refactor(vehicle_info_utils)!: prefix package and namespace with auto…

…ware (#7353) * chore(autoware_vehicle_info_utils): rename header Signed-off-by: satoshi-ota <[email protected]> * chore(bpp-common): vehicle info Signed-off-by: satoshi-ota <[email protected]> * chore(path_optimizer): vehicle info Signed-off-by: satoshi-ota <[email protected]> * chore(velocity_smoother): vehicle info Signed-off-by: satoshi-ota <[email protected]> * chore(bvp-common): vehicle info Signed-off-by: satoshi-ota <[email protected]> * chore(static_centerline_generator): vehicle info Signed-off-by: satoshi-ota <[email protected]> * chore(obstacle_cruise_planner): vehicle info Signed-off-by: satoshi-ota <[email protected]> * chore(obstacle_velocity_limiter): vehicle info Signed-off-by: satoshi-ota <[email protected]> * chore(mission_planner): vehicle info Signed-off-by: satoshi-ota <[email protected]> * chore(obstacle_stop_planner): vehicle info Signed-off-by: satoshi-ota <[email protected]> * chore(planning_validator): vehicle info Signed-off-by: satoshi-ota <[email protected]> * chore(surround_obstacle_checker): vehicle info Signed-off-by: satoshi-ota <[email protected]> * chore(goal_planner): vehicle info Signed-off-by: satoshi-ota <[email protected]> * chore(start_planner): vehicle info Signed-off-by: satoshi-ota <[email protected]> * chore(control_performance_analysis): vehicle info Signed-off-by: satoshi-ota <[email protected]> * chore(lane_departure_checker): vehicle info Signed-off-by: satoshi-ota <[email protected]> * chore(predicted_path_checker): vehicle info Signed-off-by: satoshi-ota <[email protected]> * chore(vehicle_cmd_gate): vehicle info Signed-off-by: satoshi-ota <[email protected]> * chore(obstacle_collision_checker): vehicle info Signed-off-by: satoshi-ota <[email protected]> * chore(operation_mode_transition_manager): vehicle info Signed-off-by: satoshi-ota <[email protected]> * chore(mpc): vehicle info Signed-off-by: satoshi-ota <[email protected]> * chore(control): vehicle info Signed-off-by: satoshi-ota <[email protected]> * chore(common): vehicle info Signed-off-by: satoshi-ota <[email protected]> * chore(perception): vehicle info Signed-off-by: satoshi-ota <[email protected]> * chore(evaluator): vehicle info Signed-off-by: satoshi-ota <[email protected]> * chore(freespace): vehicle info Signed-off-by: satoshi-ota <[email protected]> * chore(planning): vehicle info Signed-off-by: satoshi-ota <[email protected]> * chore(vehicle): vehicle info Signed-off-by: satoshi-ota <[email protected]> * chore(simulator): vehicle info Signed-off-by: satoshi-ota <[email protected]> * chore(launch): vehicle info Signed-off-by: satoshi-ota <[email protected]> * chore(system): vehicle info Signed-off-by: satoshi-ota <[email protected]> * chore(sensing): vehicle info Signed-off-by: satoshi-ota <[email protected]> * fix(autoware_joy_controller): remove unused deps Signed-off-by: satoshi-ota <[email protected]> --------- Signed-off-by: satoshi-ota <[email protected]>
autowarefoundation · Jun 10, 2024 · ed60229 · ed60229
1 parent badc3e7
commit ed60229
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diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -248,6 +248,7 @@ vehicle/accel_brake_map_calibrator/** [email protected] takeshi.miura@tier4.
 vehicle/autoware_steer_offset_estimator/** [email protected]
 vehicle/external_cmd_converter/** [email protected]
 vehicle/raw_vehicle_cmd_converter/** [email protected] [email protected] [email protected]
-vehicle/vehicle_info_util/** [email protected] [email protected] [email protected]
+vehicle/autoware_steer_offset_estimator/** [email protected]
+vehicle/autoware_vehicle_info_utils/** [email protected] [email protected] [email protected]
 
