feat(autoware.universe): replace autoware_auto_mapping_msg with autow…

…are_map_msg (#5615) * feat(autoware.universe): replace autoware_auto_mapping_msg with autoware_map_msg Signed-off-by: liu cui <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: liu cui <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
autowarefoundation · Nov 22, 2023 · 6137908 · 6137908
1 parent b5d6c51
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Showing 117 changed files with 273 additions and 276 deletions.
diff --git a/common/tier4_traffic_light_rviz_plugin/package.xml b/common/tier4_traffic_light_rviz_plugin/package.xml
@@ -10,7 +10,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>autoware_auto_mapping_msgs</depend>
+  <depend>autoware_map_msgs</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>lanelet2_extension</depend>
   <depend>libqt5-core</depend>

diff --git a/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp b/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp
@@ -221,7 +221,7 @@ void TrafficLightPublishPanel::onInitialize()
   pub_traffic_signals_ = raw_node_->create_publisher<TrafficSignalArray>(
     "/perception/traffic_light_recognition/traffic_signals", rclcpp::QoS(1));
 
-  sub_vector_map_ = raw_node_->create_subscription<HADMapBin>(
+  sub_vector_map_ = raw_node_->create_subscription<LaneletMapBin>(
     "/map/vector_map", rclcpp::QoS{1}.transient_local(),
     std::bind(&TrafficLightPublishPanel::onVectorMap, this, _1));
   createWallTimer();
@@ -361,7 +361,7 @@ void TrafficLightPublishPanel::onTimer()
   traffic_table_->update();
 }
 
-void TrafficLightPublishPanel::onVectorMap(const HADMapBin::ConstSharedPtr msg)
+void TrafficLightPublishPanel::onVectorMap(const LaneletMapBin::ConstSharedPtr msg)
 {
   if (received_vector_map_) return;
   // NOTE: examples from map_loader/lanelet2_map_visualization_node.cpp

diff --git a/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.hpp b/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.hpp
@@ -26,7 +26,7 @@
 #include <rclcpp/timer.hpp>
 #include <rviz_common/panel.hpp>
 
-#include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
+#include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 #include <autoware_perception_msgs/msg/traffic_signal_array.hpp>
 #endif
 
@@ -35,7 +35,7 @@
 namespace rviz_plugins
 {
 
-using autoware_auto_mapping_msgs::msg::HADMapBin;
+using autoware_map_msgs::msg::LaneletMapBin;
 using autoware_perception_msgs::msg::TrafficSignal;
 using autoware_perception_msgs::msg::TrafficSignalArray;
 using autoware_perception_msgs::msg::TrafficSignalElement;
@@ -56,12 +56,12 @@ public Q_SLOTS:
 protected:
   void onTimer();
   void createWallTimer();
-  void onVectorMap(const HADMapBin::ConstSharedPtr msg);
+  void onVectorMap(const LaneletMapBin::ConstSharedPtr msg);
 
   rclcpp::Node::SharedPtr raw_node_;
   rclcpp::TimerBase::SharedPtr pub_timer_;
   rclcpp::Publisher<TrafficSignalArray>::SharedPtr pub_traffic_signals_;
-  rclcpp::Subscription<HADMapBin>::SharedPtr sub_vector_map_;
+  rclcpp::Subscription<LaneletMapBin>::SharedPtr sub_vector_map_;
 
   QSpinBox * publishing_rate_input_;
   QComboBox * traffic_light_id_input_;

diff --git a/common/traffic_light_recognition_marker_publisher/Readme.md b/common/traffic_light_recognition_marker_publisher/Readme.md
@@ -14,7 +14,7 @@ This node publishes a marker array for visualizing traffic signal recognition re
 
 | Name                                                    | Type                                                     | Description                                       |
 | ------------------------------------------------------- | -------------------------------------------------------- | ------------------------------------------------- |
-| `/map/vector_map`                                       | `autoware_auto_mapping_msgs::msg::HADMapBin`             | Vector map for getting traffic signal information |
+| `/map/vector_map`                                       | `autoware_map_msgs::msg::LaneletMapBin`                  | Vector map for getting traffic signal information |
 | `/perception/traffic_light_recognition/traffic_signals` | `autoware_auto_perception_msgs::msg::TrafficSignalArray` | The result of traffic signal recognition          |
 
