From a4ee4bf8c6c4494e9725d577776c5e0e10ee8984 Mon Sep 17 00:00:00 2001
From: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com>
Date: Thu, 23 Jan 2025 12:51:12 +0900
Subject: [PATCH] feat(vehicle_cmd_analyzer)!: replace tier4_debug_msgs with
 tier4_internal_debug_msgs (#204)

Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
---
 .../include/vehicle_cmd_analyzer/vehicle_cmd_analyzer.hpp    | 5 +++--
 control/vehicle_cmd_analyzer/package.xml                     | 2 +-
 control/vehicle_cmd_analyzer/src/vehicle_cmd_analyzer.cpp    | 4 ++--
 3 files changed, 6 insertions(+), 5 deletions(-)

diff --git a/control/vehicle_cmd_analyzer/include/vehicle_cmd_analyzer/vehicle_cmd_analyzer.hpp b/control/vehicle_cmd_analyzer/include/vehicle_cmd_analyzer/vehicle_cmd_analyzer.hpp
index 4deb2732..f02f6360 100644
--- a/control/vehicle_cmd_analyzer/include/vehicle_cmd_analyzer/vehicle_cmd_analyzer.hpp
+++ b/control/vehicle_cmd_analyzer/include/vehicle_cmd_analyzer/vehicle_cmd_analyzer.hpp
@@ -21,7 +21,7 @@
 #include <rclcpp/rclcpp.hpp>
 
 #include "autoware_control_msgs/msg/control.hpp"
-#include "tier4_debug_msgs/msg/float32_multi_array_stamped.hpp"
+#include "autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp"
 
 #include <algorithm>
 #include <memory>
@@ -33,7 +33,8 @@ class VehicleCmdAnalyzer : public rclcpp::Node
 {
 private:
   rclcpp::Subscription<autoware_control_msgs::msg::Control>::SharedPtr sub_vehicle_cmd_;
-  rclcpp::Publisher<tier4_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr pub_debug_;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr
+    pub_debug_;
   rclcpp::TimerBase::SharedPtr timer_control_;
 
   std::shared_ptr<autoware_control_msgs::msg::Control> vehicle_cmd_ptr_{nullptr};
diff --git a/control/vehicle_cmd_analyzer/package.xml b/control/vehicle_cmd_analyzer/package.xml
index 32b4585f..793d2b84 100644
--- a/control/vehicle_cmd_analyzer/package.xml
+++ b/control/vehicle_cmd_analyzer/package.xml
@@ -12,10 +12,10 @@
   <build_depend>autoware_cmake</build_depend>
 
   <depend>autoware_control_msgs</depend>
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
-  <depend>tier4_debug_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
diff --git a/control/vehicle_cmd_analyzer/src/vehicle_cmd_analyzer.cpp b/control/vehicle_cmd_analyzer/src/vehicle_cmd_analyzer.cpp
index e4d4a467..f9a58916 100644
--- a/control/vehicle_cmd_analyzer/src/vehicle_cmd_analyzer.cpp
+++ b/control/vehicle_cmd_analyzer/src/vehicle_cmd_analyzer.cpp
@@ -33,7 +33,7 @@ VehicleCmdAnalyzer::VehicleCmdAnalyzer(const rclcpp::NodeOptions & options)
   sub_vehicle_cmd_ = this->create_subscription<autoware_control_msgs::msg::Control>(
     "/control/command/control_cmd", rclcpp::QoS(10),
     std::bind(&VehicleCmdAnalyzer::callbackVehicleCommand, this, std::placeholders::_1));
-  pub_debug_ = create_publisher<tier4_debug_msgs::msg::Float32MultiArrayStamped>(
+  pub_debug_ = create_publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>(
     "~/debug_values", rclcpp::QoS{1});
 
   // Timer
@@ -83,7 +83,7 @@ void VehicleCmdAnalyzer::publishDebugData()
   debug_values_.setValues(DebugValues::TYPE::CURRENT_TARGET_LATERAL_ACC, a_lat);
 
   // publish debug values
-  tier4_debug_msgs::msg::Float32MultiArrayStamped debug_msg{};
+  autoware_internal_debug_msgs::msg::Float32MultiArrayStamped debug_msg{};
   debug_msg.stamp = this->now();
   for (const auto & v : debug_values_.getValues()) {
     debug_msg.data.push_back(v);