Revert "Trimmed the branch to only the perception sub directory"

This reverts commit 9c1b8cdc3abd0cfee0227b5ebc8925ac06cda2b4.
Rebase from 'upstream' @ version '0.3.18'
Trimmed the branch to only the perception sub directory
Revert "Trimmed the branch to only the perception sub directory"

This reverts commit 8790685b87b258508f637ab37821a12b406fc7da.
Rebase from 'upstream' @ version '0.3.18'
Trimmed the branch to only the perception sub directory