From ed511b135c83f42aefeed09224a32db5c19ad08f Mon Sep 17 00:00:00 2001
From: Mamoru Sobue <mamoru.sobue@tier4.jp>
Date: Tue, 5 Sep 2023 10:49:56 +0900
Subject: [PATCH] chore(build): remove tier4_autoware_utils.hpp perception/
 (#4843)

removed tier4_autoware_utils.hpp in perception/

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com>
---
 .../include/crosswalk_traffic_light_estimator/node.hpp        | 3 ++-
 .../include/obstacle_pointcloud_based_validator/debugger.hpp  | 1 -
 .../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 +-
 .../include/detection_by_tracker/debugger.hpp                 | 1 -
 .../detection_by_tracker/detection_by_tracker_core.hpp        | 1 -
 .../detection_by_tracker/src/detection_by_tracker_core.cpp    | 3 +++
 .../front_vehicle_velocity_estimator.hpp                      | 2 +-
 .../front_vehicle_velocity_estimator.cpp                      | 2 ++
 perception/heatmap_visualizer/src/utils.cpp                   | 3 ++-
 .../lib/postprocess/non_maximum_suppression.cpp               | 3 +--
 .../include/multi_object_tracker/utils/utils.hpp              | 4 +++-
 .../src/tracker/model/bicycle_tracker.cpp                     | 4 +++-
 .../src/tracker/model/big_vehicle_tracker.cpp                 | 4 +++-
 .../src/tracker/model/multiple_vehicle_tracker.cpp            | 2 --
 .../src/tracker/model/normal_vehicle_tracker.cpp              | 4 +++-
 .../src/tracker/model/pass_through_tracker.cpp                | 1 -
 .../src/tracker/model/pedestrian_and_bicycle_tracker.cpp      | 2 --
 .../src/tracker/model/pedestrian_tracker.cpp                  | 4 +++-
 .../src/tracker/model/unknown_tracker.cpp                     | 4 +++-
 .../include/object_association_merger/utils/utils.hpp         | 2 --
 .../object_merger/src/object_association_merger/node.cpp      | 2 +-
 .../object_velocity_splitter_node.cpp                         | 2 +-
 .../src/occupancy_grid_map_outlier_filter_nodelet.cpp         | 4 +++-
 .../probabilistic_occupancy_grid_map/include/utils/utils.hpp  | 1 -
 .../laserscan_based_occupancy_grid_map_node.cpp               | 1 -
 .../occupancy_grid_map_base.cpp                               | 1 -
 .../occupancy_grid_map_fixed.cpp                              | 2 +-
 .../occupancy_grid_map_projective.cpp                         | 2 +-
 .../pointcloud_based_occupancy_grid_map_node.cpp              | 3 ++-
 .../probabilistic_occupancy_grid_map/src/utils/utils.cpp      | 2 ++
 .../include/radar_fusion_to_detected_object.hpp               | 3 +--
 .../src/radar_fusion_to_detected_object.cpp                   | 3 +++
 .../radar_object_clustering/radar_object_clustering_node.hpp  | 1 -
 .../radar_object_clustering_node.cpp                          | 2 ++
 .../radar_tracks_msgs_converter_node.hpp                      | 2 +-
 .../radar_tracks_msgs_converter_node.cpp                      | 4 +++-
 .../include/shape_estimation/corrector/utils.hpp              | 2 --
 .../include/shape_estimation/model/model_interface.hpp        | 2 --
 perception/shape_estimation/lib/corrector/utils.cpp           | 3 ++-
 perception/shape_estimation/src/node.cpp                      | 2 +-
 .../simple_object_merger/simple_object_merger_node.hpp        | 2 +-
 .../simple_object_merger_node/simple_object_merger_node.cpp   | 2 ++
 perception/traffic_light_map_based_detector/src/node.cpp      | 3 ++-
 perception/traffic_light_occlusion_predictor/src/nodelet.cpp  | 1 -
 47 files changed, 61 insertions(+), 49 deletions(-)

diff --git a/perception/crosswalk_traffic_light_estimator/include/crosswalk_traffic_light_estimator/node.hpp b/perception/crosswalk_traffic_light_estimator/include/crosswalk_traffic_light_estimator/node.hpp
index 3b4855f1f38e9..161a4d19b96ef 100644
--- a/perception/crosswalk_traffic_light_estimator/include/crosswalk_traffic_light_estimator/node.hpp
+++ b/perception/crosswalk_traffic_light_estimator/include/crosswalk_traffic_light_estimator/node.hpp
@@ -19,7 +19,8 @@
 #include <lanelet2_extension/utility/query.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+#include <tier4_autoware_utils/ros/debug_publisher.hpp>
+#include <tier4_autoware_utils/system/stop_watch.hpp>
 
