From d178e04526096ced04059392826e79da257f18b5 Mon Sep 17 00:00:00 2001
From: vish0012 <vishalchhn42@gmail.com>
Date: Thu, 26 Dec 2024 11:44:11 +0900
Subject: [PATCH] feat : replace tier4_debug_msgs to
 autoware_internal_debug_msgs

---
 .../autoware_autonomous_emergency_braking/src/node.cpp |  4 ++--
 .../autoware/control_validator/control_validator.hpp   |  4 ++--
 .../lane_departure_checker_node.cpp                    | 10 +++++-----
 control/autoware_mpc_lateral_controller/package.xml    |  2 +-
 4 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/control/autoware_autonomous_emergency_braking/src/node.cpp b/control/autoware_autonomous_emergency_braking/src/node.cpp
index eb0884e4f344e..0d2c6d78748d9 100644
--- a/control/autoware_autonomous_emergency_braking/src/node.cpp
+++ b/control/autoware_autonomous_emergency_braking/src/node.cpp
@@ -155,7 +155,7 @@ AEB::AEB(const rclcpp::NodeOptions & node_options)
     debug_marker_publisher_ = this->create_publisher<MarkerArray>("~/debug/markers", 1);
     virtual_wall_publisher_ = this->create_publisher<MarkerArray>("~/virtual_wall", 1);
     debug_rss_distance_publisher_ =
-      this->create_publisher<tier4_debug_msgs::msg::Float32Stamped>("~/debug/rss_distance", 1);
+      this->create_publisher<autoware_internal_debug_msgs::msg::Float32Stamped>("~/debug/rss_distance", 1);
     metrics_pub_ = this->create_publisher<MetricArray>("~/metrics", 1);
   }
   // Diagnostics
@@ -647,7 +647,7 @@ bool AEB::hasCollision(const double current_v, const ObjectData & closest_object
     return ego_stopping_distance + obj_braking_distance + longitudinal_offset_margin_;
   });
 
-  tier4_debug_msgs::msg::Float32Stamped rss_distance_msg;
+  autoware_internal_debug_msgs::msg::Float32Stamped rss_distance_msg;
   rss_distance_msg.stamp = get_clock()->now();
   rss_distance_msg.data = rss_dist;
   debug_rss_distance_publisher_->publish(rss_distance_msg);
diff --git a/control/autoware_control_validator/include/autoware/control_validator/control_validator.hpp b/control/autoware_control_validator/include/autoware/control_validator/control_validator.hpp
index 080e8f0e6abc3..f78ccd65d6cb8 100644
--- a/control/autoware_control_validator/include/autoware/control_validator/control_validator.hpp
+++ b/control/autoware_control_validator/include/autoware/control_validator/control_validator.hpp
@@ -28,7 +28,7 @@
 #include <autoware_planning_msgs/msg/trajectory.hpp>
 #include <diagnostic_msgs/msg/diagnostic_array.hpp>
 #include <nav_msgs/msg/odometry.hpp>
-#include <tier4_debug_msgs/msg/float64_stamped.hpp>
+#include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
 
 #include <cstdint>
 #include <memory>
@@ -139,7 +139,7 @@ class ControlValidator : public rclcpp::Node
   universe_utils::InterProcessPollingSubscriber<Trajectory>::SharedPtr sub_reference_traj_;
   rclcpp::Publisher<ControlValidatorStatus>::SharedPtr pub_status_;
   rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr pub_markers_;
-  rclcpp::Publisher<tier4_debug_msgs::msg::Float64Stamped>::SharedPtr pub_processing_time_;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float64Stamped>::SharedPtr pub_processing_time_;
 
   // system parameters
   int64_t diag_error_count_threshold_ = 0;
diff --git a/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp b/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp
index 366b84a1f6131..c7c21f03c12c1 100644
--- a/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp
+++ b/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp
@@ -171,7 +171,7 @@ LaneDepartureCheckerNode::LaneDepartureCheckerNode(const rclcpp::NodeOptions & o
 
   // Publisher
   processing_time_publisher_ =
-    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);
   // Nothing
 
   // Diagnostic Updater
@@ -342,10 +342,10 @@ void LaneDepartureCheckerNode::onTimer()
 
   {
     const auto & deviation = output_.trajectory_deviation;
-    debug_publisher_.publish<tier4_debug_msgs::msg::Float64Stamped>(
+    debug_publisher_.publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
       "deviation/lateral", deviation.lateral);
-    debug_publisher_.publish<tier4_debug_msgs::msg::Float64Stamped>("deviation/yaw", deviation.yaw);
-    debug_publisher_.publish<tier4_debug_msgs::msg::Float64Stamped>(
+    debug_publisher_.publish<autoware_internal_debug_msgs::msg::Float64Stamped>("deviation/yaw", deviation.yaw);
+    debug_publisher_.publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
       "deviation/yaw_deg", rad2deg(deviation.yaw));
   }
   processing_time_map["Node: publishTrajectoryDeviation"] = stop_watch.toc(true);
@@ -361,7 +361,7 @@ void LaneDepartureCheckerNode::onTimer()
 
   processing_time_map["Total"] = stop_watch.toc("Total");
   processing_diag_publisher_.publish(processing_time_map);
-  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 = processing_time_map["Total"];
   processing_time_publisher_->publish(processing_time_msg);
diff --git a/control/autoware_mpc_lateral_controller/package.xml b/control/autoware_mpc_lateral_controller/package.xml
index b450af05ea0e1..648396e10fb38 100644
--- a/control/autoware_mpc_lateral_controller/package.xml
+++ b/control/autoware_mpc_lateral_controller/package.xml
@@ -36,7 +36,7 @@
   <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>