 ### Copied from .github/CODEOWNERS-manual ###
diff --git a/common/global_parameter_loader/launch/global_params.launch.py b/common/global_parameter_loader/launch/global_params.launch.py
@@ -33,7 +33,7 @@ def launch_setup(context, *args, **kwargs):
 
     load_vehicle_info = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            [FindPackageShare("vehicle_info_util"), "/launch/vehicle_info.launch.py"]
+            [FindPackageShare("autoware_vehicle_info_utils"), "/launch/vehicle_info.launch.py"]
         ),
         launch_arguments={
             "vehicle_info_param_file": [vehicle_description_pkg, "/config/vehicle_info.param.yaml"]

diff --git a/common/global_parameter_loader/package.xml b/common/global_parameter_loader/package.xml
@@ -10,7 +10,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <exec_depend>vehicle_info_util</exec_depend>
+  <exec_depend>autoware_vehicle_info_utils</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

diff --git a/common/tier4_localization_rviz_plugin/package.xml b/common/tier4_localization_rviz_plugin/package.xml
@@ -11,6 +11,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_vehicle_info_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>libqt5-core</depend>
   <depend>libqt5-gui</depend>
@@ -20,7 +21,6 @@
   <depend>rviz_common</depend>
   <depend>rviz_default_plugins</depend>
   <depend>tf2_ros</depend>
-  <depend>vehicle_info_util</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

diff --git a/common/tier4_localization_rviz_plugin/src/pose_history_footprint/display.cpp b/common/tier4_localization_rviz_plugin/src/pose_history_footprint/display.cpp
@@ -172,7 +172,7 @@ void PoseHistoryFootprint::updateFootprint()
   if (!vehicle_info_) {
     try {
       vehicle_info_ = std::make_shared<VehicleInfo>(
-        VehicleInfoUtil(*rviz_ros_node_.lock()->get_raw_node()).getVehicleInfo());
+        VehicleInfoUtils(*rviz_ros_node_.lock()->get_raw_node()).getVehicleInfo());
       updateVehicleInfo();
     } catch (const std::exception & e) {
       RCLCPP_WARN_THROTTLE(

diff --git a/common/tier4_localization_rviz_plugin/src/pose_history_footprint/display.hpp b/common/tier4_localization_rviz_plugin/src/pose_history_footprint/display.hpp
@@ -15,8 +15,8 @@
 #ifndef POSE_HISTORY_FOOTPRINT__DISPLAY_HPP_
 #define POSE_HISTORY_FOOTPRINT__DISPLAY_HPP_
 
+#include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
 #include <rviz_common/message_filter_display.hpp>
-#include <vehicle_info_util/vehicle_info_util.hpp>
 
 #include <geometry_msgs/msg/pose_stamped.hpp>
 
@@ -39,8 +39,8 @@ class BoolProperty;
 namespace rviz_plugins
 {
 
-using vehicle_info_util::VehicleInfo;
-using vehicle_info_util::VehicleInfoUtil;
+using autoware::vehicle_info_utils::VehicleInfo;
+using autoware::vehicle_info_utils::VehicleInfoUtils;
 
 class PoseHistoryFootprint
 : public rviz_common::MessageFilterDisplay<geometry_msgs::msg::PoseStamped>

diff --git a/common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display_base.hpp b/common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display_base.hpp
@@ -15,6 +15,7 @@
 #ifndef TIER4_PLANNING_RVIZ_PLUGIN__PATH__DISPLAY_BASE_HPP_
 #define TIER4_PLANNING_RVIZ_PLUGIN__PATH__DISPLAY_BASE_HPP_
 
+#include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <rviz_common/display_context.hpp>
 #include <rviz_common/frame_manager_iface.hpp>
@@ -25,7 +26,6 @@
 #include <rviz_common/properties/parse_color.hpp>
 #include <rviz_common/validate_floats.hpp>
 #include <rviz_rendering/objects/movable_text.hpp>
-#include <vehicle_info_util/vehicle_info_util.hpp>
 
