From 6d2cd688153f2cb3409b64b0496cc21d68b144e6 Mon Sep 17 00:00:00 2001
From: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp>
Date: Wed, 7 Aug 2024 18:44:35 +0900
Subject: [PATCH] change for control_evaluator's build success

Signed-off-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp>
---
 .../autoware/control_evaluator/control_evaluator_node.hpp   | 2 +-
 .../control_evaluator/metrics/deviation_metrics.hpp         | 5 ++---
 control/autoware_control_evaluator/package.xml              | 4 +++-
 .../src/control_evaluator_node.cpp                          | 2 +-
 .../src/metrics/deviation_metrics.cpp                       | 6 +++---
 5 files changed, 10 insertions(+), 9 deletions(-)

diff --git a/control/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp b/control/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp
index a12f6465adc42..5f7d08e2acf2b 100644
--- a/control/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp
+++ b/control/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp
@@ -22,7 +22,7 @@
 #include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 
 #include "geometry_msgs/msg/accel_with_covariance_stamped.hpp"
-#include <autoware_planning_msgs/msg/lanelet_route.hpp>
+#include <autoware_auto_planning_msgs/msg/route.hpp>
 #include <diagnostic_msgs/msg/diagnostic_array.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 
diff --git a/control/autoware_control_evaluator/include/autoware/control_evaluator/metrics/deviation_metrics.hpp b/control/autoware_control_evaluator/include/autoware/control_evaluator/metrics/deviation_metrics.hpp
index 1e994e56f56b1..0602d76cb6268 100644
--- a/control/autoware_control_evaluator/include/autoware/control_evaluator/metrics/deviation_metrics.hpp
+++ b/control/autoware_control_evaluator/include/autoware/control_evaluator/metrics/deviation_metrics.hpp
@@ -15,9 +15,8 @@
 #ifndef AUTOWARE__CONTROL_EVALUATOR__METRICS__DEVIATION_METRICS_HPP_
 #define AUTOWARE__CONTROL_EVALUATOR__METRICS__DEVIATION_METRICS_HPP_
 
-#include <autoware_planning_msgs/msg/trajectory_point.hpp>
-
-#include <#include "autoware_auto_planning_msgs/msg/trajectory.hpp">
+#include "autoware_auto_planning_msgs/msg/trajectory_point.hpp"
+#include "autoware_auto_planning_msgs/msg/trajectory.hpp"
 
 namespace control_diagnostics
 {
diff --git a/control/autoware_control_evaluator/package.xml b/control/autoware_control_evaluator/package.xml
index d7300e6a3bfb4..6c44eb62cce77 100644
--- a/control/autoware_control_evaluator/package.xml
+++ b/control/autoware_control_evaluator/package.xml
@@ -16,9 +16,11 @@
 
   <depend>autoware_evaluator_utils</depend>
   <depend>autoware_motion_utils</depend>
-  <depend>autoware_planning_msgs</depend>
+  <depend>tier4_autoware_utils</depend>
+  <depend>autoware_auto_planning_msgs</depend>
   <depend>autoware_route_handler</depend>
   <depend>autoware_universe_utils</depend>
+  <depend>route_handler</depend>
   <depend>diagnostic_msgs</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
diff --git a/control/autoware_control_evaluator/src/control_evaluator_node.cpp b/control/autoware_control_evaluator/src/control_evaluator_node.cpp
index 01ee2c7bd9450..daf5cfa9f9da0 100644
--- a/control/autoware_control_evaluator/src/control_evaluator_node.cpp
+++ b/control/autoware_control_evaluator/src/control_evaluator_node.cpp
@@ -92,7 +92,7 @@ DiagnosticStatus ControlEvaluatorNode::generateLaneletDiagnosticStatus(const Pos
   const auto current_lanelets = [&]() {
     lanelet::ConstLanelet closest_route_lanelet;
     route_handler_.getClosestLaneletWithinRoute(ego_pose, &closest_route_lanelet);
-    const auto shoulder_lanelets = route_handler_.getShoulderLaneletsAtPose(ego_pose);
+    const auto shoulder_lanelets = route_handler_.getShoulderLanelets();
     lanelet::ConstLanelets closest_lanelets{closest_route_lanelet};
     closest_lanelets.insert(
       closest_lanelets.end(), shoulder_lanelets.begin(), shoulder_lanelets.end());
diff --git a/control/autoware_control_evaluator/src/metrics/deviation_metrics.cpp b/control/autoware_control_evaluator/src/metrics/deviation_metrics.cpp
index 6144a4fb33678..210f1dff01c17 100644
--- a/control/autoware_control_evaluator/src/metrics/deviation_metrics.cpp
+++ b/control/autoware_control_evaluator/src/metrics/deviation_metrics.cpp
@@ -14,15 +14,15 @@
 
 #include "autoware/control_evaluator/metrics/deviation_metrics.hpp"
 
-#include "autoware/universe_utils/geometry/geometry.hpp"
-#include "autoware/universe_utils/geometry/pose_deviation.hpp"
+#include "tier4_autoware_utils/geometry/geometry.hpp"
+#include "tier4_autoware_utils/geometry/pose_deviation.hpp"
 #include "tier4_autoware_utils/trajectory/trajectory.hpp"
 
 namespace control_diagnostics
 {
 namespace metrics
 {
-using autoware_planning_msgs::msg::Trajectory;
+using autoware_auto_planning_msgs::msg::Trajectory;
 
 double calcLateralDeviation(const Trajectory & traj, const Point & point)
 {