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feat(tier4_debug_rviz_plugin)!: replace tier4_debug_msgs with tier4_internal_debug_msgs #202

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merged 3 commits into from
Jan 23, 2025
Merged

feat(tier4_debug_rviz_plugin)!: replace tier4_debug_msgs with tier4_internal_debug_msgs #202

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21935b2
feat(tier4_debug_rviz_plugin)!: replace tier4_debug_msgs with tier4_i…
mitsudome-r Jan 22, 2025
3c5c3ff
fix: remove unnecessary dependency
mitsudome-r Jan 22, 2025
de7e9ef
style(pre-commit): autofix
pre-commit-ci[bot] Jan 23, 2025
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2 changes: 1 addition & 1 deletion common/tier4_debug_rviz_plugin/README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,6 @@ Note that jsk_overlay_utils.cpp and jsk_overlay_utils.hpp are BSD license.

### Float32MultiArrayStampedPieChart

Pie chart from `tier4_debug_msgs::msg::Float32MultiArrayStamped`.
Pie chart from `autoware_internal_debug_msgs::msg::Float32MultiArrayStamped`.

![float32_multi_array_stamped_pie_chart](./images/float32_multi_array_stamped_pie_chart.png)
6 changes: 3 additions & 3 deletions ...bug_rviz_plugin/include/tier4_debug_rviz_plugin/float32_multi_array_stamped_pie_chart.hpp
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Expand Up @@ -60,7 +60,7 @@
#include <rviz_common/validate_floats.hpp>
#include <tier4_debug_rviz_plugin/jsk_overlay_utils.hpp>

#include <tier4_debug_msgs/msg/float32_multi_array_stamped.hpp>
#include <autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp>

#include <mutex>

Expand All @@ -87,7 +87,7 @@ class Float32MultiArrayStampedPieChartDisplay : public rviz_common::Display
virtual void onDisable();
virtual void onInitialize();
virtual void processMessage(
const tier4_debug_msgs::msg::Float32MultiArrayStamped::ConstSharedPtr msg);
const autoware_internal_debug_msgs::msg::Float32MultiArrayStamped::ConstSharedPtr msg);
virtual void drawPlot(double val);
virtual void update(float wall_dt, float ros_dt);
// properties
Expand All @@ -114,7 +114,7 @@ class Float32MultiArrayStampedPieChartDisplay : public rviz_common::Display
rviz_common::properties::FloatProperty * med_color_threshold_property_;
rviz_common::properties::BoolProperty * clockwise_rotate_property_;

rclcpp::Subscription<tier4_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr sub_;
rclcpp::Subscription<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr sub_;
int left_;
int top_;
uint16_t texture_size_;
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1 change: 0 additions & 1 deletion common/tier4_debug_rviz_plugin/package.xml
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Expand Up @@ -19,7 +19,6 @@
<depend>rviz_common</depend>
<depend>rviz_default_plugins</depend>
<depend>rviz_rendering</depend>
<depend>tier4_debug_msgs</depend>

<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>
Expand Down
2 changes: 1 addition & 1 deletion common/tier4_debug_rviz_plugin/plugins/plugin_description.xml
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Expand Up @@ -2,7 +2,7 @@
<class name="rviz_plugins/Float32MultiArrayStampedPieChart"
type="rviz_plugins::Float32MultiArrayStampedPieChartDisplay"
base_class_type="rviz_common::Display">
<description>Display drivable area of tier4_debug_msgs::msg::Float32MultiArrayStamped</description>
<description>Display drivable area of autoware_internal_debug_msgs::msg::Float32MultiArrayStamped</description>
</class>
<class name="rviz_plugins/StringStampedOverlayDisplay"
type="rviz_plugins::StringStampedOverlayDisplay"
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14 changes: 8 additions & 6 deletions common/tier4_debug_rviz_plugin/src/float32_multi_array_stamped_pie_chart.cpp
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Expand Up @@ -60,7 +60,8 @@ Float32MultiArrayStampedPieChartDisplay::Float32MultiArrayStampedPieChartDisplay
: rviz_common::Display(), update_required_(false), first_time_(true), data_(0.0)
{
update_topic_property_ = new rviz_common::properties::StringProperty(
"Topic", "", "tier4_debug_msgs::msg::Float32MultiArrayStamped topic to subscribe to.", this,
"Topic", "",
"autoware_internal_debug_msgs::msg::Float32MultiArrayStamped topic to subscribe to.", this,
SLOT(updateTopic()), this);
data_index_property_ = new rviz_common::properties::IntProperty(
"data index", 0, "data index in message to visualize", this, SLOT(updateDataIndex()));
Expand Down Expand Up @@ -178,7 +179,7 @@ void Float32MultiArrayStampedPieChartDisplay::update(
}

void Float32MultiArrayStampedPieChartDisplay::processMessage(
const tier4_debug_msgs::msg::Float32MultiArrayStamped::ConstSharedPtr msg)
const autoware_internal_debug_msgs::msg::Float32MultiArrayStamped::ConstSharedPtr msg)
{
std::lock_guard<std::mutex> lock(mutex_);

Expand Down Expand Up @@ -297,10 +298,11 @@ void Float32MultiArrayStampedPieChartDisplay::subscribe()

if (topic_name.length() > 0 && topic_name != "/") {
rclcpp::Node::SharedPtr raw_node = context_->getRosNodeAbstraction().lock()->get_raw_node();
sub_ = raw_node->create_subscription<tier4_debug_msgs::msg::Float32MultiArrayStamped>(
topic_name, 1,
std::bind(
&Float32MultiArrayStampedPieChartDisplay::processMessage, this, std::placeholders::_1));
sub_ =
raw_node->create_subscription<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>(
topic_name, 1,
std::bind(
&Float32MultiArrayStampedPieChartDisplay::processMessage, this, std::placeholders::_1));
}
}

Expand Down
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