Ros2 v0.8.0 beta rm std msgs ssd traffic light (#395) (#400)

* rm std_msgs float32

* fix typo

Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>

perception/traffic_light_ssd_fine_detector/include/traffic_light_ssd_fine_detector/nodelet.hpp

@@ -36,8 +36,7 @@
 #include "cv_bridge/cv_bridge.h"
 #include "sensor_msgs/msg/image.hpp"
 #include "sensor_msgs/image_encodings.hpp"
-#include "std_msgs/msg/float32.hpp"
-#include "std_msgs/msg/header.hpp"
+#include "autoware_debug_msgs/msg/float32_stamped.hpp"
 
 #include "autoware_perception_msgs/msg/traffic_light_roi_array.hpp"
 
@@ -76,7 +75,7 @@ class TrafficLightSSDFineDetectorNodelet : public rclcpp::Node
   message_filters::Subscriber<autoware_perception_msgs::msg::TrafficLightRoiArray> roi_sub_;
   std::mutex connect_mutex_;
   rclcpp::Publisher<autoware_perception_msgs::msg::TrafficLightRoiArray>::SharedPtr output_roi_pub_;
-  rclcpp::Publisher<std_msgs::msg::Float32>::SharedPtr exe_time_pub_;
+  rclcpp::Publisher<autoware_debug_msgs::msg::Float32Stamped>::SharedPtr exe_time_pub_;
   rclcpp::TimerBase::SharedPtr timer_;
 
   typedef message_filters::sync_policies::ExactTime<

perception/traffic_light_ssd_fine_detector/package.xml

@@ -19,6 +19,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <depend>autoware_perception_msgs</depend>
+  <depend>autoware_debug_msgs</depend>
   <depend>cv_bridge</depend>
   <depend>image_transport</depend>
   <depend>rclcpp</depend>

perception/traffic_light_ssd_fine_detector/src/nodelet.cpp

@@ -79,7 +79,7 @@ TrafficLightSSDFineDetectorNodelet::TrafficLightSSDFineDetectorNodelet(const rcl
 
   std::lock_guard<std::mutex> lock(connect_mutex_);
   output_roi_pub_ = this->create_publisher<autoware_perception_msgs::msg::TrafficLightRoiArray>("output/rois", 1);
-  exe_time_pub_ = this->create_publisher<std_msgs::msg::Float32>("debug/exe_time_ms", 1);
+  exe_time_pub_ = this->create_publisher<autoware_debug_msgs::msg::Float32Stamped>("debug/exe_time_ms", 1);
   if (is_approximate_sync_) {
     approximate_sync_.reset(new ApproximateSync(ApproximateSyncPolicy(10), image_sub_, roi_sub_));
     approximate_sync_->registerCallback(
@@ -195,8 +195,9 @@ void TrafficLightSSDFineDetectorNodelet::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();
-  std_msgs::msg::Float32 exe_time_msg;
+  autoware_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);
 }