feat(autoware_utils_debug): split package

autoware_utils/README.md

@@ -33,20 +33,10 @@ The geometry module provides classes and functions for handling 2D and 3D points
 
 The ROS module provides utilities for working with ROS messages and nodes:
 
-- **`debug_publisher.hpp`**: A helper class for publishing debug messages with timestamps.
 - **`diagnostics_interface.hpp`**: An interface for publishing diagnostic messages.
 - **`msg_covariance.hpp`**: Indices for accessing covariance matrices in ROS messages.
 - **`msg_operation.hpp`**: Overloaded operators for quaternion messages.
-- **`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.
-- **`debug_traits.hpp`**: Traits for identifying debug message types.
-
-#### System Module
-
-The system module provides low-level utilities for performance monitoring and error handling:
-
-- **`time_keeper.hpp`**: Tracks and reports the processing time of various functions.
 
 ## Usage
 
@@ -91,33 +81,6 @@ int main() {
 
 ### Detailed Usage Examples
 
-#### Logging Processing Times with ProcessingTimePublisher
-
-```cpp
-#include "autoware_utils/ros/processing_time_publisher.hpp"
-#include <rclcpp/rclcpp.hpp>
-#include <map>
-
-int main(int argc, char * argv[]) {
-  rclcpp::init(argc, argv);
-  auto node = rclcpp::Node::make_shared("processing_time_node");
-
-  // Initialize ProcessingTimePublisher
-  autoware_utils::ProcessingTimePublisher processing_time_pub(node.get(), "~/debug/processing_time_ms");
-
-  // Simulate some processing times
-  std::map<std::string, double> processing_times = {
-    {"node1", 0.1}, {"node2", 0.2}, {"node3", 0.3}
-  };
-
-  // Publish processing times
-  processing_time_pub.publish(processing_times);
-
-  rclcpp::shutdown();
-  return 0;
-}
-```
-
 #### Manipulating Polygons with boost_polygon_utils.hpp
 
 ```cpp
@@ -146,26 +109,3 @@ int main(int argc, char * argv[]) {
   return 0;
 }
 ```
-
-#### Handling Debug Message Types with debug_traits.hpp
-
-```cpp
-#include "autoware_utils/ros/debug_publisher.hpp"
-#include "autoware_utils/ros/debug_traits.hpp"
-#include <rclcpp/rclcpp.hpp>
-
-int main(int argc, char * argv[]) {
-  rclcpp::init(argc, argv);
-  auto node = rclcpp::Node::make_shared("debug_node");
-
-  // Initialize DebugPublisher
-  autoware_utils::DebugPublisher debug_pub(node, "/debug");
-
-  // Publish a debug message with custom type
-  float debug_data = 42.0;
-  debug_pub.publish<autoware_internal_debug_msgs::msg::Float32Stamped>("example", debug_data);
-
-  rclcpp::shutdown();
-  return 0;
-}
-```

autoware_utils/include/autoware_utils/ros/debug_publisher.hpp

@@ -1,4 +1,4 @@
-// Copyright 2020 Tier IV, Inc.
+// 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.
@@ -15,63 +15,14 @@
 #ifndef AUTOWARE_UTILS__ROS__DEBUG_PUBLISHER_HPP_
 #define AUTOWARE_UTILS__ROS__DEBUG_PUBLISHER_HPP_
 
-#include "autoware_utils/ros/debug_traits.hpp"
+// NOLINTBEGIN(build/namespaces, whitespace/line_length)
+// clang-format off
 
-#include <rclcpp/publisher_base.hpp>
-#include <rclcpp/rclcpp.hpp>
-#include <rosidl_runtime_cpp/traits.hpp>
+#pragma message("#include <autoware_utils/ros/debug_publisher.hpp> is deprecated. Use #include <autoware_utils_debug/debug_publisher.hpp> instead.")
+#include <autoware_utils_debug/debug_publisher.hpp>
+namespace autoware_utils { using namespace autoware_utils_debug; }
 
