feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in fie…

…s localization/autoware_ekf_localizer (#9860)

Signed-off-by: vish0012 <vishalchhn42@gmail.com>
Co-authored-by: SakodaShintaro <shintaro.sakoda@tier4.jp>

localization/autoware_ekf_localizer/README.md

@@ -44,17 +44,17 @@ This package includes the following features:
 
 ### Published Topics
 
-| Name                              | Type                                             | Description                                           |
-| --------------------------------- | ------------------------------------------------ | ----------------------------------------------------- |
-| `ekf_odom`                        | `nav_msgs::msg::Odometry`                        | Estimated odometry.                                   |
-| `ekf_pose`                        | `geometry_msgs::msg::PoseStamped`                | Estimated pose.                                       |
-| `ekf_pose_with_covariance`        | `geometry_msgs::msg::PoseWithCovarianceStamped`  | Estimated pose with covariance.                       |
-| `ekf_biased_pose`                 | `geometry_msgs::msg::PoseStamped`                | Estimated pose including the yaw bias                 |
-| `ekf_biased_pose_with_covariance` | `geometry_msgs::msg::PoseWithCovarianceStamped`  | Estimated pose with covariance including the yaw bias |
-| `ekf_twist`                       | `geometry_msgs::msg::TwistStamped`               | Estimated twist.                                      |
-| `ekf_twist_with_covariance`       | `geometry_msgs::msg::TwistWithCovarianceStamped` | The estimated twist with covariance.                  |
-| `diagnostics`                     | `diagnostics_msgs::msg::DiagnosticArray`         | The diagnostic information.                           |
-| `debug/processing_time_ms`        | `tier4_debug_msgs::msg::Float64Stamped`          | The processing time [ms].                             |
+| Name                              | Type                                                | Description                                           |
+| --------------------------------- | --------------------------------------------------- | ----------------------------------------------------- |
+| `ekf_odom`                        | `nav_msgs::msg::Odometry`                           | Estimated odometry.                                   |
+| `ekf_pose`                        | `geometry_msgs::msg::PoseStamped`                   | Estimated pose.                                       |
+| `ekf_pose_with_covariance`        | `geometry_msgs::msg::PoseWithCovarianceStamped`     | Estimated pose with covariance.                       |
+| `ekf_biased_pose`                 | `geometry_msgs::msg::PoseStamped`                   | Estimated pose including the yaw bias                 |
+| `ekf_biased_pose_with_covariance` | `geometry_msgs::msg::PoseWithCovarianceStamped`     | Estimated pose with covariance including the yaw bias |
+| `ekf_twist`                       | `geometry_msgs::msg::TwistStamped`                  | Estimated twist.                                      |
+| `ekf_twist_with_covariance`       | `geometry_msgs::msg::TwistWithCovarianceStamped`    | The estimated twist with covariance.                  |
+| `diagnostics`                     | `diagnostics_msgs::msg::DiagnosticArray`            | The diagnostic information.                           |
+| `debug/processing_time_ms`        | `autoware_internal_debug_msgs::msg::Float64Stamped` | The processing time [ms].                             |
 
 ### Published TF
 

localization/autoware_ekf_localizer/include/autoware/ekf_localizer/ekf_localizer.hpp

@@ -25,6 +25,8 @@
 #include <autoware/universe_utils/system/stop_watch.hpp>
 #include <rclcpp/rclcpp.hpp>
 
+#include <autoware_internal_debug_msgs/msg/float64_multi_array_stamped.hpp>
+#include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
 #include <diagnostic_msgs/msg/diagnostic_array.hpp>
 #include <geometry_msgs/msg/pose_array.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
@@ -34,8 +36,6 @@
 #include <geometry_msgs/msg/twist_with_covariance_stamped.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 #include <std_srvs/srv/set_bool.hpp>
-#include <tier4_debug_msgs/msg/float64_multi_array_stamped.hpp>
-#include <tier4_debug_msgs/msg/float64_stamped.hpp>
 
