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feat(vehicle_cmd_analyzer)!: replace tier4_debug_msgs with tier4_internal_debug_msgs #204

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Jan 23, 2025
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feat(vehicle_cmd_analyzer)!: replace tier4_debug_msgs with tier4_internal_debug_msgs #204

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8fd1201
feat(vehicle_cmd_analyzer)!: replace tier4_debug_msgs with tier4_inte…
mitsudome-r Jan 22, 2025
5dbf625
style(pre-commit): autofix
pre-commit-ci[bot] Jan 23, 2025
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5 changes: 3 additions & 2 deletions control/vehicle_cmd_analyzer/include/vehicle_cmd_analyzer/vehicle_cmd_analyzer.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,7 @@
#include <rclcpp/rclcpp.hpp>

#include "autoware_control_msgs/msg/control.hpp"
#include "tier4_debug_msgs/msg/float32_multi_array_stamped.hpp"
#include "autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp"

#include <algorithm>
#include <memory>
Expand All @@ -33,7 +33,8 @@ class VehicleCmdAnalyzer : public rclcpp::Node
{
private:
rclcpp::Subscription<autoware_control_msgs::msg::Control>::SharedPtr sub_vehicle_cmd_;
rclcpp::Publisher<tier4_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr pub_debug_;
rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr
pub_debug_;
rclcpp::TimerBase::SharedPtr timer_control_;

std::shared_ptr<autoware_control_msgs::msg::Control> vehicle_cmd_ptr_{nullptr};
Expand Down
2 changes: 1 addition & 1 deletion control/vehicle_cmd_analyzer/package.xml
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Expand Up @@ -12,10 +12,10 @@
<build_depend>autoware_cmake</build_depend>

<depend>autoware_control_msgs</depend>
<depend>autoware_internal_debug_msgs</depend>
<depend>autoware_vehicle_info_utils</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>tier4_debug_msgs</depend>

<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>
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4 changes: 2 additions & 2 deletions control/vehicle_cmd_analyzer/src/vehicle_cmd_analyzer.cpp
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Expand Up @@ -33,7 +33,7 @@ VehicleCmdAnalyzer::VehicleCmdAnalyzer(const rclcpp::NodeOptions & options)
sub_vehicle_cmd_ = this->create_subscription<autoware_control_msgs::msg::Control>(
"/control/command/control_cmd", rclcpp::QoS(10),
std::bind(&VehicleCmdAnalyzer::callbackVehicleCommand, this, std::placeholders::_1));
pub_debug_ = create_publisher<tier4_debug_msgs::msg::Float32MultiArrayStamped>(
pub_debug_ = create_publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>(
"~/debug_values", rclcpp::QoS{1});

// Timer
Expand Down Expand Up @@ -83,7 +83,7 @@ void VehicleCmdAnalyzer::publishDebugData()
debug_values_.setValues(DebugValues::TYPE::CURRENT_TARGET_LATERAL_ACC, a_lat);

// publish debug values
tier4_debug_msgs::msg::Float32MultiArrayStamped debug_msg{};
autoware_internal_debug_msgs::msg::Float32MultiArrayStamped debug_msg{};
debug_msg.stamp = this->now();
for (const auto & v : debug_values_.getValues()) {
debug_msg.data.push_back(v);
Expand Down
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