feat(motion_velocity_planner): use Float64Stamped in autoware_interna…

…l_debug_msgs (#9745)

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/dynamic_obstacle_stop_module.cpp

@@ -51,8 +51,9 @@ void DynamicObstacleStopModule::init(rclcpp::Node & node, const std::string & mo
     node.create_publisher<visualization_msgs::msg::MarkerArray>("~/" + ns_ + "/virtual_walls", 1);
   processing_diag_publisher_ = std::make_shared<autoware::universe_utils::ProcessingTimePublisher>(
     &node, "~/debug/" + ns_ + "/processing_time_ms_diag");
-  processing_time_publisher_ = node.create_publisher<tier4_debug_msgs::msg::Float64Stamped>(
-    "~/debug/" + ns_ + "/processing_time_ms", 1);
+  processing_time_publisher_ =
+    node.create_publisher<autoware_internal_debug_msgs::msg::Float64Stamped>(
+      "~/debug/" + ns_ + "/processing_time_ms", 1);
 
   using autoware::universe_utils::getOrDeclareParameter;
   auto & p = params_;
@@ -190,7 +191,7 @@ VelocityPlanningResult DynamicObstacleStopModule::plan(
   processing_times["collisions"] = collisions_duration_us / 1000;
   processing_times["Total"] = total_time_us / 1000;
   processing_diag_publisher_->publish(processing_times);
-  tier4_debug_msgs::msg::Float64Stamped processing_time_msg;
+  autoware_internal_debug_msgs::msg::Float64Stamped processing_time_msg;
   processing_time_msg.stamp = clock_->now();
   processing_time_msg.data = processing_times["Total"];
   processing_time_publisher_->publish(processing_time_msg);

planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter_module.cpp

@@ -56,8 +56,9 @@ void ObstacleVelocityLimiterModule::init(rclcpp::Node & node, const std::string
     node.create_publisher<visualization_msgs::msg::MarkerArray>("~/" + ns_ + "/virtual_walls", 1);
   processing_diag_publisher_ = std::make_shared<autoware::universe_utils::ProcessingTimePublisher>(
     &node, "~/debug/" + ns_ + "/processing_time_ms_diag");
-  processing_time_publisher_ = node.create_publisher<tier4_debug_msgs::msg::Float64Stamped>(
-    "~/debug/" + ns_ + "/processing_time_ms", 1);
+  processing_time_publisher_ =
+    node.create_publisher<autoware_internal_debug_msgs::msg::Float64Stamped>(
+      "~/debug/" + ns_ + "/processing_time_ms", 1);
 
   const auto vehicle_info = vehicle_info_utils::VehicleInfoUtils(node).getVehicleInfo();
   vehicle_lateral_offset_ = static_cast<double>(vehicle_info.max_lateral_offset_m);
@@ -236,7 +237,7 @@ VelocityPlanningResult ObstacleVelocityLimiterModule::plan(
   processing_times["slowdowns"] = slowdowns_us / 1000;
   processing_times["Total"] = total_us / 1000;
   processing_diag_publisher_->publish(processing_times);
-  tier4_debug_msgs::msg::Float64Stamped processing_time_msg;
+  autoware_internal_debug_msgs::msg::Float64Stamped processing_time_msg;
   processing_time_msg.stamp = clock_->now();
   processing_time_msg.data = processing_times["Total"];
   processing_time_publisher_->publish(processing_time_msg);

planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.cpp

@@ -66,8 +66,9 @@ void OutOfLaneModule::init(rclcpp::Node & node, const std::string & module_name)
     node.create_publisher<visualization_msgs::msg::MarkerArray>("~/" + ns_ + "/virtual_walls", 1);
   processing_diag_publisher_ = std::make_shared<universe_utils::ProcessingTimePublisher>(
     &node, "~/debug/" + ns_ + "/processing_time_ms_diag");
-  processing_time_publisher_ = node.create_publisher<tier4_debug_msgs::msg::Float64Stamped>(
-    "~/debug/" + ns_ + "/processing_time_ms", 1);
+  processing_time_publisher_ =
+    node.create_publisher<autoware_internal_debug_msgs::msg::Float64Stamped>(
+      "~/debug/" + ns_ + "/processing_time_ms", 1);
 }
 void OutOfLaneModule::init_parameters(rclcpp::Node & node)
 {
@@ -349,7 +350,7 @@ VelocityPlanningResult OutOfLaneModule::plan(
   processing_times["publish_markers"] = pub_markers_us / 1000;
   processing_times["Total"] = total_time_us / 1000;
   processing_diag_publisher_->publish(processing_times);
-  tier4_debug_msgs::msg::Float64Stamped processing_time_msg;
+  autoware_internal_debug_msgs::msg::Float64Stamped processing_time_msg;
   processing_time_msg.stamp = clock_->now();
   processing_time_msg.data = processing_times["Total"];
   processing_time_publisher_->publish(processing_time_msg);

planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware/motion_velocity_planner_common/plugin_module_interface.hpp

@@ -22,8 +22,8 @@
 #include <autoware/universe_utils/ros/processing_time_publisher.hpp>
 #include <rclcpp/rclcpp.hpp>
 
+#include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
 #include <autoware_planning_msgs/msg/trajectory_point.hpp>
-#include <tier4_debug_msgs/msg/float64_stamped.hpp>
 
 #include <memory>
 #include <string>
@@ -47,7 +47,8 @@ class PluginModuleInterface
   rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr debug_publisher_;
   rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr virtual_wall_publisher_;
   std::shared_ptr<autoware::universe_utils::ProcessingTimePublisher> processing_diag_publisher_;
-  rclcpp::Publisher<tier4_debug_msgs::msg::Float64Stamped>::SharedPtr processing_time_publisher_;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float64Stamped>::SharedPtr
+    processing_time_publisher_;
   autoware::motion_utils::VirtualWallMarkerCreator virtual_wall_marker_creator{};
 };
 

planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml

@@ -17,6 +17,7 @@
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
   <depend>autoware_behavior_velocity_planner_common</depend>
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
@@ -27,7 +28,6 @@
   <depend>geometry_msgs</depend>
   <depend>libboost-dev</depend>
   <depend>rclcpp</depend>
-  <depend>tier4_debug_msgs</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>
 

planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml

@@ -18,6 +18,7 @@
 
   <build_depend>rosidl_default_generators</build_depend>
 
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_map_msgs</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_motion_velocity_planner_common</depend>
@@ -37,7 +38,6 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_debug_msgs</depend>
   <depend>tier4_metric_msgs</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>

planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp

@@ -86,7 +86,8 @@ MotionVelocityPlannerNode::MotionVelocityPlannerNode(const rclcpp::NodeOptions &
     this->create_publisher<autoware_adapi_v1_msgs::msg::VelocityFactorArray>(
       "~/output/velocity_factors", 1);
   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);
   debug_viz_pub_ =
     this->create_publisher<visualization_msgs::msg::MarkerArray>("~/debug/markers", 1);
   metrics_pub_ = this->create_publisher<MetricArray>("~/metrics", 1);
@@ -299,7 +300,7 @@ void MotionVelocityPlannerNode::on_trajectory(
     trajectory_pub_, output_trajectory_msg.header.stamp);
   processing_times["Total"] = stop_watch.toc("Total");
   processing_diag_publisher_.publish(processing_times);
-  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_times["Total"];
   processing_time_publisher_->publish(processing_time_msg);

planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.hpp

@@ -25,14 +25,14 @@
 #include <autoware_motion_velocity_planner_node/srv/unload_plugin.hpp>
 #include <rclcpp/rclcpp.hpp>
 
+#include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
 #include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
 #include <autoware_perception_msgs/msg/traffic_signal_array.hpp>
 #include <autoware_planning_msgs/msg/trajectory.hpp>
 #include <nav_msgs/msg/occupancy_grid.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
-#include <tier4_debug_msgs/msg/float64_stamped.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
 
 #include <tf2_ros/buffer.h>
@@ -97,7 +97,8 @@ class MotionVelocityPlannerNode : public rclcpp::Node
     velocity_factor_publisher_;
   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_;
   autoware::universe_utils::PublishedTimePublisher published_time_publisher_{this};
   rclcpp::Publisher<MetricArray>::SharedPtr metrics_pub_;