feat: replace tier4_debug_msgs to autoware_internal_debug_msgs

common/autoware_universe_utils/include/autoware/universe_utils/ros/debug_traits.hpp

@@ -25,16 +25,16 @@
 #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 <autoware_internal_debug_msgs/msg/bool_stamped.hpp>
+#include <autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp>
+#include <autoware_internal_debug_msgs/msg/float32_stamped.hpp>
+#include <autoware_internal_debug_msgs/msg/float64_multi_array_stamped.hpp>
+#include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
+#include <autoware_internal_debug_msgs/msg/int32_multi_array_stamped.hpp>
+#include <autoware_internal_debug_msgs/msg/int32_stamped.hpp>
+#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 <type_traits>
 
@@ -46,52 +46,52 @@ 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
 {
 };
 

control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp

@@ -33,7 +33,7 @@
 #include <nav_msgs/msg/odometry.hpp>
 #include <sensor_msgs/msg/imu.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
-#include <tier4_debug_msgs/msg/float32_stamped.hpp>
+#include <autoware_internal_debug_msgs/msg/float32_stamped.hpp>
 #include <tier4_metric_msgs/msg/metric.hpp>
 #include <tier4_metric_msgs/msg/metric_array.hpp>
 #include <visualization_msgs/msg/marker.hpp>
@@ -348,7 +348,7 @@ class AEB : public rclcpp::Node
   rclcpp::Publisher<MarkerArray>::SharedPtr virtual_wall_publisher_;
   rclcpp::Publisher<autoware::universe_utils::ProcessingTimeDetail>::SharedPtr
     debug_processing_time_detail_pub_;
-  rclcpp::Publisher<tier4_debug_msgs::msg::Float32Stamped>::SharedPtr debug_rss_distance_publisher_;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32Stamped>::SharedPtr debug_rss_distance_publisher_;
   rclcpp::Publisher<MetricArray>::SharedPtr metrics_pub_;
   // timer
   rclcpp::TimerBase::SharedPtr timer_;

control/autoware_control_validator/src/control_validator.cpp

@@ -49,7 +49,7 @@ ControlValidator::ControlValidator(const rclcpp::NodeOptions & options)
   pub_markers_ = create_publisher<visualization_msgs::msg::MarkerArray>("~/output/markers", 1);
 
   pub_processing_time_ =
-    this->create_publisher<tier4_debug_msgs::msg::Float64Stamped>("~/debug/processing_time_ms", 1);
+    this->create_publisher<autoware_internal_debug_msgs::msg::Float64Stamped>("~/debug/processing_time_ms", 1);
 
   debug_pose_publisher_ = std::make_shared<ControlValidatorDebugMarkerPublisher>(this);
 
@@ -181,7 +181,7 @@ void ControlValidator::publish_debug_info()
   debug_pose_publisher_->publish();
 
   // Publish 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();
   pub_processing_time_->publish(processing_time_msg);

control/autoware_lane_departure_checker/package.xml

@@ -32,7 +32,7 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_debug_msgs</depend>
+  <depend>autoware_internal_debug_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>

control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc_lateral_controller.hpp

@@ -31,8 +31,8 @@
 #include "geometry_msgs/msg/pose.hpp"
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "nav_msgs/msg/odometry.hpp"
-#include "tier4_debug_msgs/msg/float32_multi_array_stamped.hpp"
-#include "tier4_debug_msgs/msg/float32_stamped.hpp"
+#include "autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp"
+#include "autoware_internal_debug_msgs/msg/float32_stamped.hpp"
 
 #include <deque>
 #include <memory>
@@ -48,8 +48,8 @@ using autoware_control_msgs::msg::Lateral;
 using autoware_planning_msgs::msg::Trajectory;
 using autoware_vehicle_msgs::msg::SteeringReport;
 using nav_msgs::msg::Odometry;
-using tier4_debug_msgs::msg::Float32MultiArrayStamped;
-using tier4_debug_msgs::msg::Float32Stamped;
+using autoware_internal_debug_msgs::msg::Float32MultiArrayStamped;
+using autoware_internal_debug_msgs::msg::Float32Stamped;
 using trajectory_follower::LateralHorizon;
 
 class MpcLateralController : public trajectory_follower::LateralControllerBase

control/autoware_pid_longitudinal_controller/include/autoware/pid_longitudinal_controller/pid_longitudinal_controller.hpp

@@ -38,7 +38,7 @@
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "nav_msgs/msg/odometry.hpp"
 #include "tf2_msgs/msg/tf_message.hpp"
-#include "tier4_debug_msgs/msg/float32_multi_array_stamped.hpp"
+#include "autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp"
 #include "visualization_msgs/msg/marker.hpp"
 