-#include <memory>
-#include <string>
-#include <unordered_map>
-
-namespace autoware_utils
-{
-namespace debug_publisher
-{
-template <
-  class T_msg, class T,
-  std::enable_if_t<autoware_utils::debug_traits::is_debug_message<T_msg>::value, std::nullptr_t> =
-    nullptr>
-T_msg to_debug_msg(const T & data, const rclcpp::Time & stamp)
-{
-  T_msg msg;
-  msg.stamp = stamp;
-  msg.data = data;
-  return msg;
-}
-}  // namespace debug_publisher
-
-class DebugPublisher
-{
-public:
-  explicit DebugPublisher(rclcpp::Node * node, const char * ns) : node_(node), ns_(ns) {}
-
-  template <
-    class T,
-    std::enable_if_t<rosidl_generator_traits::is_message<T>::value, std::nullptr_t> = nullptr>
-  void publish(const std::string & name, const T & data, const rclcpp::QoS & qos = rclcpp::QoS(1))
-  {
-    if (pub_map_.count(name) == 0) {
-      pub_map_[name] = node_->create_publisher<T>(std::string(ns_) + "/" + name, qos);
-    }
-
-    std::dynamic_pointer_cast<rclcpp::Publisher<T>>(pub_map_.at(name))->publish(data);
-  }
-
-  template <
-    class T_msg, class T,
-    std::enable_if_t<!rosidl_generator_traits::is_message<T>::value, std::nullptr_t> = nullptr>
-  void publish(const std::string & name, const T & data, const rclcpp::QoS & qos = rclcpp::QoS(1))
-  {
-    publish(name, debug_publisher::to_debug_msg<T_msg>(data, node_->now()), qos);
-  }
-
-private:
-  rclcpp::Node * node_;
-  const char * ns_;
-  std::unordered_map<std::string, std::shared_ptr<rclcpp::PublisherBase>> pub_map_;
-};
-}  // namespace autoware_utils
+// clang-format on
+// NOLINTEND
 
 #endif  // AUTOWARE_UTILS__ROS__DEBUG_PUBLISHER_HPP_

autoware_utils/include/autoware_utils/ros/debug_traits.hpp

@@ -1,4 +1,4 @@
-// Copyright 2020 Tier IV, Inc.
+// 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.
@@ -15,77 +15,14 @@
 #ifndef AUTOWARE_UTILS__ROS__DEBUG_TRAITS_HPP_
 #define AUTOWARE_UTILS__ROS__DEBUG_TRAITS_HPP_
 
-#include <autoware_internal_debug_msgs/msg/bool_stamped.hpp>
-#include <autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp>
-#include <autoware_internal_debug_msgs/msg/float32_stamped.hpp>
-#include <autoware_internal_debug_msgs/msg/float64_multi_array_stamped.hpp>
-#include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
-#include <autoware_internal_debug_msgs/msg/int32_multi_array_stamped.hpp>
-#include <autoware_internal_debug_msgs/msg/int32_stamped.hpp>
-#include <autoware_internal_debug_msgs/msg/int64_multi_array_stamped.hpp>
-#include <autoware_internal_debug_msgs/msg/int64_stamped.hpp>
-#include <autoware_internal_debug_msgs/msg/string_stamped.hpp>
+// NOLINTBEGIN(build/namespaces, whitespace/line_length)
+// clang-format off
 
-#include <type_traits>
+#pragma message("#include <autoware_utils/ros/debug_traits.hpp> is deprecated. Use #include <autoware_utils_debug/debug_traits.hpp> instead.")
+#include <autoware_utils_debug/debug_traits.hpp>
+namespace autoware_utils { using namespace autoware_utils_debug; }
 