 ### Output

diff --git a/common/traffic_light_recognition_marker_publisher/package.xml b/common/traffic_light_recognition_marker_publisher/package.xml
@@ -12,8 +12,8 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>autoware_auto_mapping_msgs</depend>
   <depend>autoware_auto_perception_msgs</depend>
+  <depend>autoware_map_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_extension</depend>
   <depend>rclcpp</depend>

diff --git a/...fic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.cpp b/...fic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.cpp
@@ -26,7 +26,7 @@ TrafficLightRecognitionMarkerPublisher::TrafficLightRecognitionMarkerPublisher(
 {
   using std::placeholders::_1;
 
-  sub_map_ptr_ = this->create_subscription<autoware_auto_mapping_msgs::msg::HADMapBin>(
+  sub_map_ptr_ = this->create_subscription<autoware_map_msgs::msg::LaneletMapBin>(
     "~/input/lanelet2_map", rclcpp::QoS{1}.transient_local(),
     std::bind(&TrafficLightRecognitionMarkerPublisher::onMap, this, _1));
   sub_tlr_ptr_ = this->create_subscription<autoware_auto_perception_msgs::msg::TrafficSignalArray>(
@@ -36,7 +36,7 @@ TrafficLightRecognitionMarkerPublisher::TrafficLightRecognitionMarkerPublisher(
     this->create_publisher<visualization_msgs::msg::MarkerArray>("~/output/marker", rclcpp::QoS{1});
 }
 
-void TrafficLightRecognitionMarkerPublisher::onMap(const HADMapBin::ConstSharedPtr msg_ptr)
+void TrafficLightRecognitionMarkerPublisher::onMap(const LaneletMapBin::ConstSharedPtr msg_ptr)
 {
   is_map_ready_ = false;
   lanelet::LaneletMapPtr viz_lanelet_map(new lanelet::LaneletMap);

diff --git a/...fic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.hpp b/...fic_light_recognition_marker_publisher/src/traffic_light_recognition_marker_publisher.hpp
@@ -21,8 +21,8 @@
 #include <lanelet2_extension/visualization/visualization.hpp>
 #include <rclcpp/rclcpp.hpp>
 
-#include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
 #include <autoware_auto_perception_msgs/msg/traffic_signal_array.hpp>
+#include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 #include <geometry_msgs/msg/pose.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
 
@@ -32,7 +32,7 @@
 class TrafficLightRecognitionMarkerPublisher : public rclcpp::Node
 {
 public:
-  using HADMapBin = autoware_auto_mapping_msgs::msg::HADMapBin;
+  using LaneletMapBin = autoware_map_msgs::msg::LaneletMapBin;
   using TrafficSignalArray = autoware_auto_perception_msgs::msg::TrafficSignalArray;
   using TrafficLight = autoware_auto_perception_msgs::msg::TrafficLight;
   using MarkerArray = visualization_msgs::msg::MarkerArray;
@@ -41,12 +41,12 @@ class TrafficLightRecognitionMarkerPublisher : public rclcpp::Node
   explicit TrafficLightRecognitionMarkerPublisher(const rclcpp::NodeOptions & options);
 
 private:
-  rclcpp::Subscription<HADMapBin>::SharedPtr sub_map_ptr_;
+  rclcpp::Subscription<LaneletMapBin>::SharedPtr sub_map_ptr_;
   rclcpp::Subscription<autoware_auto_perception_msgs::msg::TrafficSignalArray>::SharedPtr
     sub_tlr_ptr_;
   rclcpp::Publisher<MarkerArray>::SharedPtr pub_marker_ptr_;
 
