feat!: replace HADMap with Lanelet (autowarefoundation#2356)

* feat!: replace HADMap with Lanelet

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* update topic.yaml

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* Update perception/traffic_light_map_based_detector/README.md

Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com>
Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* Update planning/behavior_path_planner/README.md

Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com>
Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* Update planning/mission_planner/README.md

Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com>
Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* Update planning/scenario_selector/README.md

Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com>
Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* format readme

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com>

Author: kosuke55

common/component_interface_specs/include/component_interface_specs/planning.hpp

@@ -20,7 +20,7 @@
 #include <autoware_adapi_v1_msgs/msg/route_state.hpp>
 #include <autoware_adapi_v1_msgs/srv/clear_route.hpp>
 #include <autoware_adapi_v1_msgs/srv/set_route_points.hpp>
-#include <autoware_auto_planning_msgs/msg/had_map_route.hpp>
+#include <autoware_planning_msgs/msg/lanelet_route.hpp>
 #include <autoware_planning_msgs/srv/set_route.hpp>
 
 namespace planning_interface
@@ -55,7 +55,7 @@ struct RouteState
 
 struct Route
 {
-  using Message = autoware_auto_planning_msgs::msg::HADMapRoute;
+  using Message = autoware_planning_msgs::msg::LaneletRoute;
   static constexpr char name[] = "/planning/mission_planning/route";
   static constexpr size_t depth = 1;
   static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;

control/lane_departure_checker/README.md

@@ -49,7 +49,7 @@ This package includes the following features:
 
 - /localization/kinematic_state [`nav_msgs::msg::Odometry`]
 - /map/vector_map [`autoware_auto_mapping_msgs::msg::HADMapBin`]
-- /planning/mission_planning/route [`autoware_auto_planning_msgs::msg::HADMapRoute`]
+- /planning/mission_planning/route [`autoware_planning_msgs::msg::LaneletRoute`]
 - /planning/scenario_planning/trajectory [`autoware_auto_planning_msgs::msg::Trajectory`]
 - /control/trajectory_follower/predicted_trajectory [`autoware_auto_planning_msgs::msg::Trajectory`]
 

control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker.hpp

@@ -21,10 +21,10 @@
 #include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 #include <vehicle_info_util/vehicle_info_util.hpp>
 
-#include <autoware_auto_planning_msgs/msg/had_map_route.hpp>
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
 #include <autoware_auto_planning_msgs/msg/trajectory.hpp>
 #include <autoware_auto_planning_msgs/msg/trajectory_point.hpp>
+#include <autoware_planning_msgs/msg/lanelet_route.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
 #include <geometry_msgs/msg/twist_stamped.hpp>
@@ -41,10 +41,10 @@
 
 namespace lane_departure_checker
 {
-using autoware_auto_planning_msgs::msg::HADMapRoute;
 using autoware_auto_planning_msgs::msg::PathWithLaneId;
 using autoware_auto_planning_msgs::msg::Trajectory;
 using autoware_auto_planning_msgs::msg::TrajectoryPoint;
+using autoware_planning_msgs::msg::LaneletRoute;
 using tier4_autoware_utils::LinearRing2d;
 using tier4_autoware_utils::PoseDeviation;
 using TrajectoryPoints = std::vector<TrajectoryPoint>;
@@ -68,7 +68,7 @@ struct Input
   geometry_msgs::msg::PoseStamped::ConstSharedPtr current_pose{};
   nav_msgs::msg::Odometry::ConstSharedPtr current_odom{};
   lanelet::LaneletMapPtr lanelet_map{};
-  HADMapRoute::ConstSharedPtr route{};
+  LaneletRoute::ConstSharedPtr route{};
   lanelet::ConstLanelets route_lanelets{};
   Trajectory::ConstSharedPtr reference_trajectory{};
   Trajectory::ConstSharedPtr predicted_trajectory{};

