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feat(autoware_raw_vehicle_cmd_converter)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_raw_vehicle_cmd_converter #9924

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merged 2 commits into from
Jan 17, 2025
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feat(autoware_raw_vehicle_cmd_converter)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_raw_vehicle_cmd_converter #9924

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95d800f
feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in fil…
vish0012 Jan 15, 2025
c56106d
Merge branch 'main' into replace_debug_msgs_raw_vehicle_cmd_converter
mitsudome-r Jan 17, 2025
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4 changes: 2 additions & 2 deletions ...le/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -28,10 +28,10 @@

#include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
#include <autoware_control_msgs/msg/control.hpp>
#include <autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp>
#include <autoware_vehicle_msgs/msg/steering_report.hpp>
#include <geometry_msgs/msg/twist_stamped.hpp>
#include <nav_msgs/msg/odometry.hpp>
#include <tier4_debug_msgs/msg/float32_multi_array_stamped.hpp>
#include <tier4_vehicle_msgs/msg/actuation_command_stamped.hpp>
#include <tier4_vehicle_msgs/msg/actuation_status_stamped.hpp>

Expand All @@ -42,7 +42,7 @@
namespace autoware::raw_vehicle_cmd_converter
{
using Control = autoware_control_msgs::msg::Control;
using tier4_debug_msgs::msg::Float32MultiArrayStamped;
using autoware_internal_debug_msgs::msg::Float32MultiArrayStamped;
using tier4_vehicle_msgs::msg::ActuationCommandStamped;
using tier4_vehicle_msgs::msg::ActuationStatusStamped;
using TwistStamped = geometry_msgs::msg::TwistStamped;
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2 changes: 1 addition & 1 deletion vehicle/autoware_raw_vehicle_cmd_converter/package.xml
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Expand Up @@ -23,13 +23,13 @@

<depend>autoware_adapi_v1_msgs</depend>
<depend>autoware_control_msgs</depend>
<depend>autoware_internal_debug_msgs</depend>
<depend>autoware_interpolation</depend>
<depend>autoware_vehicle_msgs</depend>
<depend>geometry_msgs</depend>
<depend>nav_msgs</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>tier4_debug_msgs</depend>
<depend>tier4_vehicle_msgs</depend>

<exec_depend>rclpy</exec_depend>
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2 changes: 1 addition & 1 deletion vehicle/autoware_raw_vehicle_cmd_converter/src/node.cpp
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Expand Up @@ -245,7 +245,7 @@ double RawVehicleCommandConverterNode::calculateSteerFromMap(
debug_steer_.setValues(DebugValues::TYPE::ERROR_P, pid_errors.at(0));
debug_steer_.setValues(DebugValues::TYPE::ERROR_I, pid_errors.at(1));
debug_steer_.setValues(DebugValues::TYPE::ERROR_D, pid_errors.at(2));
tier4_debug_msgs::msg::Float32MultiArrayStamped msg{};
autoware_internal_debug_msgs::msg::Float32MultiArrayStamped msg{};
for (const auto & v : debug_steer_.getValues()) {
msg.data.push_back(v);
}
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