-  void onMap(const HADMapBin::ConstSharedPtr msg_ptr);
+  void onMap(const LaneletMapBin::ConstSharedPtr msg_ptr);
   void onTrafficSignalArray(const TrafficSignalArray::ConstSharedPtr msg_ptr);
   visualization_msgs::msg::Marker getTrafficLightMarker(
     const Pose & tl_pose, const uint8_t tl_color, const uint8_t tl_shape);

diff --git a/control/lane_departure_checker/README.md b/control/lane_departure_checker/README.md
@@ -49,7 +49,7 @@ This package includes the following features:
 ### Input
 
 - /localization/kinematic_state [`nav_msgs::msg::Odometry`]
-- /map/vector_map [`autoware_auto_mapping_msgs::msg::HADMapBin`]
+- /map/vector_map [`autoware_map_msgs::msg::LaneletMapBin`]
 - /planning/mission_planning/route [`autoware_planning_msgs::msg::LaneletRoute`]
 - /planning/scenario_planning/trajectory [`autoware_auto_planning_msgs::msg::Trajectory`]
 - /control/trajectory_follower/predicted_trajectory [`autoware_auto_planning_msgs::msg::Trajectory`]

diff --git a/...rol/lane_departure_checker/include/lane_departure_checker/lane_departure_checker_node.hpp b/...rol/lane_departure_checker/include/lane_departure_checker/lane_departure_checker_node.hpp
@@ -22,8 +22,8 @@
 #include <tier4_autoware_utils/ros/debug_publisher.hpp>
 #include <tier4_autoware_utils/ros/processing_time_publisher.hpp>
 
-#include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
 #include <autoware_auto_planning_msgs/msg/trajectory.hpp>
+#include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 #include <autoware_planning_msgs/msg/lanelet_route.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
@@ -42,7 +42,7 @@
 
 namespace lane_departure_checker
 {
-using autoware_auto_mapping_msgs::msg::HADMapBin;
+using autoware_map_msgs::msg::LaneletMapBin;
 
 struct NodeParam
 {
@@ -67,7 +67,7 @@ class LaneDepartureCheckerNode : public rclcpp::Node
 private:
   // Subscriber
   rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr sub_odom_;
-  rclcpp::Subscription<HADMapBin>::SharedPtr sub_lanelet_map_bin_;
+  rclcpp::Subscription<LaneletMapBin>::SharedPtr sub_lanelet_map_bin_;
   rclcpp::Subscription<LaneletRoute>::SharedPtr sub_route_;
   rclcpp::Subscription<Trajectory>::SharedPtr sub_reference_trajectory_;
   rclcpp::Subscription<Trajectory>::SharedPtr sub_predicted_trajectory_;
@@ -87,7 +87,7 @@ class LaneDepartureCheckerNode : public rclcpp::Node
 
   // Callback
   void onOdometry(const nav_msgs::msg::Odometry::ConstSharedPtr msg);
-  void onLaneletMapBin(const HADMapBin::ConstSharedPtr msg);
+  void onLaneletMapBin(const LaneletMapBin::ConstSharedPtr msg);
   void onRoute(const LaneletRoute::ConstSharedPtr msg);
   void onReferenceTrajectory(const Trajectory::ConstSharedPtr msg);
   void onPredictedTrajectory(const Trajectory::ConstSharedPtr msg);

diff --git a/control/lane_departure_checker/package.xml b/control/lane_departure_checker/package.xml
@@ -11,8 +11,8 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>autoware_auto_mapping_msgs</depend>
   <depend>autoware_auto_planning_msgs</depend>
+  <depend>autoware_map_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>boost</depend>
   <depend>diagnostic_updater</depend>