 #include <tf2/LinearMath/Quaternion.h>
 #include <tf2/utils.h>
@@ -78,15 +78,16 @@ class EKFLocalizer : public rclcpp::Node
   //!< @brief ekf estimated twist with covariance publisher
   rclcpp::Publisher<geometry_msgs::msg::TwistWithCovarianceStamped>::SharedPtr pub_twist_cov_;
   //!< @brief ekf estimated yaw bias publisher
-  rclcpp::Publisher<tier4_debug_msgs::msg::Float64Stamped>::SharedPtr pub_yaw_bias_;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float64Stamped>::SharedPtr pub_yaw_bias_;
   //!< @brief ekf estimated yaw bias publisher
   rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr pub_biased_pose_;
   //!< @brief ekf estimated yaw bias publisher
   rclcpp::Publisher<geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr pub_biased_pose_cov_;
   //!< @brief diagnostics publisher
   rclcpp::Publisher<diagnostic_msgs::msg::DiagnosticArray>::SharedPtr pub_diag_;
   //!< @brief processing_time publisher
-  rclcpp::Publisher<tier4_debug_msgs::msg::Float64Stamped>::SharedPtr pub_processing_time_;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float64Stamped>::SharedPtr
+    pub_processing_time_;
   //!< @brief initial pose subscriber
   rclcpp::Subscription<geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr sub_initialpose_;
   //!< @brief measurement pose with covariance subscriber

localization/autoware_ekf_localizer/package.xml

@@ -22,6 +22,7 @@
 
   <build_depend>eigen</build_depend>
 
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_kalman_filter</depend>
   <depend>autoware_localization_util</depend>
   <depend>autoware_universe_utils</depend>
@@ -34,7 +35,6 @@
   <depend>std_srvs</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_debug_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>

localization/autoware_ekf_localizer/src/ekf_localizer.cpp

@@ -70,13 +70,14 @@ EKFLocalizer::EKFLocalizer(const rclcpp::NodeOptions & node_options)
   pub_twist_ = create_publisher<geometry_msgs::msg::TwistStamped>("ekf_twist", 1);
   pub_twist_cov_ = create_publisher<geometry_msgs::msg::TwistWithCovarianceStamped>(
     "ekf_twist_with_covariance", 1);
-  pub_yaw_bias_ = create_publisher<tier4_debug_msgs::msg::Float64Stamped>("estimated_yaw_bias", 1);
+  pub_yaw_bias_ =
+    create_publisher<autoware_internal_debug_msgs::msg::Float64Stamped>("estimated_yaw_bias", 1);
   pub_biased_pose_ = create_publisher<geometry_msgs::msg::PoseStamped>("ekf_biased_pose", 1);
   pub_biased_pose_cov_ = create_publisher<geometry_msgs::msg::PoseWithCovarianceStamped>(
     "ekf_biased_pose_with_covariance", 1);
   pub_diag_ = this->create_publisher<diagnostic_msgs::msg::DiagnosticArray>("/diagnostics", 10);
-  pub_processing_time_ =
-    create_publisher<tier4_debug_msgs::msg::Float64Stamped>("debug/processing_time_ms", 1);
+  pub_processing_time_ = create_publisher<autoware_internal_debug_msgs::msg::Float64Stamped>(
+    "debug/processing_time_ms", 1);
   sub_initialpose_ = create_subscription<geometry_msgs::msg::PoseWithCovarianceStamped>(
     "initialpose", 1, std::bind(&EKFLocalizer::callback_initial_pose, this, _1));
   sub_pose_with_cov_ = create_subscription<geometry_msgs::msg::PoseWithCovarianceStamped>(
@@ -235,9 +236,10 @@ void EKFLocalizer::timer_callback()
 
   /* publish processing time */
   const double elapsed_time = stop_watch_timer_cb_.toc();
-  pub_processing_time_->publish(tier4_debug_msgs::build<tier4_debug_msgs::msg::Float64Stamped>()
-                                  .stamp(current_time)
-                                  .data(elapsed_time));
+  pub_processing_time_->publish(
+    autoware_internal_debug_msgs::build<autoware_internal_debug_msgs::msg::Float64Stamped>()
+      .stamp(current_time)
+      .data(elapsed_time));
 }
 
 /*
@@ -343,7 +345,7 @@ void EKFLocalizer::publish_estimate_result(
   pub_twist_cov_->publish(twist_cov);
 
   /* publish yaw bias */
-  tier4_debug_msgs::msg::Float64Stamped yawb;
+  autoware_internal_debug_msgs::msg::Float64Stamped yawb;
   yawb.stamp = current_ekf_twist.header.stamp;
   yawb.data = ekf_module_->get_yaw_bias();
   pub_yaw_bias_->publish(yawb);