From 79f9eccb835ab07142754ad8a1a7d66f0ece5ba7 Mon Sep 17 00:00:00 2001
From: Vishal Chauhan <40782713+vish0012@users.noreply.github.com>
Date: Tue, 21 Jan 2025 22:02:08 +0900
Subject: [PATCH] feat(autoware_obstacle_stop_planner)!: tier4_debug_msgs
 changed to autoware_internal_debug_msgs in autoware_obstacle_stop_planner
 (#9906)

feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files planning/autoware_obstacle_stop_planner

Signed-off-by: vish0012 <vishalchhn42@gmail.com>
---
 .../autoware_obstacle_stop_planner/package.xml   |  2 +-
 .../src/adaptive_cruise_control.cpp              |  2 +-
 .../src/adaptive_cruise_control.hpp              |  7 ++++---
 .../src/debug_marker.hpp                         |  4 ++--
 .../autoware_obstacle_stop_planner/src/node.hpp  | 16 ++++++++--------
 5 files changed, 16 insertions(+), 15 deletions(-)

diff --git a/planning/autoware_obstacle_stop_planner/package.xml b/planning/autoware_obstacle_stop_planner/package.xml
index ba6364a2b59ee..25332774366b0 100644
--- a/planning/autoware_obstacle_stop_planner/package.xml
+++ b/planning/autoware_obstacle_stop_planner/package.xml
@@ -21,6 +21,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_adapi_v1_msgs</depend>
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_factor_interface</depend>
@@ -41,7 +42,6 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_debug_msgs</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>
 
diff --git a/planning/autoware_obstacle_stop_planner/src/adaptive_cruise_control.cpp b/planning/autoware_obstacle_stop_planner/src/adaptive_cruise_control.cpp
index 82a4d5a7ec550..3154ce45972a3 100644
--- a/planning/autoware_obstacle_stop_planner/src/adaptive_cruise_control.cpp
+++ b/planning/autoware_obstacle_stop_planner/src/adaptive_cruise_control.cpp
@@ -181,7 +181,7 @@ AdaptiveCruiseController::AdaptiveCruiseController(
   param_.rough_velocity_rate = node_->declare_parameter<double>(acc_ns + "rough_velocity_rate");
 
   /* publisher */
-  pub_debug_ = node_->create_publisher<tier4_debug_msgs::msg::Float32MultiArrayStamped>(
+  pub_debug_ = node_->create_publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>(
     "~/adaptive_cruise_control/debug_values", 1);
 }
 
diff --git a/planning/autoware_obstacle_stop_planner/src/adaptive_cruise_control.hpp b/planning/autoware_obstacle_stop_planner/src/adaptive_cruise_control.hpp
index ce57f585197ad..f4a11bc4314bd 100644
--- a/planning/autoware_obstacle_stop_planner/src/adaptive_cruise_control.hpp
+++ b/planning/autoware_obstacle_stop_planner/src/adaptive_cruise_control.hpp
@@ -17,10 +17,10 @@
 
 #include <rclcpp/rclcpp.hpp>
 
+#include <autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp>
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
 #include <autoware_planning_msgs/msg/trajectory.hpp>
 #include <nav_msgs/msg/odometry.hpp>
-#include <tier4_debug_msgs/msg/float32_multi_array_stamped.hpp>
 
 #include <pcl/point_types.h>
 #include <pcl_conversions/pcl_conversions.h>
@@ -58,7 +58,8 @@ class AdaptiveCruiseController
     const PredictedObject & target_object);
 
 private:
-  rclcpp::Publisher<tier4_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr pub_debug_;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr
+    pub_debug_;
 
   rclcpp::Node * node_;
   /*
@@ -217,7 +218,7 @@ class AdaptiveCruiseController
   void registerQueToVelocity(const double vel, const rclcpp::Time & vel_time);
 
