feat: update message type (#589)

Signed-off-by: Shintaro Sakoda <[email protected]> Signed-off-by: Hayato Mizushima <[email protected]> Co-authored-by: Shintaro Sakoda <[email protected]>
tier4 · Jan 14, 2025 · fba91b9 · fba91b9
1 parent 40a7636
commit fba91b9
Show file tree

Hide file tree

Showing 12 changed files with 46 additions and 48 deletions.
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -19,7 +19,7 @@ repos:
         args: [--markdown-linebreak-ext=md]
 
   - repo: https://github.com/igorshubovych/markdownlint-cli
-    rev: v0.42.0
+    rev: v0.43.0
     hooks:
       - id: markdownlint
         args: [-c, .markdownlint.yaml, --fix, -i, CONTRIBUTING.md]
@@ -49,13 +49,13 @@ repos:
       - id: shellcheck
 
   - repo: https://github.com/scop/pre-commit-shfmt
-    rev: v3.10.0-1
+    rev: v3.10.0-2
     hooks:
       - id: shfmt
         args: [-w, -s, -i=4]
 
   - repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.7.0 # Match the version used by the vscode extension. Otherwise, the editor and the command may say different things.
+    rev: v0.8.0 # Match the version used by the vscode extension. Otherwise, the editor and the command may say different things.
     hooks:
       - id: ruff
         args: [--fix]

diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -33,7 +33,7 @@
     "${workspaceFolder}/../../../install/perception_eval/local/lib/python3.10/dist-packages",
     "${workspaceFolder}/../../../install/ros2_numpy/local/lib/python3.10/dist-packages",
     "${workspaceFolder}/../../../install/driving_log_replayer_msgs/local/lib/python3.10/dist-packages",
-    "${workspaceFolder}/../../../install/tier4_debug_msgs/local/lib/python3.10/dist-packages",
+    "${workspaceFolder}/../../../install/autoware_internal_debug_msgs/local/lib/python3.10/dist-packages",
     "${workspaceFolder}/../../../install/driving_log_replayer_analyzer/local/lib/python3.10/dist-packages",
     "${workspaceFolder}/../../../install/tier4_localization_msgs/local/lib/python3.10/dist-packages",
     "${workspaceFolder}/../../../install/tier4_api_msgs/local/lib/python3.10/dist-packages",
@@ -50,7 +50,7 @@
     "${workspaceFolder}/../../../install/perception_eval/local/lib/python3.10/dist-packages",
     "${workspaceFolder}/../../../install/ros2_numpy/local/lib/python3.10/dist-packages",
     "${workspaceFolder}/../../../install/driving_log_replayer_msgs/local/lib/python3.10/dist-packages",
-    "${workspaceFolder}/../../../install/tier4_debug_msgs/local/lib/python3.10/dist-packages",
+    "${workspaceFolder}/../../../install/autoware_internal_debug_msgs/local/lib/python3.10/dist-packages",
     "${workspaceFolder}/../../../install/driving_log_replayer_analyzer/local/lib/python3.10/dist-packages",
     "${workspaceFolder}/../../../install/tier4_localization_msgs/local/lib/python3.10/dist-packages",
     "${workspaceFolder}/../../../install/tier4_api_msgs/local/lib/python3.10/dist-packages",

