refactor(autoware_iv_external_api_adaptor): update component_interfac…

…e_specs dependency (#126) * refactor(autoware_iv_external_api_adaptor): update component_interface_specs dependency Signed-off-by: Esteve Fernandez <[email protected]> * shorten namespaces Signed-off-by: Esteve Fernandez <[email protected]> * update includes Signed-off-by: Esteve Fernandez <[email protected]> --------- Signed-off-by: Esteve Fernandez <[email protected]>
tier4 · Oct 29, 2024 · 3de19bc · 3de19bc
1 parent 5effcb8
commit 3de19bc
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Showing 3 changed files with 12 additions and 8 deletions.
diff --git a/autoware_iv_external_api_adaptor/package.xml b/autoware_iv_external_api_adaptor/package.xml
@@ -11,11 +11,11 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_ad_api_specs</depend>
+  <depend>autoware_component_interface_specs</depend>
   <depend>autoware_control_msgs</depend>
   <depend>autoware_external_api_msgs</depend>
   <depend>autoware_system_msgs</depend>
   <depend>autoware_vehicle_msgs</depend>
-  <depend>component_interface_specs</depend>
   <depend>component_interface_utils</depend>
   <depend>nlohmann-json-dev</depend>
   <depend>rclcpp</depend>

diff --git a/autoware_iv_external_api_adaptor/src/initial_pose.cpp b/autoware_iv_external_api_adaptor/src/initial_pose.cpp
@@ -60,8 +60,10 @@ void InitialPose::setInitializePose(
   const tier4_external_api_msgs::srv::InitializePose::Request::SharedPtr request,
   const tier4_external_api_msgs::srv::InitializePose::Response::SharedPtr response)
 {
-  const auto req = std::make_shared<localization_interface::Initialize::Service::Request>();
-  req->method = localization_interface::Initialize::Service::Request::AUTO;
+  const auto req = std::make_shared<
+    autoware::component_interface_specs::localization::Initialize::Service::Request>();
+  req->method =
+    autoware::component_interface_specs::localization::Initialize::Service::Request::AUTO;
   req->pose_with_covariance.push_back(request->pose);
   req->pose_with_covariance.back().pose.covariance = particle_covariance;
 
@@ -77,8 +79,10 @@ void InitialPose::setInitializePoseAuto(
   const tier4_external_api_msgs::srv::InitializePoseAuto::Request::SharedPtr,
   const tier4_external_api_msgs::srv::InitializePoseAuto::Response::SharedPtr response)
 {
-  const auto req = std::make_shared<localization_interface::Initialize::Service::Request>();
-  req->method = localization_interface::Initialize::Service::Request::AUTO;
+  const auto req = std::make_shared<
+    autoware::component_interface_specs::localization::Initialize::Service::Request>();
+  req->method =
+    autoware::component_interface_specs::localization::Initialize::Service::Request::AUTO;
 
   try {
     const auto res = cli_localization_initialize_->call(req, initial_pose_timeout);

diff --git a/autoware_iv_external_api_adaptor/src/initial_pose.hpp b/autoware_iv_external_api_adaptor/src/initial_pose.hpp
@@ -15,7 +15,7 @@
 #ifndef INITIAL_POSE_HPP_
 #define INITIAL_POSE_HPP_
 
-#include <component_interface_specs/localization.hpp>
+#include <autoware/component_interface_specs/localization.hpp>
 #include <component_interface_utils/rclcpp.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <tier4_api_utils/tier4_api_utils.hpp>
@@ -39,8 +39,8 @@ class InitialPose : public rclcpp::Node
   rclcpp::CallbackGroup::SharedPtr group_;
   tier4_api_utils::Service<InitializePose>::SharedPtr srv_set_initialize_pose_;
   tier4_api_utils::Service<InitializePoseAuto>::SharedPtr srv_set_initialize_pose_auto_;
-  component_interface_utils::Client<localization_interface::Initialize>::SharedPtr
-    cli_localization_initialize_;
+  component_interface_utils::Client<autoware::component_interface_specs::localization::Initialize>::
+    SharedPtr cli_localization_initialize_;
 
   // ros callback
   void setInitializePose(