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feat(behavior_path_planner): use autoware internal stamped messages #9750

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merged 2 commits into from
Dec 25, 2024
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feat(behavior_path_planner): use autoware internal stamped messages #9750

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72f0328
feat(behavior_path_planner): use autoware internal stamped messages
takayuki5168 Dec 24, 2024
d82f9ad
fix universe_utils
takayuki5168 Dec 24, 2024
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62 changes: 62 additions & 0 deletions common/autoware_universe_utils/include/autoware/universe_utils/ros/debug_traits.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,16 @@
#ifndef AUTOWARE__UNIVERSE_UTILS__ROS__DEBUG_TRAITS_HPP_
#define AUTOWARE__UNIVERSE_UTILS__ROS__DEBUG_TRAITS_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 <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>
Expand Down Expand Up @@ -84,6 +94,58 @@ template <>
struct is_debug_message<tier4_debug_msgs::msg::StringStamped> : std::true_type
{
};

template <>
struct is_debug_message<autoware_internal_debug_msgs::msg::BoolStamped> : std::true_type
{
};

template <>
struct is_debug_message<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>
: std::true_type
{
};

template <>
struct is_debug_message<autoware_internal_debug_msgs::msg::Float32Stamped> : std::true_type
{
};

template <>
struct is_debug_message<autoware_internal_debug_msgs::msg::Float64MultiArrayStamped>
: std::true_type
{
};

template <>
struct is_debug_message<autoware_internal_debug_msgs::msg::Float64Stamped> : std::true_type
{
};

template <>
struct is_debug_message<autoware_internal_debug_msgs::msg::Int32MultiArrayStamped> : std::true_type
{
};

template <>
struct is_debug_message<autoware_internal_debug_msgs::msg::Int32Stamped> : std::true_type
{
};

template <>
struct is_debug_message<autoware_internal_debug_msgs::msg::Int64MultiArrayStamped> : std::true_type
{
};

template <>
struct is_debug_message<autoware_internal_debug_msgs::msg::Int64Stamped> : std::true_type
{
};

template <>
struct is_debug_message<autoware_internal_debug_msgs::msg::StringStamped> : std::true_type
{
};
} // namespace autoware::universe_utils::debug_traits

#endif // AUTOWARE__UNIVERSE_UTILS__ROS__DEBUG_TRAITS_HPP_
1 change: 1 addition & 0 deletions common/autoware_universe_utils/package.xml
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Expand Up @@ -12,6 +12,7 @@
<buildtool_depend>ament_cmake_auto</buildtool_depend>
<buildtool_depend>autoware_cmake</buildtool_depend>

<depend>autoware_internal_debug_msgs</depend>
<depend>autoware_internal_msgs</depend>
<depend>autoware_perception_msgs</depend>
<depend>autoware_planning_msgs</depend>
Expand Down
6 changes: 4 additions & 2 deletions ...autoware_behavior_path_planner/include/autoware/behavior_path_planner/planner_manager.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,8 @@
#include <pluginlib/class_loader.hpp>
#include <rclcpp/rclcpp.hpp>

#include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
#include <autoware_internal_debug_msgs/msg/string_stamped.hpp>
#include <tier4_planning_msgs/msg/path_with_lane_id.hpp>

#include <lanelet2_core/primitives/Lanelet.h>
Expand All @@ -44,8 +46,8 @@ using tier4_planning_msgs::msg::PathWithLaneId;
using SceneModulePtr = std::shared_ptr<SceneModuleInterface>;
using SceneModuleManagerPtr = std::shared_ptr<SceneModuleManagerInterface>;
using DebugPublisher = autoware::universe_utils::DebugPublisher;
using DebugDoubleMsg = tier4_debug_msgs::msg::Float64Stamped;
using DebugStringMsg = tier4_debug_msgs::msg::StringStamped;
using DebugDoubleMsg = autoware_internal_debug_msgs::msg::Float64Stamped;
using DebugStringMsg = autoware_internal_debug_msgs::msg::StringStamped;

struct SceneModuleUpdateInfo
{
Expand Down
1 change: 1 addition & 0 deletions planning/behavior_path_planner/autoware_behavior_path_planner/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -40,6 +40,7 @@
<depend>autoware_behavior_path_planner_common</depend>
<depend>autoware_freespace_planning_algorithms</depend>
<depend>autoware_frenet_planner</depend>
<depend>autoware_internal_debug_msgs</depend>
<depend>autoware_interpolation</depend>
<depend>autoware_lane_departure_checker</depend>
<depend>autoware_lanelet2_extension</depend>
Expand Down
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