   /* Debug */
-  mutable tier4_debug_msgs::msg::Float32MultiArrayStamped debug_values_;
+  mutable autoware_internal_debug_msgs::msg::Float32MultiArrayStamped debug_values_;
   enum DBGVAL {
     ESTIMATED_VEL_PCL = 0,
     ESTIMATED_VEL_OBJ = 1,
diff --git a/planning/autoware_obstacle_stop_planner/src/debug_marker.hpp b/planning/autoware_obstacle_stop_planner/src/debug_marker.hpp
index 72e2b52c287f1..3b8b57e7de4c6 100644
--- a/planning/autoware_obstacle_stop_planner/src/debug_marker.hpp
+++ b/planning/autoware_obstacle_stop_planner/src/debug_marker.hpp
@@ -17,9 +17,9 @@
 #include <autoware/planning_factor_interface/planning_factor_interface.hpp>
 #include <rclcpp/rclcpp.hpp>
 
+#include <autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp>
 #include <geometry_msgs/msg/point.hpp>
 #include <geometry_msgs/msg/pose.hpp>
-#include <tier4_debug_msgs/msg/float32_multi_array_stamped.hpp>
 #include <visualization_msgs/msg/marker.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
 
@@ -41,7 +41,7 @@ using std_msgs::msg::Header;
 using visualization_msgs::msg::Marker;
 using visualization_msgs::msg::MarkerArray;
 
-using tier4_debug_msgs::msg::Float32MultiArrayStamped;
+using autoware_internal_debug_msgs::msg::Float32MultiArrayStamped;
 
 enum class PolygonType : int8_t { Vehicle = 0, Collision, SlowDownRange, SlowDown, Obstacle };
 
diff --git a/planning/autoware_obstacle_stop_planner/src/node.hpp b/planning/autoware_obstacle_stop_planner/src/node.hpp
index fba24061896b6..ea8aed19bdcfd 100644
--- a/planning/autoware_obstacle_stop_planner/src/node.hpp
+++ b/planning/autoware_obstacle_stop_planner/src/node.hpp
@@ -29,6 +29,10 @@
 #include <pcl_ros/transforms.hpp>
 #include <rclcpp/rclcpp.hpp>
 
+#include <autoware_internal_debug_msgs/msg/bool_stamped.hpp>
+#include <autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp>
+#include <autoware_internal_debug_msgs/msg/float32_stamped.hpp>
+#include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
 #include <autoware_planning_msgs/msg/trajectory.hpp>
 #include <diagnostic_msgs/msg/diagnostic_status.hpp>
@@ -36,10 +40,6 @@
 #include <geometry_msgs/msg/accel_with_covariance_stamped.hpp>
 #include <geometry_msgs/msg/twist_stamped.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
-#include <tier4_debug_msgs/msg/bool_stamped.hpp>
-#include <tier4_debug_msgs/msg/float32_multi_array_stamped.hpp>
-#include <tier4_debug_msgs/msg/float32_stamped.hpp>
-#include <tier4_debug_msgs/msg/float64_stamped.hpp>
 #include <tier4_planning_msgs/msg/expand_stop_range.hpp>
 #include <tier4_planning_msgs/msg/velocity_limit.hpp>
 #include <tier4_planning_msgs/msg/velocity_limit_clear_command.hpp>
@@ -81,13 +81,13 @@ using autoware::universe_utils::Point2d;
 using autoware::universe_utils::Polygon2d;
 using autoware::universe_utils::StopWatch;
 using autoware::vehicle_info_utils::VehicleInfo;
+using autoware_internal_debug_msgs::msg::BoolStamped;
+using autoware_internal_debug_msgs::msg::Float32MultiArrayStamped;
+using autoware_internal_debug_msgs::msg::Float32Stamped;
+using autoware_internal_debug_msgs::msg::Float64Stamped;
 using autoware_perception_msgs::msg::PredictedObjects;
 using autoware_planning_msgs::msg::Trajectory;
 using autoware_planning_msgs::msg::TrajectoryPoint;
-using tier4_debug_msgs::msg::BoolStamped;
-using tier4_debug_msgs::msg::Float32MultiArrayStamped;
-using tier4_debug_msgs::msg::Float32Stamped;
-using tier4_debug_msgs::msg::Float64Stamped;
 using tier4_planning_msgs::msg::ExpandStopRange;
 using tier4_planning_msgs::msg::VelocityLimit;
 using tier4_planning_msgs::msg::VelocityLimitClearCommand;