feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (

#9846) * feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files ontrol/autoware_mpc_lateral_controller Signed-off-by: vish0012 <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: vish0012 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
autowarefoundation · Jan 9, 2025 · 0b73c13 · 0b73c13
1 parent 926ad7f
commit 0b73c13
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Showing 7 changed files with 20 additions and 17 deletions.
diff --git a/...departure_checker/include/autoware/lane_departure_checker/lane_departure_checker_node.hpp b/...departure_checker/include/autoware/lane_departure_checker/lane_departure_checker_node.hpp
@@ -24,14 +24,14 @@
 #include <rclcpp/rclcpp.hpp>
 
 #include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
+#include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
 #include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 #include <autoware_planning_msgs/msg/lanelet_route.hpp>
 #include <autoware_planning_msgs/msg/trajectory.hpp>
 #include <autoware_vehicle_msgs/msg/control_mode_report.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
 #include <nav_msgs/msg/odometry.hpp>
-#include <tier4_debug_msgs/msg/float64_stamped.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
 
 #include <lanelet2_core/LaneletMap.h>
@@ -115,7 +115,8 @@ class LaneDepartureCheckerNode : public rclcpp::Node
   autoware::universe_utils::DebugPublisher debug_publisher_{this, "~/debug"};
   autoware::universe_utils::ProcessingTimePublisher processing_diag_publisher_{
     this, "~/debug/processing_time_ms_diag"};
-  rclcpp::Publisher<tier4_debug_msgs::msg::Float64Stamped>::SharedPtr processing_time_publisher_;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float64Stamped>::SharedPtr
+    processing_time_publisher_;
 
   // Timer
   rclcpp::TimerBase::SharedPtr timer_;

diff --git a/control/autoware_lane_departure_checker/package.xml b/control/autoware_lane_departure_checker/package.xml
@@ -14,6 +14,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_adapi_v1_msgs</depend>
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_map_msgs</depend>
   <depend>autoware_motion_utils</depend>
@@ -32,7 +33,6 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_debug_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>

diff --git a/...re_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp b/...re_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp
@@ -171,7 +171,8 @@ LaneDepartureCheckerNode::LaneDepartureCheckerNode(const rclcpp::NodeOptions & o
 
   // Publisher
   processing_time_publisher_ =
-    this->create_publisher<tier4_debug_msgs::msg::Float64Stamped>("~/debug/processing_time_ms", 1);
+    this->create_publisher<autoware_internal_debug_msgs::msg::Float64Stamped>(
+      "~/debug/processing_time_ms", 1);
   // Nothing
 
   // Diagnostic Updater
@@ -342,10 +343,11 @@ void LaneDepartureCheckerNode::onTimer()
 
   {
     const auto & deviation = output_.trajectory_deviation;
-    debug_publisher_.publish<tier4_debug_msgs::msg::Float64Stamped>(
+    debug_publisher_.publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
       "deviation/lateral", deviation.lateral);
-    debug_publisher_.publish<tier4_debug_msgs::msg::Float64Stamped>("deviation/yaw", deviation.yaw);
-    debug_publisher_.publish<tier4_debug_msgs::msg::Float64Stamped>(
+    debug_publisher_.publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
+      "deviation/yaw", deviation.yaw);
+    debug_publisher_.publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
       "deviation/yaw_deg", rad2deg(deviation.yaw));
   }
   processing_time_map["Node: publishTrajectoryDeviation"] = stop_watch.toc(true);
@@ -361,7 +363,7 @@ void LaneDepartureCheckerNode::onTimer()
 
   processing_time_map["Total"] = stop_watch.toc("Total");
   processing_diag_publisher_.publish(processing_time_map);
-  tier4_debug_msgs::msg::Float64Stamped processing_time_msg;
+  autoware_internal_debug_msgs::msg::Float64Stamped processing_time_msg;
   processing_time_msg.stamp = get_clock()->now();
   processing_time_msg.data = processing_time_map["Total"];
   processing_time_publisher_->publish(processing_time_msg);

diff --git a/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc.hpp b/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc.hpp
@@ -24,11 +24,11 @@
 #include "rclcpp/rclcpp.hpp"
 
 #include "autoware_control_msgs/msg/lateral.hpp"
+#include "autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp"
 #include "autoware_planning_msgs/msg/trajectory.hpp"
 #include "autoware_vehicle_msgs/msg/steering_report.hpp"
 #include "geometry_msgs/msg/pose.hpp"
 #include "nav_msgs/msg/odometry.hpp"
-#include "tier4_debug_msgs/msg/float32_multi_array_stamped.hpp"
 