-namespace autoware_utils::debug_traits
-{
-template <typename T>
-struct is_debug_message : std::false_type
-{
-};
-
-template <>
-struct is_debug_message<autoware_internal_debug_msgs::msg::BoolStamped> : std::true_type
-{
-};
-
-template <>
-struct is_debug_message<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>
-: std::true_type
-{
-};
-
-template <>
-struct is_debug_message<autoware_internal_debug_msgs::msg::Float32Stamped> : std::true_type
-{
-};
-
-template <>
-struct is_debug_message<autoware_internal_debug_msgs::msg::Float64MultiArrayStamped>
-: std::true_type
-{
-};
-
-template <>
-struct is_debug_message<autoware_internal_debug_msgs::msg::Float64Stamped> : std::true_type
-{
-};
-
-template <>
-struct is_debug_message<autoware_internal_debug_msgs::msg::Int32MultiArrayStamped> : std::true_type
-{
-};
-
-template <>
-struct is_debug_message<autoware_internal_debug_msgs::msg::Int32Stamped> : std::true_type
-{
-};
-
-template <>
-struct is_debug_message<autoware_internal_debug_msgs::msg::Int64MultiArrayStamped> : std::true_type
-{
-};
-
-template <>
-struct is_debug_message<autoware_internal_debug_msgs::msg::Int64Stamped> : std::true_type
-{
-};
-
-template <>
-struct is_debug_message<autoware_internal_debug_msgs::msg::StringStamped> : std::true_type
-{
-};
-}  // namespace autoware_utils::debug_traits
+// clang-format on
+// NOLINTEND
 
 #endif  // AUTOWARE_UTILS__ROS__DEBUG_TRAITS_HPP_

autoware_utils/include/autoware_utils/ros/processing_time_publisher.hpp

@@ -1,4 +1,4 @@
-// Copyright 2020 Tier IV, Inc.
+// 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.
@@ -15,53 +15,14 @@
 #ifndef AUTOWARE_UTILS__ROS__PROCESSING_TIME_PUBLISHER_HPP_
 #define AUTOWARE_UTILS__ROS__PROCESSING_TIME_PUBLISHER_HPP_
 
-#include <rclcpp/rclcpp.hpp>
+// NOLINTBEGIN(build/namespaces, whitespace/line_length)
+// clang-format off
 
-#include <diagnostic_msgs/msg/diagnostic_status.hpp>
+#pragma message("#include <autoware_utils/ros/processing_time_publisher.hpp> is deprecated. Use #include <autoware_utils_debug/processing_time_publisher.hpp> instead.")
+#include <autoware_utils_debug/processing_time_publisher.hpp>
+namespace autoware_utils { using namespace autoware_utils_debug; }
 
-#include <map>
-#include <sstream>
-#include <string>
-
-namespace autoware_utils
-{
-class ProcessingTimePublisher
-{
-public:
-  explicit ProcessingTimePublisher(
-    rclcpp::Node * node, const std::string & name = "~/debug/processing_time_ms",
-    const rclcpp::QoS & qos = rclcpp::QoS(1))
-  {
-    pub_processing_time_ =
-      node->create_publisher<diagnostic_msgs::msg::DiagnosticStatus>(name, qos);
-  }
-
-  void publish(const std::map<std::string, double> & processing_time_map)
-  {
-    diagnostic_msgs::msg::DiagnosticStatus status;
-
-    for (const auto & m : processing_time_map) {
-      diagnostic_msgs::msg::KeyValue key_value;
-      key_value.key = m.first;
-      key_value.value = to_string_with_precision(m.second, 3);
-      status.values.push_back(key_value);
-    }
-
-    pub_processing_time_->publish(status);
-  }
-
-private:
-  rclcpp::Publisher<diagnostic_msgs::msg::DiagnosticStatus>::SharedPtr pub_processing_time_;
-
-  template <class T>
-  std::string to_string_with_precision(const T & value, const int precision)
-  {
-    std::ostringstream oss;
-    oss.precision(precision);
-    oss << std::fixed << value;
-    return oss.str();
-  }
-};
-}  // namespace autoware_utils
+// clang-format on
+// NOLINTEND
 
 #endif  // AUTOWARE_UTILS__ROS__PROCESSING_TIME_PUBLISHER_HPP_