feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_inter…

…nal_planning_msgs/PathWithLaneId (#206)

* feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId
Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

planning/autoware_static_centerline_generator/src/type_alias.hpp

@@ -32,14 +32,14 @@ using autoware::route_handler::RouteHandler;
 using autoware::universe_utils::LinearRing2d;
 using autoware::universe_utils::LineString2d;
 using autoware::universe_utils::Point2d;
+using autoware_internal_planning_msgs::msg::PathWithLaneId;
 using autoware_map_msgs::msg::LaneletMapBin;
 using autoware_perception_msgs::msg::PredictedObjects;
 using autoware_planning_msgs::msg::LaneletRoute;
 using autoware_planning_msgs::msg::Path;
 using autoware_planning_msgs::msg::PathPoint;
 using autoware_planning_msgs::msg::Trajectory;
 using autoware_planning_msgs::msg::TrajectoryPoint;
-using tier4_planning_msgs::msg::PathWithLaneId;
 using visualization_msgs::msg::Marker;
 using visualization_msgs::msg::MarkerArray;
 }  // namespace autoware::static_centerline_generator

planning/planning_debug_tools/include/planning_debug_tools/trajectory_analyzer.hpp

@@ -22,10 +22,10 @@
 #include "rclcpp/rclcpp.hpp"
 
 #include "autoware_internal_debug_msgs/msg/float64_multi_array_stamped.hpp"
+#include "autoware_internal_planning_msgs/msg/path_with_lane_id.hpp"
 #include "autoware_planning_msgs/msg/path.hpp"
 #include "autoware_planning_msgs/msg/trajectory.hpp"
 #include "nav_msgs/msg/odometry.hpp"
-#include "tier4_planning_msgs/msg/path_with_lane_id.hpp"
 
 #include <iostream>
 #include <map>
@@ -35,11 +35,11 @@
 
 namespace planning_debug_tools
 {
+using autoware_internal_planning_msgs::msg::PathWithLaneId;
 using autoware_planning_msgs::msg::Path;
 using autoware_planning_msgs::msg::Trajectory;
 using nav_msgs::msg::Odometry;
 using planning_debug_tools::msg::TrajectoryDebugInfo;
-using tier4_planning_msgs::msg::PathWithLaneId;
 
 template <typename T>
 class TrajectoryAnalyzer

planning/planning_debug_tools/include/planning_debug_tools/util.hpp

@@ -19,9 +19,9 @@
 #include "autoware/universe_utils/geometry/geometry.hpp"
 #include "rclcpp/rclcpp.hpp"
 
+#include "autoware_internal_planning_msgs/msg/path_with_lane_id.hpp"
 #include "autoware_planning_msgs/msg/path.hpp"
 #include "autoware_planning_msgs/msg/trajectory.hpp"
-#include "tier4_planning_msgs/msg/path_with_lane_id.hpp"
 
 #include <vector>
 
@@ -31,9 +31,9 @@ namespace planning_debug_tools
 using autoware::universe_utils::calcDistance2d;
 using autoware::universe_utils::getPoint;
 using autoware::universe_utils::getRPY;
+using autoware_internal_planning_msgs::msg::PathPointWithLaneId;
 using autoware_planning_msgs::msg::PathPoint;
 using autoware_planning_msgs::msg::TrajectoryPoint;
-using tier4_planning_msgs::msg::PathPointWithLaneId;
 
 double getVelocity(const PathPoint & p)
 {

planning/planning_debug_tools/package.xml

@@ -18,6 +18,7 @@
   <build_depend>rosidl_default_generators</build_depend>
 
   <depend>autoware_internal_debug_msgs</depend>
+  <depend>autoware_internal_planning_msgs</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>

planning/planning_debug_tools/scripts/closest_velocity_checker.py

@@ -20,6 +20,7 @@
 from autoware_control_msgs.msg import Control as AckermannControlCommand
 from autoware_internal_debug_msgs.msg import Float32MultiArrayStamped
 from autoware_internal_debug_msgs.msg import Float32Stamped
+from autoware_internal_planning_msgs.msg import PathWithLaneId
 from autoware_planning_msgs.msg import Path
 from autoware_planning_msgs.msg import Trajectory
 from autoware_vehicle_msgs.msg import VelocityReport
@@ -31,7 +32,6 @@
 from tf2_ros import LookupException
 from tf2_ros.buffer import Buffer
 from tf2_ros.transform_listener import TransformListener
-from tier4_planning_msgs.msg import PathWithLaneId
 from tier4_planning_msgs.msg import VelocityLimit
 
 REF_LINK = "map"

planning/planning_debug_tools/scripts/trajectory_visualizer.py

@@ -16,6 +16,8 @@
 
 import argparse
 
+from autoware_internal_planning_msgs.msg import PathPointWithLaneId
+from autoware_internal_planning_msgs.msg import PathWithLaneId
 from autoware_planning_msgs.msg import Path
 from autoware_planning_msgs.msg import PathPoint
 from autoware_planning_msgs.msg import Trajectory
@@ -31,8 +33,6 @@
 from rclpy.node import Node
 from tf2_ros.buffer import Buffer
 from tf2_ros.transform_listener import TransformListener
-from tier4_planning_msgs.msg import PathPointWithLaneId
-from tier4_planning_msgs.msg import PathWithLaneId
 from tier4_planning_msgs.msg import VelocityLimit
 
 parser = argparse.ArgumentParser()