From b928ffd6e9f231290bedd05c0025a380a1a3427c Mon Sep 17 00:00:00 2001
From: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>
Date: Thu, 24 Apr 2025 16:43:04 +0900
Subject: [PATCH 1/2] fix autoware_utils header

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>
---
 .../behavior_velocity_planner/node.hpp        | 30 +++++++++----------
 .../package.xml                               |  5 +++-
 .../src/node.cpp                              | 10 +++----
 3 files changed, 24 insertions(+), 21 deletions(-)

diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/include/autoware/behavior_velocity_planner/node.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/include/autoware/behavior_velocity_planner/node.hpp
index 022df4c87b..d70ce9c0b7 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/include/autoware/behavior_velocity_planner/node.hpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/include/autoware/behavior_velocity_planner/node.hpp
@@ -18,9 +18,9 @@
 #include "autoware/behavior_velocity_planner/planner_manager.hpp"
 
 #include <autoware/behavior_velocity_planner_common/planner_data.hpp>
-#include <autoware_utils/ros/logger_level_configure.hpp>
-#include <autoware_utils/ros/polling_subscriber.hpp>
-#include <autoware_utils/ros/published_time_publisher.hpp>
+#include <autoware_utils_debug/published_time_publisher.hpp>
+#include <autoware_utils_logging/logger_level_configure.hpp>
+#include <autoware_utils_rclcpp/polling_subscriber.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <autoware_internal_debug_msgs/srv/string.hpp>
@@ -62,31 +62,31 @@ class BehaviorVelocityPlannerNode : public rclcpp::Node
     trigger_sub_path_with_lane_id_;
 
   // polling subscribers
-  autoware_utils::InterProcessPollingSubscriber<autoware_perception_msgs::msg::PredictedObjects>
+  autoware_utils_rclcpp::InterProcessPollingSubscriber<autoware_perception_msgs::msg::PredictedObjects>
     sub_predicted_objects_{this, "~/input/dynamic_objects"};
 
-  autoware_utils::InterProcessPollingSubscriber<sensor_msgs::msg::PointCloud2>
+  autoware_utils_rclcpp::InterProcessPollingSubscriber<sensor_msgs::msg::PointCloud2>
     sub_no_ground_pointcloud_{
-      this, "~/input/no_ground_pointcloud", autoware_utils::single_depth_sensor_qos()};
+      this, "~/input/no_ground_pointcloud", autoware_utils_rclcpp::single_depth_sensor_qos()};
 
-  autoware_utils::InterProcessPollingSubscriber<nav_msgs::msg::Odometry> sub_vehicle_odometry_{
+  autoware_utils_rclcpp::InterProcessPollingSubscriber<nav_msgs::msg::Odometry> sub_vehicle_odometry_{
     this, "~/input/vehicle_odometry"};
 
-  autoware_utils::InterProcessPollingSubscriber<geometry_msgs::msg::AccelWithCovarianceStamped>
+  autoware_utils_rclcpp::InterProcessPollingSubscriber<geometry_msgs::msg::AccelWithCovarianceStamped>
     sub_acceleration_{this, "~/input/accel"};
 
-  autoware_utils::InterProcessPollingSubscriber<
+  autoware_utils_rclcpp::InterProcessPollingSubscriber<
     autoware_perception_msgs::msg::TrafficLightGroupArray>
     sub_traffic_signals_{this, "~/input/traffic_signals"};
 
-  autoware_utils::InterProcessPollingSubscriber<nav_msgs::msg::OccupancyGrid> sub_occupancy_grid_{
+  autoware_utils_rclcpp::InterProcessPollingSubscriber<nav_msgs::msg::OccupancyGrid> sub_occupancy_grid_{
     this, "~/input/occupancy_grid"};
 
