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20 | 20 | #include <Eigen/Geometry>
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21 | 21 | #include <autoware/image_projection_based_fusion/utils/utils.hpp>
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22 | 22 |
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| 23 | +#include <autoware_internal_debug_msgs/msg/float64_stamped.hpp> |
23 | 24 | #include <tier4_perception_msgs/msg/detected_object_with_feature.hpp>
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24 | 25 |
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25 | 26 | #include <boost/optional.hpp>
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@@ -253,12 +254,12 @@ void FusionNode<Msg3D, Msg2D, ExportObj>::exportProcess()
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253 | 254 | std::chrono::nanoseconds(
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254 | 255 | (this->get_clock()->now() - cached_det3d_msg_ptr_->header.stamp).nanoseconds()))
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255 | 256 | .count();
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256 |
| - debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>( |
| 257 | + debug_publisher_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>( |
257 | 258 | "debug/cyclic_time_ms", cyclic_time_ms);
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258 |
| - debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>( |
| 259 | + debug_publisher_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>( |
259 | 260 | "debug/processing_time_ms",
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260 | 261 | processing_time_ms + stop_watch_ptr_->toc("processing_time", true));
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261 |
| - debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>( |
| 262 | + debug_publisher_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>( |
262 | 263 | "debug/pipeline_latency_ms", pipeline_latency_ms);
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263 | 264 | processing_time_ms = 0;
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264 | 265 | }
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@@ -353,9 +354,9 @@ void FusionNode<Msg3D, Msg2D, ExportObj>::subCallback(
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353 | 354 | // add timestamp interval for debug
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354 | 355 | if (debug_internal_pub_) {
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355 | 356 | double timestamp_interval_ms = (matched_stamp - timestamp_nsec) / 1e6;
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356 |
| - debug_internal_pub_->publish<tier4_debug_msgs::msg::Float64Stamped>( |
| 357 | + debug_internal_pub_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>( |
357 | 358 | "debug/roi" + std::to_string(roi_i) + "/timestamp_interval_ms", timestamp_interval_ms);
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358 |
| - debug_internal_pub_->publish<tier4_debug_msgs::msg::Float64Stamped>( |
| 359 | + debug_internal_pub_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>( |
359 | 360 | "debug/roi" + std::to_string(roi_i) + "/timestamp_interval_offset_ms",
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360 | 361 | timestamp_interval_ms - det2d.input_offset_ms);
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361 | 362 | }
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@@ -418,9 +419,9 @@ void FusionNode<Msg3D, Msg2D, ExportObj>::roiCallback(
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418 | 419 |
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419 | 420 | if (debug_internal_pub_) {
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420 | 421 | double timestamp_interval_ms = (timestamp_nsec - cached_det3d_msg_timestamp_) / 1e6;
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421 |
| - debug_internal_pub_->publish<tier4_debug_msgs::msg::Float64Stamped>( |
| 422 | + debug_internal_pub_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>( |
422 | 423 | "debug/roi" + std::to_string(roi_i) + "/timestamp_interval_ms", timestamp_interval_ms);
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423 |
| - debug_internal_pub_->publish<tier4_debug_msgs::msg::Float64Stamped>( |
| 424 | + debug_internal_pub_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>( |
424 | 425 | "debug/roi" + std::to_string(roi_i) + "/timestamp_interval_offset_ms",
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425 | 426 | timestamp_interval_ms - det2d.input_offset_ms);
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426 | 427 | }
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