feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in fil…

…es sensing/autoware_pointcloud_preprocessor

Signed-off-by: vish0012 <[email protected]>

sensing/autoware_pointcloud_preprocessor/docs/blockage-diag.md

@@ -38,16 +38,16 @@ This implementation inherits `autoware::pointcloud_preprocessor::Filter` class,
 
 ### Output
 
-| Name                                                      | Type                                    | Description                                                                                      |
-| :-------------------------------------------------------- | :-------------------------------------- | ------------------------------------------------------------------------------------------------ |
-| `~/output/blockage_diag/debug/blockage_mask_image`        | `sensor_msgs::msg::Image`               | The mask image of detected blockage                                                              |
-| `~/output/blockage_diag/debug/ground_blockage_ratio`      | `tier4_debug_msgs::msg::Float32Stamped` | The area ratio of blockage region in ground region                                               |
-| `~/output/blockage_diag/debug/sky_blockage_ratio`         | `tier4_debug_msgs::msg::Float32Stamped` | The area ratio of blockage region in sky region                                                  |
-| `~/output/blockage_diag/debug/lidar_depth_map`            | `sensor_msgs::msg::Image`               | The depth map image of input point cloud                                                         |
-| `~/output/blockage_diag/debug/single_frame_dust_mask`     | `sensor_msgs::msg::Image`               | The mask image of detected dusty area in latest single frame                                     |
-| `~/output/blockage_diag/debug/multi_frame_dust_mask`      | `sensor_msgs::msg::Image`               | The mask image of continuous detected dusty area                                                 |
-| `~/output/blockage_diag/debug/blockage_dust_merged_image` | `sensor_msgs::msg::Image`               | The merged image of blockage detection(red) and multi frame dusty area detection(yellow) results |
-| `~/output/blockage_diag/debug/ground_dust_ratio`          | `tier4_debug_msgs::msg::Float32Stamped` | The ratio of dusty area divided by area where ray usually returns from the ground.               |
+| Name                                                      | Type                                                | Description                                                                                      |
+| :-------------------------------------------------------- | :-------------------------------------------------- | ------------------------------------------------------------------------------------------------ |
+| `~/output/blockage_diag/debug/blockage_mask_image`        | `sensor_msgs::msg::Image`                           | The mask image of detected blockage                                                              |
+| `~/output/blockage_diag/debug/ground_blockage_ratio`      | `autoware_internal_debug_msgs::msg::Float32Stamped` | The area ratio of blockage region in ground region                                               |
+| `~/output/blockage_diag/debug/sky_blockage_ratio`         | `autoware_internal_debug_msgs::msg::Float32Stamped` | The area ratio of blockage region in sky region                                                  |
+| `~/output/blockage_diag/debug/lidar_depth_map`            | `sensor_msgs::msg::Image`                           | The depth map image of input point cloud                                                         |
+| `~/output/blockage_diag/debug/single_frame_dust_mask`     | `sensor_msgs::msg::Image`                           | The mask image of detected dusty area in latest single frame                                     |
+| `~/output/blockage_diag/debug/multi_frame_dust_mask`      | `sensor_msgs::msg::Image`                           | The mask image of continuous detected dusty area                                                 |
+| `~/output/blockage_diag/debug/blockage_dust_merged_image` | `sensor_msgs::msg::Image`                           | The merged image of blockage detection(red) and multi frame dusty area detection(yellow) results |
+| `~/output/blockage_diag/debug/ground_dust_ratio`          | `autoware_internal_debug_msgs::msg::Float32Stamped` | The ratio of dusty area divided by area where ray usually returns from the ground.               |
 
 ## Parameters
 

sensing/autoware_pointcloud_preprocessor/docs/dual-return-outlier-filter.md

@@ -36,11 +36,11 @@ This implementation inherits `autoware::pointcloud_preprocessor::Filter` class,
 