 #include <autoware_planning_msgs/msg/path.hpp>
 
@@ -97,8 +97,8 @@ bool validateFloats(const typename T::ConstSharedPtr & msg_ptr)
 
 namespace rviz_plugins
 {
-using vehicle_info_util::VehicleInfo;
-using vehicle_info_util::VehicleInfoUtil;
+using autoware::vehicle_info_utils::VehicleInfo;
+using autoware::vehicle_info_utils::VehicleInfoUtils;
 template <typename T>
 class AutowarePathBaseDisplay : public rviz_common::MessageFilterDisplay<T>
 {

diff --git a/common/tier4_planning_rviz_plugin/package.xml b/common/tier4_planning_rviz_plugin/package.xml
@@ -12,6 +12,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_vehicle_info_utils</depend>
   <depend>libqt5-core</depend>
   <depend>libqt5-gui</depend>
   <depend>libqt5-widgets</depend>
@@ -25,7 +26,6 @@
   <depend>tf2_ros</depend>
   <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
-  <depend>vehicle_info_util</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

diff --git a/common/tier4_planning_rviz_plugin/src/path/display.cpp b/common/tier4_planning_rviz_plugin/src/path/display.cpp
@@ -31,7 +31,7 @@ void AutowarePathWithLaneIdDisplay::preProcessMessageDetail()
   if (!vehicle_info_) {
     try {
       vehicle_info_ = std::make_shared<VehicleInfo>(
-        VehicleInfoUtil(*rviz_ros_node_.lock()->get_raw_node()).getVehicleInfo());
+        VehicleInfoUtils(*rviz_ros_node_.lock()->get_raw_node()).getVehicleInfo());
       updateVehicleInfo();
     } catch (const std::exception & e) {
       RCLCPP_WARN_ONCE(
@@ -107,7 +107,7 @@ void AutowarePathDisplay::preProcessMessageDetail()
   if (!vehicle_info_) {
     try {
       vehicle_info_ = std::make_shared<VehicleInfo>(
-        VehicleInfoUtil(*rviz_ros_node_.lock()->get_raw_node()).getVehicleInfo());
+        VehicleInfoUtils(*rviz_ros_node_.lock()->get_raw_node()).getVehicleInfo());
       updateVehicleInfo();
     } catch (const std::exception & e) {
       RCLCPP_WARN_ONCE(
@@ -124,7 +124,7 @@ void AutowareTrajectoryDisplay::preProcessMessageDetail()
   if (!vehicle_info_) {
     try {
       vehicle_info_ = std::make_shared<VehicleInfo>(
-        VehicleInfoUtil(*rviz_ros_node_.lock()->get_raw_node()).getVehicleInfo());
+        VehicleInfoUtils(*rviz_ros_node_.lock()->get_raw_node()).getVehicleInfo());
       updateVehicleInfo();
     } catch (const std::exception & e) {
       RCLCPP_WARN_ONCE(

diff --git a/...oware_autonomous_emergency_braking/include/autoware_autonomous_emergency_braking/node.hpp b/...oware_autonomous_emergency_braking/include/autoware_autonomous_emergency_braking/node.hpp
@@ -15,13 +15,13 @@
 #ifndef AUTOWARE_AUTONOMOUS_EMERGENCY_BRAKING__NODE_HPP_
 #define AUTOWARE_AUTONOMOUS_EMERGENCY_BRAKING__NODE_HPP_
 
+#include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
 #include <pcl_ros/transforms.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <tier4_autoware_utils/geometry/geometry.hpp>
 #include <tier4_autoware_utils/ros/polling_subscriber.hpp>
-#include <vehicle_info_util/vehicle_info_util.hpp>
 