 #include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
 #include <autoware_perception_msgs/msg/traffic_signal_array.hpp>
diff --git a/perception/detected_object_validation/include/obstacle_pointcloud_based_validator/debugger.hpp b/perception/detected_object_validation/include/obstacle_pointcloud_based_validator/debugger.hpp
index 97c4387122301..9ef1f75427b65 100644
--- a/perception/detected_object_validation/include/obstacle_pointcloud_based_validator/debugger.hpp
+++ b/perception/detected_object_validation/include/obstacle_pointcloud_based_validator/debugger.hpp
@@ -16,7 +16,6 @@
 #define OBSTACLE_POINTCLOUD_BASED_VALIDATOR__DEBUGGER_HPP_
 
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 #include <autoware_auto_perception_msgs/msg/detected_objects.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
diff --git a/perception/detected_object_validation/src/object_lanelet_filter.cpp b/perception/detected_object_validation/src/object_lanelet_filter.cpp
index d22a05fc7162d..2e393f27c37a7 100644
--- a/perception/detected_object_validation/src/object_lanelet_filter.cpp
+++ b/perception/detected_object_validation/src/object_lanelet_filter.cpp
@@ -15,7 +15,7 @@
 #include "detected_object_filter/object_lanelet_filter.hpp"
 
 #include <object_recognition_utils/object_recognition_utils.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+#include <tier4_autoware_utils/geometry/geometry.hpp>
 
 #include <boost/geometry/algorithms/convex_hull.hpp>
 #include <boost/geometry/algorithms/disjoint.hpp>
diff --git a/perception/detected_object_validation/src/object_position_filter.cpp b/perception/detected_object_validation/src/object_position_filter.cpp
index 6980f5fd3c17f..0f59e60d57d55 100644
--- a/perception/detected_object_validation/src/object_position_filter.cpp
+++ b/perception/detected_object_validation/src/object_position_filter.cpp
@@ -14,8 +14,6 @@
 
 #include "detected_object_filter/object_position_filter.hpp"
 
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
-
 namespace object_position_filter
 {
 ObjectPositionFilterNode::ObjectPositionFilterNode(const rclcpp::NodeOptions & node_options)
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 bad20d8da577f..00e53e9de9a9c 100644
--- a/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp
+++ b/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp
@@ -15,7 +15,7 @@
 #include "obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp"
 
 #include <object_recognition_utils/object_recognition_utils.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
 
 #include <boost/geometry.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 50e3f3b540929..948f040d7ebde 100644
--- a/perception/detected_object_validation/src/occupancy_grid_based_validator.cpp
+++ b/perception/detected_object_validation/src/occupancy_grid_based_validator.cpp
@@ -16,7 +16,7 @@
 
 #include <object_recognition_utils/object_classification.hpp>
 #include <object_recognition_utils/object_recognition_utils.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
 
 #include <boost/optional.hpp>
 
diff --git a/perception/detection_by_tracker/include/detection_by_tracker/debugger.hpp b/perception/detection_by_tracker/include/detection_by_tracker/debugger.hpp
index 09ae73a7fa03c..fb7642356e8d9 100644
--- a/perception/detection_by_tracker/include/detection_by_tracker/debugger.hpp
+++ b/perception/detection_by_tracker/include/detection_by_tracker/debugger.hpp
@@ -20,7 +20,6 @@
 #include <euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <shape_estimation/shape_estimator.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 #include <autoware_auto_perception_msgs/msg/detected_objects.hpp>
 #include <autoware_auto_perception_msgs/msg/tracked_objects.hpp>
diff --git a/perception/detection_by_tracker/include/detection_by_tracker/detection_by_tracker_core.hpp b/perception/detection_by_tracker/include/detection_by_tracker/detection_by_tracker_core.hpp
index 577e0ff12c367..0eacfa527750b 100644
--- a/perception/detection_by_tracker/include/detection_by_tracker/detection_by_tracker_core.hpp
+++ b/perception/detection_by_tracker/include/detection_by_tracker/detection_by_tracker_core.hpp
@@ -22,7 +22,6 @@
 #include <euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <shape_estimation/shape_estimator.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 #include <autoware_auto_perception_msgs/msg/detected_objects.hpp>
 #include <autoware_auto_perception_msgs/msg/tracked_objects.hpp>
diff --git a/perception/detection_by_tracker/src/detection_by_tracker_core.cpp b/perception/detection_by_tracker/src/detection_by_tracker_core.cpp
index de71f94151486..7b436e1edd64c 100644
--- a/perception/detection_by_tracker/src/detection_by_tracker_core.cpp
+++ b/perception/detection_by_tracker/src/detection_by_tracker_core.cpp
@@ -16,6 +16,9 @@
 