diff --git a/dependency.repos b/dependency.repos
@@ -1,31 +1,29 @@
 repositories:
-  # core
-  core/autoware_msgs:
+  autoware/autoware_msgs:
     type: git
     url: https://github.com/autowarefoundation/autoware_msgs.git
     version: 1.3.0
-  core/autoware_adapi_msgs:
+  autoware/autoware_adapi_msgs:
     type: git
     url: https://github.com/autowarefoundation/autoware_adapi_msgs.git
     version: beta/1.7.0
-  core/autoware_internal_msgs:
+  autoware/autoware_internal_msgs:
     type: git
     url: https://github.com/autowarefoundation/autoware_internal_msgs.git
-    version: 1.1.0
-  core/autoware_cmake:
+    version: 1.3.0
+  autoware/autoware_cmake:
     type: git
     url: https://github.com/autowarefoundation/autoware_cmake.git
     version: 1.0.0
-  core/autoware_utils:
+  autoware/autoware_utils:
     type: git
     url: https://github.com/autowarefoundation/autoware_utils.git
     version: 1.0.0
-  core/autoware_lanelet2_extension:
+  autoware/autoware_lanelet2_extension:
     type: git
     url: https://github.com/autowarefoundation/autoware_lanelet2_extension.git
     version: 0.6.2
-  # universe
-  universe/external/tier4_autoware_msgs:
+  autoware/tier4_autoware_msgs:
     type: git
     url: https://github.com/tier4/tier4_autoware_msgs.git
     version: tier4/universe

diff --git a/docs/use_case/localization.en.md b/docs/use_case/localization.en.md
@@ -83,17 +83,17 @@ The NDT availability evaluation output is marked as `Error` when conditions for
 
 Subscribed topics:
 
-| Topic name                                                           | Data type                             |
-| -------------------------------------------------------------------- | ------------------------------------- |
-| /diagnostics                                                         | diagnostic_msgs::msg::DiagnosticArray |
-| /localization/pose_estimator/transform_probability                   | tier4_debug_msgs::msg::Float32Stamped |
-| /localization/pose_estimator/nearest_voxel_transformation_likelihood | tier4_debug_msgs::msg::Float32Stamped |
-| /localization/pose_estimator/initial_to_result_relative_pose         | geometry_msgs::msg::PoseStamped       |
-| /localization/pose_estimator/exe_time_ms                             | tier4_debug_msgs::msg::Float32Stamped |
-| /localization/pose_estimator/iteration_num                           | tier4_debug_msgs::msg::Int32Stamped   |
-| /tf                                                                  | tf2_msgs/msg/TFMessage                |
-| /localization/util/downsample/pointcloud                             | sensor_msgs::msg::PointCloud2         |
-| /localization/pose_estimator/points_aligned                          | sensor_msgs::msg::PointCloud2         |
+| Topic name                                                           | Data type                                         |
+| -------------------------------------------------------------------- | ------------------------------------------------- |
+| /diagnostics                                                         | diagnostic_msgs::msg::DiagnosticArray             |
+| /localization/pose_estimator/transform_probability                   | autoware_internal_debug_msgs::msg::Float32Stamped |
+| /localization/pose_estimator/nearest_voxel_transformation_likelihood | autoware_internal_debug_msgs::msg::Float32Stamped |
+| /localization/pose_estimator/initial_to_result_relative_pose         | geometry_msgs::msg::PoseStamped                   |
+| /localization/pose_estimator/exe_time_ms                             | autoware_internal_debug_msgs::msg::Float32Stamped |
+| /localization/pose_estimator/iteration_num                           | autoware_internal_debug_msgs::msg::Int32Stamped   |
+| /tf                                                                  | tf2_msgs/msg/TFMessage                            |
+| /localization/util/downsample/pointcloud                             | sensor_msgs::msg::PointCloud2                     |
+| /localization/pose_estimator/points_aligned                          | sensor_msgs::msg::PointCloud2                     |
 
 Published topics:
 

diff --git a/docs/use_case/localization.ja.md b/docs/use_case/localization.ja.md
@@ -83,17 +83,17 @@ Component State Monitorが出力する `/diagnostics` の中から、監視ト
 
 Subscribed topics:
 
