feat(autoware_goal_distance_calculator)!: tier4_debug_msgs to autoware_internal_debug_msgs for autoware_goal_distance_calculator (#9833)

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

Author: vish0012

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,