feat(autoware_vehicle_cmd_gate)!: tier4-debug_msgs changed to autoware_internal_debug_msgs in autoware_vehicle_cmd_gate (#9856)

Signed-off-by: vish0012 <vishalchhn42@gmail.com>

Author: vish0012

control/autoware_vehicle_cmd_gate/package.xml

@@ -19,6 +19,7 @@
   <depend>autoware_component_interface_specs_universe</depend>
   <depend>autoware_component_interface_utils</depend>
   <depend>autoware_control_msgs</depend>
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
@@ -30,7 +31,6 @@
   <depend>std_srvs</depend>
   <depend>tier4_api_utils</depend>
   <depend>tier4_control_msgs</depend>
-  <depend>tier4_debug_msgs</depend>
   <depend>tier4_external_api_msgs</depend>
   <depend>tier4_system_msgs</depend>
   <depend>tier4_vehicle_msgs</depend>

control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp

@@ -77,8 +77,8 @@ VehicleCmdGate::VehicleCmdGate(const rclcpp::NodeOptions & node_options)
   engage_pub_ = create_publisher<EngageMsg>("output/engage", durable_qos);
   pub_external_emergency_ = create_publisher<Emergency>("output/external_emergency", durable_qos);
   operation_mode_pub_ = create_publisher<OperationModeState>("output/operation_mode", durable_qos);
-  processing_time_pub_ =
-    this->create_publisher<tier4_debug_msgs::msg::Float64Stamped>("~/debug/processing_time_ms", 1);
+  processing_time_pub_ = this->create_publisher<autoware_internal_debug_msgs::msg::Float64Stamped>(
+    "~/debug/processing_time_ms", 1);
 
   is_filter_activated_pub_ =
     create_publisher<IsFilterActivated>("~/is_filter_activated", durable_qos);
@@ -520,7 +520,7 @@ void VehicleCmdGate::onTimer()
   }
 
   // ProcessingTime
-  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 = stop_watch.toc();
   processing_time_pub_->publish(processing_time_msg);

control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.hpp

@@ -32,6 +32,8 @@
 #include <autoware_adapi_v1_msgs/msg/mrm_state.hpp>
 #include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
 #include <autoware_control_msgs/msg/control.hpp>
+#include <autoware_internal_debug_msgs/msg/bool_stamped.hpp>
+#include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
 #include <autoware_vehicle_msgs/msg/engage.hpp>
 #include <autoware_vehicle_msgs/msg/gear_command.hpp>
 #include <autoware_vehicle_msgs/msg/hazard_lights_command.hpp>
@@ -41,8 +43,6 @@
 #include <nav_msgs/msg/odometry.hpp>
 #include <std_srvs/srv/trigger.hpp>
 #include <tier4_control_msgs/msg/gate_mode.hpp>
-#include <tier4_debug_msgs/msg/bool_stamped.hpp>
-#include <tier4_debug_msgs/msg/float64_stamped.hpp>
 #include <tier4_external_api_msgs/msg/emergency.hpp>
 #include <tier4_external_api_msgs/msg/heartbeat.hpp>
 #include <tier4_external_api_msgs/srv/engage.hpp>
@@ -62,6 +62,7 @@ using autoware_adapi_v1_msgs::msg::MrmState;
 using autoware_adapi_v1_msgs::msg::OperationModeState;
 using autoware_control_msgs::msg::Control;
 using autoware_control_msgs::msg::Longitudinal;
+using autoware_internal_debug_msgs::msg::BoolStamped;
 using autoware_vehicle_cmd_gate::msg::IsFilterActivated;
 using autoware_vehicle_msgs::msg::GearCommand;
 using autoware_vehicle_msgs::msg::HazardLightsCommand;
@@ -70,7 +71,6 @@ using autoware_vehicle_msgs::msg::TurnIndicatorsCommand;
 using geometry_msgs::msg::AccelWithCovarianceStamped;
 using std_srvs::srv::Trigger;
 using tier4_control_msgs::msg::GateMode;
-using tier4_debug_msgs::msg::BoolStamped;
 using tier4_external_api_msgs::msg::Emergency;
 using tier4_external_api_msgs::msg::Heartbeat;
 using tier4_external_api_msgs::srv::SetEmergency;
@@ -116,7 +116,8 @@ class VehicleCmdGate : public rclcpp::Node
   rclcpp::Publisher<MarkerArray>::SharedPtr filter_activated_marker_pub_;
   rclcpp::Publisher<MarkerArray>::SharedPtr filter_activated_marker_raw_pub_;
   rclcpp::Publisher<BoolStamped>::SharedPtr filter_activated_flag_pub_;
-  rclcpp::Publisher<tier4_debug_msgs::msg::Float64Stamped>::SharedPtr processing_time_pub_;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float64Stamped>::SharedPtr
+    processing_time_pub_;
   // Parameter callback
   OnSetParametersCallbackHandle::SharedPtr set_param_res_;
   rcl_interfaces::msg::SetParametersResult onParameter(