From 4dfe92f97882872cd5d94c735e1082d50fbbdf96 Mon Sep 17 00:00:00 2001
From: vish0012 <vishalchhn42@gmail.com>
Date: Tue, 7 Jan 2025 11:56:44 +0900
Subject: [PATCH] feat: tier4_debug_msgs changed to
autoware_internal_debug_msgs in file autoware_universe_utils
Signed-off-by: vish0012 <vishalchhn42@gmail.com>
---
.../universe_utils/ros/debug_traits.hpp | 32 +++++++------------
.../universe_utils/system/time_keeper.hpp | 12 ++++---
common/autoware_universe_utils/package.xml | 2 +-
.../src/system/time_keeper.cpp | 12 ++++---
4 files changed, 27 insertions(+), 31 deletions(-)
diff --git a/common/autoware_universe_utils/include/autoware/universe_utils/ros/debug_traits.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/ros/debug_traits.hpp
index 5878641676d9f..28c080b55401c 100644
--- a/common/autoware_universe_utils/include/autoware/universe_utils/ros/debug_traits.hpp
+++ b/common/autoware_universe_utils/include/autoware/universe_utils/ros/debug_traits.hpp
@@ -25,16 +25,6 @@
#include <autoware_internal_debug_msgs/msg/int64_multi_array_stamped.hpp>
#include <autoware_internal_debug_msgs/msg/int64_stamped.hpp>
#include <autoware_internal_debug_msgs/msg/string_stamped.hpp>
-#include <tier4_debug_msgs/msg/bool_stamped.hpp>
-#include <tier4_debug_msgs/msg/float32_multi_array_stamped.hpp>
-#include <tier4_debug_msgs/msg/float32_stamped.hpp>
-#include <tier4_debug_msgs/msg/float64_multi_array_stamped.hpp>
-#include <tier4_debug_msgs/msg/float64_stamped.hpp>
-#include <tier4_debug_msgs/msg/int32_multi_array_stamped.hpp>
-#include <tier4_debug_msgs/msg/int32_stamped.hpp>
-#include <tier4_debug_msgs/msg/int64_multi_array_stamped.hpp>
-#include <tier4_debug_msgs/msg/int64_stamped.hpp>
-#include <tier4_debug_msgs/msg/string_stamped.hpp>
#include <type_traits>
@@ -46,52 +36,54 @@ struct is_debug_message : std::false_type
};
template <>
-struct is_debug_message<tier4_debug_msgs::msg::BoolStamped> : std::true_type
+struct is_debug_message<autoware_internal_debug_msgs::msg::BoolStamped> : std::true_type
{
};
template <>
-struct is_debug_message<tier4_debug_msgs::msg::Float32MultiArrayStamped> : std::true_type
+struct is_debug_message<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>
+: std::true_type
{
};
template <>
-struct is_debug_message<tier4_debug_msgs::msg::Float32Stamped> : std::true_type
+struct is_debug_message<autoware_internal_debug_msgs::msg::Float32Stamped> : std::true_type
{
};
template <>
-struct is_debug_message<tier4_debug_msgs::msg::Float64MultiArrayStamped> : std::true_type
+struct is_debug_message<autoware_internal_debug_msgs::msg::Float64MultiArrayStamped>
+: std::true_type
{
};
template <>
-struct is_debug_message<tier4_debug_msgs::msg::Float64Stamped> : std::true_type
+struct is_debug_message<autoware_internal_debug_msgs::msg::Float64Stamped> : std::true_type
{
};
template <>
-struct is_debug_message<tier4_debug_msgs::msg::Int32MultiArrayStamped> : std::true_type
+struct is_debug_message<autoware_internal_debug_msgs::msg::Int32MultiArrayStamped> : std::true_type
{
};
template <>
-struct is_debug_message<tier4_debug_msgs::msg::Int32Stamped> : std::true_type
+struct is_debug_message<autoware_internal_debug_msgs::msg::Int32Stamped> : std::true_type
{
};
template <>
-struct is_debug_message<tier4_debug_msgs::msg::Int64MultiArrayStamped> : std::true_type
+struct is_debug_message<autoware_internal_debug_msgs::msg::Int64MultiArrayStamped> : std::true_type
{
};
template <>
-struct is_debug_message<tier4_debug_msgs::msg::Int64Stamped> : std::true_type
+struct is_debug_message<autoware_internal_debug_msgs::msg::Int64Stamped> : std::true_type
{
};
template <>
-struct is_debug_message<tier4_debug_msgs::msg::StringStamped> : std::true_type
+struct is_debug_message<autoware_internal_debug_msgs::msg::StringStamped> : std::true_type
{
};