control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker_node.hpp

@@ -26,8 +26,8 @@
 #include <vehicle_info_util/vehicle_info_util.hpp>
 
 #include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
-#include <autoware_auto_planning_msgs/msg/had_map_route.hpp>
 #include <autoware_auto_planning_msgs/msg/trajectory.hpp>
+#include <autoware_planning_msgs/msg/lanelet_route.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
 #include <nav_msgs/msg/odometry.hpp>
@@ -59,7 +59,7 @@ class LaneDepartureCheckerNode : public rclcpp::Node
   tier4_autoware_utils::SelfPoseListener self_pose_listener_{this};
   rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr sub_odom_;
   rclcpp::Subscription<HADMapBin>::SharedPtr sub_lanelet_map_bin_;
-  rclcpp::Subscription<HADMapRoute>::SharedPtr sub_route_;
+  rclcpp::Subscription<LaneletRoute>::SharedPtr sub_route_;
   rclcpp::Subscription<Trajectory>::SharedPtr sub_reference_trajectory_;
   rclcpp::Subscription<Trajectory>::SharedPtr sub_predicted_trajectory_;
 
@@ -69,17 +69,17 @@ class LaneDepartureCheckerNode : public rclcpp::Node
   lanelet::LaneletMapPtr lanelet_map_;
   lanelet::traffic_rules::TrafficRulesPtr traffic_rules_;
   lanelet::routing::RoutingGraphPtr routing_graph_;
-  HADMapRoute::ConstSharedPtr route_;
+  LaneletRoute::ConstSharedPtr route_;
   geometry_msgs::msg::PoseWithCovarianceStamped::ConstSharedPtr cov_;
-  HADMapRoute::ConstSharedPtr last_route_;
+  LaneletRoute::ConstSharedPtr last_route_;
   lanelet::ConstLanelets route_lanelets_;
   Trajectory::ConstSharedPtr reference_trajectory_;
   Trajectory::ConstSharedPtr predicted_trajectory_;
 
   // Callback
   void onOdometry(const nav_msgs::msg::Odometry::ConstSharedPtr msg);
   void onLaneletMapBin(const HADMapBin::ConstSharedPtr msg);
-  void onRoute(const HADMapRoute::ConstSharedPtr msg);
+  void onRoute(const LaneletRoute::ConstSharedPtr msg);
   void onReferenceTrajectory(const Trajectory::ConstSharedPtr msg);
   void onPredictedTrajectory(const Trajectory::ConstSharedPtr msg);
 

control/lane_departure_checker/package.xml

@@ -15,6 +15,7 @@
 
   <depend>autoware_auto_mapping_msgs</depend>
   <depend>autoware_auto_planning_msgs</depend>
+  <depend>autoware_planning_msgs</depend>
   <depend>boost</depend>
   <depend>diagnostic_updater</depend>
   <depend>eigen</depend>

control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp

@@ -21,7 +21,7 @@
 #include <tier4_autoware_utils/ros/marker_helper.hpp>
 #include <tier4_autoware_utils/system/stop_watch.hpp>
 
-#include <autoware_auto_mapping_msgs/msg/had_map_segment.hpp>
+#include <autoware_planning_msgs/msg/lanelet_segment.hpp>
 
 #include <map>
 #include <memory>
@@ -33,7 +33,7 @@ using tier4_autoware_utils::rad2deg;
 
 namespace
 {
-using autoware_auto_mapping_msgs::msg::HADMapSegment;
+using autoware_planning_msgs::msg::LaneletSegment;
 