 #include "object_recognition_utils/object_recognition_utils.hpp"
 
+#include <tier4_autoware_utils/geometry/geometry.hpp>
+#include <tier4_autoware_utils/math/unit_conversion.hpp>
+
 #include <chrono>
 #include <memory>
 #include <optional>
diff --git a/perception/front_vehicle_velocity_estimator/include/front_vehicle_velocity_estimator/front_vehicle_velocity_estimator.hpp b/perception/front_vehicle_velocity_estimator/include/front_vehicle_velocity_estimator/front_vehicle_velocity_estimator.hpp
index 5141bcad04990..01f738fc6beaa 100644
--- a/perception/front_vehicle_velocity_estimator/include/front_vehicle_velocity_estimator/front_vehicle_velocity_estimator.hpp
+++ b/perception/front_vehicle_velocity_estimator/include/front_vehicle_velocity_estimator/front_vehicle_velocity_estimator.hpp
@@ -19,7 +19,7 @@
 #include "pcl/point_types.h"
 #include "pcl_conversions/pcl_conversions.h"
 #include "rclcpp/logger.hpp"
-#include "tier4_autoware_utils/tier4_autoware_utils.hpp"
+#include "tier4_autoware_utils/geometry/boost_geometry.hpp"
 
 #include "autoware_auto_perception_msgs/msg/detected_objects.hpp"
 #include "nav_msgs/msg/odometry.hpp"
diff --git a/perception/front_vehicle_velocity_estimator/src/front_vehicle_velocity_estimator_node/front_vehicle_velocity_estimator.cpp b/perception/front_vehicle_velocity_estimator/src/front_vehicle_velocity_estimator_node/front_vehicle_velocity_estimator.cpp
index f1b8be19c3223..6f59823615c04 100644
--- a/perception/front_vehicle_velocity_estimator/src/front_vehicle_velocity_estimator_node/front_vehicle_velocity_estimator.cpp
+++ b/perception/front_vehicle_velocity_estimator/src/front_vehicle_velocity_estimator_node/front_vehicle_velocity_estimator.cpp
@@ -14,6 +14,8 @@
 
 #include "front_vehicle_velocity_estimator/front_vehicle_velocity_estimator.hpp"
 
+#include "tier4_autoware_utils/geometry/geometry.hpp"
+
 #include <boost/geometry.hpp>
 
 #include <memory>
diff --git a/perception/heatmap_visualizer/src/utils.cpp b/perception/heatmap_visualizer/src/utils.cpp
index 2c1be762b2cc9..c4b1c3d6a22c6 100644
--- a/perception/heatmap_visualizer/src/utils.cpp
+++ b/perception/heatmap_visualizer/src/utils.cpp
@@ -15,7 +15,8 @@
 #include "heatmap_visualizer/utils.hpp"
 
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+#include <tier4_autoware_utils/math/normalization.hpp>
+#include <tier4_autoware_utils/math/unit_conversion.hpp>
 
 #include <tf2/utils.h>
 
diff --git a/perception/lidar_centerpoint/lib/postprocess/non_maximum_suppression.cpp b/perception/lidar_centerpoint/lib/postprocess/non_maximum_suppression.cpp
index 90129b837eb1b..d4d7b1379776a 100644
--- a/perception/lidar_centerpoint/lib/postprocess/non_maximum_suppression.cpp
+++ b/perception/lidar_centerpoint/lib/postprocess/non_maximum_suppression.cpp
@@ -16,8 +16,7 @@
 
 #include "object_recognition_utils/geometry.hpp"
 #include "object_recognition_utils/object_recognition_utils.hpp"
-#include "tier4_autoware_utils/tier4_autoware_utils.hpp"
-
+#include "tier4_autoware_utils/geometry/geometry.hpp"
 namespace centerpoint
 {
 
diff --git a/perception/multi_object_tracker/include/multi_object_tracker/utils/utils.hpp b/perception/multi_object_tracker/include/multi_object_tracker/utils/utils.hpp
index f115d8c07f72f..d2b6ee5de475e 100644
--- a/perception/multi_object_tracker/include/multi_object_tracker/utils/utils.hpp
+++ b/perception/multi_object_tracker/include/multi_object_tracker/utils/utils.hpp
@@ -21,14 +21,16 @@
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 #include <autoware_auto_perception_msgs/msg/detected_object.hpp>
 #include <autoware_auto_perception_msgs/msg/shape.hpp>
 #include <autoware_auto_perception_msgs/msg/tracked_object.hpp>
 #include <geometry_msgs/msg/polygon.hpp>
+#include <geometry_msgs/msg/transform.hpp>
 #include <geometry_msgs/msg/vector3.hpp>
 
