feat: adapt to latest code

Signed-off-by: suchang <chang.su@autocore.ai>

perception/autoware_tensorrt_yolov10/include/autoware/tensorrt_yolov10/tensorrt_yolov10_node.hpp

@@ -18,8 +18,8 @@
 #include "autoware/object_recognition_utils/object_recognition_utils.hpp"
 
 #include <autoware/tensorrt_yolov10/tensorrt_yolov10.hpp>
-#include <autoware/universe_utils/ros/debug_publisher.hpp>
-#include <autoware/universe_utils/system/stop_watch.hpp>
+#include <autoware_utils/ros/debug_publisher.hpp>
+#include <autoware_utils/system/stop_watch.hpp>
 #include <image_transport/image_transport.hpp>
 #include <opencv2/opencv.hpp>
 #include <rclcpp/rclcpp.hpp>
@@ -63,8 +63,8 @@ class TrtYolov10Node : public rclcpp::Node
   image_transport::Subscriber image_sub_;
 
   rclcpp::TimerBase::SharedPtr timer_;
-  std::unique_ptr<autoware::universe_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_;
-  std::unique_ptr<autoware::universe_utils::DebugPublisher> debug_publisher_;
+  std::unique_ptr<autoware_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_;
+  std::unique_ptr<autoware_utils::DebugPublisher> debug_publisher_;
   rclcpp::Publisher<tier4_perception_msgs::msg::DetectedObjectsWithFeature>::SharedPtr objects_pub_;
   image_transport::Publisher image_pub_;
 

perception/autoware_tensorrt_yolov10/package.xml

@@ -18,6 +18,7 @@
   <buildtool_export_depend>tensorrt_cmake_module</buildtool_export_depend>
 
   <depend>autoware_cuda_utils</depend>
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_object_recognition_utils</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_tensorrt_common</depend>

perception/autoware_tensorrt_yolov10/src/tensorrt_yolov10_node.cpp

@@ -34,9 +34,9 @@
 {
   {
     stop_watch_ptr_ =
-      std::make_unique<autoware::universe_utils::StopWatch<std::chrono::milliseconds>>();
+      std::make_unique<autoware_utils::StopWatch<std::chrono::milliseconds>>();
     debug_publisher_ =
-      std::make_unique<autoware::universe_utils::DebugPublisher>(this, this->get_name());
+      std::make_unique<autoware_utils::DebugPublisher>(this, this->get_name());
     stop_watch_ptr_->tic("cyclic_time");
     stop_watch_ptr_->tic("processing_time");
   }
@@ -76,9 +76,9 @@
 void TrtYolov10Node::onConnect()
 {
   using std::placeholders::_1;
   if (
     objects_pub_->get_subscription_count() == 0 &&
     objects_pub_->get_intra_process_subscription_count() == 0 &&
     image_pub_.getNumSubscribers() == 0) {
     // printf("no subscribers who sub from objects_pub_ or image_pub_,shut down image_sub_\n");
     image_sub_.shutdown();
@@ -148,11 +148,11 @@
         std::chrono::nanoseconds(
           (this->get_clock()->now() - out_objects.header.stamp).nanoseconds()))
         .count();
-    debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+    debug_publisher_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
       "debug/cyclic_time_ms", cyclic_time_ms);
-    debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+    debug_publisher_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
       "debug/processing_time_ms", processing_time_ms);
-    debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+    debug_publisher_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
       "debug/pipeline_latency_ms", pipeline_latency_ms);
   }
 }
@@ -177,17 +177,17 @@
 
 // we need this because autoware::object_recognition_utils::toLabel(const std::string & class_name)
 // limit label type
 void TrtYolov10Node::replaceLabelMap()
 {
   for (std::size_t i = 0; i < label_map_.size(); ++i) {
     auto & label = label_map_[i];
     if (label == "PERSON") {
       label = "PEDESTRIAN";
     } else if (label == "MOTORBIKE") {
       label = "MOTORCYCLE";
     } else if (
       label != "CAR" && label != "PEDESTRIAN" && label != "BUS" && label != "TRUCK" &&
       label != "BICYCLE" && label != "MOTORCYCLE") {
       label = "UNKNOWN";
     }
   }