 std::array<geometry_msgs::msg::Point, 3> triangle2points(
   const geometry_msgs::msg::Polygon & triangle)
@@ -54,7 +54,7 @@ std::array<geometry_msgs::msg::Point, 3> triangle2points(
 lanelet::ConstLanelets getRouteLanelets(
   const lanelet::LaneletMapPtr & lanelet_map,
   const lanelet::routing::RoutingGraphPtr & routing_graph,
-  const autoware_auto_planning_msgs::msg::HADMapRoute::ConstSharedPtr & route_ptr,
+  const autoware_planning_msgs::msg::LaneletRoute::ConstSharedPtr & route_ptr,
   const double vehicle_length)
 {
   lanelet::ConstLanelets route_lanelets;
@@ -159,7 +159,7 @@ LaneDepartureCheckerNode::LaneDepartureCheckerNode(const rclcpp::NodeOptions & o
   sub_lanelet_map_bin_ = this->create_subscription<HADMapBin>(
     "~/input/lanelet_map_bin", rclcpp::QoS{1}.transient_local(),
     std::bind(&LaneDepartureCheckerNode::onLaneletMapBin, this, _1));
-  sub_route_ = this->create_subscription<HADMapRoute>(
+  sub_route_ = this->create_subscription<LaneletRoute>(
     "~/input/route", rclcpp::QoS{1}.transient_local(),
     std::bind(&LaneDepartureCheckerNode::onRoute, this, _1));
   sub_reference_trajectory_ = this->create_subscription<Trajectory>(
@@ -199,7 +199,7 @@ void LaneDepartureCheckerNode::onLaneletMapBin(const HADMapBin::ConstSharedPtr m
   lanelet::utils::conversion::fromBinMsg(*msg, lanelet_map_, &traffic_rules_, &routing_graph_);
 }
 
-void LaneDepartureCheckerNode::onRoute(const HADMapRoute::ConstSharedPtr msg) { route_ = msg; }
+void LaneDepartureCheckerNode::onRoute(const LaneletRoute::ConstSharedPtr msg) { route_ = msg; }
 
 void LaneDepartureCheckerNode::onReferenceTrajectory(const Trajectory::ConstSharedPtr msg)
 {

launch/tier4_system_launch/config/component_state_monitor/topics.yaml

@@ -82,7 +82,7 @@
   args:
     node_name_suffix: mission_planning_route
     topic: /planning/mission_planning/route
-    topic_type: autoware_auto_planning_msgs/msg/HADMapRoute
+    topic_type: autoware_planning_msgs/msg/LaneletRoute
     best_effort: false
     transient_local: true
     warn_rate: 0.0

perception/crosswalk_traffic_light_estimator/README.md

@@ -11,7 +11,7 @@
 | Name                                 | Type                                                     | Description        |
 | ------------------------------------ | -------------------------------------------------------- | ------------------ |
 | `~/input/vector_map`                 | `autoware_auto_mapping_msgs::msg::HADMapBin`             | vector map         |
-| `~/input/route`                      | `autoware_auto_planning_msgs::msg::HADMapRoute`          | route              |
+| `~/input/route`                      | `autoware_planning_msgs::msg::LaneletRoute`              | route              |
 | `~/input/classified/traffic_signals` | `autoware_auto_perception_msgs::msg::TrafficSignalArray` | classified signals |
 
 ### Output

perception/crosswalk_traffic_light_estimator/include/crosswalk_traffic_light_estimator/node.hpp

@@ -25,7 +25,7 @@
 #include <autoware_auto_perception_msgs/msg/traffic_light.hpp>
 #include <autoware_auto_perception_msgs/msg/traffic_signal.hpp>
 #include <autoware_auto_perception_msgs/msg/traffic_signal_array.hpp>
-#include <autoware_auto_planning_msgs/msg/had_map_route.hpp>
+#include <autoware_planning_msgs/msg/lanelet_route.hpp>
 #include <tier4_debug_msgs/msg/float64_stamped.hpp>
 
 #include <lanelet2_core/Attribute.h>
@@ -45,7 +45,7 @@ using autoware_auto_mapping_msgs::msg::HADMapBin;
 using autoware_auto_perception_msgs::msg::TrafficLight;
 using autoware_auto_perception_msgs::msg::TrafficSignal;
 using autoware_auto_perception_msgs::msg::TrafficSignalArray;
-using autoware_auto_planning_msgs::msg::HADMapRoute;
+using autoware_planning_msgs::msg::LaneletRoute;
 using tier4_autoware_utils::DebugPublisher;
 using tier4_autoware_utils::StopWatch;
 using tier4_debug_msgs::msg::Float64Stamped;
@@ -58,7 +58,7 @@ class CrosswalkTrafficLightEstimatorNode : public rclcpp::Node
 