+#include <tf2/utils.h>
+
 #include <algorithm>
 #include <cmath>
 #include <tuple>
diff --git a/perception/multi_object_tracker/src/tracker/model/bicycle_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/bicycle_tracker.cpp
index 006a87430965f..6571e70b8c123 100644
--- a/perception/multi_object_tracker/src/tracker/model/bicycle_tracker.cpp
+++ b/perception/multi_object_tracker/src/tracker/model/bicycle_tracker.cpp
@@ -20,7 +20,9 @@
 
 #include "multi_object_tracker/utils/utils.hpp"
 
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
+#include <tier4_autoware_utils/math/normalization.hpp>
+#include <tier4_autoware_utils/math/unit_conversion.hpp>
 
 #include <bits/stdc++.h>
 #include <tf2/LinearMath/Matrix3x3.h>
diff --git a/perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp
index 50f582d6a2501..97d6d48c35d1b 100644
--- a/perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp
+++ b/perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp
@@ -34,7 +34,9 @@
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
+#include <tier4_autoware_utils/math/normalization.hpp>
+#include <tier4_autoware_utils/math/unit_conversion.hpp>
 
 using Label = autoware_auto_perception_msgs::msg::ObjectClassification;
 
diff --git a/perception/multi_object_tracker/src/tracker/model/multiple_vehicle_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/multiple_vehicle_tracker.cpp
index d9137bc67ef55..51adca7e69b56 100644
--- a/perception/multi_object_tracker/src/tracker/model/multiple_vehicle_tracker.cpp
+++ b/perception/multi_object_tracker/src/tracker/model/multiple_vehicle_tracker.cpp
@@ -18,8 +18,6 @@
 
 #include "multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp"
 
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
-
 using Label = autoware_auto_perception_msgs::msg::ObjectClassification;
 
 MultipleVehicleTracker::MultipleVehicleTracker(
diff --git a/perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp
index 978b5e346efb2..aa3f7b1c30d01 100644
--- a/perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp
+++ b/perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp
@@ -34,7 +34,9 @@
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
+#include <tier4_autoware_utils/math/normalization.hpp>
+#include <tier4_autoware_utils/math/unit_conversion.hpp>
 
 using Label = autoware_auto_perception_msgs::msg::ObjectClassification;
 
diff --git a/perception/multi_object_tracker/src/tracker/model/pass_through_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/pass_through_tracker.cpp
index 00822a2776ec8..2084ac28e70f0 100644
--- a/perception/multi_object_tracker/src/tracker/model/pass_through_tracker.cpp
+++ b/perception/multi_object_tracker/src/tracker/model/pass_through_tracker.cpp
@@ -34,7 +34,6 @@
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 PassThroughTracker::PassThroughTracker(
   const rclcpp::Time & time, const autoware_auto_perception_msgs::msg::DetectedObject & object,
diff --git a/perception/multi_object_tracker/src/tracker/model/pedestrian_and_bicycle_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/pedestrian_and_bicycle_tracker.cpp
index 87036c9b7665a..eed9d05359b77 100644
--- a/perception/multi_object_tracker/src/tracker/model/pedestrian_and_bicycle_tracker.cpp
+++ b/perception/multi_object_tracker/src/tracker/model/pedestrian_and_bicycle_tracker.cpp
@@ -18,8 +18,6 @@
 
 #include "multi_object_tracker/tracker/model/pedestrian_and_bicycle_tracker.hpp"
 
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
-
 using Label = autoware_auto_perception_msgs::msg::ObjectClassification;
 
 PedestrianAndBicycleTracker::PedestrianAndBicycleTracker(
diff --git a/perception/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp
index d2f144a25f103..b168717042db3 100644
--- a/perception/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp
+++ b/perception/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp
@@ -21,7 +21,9 @@
 #include "multi_object_tracker/utils/utils.hpp"
 #include "object_recognition_utils/object_recognition_utils.hpp"
 
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
+#include <tier4_autoware_utils/math/normalization.hpp>
+#include <tier4_autoware_utils/math/unit_conversion.hpp>
 
 #include <bits/stdc++.h>
 #include <tf2/LinearMath/Matrix3x3.h>
diff --git a/perception/multi_object_tracker/src/tracker/model/unknown_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/unknown_tracker.cpp
index 474191f8926ec..897b858a6aabe 100644
--- a/perception/multi_object_tracker/src/tracker/model/unknown_tracker.cpp
+++ b/perception/multi_object_tracker/src/tracker/model/unknown_tracker.cpp
@@ -30,7 +30,9 @@
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
+#include <tier4_autoware_utils/math/normalization.hpp>
+#include <tier4_autoware_utils/math/unit_conversion.hpp>
 