 #include <autoware_planning_msgs/msg/trajectory.hpp>
 #include <autoware_system_msgs/msg/autoware_state.hpp>
@@ -59,11 +59,11 @@ using nav_msgs::msg::Odometry;
 using sensor_msgs::msg::Imu;
 using sensor_msgs::msg::PointCloud2;
 using PointCloud = pcl::PointCloud<pcl::PointXYZ>;
+using autoware::vehicle_info_utils::VehicleInfo;
 using diagnostic_updater::DiagnosticStatusWrapper;
 using diagnostic_updater::Updater;
 using tier4_autoware_utils::Point2d;
 using tier4_autoware_utils::Polygon2d;
-using vehicle_info_util::VehicleInfo;
 using visualization_msgs::msg::Marker;
 using visualization_msgs::msg::MarkerArray;
 using Path = std::vector<geometry_msgs::msg::Pose>;

diff --git a/control/autoware_autonomous_emergency_braking/package.xml b/control/autoware_autonomous_emergency_braking/package.xml
@@ -17,6 +17,7 @@
   <depend>autoware_control_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_system_msgs</depend>
+  <depend>autoware_vehicle_info_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>diagnostic_updater</depend>
   <depend>geometry_msgs</depend>
@@ -34,7 +35,6 @@
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
   <depend>tier4_autoware_utils</depend>
-  <depend>vehicle_info_util</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>

diff --git a/control/autoware_autonomous_emergency_braking/src/node.cpp b/control/autoware_autonomous_emergency_braking/src/node.cpp
@@ -60,7 +60,7 @@ void appendPointToPolygon(Polygon2d & polygon, const geometry_msgs::msg::Point &
 
 Polygon2d createPolygon(
   const geometry_msgs::msg::Pose & base_pose, const geometry_msgs::msg::Pose & next_pose,
-  const vehicle_info_util::VehicleInfo & vehicle_info, const double expand_width)
+  const autoware::vehicle_info_utils::VehicleInfo & vehicle_info, const double expand_width)
 {
   Polygon2d polygon;
 
@@ -102,7 +102,7 @@ Polygon2d createPolygon(
 
 AEB::AEB(const rclcpp::NodeOptions & node_options)
 : Node("AEB", node_options),
-  vehicle_info_(vehicle_info_util::VehicleInfoUtil(*this).getVehicleInfo()),
+  vehicle_info_(autoware::vehicle_info_utils::VehicleInfoUtils(*this).getVehicleInfo()),
   collision_data_keeper_(this->get_clock())
 {
   // Publisher

diff --git a/control/autoware_mpc_lateral_controller/package.xml b/control/autoware_mpc_lateral_controller/package.xml
@@ -19,6 +19,7 @@
 
   <depend>autoware_control_msgs</depend>
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_vehicle_info_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>diagnostic_msgs</depend>
   <depend>diagnostic_updater</depend>
@@ -35,7 +36,6 @@
   <depend>tier4_autoware_utils</depend>
   <depend>tier4_debug_msgs</depend>
   <depend>trajectory_follower_base</depend>
-  <depend>vehicle_info_util</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>

diff --git a/control/autoware_mpc_lateral_controller/src/mpc_lateral_controller.cpp b/control/autoware_mpc_lateral_controller/src/mpc_lateral_controller.cpp
@@ -19,10 +19,10 @@
 #include "autoware_mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_dynamics.hpp"
 #include "autoware_mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics.hpp"
 #include "autoware_mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.hpp"
+#include "autoware_vehicle_info_utils/vehicle_info_utils.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
 #include "tf2/utils.h"
 #include "tf2_ros/create_timer_ros.h"
-#include "vehicle_info_util/vehicle_info_util.hpp"
 
 #include <algorithm>
 #include <deque>
@@ -69,7 +69,7 @@ MpcLateralController::MpcLateralController(rclcpp::Node & node)
   m_mpc_converged_threshold_rps = dp_double("mpc_converged_threshold_rps");  // [rad/s]
 
