feat(traffic_light_fine_detector)!: tier4_debug_msgs changed to autow…

…are_internal_debug_msgs in traffic_light_fine_detector (#9900) Signed-off-by: vish0012 <[email protected]>
autowarefoundation · Jan 23, 2025 · 231f027 · 231f027
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Showing 4 changed files with 10 additions and 10 deletions.
diff --git a/perception/autoware_traffic_light_fine_detector/README.md b/perception/autoware_traffic_light_fine_detector/README.md
@@ -36,10 +36,10 @@ ROIs detected from YOLOX will be selected by a combination of `expect/rois`. At
 
 ### Output
 
-| Name                  | Type                                               | Description                  |
-| --------------------- | -------------------------------------------------- | ---------------------------- |
-| `~/output/rois`       | `tier4_perception_msgs::msg::TrafficLightRoiArray` | The detected accurate rois   |
-| `~/debug/exe_time_ms` | `tier4_debug_msgs::msg::Float32Stamped`            | The time taken for inference |
+| Name                  | Type                                                | Description                  |
+| --------------------- | --------------------------------------------------- | ---------------------------- |
+| `~/output/rois`       | `tier4_perception_msgs::msg::TrafficLightRoiArray`  | The detected accurate rois   |
+| `~/debug/exe_time_ms` | `autoware_internal_debug_msgs::msg::Float32Stamped` | The time taken for inference |
 
 ## Parameters
 

diff --git a/perception/autoware_traffic_light_fine_detector/package.xml b/perception/autoware_traffic_light_fine_detector/package.xml
@@ -14,14 +14,14 @@
 
   <build_depend>autoware_cmake</build_depend>
 
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_tensorrt_yolox</depend>
   <depend>cv_bridge</depend>
   <depend>image_transport</depend>
   <depend>message_filters</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>sensor_msgs</depend>
-  <depend>tier4_debug_msgs</depend>
   <depend>tier4_perception_msgs</depend>
 
   <test_depend>autoware_lint_common</test_depend>

diff --git a/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.cpp b/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.cpp
@@ -101,8 +101,8 @@ TrafficLightFineDetectorNode::TrafficLightFineDetectorNode(const rclcpp::NodeOpt
 
   std::lock_guard<std::mutex> lock(connect_mutex_);
   output_roi_pub_ = this->create_publisher<TrafficLightRoiArray>("~/output/rois", 1);
-  exe_time_pub_ =
-    this->create_publisher<tier4_debug_msgs::msg::Float32Stamped>("~/debug/exe_time_ms", 1);
+  exe_time_pub_ = this->create_publisher<autoware_internal_debug_msgs::msg::Float32Stamped>(
+    "~/debug/exe_time_ms", 1);
   if (is_approximate_sync_) {
     approximate_sync_.reset(
       new ApproximateSync(ApproximateSyncPolicy(10), image_sub_, rough_roi_sub_, expect_roi_sub_));
@@ -208,7 +208,7 @@ void TrafficLightFineDetectorNode::callback(
   const auto exe_end_time = high_resolution_clock::now();
   const double exe_time =
     std::chrono::duration_cast<milliseconds>(exe_end_time - exe_start_time).count();
-  tier4_debug_msgs::msg::Float32Stamped exe_time_msg;
+  autoware_internal_debug_msgs::msg::Float32Stamped exe_time_msg;
   exe_time_msg.data = exe_time;
   exe_time_msg.stamp = this->now();
   exe_time_pub_->publish(exe_time_msg);

diff --git a/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.hpp b/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.hpp
@@ -22,9 +22,9 @@
 #include <opencv2/highgui/highgui.hpp>
 #include <rclcpp/rclcpp.hpp>
 
+#include <autoware_internal_debug_msgs/msg/float32_stamped.hpp>
 #include <sensor_msgs/image_encodings.hpp>
 #include <sensor_msgs/msg/image.hpp>
-#include <tier4_debug_msgs/msg/float32_stamped.hpp>
 #include <tier4_perception_msgs/msg/traffic_light_roi_array.hpp>
 
 #if __has_include(<cv_bridge/cv_bridge.hpp>)
@@ -148,7 +148,7 @@ class TrafficLightFineDetectorNode : public rclcpp::Node
   message_filters::Subscriber<TrafficLightRoiArray> expect_roi_sub_;
   std::mutex connect_mutex_;
   rclcpp::Publisher<TrafficLightRoiArray>::SharedPtr output_roi_pub_;
-  rclcpp::Publisher<tier4_debug_msgs::msg::Float32Stamped>::SharedPtr exe_time_pub_;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32Stamped>::SharedPtr exe_time_pub_;
   rclcpp::TimerBase::SharedPtr timer_;
 
   typedef message_filters::sync_policies::ExactTime<