 UnknownTracker::UnknownTracker(
   const rclcpp::Time & time, const autoware_auto_perception_msgs::msg::DetectedObject & object,
diff --git a/perception/object_merger/include/object_association_merger/utils/utils.hpp b/perception/object_merger/include/object_association_merger/utils/utils.hpp
index dce5a48c5d2ce..bb4466bd4944d 100644
--- a/perception/object_merger/include/object_association_merger/utils/utils.hpp
+++ b/perception/object_merger/include/object_association_merger/utils/utils.hpp
@@ -19,8 +19,6 @@
 #ifndef OBJECT_ASSOCIATION_MERGER__UTILS__UTILS_HPP_
 #define OBJECT_ASSOCIATION_MERGER__UTILS__UTILS_HPP_
 
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
-
 #include <autoware_auto_perception_msgs/msg/detected_object.hpp>
 #include <autoware_auto_perception_msgs/msg/shape.hpp>
 #include <geometry_msgs/msg/polygon.hpp>
diff --git a/perception/object_merger/src/object_association_merger/node.cpp b/perception/object_merger/src/object_association_merger/node.cpp
index 4f600ce8a4948..0ad2a76f74754 100644
--- a/perception/object_merger/src/object_association_merger/node.cpp
+++ b/perception/object_merger/src/object_association_merger/node.cpp
@@ -16,7 +16,7 @@
 
 #include "object_association_merger/utils/utils.hpp"
 #include "object_recognition_utils/object_recognition_utils.hpp"
-#include "tier4_autoware_utils/tier4_autoware_utils.hpp"
+#include "tier4_autoware_utils/geometry/geometry.hpp"
 
 #include <boost/optional.hpp>
 
diff --git a/perception/object_velocity_splitter/src/object_velocity_splitter_node/object_velocity_splitter_node.cpp b/perception/object_velocity_splitter/src/object_velocity_splitter_node/object_velocity_splitter_node.cpp
index 775f612b8caeb..a5d54b63b3311 100644
--- a/perception/object_velocity_splitter/src/object_velocity_splitter_node/object_velocity_splitter_node.cpp
+++ b/perception/object_velocity_splitter/src/object_velocity_splitter_node/object_velocity_splitter_node.cpp
@@ -14,7 +14,7 @@
 
 #include "object_velocity_splitter/object_velocity_splitter_node.hpp"
 
-#include "tier4_autoware_utils/tier4_autoware_utils.hpp"
+#include "tier4_autoware_utils/geometry/geometry.hpp"
 
 #include <memory>
 #include <string>
diff --git a/perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_nodelet.cpp b/perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_nodelet.cpp
index 72136c20fddb8..691c13a6d4701 100644
--- a/perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_nodelet.cpp
+++ b/perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_nodelet.cpp
@@ -15,7 +15,9 @@
 #include "occupancy_grid_map_outlier_filter/occupancy_grid_map_outlier_filter_nodelet.hpp"
 
 #include <pcl_ros/transforms.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+#include <tier4_autoware_utils/geometry/geometry.hpp>
+#include <tier4_autoware_utils/ros/debug_publisher.hpp>
+#include <tier4_autoware_utils/system/stop_watch.hpp>
 
 #include <boost/optional.hpp>
 
diff --git a/perception/probabilistic_occupancy_grid_map/include/utils/utils.hpp b/perception/probabilistic_occupancy_grid_map/include/utils/utils.hpp
index 4af7ef950272d..047b747c2861f 100644
--- a/perception/probabilistic_occupancy_grid_map/include/utils/utils.hpp
+++ b/perception/probabilistic_occupancy_grid_map/include/utils/utils.hpp
@@ -18,7 +18,6 @@
 #include <builtin_interfaces/msg/time.hpp>
 #include <pcl_ros/transforms.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 #include <geometry_msgs/msg/pose.hpp>
 #include <geometry_msgs/msg/transform_stamped.hpp>
diff --git a/perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp b/perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp
index e6f8ca17757c2..b4505eedddd21 100644
--- a/perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp
+++ b/perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp
@@ -18,7 +18,6 @@
 #include "utils/utils.hpp"
 
 #include <pcl_ros/transforms.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 #include <nav_msgs/msg/occupancy_grid.hpp>
 
diff --git a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.cpp b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.cpp
index 4e71c4bda3f21..8652cfa34d96c 100644
--- a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.cpp
+++ b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.cpp
@@ -56,7 +56,6 @@
 
