chore: solve conflicts

Signed-off-by: vividf <yihsiang.fang@tier4.jp>

Author: vividf

sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp

@@ -17,9 +17,9 @@
 
 #include "pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp"
 
+#include <autoware/universe_utils/ros/debug_publisher.hpp>
+#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/ros/debug_publisher.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
 
 #include <geometry_msgs/msg/twist_stamped.hpp>
 #include <geometry_msgs/msg/twist_with_covariance_stamped.hpp>
@@ -46,8 +46,8 @@ class DistortionCorrectorComponent : public rclcpp::Node
 
   rclcpp::Publisher<PointCloud2>::SharedPtr undistorted_pointcloud_pub_;
 
-  std::unique_ptr<tier4_autoware_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_;
-  std::unique_ptr<tier4_autoware_utils::DebugPublisher> debug_publisher_;
+  std::unique_ptr<autoware::universe_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_;
+  std::unique_ptr<autoware::universe_utils::DebugPublisher> debug_publisher_;
 
   std::string base_frame_;
   bool use_imu_;

sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp

@@ -14,7 +14,7 @@
 
 #include "pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp"
 
-#include "tier4_autoware_utils/math/trigonometry.hpp"
+#include "autoware/universe_utils/math/trigonometry.hpp"
 
 #include <tf2_eigen/tf2_eigen.hpp>
 
@@ -349,11 +349,11 @@ inline void DistortionCorrector2D::undistortPointImplementation(
   }
   theta_ += w * time_offset;
   baselink_quat_.setValue(
-    0, 0, tier4_autoware_utils::sin(theta_ * 0.5f),
-    tier4_autoware_utils::cos(theta_ * 0.5f));  // baselink_quat.setRPY(0.0, 0.0, theta);
+    0, 0, autoware::universe_utils::sin(theta_ * 0.5f),
+    autoware::universe_utils::cos(theta_ * 0.5f));  // baselink_quat.setRPY(0.0, 0.0, theta);
   const float dis = v * time_offset;
-  x_ += dis * tier4_autoware_utils::cos(theta_);
-  y_ += dis * tier4_autoware_utils::sin(theta_);
+  x_ += dis * autoware::universe_utils::cos(theta_);
+  y_ += dis * autoware::universe_utils::sin(theta_);
 
   baselink_tf_odom_.setOrigin(tf2::Vector3(x_, y_, 0.0));
   baselink_tf_odom_.setRotation(baselink_quat_);

sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp

@@ -24,8 +24,8 @@ DistortionCorrectorComponent::DistortionCorrectorComponent(const rclcpp::NodeOpt
 {
   // initialize debug tool
 
-  using tier4_autoware_utils::DebugPublisher;
-  using tier4_autoware_utils::StopWatch;
+  using autoware::universe_utils::DebugPublisher;
+  using autoware::universe_utils::StopWatch;
   stop_watch_ptr_ = std::make_unique<StopWatch<std::chrono::milliseconds>>();
   debug_publisher_ = std::make_unique<DebugPublisher>(this, "distortion_corrector");
   stop_watch_ptr_->tic("cyclic_time");