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feat(tier4_debug_tools)!: replace tier4_debug_msgs with tier4_internal_debug_msgs #203

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Jan 23, 2025
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feat(tier4_debug_tools)!: replace tier4_debug_msgs with tier4_internal_debug_msgs #203

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aba16ba
feat(tier4_debug_tools)!: replace tier4_debug_msgs with tier4_interna…
mitsudome-r Jan 22, 2025
c77efda
style(pre-commit): autofix
pre-commit-ci[bot] Jan 23, 2025
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8 changes: 4 additions & 4 deletions common/tier4_debug_tools/include/tier4_debug_tools/lateral_error_publisher.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -22,9 +22,9 @@
#include <autoware/motion_utils/trajectory/trajectory.hpp>
#include <rclcpp/rclcpp.hpp>

#include <autoware_internal_debug_msgs/msg/float32_stamped.hpp>
#include <autoware_planning_msgs/msg/trajectory.hpp>
#include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
#include <tier4_debug_msgs/msg/float32_stamped.hpp>

class LateralErrorPublisher : public rclcpp::Node
{
Expand All @@ -50,11 +50,11 @@ class LateralErrorPublisher : public rclcpp::Node
sub_vehicle_pose_; //!< @brief subscription for vehicle pose
rclcpp::Subscription<geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr
sub_ground_truth_pose_; //!< @brief subscription for gnss pose
rclcpp::Publisher<tier4_debug_msgs::msg::Float32Stamped>::SharedPtr
rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32Stamped>::SharedPtr
pub_control_lateral_error_; //!< @brief publisher for control lateral error
rclcpp::Publisher<tier4_debug_msgs::msg::Float32Stamped>::SharedPtr
rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32Stamped>::SharedPtr
pub_localization_lateral_error_; //!< @brief publisher for localization lateral error
rclcpp::Publisher<tier4_debug_msgs::msg::Float32Stamped>::SharedPtr
rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32Stamped>::SharedPtr
pub_lateral_error_; //!< @brief publisher for lateral error (control + localization)

/**
Expand Down
2 changes: 1 addition & 1 deletion common/tier4_debug_tools/package.xml
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Expand Up @@ -10,14 +10,14 @@
<buildtool_depend>ament_cmake_auto</buildtool_depend>
<buildtool_depend>autoware_cmake</buildtool_depend>

<depend>autoware_internal_debug_msgs</depend>
<depend>autoware_motion_utils</depend>
<depend>autoware_planning_msgs</depend>
<depend>autoware_universe_utils</depend>
<depend>geometry_msgs</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>tf2_ros</depend>
<depend>tier4_debug_msgs</depend>

<exec_depend>launch_ros</exec_depend>
<exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-rtree</exec_depend>
Expand Down
15 changes: 8 additions & 7 deletions common/tier4_debug_tools/src/lateral_error_publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,12 +35,13 @@ LateralErrorPublisher::LateralErrorPublisher(const rclcpp::NodeOptions & node_op
sub_ground_truth_pose_ = create_subscription<geometry_msgs::msg::PoseWithCovarianceStamped>(
"~/input/ground_truth_pose_with_covariance", rclcpp::QoS{1},
std::bind(&LateralErrorPublisher::onGroundTruthPose, this, _1));
pub_control_lateral_error_ =
create_publisher<tier4_debug_msgs::msg::Float32Stamped>("~/control_lateral_error", 1);
pub_control_lateral_error_ = create_publisher<autoware_internal_debug_msgs::msg::Float32Stamped>(
"~/control_lateral_error", 1);
pub_localization_lateral_error_ =
create_publisher<tier4_debug_msgs::msg::Float32Stamped>("~/localization_lateral_error", 1);
create_publisher<autoware_internal_debug_msgs::msg::Float32Stamped>(
"~/localization_lateral_error", 1);
pub_lateral_error_ =
create_publisher<tier4_debug_msgs::msg::Float32Stamped>("~/lateral_error", 1);
create_publisher<autoware_internal_debug_msgs::msg::Float32Stamped>("~/lateral_error", 1);
}

void LateralErrorPublisher::onTrajectory(
Expand Down Expand Up @@ -131,17 +132,17 @@ void LateralErrorPublisher::onGroundTruthPose(
RCLCPP_DEBUG(this->get_logger(), "localization_error: %f", lateral_error);

// Publish lateral errors
tier4_debug_msgs::msg::Float32Stamped control_msg;
autoware_internal_debug_msgs::msg::Float32Stamped control_msg;
control_msg.stamp = this->now();
control_msg.data = static_cast<float>(control_lateral_error);
pub_control_lateral_error_->publish(control_msg);

tier4_debug_msgs::msg::Float32Stamped localization_msg;
autoware_internal_debug_msgs::msg::Float32Stamped localization_msg;
localization_msg.stamp = this->now();
localization_msg.data = static_cast<float>(localization_lateral_error);
pub_localization_lateral_error_->publish(localization_msg);

tier4_debug_msgs::msg::Float32Stamped sum_msg;
autoware_internal_debug_msgs::msg::Float32Stamped sum_msg;
sum_msg.stamp = this->now();
sum_msg.data = static_cast<float>(lateral_error);
pub_lateral_error_->publish(sum_msg);
Expand Down
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