 #include <grid_map_costmap_2d/grid_map_costmap_2d.hpp>
 #include <pcl_ros/transforms.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 #include <sensor_msgs/point_cloud2_iterator.hpp>
 
diff --git a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.cpp b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.cpp
index b07076de8342a..56aeea30e0773 100644
--- a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.cpp
+++ b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.cpp
@@ -19,7 +19,7 @@
 
 #include <grid_map_costmap_2d/grid_map_costmap_2d.hpp>
 #include <pcl_ros/transforms.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+#include <tier4_autoware_utils/math/unit_conversion.hpp>
 
 #include <sensor_msgs/point_cloud2_iterator.hpp>
 
diff --git a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.cpp b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.cpp
index 9556b0a93cc93..20a5770e37fdb 100644
--- a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.cpp
+++ b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.cpp
@@ -20,7 +20,7 @@
 #include <grid_map_costmap_2d/grid_map_costmap_2d.hpp>
 #include <grid_map_ros/grid_map_ros.hpp>
 #include <pcl_ros/transforms.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+#include <tier4_autoware_utils/math/unit_conversion.hpp>
 
 #include <sensor_msgs/point_cloud2_iterator.hpp>
 
diff --git a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp
index e8b53b91d81f7..f6369602b8890 100644
--- a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp
+++ b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp
@@ -20,7 +20,8 @@
 #include "utils/utils.hpp"
 
 #include <pcl_ros/transforms.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+#include <tier4_autoware_utils/ros/debug_publisher.hpp>
+#include <tier4_autoware_utils/system/stop_watch.hpp>
 
 #include <nav_msgs/msg/occupancy_grid.hpp>
 
diff --git a/perception/probabilistic_occupancy_grid_map/src/utils/utils.cpp b/perception/probabilistic_occupancy_grid_map/src/utils/utils.cpp
index f2cd6203b3685..0060754cd875c 100644
--- a/perception/probabilistic_occupancy_grid_map/src/utils/utils.cpp
+++ b/perception/probabilistic_occupancy_grid_map/src/utils/utils.cpp
@@ -14,6 +14,8 @@
 
 #include "utils/utils.hpp"
 
+#include <tier4_autoware_utils/geometry/geometry.hpp>
+
 #include <string>
 
 namespace utils
diff --git a/perception/radar_fusion_to_detected_object/include/radar_fusion_to_detected_object.hpp b/perception/radar_fusion_to_detected_object/include/radar_fusion_to_detected_object.hpp
index e51024ba4e205..b5f2005a84baf 100644
--- a/perception/radar_fusion_to_detected_object/include/radar_fusion_to_detected_object.hpp
+++ b/perception/radar_fusion_to_detected_object/include/radar_fusion_to_detected_object.hpp
@@ -16,8 +16,7 @@
 #define RADAR_FUSION_TO_DETECTED_OBJECT_HPP_
 
 #include "rclcpp/logger.hpp"
-#include "tier4_autoware_utils/tier4_autoware_utils.hpp"
-
+#include "tier4_autoware_utils/geometry/boost_geometry.hpp"
 #define EIGEN_MPL2_ONLY
 #include <Eigen/Core>
 #include <Eigen/Geometry>
diff --git a/perception/radar_fusion_to_detected_object/src/radar_fusion_to_detected_object.cpp b/perception/radar_fusion_to_detected_object/src/radar_fusion_to_detected_object.cpp
index 79e6db0a69a71..839a606c0e307 100644
--- a/perception/radar_fusion_to_detected_object/src/radar_fusion_to_detected_object.cpp
+++ b/perception/radar_fusion_to_detected_object/src/radar_fusion_to_detected_object.cpp
@@ -15,6 +15,9 @@
 
 #include "radar_fusion_to_detected_object.hpp"
 
+#include <tier4_autoware_utils/geometry/geometry.hpp>
+#include <tier4_autoware_utils/math/normalization.hpp>
+
 #include <boost/geometry.hpp>
 
 #include <algorithm>
diff --git a/perception/radar_object_clustering/include/radar_object_clustering/radar_object_clustering_node.hpp b/perception/radar_object_clustering/include/radar_object_clustering/radar_object_clustering_node.hpp
index 0e82c5388d297..c762996f8e0a7 100644
--- a/perception/radar_object_clustering/include/radar_object_clustering/radar_object_clustering_node.hpp
+++ b/perception/radar_object_clustering/include/radar_object_clustering/radar_object_clustering_node.hpp
@@ -16,7 +16,6 @@
 #define RADAR_OBJECT_CLUSTERING__RADAR_OBJECT_CLUSTERING_NODE_HPP_
 