-| topic 名                                                             | データ型                              |
-| -------------------------------------------------------------------- | ------------------------------------- |
-| /diagnostics                                                         | diagnostic_msgs::msg::DiagnosticArray |
-| /localization/pose_estimator/transform_probability                   | tier4_debug_msgs::msg::Float32Stamped |
-| /localization/pose_estimator/nearest_voxel_transformation_likelihood | tier4_debug_msgs::msg::Float32Stamped |
-| /localization/pose_estimator/initial_to_result_relative_pose         | geometry_msgs::msg::PoseStamped       |
-| /localization/pose_estimator/exe_time_ms                             | tier4_debug_msgs::msg::Float32Stamped |
-| /localization/pose_estimator/iteration_num                           | tier4_debug_msgs::msg::Int32Stamped   |
-| /tf                                                                  | tf2_msgs/msg/TFMessage                |
-| /localization/util/downsample/pointcloud                             | sensor_msgs::msg::PointCloud2         |
-| /localization/pose_estimator/points_aligned                          | sensor_msgs::msg::PointCloud2         |
+| topic 名                                                             | データ型                                          |
+| -------------------------------------------------------------------- | ------------------------------------------------- |
+| /diagnostics                                                         | diagnostic_msgs::msg::DiagnosticArray             |
+| /localization/pose_estimator/transform_probability                   | autoware_internal_debug_msgs::msg::Float32Stamped |
+| /localization/pose_estimator/nearest_voxel_transformation_likelihood | autoware_internal_debug_msgs::msg::Float32Stamped |
+| /localization/pose_estimator/initial_to_result_relative_pose         | geometry_msgs::msg::PoseStamped                   |
+| /localization/pose_estimator/exe_time_ms                             | autoware_internal_debug_msgs::msg::Float32Stamped |
+| /localization/pose_estimator/iteration_num                           | autoware_internal_debug_msgs::msg::Int32Stamped   |
+| /tf                                                                  | tf2_msgs/msg/TFMessage                            |
+| /localization/util/downsample/pointcloud                             | sensor_msgs::msg::PointCloud2                     |
+| /localization/pose_estimator/points_aligned                          | sensor_msgs::msg::PointCloud2                     |
 
 Published topics:
 

diff --git a/driving_log_replayer/config/localization_topics.yaml b/driving_log_replayer/config/localization_topics.yaml
@@ -4,7 +4,7 @@
   args:
     node_name_suffix: ndt_scan_matcher_exe_time
     topic: /localization/pose_estimator/exe_time_ms
-    topic_type: tier4_debug_msgs/msg/Float32Stamped
+    topic_type: autoware_internal_debug_msgs/msg/Float32Stamped
     best_effort: false
     transient_local: false
     warn_rate: 5.0

diff --git a/driving_log_replayer/driving_log_replayer/annotationless_perception.py b/driving_log_replayer/driving_log_replayer/annotationless_perception.py
@@ -307,7 +307,7 @@ def set_frame(self, msg: DiagnosticArray) -> dict:
                 diag_array_class[class_name] = {}
             diag_array_class[class_name].update(diag_dict)
         # evaluate for each class
-        for class_name in diag_array_class:
+        for class_name in diag_array_class:  # noqa: PLC0206
             if self.__container.get(class_name) is None:
                 # Add default ObjectMetricsClass for metrics aggregation
                 self.__container[class_name] = ObjectMetrics(

diff --git a/driving_log_replayer/driving_log_replayer/localization.py b/driving_log_replayer/driving_log_replayer/localization.py
@@ -19,15 +19,15 @@
 from typing import ClassVar
 from typing import Literal
 
+from autoware_internal_debug_msgs.msg import Float32Stamped
+from autoware_internal_debug_msgs.msg import Int32Stamped
 from diagnostic_msgs.msg import DiagnosticStatus
 from example_interfaces.msg import Float64
 from geometry_msgs.msg import PoseStamped
 import numpy as np
 from pydantic import BaseModel
 from pydantic import model_validator
 from rosidl_runtime_py import message_to_ordereddict
-from tier4_debug_msgs.msg import Float32Stamped
-from tier4_debug_msgs.msg import Int32Stamped
 
 from driving_log_replayer.result import EvaluationItem
 from driving_log_replayer.result import ResultBase

diff --git a/driving_log_replayer/package.xml b/driving_log_replayer/package.xml
@@ -17,6 +17,7 @@
   <build_depend>autoware_cmake</build_depend>
 
