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feat(autoware_vehicle_cmd_gate)!: tier4-debug_msgs changed to autoware_internal_debug_msgs in autoware_vehicle_cmd_gate #9856

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merged 1 commit into from
Jan 22, 2025
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feat(autoware_vehicle_cmd_gate)!: tier4-debug_msgs changed to autoware_internal_debug_msgs in autoware_vehicle_cmd_gate #9856

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2 changes: 1 addition & 1 deletion control/autoware_vehicle_cmd_gate/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@
<depend>autoware_component_interface_specs</depend>
<depend>autoware_component_interface_utils</depend>
<depend>autoware_control_msgs</depend>
<depend>autoware_internal_debug_msgs</depend>
<depend>autoware_motion_utils</depend>
<depend>autoware_universe_utils</depend>
<depend>autoware_vehicle_info_utils</depend>
Expand All @@ -30,7 +31,6 @@
<depend>std_srvs</depend>
<depend>tier4_api_utils</depend>
<depend>tier4_control_msgs</depend>
<depend>tier4_debug_msgs</depend>
<depend>tier4_external_api_msgs</depend>
<depend>tier4_system_msgs</depend>
<depend>tier4_vehicle_msgs</depend>
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6 changes: 3 additions & 3 deletions control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp
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Expand Up @@ -77,8 +77,8 @@ VehicleCmdGate::VehicleCmdGate(const rclcpp::NodeOptions & node_options)
engage_pub_ = create_publisher<EngageMsg>("output/engage", durable_qos);
pub_external_emergency_ = create_publisher<Emergency>("output/external_emergency", durable_qos);
operation_mode_pub_ = create_publisher<OperationModeState>("output/operation_mode", durable_qos);
processing_time_pub_ =
this->create_publisher<tier4_debug_msgs::msg::Float64Stamped>("~/debug/processing_time_ms", 1);
processing_time_pub_ = this->create_publisher<autoware_internal_debug_msgs::msg::Float64Stamped>(
"~/debug/processing_time_ms", 1);

is_filter_activated_pub_ =
create_publisher<IsFilterActivated>("~/is_filter_activated", durable_qos);
Expand Down Expand Up @@ -520,7 +520,7 @@ void VehicleCmdGate::onTimer()
}

// ProcessingTime
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();
processing_time_pub_->publish(processing_time_msg);
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9 changes: 5 additions & 4 deletions control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.hpp
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Expand Up @@ -32,6 +32,8 @@
#include <autoware_adapi_v1_msgs/msg/mrm_state.hpp>
#include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
#include <autoware_control_msgs/msg/control.hpp>
#include <autoware_internal_debug_msgs/msg/bool_stamped.hpp>
#include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
#include <autoware_vehicle_msgs/msg/engage.hpp>
#include <autoware_vehicle_msgs/msg/gear_command.hpp>
#include <autoware_vehicle_msgs/msg/hazard_lights_command.hpp>
Expand All @@ -41,8 +43,6 @@
#include <nav_msgs/msg/odometry.hpp>
#include <std_srvs/srv/trigger.hpp>
#include <tier4_control_msgs/msg/gate_mode.hpp>
#include <tier4_debug_msgs/msg/bool_stamped.hpp>
#include <tier4_debug_msgs/msg/float64_stamped.hpp>
#include <tier4_external_api_msgs/msg/emergency.hpp>
#include <tier4_external_api_msgs/msg/heartbeat.hpp>
#include <tier4_external_api_msgs/srv/engage.hpp>
Expand All @@ -62,6 +62,7 @@ using autoware_adapi_v1_msgs::msg::MrmState;
using autoware_adapi_v1_msgs::msg::OperationModeState;
using autoware_control_msgs::msg::Control;
using autoware_control_msgs::msg::Longitudinal;
using autoware_internal_debug_msgs::msg::BoolStamped;
using autoware_vehicle_cmd_gate::msg::IsFilterActivated;
using autoware_vehicle_msgs::msg::GearCommand;
using autoware_vehicle_msgs::msg::HazardLightsCommand;
Expand All @@ -70,7 +71,6 @@ using autoware_vehicle_msgs::msg::TurnIndicatorsCommand;
using geometry_msgs::msg::AccelWithCovarianceStamped;
using std_srvs::srv::Trigger;
using tier4_control_msgs::msg::GateMode;
using tier4_debug_msgs::msg::BoolStamped;
using tier4_external_api_msgs::msg::Emergency;
using tier4_external_api_msgs::msg::Heartbeat;
using tier4_external_api_msgs::srv::SetEmergency;
Expand Down Expand Up @@ -116,7 +116,8 @@ class VehicleCmdGate : public rclcpp::Node
rclcpp::Publisher<MarkerArray>::SharedPtr filter_activated_marker_pub_;
rclcpp::Publisher<MarkerArray>::SharedPtr filter_activated_marker_raw_pub_;
rclcpp::Publisher<BoolStamped>::SharedPtr filter_activated_flag_pub_;
rclcpp::Publisher<tier4_debug_msgs::msg::Float64Stamped>::SharedPtr processing_time_pub_;
rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float64Stamped>::SharedPtr
processing_time_pub_;
// Parameter callback
OnSetParametersCallbackHandle::SharedPtr set_param_res_;
rcl_interfaces::msg::SetParametersResult onParameter(
Expand Down
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