 #include <deque>
@@ -98,8 +98,8 @@ class PidLongitudinalController : public trajectory_follower::LongitudinalContro
   rclcpp::Clock::SharedPtr clock_;
   rclcpp::Logger logger_;
   // ros variables
-  rclcpp::Publisher<tier4_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr m_pub_slope;
-  rclcpp::Publisher<tier4_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr m_pub_debug;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr m_pub_slope;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr m_pub_debug;
   rclcpp::Publisher<MarkerArray>::SharedPtr m_pub_virtual_wall_marker;
 
   rclcpp::Node::OnSetParametersCallbackHandle::SharedPtr m_set_param_res;

control/autoware_pid_longitudinal_controller/package.xml

@@ -37,7 +37,7 @@
   <depend>std_msgs</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_debug_msgs</depend>
+  <depend>autoware_internal_debug_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>

control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp

@@ -214,9 +214,9 @@ PidLongitudinalController::PidLongitudinalController(
       : node.declare_parameter<double>("ego_nearest_yaw_threshold");  // [rad]
 
   // subscriber, publisher
-  m_pub_slope = node.create_publisher<tier4_debug_msgs::msg::Float32MultiArrayStamped>(
+  m_pub_slope = node.create_publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>(
     "~/output/slope_angle", rclcpp::QoS{1});
-  m_pub_debug = node.create_publisher<tier4_debug_msgs::msg::Float32MultiArrayStamped>(
+  m_pub_debug = node.create_publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>(
     "~/output/longitudinal_diagnostic", rclcpp::QoS{1});
   m_pub_virtual_wall_marker = node.create_publisher<MarkerArray>("~/virtual_wall", 1);
 
@@ -931,15 +931,15 @@ void PidLongitudinalController::publishDebugData(
   m_debug_values.setValues(DebugValues::TYPE::ACC_CMD_PUBLISHED, ctrl_cmd.acc);
 
   // publish debug values
-  tier4_debug_msgs::msg::Float32MultiArrayStamped debug_msg{};
+  autoware_internal_debug_msgs::msg::Float32MultiArrayStamped debug_msg{};
   debug_msg.stamp = clock_->now();
   for (const auto & v : m_debug_values.getValues()) {
     debug_msg.data.push_back(static_cast<decltype(debug_msg.data)::value_type>(v));
   }
   m_pub_debug->publish(debug_msg);
 
   // slope angle
-  tier4_debug_msgs::msg::Float32MultiArrayStamped slope_msg{};
+  autoware_internal_debug_msgs::msg::Float32MultiArrayStamped slope_msg{};
   slope_msg.stamp = clock_->now();
   slope_msg.data.push_back(
     static_cast<decltype(slope_msg.data)::value_type>(control_data.slope_angle));

control/autoware_pure_pursuit/include/autoware/pure_pursuit/autoware_pure_pursuit_lateral_controller.hpp

@@ -46,7 +46,7 @@
 #include "geometry_msgs/msg/pose_stamped.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 "autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp"
 
 #include <boost/optional.hpp>  // To be replaced by std::optional in C++17
 
@@ -115,7 +115,7 @@ class PurePursuitLateralController : public LateralControllerBase
 
   // Debug Publisher
   rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr pub_debug_marker_;
-  rclcpp::Publisher<tier4_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr pub_debug_values_;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr pub_debug_values_;
   // Predicted Trajectory publish
   rclcpp::Publisher<autoware_planning_msgs::msg::Trajectory>::SharedPtr pub_predicted_trajectory_;
 

control/autoware_pure_pursuit/package.xml

@@ -32,7 +32,7 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_debug_msgs</depend>
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>

control/autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.cpp

@@ -92,7 +92,7 @@ PurePursuitLateralController::PurePursuitLateralController(rclcpp::Node & node)
   // Debug Publishers
   pub_debug_marker_ =
     node.create_publisher<visualization_msgs::msg::MarkerArray>("~/debug/markers", 0);
-  pub_debug_values_ = node.create_publisher<tier4_debug_msgs::msg::Float32MultiArrayStamped>(
+  pub_debug_values_ = node.create_publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>(
     "~/debug/ld_outputs", rclcpp::QoS{1});
 
   // Publish predicted trajectory
@@ -118,7 +118,7 @@ double PurePursuitLateralController::calcLookaheadDistance(
     std::clamp(vel_ld + curvature_ld + lateral_error_ld, min_ld, param_.max_lookahead_distance);
 
   auto pubDebugValues = [&]() {
-    tier4_debug_msgs::msg::Float32MultiArrayStamped debug_msg{};
+    autoware_internal_debug_msgs::msg::Float32MultiArrayStamped debug_msg{};
     debug_msg.data.resize(TYPE::SIZE);
     debug_msg.data.at(TYPE::VEL_LD) = static_cast<float>(vel_ld);
     debug_msg.data.at(TYPE::CURVATURE_LD) = static_cast<float>(curvature_ld);

control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/training_and_data_check/rosbag2.bash

@@ -7,27 +7,27 @@ gnome-terminal -- bash -c 'ros2 topic echo /vehicle/status/steering_status autow
 gnome-terminal -- bash -c 'ros2 topic echo /control/command/control_cmd autoware_control_msgs/msg/Control --csv --qos-history keep_all --qos-reliability reliable > control_cmd.csv'
 gnome-terminal -- bash -c 'ros2 topic echo /control/trajectory_follower/control_cmd autoware_control_msgs/msg/Control --csv --qos-history keep_all --qos-reliability reliable > control_cmd_orig.csv'
 