   /* mpc parameters */
-  const auto vehicle_info = vehicle_info_util::VehicleInfoUtil(node).getVehicleInfo();
+  const auto vehicle_info = autoware::vehicle_info_utils::VehicleInfoUtils(node).getVehicleInfo();
   const double wheelbase = vehicle_info.wheel_base_m;
   constexpr double deg2rad = static_cast<double>(M_PI) / 180.0;
   m_mpc->m_steer_lim = vehicle_info.max_steer_angle_rad;

diff --git a/...l_controller/include/autoware_pid_longitudinal_controller/pid_longitudinal_controller.hpp b/...l_controller/include/autoware_pid_longitudinal_controller/pid_longitudinal_controller.hpp
@@ -20,14 +20,14 @@
 #include "autoware_pid_longitudinal_controller/lowpass_filter.hpp"
 #include "autoware_pid_longitudinal_controller/pid.hpp"
 #include "autoware_pid_longitudinal_controller/smooth_stop.hpp"
+#include "autoware_vehicle_info_utils/vehicle_info_utils.hpp"
 #include "diagnostic_updater/diagnostic_updater.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "tf2/utils.h"
 #include "tf2_ros/buffer.h"
 #include "tf2_ros/transform_listener.h"
 #include "tier4_autoware_utils/ros/marker_helper.hpp"
 #include "trajectory_follower_base/longitudinal_controller_base.hpp"
-#include "vehicle_info_util/vehicle_info_util.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>

diff --git a/control/autoware_pid_longitudinal_controller/package.xml b/control/autoware_pid_longitudinal_controller/package.xml
@@ -21,6 +21,7 @@
   <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_control_msgs</depend>
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_vehicle_info_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>diagnostic_msgs</depend>
   <depend>diagnostic_updater</depend>
@@ -36,7 +37,6 @@
   <depend>tier4_autoware_utils</depend>
   <depend>tier4_debug_msgs</depend>
   <depend>trajectory_follower_base</depend>
-  <depend>vehicle_info_util</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>

diff --git a/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp b/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
@@ -38,9 +38,11 @@ PidLongitudinalController::PidLongitudinalController(rclcpp::Node & node)
   // parameters timer
   m_longitudinal_ctrl_period = node.get_parameter("ctrl_period").as_double();
 
-  m_wheel_base = vehicle_info_util::VehicleInfoUtil(node).getVehicleInfo().wheel_base_m;
-  m_vehicle_width = vehicle_info_util::VehicleInfoUtil(node).getVehicleInfo().vehicle_width_m;
-  m_front_overhang = vehicle_info_util::VehicleInfoUtil(node).getVehicleInfo().front_overhang_m;
+  m_wheel_base = autoware::vehicle_info_utils::VehicleInfoUtils(node).getVehicleInfo().wheel_base_m;
+  m_vehicle_width =
+    autoware::vehicle_info_utils::VehicleInfoUtils(node).getVehicleInfo().vehicle_width_m;
+  m_front_overhang =
+    autoware::vehicle_info_utils::VehicleInfoUtils(node).getVehicleInfo().front_overhang_m;
 
   // parameters for delay compensation
   m_delay_compensation_time = node.declare_parameter<double>("delay_compensation_time");  // [s]

diff --git a/control/autoware_vehicle_cmd_gate/launch/vehicle_cmd_gate.launch.xml b/control/autoware_vehicle_cmd_gate/launch/vehicle_cmd_gate.launch.xml
@@ -3,7 +3,7 @@
   <arg name="check_external_emergency_heartbeat" default="true"/>
 
   <!-- vehicle info -->
-  <arg name="vehicle_info_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml"/>
+  <arg name="vehicle_info_param_file" default="$(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml"/>
 
   <node pkg="autoware_vehicle_cmd_gate" exec="vehicle_cmd_gate_exe" name="vehicle_cmd_gate" output="screen">
     <remap from="input/steering" to="/vehicle/status/steering_status"/>

diff --git a/control/autoware_vehicle_cmd_gate/package.xml b/control/autoware_vehicle_cmd_gate/package.xml
@@ -17,6 +17,7 @@
 