 ### Output
 
-| Name                                           | Type                                    | Description                                             |
-| ---------------------------------------------- | --------------------------------------- | ------------------------------------------------------- |
-| `/dual_return_outlier_filter/frequency_image`  | `sensor_msgs::msg::Image`               | The histogram image that represent visibility           |
-| `/dual_return_outlier_filter/visibility`       | `tier4_debug_msgs::msg::Float32Stamped` | A representation of visibility with a value from 0 to 1 |
-| `/dual_return_outlier_filter/pointcloud_noise` | `sensor_msgs::msg::Pointcloud2`         | The pointcloud removed as noise                         |
+| Name                                           | Type                                                | Description                                             |
+| ---------------------------------------------- | --------------------------------------------------- | ------------------------------------------------------- |
+| `/dual_return_outlier_filter/frequency_image`  | `sensor_msgs::msg::Image`                           | The histogram image that represent visibility           |
+| `/dual_return_outlier_filter/visibility`       | `autoware_internal_debug_msgs::msg::Float32Stamped` | A representation of visibility with a value from 0 to 1 |
+| `/dual_return_outlier_filter/pointcloud_noise` | `sensor_msgs::msg::Pointcloud2`                     | The pointcloud removed as noise                         |
 
 ## Parameters
 

sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/blockage_diag/blockage_diag_node.hpp

@@ -22,10 +22,10 @@
 #include <opencv2/highgui/highgui.hpp>
 #include <rclcpp/rclcpp.hpp>
 
+#include <autoware_internal_debug_msgs/msg/float32_stamped.hpp>
 #include <diagnostic_msgs/msg/diagnostic_array.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <std_msgs/msg/header.hpp>
-#include <tier4_debug_msgs/msg/float32_stamped.hpp>
 
 #if __has_include(<cv_bridge/cv_bridge.hpp>)
 #include <cv_bridge/cv_bridge.hpp>
@@ -58,10 +58,13 @@ class BlockageDiagComponent : public autoware::pointcloud_preprocessor::Filter
   image_transport::Publisher single_frame_dust_mask_pub;
   image_transport::Publisher multi_frame_dust_mask_pub;
   image_transport::Publisher blockage_dust_merged_pub;
-  rclcpp::Publisher<tier4_debug_msgs::msg::Float32Stamped>::SharedPtr ground_blockage_ratio_pub_;
-  rclcpp::Publisher<tier4_debug_msgs::msg::Float32Stamped>::SharedPtr sky_blockage_ratio_pub_;
-  rclcpp::Publisher<tier4_debug_msgs::msg::Float32Stamped>::SharedPtr ground_dust_ratio_pub_;
-  rclcpp::Publisher<tier4_debug_msgs::msg::StringStamped>::SharedPtr blockage_type_pub_;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32Stamped>::SharedPtr
+    ground_blockage_ratio_pub_;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32Stamped>::SharedPtr
+    sky_blockage_ratio_pub_;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32Stamped>::SharedPtr
+    ground_dust_ratio_pub_;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::StringStamped>::SharedPtr blockage_type_pub_;
 
 private:
   void onBlockageChecker(DiagnosticStatusWrapper & stat);

sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp

@@ -69,14 +69,14 @@
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <point_cloud_msg_wrapper/point_cloud_msg_wrapper.hpp>
 
+#include <autoware_internal_debug_msgs/msg/int32_stamped.hpp>
+#include <autoware_internal_debug_msgs/msg/string_stamped.hpp>
 #include <diagnostic_msgs/msg/diagnostic_status.hpp>
 #include <geometry_msgs/msg/twist_stamped.hpp>
 #include <geometry_msgs/msg/twist_with_covariance_stamped.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <sensor_msgs/point_cloud2_iterator.hpp>
-#include <tier4_debug_msgs/msg/int32_stamped.hpp>
-#include <tier4_debug_msgs/msg/string_stamped.hpp>
 
