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feat(parameter_estimator)!: replace tier4_debug_msgs with tier4_internal_debug_msgs #198

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Original file line number Diff line number Diff line change
Expand Up @@ -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>
Expand All @@ -33,14 +33,16 @@ 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>(
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<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_
2 changes: 1 addition & 1 deletion vehicle/parameter_estimator/package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -10,14 +10,14 @@

<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>
<depend>geometry_msgs</depend>
<depend>rclcpp</depend>
<depend>sensor_msgs</depend>
<depend>tier4_calibration_msgs</depend>
<depend>tier4_debug_msgs</depend>
<exec_depend>plotjuggler</exec_depend>
<exec_depend>plotjuggler_ros</exec_depend>

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