refactor: msg type

Signed-off-by: Barış Zeren <[email protected]>
autowarefoundation · Dec 12, 2024 · e36df2d · e36df2d
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Showing 4 changed files with 14 additions and 13 deletions.
diff --git a/perception/autoware_tensorrt_rtmdet/README.md b/perception/autoware_tensorrt_rtmdet/README.md
@@ -12,17 +12,17 @@ bicycles, etc. in a scene. This package provides a ROS 2 interface for RTMDet us
 ### Input
 
 | Name       | Type                | Description     |
-| ---------- | ------------------- | --------------- |
+|------------|---------------------|-----------------|
 | `in/image` | `sensor_msgs/Image` | The input image |
 
 ### Output
 
-| Name              | Type                                               | Description                                                         |
-| ----------------- | -------------------------------------------------- | ------------------------------------------------------------------- |
-| `out/objects`     | `tier4_perception_msgs/DetectedObjectsWithFeature` | The detected objects with 2D bounding boxes and scores              |
-| `out/mask`        | `autoware_perception_msgs/SegmentationMask`        | The instance segmentation mask                                      |
-| `out/color_mask`  | `sensor_msgs/Image`                                | The colorized image of instance segmentation mask for visualization |
-| `out/debug_image` | `sensor_msgs/Image`                                | The image with 2D bounding boxes for visualization                  |
+| Name              | Type                                                 | Description                                                         |
+|-------------------|------------------------------------------------------|---------------------------------------------------------------------|
+| `out/objects`     | `tier4_perception_msgs/DetectedObjectsWithFeature`   | The detected objects with 2D bounding boxes and scores              |
+| `out/mask`        | `autoware_internal_perception_msgs/SegmentationMask` | The instance segmentation mask                                      |
+| `out/color_mask`  | `sensor_msgs/Image`                                  | The colorized image of instance segmentation mask for visualization |
+| `out/debug_image` | `sensor_msgs/Image`                                  | The image with 2D bounding boxes for visualization                  |
 
 ## Parameters
 
@@ -36,7 +36,8 @@ A sample model is provided in `autoware_data` folder by ansible script on env pr
 model, you follow instructions from the
 [link](https://github.com/autowarefoundation/autoware/tree/main/ansible/roles/artifacts) to download the model.
 
-The shared model was trained by open-mmlab using the COCO dataset. For more details, see [link](https://github.com/open-mmlab/mmdetection/tree/3.x/configs/rtmdet#instance-segmentation).
+The shared model was trained by open-mmlab using the COCO dataset. For more details,
+see [link](https://github.com/open-mmlab/mmdetection/tree/3.x/configs/rtmdet#instance-segmentation).
 
 ### Package acceptable model generation
 

diff --git a/...eption/autoware_tensorrt_rtmdet/include/autoware/tensorrt_rtmdet/tensorrt_rtmdet_node.hpp b/...eption/autoware_tensorrt_rtmdet/include/autoware/tensorrt_rtmdet/tensorrt_rtmdet_node.hpp
@@ -23,7 +23,7 @@
 #include <image_transport/image_transport.hpp>
 #include <rclcpp/rclcpp.hpp>
 
-#include "autoware_perception_msgs/msg/segmentation_mask.hpp"
+#include "autoware_internal_perception_msgs/msg/segmentation_mask.hpp"
 #include "tier4_perception_msgs/msg/detected_objects_with_feature.hpp"
 
 #include <cv_bridge/cv_bridge.h>
@@ -108,7 +108,7 @@ class TrtRTMDetNode : public rclcpp::Node
   rclcpp::TimerBase::SharedPtr timer_;
 
   rclcpp::Publisher<tier4_perception_msgs::msg::DetectedObjectsWithFeature>::SharedPtr objects_pub_;
-  rclcpp::Publisher<autoware_perception_msgs::msg::SegmentationMask>::SharedPtr mask_pub_;
+  rclcpp::Publisher<autoware_internal_perception_msgs::msg::SegmentationMask>::SharedPtr mask_pub_;
 
   image_transport::Publisher color_mask_pub_;
   image_transport::Publisher debug_image_pub_;

diff --git a/perception/autoware_tensorrt_rtmdet/package.xml b/perception/autoware_tensorrt_rtmdet/package.xml
@@ -17,7 +17,7 @@
   <buildtool_export_depend>tensorrt_cmake_module</buildtool_export_depend>
 
   <depend>autoware_cuda_utils</depend>
-  <depend>autoware_internal_msgs</depend>
+  <depend>autoware_internal_perception_msgs</depend>
   <depend>autoware_object_recognition_utils</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_tensorrt_common</depend>

diff --git a/perception/autoware_tensorrt_rtmdet/src/tensorrt_rtmdet_node.cpp b/perception/autoware_tensorrt_rtmdet/src/tensorrt_rtmdet_node.cpp
@@ -86,7 +86,7 @@ TrtRTMDetNode::TrtRTMDetNode(const rclcpp::NodeOptions & node_options)
   objects_pub_ = this->create_publisher<tier4_perception_msgs::msg::DetectedObjectsWithFeature>(
     "~/out/objects", 1);
   mask_pub_ =
-    this->create_publisher<autoware_perception_msgs::msg::SegmentationMask>("~/out/mask", 1);
+    this->create_publisher<autoware_internal_perception_msgs::msg::SegmentationMask>("~/out/mask", 1);
 
   color_mask_pub_ = image_transport::create_publisher(this, "~/out/color_mask");
   debug_image_pub_ = image_transport::create_publisher(this, "~/out/debug_image");
@@ -163,7 +163,7 @@ void TrtRTMDetNode::on_image(const sensor_msgs::msg::Image::ConstSharedPtr msg)
       object_classification.probability = 1.0;
       classification.push_back(object_classification);
     }
-    autoware_perception_msgs::msg::SegmentationMask mask_msg;
+    autoware_internal_perception_msgs::msg::SegmentationMask mask_msg;
     mask_msg.classification = classification;
     mask_msg.image = *mask_image;
     mask_msg.header = msg->header;