feat(autoware_internal_debug_msgs): add MultiArray msgs

[vish0012]

Description

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Effects on system behavior

Not applicable.

Interface changes

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[youtalk]

Why don't you use the original ones?

https://github.com/ros2/common_interfaces/blob/master/std_msgs/msg/MultiArrayLayout.msg
https://github.com/ros2/common_interfaces/blob/master/std_msgs/msg/MultiArrayDimension.msg

[cyn-liu]

I am working on task Autoware Universe port to Autoware Core, but this porting guideline requires that each package can only use messages defined under AutowareFoundation GitHub Org (e.g., autoware_msgs and autoware_internal_msgs), And I have noticed that someone has already moved tier4_xxx_msgs to autoware_internal_xxx_msgs, Will we replace the tier4_xxx_msgs in the universe with theautoware_internal_xxx_msgs next?

Why were two messages(ProcessingTimeNode.msg, ProcessingTimeTree.msg) missed when moving to autoware_internal_xxx_msgs, and these two messages are still being used in Autoware.Universe.

[youtalk]

@cyn-liu If a part of autoware_universe_utils is to be ported to autoware.core, it will likely be necessary. Please create a migration PR.

[youtalk]

@vish0012 Please give me a feedback. cc @mitsudome-r

Why don't you use the original ones?

https://github.com/ros2/common_interfaces/blob/master/std_msgs/msg/MultiArrayLayout.msg https://github.com/ros2/common_interfaces/blob/master/std_msgs/msg/MultiArrayDimension.msg

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[youtalk]

@cyn-liu If a part of autoware_universe_utils is to be ported to autoware.core, it will likely be necessary. Please create a migration PR.

Oops, they were already appended by yourself. Please ignore the comment.
#41

[mitsudome-r]

@youtalk

Why don't you use the original ones?

I think we added to tier4_autoware_msgs since the message seems to be deprecated as of Foxy, and we wanted to keep using it for Autoware: https://github.com/ros2/common_interfaces/blob/50cccb2dc164ae10a92c9360524eb169627bd36a/std_msgs/msg/MultiArrayLayout.msg#L2

[mitsudome-r]

If these messages are not necessary for Autoware Core, we might not need to port it to autoware_internal_msgs for now. I will check if we need this message.

[youtalk]

It still seems possible to install via APT on both Humble and Jazzy. Wouldn’t it be fine to close it for now?

https://github.com/ros2/common_interfaces/blob/humble/std_msgs/CMakeLists.txt#L37-L38
https://github.com/ros2/common_interfaces/blob/jazzy/std_msgs/CMakeLists.txt#L38-L39

[mitsudome-r]

Maybe these comments can be updated for Autoware

Suggested change

	# This is from ros2 common_interfaces.
	# https://github.com/ros2/common_interfaces/blob/master/std_msgs/msg/MultiArrayDimension.msg
	# This was originally provided as an example message.
	# It is deprecated as of Foxy
	# It is recommended to create your own semantically meaningful message.
	# However if you would like to continue using this please use the equivalent in example_msgs.
	# This is from ros2 common_interfaces.
	# https://github.com/ros2/common_interfaces/blob/master/std_msgs/msg/MultiArrayDimension.msg
	# The original message in ROS 2 was deprecated as of Foxy so we are defining it here for use in Autoware.

[mitsudome-r]

Same here:

Suggested change

	# This is from ros2 common_interfaces.
	# https://github.com/ros2/common_interfaces/blob/master/std_msgs/msg/MultiArrayLayout.msg
	# This was originally provided as an example message.
	# It is deprecated as of Foxy
	# It is recommended to create your own semantically meaningful message.
	# However if you would like to continue using this please use the equivalent in example_msgs.
	# This is from ros2 common_interfaces.
	# https://github.com/ros2/common_interfaces/blob/master/std_msgs/msg/MultiArrayLayout.msg
	# The original message in ROS 2 was deprecated as of Foxy so we are defining it here for use in Autoware.

[mitsudome-r]

We can use the one from common_interfaces for Autoware Core until it is really removed so I think we can close this PR.