 private:
   rclcpp::Subscription<HADMapBin>::SharedPtr sub_map_;
-  rclcpp::Subscription<HADMapRoute>::SharedPtr sub_route_;
+  rclcpp::Subscription<LaneletRoute>::SharedPtr sub_route_;
   rclcpp::Subscription<TrafficSignalArray>::SharedPtr sub_traffic_light_array_;
   rclcpp::Publisher<TrafficSignalArray>::SharedPtr pub_traffic_light_array_;
 
@@ -70,7 +70,7 @@ class CrosswalkTrafficLightEstimatorNode : public rclcpp::Node
   lanelet::ConstLanelets conflicting_crosswalks_;
 
   void onMap(const HADMapBin::ConstSharedPtr msg);
-  void onRoute(const HADMapRoute::ConstSharedPtr msg);
+  void onRoute(const LaneletRoute::ConstSharedPtr msg);
   void onTrafficLightArray(const TrafficSignalArray::ConstSharedPtr msg);
 
   void updateLastDetectedSignal(const TrafficLightIdMap & traffic_signals);

perception/crosswalk_traffic_light_estimator/src/node.cpp

@@ -86,7 +86,7 @@ CrosswalkTrafficLightEstimatorNode::CrosswalkTrafficLightEstimatorNode(
   sub_map_ = create_subscription<HADMapBin>(
     "~/input/vector_map", rclcpp::QoS{1}.transient_local(),
     std::bind(&CrosswalkTrafficLightEstimatorNode::onMap, this, _1));
-  sub_route_ = create_subscription<HADMapRoute>(
+  sub_route_ = create_subscription<LaneletRoute>(
     "~/input/route", rclcpp::QoS{1}.transient_local(),
     std::bind(&CrosswalkTrafficLightEstimatorNode::onRoute, this, _1));
   sub_traffic_light_array_ = create_subscription<TrafficSignalArray>(
@@ -118,7 +118,7 @@ void CrosswalkTrafficLightEstimatorNode::onMap(const HADMapBin::ConstSharedPtr m
   RCLCPP_INFO(get_logger(), "[CrosswalkTrafficLightEstimatorNode]: Map is loaded");
 }
 
-void CrosswalkTrafficLightEstimatorNode::onRoute(const HADMapRoute::ConstSharedPtr msg)
+void CrosswalkTrafficLightEstimatorNode::onRoute(const LaneletRoute::ConstSharedPtr msg)
 {
   if (lanelet_map_ptr_ == nullptr) {
     RCLCPP_WARN(get_logger(), "cannot set traffic light in route because don't receive map");

perception/traffic_light_map_based_detector/README.md

@@ -13,11 +13,11 @@ If the node receives no route information, it looks at a radius of 200 meters an
 
 ## Input topics
 
-| Name                 | Type                                     | Description             |
-| -------------------- | ---------------------------------------- | ----------------------- |
-| `~input/vector_map`  | autoware_auto_mapping_msgs::HADMapBin    | vector map              |
-| `~input/camera_info` | sensor_msgs::CameraInfo                  | target camera parameter |
-| `~input/route`       | autoware_auto_planning_msgs::HADMapRoute | optional: route         |
+| Name                 | Type                                  | Description             |
+| -------------------- | ------------------------------------- | ----------------------- |
+| `~input/vector_map`  | autoware_auto_mapping_msgs::HADMapBin | vector map              |
+| `~input/camera_info` | sensor_msgs::CameraInfo               | target camera parameter |
+| `~input/route`       | autoware_planning_msgs::LaneletRoute  | optional: route         |
 
 ## Output topics
 

perception/traffic_light_map_based_detector/include/traffic_light_map_based_detector/node.hpp