 #include "rclcpp/rclcpp.hpp"
-#include "tier4_autoware_utils/tier4_autoware_utils.hpp"
 
 #include "autoware_auto_perception_msgs/msg/detected_objects.hpp"
 
diff --git a/perception/radar_object_clustering/src/radar_object_clustering_node/radar_object_clustering_node.cpp b/perception/radar_object_clustering/src/radar_object_clustering_node/radar_object_clustering_node.cpp
index 7f9879fc357a5..74e85bde21385 100644
--- a/perception/radar_object_clustering/src/radar_object_clustering_node/radar_object_clustering_node.cpp
+++ b/perception/radar_object_clustering/src/radar_object_clustering_node/radar_object_clustering_node.cpp
@@ -15,6 +15,8 @@
 #include "radar_object_clustering/radar_object_clustering_node.hpp"
 
 #include "object_recognition_utils/object_recognition_utils.hpp"
+#include "tier4_autoware_utils/geometry/geometry.hpp"
+#include "tier4_autoware_utils/math/unit_conversion.hpp"
 
 #include <tf2/utils.h>
 
diff --git a/perception/radar_tracks_msgs_converter/include/radar_tracks_msgs_converter/radar_tracks_msgs_converter_node.hpp b/perception/radar_tracks_msgs_converter/include/radar_tracks_msgs_converter/radar_tracks_msgs_converter_node.hpp
index 62ebb2ec0146b..351410161d8b2 100644
--- a/perception/radar_tracks_msgs_converter/include/radar_tracks_msgs_converter/radar_tracks_msgs_converter_node.hpp
+++ b/perception/radar_tracks_msgs_converter/include/radar_tracks_msgs_converter/radar_tracks_msgs_converter_node.hpp
@@ -16,7 +16,7 @@
 #define RADAR_TRACKS_MSGS_CONVERTER__RADAR_TRACKS_MSGS_CONVERTER_NODE_HPP_
 
 #include "rclcpp/rclcpp.hpp"
-#include "tier4_autoware_utils/tier4_autoware_utils.hpp"
+#include "tier4_autoware_utils/ros/transform_listener.hpp"
 
 #include "autoware_auto_perception_msgs/msg/detected_objects.hpp"
 #include "autoware_auto_perception_msgs/msg/object_classification.hpp"
diff --git a/perception/radar_tracks_msgs_converter/src/radar_tracks_msgs_converter_node/radar_tracks_msgs_converter_node.cpp b/perception/radar_tracks_msgs_converter/src/radar_tracks_msgs_converter_node/radar_tracks_msgs_converter_node.cpp
index ab5e4eb5abe90..75556fbb0c372 100644
--- a/perception/radar_tracks_msgs_converter/src/radar_tracks_msgs_converter_node/radar_tracks_msgs_converter_node.cpp
+++ b/perception/radar_tracks_msgs_converter/src/radar_tracks_msgs_converter_node/radar_tracks_msgs_converter_node.cpp
@@ -14,7 +14,9 @@
 
 #include "radar_tracks_msgs_converter/radar_tracks_msgs_converter_node.hpp"
 
-#include "tier4_autoware_utils/tier4_autoware_utils.hpp"
+#include "tier4_autoware_utils/geometry/geometry.hpp"
+#include "tier4_autoware_utils/math/unit_conversion.hpp"
+#include "tier4_autoware_utils/ros/msg_covariance.hpp"
 
 #include <tf2/utils.h>
 
diff --git a/perception/shape_estimation/include/shape_estimation/corrector/utils.hpp b/perception/shape_estimation/include/shape_estimation/corrector/utils.hpp
index b932c67133850..60ccb0b4ef02c 100644
--- a/perception/shape_estimation/include/shape_estimation/corrector/utils.hpp
+++ b/perception/shape_estimation/include/shape_estimation/corrector/utils.hpp
@@ -17,8 +17,6 @@
 
 #include "shape_estimation/shape_estimator.hpp"
 
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
-
 #include <autoware_auto_perception_msgs/msg/shape.hpp>
 #include <geometry_msgs/msg/pose.hpp>
 
diff --git a/perception/shape_estimation/include/shape_estimation/model/model_interface.hpp b/perception/shape_estimation/include/shape_estimation/model/model_interface.hpp
index 7f9baa9a0f5e0..ccd04bae40698 100644
--- a/perception/shape_estimation/include/shape_estimation/model/model_interface.hpp
+++ b/perception/shape_estimation/include/shape_estimation/model/model_interface.hpp
@@ -15,8 +15,6 @@
 #ifndef SHAPE_ESTIMATION__MODEL__MODEL_INTERFACE_HPP_
 #define SHAPE_ESTIMATION__MODEL__MODEL_INTERFACE_HPP_
 
