelet_filter.hpp
index 435c9fbc3d0e..4331b5c19d3f 100644
--- a/perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_lanelet_filter.hpp
+++ b/perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_lanelet_filter.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef DETECTED_OBJECT_FILTER__OBJECT_LANELET_FILTER_HPP_
-#define DETECTED_OBJECT_FILTER__OBJECT_LANELET_FILTER_HPP_
+#ifndef DETECTED_OBJECT_VALIDATION__DETECTED_OBJECT_FILTER__OBJECT_LANELET_FILTER_HPP_
+#define DETECTED_OBJECT_VALIDATION__DETECTED_OBJECT_FILTER__OBJECT_LANELET_FILTER_HPP_
 
 #include "detected_object_validation/utils/utils.hpp"
 
@@ -69,4 +69,4 @@ class ObjectLaneletFilterNode : public rclcpp::Node
 
 }  // namespace object_lanelet_filter
 
-#endif  // DETECTED_OBJECT_FILTER__OBJECT_LANELET_FILTER_HPP_
+#endif  // DETECTED_OBJECT_VALIDATION__DETECTED_OBJECT_FILTER__OBJECT_LANELET_FILTER_HPP_
diff --git a/perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_position_filter.hpp b/perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_position_filter.hpp
index 50f435b015a7..be25eb6a353e 100644
--- a/perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_position_filter.hpp
+++ b/perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_position_filter.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef DETECTED_OBJECT_FILTER__OBJECT_POSITION_FILTER_HPP_
-#define DETECTED_OBJECT_FILTER__OBJECT_POSITION_FILTER_HPP_
+#ifndef DETECTED_OBJECT_VALIDATION__DETECTED_OBJECT_FILTER__OBJECT_POSITION_FILTER_HPP_
+#define DETECTED_OBJECT_VALIDATION__DETECTED_OBJECT_FILTER__OBJECT_POSITION_FILTER_HPP_
 
 #include "detected_object_validation/utils/utils.hpp"
 
@@ -55,4 +55,4 @@ class ObjectPositionFilterNode : public rclcpp::Node
 
 }  // namespace object_position_filter
 
-#endif  // DETECTED_OBJECT_FILTER__OBJECT_POSITION_FILTER_HPP_
+#endif  // DETECTED_OBJECT_VALIDATION__DETECTED_OBJECT_FILTER__OBJECT_POSITION_FILTER_HPP_
diff --git a/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/debugger.hpp b/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/debugger.hpp
index 6597475ae297..8f5fa054090f 100644
--- a/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/debugger.hpp
+++ b/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/debugger.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBSTACLE_POINTCLOUD_BASED_VALIDATOR__DEBUGGER_HPP_
-#define OBSTACLE_POINTCLOUD_BASED_VALIDATOR__DEBUGGER_HPP_
+#ifndef DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__DEBUGGER_HPP_
+#define DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__DEBUGGER_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -113,4 +113,4 @@ class Debugger
 };
 }  // namespace obstacle_pointcloud_based_validator
 
-#endif  // OBSTACLE_POINTCLOUD_BASED_VALIDATOR__DEBUGGER_HPP_
+#endif  // DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__DEBUGGER_HPP_
diff --git a/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp b/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
index 563e13ed2901..e5ae2d27b979 100644
--- a/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
+++ b/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_
-#define OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_
+#ifndef DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_
+#define DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_
 
 #include "detected_object_validation/obstacle_pointcloud_based_validator/debugger.hpp"
 
@@ -152,4 +152,4 @@ class ObstaclePointCloudBasedValidator : public rclcpp::Node
 };
 }  // namespace obstacle_pointcloud_based_validator
 
-#endif  // OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_
+#endif  // DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_
diff --git a/perception/detected_object_validation/include/detected_object_validation/occupancy_grid_based_validator/occupancy_grid_based_validator.hpp b/perception/detected_object_validation/include/detected_object_validation/occupancy_grid_based_validator/occupancy_grid_based_validator.hpp
index f62b0d866dc3..5fd866d09e72 100644
--- a/perception/detected_object_validation/include/detected_object_validation/occupancy_grid_based_validator/occupancy_grid_based_validator.hpp
+++ b/perception/detected_object_validation/include/detected_object_validation/occupancy_grid_based_validator/occupancy_grid_based_validator.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OCCUPANCY_GRID_BASED_VALIDATOR__OCCUPANCY_GRID_BASED_VALIDATOR_HPP_
-#define OCCUPANCY_GRID_BASED_VALIDATOR__OCCUPANCY_GRID_BASED_VALIDATOR_HPP_
+#ifndef DETECTED_OBJECT_VALIDATION__OCCUPANCY_GRID_BASED_VALIDATOR__OCCUPANCY_GRID_BASED_VALIDATOR_HPP_
+#define DETECTED_OBJECT_VALIDATION__OCCUPANCY_GRID_BASED_VALIDATOR__OCCUPANCY_GRID_BASED_VALIDATOR_HPP_
 