diff --git a/...ol/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp b/...ol/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp
@@ -171,7 +171,7 @@ LaneDepartureCheckerNode::LaneDepartureCheckerNode(const rclcpp::NodeOptions & o
   // Subscriber
   sub_odom_ = this->create_subscription<nav_msgs::msg::Odometry>(
     "~/input/odometry", 1, std::bind(&LaneDepartureCheckerNode::onOdometry, this, _1));
-  sub_lanelet_map_bin_ = this->create_subscription<HADMapBin>(
+  sub_lanelet_map_bin_ = this->create_subscription<LaneletMapBin>(
     "~/input/lanelet_map_bin", rclcpp::QoS{1}.transient_local(),
     std::bind(&LaneDepartureCheckerNode::onLaneletMapBin, this, _1));
   sub_route_ = this->create_subscription<LaneletRoute>(
@@ -205,7 +205,7 @@ void LaneDepartureCheckerNode::onOdometry(const nav_msgs::msg::Odometry::ConstSh
   current_odom_ = msg;
 }
 
-void LaneDepartureCheckerNode::onLaneletMapBin(const HADMapBin::ConstSharedPtr msg)
+void LaneDepartureCheckerNode::onLaneletMapBin(const LaneletMapBin::ConstSharedPtr msg)
 {
   lanelet_map_ = std::make_shared<lanelet::LaneletMap>();
   lanelet::utils::conversion::fromBinMsg(*msg, lanelet_map_, &traffic_rules_, &routing_graph_);

diff --git a/localization/landmark_based_localizer/ar_tag_based_localizer/README.md b/localization/landmark_based_localizer/ar_tag_based_localizer/README.md
@@ -15,7 +15,7 @@ The positions and orientations of the AR-Tags are assumed to be written in the L
 
 | Name                   | Type                                            | Description                                                                                                                                                                                                                                                               |
 | :--------------------- | :---------------------------------------------- | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| `~/input/lanelet2_map` | `autoware_auto_mapping_msgs::msg::HADMapBin`    | Data of lanelet2                                                                                                                                                                                                                                                          |
+| `~/input/lanelet2_map` | `autoware_map_msgs::msg::LaneletMapBin`         | Data of lanelet2                                                                                                                                                                                                                                                          |
 | `~/input/image`        | `sensor_msgs::msg::Image`                       | Camera Image                                                                                                                                                                                                                                                              |
 | `~/input/camera_info`  | `sensor_msgs::msg::CameraInfo`                  | Camera Info                                                                                                                                                                                                                                                               |
 | `~/input/ekf_pose`     | `geometry_msgs::msg::PoseWithCovarianceStamped` | EKF Pose without IMU correction. It is used to validate detected AR tags by filtering out False Positives. Only if the EKF Pose and the AR tag-detected Pose are within a certain temporal and spatial range, the AR tag-detected Pose is considered valid and published. |

diff --git a/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.cpp b/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.cpp
@@ -113,7 +113,7 @@ bool ArTagBasedLocalizer::setup()
   /*
     Subscribers
   */
-  map_bin_sub_ = this->create_subscription<HADMapBin>(
+  map_bin_sub_ = this->create_subscription<LaneletMapBin>(
     "~/input/lanelet2_map", rclcpp::QoS(10).durability(rclcpp::DurabilityPolicy::TransientLocal),
     std::bind(&ArTagBasedLocalizer::map_bin_callback, this, std::placeholders::_1));
 
