Replace debug msgs

common/autoware_goal_distance_calculator/Readme.md

@@ -17,12 +17,12 @@ This node publishes deviation of self-pose from goal pose.
 
 ### Output
 
-| 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]        |
+| Name                     | Type                                                | Description                                                   |
+| ------------------------ | --------------------------------------------------- | ------------------------------------------------------------- |
+| `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
 

common/autoware_goal_distance_calculator/include/autoware/goal_distance_calculator/goal_distance_calculator_node.hpp

@@ -22,9 +22,9 @@
 #include <autoware/universe_utils/ros/self_pose_listener.hpp>
 #include <rclcpp/rclcpp.hpp>
 
+#include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
 #include <autoware_planning_msgs/msg/lanelet_route.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
-#include <tier4_debug_msgs/msg/float64_stamped.hpp>
 
 #include <tf2_ros/transform_listener.h>
 

common/autoware_goal_distance_calculator/package.xml

@@ -10,12 +10,12 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_universe_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
-  <depend>tier4_debug_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

common/autoware_goal_distance_calculator/src/goal_distance_calculator_node.cpp

@@ -18,7 +18,7 @@
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp/timer.hpp>
 
-#include <tier4_debug_msgs/msg/float64_stamped.hpp>
+#include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
 
 #include <chrono>
 #include <functional>
@@ -100,12 +100,13 @@ void GoalDistanceCalculatorNode::onTimer()
     using autoware::universe_utils::rad2deg;
     const auto & deviation = output.goal_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>(
+    debug_publisher_.publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
       "deviation/longitudinal", deviation.longitudinal);
-    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));
     RCLCPP_INFO_THROTTLE(
       this->get_logger(), *this->get_clock(), 1000,

common/autoware_path_distance_calculator/Readme.md

@@ -18,9 +18,9 @@ Note that the distance means the arc-length along the path, not the Euclidean di
 
 ### Output
 
-| 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] |
+| Name         | Type                                                | Description                                                                                           |
+| ------------ | --------------------------------------------------- | ----------------------------------------------------------------------------------------------------- |
+| `~/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
 

common/autoware_path_distance_calculator/package.xml

@@ -10,12 +10,12 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_universe_utils</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
-  <depend>tier4_debug_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

common/autoware_path_distance_calculator/src/path_distance_calculator.cpp

@@ -27,8 +27,8 @@ namespace autoware::path_distance_calculator
 PathDistanceCalculator::PathDistanceCalculator(const rclcpp::NodeOptions & options)
 : Node("path_distance_calculator", options), self_pose_listener_(this)
 {
-  pub_dist_ =
-    create_publisher<tier4_debug_msgs::msg::Float64Stamped>("~/output/distance", rclcpp::QoS(1));
+  pub_dist_ = create_publisher<autoware_internal_debug_msgs::msg::Float64Stamped>(
+    "~/output/distance", rclcpp::QoS(1));
 
   using std::chrono_literals::operator""s;
   timer_ = rclcpp::create_timer(this, get_clock(), 1s, [this]() {
@@ -50,7 +50,7 @@ PathDistanceCalculator::PathDistanceCalculator(const rclcpp::NodeOptions & optio
     const double distance = autoware::motion_utils::calcSignedArcLength(
       path->points, pose->pose.position, path->points.size() - 1);
 
-    tier4_debug_msgs::msg::Float64Stamped msg;
+    autoware_internal_debug_msgs::msg::Float64Stamped msg;
     msg.stamp = pose->header.stamp;
     msg.data = distance;
     pub_dist_->publish(msg);

common/autoware_path_distance_calculator/src/path_distance_calculator.hpp

@@ -19,8 +19,8 @@
 #include <autoware/universe_utils/ros/self_pose_listener.hpp>
 #include <rclcpp/rclcpp.hpp>
 