   <depend>autoware_common_msgs</depend>
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_map_msgs</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>diagnostic_msgs</depend>
@@ -29,7 +30,6 @@
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_debug_msgs</depend>
   <depend>tier4_localization_msgs</depend>
   <depend>visualization_msgs</depend>
 

diff --git a/driving_log_replayer/scripts/localization_evaluator_node.py b/driving_log_replayer/scripts/localization_evaluator_node.py
@@ -14,12 +14,12 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from autoware_internal_debug_msgs.msg import Float32Stamped
+from autoware_internal_debug_msgs.msg import Int32Stamped
 from diagnostic_msgs.msg import DiagnosticArray
 from diagnostic_msgs.msg import DiagnosticStatus
 from example_interfaces.msg import Float64
 from geometry_msgs.msg import PoseStamped
-from tier4_debug_msgs.msg import Float32Stamped
-from tier4_debug_msgs.msg import Int32Stamped
 
 from driving_log_replayer.evaluator import DLREvaluator
 from driving_log_replayer.evaluator import evaluator_main

diff --git a/driving_log_replayer/test/unittest/test_localization.py b/driving_log_replayer/test/unittest/test_localization.py
@@ -14,13 +14,13 @@
 
 from collections.abc import Callable
 
+from autoware_internal_debug_msgs.msg import Float32Stamped
+from autoware_internal_debug_msgs.msg import Int32Stamped
 from builtin_interfaces.msg import Time
 from diagnostic_msgs.msg import DiagnosticStatus
 from diagnostic_msgs.msg import KeyValue
 from example_interfaces.msg import Float64
 import pytest
-from tier4_debug_msgs.msg import Float32Stamped
-from tier4_debug_msgs.msg import Int32Stamped
 
 from driving_log_replayer.localization import Availability
 from driving_log_replayer.localization import Convergence

diff --git a/pyproject.toml b/pyproject.toml
@@ -46,7 +46,7 @@ build-backend = "hatchling.build"
 # https://github.com/astral-sh/uv/issues/7703
 constraint-dependencies = ["kaleido!=0.2.1.post1"]
 dev-dependencies = [
-    "ruff==0.7.0",
+    "ruff==0.8.0",
     "pytest>=8.1.1",
 ]
 
@@ -63,7 +63,7 @@ output-format = "full"
 [tool.ruff.lint]
 # https://beta.ruff.rs/docs/rules/
 select = ["A", "B", "C", "D", "E", "F", "G", "I", "N", "Q", "S", "T", "W", "ANN", "ARG", "BLE", "COM", "DJ", "DTZ", "EM", "ERA", "EXE", "FBT", "ICN", "ISC", "NPY", "PD", "PGH", "PIE", "PL", "PT", "PTH", "PYI", "RET", "RSE", "RUF", "SIM", "SLF", "TCH", "TID", "TRY", "UP", "YTT"]
-ignore = ["Q000", "ANN101", "ANN102", "ANN401", "PGH004", "E501", "PLR0913", "S101", "S301", "S603", "SIM115", "D100", "D101", "D102", "D103", "D104", "D105", "D106", "D107", "D203", "D212", "D404", "D417", "PD011", "PD002", "PD901", "COM812", "ISC001"]
+ignore = ["Q000", "ANN401", "PGH004", "E501", "PLR0913", "S101", "S301", "S603", "SIM115", "D100", "D101", "D102", "D103", "D104", "D105", "D106", "D107", "D203", "D212", "D404", "D417", "PD011", "PD002", "PD901", "COM812", "ISC001"]
 fixable = ["D", "I", "ANN", "COM", "EXE", "PIE"]
 
 [tool.ruff.lint.isort]