 #include <message_filters/pass_through.h>
 #include <message_filters/subscriber.h>

sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp

@@ -68,13 +68,13 @@
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <point_cloud_msg_wrapper/point_cloud_msg_wrapper.hpp>
 
+#include <autoware_internal_debug_msgs/msg/int32_stamped.hpp>
+#include <autoware_internal_debug_msgs/msg/string_stamped.hpp>
 #include <autoware_vehicle_msgs/msg/velocity_report.hpp>
 #include <diagnostic_msgs/msg/diagnostic_status.hpp>
 #include <geometry_msgs/msg/twist_stamped.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <sensor_msgs/point_cloud2_iterator.hpp>
-#include <tier4_debug_msgs/msg/int32_stamped.hpp>
-#include <tier4_debug_msgs/msg/string_stamped.hpp>
 
 #include <message_filters/pass_through.h>
 #include <message_filters/subscriber.h>

sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_node.hpp

@@ -22,9 +22,9 @@
 #include <opencv2/highgui/highgui.hpp>
 #include <rclcpp/rclcpp.hpp>
 
+#include <autoware_internal_debug_msgs/msg/float32_stamped.hpp>
 #include <diagnostic_msgs/msg/diagnostic_array.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
-#include <tier4_debug_msgs/msg/float32_stamped.hpp>
 
 #if __has_include(<cv_bridge/cv_bridge.hpp>)
 #include <cv_bridge/cv_bridge.hpp>
@@ -54,7 +54,7 @@ class DualReturnOutlierFilterComponent : public autoware::pointcloud_preprocesso
   /** \brief Parameter service callback */
   rcl_interfaces::msg::SetParametersResult paramCallback(const std::vector<rclcpp::Parameter> & p);
   image_transport::Publisher image_pub_;
-  rclcpp::Publisher<tier4_debug_msgs::msg::Float32Stamped>::SharedPtr visibility_pub_;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32Stamped>::SharedPtr visibility_pub_;
   rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr noise_cloud_pub_;
 
 private:

sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_node.hpp

@@ -53,7 +53,7 @@ class RingOutlierFilterComponent : public autoware::pointcloud_preprocessor::Fil
     const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output,
     const TransformInfo & transform_info) override;
 
-  rclcpp::Publisher<tier4_debug_msgs::msg::Float32Stamped>::SharedPtr visibility_pub_;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32Stamped>::SharedPtr visibility_pub_;
 
 private:
   /** \brief publisher of excluded pointcloud for debug reason. **/

sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/time_synchronizer/time_synchronizer_node.hpp

@@ -68,14 +68,14 @@
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <point_cloud_msg_wrapper/point_cloud_msg_wrapper.hpp>
 
+#include <autoware_internal_debug_msgs/msg/int32_stamped.hpp>
+#include <autoware_internal_debug_msgs/msg/string_stamped.hpp>
 #include <diagnostic_msgs/msg/diagnostic_status.hpp>
 #include <geometry_msgs/msg/twist_stamped.hpp>
 #include <geometry_msgs/msg/twist_with_covariance_stamped.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <sensor_msgs/point_cloud2_iterator.hpp>
-#include <tier4_debug_msgs/msg/int32_stamped.hpp>
-#include <tier4_debug_msgs/msg/string_stamped.hpp>
 
 #include <message_filters/pass_through.h>
 #include <message_filters/subscriber.h>

sensing/autoware_pointcloud_preprocessor/package.xml

@@ -26,6 +26,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_pcl_extensions</depend>
   <depend>autoware_point_types</depend>
@@ -51,7 +52,6 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_debug_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

sensing/autoware_pointcloud_preprocessor/src/blockage_diag/blockage_diag_node.cpp

@@ -68,7 +68,7 @@ BlockageDiagComponent::BlockageDiagComponent(const rclcpp::NodeOptions & options
       std::string(this->get_namespace()) + ": dust_validation", this,
       &BlockageDiagComponent::dustChecker);
 
