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feat(autoware_image_projection_based_fusion)!: tier4_debug-msgs changed to autoware_internal_debug_msgs in autoware_image_projection_based_fusion #9877

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merged 2 commits into from
Jan 23, 2025
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feat(autoware_image_projection_based_fusion)!: tier4_debug-msgs changed to autoware_internal_debug_msgs in autoware_image_projection_based_fusion #9877

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2383abd
feat: tier4_debug-msgs changed to autoware_internal_debug_msgs in fil…
vish0012 Jan 9, 2025
ee93597
style(pre-commit): autofix
pre-commit-ci[bot] Jan 21, 2025
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1 change: 1 addition & 0 deletions perception/autoware_image_projection_based_fusion/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@
<buildtool_depend>autoware_cmake</buildtool_depend>

<depend>autoware_euclidean_cluster</depend>
<depend>autoware_internal_debug_msgs</depend>
<depend>autoware_lidar_centerpoint</depend>
<depend>autoware_object_recognition_utils</depend>
<depend>autoware_perception_msgs</depend>
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15 changes: 8 additions & 7 deletions perception/autoware_image_projection_based_fusion/src/fusion_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@
#include <Eigen/Geometry>
#include <autoware/image_projection_based_fusion/utils/utils.hpp>

#include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
#include <tier4_perception_msgs/msg/detected_object_with_feature.hpp>

#include <boost/optional.hpp>
Expand Down Expand Up @@ -253,12 +254,12 @@ void FusionNode<Msg3D, Msg2D, ExportObj>::exportProcess()
std::chrono::nanoseconds(
(this->get_clock()->now() - cached_det3d_msg_ptr_->header.stamp).nanoseconds()))
.count();
debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
debug_publisher_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
"debug/cyclic_time_ms", cyclic_time_ms);
debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
debug_publisher_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
"debug/processing_time_ms",
processing_time_ms + stop_watch_ptr_->toc("processing_time", true));
debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
debug_publisher_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
"debug/pipeline_latency_ms", pipeline_latency_ms);
processing_time_ms = 0;
}
Expand Down Expand Up @@ -353,9 +354,9 @@ void FusionNode<Msg3D, Msg2D, ExportObj>::subCallback(
// add timestamp interval for debug
if (debug_internal_pub_) {
double timestamp_interval_ms = (matched_stamp - timestamp_nsec) / 1e6;
debug_internal_pub_->publish<tier4_debug_msgs::msg::Float64Stamped>(
debug_internal_pub_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
"debug/roi" + std::to_string(roi_i) + "/timestamp_interval_ms", timestamp_interval_ms);
debug_internal_pub_->publish<tier4_debug_msgs::msg::Float64Stamped>(
debug_internal_pub_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
"debug/roi" + std::to_string(roi_i) + "/timestamp_interval_offset_ms",
timestamp_interval_ms - det2d.input_offset_ms);
}
Expand Down Expand Up @@ -418,9 +419,9 @@ void FusionNode<Msg3D, Msg2D, ExportObj>::roiCallback(

if (debug_internal_pub_) {
double timestamp_interval_ms = (timestamp_nsec - cached_det3d_msg_timestamp_) / 1e6;
debug_internal_pub_->publish<tier4_debug_msgs::msg::Float64Stamped>(
debug_internal_pub_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
"debug/roi" + std::to_string(roi_i) + "/timestamp_interval_ms", timestamp_interval_ms);
debug_internal_pub_->publish<tier4_debug_msgs::msg::Float64Stamped>(
debug_internal_pub_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
"debug/roi" + std::to_string(roi_i) + "/timestamp_interval_offset_ms",
timestamp_interval_ms - det2d.input_offset_ms);
}
Expand Down
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