feat(autoware_planning_factor_interface): modify multiple plugins under motion_velocity_planner folder, autoware_planning_factor_interface, : v0.6

Signed-off-by: liuXinGangChina <lxg19892021@gmail.com>

Author: liuXinGangChina

planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp

@@ -769,7 +769,7 @@ bool RunOutModule::insertStopPoint(
 
   planning_factor_interface_->add(
     path.points, planner_data_->current_odometry->pose, stop_point.value(), stop_point.value(),
-    tier4_planning_msgs::msg::PlanningFactor::STOP, tier4_planning_msgs::msg::SafetyFactorArray{},
+    autoware_internal_planning_msgs::msg::PlanningFactor::STOP, autoware_internal_planning_msgs::msg::SafetyFactorArray{},
     true /*is_driving_forward*/, 0.0 /*velocity*/, 0.0 /*shift_distance*/, "run_out_stop");
 
   return true;
@@ -883,8 +883,8 @@ void RunOutModule::insertApproachingVelocity(
 
   planning_factor_interface_->add(
     output_path.points, planner_data_->current_odometry->pose, stop_point.value(),
-    stop_point.value(), tier4_planning_msgs::msg::PlanningFactor::STOP,
-    tier4_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0 /*velocity*/,
+    stop_point.value(), autoware_internal_planning_msgs::msg::PlanningFactor::STOP,
+    autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0 /*velocity*/,
     0.0 /*shift_distance*/, "run_out_approaching_velocity");
 
   // debug

planning/motion_velocity_planner/autoware_motion_velocity_obstacle_slow_down_module/package.xml

@@ -28,6 +28,7 @@
   <depend>tf2</depend>
   <depend>tier4_metric_msgs</depend>
   <depend>tier4_planning_msgs</depend>
+  <depend>autoware_internal_planning_msgs</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>

planning/motion_velocity_planner/autoware_motion_velocity_obstacle_slow_down_module/src/type_alias.hpp

@@ -31,8 +31,8 @@
 #include "visualization_msgs/msg/marker_array.hpp"
 #include <tier4_metric_msgs/msg/metric.hpp>
 #include <tier4_metric_msgs/msg/metric_array.hpp>
-#include <tier4_planning_msgs/msg/planning_factor.hpp>
-#include <tier4_planning_msgs/msg/safety_factor_array.hpp>
+#include <autoware_internal_planning_msgs/msg/planning_factor.hpp>
+#include <autoware_internal_planning_msgs/msg/safety_factor_array.hpp>
 
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
@@ -63,8 +63,8 @@ using autoware_utils::Polygon2d;
 using Metric = tier4_metric_msgs::msg::Metric;
 using MetricArray = tier4_metric_msgs::msg::MetricArray;
 using PointCloud = pcl::PointCloud<pcl::PointXYZ>;
-using tier4_planning_msgs::msg::PlanningFactor;
-using tier4_planning_msgs::msg::SafetyFactorArray;
+using autoware_internal_planning_msgs::msg::PlanningFactor;
+using autoware_internal_planning_msgs::msg::SafetyFactorArray;
 }  // namespace autoware::motion_velocity_planner
 
 #endif  // TYPE_ALIAS_HPP_

planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/package.xml

@@ -27,6 +27,7 @@
   <depend>tf2</depend>
   <depend>tier4_metric_msgs</depend>
   <depend>tier4_planning_msgs</depend>
+  <depend>autoware_internal_planning_msgs</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>

planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/src/type_alias.hpp

@@ -28,8 +28,8 @@
 #include "visualization_msgs/msg/marker_array.hpp"
 #include <tier4_metric_msgs/msg/metric.hpp>
 #include <tier4_metric_msgs/msg/metric_array.hpp>
-#include <tier4_planning_msgs/msg/planning_factor.hpp>
-#include <tier4_planning_msgs/msg/safety_factor_array.hpp>
+#include <autoware_internal_planning_msgs/msg/planning_factor.hpp>
+#include <autoware_internal_planning_msgs/msg/safety_factor_array.hpp>
 
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
@@ -57,7 +57,7 @@ using autoware_utils::Polygon2d;
 using Metric = tier4_metric_msgs::msg::Metric;
 using MetricArray = tier4_metric_msgs::msg::MetricArray;
 using PointCloud = pcl::PointCloud<pcl::PointXYZ>;
-using tier4_planning_msgs::msg::PlanningFactor;
-using tier4_planning_msgs::msg::SafetyFactorArray;
+using autoware_internal_planning_msgs::msg::PlanningFactor;
+using autoware_internal_planning_msgs::msg::SafetyFactorArray;
 }  // namespace autoware::motion_velocity_planner
 #endif  // TYPE_ALIAS_HPP_

planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/README.md

@@ -33,7 +33,7 @@ This means that to stop before a wall, a stop point is inserted in the trajector
 | Name                                      | Type                                           | Description                                        |
 | ----------------------------------------- | ---------------------------------------------- | -------------------------------------------------- |
 | `~/output/trajectory`                     | autoware_planning_msgs::msg::Trajectory        | Ego trajectory with updated velocity profile       |
-| `~/output/planning_factors/<MODULE_NAME>` | tier4_planning_msgs::msg::PlanningFactorsArray | factors causing change in the ego velocity profile |
+| `~/output/planning_factors/<MODULE_NAME>` | autoware_internal_planning_msgs::msg::PlanningFactorsArray | factors causing change in the ego velocity profile |
 
 ## Services