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
-
 #include <autoware_auto_perception_msgs/msg/shape.hpp>
 #include <geometry_msgs/msg/pose.hpp>
 
diff --git a/perception/shape_estimation/lib/corrector/utils.cpp b/perception/shape_estimation/lib/corrector/utils.cpp
index e75dcc25f521a..e16f8bed8d36b 100644
--- a/perception/shape_estimation/lib/corrector/utils.cpp
+++ b/perception/shape_estimation/lib/corrector/utils.cpp
@@ -14,10 +14,11 @@
 
 #include "shape_estimation/corrector/utils.hpp"
 
+#include <tier4_autoware_utils/geometry/geometry.hpp>
+
 #include <tf2/LinearMath/Matrix3x3.h>
 #include <tf2/LinearMath/Quaternion.h>
 #include <tf2/utils.h>
-
 #ifdef ROS_DISTRO_GALACTIC
 #include <tf2_eigen/tf2_eigen.h>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
diff --git a/perception/shape_estimation/src/node.cpp b/perception/shape_estimation/src/node.cpp
index 9be64112bc32d..987cf8106c99e 100644
--- a/perception/shape_estimation/src/node.cpp
+++ b/perception/shape_estimation/src/node.cpp
@@ -15,7 +15,7 @@
 #include "shape_estimation/shape_estimator.hpp"
 
 #include <node.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+#include <tier4_autoware_utils/math/unit_conversion.hpp>
 
 #include <autoware_auto_perception_msgs/msg/object_classification.hpp>
 
diff --git a/perception/simple_object_merger/include/simple_object_merger/simple_object_merger_node.hpp b/perception/simple_object_merger/include/simple_object_merger/simple_object_merger_node.hpp
index 6e2daf9266c9c..0d041439e6092 100644
--- a/perception/simple_object_merger/include/simple_object_merger/simple_object_merger_node.hpp
+++ b/perception/simple_object_merger/include/simple_object_merger/simple_object_merger_node.hpp
@@ -16,7 +16,7 @@
 #define SIMPLE_OBJECT_MERGER__SIMPLE_OBJECT_MERGER_NODE_HPP_
 
 #include "rclcpp/rclcpp.hpp"
-#include "tier4_autoware_utils/tier4_autoware_utils.hpp"
+#include "tier4_autoware_utils/ros/transform_listener.hpp"
 
 #include "autoware_auto_perception_msgs/msg/detected_objects.hpp"
 
diff --git a/perception/simple_object_merger/src/simple_object_merger_node/simple_object_merger_node.cpp b/perception/simple_object_merger/src/simple_object_merger_node/simple_object_merger_node.cpp
index 506a40e672fb6..73a96da454833 100644
--- a/perception/simple_object_merger/src/simple_object_merger_node/simple_object_merger_node.cpp
+++ b/perception/simple_object_merger/src/simple_object_merger_node/simple_object_merger_node.cpp
@@ -14,6 +14,8 @@
 
 #include "simple_object_merger/simple_object_merger_node.hpp"
 
+#include <geometry_msgs/msg/pose_stamped.hpp>
+
 #include <memory>
 #include <string>
 #include <vector>
diff --git a/perception/traffic_light_map_based_detector/src/node.cpp b/perception/traffic_light_map_based_detector/src/node.cpp
index fcf13e3900793..a46be77667bcb 100644
--- a/perception/traffic_light_map_based_detector/src/node.cpp
+++ b/perception/traffic_light_map_based_detector/src/node.cpp
@@ -17,7 +17,8 @@
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <lanelet2_extension/visualization/visualization.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
+#include <tier4_autoware_utils/math/normalization.hpp>
+#include <tier4_autoware_utils/math/unit_conversion.hpp>
 
 #include <lanelet2_core/Exceptions.h>
 #include <lanelet2_core/geometry/Point.h>
diff --git a/perception/traffic_light_occlusion_predictor/src/nodelet.cpp b/perception/traffic_light_occlusion_predictor/src/nodelet.cpp
index 366820a725018..c460f6a623bc4 100644
--- a/perception/traffic_light_occlusion_predictor/src/nodelet.cpp
+++ b/perception/traffic_light_occlusion_predictor/src/nodelet.cpp
@@ -18,7 +18,6 @@
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <lanelet2_extension/visualization/visualization.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 #include <lanelet2_core/Exceptions.h>
 #include <lanelet2_core/geometry/Point.h>