From 7ac8ba43cb35234d04efcc40c2327b4278a52ed9 Mon Sep 17 00:00:00 2001
From: vish0012 <vishalchhn42@gmail.com>
Date: Thu, 26 Dec 2024 12:24:41 +0900
Subject: [PATCH] feat : chnages the tier4_debug_msgs to
 autoware_intenal_debug_msgs

---
 common/autoware_goal_distance_calculator/Readme.md        | 8 ++++----
 common/autoware_path_distance_calculator/Readme.md        | 2 +-
 common/autoware_universe_utils/package.xml                | 2 +-
 .../include/autoware/mpc_lateral_controller/mpc.hpp       | 4 ++--
 4 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/common/autoware_goal_distance_calculator/Readme.md b/common/autoware_goal_distance_calculator/Readme.md
index 28a1e2fada086..130f0038820da 100644
--- a/common/autoware_goal_distance_calculator/Readme.md
+++ b/common/autoware_goal_distance_calculator/Readme.md
@@ -19,10 +19,10 @@ This node publishes deviation of self-pose from goal pose.
 
 | Name                     | Type                                    | Description                                                   |
 | ------------------------ | --------------------------------------- | ------------------------------------------------------------- |
-| `deviation/lateral`      | `tier4_debug_msgs::msg::Float64Stamped` | publish lateral deviation of self-pose from goal pose[m]      |
-| `deviation/longitudinal` | `tier4_debug_msgs::msg::Float64Stamped` | publish longitudinal deviation of self-pose from goal pose[m] |
-| `deviation/yaw`          | `tier4_debug_msgs::msg::Float64Stamped` | publish yaw deviation of self-pose from goal pose[rad]        |
-| `deviation/yaw_deg`      | `tier4_debug_msgs::msg::Float64Stamped` | publish yaw deviation of self-pose from goal pose[deg]        |
+| `deviation/lateral`      | `autoware_internal_debug_msgs::msg::Float64Stamped` | publish lateral deviation of self-pose from goal pose[m]      |
+| `deviation/longitudinal` | `autoware_internal_debug_msgs::msg::Float64Stamped` | publish longitudinal deviation of self-pose from goal pose[m] |
+| `deviation/yaw`          | `autoware_internal_debug_msgs::msg::Float64Stamped` | publish yaw deviation of self-pose from goal pose[rad]        |
+| `deviation/yaw_deg`      | `autoware_internal_debug_msgs::msg::Float64Stamped` | publish yaw deviation of self-pose from goal pose[deg]        |
 
 ## Parameters
 
diff --git a/common/autoware_path_distance_calculator/Readme.md b/common/autoware_path_distance_calculator/Readme.md
index c6389c930f62a..9263938b0498f 100644
--- a/common/autoware_path_distance_calculator/Readme.md
+++ b/common/autoware_path_distance_calculator/Readme.md
@@ -20,7 +20,7 @@ Note that the distance means the arc-length along the path, not the Euclidean di
 
 | Name         | Type                                    | Description                                                                                           |
 | ------------ | --------------------------------------- | ----------------------------------------------------------------------------------------------------- |
-| `~/distance` | `tier4_debug_msgs::msg::Float64Stamped` | Publish a distance from the closest path point from the self-position to the end point of the path[m] |
+| `~/distance` | `autoware_internal_debug_msgs::msg::Float64Stamped` | Publish a distance from the closest path point from the self-position to the end point of the path[m] |
 
 ## Parameters
 
diff --git a/common/autoware_universe_utils/package.xml b/common/autoware_universe_utils/package.xml
index 0e7b892a8c689..719009b4aefdc 100644
--- a/common/autoware_universe_utils/package.xml
+++ b/common/autoware_universe_utils/package.xml
@@ -27,7 +27,7 @@
   <depend>tf2</depend>
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
-  <depend>tier4_debug_msgs</depend>
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>unique_identifier_msgs</depend>
   <depend>visualization_msgs</depend>
diff --git a/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc.hpp b/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc.hpp
index 4c8d5df2c22a7..112022726eae7 100644
--- a/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc.hpp
+++ b/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc.hpp
@@ -28,7 +28,7 @@
 #include "autoware_vehicle_msgs/msg/steering_report.hpp"
 #include "geometry_msgs/msg/pose.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 <deque>
 #include <memory>
@@ -45,7 +45,7 @@ using autoware_planning_msgs::msg::Trajectory;
 using autoware_vehicle_msgs::msg::SteeringReport;
 using geometry_msgs::msg::Pose;
 using nav_msgs::msg::Odometry;
-using tier4_debug_msgs::msg::Float32MultiArrayStamped;
+using autoware_internal_debug_msgs::msg::Float32MultiArrayStamped;
 
 using Eigen::MatrixXd;
 using Eigen::VectorXd;