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
@@ -68,4 +68,4 @@ class OccupancyGridBasedValidator : public rclcpp::Node
 };
 }  // namespace occupancy_grid_based_validator
 
-#endif  // OCCUPANCY_GRID_BASED_VALIDATOR__OCCUPANCY_GRID_BASED_VALIDATOR_HPP_
+#endif  // DETECTED_OBJECT_VALIDATION__OCCUPANCY_GRID_BASED_VALIDATOR__OCCUPANCY_GRID_BASED_VALIDATOR_HPP_
diff --git a/perception/detected_object_validation/include/detected_object_validation/utils/utils.hpp b/perception/detected_object_validation/include/detected_object_validation/utils/utils.hpp
index 21df77825176..2c46e1b9dd11 100644
--- a/perception/detected_object_validation/include/detected_object_validation/utils/utils.hpp
+++ b/perception/detected_object_validation/include/detected_object_validation/utils/utils.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef UTILS__UTILS_HPP_
-#define UTILS__UTILS_HPP_
+#ifndef DETECTED_OBJECT_VALIDATION__UTILS__UTILS_HPP_
+#define DETECTED_OBJECT_VALIDATION__UTILS__UTILS_HPP_
 
 #include <cstdint>
 
@@ -33,4 +33,4 @@ struct FilterTargetLabel
 };  // struct FilterTargetLabel
 }  // namespace utils
 
-#endif  // UTILS__UTILS_HPP_
+#endif  // DETECTED_OBJECT_VALIDATION__UTILS__UTILS_HPP_

From 48ac58d57185ea4f7eeafddc9e0a78a2d341d3b1 Mon Sep 17 00:00:00 2001
From: Esteve Fernandez <esteve.fernandez@tier4.jp>
Date: Thu, 14 Dec 2023 13:20:58 +0100
Subject: [PATCH 3/9] fix: disable lint checks for header guards

Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>
---
 .../obstacle_pointcloud_based_validator.hpp                   | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp b/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
index e5ae2d27b979..e811d8a3240b 100644
--- a/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
+++ b/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
@@ -12,8 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+// NOLINTBEGIN(whitespace/line_length)
 #ifndef DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_
 #define DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_
+// NOLINTEND(whitespace/line_length)
 
 #include "detected_object_validation/obstacle_pointcloud_based_validator/debugger.hpp"
 
@@ -152,4 +154,6 @@ class ObstaclePointCloudBasedValidator : public rclcpp::Node
 };
 }  // namespace obstacle_pointcloud_based_validator
 
+// NOLINTBEGIN(whitespace/line_length)
 #endif  // DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_
+// NOLINTEND(whitespace/line_length)

From 2a35360a4f36fe5c7d6c54f3433a829e678a3c7b Mon Sep 17 00:00:00 2001
From: Esteve Fernandez <esteve.fernandez@tier4.jp>
Date: Thu, 14 Dec 2023 13:27:00 +0100
Subject: [PATCH 4/9] fix: use NOLINT to disable lint checks

Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>
---
 .../obstacle_pointcloud_based_validator.hpp            | 10 +++-------
 1 file changed, 3 insertions(+), 7 deletions(-)

diff --git a/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp b/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
index e811d8a3240b..e72d31bc1e92 100644
--- a/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
+++ b/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
@@ -12,10 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-// NOLINTBEGIN(whitespace/line_length)
-#ifndef DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_
-#define DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_
-// NOLINTEND(whitespace/line_length)
+#ifndef DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_ // NOLINT
+#define DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_ // NOLINT
 
 #include "detected_object_validation/obstacle_pointcloud_based_validator/debugger.hpp"
 
@@ -154,6 +152,4 @@ class ObstaclePointCloudBasedValidator : public rclcpp::Node
 };
 }  // namespace obstacle_pointcloud_based_validator
 
