feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in fil…

…es planning/autoware_mission_planner Signed-off-by: vish0012 <vishalchhn42@gmail.com>
autowarefoundation · Jan 14, 2025 · 6977477 · 6977477
1 parent 1586372
commit 6977477
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Showing 4 changed files with 12 additions and 10 deletions.
diff --git a/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp b/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp
@@ -87,14 +87,14 @@ MissionPlanner::MissionPlanner(const rclcpp::NodeOptions & options)
   is_mission_planner_ready_ = false;
 
   logger_configure_ = std::make_unique<autoware::universe_utils::LoggerLevelConfigure>(this);
-  pub_processing_time_ =
-    this->create_publisher<tier4_debug_msgs::msg::Float64Stamped>("~/debug/processing_time_ms", 1);
+  pub_processing_time_ = this->create_publisher<autoware_internal_debug_msgs::msg::Float64Stamped>(
+    "~/debug/processing_time_ms", 1);
 }
 
 void MissionPlanner::publish_processing_time(
   autoware::universe_utils::StopWatch<std::chrono::milliseconds> stop_watch)
 {
-  tier4_debug_msgs::msg::Float64Stamped processing_time_msg;
+  autoware_internal_debug_msgs::msg::Float64Stamped processing_time_msg;
   processing_time_msg.stamp = get_clock()->now();
   processing_time_msg.data = stop_watch.toc();
   pub_processing_time_->publish(processing_time_msg);

diff --git a/planning/autoware_mission_planner/src/mission_planner/mission_planner.hpp b/planning/autoware_mission_planner/src/mission_planner/mission_planner.hpp
@@ -28,9 +28,9 @@
 #include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
 #include <autoware_adapi_v1_msgs/srv/set_route.hpp>
 #include <autoware_adapi_v1_msgs/srv/set_route_points.hpp>
+#include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
 #include <autoware_planning_msgs/msg/lanelet_route.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
-#include <tier4_debug_msgs/msg/float64_stamped.hpp>
 #include <tier4_planning_msgs/msg/reroute_availability.hpp>
 #include <tier4_planning_msgs/msg/route_state.hpp>
 #include <tier4_planning_msgs/srv/clear_route.hpp>
@@ -146,7 +146,8 @@ class MissionPlanner : public rclcpp::Node
   bool check_reroute_safety(const LaneletRoute & original_route, const LaneletRoute & target_route);
 
   std::unique_ptr<autoware::universe_utils::LoggerLevelConfigure> logger_configure_;
-  rclcpp::Publisher<tier4_debug_msgs::msg::Float64Stamped>::SharedPtr pub_processing_time_;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float64Stamped>::SharedPtr
+    pub_processing_time_;
 };
 
 }  // namespace autoware::mission_planner

diff --git a/planning/autoware_mission_planner/src/mission_planner/route_selector.cpp b/planning/autoware_mission_planner/src/mission_planner/route_selector.cpp
@@ -138,14 +138,14 @@ RouteSelector::RouteSelector(const rclcpp::NodeOptions & options)
   main_request_ = std::monostate{};
 
   // Processing time
-  pub_processing_time_ =
-    this->create_publisher<tier4_debug_msgs::msg::Float64Stamped>("~/debug/processing_time_ms", 1);
+  pub_processing_time_ = this->create_publisher<autoware_internal_debug_msgs::msg::Float64Stamped>(
+    "~/debug/processing_time_ms", 1);
 }
 
 void RouteSelector::publish_processing_time(
   autoware::universe_utils::StopWatch<std::chrono::milliseconds> stop_watch)
 {
-  tier4_debug_msgs::msg::Float64Stamped processing_time_msg;
+  autoware_internal_debug_msgs::msg::Float64Stamped processing_time_msg;
   processing_time_msg.stamp = get_clock()->now();
   processing_time_msg.data = stop_watch.toc();
   pub_processing_time_->publish(processing_time_msg);

diff --git a/planning/autoware_mission_planner/src/mission_planner/route_selector.hpp b/planning/autoware_mission_planner/src/mission_planner/route_selector.hpp
@@ -18,8 +18,8 @@
 #include <autoware/universe_utils/system/stop_watch.hpp>
 #include <rclcpp/rclcpp.hpp>
 
+#include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
 #include <autoware_planning_msgs/msg/lanelet_route.hpp>
-#include <tier4_debug_msgs/msg/float64_stamped.hpp>
 #include <tier4_planning_msgs/msg/route_state.hpp>
 #include <tier4_planning_msgs/srv/clear_route.hpp>
 #include <tier4_planning_msgs/srv/set_lanelet_route.hpp>
@@ -82,7 +82,8 @@ class RouteSelector : public rclcpp::Node
   rclcpp::Client<SetLaneletRoute>::SharedPtr cli_set_lanelet_route_;
   rclcpp::Subscription<RouteState>::SharedPtr sub_state_;
   rclcpp::Subscription<LaneletRoute>::SharedPtr sub_route_;
-  rclcpp::Publisher<tier4_debug_msgs::msg::Float64Stamped>::SharedPtr pub_processing_time_;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float64Stamped>::SharedPtr
+    pub_processing_time_;
 
   bool initialized_;
   bool mrm_operating_;