feat(planning_debug_tools): replace autoware_universe_utils with specific autoware_utils sub-packages#413
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vish0012 wants to merge 2 commits intoautowarefoundation:mainfrom
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…ific autoware_utils sub-packages Migrates all autoware_universe_utils usages in the planning_debug_tools package to the specific autoware_utils sub-packages, as part of the autoware_universe_utils deprecation tracked in autowarefoundation/autoware_universe#12376. Changes: - package.xml: - <depend>autoware_universe_utils</depend> removed - Added <depend>autoware_utils_geometry</depend> - Added <depend>autoware_utils_visualization</depend> - Header includes swapped: - autoware/universe_utils/geometry/geometry.hpp -> autoware_utils_geometry/geometry.hpp - autoware/universe_utils/ros/marker_helper.hpp -> autoware_utils_visualization/marker_helper.hpp - Geometry symbols (autoware_utils_geometry::): - calcDistance2d -> calc_distance2d - getPoint -> get_point - getRPY -> get_rpy - Visualization symbols (autoware_utils_visualization::): - appendMarkerArray -> append_marker_array - createDefaultMarker -> create_default_marker - createMarkerColor -> create_marker_color - createMarkerScale -> create_marker_scale Both the 'using' declarations and the bare call sites they introduced have been updated to the new snake_case names. Note: The tf2::Matrix3x3::getRPY method call in perception_replayer/utils.hpp is an unrelated tf2 API and is intentionally left unchanged. Signed-off-by: github-actions <github-actions@github.com>
vish0012
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Kotakku,
TakaHoribe,
kyoichi-sugahara,
maxime-clem,
taikitanaka3,
takayuki5168 and
xtk8532704
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maxime-clem
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Apr 24, 2026
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Description
Replaces the
autoware_universe_utilsdependency in theplanning_debug_toolspackage with the specificautoware_utils_*sub-packages that are actually used, following the minimum-dependency principle.Changes
planning/planning_debug_tools/package.xml<depend>autoware_universe_utils</depend><depend>autoware_utils_geometry</depend><depend>autoware_utils_visualization</depend>Header include swaps
autoware/universe_utils/geometry/geometry.hpp→autoware_utils_geometry/geometry.hpp(intrajectory_analyzer.hppandutil.hpp)autoware/universe_utils/ros/marker_helper.hpp→autoware_utils_visualization/marker_helper.hpp(instop_reason_visualizer.cpp)Geometry symbols →
autoware_utils_geometry::calcDistance2d→calc_distance2dgetPoint→get_pointgetRPY→get_rpyVisualization symbols →
autoware_utils_visualization::appendMarkerArray→append_marker_arraycreateDefaultMarker→create_default_markercreateMarkerColor→create_marker_colorcreateMarkerScale→create_marker_scaleBoth the
usingdeclarations (inutil.hppand insideStopReasonVisualizerNode::onStopReasonArray) and the bare call sites they introduce have been updated to the new snake_case names.Note: The
tf2::Matrix3x3::getRPYmethod call insrc/perception_replayer/utils.hppis an unrelated tf2 API and is intentionally left unchanged.Files touched:
package.xml,include/planning_debug_tools/trajectory_analyzer.hpp,include/planning_debug_tools/util.hpp,src/stop_reason_visualizer.cpp.Related Issue
Part of the
autoware_universe_utilsdeprecation effort tracked in autowarefoundation/autoware_universe#12376 (theautoware_toolschecklist item).Additional notes
Part of a series of similar PRs for
autoware_tools, grouped by top-level directory: