feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in fil…

…es planning/autoware_obstacle_stop_planner

Signed-off-by: vish0012 <[email protected]>

planning/autoware_obstacle_stop_planner/package.xml

@@ -21,6 +21,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_adapi_v1_msgs</depend>
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
@@ -40,7 +41,6 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_debug_msgs</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>
 

planning/autoware_obstacle_stop_planner/src/adaptive_cruise_control.cpp

@@ -181,7 +181,7 @@ AdaptiveCruiseController::AdaptiveCruiseController(
   param_.rough_velocity_rate = node_->declare_parameter<double>(acc_ns + "rough_velocity_rate");
 
   /* publisher */
-  pub_debug_ = node_->create_publisher<tier4_debug_msgs::msg::Float32MultiArrayStamped>(
+  pub_debug_ = node_->create_publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>(
     "~/adaptive_cruise_control/debug_values", 1);
 }
 

planning/autoware_obstacle_stop_planner/src/adaptive_cruise_control.hpp

@@ -17,10 +17,10 @@
 
 #include <rclcpp/rclcpp.hpp>
 
+#include <autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp>
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
 #include <autoware_planning_msgs/msg/trajectory.hpp>
 #include <nav_msgs/msg/odometry.hpp>
-#include <tier4_debug_msgs/msg/float32_multi_array_stamped.hpp>
 
 #include <pcl/point_types.h>
 #include <pcl_conversions/pcl_conversions.h>
@@ -58,7 +58,8 @@ class AdaptiveCruiseController
     const PredictedObject & target_object);
 
 private:
-  rclcpp::Publisher<tier4_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr pub_debug_;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr
+    pub_debug_;
 
   rclcpp::Node * node_;
   /*
@@ -217,7 +218,7 @@ class AdaptiveCruiseController
   void registerQueToVelocity(const double vel, const rclcpp::Time & vel_time);
 
   /* Debug */
-  mutable tier4_debug_msgs::msg::Float32MultiArrayStamped debug_values_;
+  mutable autoware_internal_debug_msgs::msg::Float32MultiArrayStamped debug_values_;
   enum DBGVAL {
     ESTIMATED_VEL_PCL = 0,
     ESTIMATED_VEL_OBJ = 1,

planning/autoware_obstacle_stop_planner/src/debug_marker.hpp

@@ -18,9 +18,9 @@
 
 #include <autoware_adapi_v1_msgs/msg/planning_behavior.hpp>
 #include <autoware_adapi_v1_msgs/msg/velocity_factor_array.hpp>
+#include <autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp>
 #include <geometry_msgs/msg/point.hpp>
 #include <geometry_msgs/msg/pose.hpp>
-#include <tier4_debug_msgs/msg/float32_multi_array_stamped.hpp>
 #include <visualization_msgs/msg/marker.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
 
@@ -45,7 +45,7 @@ using visualization_msgs::msg::MarkerArray;
 using autoware_adapi_v1_msgs::msg::PlanningBehavior;
 using autoware_adapi_v1_msgs::msg::VelocityFactor;
 using autoware_adapi_v1_msgs::msg::VelocityFactorArray;
-using tier4_debug_msgs::msg::Float32MultiArrayStamped;
+using autoware_internal_debug_msgs::msg::Float32MultiArrayStamped;
 
 enum class PolygonType : int8_t { Vehicle = 0, Collision, SlowDownRange, SlowDown, Obstacle };
 

planning/autoware_obstacle_stop_planner/src/node.hpp

@@ -29,17 +29,17 @@
 #include <pcl_ros/transforms.hpp>
 #include <rclcpp/rclcpp.hpp>
 
+#include <autoware_internal_debug_msgs/msg/bool_stamped.hpp>
+#include <autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp>
+#include <autoware_internal_debug_msgs/msg/float32_stamped.hpp>
+#include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
 #include <autoware_planning_msgs/msg/trajectory.hpp>
 #include <diagnostic_msgs/msg/diagnostic_status.hpp>
 #include <geometry_msgs/msg/accel_stamped.hpp>
 #include <geometry_msgs/msg/accel_with_covariance_stamped.hpp>
 #include <geometry_msgs/msg/twist_stamped.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
-#include <tier4_debug_msgs/msg/bool_stamped.hpp>
-#include <tier4_debug_msgs/msg/float32_multi_array_stamped.hpp>
-#include <tier4_debug_msgs/msg/float32_stamped.hpp>
-#include <tier4_debug_msgs/msg/float64_stamped.hpp>
 #include <tier4_planning_msgs/msg/expand_stop_range.hpp>
 #include <tier4_planning_msgs/msg/velocity_limit.hpp>
 #include <tier4_planning_msgs/msg/velocity_limit_clear_command.hpp>
@@ -81,13 +81,13 @@ using autoware::universe_utils::Point2d;
 using autoware::universe_utils::Polygon2d;
 using autoware::universe_utils::StopWatch;
 using autoware::vehicle_info_utils::VehicleInfo;
+using autoware_internal_debug_msgs::msg::BoolStamped;
+using autoware_internal_debug_msgs::msg::Float32MultiArrayStamped;
+using autoware_internal_debug_msgs::msg::Float32Stamped;
+using autoware_internal_debug_msgs::msg::Float64Stamped;
 using autoware_perception_msgs::msg::PredictedObjects;
 using autoware_planning_msgs::msg::Trajectory;
 using autoware_planning_msgs::msg::TrajectoryPoint;
-using tier4_debug_msgs::msg::BoolStamped;
-using tier4_debug_msgs::msg::Float32MultiArrayStamped;
-using tier4_debug_msgs::msg::Float32Stamped;
-using tier4_debug_msgs::msg::Float64Stamped;
 using tier4_planning_msgs::msg::ExpandStopRange;
 using tier4_planning_msgs::msg::VelocityLimit;
 using tier4_planning_msgs::msg::VelocityLimitClearCommand;