@@ -146,7 +146,7 @@ bool ArTagBasedLocalizer::setup()
   return true;
 }
 
-void ArTagBasedLocalizer::map_bin_callback(const HADMapBin::ConstSharedPtr & msg)
+void ArTagBasedLocalizer::map_bin_callback(const LaneletMapBin::ConstSharedPtr & msg)
 {
   const std::vector<landmark_manager::Landmark> landmarks =
     landmark_manager::parse_landmarks(msg, "apriltag_16h5", this->get_logger());

diff --git a/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.hpp b/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.hpp
@@ -66,7 +66,7 @@
 
 class ArTagBasedLocalizer : public rclcpp::Node
 {
-  using HADMapBin = autoware_auto_mapping_msgs::msg::HADMapBin;
+  using LaneletMapBin = autoware_map_msgs::msg::LaneletMapBin;
   using Image = sensor_msgs::msg::Image;
   using CameraInfo = sensor_msgs::msg::CameraInfo;
   using Pose = geometry_msgs::msg::Pose;
@@ -81,7 +81,7 @@ class ArTagBasedLocalizer : public rclcpp::Node
   bool setup();
 
 private:
-  void map_bin_callback(const HADMapBin::ConstSharedPtr & msg);
+  void map_bin_callback(const LaneletMapBin::ConstSharedPtr & msg);
   void image_callback(const Image::ConstSharedPtr & msg);
   void cam_info_callback(const CameraInfo & msg);
   void ekf_pose_callback(const PoseWithCovarianceStamped & msg);
@@ -105,7 +105,7 @@ class ArTagBasedLocalizer : public rclcpp::Node
   std::unique_ptr<image_transport::ImageTransport> it_;
 
   // Subscribers
-  rclcpp::Subscription<HADMapBin>::SharedPtr map_bin_sub_;
+  rclcpp::Subscription<LaneletMapBin>::SharedPtr map_bin_sub_;
   rclcpp::Subscription<Image>::SharedPtr image_sub_;
   rclcpp::Subscription<CameraInfo>::SharedPtr cam_info_sub_;
   rclcpp::Subscription<PoseWithCovarianceStamped>::SharedPtr ekf_pose_sub_;

diff --git a/...n/landmark_based_localizer/landmark_manager/include/landmark_manager/landmark_manager.hpp b/...n/landmark_based_localizer/landmark_manager/include/landmark_manager/landmark_manager.hpp
@@ -17,7 +17,7 @@
 
 #include <rclcpp/rclcpp.hpp>
 
-#include "autoware_auto_mapping_msgs/msg/had_map_bin.hpp"
+#include "autoware_map_msgs/msg/lanelet_map_bin.hpp"
 #include <geometry_msgs/msg/pose.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
@@ -35,7 +35,7 @@ struct Landmark
 };
 
 std::vector<Landmark> parse_landmarks(
-  const autoware_auto_mapping_msgs::msg::HADMapBin::ConstSharedPtr & msg,
+  const autoware_map_msgs::msg::LaneletMapBin::ConstSharedPtr & msg,
   const std::string & target_subtype, const rclcpp::Logger & logger);
 
 visualization_msgs::msg::MarkerArray convert_landmarks_to_marker_array_msg(

diff --git a/localization/landmark_based_localizer/landmark_manager/package.xml b/localization/landmark_based_localizer/landmark_manager/package.xml
@@ -15,7 +15,7 @@
 
   <build_depend>eigen</build_depend>
 
-  <depend>autoware_auto_mapping_msgs</depend>
+  <depend>autoware_map_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_extension</depend>
   <depend>rclcpp</depend>

diff --git a/localization/landmark_based_localizer/landmark_manager/src/landmark_manager.cpp b/localization/landmark_based_localizer/landmark_manager/src/landmark_manager.cpp
@@ -26,12 +26,12 @@ namespace landmark_manager
 {
 