-gnome-terminal -- bash -c 'ros2 topic echo /control/trajectory_follower/lane_departure_checker_node/debug/deviation/lateral tier4_debug_msgs/msg/Float64Stamped --csv --qos-history keep_all --qos-reliability reliable > lateral_error.csv'
-gnome-terminal -- bash -c 'ros2 topic echo /control/trajectory_follower/lane_departure_checker_node/debug/deviation/yaw tier4_debug_msgs/msg/Float64Stamped --csv --qos-history keep_all --qos-reliability reliable > yaw_error.csv'
+gnome-terminal -- bash -c 'ros2 topic echo /control/trajectory_follower/lane_departure_checker_node/debug/deviation/lateral autoware_internal_debug_msgs/msg/Float64Stamped --csv --qos-history keep_all --qos-reliability reliable > lateral_error.csv'
+gnome-terminal -- bash -c 'ros2 topic echo /control/trajectory_follower/lane_departure_checker_node/debug/deviation/yaw autoware_internal_debug_msgs/msg/Float64Stamped --csv --qos-history keep_all --qos-reliability reliable > yaw_error.csv'
 
 gnome-terminal -- bash -c 'ros2 topic echo /system/operation_mode/state autoware_adapi_v1_msgs/msg/OperationModeState --csv --qos-history keep_all --qos-reliability reliable > system_operation_mode_state.csv'
 gnome-terminal -- bash -c 'ros2 topic echo /vehicle/status/control_mode autoware_vehicle_msgs/msg/ControlModeReport --csv --qos-history keep_all --qos-reliability reliable > vehicle_status_control_mode.csv'
 gnome-terminal -- bash -c 'ros2 topic echo /sensing/imu/imu_data sensor_msgs/msg/Imu --csv --qos-history keep_all --qos-reliability reliable > imu.csv'
 
-gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_x_des tier4_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_x_des.csv'
-gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_y_des tier4_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_y_des.csv'
-gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_v_des tier4_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_v_des.csv'
-gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_yaw_des tier4_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_yaw_des.csv'
-gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_acc_des tier4_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_acc_des.csv'
-gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_steer_des tier4_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_steer_des.csv'
-gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_X_des_converted tier4_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_X_des_converted.csv'
-gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_x_current tier4_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_x_current.csv'
-gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_error_prediction tier4_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_error_prediction.csv'
-gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_max_trajectory_err tier4_debug_msgs/msg/Float32Stamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_max_trajectory_err.csv'
-gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_emergency_stop_mode tier4_debug_msgs/msg/BoolStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_emergency_stop_mode.csv'
-gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_goal_stop_mode tier4_debug_msgs/msg/BoolStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_goal_stop_mode.csv'
-gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_total_ctrl_time tier4_debug_msgs/msg/Float32Stamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_total_ctrl_time.csv'
-gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_calc_u_opt_time tier4_debug_msgs/msg/Float32Stamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_calc_u_opt_time.csv'
+gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_x_des autoware_internal_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_x_des.csv'
+gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_y_des autoware_internal_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_y_des.csv'
+gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_v_des autoware_internal_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_v_des.csv'
+gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_yaw_des autoware_internal_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_yaw_des.csv'
+gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_acc_des autoware_internal_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_acc_des.csv'
+gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_steer_des autoware_internal_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_steer_des.csv'
+gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_X_des_converted autoware_internal_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_X_des_converted.csv'
+gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_x_current autoware_internal_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_x_current.csv'
+gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_error_prediction autoware_internal_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_error_prediction.csv'
+gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_max_trajectory_err autoware_internal_debug_msgs/msg/Float32Stamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_max_trajectory_err.csv'
+gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_emergency_stop_mode autoware_internal_debug_msgs/msg/BoolStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_emergency_stop_mode.csv'
+gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_goal_stop_mode autoware_internal_debug_msgs/msg/BoolStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_goal_stop_mode.csv'
+gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_total_ctrl_time autoware_internal_debug_msgs/msg/Float32Stamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_total_ctrl_time.csv'
+gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_calc_u_opt_time autoware_internal_debug_msgs/msg/Float32Stamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_calc_u_opt_time.csv'
 
 # wait a moment to open new terminals converting rosbag2 to csv
 sleep 8

control/autoware_smart_mpc_trajectory_follower/scripts/pympc_trajectory_follower.py

@@ -43,9 +43,9 @@
 from scipy.spatial.transform import Rotation as R
 from scipy.spatial.transform import Slerp
 from std_msgs.msg import String
-from tier4_debug_msgs.msg import BoolStamped
-from tier4_debug_msgs.msg import Float32MultiArrayStamped
-from tier4_debug_msgs.msg import Float32Stamped
+from autoware_internal_debug_msgs.msg import BoolStamped
+from autoware_internal_debug_msgs.msg import Float32MultiArrayStamped
+from autoware_internal_debug_msgs.msg import Float32Stamped
 from visualization_msgs.msg import Marker
 from visualization_msgs.msg import MarkerArray