-    ground_dust_ratio_pub_ = create_publisher<tier4_debug_msgs::msg::Float32Stamped>(
+    ground_dust_ratio_pub_ = create_publisher<autoware_internal_debug_msgs::msg::Float32Stamped>(
       "blockage_diag/debug/ground_dust_ratio", rclcpp::SensorDataQoS());
     if (publish_debug_image_) {
       single_frame_dust_mask_pub =
@@ -86,9 +86,9 @@ BlockageDiagComponent::BlockageDiagComponent(const rclcpp::NodeOptions & options
     blockage_mask_pub_ =
       image_transport::create_publisher(this, "blockage_diag/debug/blockage_mask_image");
   }
-  ground_blockage_ratio_pub_ = create_publisher<tier4_debug_msgs::msg::Float32Stamped>(
+  ground_blockage_ratio_pub_ = create_publisher<autoware_internal_debug_msgs::msg::Float32Stamped>(
     "blockage_diag/debug/ground_blockage_ratio", rclcpp::SensorDataQoS());
-  sky_blockage_ratio_pub_ = create_publisher<tier4_debug_msgs::msg::Float32Stamped>(
+  sky_blockage_ratio_pub_ = create_publisher<autoware_internal_debug_msgs::msg::Float32Stamped>(
     "blockage_diag/debug/sky_blockage_ratio", rclcpp::SensorDataQoS());
   using std::placeholders::_1;
   set_param_res_ = this->add_on_set_parameters_callback(
@@ -315,7 +315,7 @@ void BlockageDiagComponent::filter(
     cv::Mat ground_mask(cv::Size(ideal_horizontal_bins, horizontal_ring_id_), CV_8UC1);
     cv::vconcat(sky_blank, single_dust_ground_img, single_dust_img);
 
-    tier4_debug_msgs::msg::Float32Stamped ground_dust_ratio_msg;
+    autoware_internal_debug_msgs::msg::Float32Stamped ground_dust_ratio_msg;
     ground_dust_ratio_ = static_cast<float>(cv::countNonZero(single_dust_ground_img)) /
                          (single_dust_ground_img.cols * single_dust_ground_img.rows);
     ground_dust_ratio_msg.data = ground_dust_ratio_;
@@ -386,12 +386,12 @@ void BlockageDiagComponent::filter(
     }
   }
 
-  tier4_debug_msgs::msg::Float32Stamped ground_blockage_ratio_msg;
+  autoware_internal_debug_msgs::msg::Float32Stamped ground_blockage_ratio_msg;
   ground_blockage_ratio_msg.data = ground_blockage_ratio_;
   ground_blockage_ratio_msg.stamp = now();
   ground_blockage_ratio_pub_->publish(ground_blockage_ratio_msg);
 
-  tier4_debug_msgs::msg::Float32Stamped sky_blockage_ratio_msg;
+  autoware_internal_debug_msgs::msg::Float32Stamped sky_blockage_ratio_msg;
   sky_blockage_ratio_msg.data = sky_blockage_ratio_;
   sky_blockage_ratio_msg.stamp = now();
   sky_blockage_ratio_pub_->publish(sky_blockage_ratio_msg);

sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp

@@ -455,9 +455,9 @@ void PointCloudConcatenateDataSynchronizerComponent::publish()
   if (debug_publisher_) {
     const double cyclic_time_ms = stop_watch_ptr_->toc("cyclic_time", true);
     const double processing_time_ms = stop_watch_ptr_->toc("processing_time", true);
-    debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+    debug_publisher_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
       "debug/cyclic_time_ms", cyclic_time_ms);
-    debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+    debug_publisher_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
       "debug/processing_time_ms", processing_time_ms);
   }
   for (const auto & e : cloud_stdmap_) {
@@ -468,7 +468,7 @@ void PointCloudConcatenateDataSynchronizerComponent::publish()
             std::chrono::nanoseconds(
               (this->get_clock()->now() - e.second->header.stamp).nanoseconds()))
             .count();
-        debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+        debug_publisher_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
           "debug" + e.first + "/pipeline_latency_ms", pipeline_latency_ms);
       }
     }

sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp

@@ -271,7 +271,7 @@ void PointCloudConcatenationComponent::publish()
             std::chrono::nanoseconds(
               (this->get_clock()->now() - e.second->header.stamp).nanoseconds()))
             .count();
-        debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+        debug_publisher_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
           "debug" + e.first + "/pipeline_latency_ms", pipeline_latency_ms);
       }
     }
@@ -297,9 +297,9 @@ void PointCloudConcatenationComponent::publish()
   if (debug_publisher_) {
     const double cyclic_time_ms = stop_watch_ptr_->toc("cyclic_time", true);
     const double processing_time_ms = stop_watch_ptr_->toc("processing_time", true);
-    debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+    debug_publisher_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
       "debug/cyclic_time_ms", cyclic_time_ms);
-    debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+    debug_publisher_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
       "debug/processing_time_ms", processing_time_ms);
   }
 }

sensing/autoware_pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_node.cpp

@@ -194,17 +194,17 @@ void CropBoxFilterComponent::faster_filter(
   if (debug_publisher_) {
     const double cyclic_time_ms = stop_watch_ptr_->toc("cyclic_time", true);
     const double processing_time_ms = stop_watch_ptr_->toc("processing_time", true);
-    debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+    debug_publisher_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
       "debug/cyclic_time_ms", cyclic_time_ms);
-    debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+    debug_publisher_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
       "debug/processing_time_ms", processing_time_ms);
 
     auto pipeline_latency_ms =
       std::chrono::duration<double, std::milli>(
         std::chrono::nanoseconds((this->get_clock()->now() - input->header.stamp).nanoseconds()))
         .count();
 
-    debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+    debug_publisher_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
       "debug/pipeline_latency_ms", pipeline_latency_ms);
   }
 }

sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp

@@ -123,7 +123,7 @@ void DistortionCorrectorComponent::pointcloud_callback(PointCloud2::UniquePtr po
         std::chrono::nanoseconds(
           (this->get_clock()->now() - pointcloud_msg->header.stamp).nanoseconds()))
         .count();
-    debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+    debug_publisher_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
       "debug/pipeline_latency_ms", pipeline_latency_ms);
   }
 
@@ -133,9 +133,9 @@ void DistortionCorrectorComponent::pointcloud_callback(PointCloud2::UniquePtr po
   if (debug_publisher_) {
     const double cyclic_time_ms = stop_watch_ptr_->toc("cyclic_time", true);
     const double processing_time_ms = stop_watch_ptr_->toc("processing_time", true);
-    debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+    debug_publisher_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
       "debug/cyclic_time_ms", cyclic_time_ms);
-    debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+    debug_publisher_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
       "debug/processing_time_ms", processing_time_ms);
   }
 }

sensing/autoware_pointcloud_preprocessor/src/downsample_filter/pickup_based_voxel_grid_downsample_filter_node.cpp

@@ -142,17 +142,17 @@ void PickupBasedVoxelGridDownsampleFilterComponent::filter(
   if (debug_publisher_) {
     const double cyclic_time_ms = stop_watch_ptr_->toc("cyclic_time", true);
     const double processing_time_ms = stop_watch_ptr_->toc("processing_time", true);
-    debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+    debug_publisher_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
       "debug/cyclic_time_ms", cyclic_time_ms);
-    debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+    debug_publisher_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
       "debug/processing_time_ms", processing_time_ms);
 
     auto pipeline_latency_ms =
       std::chrono::duration<double, std::milli>(
         std::chrono::nanoseconds((this->get_clock()->now() - input->header.stamp).nanoseconds()))
         .count();
 
-    debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+    debug_publisher_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
       "debug/pipeline_latency_ms", pipeline_latency_ms);
   }
 }