+#include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
 #include <autoware_planning_msgs/msg/path.hpp>
-#include <tier4_debug_msgs/msg/float64_stamped.hpp>
 
 namespace autoware::path_distance_calculator
 {
@@ -33,7 +33,7 @@ class PathDistanceCalculator : public rclcpp::Node
 private:
   autoware::universe_utils::InterProcessPollingSubscriber<autoware_planning_msgs::msg::Path>
     sub_path_{this, "~/input/path"};
-  rclcpp::Publisher<tier4_debug_msgs::msg::Float64Stamped>::SharedPtr pub_dist_;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float64Stamped>::SharedPtr pub_dist_;
   rclcpp::TimerBase::SharedPtr timer_;
   autoware::universe_utils::SelfPoseListener self_pose_listener_;
 };

common/autoware_universe_utils/include/autoware/universe_utils/system/time_keeper.hpp

@@ -18,9 +18,9 @@
 
 #include <rclcpp/publisher.hpp>
 
+#include <autoware_internal_debug_msgs/msg/processing_time_node.hpp>
+#include <autoware_internal_debug_msgs/msg/processing_time_tree.hpp>
 #include <std_msgs/msg/string.hpp>
-#include <tier4_debug_msgs/msg/processing_time_node.hpp>
-#include <tier4_debug_msgs/msg/processing_time_tree.hpp>
 
 #include <memory>
 #include <ostream>
@@ -61,9 +61,10 @@ class ProcessingTimeNode : public std::enable_shared_from_this<ProcessingTimeNod
   /**
    * @brief Construct a ProcessingTimeTree message from the node and its children
    *
-   * @return tier4_debug_msgs::msg::ProcessingTimeTree Constructed ProcessingTimeTree message
+   * @return autoware_internal_debug_msgs::msg::ProcessingTimeTree Constructed ProcessingTimeTree
+   * message
    */
-  tier4_debug_msgs::msg::ProcessingTimeTree to_msg() const;
+  autoware_internal_debug_msgs::msg::ProcessingTimeTree to_msg() const;
 
   /**
    * @brief Get the parent node
@@ -111,7 +112,8 @@ class ProcessingTimeNode : public std::enable_shared_from_this<ProcessingTimeNod
 };
 
 using ProcessingTimeDetail =
-  tier4_debug_msgs::msg::ProcessingTimeTree;  //!< Alias for the ProcessingTimeTree message
+  autoware_internal_debug_msgs::msg::ProcessingTimeTree;  //!< Alias for the ProcessingTimeTree
+                                                          //!< message
 
 /**
  * @brief Class for tracking and reporting the processing time of various functions

common/autoware_universe_utils/package.xml

@@ -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_debug_msgs</depend>
   <depend>autoware_internal_msgs</depend>
   <depend>autoware_perception_msgs</depend>
@@ -27,7 +28,6 @@
   <depend>tf2</depend>
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
-  <depend>tier4_debug_msgs</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>unique_identifier_msgs</depend>
   <depend>visualization_msgs</depend>

common/autoware_universe_utils/src/system/time_keeper.cpp

@@ -67,15 +67,17 @@ std::string ProcessingTimeNode::to_string() const
   return oss.str();
 }
 
-tier4_debug_msgs::msg::ProcessingTimeTree ProcessingTimeNode::to_msg() const
+autoware_internal_debug_msgs::msg::ProcessingTimeTree ProcessingTimeNode::to_msg() const
 {
-  tier4_debug_msgs::msg::ProcessingTimeTree time_tree_msg;
+  autoware_debug_msgs::msg::ProcessingTimeTree time_tree_msg;
 
