From 1acf2f5ea5a1fe3560e04ae3644e1e68a3be252f Mon Sep 17 00:00:00 2001
From: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
Date: Wed, 22 Jan 2025 12:20:59 +0900
Subject: [PATCH 1/2] feat(parameter_estimator)!: replace tier4_debug_msgs with
 tier4_internal_debug_msgs

Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
---
 .../include/parameter_estimator/debugger.hpp              | 8 ++++----
 vehicle/parameter_estimator/package.xml                   | 2 +-
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/vehicle/parameter_estimator/include/parameter_estimator/debugger.hpp b/vehicle/parameter_estimator/include/parameter_estimator/debugger.hpp
index b042293ea..265ecf41b 100644
--- a/vehicle/parameter_estimator/include/parameter_estimator/debugger.hpp
+++ b/vehicle/parameter_estimator/include/parameter_estimator/debugger.hpp
@@ -19,7 +19,7 @@
 
 #include "rclcpp/rclcpp.hpp"
 
-#include "tier4_debug_msgs/msg/float32_multi_array_stamped.hpp"
+#include "autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp"
 
 #include <iostream>
 #include <string>
@@ -33,14 +33,14 @@ struct Debugger
     rclcpp::QoS durable_qos(queue_size);
     durable_qos.transient_local();  // option for latching
 
-    pub_debug_ = rclcpp::create_publisher<tier4_debug_msgs::msg::Float32MultiArrayStamped>(
+    pub_debug_ = rclcpp::create_publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>(
       node, "~/debug_values/" + name, durable_qos);
     debug_values_.data.resize(num_debug_values_, 0.0);
   }
-  rclcpp::Publisher<tier4_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr pub_debug_;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr pub_debug_;
   void publishDebugValue() { pub_debug_->publish(debug_values_); }
   static constexpr std::uint8_t num_debug_values_ = 20;
-  mutable tier4_debug_msgs::msg::Float32MultiArrayStamped debug_values_;
+  mutable autoware_internal_debug_msgs::msg::Float32MultiArrayStamped debug_values_;
 };
 
 #endif  // PARAMETER_ESTIMATOR__DEBUGGER_HPP_
diff --git a/vehicle/parameter_estimator/package.xml b/vehicle/parameter_estimator/package.xml
index 6f8023d2e..c9db22301 100644
--- a/vehicle/parameter_estimator/package.xml
+++ b/vehicle/parameter_estimator/package.xml
@@ -17,7 +17,7 @@
   <depend>rclcpp</depend>
   <depend>sensor_msgs</depend>
   <depend>tier4_calibration_msgs</depend>
-  <depend>tier4_debug_msgs</depend>
+  <depend>autoware_internal_debug_msgs</depend>
   <exec_depend>plotjuggler</exec_depend>
   <exec_depend>plotjuggler_ros</exec_depend>
 

From 8b7fe0069b84ef80ad4ed2bd4c55d6ff8ec99fc5 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Thu, 23 Jan 2025 00:36:39 +0000
Subject: [PATCH 2/2] style(pre-commit): autofix

---
 .../include/parameter_estimator/debugger.hpp              | 8 +++++---
 vehicle/parameter_estimator/package.xml                   | 2 +-
 2 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/vehicle/parameter_estimator/include/parameter_estimator/debugger.hpp b/vehicle/parameter_estimator/include/parameter_estimator/debugger.hpp
index 265ecf41b..5d26c3a53 100644
--- a/vehicle/parameter_estimator/include/parameter_estimator/debugger.hpp
+++ b/vehicle/parameter_estimator/include/parameter_estimator/debugger.hpp
@@ -33,11 +33,13 @@ struct Debugger
     rclcpp::QoS durable_qos(queue_size);
     durable_qos.transient_local();  // option for latching
 
-    pub_debug_ = rclcpp::create_publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>(
-      node, "~/debug_values/" + name, durable_qos);
+    pub_debug_ =
+      rclcpp::create_publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>(
+        node, "~/debug_values/" + name, durable_qos);
     debug_values_.data.resize(num_debug_values_, 0.0);
   }
-  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr pub_debug_;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr
+    pub_debug_;
   void publishDebugValue() { pub_debug_->publish(debug_values_); }
   static constexpr std::uint8_t num_debug_values_ = 20;
   mutable autoware_internal_debug_msgs::msg::Float32MultiArrayStamped debug_values_;
diff --git a/vehicle/parameter_estimator/package.xml b/vehicle/parameter_estimator/package.xml
index c9db22301..d2ff997a8 100644
--- a/vehicle/parameter_estimator/package.xml
+++ b/vehicle/parameter_estimator/package.xml
@@ -10,6 +10,7 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>estimator_utils</depend>
@@ -17,7 +18,6 @@
   <depend>rclcpp</depend>
   <depend>sensor_msgs</depend>
   <depend>tier4_calibration_msgs</depend>
-  <depend>autoware_internal_debug_msgs</depend>
   <exec_depend>plotjuggler</exec_depend>
   <exec_depend>plotjuggler_ros</exec_depend>