-// NOLINTBEGIN(whitespace/line_length)
-#endif  // DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_
-// NOLINTEND(whitespace/line_length)
+#endif  // DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_ // NOLINT

From 495098eac1ccaa8cab4c009cd5afc64c22e863ac Mon Sep 17 00:00:00 2001
From: Esteve Fernandez <esteve.fernandez@tier4.jp>
Date: Thu, 14 Dec 2023 13:35:25 +0100
Subject: [PATCH 5/9] fix: use NOLINTNEXTLINE

Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>
---
 .../obstacle_pointcloud_based_validator.hpp                    | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp b/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
index e72d31bc1e92..fbdd3f999d6c 100644
--- a/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
+++ b/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
@@ -152,4 +152,5 @@ class ObstaclePointCloudBasedValidator : public rclcpp::Node
 };
 }  // namespace obstacle_pointcloud_based_validator
 
-#endif  // DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_ // NOLINT
+// NOLINTNEXTLINE
+#endif  // DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_

From 82265b4ef3aa9335e79de281f940f6669a9627a6 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Thu, 14 Dec 2023 12:38:21 +0000
Subject: [PATCH 6/9] style(pre-commit): autofix

---
 .../obstacle_pointcloud_based_validator.hpp                   | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp b/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
index fbdd3f999d6c..3b3f11602e06 100644
--- a/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
+++ b/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_ // NOLINT
-#define DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_ // NOLINT
+#ifndef DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_  // NOLINT
+#define DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_  // NOLINT
 
 #include "detected_object_validation/obstacle_pointcloud_based_validator/debugger.hpp"
 

From 55600c97672bf8fe57873e92ff63b39818be3421 Mon Sep 17 00:00:00 2001
From: Esteve Fernandez <esteve.fernandez@tier4.jp>
Date: Thu, 14 Dec 2023 13:43:37 +0100
Subject: [PATCH 7/9] fix: be more specific about the type of lint check to
 skip

Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>
---
 .../obstacle_pointcloud_based_validator.hpp                 | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp b/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
index 3b3f11602e06..71c426b6dda2 100644
--- a/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
+++ b/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_  // NOLINT
-#define DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_  // NOLINT
+#ifndef DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_  // NOLINT(whitespace/line_length)
+#define DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_  // NOLINT(whitespace/line_length)
 
 #include "detected_object_validation/obstacle_pointcloud_based_validator/debugger.hpp"
 
@@ -152,5 +152,5 @@ class ObstaclePointCloudBasedValidator : public rclcpp::Node
 };
 }  // namespace obstacle_pointcloud_based_validator
 
-// NOLINTNEXTLINE
+// NOLINTNEXTLINE(whitespace/line_length)
 #endif  // DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_

From cb2b1f6d76fb82e3aff2143f8dc36eadba7a1d1b Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Thu, 14 Dec 2023 12:45:59 +0000
Subject: [PATCH 8/9] style(pre-commit): autofix

---
 .../obstacle_pointcloud_based_validator.hpp                   | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp b/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
index 71c426b6dda2..71ccc57c4f00 100644
--- a/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
+++ b/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_  // NOLINT(whitespace/line_length)
-#define DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_  // NOLINT(whitespace/line_length)
+#ifndef DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_  // NOLINT
+#define DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_  // NOLINT
 
 #include "detected_object_validation/obstacle_pointcloud_based_validator/debugger.hpp"
 

From c96242bed7e06f3f308a658fabaad87650a3489b Mon Sep 17 00:00:00 2001
From: Esteve Fernandez <esteve.fernandez@tier4.jp>
Date: Thu, 14 Dec 2023 14:59:40 +0100
Subject: [PATCH 9/9] fix: use NOLINTNEXTLINE

Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>
---
 .../obstacle_pointcloud_based_validator.hpp                 | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp b/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
index 71ccc57c4f00..2d7024744504 100644
--- a/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
+++ b/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
@@ -12,8 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_  // NOLINT
-#define DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_  // NOLINT
+// NOLINTNEXTLINE(whitespace/line_length)
+#ifndef DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_
+// NOLINTNEXTLINE(whitespace/line_length)
+#define DETECTED_OBJECT_VALIDATION__OBSTACLE_POINTCLOUD_BASED_VALIDATOR__OBSTACLE_POINTCLOUD_BASED_VALIDATOR_HPP_
 
 #include "detected_object_validation/obstacle_pointcloud_based_validator/debugger.hpp"