update readme

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

Author: isamu-takagi

Diff for: autoware_utils/README.md

@@ -50,14 +50,10 @@ The ROS module provides utilities for working with ROS messages and nodes:
 - **`marker_helper.hpp`**: Helper functions for creating and manipulating visualization markers.
 - **`msg_covariance.hpp`**: Indices for accessing covariance matrices in ROS messages.
 - **`msg_operation.hpp`**: Overloaded operators for quaternion messages.
-- **`parameter.hpp`**: Simplifies parameter retrieval and declaration.
-- **`polling_subscriber.hpp`**: A subscriber class with different polling policies (latest, newest, all).
 - **`processing_time_publisher.hpp`**: Publishes processing times as diagnostic messages.
 - **`published_time_publisher.hpp`**: Tracks and publishes the time when messages are published.
 - **`self_pose_listener.hpp`**: Listens to the self-pose of the vehicle.
-- **`update_param.hpp`**: Updates parameters from remote nodes.
 - **`uuid_helper.hpp`**: Utilities for generating and managing UUIDs.
-- **`wait_for_param.hpp`**: Waits for parameters from remote nodes.
 - **`debug_traits.hpp`**: Traits for identifying debug message types.
 
 #### System Module
@@ -133,30 +129,6 @@ int main() {
 
 ### Detailed Usage Examples
 
-#### Update Parameters Dynamically with update_param.hpp
-
-```cpp
-#include "autoware_utils/ros/update_param.hpp"
-#include <rclcpp/rclcpp.hpp>
-
-int main(int argc, char * argv[]) {
-  rclcpp::init(argc, argv);
-  auto node = rclcpp::Node::make_shared("param_node");
-
-  double param_value = 0.0;
-  std::vector<rclcpp::Parameter> params = node->get_parameters({"my_param"});
-
-  if (autoware_utils::update_param(params, "my_param", param_value)) {
-    RCLCPP_INFO(node->get_logger(), "Updated parameter value: %f", param_value);
-  } else {
-    RCLCPP_WARN(node->get_logger(), "Parameter 'my_param' not found.");
-  }
-
-  rclcpp::shutdown();
-  return 0;
-}
-```
-
 #### Logging Processing Times with ProcessingTimePublisher
 
 ```cpp

Diff for: autoware_utils/include/autoware_utils/ros/parameter.hpp

@@ -0,0 +1,28 @@
+// Copyright 2025 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE_UTILS__ROS__PARAMETER_HPP_
+#define AUTOWARE_UTILS__ROS__PARAMETER_HPP_
+
+// NOLINTBEGIN(build/namespaces, whitespace/line_length)
+// clang-format off
+
+#pragma message("#include <autoware_utils/ros/parameter.hpp> is deprecated. Use #include <autoware_utils_rclcpp/parameter.hpp> instead.")
+#include <autoware_utils_rclcpp/parameter.hpp>
+namespace autoware_utils { using namespace autoware_utils_rclcpp; }
+
+// clang-format on
+// NOLINTEND
+
+#endif  // AUTOWARE_UTILS__ROS__PARAMETER_HPP_

Diff for: autoware_utils/include/autoware_utils/ros/polling_subscriber.hpp

@@ -0,0 +1,28 @@
+// Copyright 2025 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE_UTILS__ROS__POLLING_SUBSCRIBER_HPP_
+#define AUTOWARE_UTILS__ROS__POLLING_SUBSCRIBER_HPP_
+
+// NOLINTBEGIN(build/namespaces, whitespace/line_length)
+// clang-format off
+
+#pragma message("#include <autoware_utils/ros/polling_subscriber.hpp> is deprecated. Use #include <autoware_utils_rclcpp/polling_subscriber.hpp> instead.")
+#include <autoware_utils_rclcpp/polling_subscriber.hpp>
+namespace autoware_utils { using namespace autoware_utils_rclcpp; }
+
+// clang-format on
+// NOLINTEND
+
+#endif  // AUTOWARE_UTILS__ROS__POLLING_SUBSCRIBER_HPP_

Diff for: autoware_utils/include/autoware_utils/ros/update_param.hpp

@@ -0,0 +1,28 @@
+// Copyright 2025 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE_UTILS__ROS__UPDATE_PARAM_HPP_
+#define AUTOWARE_UTILS__ROS__UPDATE_PARAM_HPP_
+
+// NOLINTBEGIN(build/namespaces, whitespace/line_length)
+// clang-format off
+
+#pragma message("#include <autoware_utils/ros/update_param.hpp> is deprecated. Use #include <autoware_utils_rclcpp/parameter.hpp> instead.")
+#include <autoware_utils_rclcpp/parameter.hpp>
+namespace autoware_utils { using namespace autoware_utils_rclcpp; }
+
+// clang-format on
+// NOLINTEND
+
+#endif  // AUTOWARE_UTILS__ROS__UPDATE_PARAM_HPP_

Diff for: autoware_utils/include/autoware_utils/ros/wait_for_param.hpp

@@ -0,0 +1,28 @@
+// Copyright 2025 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE_UTILS__ROS__WAIT_FOR_PARAM_HPP_
+#define AUTOWARE_UTILS__ROS__WAIT_FOR_PARAM_HPP_
+
+// NOLINTBEGIN(build/namespaces, whitespace/line_length)
+// clang-format off
+
+#pragma message("#include <autoware_utils/ros/wait_for_param.hpp> is deprecated. Use #include <autoware_utils_rclcpp/parameter.hpp> instead.")
+#include <autoware_utils_rclcpp/parameter.hpp>
+namespace autoware_utils { using namespace autoware_utils_rclcpp; }
+
+// clang-format on
+// NOLINTEND
+
+#endif  // AUTOWARE_UTILS__ROS__WAIT_FOR_PARAM_HPP_

Diff for: autoware_utils/package.xml

@@ -21,6 +21,7 @@
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_utils_geometry</depend>
   <depend>autoware_utils_pcl</depend>
+  <depend>autoware_utils_rclcpp</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>builtin_interfaces</depend>
   <depend>diagnostic_msgs</depend>

Diff for: autoware_utils_rclcpp/README.md

@@ -3,9 +3,36 @@
 ## Overview
 
 The **autoware_utils** library is a comprehensive toolkit designed to facilitate the development of autonomous driving applications.
-This package provides essential utilities for visualization.
-It is extensively used in the Autoware project to handle common tasks such as creating markers for RViz.
+This package provides essential utilities for rclcpp.
+It is extensively used in the Autoware project to handle common tasks such as handling parameters, topics and services.
 
 ## Design
 
-- **`marker_helper.hpp`**: Helper functions for creating and manipulating visualization markers.
+- **`parameter.hpp`**: Simplifies parameter declaration, retrieval, updating, and waiting.
+- **`polling_subscriber.hpp`**: A subscriber class with different polling policies (latest, newest, all).
+
+## Example Code Snippets
+
+### Update Parameters Dynamically with update_param.hpp
+
+```cpp
+#include <autoware_utils_rclcpp/update_param.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+int main(int argc, char * argv[]) {
+  rclcpp::init(argc, argv);
+  auto node = rclcpp::Node::make_shared("param_node");
+
+  double param_value = 0.0;
+  std::vector<rclcpp::Parameter> params = node->get_parameters({"my_param"});
+
+  if (autoware_utils::update_param(params, "my_param", param_value)) {
+    RCLCPP_INFO(node->get_logger(), "Updated parameter value: %f", param_value);
+  } else {
+    RCLCPP_WARN(node->get_logger(), "Parameter 'my_param' not found.");
+  }
+
+  rclcpp::shutdown();
+  return 0;
+}
+```