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feat(diagnostic_graph_utils): use StringStamped in autoware_internal_debug_msgs #9741

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merged 2 commits into from
Dec 24, 2024
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feat(diagnostic_graph_utils): use StringStamped in autoware_internal_debug_msgs #9741

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feat(diagnostic_graph_utils): use StringStamped in autoware_internal_…
takayuki5168 Dec 23, 2024
e212fe8
fix
takayuki5168 Dec 23, 2024
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1 change: 1 addition & 0 deletions system/diagnostic_graph_utils/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@
<buildtool_depend>ament_cmake_auto</buildtool_depend>
<buildtool_depend>autoware_cmake</buildtool_depend>

<depend>autoware_internal_debug_msgs</depend>
<depend>diagnostic_msgs</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
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6 changes: 3 additions & 3 deletions system/diagnostic_graph_utils/src/node/logging.cpp
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Expand Up @@ -34,7 +34,7 @@
sub_graph_.register_create_callback(std::bind(&LoggingNode::on_create, this, _1));
sub_graph_.subscribe(*this, 1);

pub_error_graph_text_ = create_publisher<tier4_debug_msgs::msg::StringStamped>(
pub_error_graph_text_ = create_publisher<autoware_internal_debug_msgs::msg::StringStamped>(

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Added line #L37 was not covered by tests
"~/debug/error_graph_text", rclcpp::QoS(1));

const auto period = rclcpp::Rate(declare_parameter<double>("show_rate")).period();
Expand Down Expand Up @@ -68,12 +68,12 @@
RCLCPP_WARN_STREAM(get_logger(), prefix_message << std::endl << dump_text_.str());
}

tier4_debug_msgs::msg::StringStamped message;
autoware_internal_debug_msgs::msg::StringStamped message;

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message.stamp = now();
message.data = dump_text_.str();
pub_error_graph_text_->publish(message);
} else {
tier4_debug_msgs::msg::StringStamped message;
autoware_internal_debug_msgs::msg::StringStamped message;

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system/diagnostic_graph_utils/src/node/logging.cpp#L76 

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message.stamp = now();
pub_error_graph_text_->publish(message);
}
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5 changes: 3 additions & 2 deletions system/diagnostic_graph_utils/src/node/logging.hpp
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Expand Up @@ -19,7 +19,7 @@

#include <rclcpp/rclcpp.hpp>

#include "tier4_debug_msgs/msg/string_stamped.hpp"
#include "autoware_internal_debug_msgs/msg/string_stamped.hpp"

#include <sstream>
#include <string>
Expand All @@ -37,7 +37,8 @@ class LoggingNode : public rclcpp::Node
void on_timer();
void dump_unit(DiagUnit * unit, int depth, const std::string & indent);
DiagGraphSubscription sub_graph_;
rclcpp::Publisher<tier4_debug_msgs::msg::StringStamped>::SharedPtr pub_error_graph_text_;
rclcpp::Publisher<autoware_internal_debug_msgs::msg::StringStamped>::SharedPtr
pub_error_graph_text_;
rclcpp::TimerBase::SharedPtr timer_;

DiagUnit * root_unit_;
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