   <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_control_msgs</depend>
+  <depend>autoware_vehicle_info_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>component_interface_specs</depend>
   <depend>component_interface_utils</depend>
@@ -33,7 +34,6 @@
   <depend>tier4_external_api_msgs</depend>
   <depend>tier4_system_msgs</depend>
   <depend>tier4_vehicle_msgs</depend>
-  <depend>vehicle_info_util</depend>
   <depend>visualization_msgs</depend>
 
   <exec_depend>rosidl_default_runtime</exec_depend>

diff --git a/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp
@@ -170,7 +170,7 @@ VehicleCmdGate::VehicleCmdGate(const rclcpp::NodeOptions & node_options)
     declare_parameter<double>("filter_activated_velocity_threshold");
 
   // Vehicle Parameter
-  const auto vehicle_info = vehicle_info_util::VehicleInfoUtil(*this).getVehicleInfo();
+  const auto vehicle_info = autoware::vehicle_info_utils::VehicleInfoUtils(*this).getVehicleInfo();
   {
     VehicleCmdFilterParam p;
     p.wheel_base = vehicle_info.wheel_base_m;
@@ -276,7 +276,7 @@ rcl_interfaces::msg::SetParametersResult VehicleCmdGate::onParameter(
     parameters, "filter_activated_velocity_threshold", filter_activated_velocity_threshold_);
 
   // Vehicle Parameter
-  const auto vehicle_info = vehicle_info_util::VehicleInfoUtil(*this).getVehicleInfo();
+  const auto vehicle_info = autoware::vehicle_info_utils::VehicleInfoUtils(*this).getVehicleInfo();
   {
     VehicleCmdFilterParam p = filter_.getParam();
     p.wheel_base = vehicle_info.wheel_base_m;

diff --git a/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.hpp b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.hpp
@@ -21,11 +21,11 @@
 #include "vehicle_cmd_filter.hpp"
 
 #include <autoware_vehicle_cmd_gate/msg/is_filter_activated.hpp>
+#include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <motion_utils/vehicle/vehicle_state_checker.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <tier4_autoware_utils/ros/published_time_publisher.hpp>
-#include <vehicle_info_util/vehicle_info_util.hpp>
 
 #include <autoware_adapi_v1_msgs/msg/mrm_state.hpp>
 #include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>

diff --git a/control/autoware_vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp b/control/autoware_vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp
@@ -371,7 +371,7 @@ std::shared_ptr<VehicleCmdGate> generateNode()
   const auto vehicle_cmd_gate_dir =
     ament_index_cpp::get_package_share_directory("autoware_vehicle_cmd_gate");
   const auto vehicle_info_util_dir =
-    ament_index_cpp::get_package_share_directory("vehicle_info_util");
+    ament_index_cpp::get_package_share_directory("autoware_vehicle_info_utils");
 
   node_options.arguments(
     {"--ros-args", "--params-file", vehicle_cmd_gate_dir + "/config/vehicle_cmd_gate.param.yaml",

diff --git a/control/control_performance_analysis/launch/control_performance_analysis.launch.xml b/control/control_performance_analysis/launch/control_performance_analysis.launch.xml
@@ -8,7 +8,7 @@
   <arg name="output/driving_status_stamped" default="/control_performance/driving_status"/>
 
   <!-- vehicle info -->
-  <arg name="vehicle_info_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml"/>
+  <arg name="vehicle_info_param_file" default="$(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml"/>
 
   <node pkg="control_performance_analysis" exec="control_performance_analysis_exe" name="control_performance_analysis_exe" output="screen">
     <param from="$(var control_performance_analysis_param_path)"/>

diff --git a/control/control_performance_analysis/package.xml b/control/control_performance_analysis/package.xml
@@ -26,6 +26,7 @@
 
   <depend>autoware_control_msgs</depend>
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_vehicle_info_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>libboost-dev</depend>
@@ -41,7 +42,6 @@
   <depend>tf2_ros</depend>
   <depend>tier4_autoware_utils</depend>
   <depend>tier4_debug_msgs</depend>
-  <depend>vehicle_info_util</depend>
   <exec_depend>builtin_interfaces</exec_depend>
   <exec_depend>global_parameter_loader</exec_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>