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feat(autoware_pure_pursuit)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_pure_pursuit #9849

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Jan 21, 2025
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feat(autoware_pure_pursuit)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_pure_pursuit #9849

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5 changes: 3 additions & 2 deletions ...e_pure_pursuit/include/autoware/pure_pursuit/autoware_pure_pursuit_lateral_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -42,11 +42,11 @@
#include <autoware/motion_utils/trajectory/trajectory.hpp>

#include "autoware_control_msgs/msg/lateral.hpp"
#include "autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp"
#include "autoware_planning_msgs/msg/trajectory.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "geometry_msgs/msg/twist_stamped.hpp"
#include "nav_msgs/msg/odometry.hpp"
#include "tier4_debug_msgs/msg/float32_multi_array_stamped.hpp"

#include <boost/optional.hpp> // To be replaced by std::optional in C++17

Expand Down Expand Up @@ -115,7 +115,8 @@ class PurePursuitLateralController : public LateralControllerBase

// Debug Publisher
rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr pub_debug_marker_;
rclcpp::Publisher<tier4_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr pub_debug_values_;
rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr
pub_debug_values_;
// Predicted Trajectory publish
rclcpp::Publisher<autoware_planning_msgs::msg::Trajectory>::SharedPtr pub_predicted_trajectory_;

Expand Down
2 changes: 1 addition & 1 deletion control/autoware_pure_pursuit/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@
<buildtool_depend>autoware_cmake</buildtool_depend>

<depend>autoware_control_msgs</depend>
<depend>autoware_internal_debug_msgs</depend>
<depend>autoware_motion_utils</depend>
<depend>autoware_planning_msgs</depend>
<depend>autoware_trajectory_follower_base</depend>
Expand All @@ -32,7 +33,6 @@
<depend>tf2_eigen</depend>
<depend>tf2_geometry_msgs</depend>
<depend>tf2_ros</depend>
<depend>tier4_debug_msgs</depend>
<depend>visualization_msgs</depend>

<test_depend>ament_lint_auto</test_depend>
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7 changes: 4 additions & 3 deletions ...oware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.cpp
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Expand Up @@ -92,8 +92,9 @@ PurePursuitLateralController::PurePursuitLateralController(rclcpp::Node & node)
// Debug Publishers
pub_debug_marker_ =
node.create_publisher<visualization_msgs::msg::MarkerArray>("~/debug/markers", 0);
pub_debug_values_ = node.create_publisher<tier4_debug_msgs::msg::Float32MultiArrayStamped>(
"~/debug/ld_outputs", rclcpp::QoS{1});
pub_debug_values_ =
node.create_publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>(
"~/debug/ld_outputs", rclcpp::QoS{1});

// Publish predicted trajectory
pub_predicted_trajectory_ = node.create_publisher<autoware_planning_msgs::msg::Trajectory>(
Expand All @@ -118,7 +119,7 @@ double PurePursuitLateralController::calcLookaheadDistance(
std::clamp(vel_ld + curvature_ld + lateral_error_ld, min_ld, param_.max_lookahead_distance);

auto pubDebugValues = [&]() {
tier4_debug_msgs::msg::Float32MultiArrayStamped debug_msg{};
autoware_internal_debug_msgs::msg::Float32MultiArrayStamped debug_msg{};
debug_msg.data.resize(TYPE::SIZE);
debug_msg.data.at(TYPE::VEL_LD) = static_cast<float>(vel_ld);
debug_msg.data.at(TYPE::CURVATURE_LD) = static_cast<float>(curvature_ld);
Expand Down
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