@@ -39,7 +39,7 @@
 
 #include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
 #include <autoware_auto_perception_msgs/msg/traffic_light_roi_array.hpp>
-#include <autoware_auto_planning_msgs/msg/had_map_route.hpp>
+#include <autoware_planning_msgs/msg/lanelet_route.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <sensor_msgs/msg/camera_info.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
@@ -84,7 +84,7 @@ class MapBasedDetector : public rclcpp::Node
 private:
   rclcpp::Subscription<autoware_auto_mapping_msgs::msg::HADMapBin>::SharedPtr map_sub_;
   rclcpp::Subscription<sensor_msgs::msg::CameraInfo>::SharedPtr camera_info_sub_;
-  rclcpp::Subscription<autoware_auto_planning_msgs::msg::HADMapRoute>::SharedPtr route_sub_;
+  rclcpp::Subscription<autoware_planning_msgs::msg::LaneletRoute>::SharedPtr route_sub_;
 
   rclcpp::Publisher<autoware_auto_perception_msgs::msg::TrafficLightRoiArray>::SharedPtr roi_pub_;
   rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr viz_pub_;
@@ -104,7 +104,7 @@ class MapBasedDetector : public rclcpp::Node
 
   void mapCallback(const autoware_auto_mapping_msgs::msg::HADMapBin::ConstSharedPtr input_msg);
   void cameraInfoCallback(const sensor_msgs::msg::CameraInfo::ConstSharedPtr input_msg);
-  void routeCallback(const autoware_auto_planning_msgs::msg::HADMapRoute::ConstSharedPtr input_msg);
+  void routeCallback(const autoware_planning_msgs::msg::LaneletRoute::ConstSharedPtr input_msg);
   void getVisibleTrafficLights(
     const TrafficLightSet & all_traffic_lights, const geometry_msgs::msg::Pose & camera_pose,
     const image_geometry::PinholeCameraModel & pinhole_camera_model,

perception/traffic_light_map_based_detector/src/node.cpp

@@ -102,7 +102,7 @@ MapBasedDetector::MapBasedDetector(const rclcpp::NodeOptions & node_options)
   camera_info_sub_ = create_subscription<sensor_msgs::msg::CameraInfo>(
     "~/input/camera_info", rclcpp::SensorDataQoS(),
     std::bind(&MapBasedDetector::cameraInfoCallback, this, _1));
-  route_sub_ = create_subscription<autoware_auto_planning_msgs::msg::HADMapRoute>(
+  route_sub_ = create_subscription<autoware_planning_msgs::msg::LaneletRoute>(
     "~/input/route", rclcpp::QoS{1}.transient_local(),
     std::bind(&MapBasedDetector::routeCallback, this, _1));
 
@@ -290,7 +290,7 @@ void MapBasedDetector::mapCallback(
 }
 
 void MapBasedDetector::routeCallback(
-  const autoware_auto_planning_msgs::msg::HADMapRoute::ConstSharedPtr input_msg)
+  const autoware_planning_msgs::msg::LaneletRoute::ConstSharedPtr input_msg)
 {
   if (lanelet_map_ptr_ == nullptr) {
     RCLCPP_WARN(get_logger(), "cannot set traffic light in route because don't receive map");

planning/behavior_path_planner/README.md

@@ -43,7 +43,7 @@ The following modules are currently supported:
 
 ### input
 
-- /planning/mission_planning/route [`autoware_auto_planning_msgs/HADMapRoute`] : Current route from start to goal.
+- /planning/mission_planning/route [`autoware_planning_msgs/LaneletRoute`] : Current route from start to goal.
 - /map/vector_map [autoware_auto_mapping_msgs/HADMapBin] : Map information.
 - /perception/object_recognition/objects [`autoware_auto_perception_msgs/PredictedObjects`] : dynamic objects from perception module.
 - /perception/occupancy_grid_map/map [nav_msgs/msg/OccupancyGrid] : occupancy grid map from perception module. This is used for only Pull Over module

planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp

@@ -31,11 +31,11 @@
 #include "tier4_planning_msgs/msg/detail/lane_change_debug_msg_array__struct.hpp"
 #include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
 #include <autoware_auto_perception_msgs/msg/predicted_objects.hpp>
-#include <autoware_auto_planning_msgs/msg/had_map_route.hpp>
 #include <autoware_auto_planning_msgs/msg/path.hpp>
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
 #include <autoware_auto_vehicle_msgs/msg/hazard_lights_command.hpp>
 #include <autoware_auto_vehicle_msgs/msg/turn_indicators_command.hpp>
+#include <autoware_planning_msgs/msg/lanelet_route.hpp>
 #include <nav_msgs/msg/occupancy_grid.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 #include <tier4_planning_msgs/msg/approval.hpp>
@@ -66,11 +66,11 @@ namespace behavior_path_planner
 using ApprovalMsg = tier4_planning_msgs::msg::Approval;
 using autoware_auto_mapping_msgs::msg::HADMapBin;
 using autoware_auto_perception_msgs::msg::PredictedObjects;
-using autoware_auto_planning_msgs::msg::HADMapRoute;
 using autoware_auto_planning_msgs::msg::Path;
 using autoware_auto_planning_msgs::msg::PathWithLaneId;
 using autoware_auto_vehicle_msgs::msg::HazardLightsCommand;
 using autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand;
+using autoware_planning_msgs::msg::LaneletRoute;
 using geometry_msgs::msg::TwistStamped;
 using nav_msgs::msg::OccupancyGrid;
 using nav_msgs::msg::Odometry;
@@ -88,7 +88,7 @@ class BehaviorPathPlannerNode : public rclcpp::Node
   explicit BehaviorPathPlannerNode(const rclcpp::NodeOptions & node_options);
 
 private:
-  rclcpp::Subscription<HADMapRoute>::SharedPtr route_subscriber_;
+  rclcpp::Subscription<LaneletRoute>::SharedPtr route_subscriber_;
   rclcpp::Subscription<HADMapBin>::SharedPtr vector_map_subscriber_;
   rclcpp::Subscription<Odometry>::SharedPtr velocity_subscriber_;
   rclcpp::Subscription<AccelWithCovarianceStamped>::SharedPtr acceleration_subscriber_;
@@ -136,7 +136,7 @@ class BehaviorPathPlannerNode : public rclcpp::Node
   void onExternalApproval(const ApprovalMsg::ConstSharedPtr msg);
   void onForceApproval(const PathChangeModule::ConstSharedPtr msg);
   void onMap(const HADMapBin::ConstSharedPtr map_msg);
-  void onRoute(const HADMapRoute::ConstSharedPtr route_msg);
+  void onRoute(const LaneletRoute::ConstSharedPtr route_msg);
   SetParametersResult onSetParam(const std::vector<rclcpp::Parameter> & parameters);
 
   /**

planning/behavior_path_planner/src/behavior_path_planner_node.cpp

@@ -102,7 +102,7 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod
   vector_map_subscriber_ = create_subscription<HADMapBin>(
     "~/input/vector_map", qos_transient_local, std::bind(&BehaviorPathPlannerNode::onMap, this, _1),
     createSubscriptionOptions(this));
-  route_subscriber_ = create_subscription<HADMapRoute>(
+  route_subscriber_ = create_subscription<LaneletRoute>(
     "~/input/route", qos_transient_local, std::bind(&BehaviorPathPlannerNode::onRoute, this, _1),
     createSubscriptionOptions(this));
 
@@ -835,7 +835,7 @@ void BehaviorPathPlannerNode::onMap(const HADMapBin::ConstSharedPtr msg)
   std::lock_guard<std::mutex> lock(mutex_pd_);
   planner_data_->route_handler->setMap(*msg);
 }
-void BehaviorPathPlannerNode::onRoute(const HADMapRoute::ConstSharedPtr msg)
+void BehaviorPathPlannerNode::onRoute(const LaneletRoute::ConstSharedPtr msg)
 {
   std::lock_guard<std::mutex> lock(mutex_pd_);
   const bool is_first_time = !(planner_data_->route_handler->isHandlerReady());