 std::vector<Landmark> parse_landmarks(
-  const autoware_auto_mapping_msgs::msg::HADMapBin::ConstSharedPtr & msg,
+  const autoware_map_msgs::msg::LaneletMapBin::ConstSharedPtr & msg,
   const std::string & target_subtype, const rclcpp::Logger & logger)
 {
-  RCLCPP_INFO_STREAM(logger, "msg->format_version: " << msg->format_version);
-  RCLCPP_INFO_STREAM(logger, "msg->map_format: " << msg->map_format);
-  RCLCPP_INFO_STREAM(logger, "msg->map_version: " << msg->map_version);
+  RCLCPP_INFO_STREAM(logger, "msg->format_version: " << msg->version_map_format);
+  RCLCPP_INFO_STREAM(logger, "msg->map_format: " << msg->name_map);
+  RCLCPP_INFO_STREAM(logger, "msg->map_version: " << msg->version_map);
   RCLCPP_INFO_STREAM(logger, "msg->data.size(): " << msg->data.size());
   lanelet::LaneletMapPtr lanelet_map_ptr{std::make_shared<lanelet::LaneletMap>()};
   lanelet::utils::conversion::fromBinMsg(*msg, lanelet_map_ptr);

diff --git a/localization/yabloc/yabloc_common/README.md b/localization/yabloc/yabloc_common/README.md
@@ -15,10 +15,10 @@ It estimates the height and tilt of the ground from lanelet2.
 
 #### Input
 
-| Name               | Type                                         | Description         |
-| ------------------ | -------------------------------------------- | ------------------- |
-| `input/vector_map` | `autoware_auto_mapping_msgs::msg::HADMapBin` | vector map          |
-| `input/pose`       | `geometry_msgs::msg::PoseStamped`            | estimated self pose |
+| Name               | Type                                    | Description         |
+| ------------------ | --------------------------------------- | ------------------- |
+| `input/vector_map` | `autoware_map_msgs::msg::LaneletMapBin` | vector map          |
+| `input/pose`       | `geometry_msgs::msg::PoseStamped`       | estimated self pose |
 
 #### Output
 
@@ -48,9 +48,9 @@ This node extracts the elements related to the road surface markings and yabloc
 
 #### Input
 
-| Name               | Type                                         | Description |
-| ------------------ | -------------------------------------------- | ----------- |
-| `input/vector_map` | `autoware_auto_mapping_msgs::msg::HADMapBin` | vector map  |
+| Name               | Type                                    | Description |
+| ------------------ | --------------------------------------- | ----------- |
+| `input/vector_map` | `autoware_map_msgs::msg::LaneletMapBin` | vector map  |
 
 #### Output
 

diff --git a/localization/yabloc/yabloc_common/include/yabloc_common/ground_server/ground_server.hpp b/localization/yabloc/yabloc_common/include/yabloc_common/ground_server/ground_server.hpp
@@ -21,7 +21,7 @@
 #include <signal_processing/lowpass_filter_1d.hpp>
 #include <yabloc_common/ground_plane.hpp>
 
-#include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
+#include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
@@ -44,7 +44,7 @@ class GroundServer : public rclcpp::Node
 {
 public:
   using GroundPlane = common::GroundPlane;
-  using HADMapBin = autoware_auto_mapping_msgs::msg::HADMapBin;
+  using LaneletMapBin = autoware_map_msgs::msg::LaneletMapBin;
 
   using Pose = geometry_msgs::msg::Pose;
   using PoseStamped = geometry_msgs::msg::PoseStamped;
@@ -65,7 +65,7 @@ class GroundServer : public rclcpp::Node
   const int K;
 
   // Subscriber
-  rclcpp::Subscription<HADMapBin>::SharedPtr sub_map_;
+  rclcpp::Subscription<LaneletMapBin>::SharedPtr sub_map_;
   rclcpp::Subscription<PoseStamped>::SharedPtr sub_pose_stamped_;
   rclcpp::Subscription<PoseCovStamped>::SharedPtr sub_initial_pose_;
   // Publisher
@@ -86,7 +86,7 @@ class GroundServer : public rclcpp::Node
   std::vector<int> last_indices_;
 
   // Callback
-  void on_map(const HADMapBin & msg);
+  void on_map(const LaneletMapBin & msg);
   void on_initial_pose(const PoseCovStamped & msg);
   void on_pose_stamped(const PoseStamped & msg);