diff --git a/common/autoware_universe_utils/include/autoware/universe_utils/system/time_keeper.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/system/time_keeper.hpp
index e983d9be77e36..5082eefa77b5c 100644
--- a/common/autoware_universe_utils/include/autoware/universe_utils/system/time_keeper.hpp
+++ b/common/autoware_universe_utils/include/autoware/universe_utils/system/time_keeper.hpp
@@ -18,9 +18,9 @@
#include <rclcpp/publisher.hpp>
+#include <autoware_internal_debug_msgs/msg/processing_time_node.hpp>
+#include <autoware_internal_debug_msgs/msg/processing_time_tree.hpp>
#include <std_msgs/msg/string.hpp>
-#include <tier4_debug_msgs/msg/processing_time_node.hpp>
-#include <tier4_debug_msgs/msg/processing_time_tree.hpp>
#include <memory>
#include <ostream>
@@ -61,9 +61,10 @@ class ProcessingTimeNode : public std::enable_shared_from_this<ProcessingTimeNod
/**
* @brief Construct a ProcessingTimeTree message from the node and its children
*
- * @return tier4_debug_msgs::msg::ProcessingTimeTree Constructed ProcessingTimeTree message
+ * @return autoware_internal_debug_msgs::msg::ProcessingTimeTree Constructed ProcessingTimeTree
+ * message
*/
- tier4_debug_msgs::msg::ProcessingTimeTree to_msg() const;
+ autoware_internal_debug_msgs::msg::ProcessingTimeTree to_msg() const;
/**
* @brief Get the parent node
@@ -111,7 +112,8 @@ class ProcessingTimeNode : public std::enable_shared_from_this<ProcessingTimeNod
};
using ProcessingTimeDetail =
- tier4_debug_msgs::msg::ProcessingTimeTree; //!< Alias for the ProcessingTimeTree message
+ autoware_internal_debug_msgs::msg::ProcessingTimeTree; //!< Alias for the ProcessingTimeTree
+ //!< message
/**
* @brief Class for tracking and reporting the processing time of various functions
diff --git a/common/autoware_universe_utils/package.xml b/common/autoware_universe_utils/package.xml
index 0e7b892a8c689..723ec6e129ed4 100644
--- a/common/autoware_universe_utils/package.xml
+++ b/common/autoware_universe_utils/package.xml
@@ -12,6 +12,7 @@
<buildtool_depend>ament_cmake_auto</buildtool_depend>
<buildtool_depend>autoware_cmake</buildtool_depend>
+ <depend>autoware_internal_debug_msgs</depend>
<depend>autoware_internal_debug_msgs</depend>
<depend>autoware_internal_msgs</depend>
<depend>autoware_perception_msgs</depend>
@@ -27,7 +28,6 @@
<depend>tf2</depend>
<depend>tf2_eigen</depend>
<depend>tf2_geometry_msgs</depend>
- <depend>tier4_debug_msgs</depend>
<depend>tier4_planning_msgs</depend>
<depend>unique_identifier_msgs</depend>
<depend>visualization_msgs</depend>
diff --git a/common/autoware_universe_utils/src/system/time_keeper.cpp b/common/autoware_universe_utils/src/system/time_keeper.cpp
index 55901ce5b4987..c57ae35ebff83 100644
--- a/common/autoware_universe_utils/src/system/time_keeper.cpp
+++ b/common/autoware_universe_utils/src/system/time_keeper.cpp
@@ -67,15 +67,17 @@ std::string ProcessingTimeNode::to_string() const
return oss.str();
}
-tier4_debug_msgs::msg::ProcessingTimeTree ProcessingTimeNode::to_msg() const
+autoware_internal_debug_msgs::msg::ProcessingTimeTree ProcessingTimeNode::to_msg() const
{
- tier4_debug_msgs::msg::ProcessingTimeTree time_tree_msg;
+ autoware_debug_msgs::msg::ProcessingTimeTree time_tree_msg;
- std::function<void(const ProcessingTimeNode &, tier4_debug_msgs::msg::ProcessingTimeTree &, int)>
+ std::function<void(
+ const ProcessingTimeNode &, autoware_internal_debug_msgs::msg::ProcessingTimeTree &, int)>
construct_msg = [&](
const ProcessingTimeNode & node,
- tier4_debug_msgs::msg::ProcessingTimeTree & tree_msg, int parent_id) {
- tier4_debug_msgs::msg::ProcessingTimeNode time_node_msg;
+ autoware_internal_debug_msgs::msg::ProcessingTimeTree & tree_msg,
+ int parent_id) {
+ autoware_internal_debug_msgs::msg::ProcessingTimeNode time_node_msg;
time_node_msg.name = node.name_;
time_node_msg.processing_time = node.processing_time_;
time_node_msg.id = static_cast<int>(tree_msg.nodes.size() + 1);