-  std::function<void(const ProcessingTimeNode &, tier4_debug_msgs::msg::ProcessingTimeTree &, int)>
+  std::function<void(
+    const ProcessingTimeNode &, autoware_internal_debug_msgs::msg::ProcessingTimeTree &, int)>
     construct_msg = [&](
                       const ProcessingTimeNode & node,
-                      tier4_debug_msgs::msg::ProcessingTimeTree & tree_msg, int parent_id) {
-      tier4_debug_msgs::msg::ProcessingTimeNode time_node_msg;
+                      autoware_internal_debug_msgs::msg::ProcessingTimeTree & tree_msg,
+                      int parent_id) {
+      autoware_internal_debug_msgs::msg::ProcessingTimeNode time_node_msg;
       time_node_msg.name = node.name_;
       time_node_msg.processing_time = node.processing_time_;
       time_node_msg.id = static_cast<int>(tree_msg.nodes.size() + 1);

control/autoware_autonomous_emergency_braking/package.xml

@@ -22,6 +22,7 @@
   <test_depend>autoware_test_utils</test_depend>
 
   <depend>autoware_control_msgs</depend>
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_pointcloud_preprocessor</depend>
@@ -43,7 +44,6 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_debug_msgs</depend>
   <depend>tier4_metric_msgs</depend>
   <depend>visualization_msgs</depend>
 

control/autoware_autonomous_emergency_braking/src/node.cpp

@@ -155,7 +155,8 @@ 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 +648,7 @@ 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);

control/autoware_control_validator/include/autoware/control_validator/control_validator.hpp

@@ -25,10 +25,10 @@
 #include <autoware_control_validator/msg/control_validator_status.hpp>
 #include <rclcpp/rclcpp.hpp>
 
+#include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
 #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 <cstdint>
 #include <memory>
@@ -139,7 +139,8 @@ 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;

control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/lane_departure_checker_node.hpp

@@ -24,14 +24,14 @@
 #include <rclcpp/rclcpp.hpp>
 
 #include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
+#include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
 #include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 #include <autoware_planning_msgs/msg/lanelet_route.hpp>
 #include <autoware_planning_msgs/msg/trajectory.hpp>
 #include <autoware_vehicle_msgs/msg/control_mode_report.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
 #include <nav_msgs/msg/odometry.hpp>
-#include <tier4_debug_msgs/msg/float64_stamped.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
 
 #include <lanelet2_core/LaneletMap.h>
@@ -115,7 +115,8 @@ class LaneDepartureCheckerNode : public rclcpp::Node
   autoware::universe_utils::DebugPublisher debug_publisher_{this, "~/debug"};
   autoware::universe_utils::ProcessingTimePublisher processing_diag_publisher_{
     this, "~/debug/processing_time_ms_diag"};
-  rclcpp::Publisher<tier4_debug_msgs::msg::Float64Stamped>::SharedPtr processing_time_publisher_;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float64Stamped>::SharedPtr
+    processing_time_publisher_;
 
   // Timer
   rclcpp::TimerBase::SharedPtr timer_;

control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp

@@ -171,7 +171,8 @@
 
   // 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
@@ -342,26 +343,27 @@
 
   {
     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);
 
   debug_publisher_.publish<visualization_msgs::msg::MarkerArray>(
     std::string("marker_array"), createMarkerArray());
   processing_time_map["Node: publishDebugMarker"] = stop_watch.toc(true);
 
   // Merge processing_time_map
   for (const auto & m : output_.processing_time_map) {
     processing_time_map["Core: " + m.first] = m.second;
   }
 
   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);

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

@@ -24,11 +24,11 @@
 #include "rclcpp/rclcpp.hpp"
 
 #include "autoware_control_msgs/msg/lateral.hpp"
+#include "autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp"
 #include "autoware_planning_msgs/msg/trajectory.hpp"
 #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 <deque>
 #include <memory>
@@ -41,11 +41,11 @@ namespace autoware::motion::control::mpc_lateral_controller
 
 using autoware::motion::control::trajectory_follower::LateralHorizon;
 using autoware_control_msgs::msg::Lateral;
+using autoware_internal_debug_msgs::msg::Float32MultiArrayStamped;
 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 Eigen::MatrixXd;
 using Eigen::VectorXd;

control/autoware_mpc_lateral_controller/package.xml

@@ -19,6 +19,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_control_msgs</depend>
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_interpolation</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_osqp_interface</depend>
@@ -36,7 +37,6 @@
   <depend>std_msgs</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_debug_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>