 #include <deque>
 #include <memory>
@@ -41,11 +41,11 @@ namespace autoware::motion::control::mpc_lateral_controller
 
 using autoware::motion::control::trajectory_follower::LateralHorizon;
 using autoware_control_msgs::msg::Lateral;
+using autoware_internal_debug_msgs::msg::Float32MultiArrayStamped;
 using autoware_planning_msgs::msg::Trajectory;
 using autoware_vehicle_msgs::msg::SteeringReport;
 using geometry_msgs::msg::Pose;
 using nav_msgs::msg::Odometry;
-using tier4_debug_msgs::msg::Float32MultiArrayStamped;
 
 using Eigen::MatrixXd;
 using Eigen::VectorXd;

diff --git a/...mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc_lateral_controller.hpp b/...mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc_lateral_controller.hpp
@@ -26,13 +26,13 @@
 #include <diagnostic_updater/diagnostic_updater.hpp>
 
 #include "autoware_control_msgs/msg/lateral.hpp"
+#include "autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp"
+#include "autoware_internal_debug_msgs/msg/float32_stamped.hpp"
 #include "autoware_planning_msgs/msg/trajectory.hpp"
 #include "autoware_vehicle_msgs/msg/steering_report.hpp"
 #include "geometry_msgs/msg/pose.hpp"
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "nav_msgs/msg/odometry.hpp"
-#include "tier4_debug_msgs/msg/float32_multi_array_stamped.hpp"
-#include "tier4_debug_msgs/msg/float32_stamped.hpp"
 
 #include <deque>
 #include <memory>
@@ -45,11 +45,11 @@ namespace autoware::motion::control::mpc_lateral_controller
 
 namespace trajectory_follower = ::autoware::motion::control::trajectory_follower;
 using autoware_control_msgs::msg::Lateral;
+using autoware_internal_debug_msgs::msg::Float32MultiArrayStamped;
+using autoware_internal_debug_msgs::msg::Float32Stamped;
 using autoware_planning_msgs::msg::Trajectory;
 using autoware_vehicle_msgs::msg::SteeringReport;
 using nav_msgs::msg::Odometry;
-using tier4_debug_msgs::msg::Float32MultiArrayStamped;
-using tier4_debug_msgs::msg::Float32Stamped;
 using trajectory_follower::LateralHorizon;
 
 class MpcLateralController : public trajectory_follower::LateralControllerBase

diff --git a/control/autoware_mpc_lateral_controller/package.xml b/control/autoware_mpc_lateral_controller/package.xml
@@ -19,6 +19,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_control_msgs</depend>
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_interpolation</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_osqp_interface</depend>
@@ -36,7 +37,6 @@
   <depend>std_msgs</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_debug_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>

diff --git a/control/autoware_mpc_lateral_controller/test/test_mpc.cpp b/control/autoware_mpc_lateral_controller/test/test_mpc.cpp
@@ -24,11 +24,11 @@
 #include <autoware/trajectory_follower_base/control_horizon.hpp>
 
 #include "autoware_control_msgs/msg/lateral.hpp"
+#include "autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp"
 #include "autoware_planning_msgs/msg/trajectory.hpp"
 #include "autoware_planning_msgs/msg/trajectory_point.hpp"
 #include "autoware_vehicle_msgs/msg/steering_report.hpp"
 #include "geometry_msgs/msg/pose.hpp"
-#include "tier4_debug_msgs/msg/float32_multi_array_stamped.hpp"
 
 #ifdef ROS_DISTRO_GALACTIC
 #include "tf2_geometry_msgs/tf2_geometry_msgs.h"
@@ -45,12 +45,12 @@ namespace autoware::motion::control::mpc_lateral_controller
 
 using autoware::motion::control::trajectory_follower::LateralHorizon;
 using autoware_control_msgs::msg::Lateral;
+using autoware_internal_debug_msgs::msg::Float32MultiArrayStamped;
 using autoware_planning_msgs::msg::Trajectory;
 using autoware_planning_msgs::msg::TrajectoryPoint;
 using autoware_vehicle_msgs::msg::SteeringReport;
 using geometry_msgs::msg::Pose;
 using geometry_msgs::msg::PoseStamped;
-using tier4_debug_msgs::msg::Float32MultiArrayStamped;
 
 TrajectoryPoint makePoint(const double x, const double y, const float vx)
 {