feat(autoware_image_diagnostics): tier4_debug_msgs changed to autowar…

…e_internal_debug_msgs in autoware_image_diagnostics (#9918) feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files sensing/autoware_image_diagnostics Signed-off-by: vish0012 <[email protected]>
autowarefoundation · Jan 15, 2025 · b65e042 · b65e042
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Showing 4 changed files with 16 additions and 15 deletions.
diff --git a/sensing/autoware_image_diagnostics/README.md b/sensing/autoware_image_diagnostics/README.md
@@ -28,13 +28,13 @@ After all image's blocks state are evaluated, the whole image status is summariz
 
 ### Output
 
-| Name                                | Type                                    | Description                           |
-| ----------------------------------- | --------------------------------------- | ------------------------------------- |
-| `image_diag/debug/gray_image`       | `sensor_msgs::msg::Image`               | gray image                            |
-| `image_diag/debug/dft_image`        | `sensor_msgs::msg::Image`               | discrete Fourier transformation image |
-| `image_diag/debug/diag_block_image` | `sensor_msgs::msg::Image`               | each block state colorization         |
-| `image_diag/image_state_diag`       | `tier4_debug_msgs::msg::Int32Stamped`   | image diagnostics status value        |
-| `/diagnostics`                      | `diagnostic_msgs::msg::DiagnosticArray` | diagnostics                           |
+| Name                                | Type                                              | Description                           |
+| ----------------------------------- | ------------------------------------------------- | ------------------------------------- |
+| `image_diag/debug/gray_image`       | `sensor_msgs::msg::Image`                         | gray image                            |
+| `image_diag/debug/dft_image`        | `sensor_msgs::msg::Image`                         | discrete Fourier transformation image |
+| `image_diag/debug/diag_block_image` | `sensor_msgs::msg::Image`                         | each block state colorization         |
+| `image_diag/image_state_diag`       | `autoware_internal_debug_msgs::msg::Int32Stamped` | image diagnostics status value        |
+| `/diagnostics`                      | `diagnostic_msgs::msg::DiagnosticArray`           | diagnostics                           |
 
 ## Parameters
 

diff --git a/sensing/autoware_image_diagnostics/package.xml b/sensing/autoware_image_diagnostics/package.xml
@@ -12,14 +12,14 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_universe_utils</depend>
   <depend>cv_bridge</depend>
   <depend>diagnostic_updater</depend>
   <depend>image_transport</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>sensor_msgs</depend>
-  <depend>tier4_debug_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

diff --git a/sensing/autoware_image_diagnostics/src/image_diagnostics_node.cpp b/sensing/autoware_image_diagnostics/src/image_diagnostics_node.cpp
@@ -33,7 +33,7 @@ ImageDiagNode::ImageDiagNode(const rclcpp::NodeOptions & node_options)
   dft_image_pub_ = image_transport::create_publisher(this, "image_diag/debug/dft_image");
   gray_image_pub_ = image_transport::create_publisher(this, "image_diag/debug/gray_image");
 
-  image_state_pub_ = create_publisher<tier4_debug_msgs::msg::Int32Stamped>(
+  image_state_pub_ = create_publisher<autoware_internal_debug_msgs::msg::Int32Stamped>(
     "image_diag/image_state_diag", rclcpp::SensorDataQoS());
 
   updater_.setHardwareID("Image_Diagnostics");
@@ -225,7 +225,7 @@ void ImageDiagNode::ImageChecker(const sensor_msgs::msg::Image::ConstSharedPtr i
   } else {
     params_.diagnostic_status = 0;
   }
-  tier4_debug_msgs::msg::Int32Stamped image_state_out;
+  autoware_internal_debug_msgs::msg::Int32Stamped image_state_out;
   image_state_out.data = params_.diagnostic_status;
   image_state_pub_->publish(image_state_out);
 

diff --git a/sensing/autoware_image_diagnostics/src/image_diagnostics_node.hpp b/sensing/autoware_image_diagnostics/src/image_diagnostics_node.hpp
@@ -21,10 +21,10 @@
 #include <opencv2/imgproc/imgproc.hpp>
 #include <rclcpp/rclcpp.hpp>
 
+#include <autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp>
+#include <autoware_internal_debug_msgs/msg/float32_stamped.hpp>
+#include <autoware_internal_debug_msgs/msg/int32_stamped.hpp>
 #include <sensor_msgs/msg/image.hpp>
-#include <tier4_debug_msgs/msg/float32_multi_array_stamped.hpp>
-#include <tier4_debug_msgs/msg/float32_stamped.hpp>
-#include <tier4_debug_msgs/msg/int32_stamped.hpp>
 
 #if __has_include(<cv_bridge/cv_bridge.hpp>)
 #include <cv_bridge/cv_bridge.hpp>
@@ -95,8 +95,9 @@ class ImageDiagNode : public rclcpp::Node
   image_transport::Publisher block_diag_image_pub_;
   image_transport::Publisher dft_image_pub_;
   image_transport::Publisher gray_image_pub_;
-  rclcpp::Publisher<tier4_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr average_pub_;
-  rclcpp::Publisher<tier4_debug_msgs::msg::Int32Stamped>::SharedPtr image_state_pub_;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr
+    average_pub_;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Int32Stamped>::SharedPtr image_state_pub_;
 };
 
 }  // namespace autoware::image_diagnostics