fix some scope issues

Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com>

Author: HansOersted

control/mpc_lateral_controller/include/mpc_lateral_controller/mpc_lateral_controller.hpp

@@ -32,6 +32,7 @@
 #include "tier4_debug_msgs/msg/float32_multi_array_stamped.hpp"
 #include "tier4_debug_msgs/msg/float32_stamped.hpp"
 
+#include <diagnostic_updater/diagnostic_updater.hpp>
 #include <deque>
 #include <memory>
 #include <string>
@@ -91,9 +92,9 @@ class MpcLateralController : public trajectory_follower::LateralControllerBase
   // trajectory buffer for detecting new trajectory
   std::deque<Trajectory> m_trajectory_buffer;
 
-  Updater diag_updater_{this}; // Diagnostic updater for publishing diagnostic data.
+  diagnostic_updater::Updater diag_updater_{this}; // Diagnostic updater for publishing diagnostic data.
 
-  void setStatus(DiagnosticStatusWrapper & stat, const bool & m_MPC_failed);
+  void setStatus(diagnostic_updater::DiagnosticStatusWrapper & stat, const bool & m_MPC_failed);
 
   void setupDiag();
 

control/mpc_lateral_controller/src/mpc_lateral_controller.cpp

@@ -230,13 +230,13 @@ std::shared_ptr<SteeringOffsetEstimator> MpcLateralController::createSteerOffset
 }
 
 void MpcLateralController::setStatus(
-  DiagnosticStatusWrapper & stat, const bool & is_mpc_solved)
+  diagnostic_updater::DiagnosticStatusWrapper & stat, const bool & is_mpc_solved)
 {
   if (is_mpc_solved) {
-    stat.summary(DiagnosticStatus::OK, "MPC succeeded.");
+    stat.summary(diagnostic_msgs::msg::DiagnosticStatus::OK, "MPC succeeded.");
   } else {
     const std::string & error_msg = "The MPC solver failed. Call MRM to stop the car.";
-    stat.summary(DiagnosticStatus::ERROR, error_msg);
+    stat.summary(diagnostic_msgs::msg::DiagnosticStatus::ERROR, error_msg);
   }
 }