-  autoware_utils::InterProcessPollingSubscriber<
-    LaneletMapBin, autoware_utils::polling_policy::Newest>
+  autoware_utils_rclcpp::InterProcessPollingSubscriber<
+    LaneletMapBin, autoware_utils_rclcpp::polling_policy::Newest>
     sub_lanelet_map_{this, "~/input/vector_map", rclcpp::QoS{1}.transient_local()};
 
-  autoware_utils::InterProcessPollingSubscriber<VelocityLimit> sub_external_velocity_limit_{
+  autoware_utils_rclcpp::InterProcessPollingSubscriber<VelocityLimit> sub_external_velocity_limit_{
     this, "~/input/external_velocity_limit_mps", rclcpp::QoS{1}.transient_local()};
 
   void onTrigger(
@@ -134,9 +134,9 @@ class BehaviorVelocityPlannerNode : public rclcpp::Node
     const autoware_internal_planning_msgs::msg::PathWithLaneId::ConstSharedPtr input_path_msg,
     const PlannerData & planner_data);
 
-  std::unique_ptr<autoware_utils::LoggerLevelConfigure> logger_configure_;
+  std::unique_ptr<autoware_utils_logging::LoggerLevelConfigure> logger_configure_;
 
-  std::unique_ptr<autoware_utils::PublishedTimePublisher> published_time_publisher_;
+  std::unique_ptr<autoware_utils_debug::PublishedTimePublisher> published_time_publisher_;
 
   static constexpr int logger_throttle_interval = 3000;
 };
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml
index 2f6839dbdd..f662933f85 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml
@@ -41,7 +41,10 @@
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_route_handler</depend>
-  <depend>autoware_utils</depend>
+  <depend>autoware_utils_debug</depend>
+  <depend>autoware_utils_logging</depend>
+  <depend>autoware_utils_pcl</depend>
+  <depend>autoware_utils_rclcpp</depend>
   <depend>autoware_velocity_smoother</depend>
   <depend>diagnostic_msgs</depend>
   <depend>eigen</depend>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.cpp
index 709d5813a6..6a0c3b909b 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.cpp
@@ -19,8 +19,8 @@
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
 #include <autoware/velocity_smoother/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.hpp>
 #include <autoware_lanelet2_extension/utility/message_conversion.hpp>
-#include <autoware_utils/ros/wait_for_param.hpp>
-#include <autoware_utils/transform/transforms.hpp>
+#include <autoware_utils_pcl/transforms.hpp>
+#include <autoware_utils_rclcpp/parameter.hpp>
 
 #include <diagnostic_msgs/msg/diagnostic_status.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
@@ -106,8 +106,8 @@ BehaviorVelocityPlannerNode::BehaviorVelocityPlannerNode(const rclcpp::NodeOptio
     planner_manager_.launchScenePlugin(*this, name);
   }
 
-  logger_configure_ = std::make_unique<autoware_utils::LoggerLevelConfigure>(this);
-  published_time_publisher_ = std::make_unique<autoware_utils::PublishedTimePublisher>(this);
+  logger_configure_ = std::make_unique<autoware_utils_logging::LoggerLevelConfigure>(this);
+  published_time_publisher_ = std::make_unique<autoware_utils_debug::PublishedTimePublisher>(this);
 }
 
 void BehaviorVelocityPlannerNode::onLoadPlugin(
@@ -154,7 +154,7 @@ void BehaviorVelocityPlannerNode::processNoGroundPointCloud(
   Eigen::Affine3f affine = tf2::transformToEigen(transform.transform).cast<float>();
   pcl::PointCloud<pcl::PointXYZ>::Ptr pc_transformed(new pcl::PointCloud<pcl::PointXYZ>);
   if (!pc.empty()) {
-    autoware_utils::transform_pointcloud(pc, *pc_transformed, affine);
+    autoware_utils_pcl::transform_pointcloud(pc, *pc_transformed, affine);
   }
 
   planner_data_.no_ground_pointcloud = pc_transformed;

From 387f9b92128e8aa71dd3ff54ba62c6416d50f667 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Thu, 24 Apr 2025 07:47:03 +0000
Subject: [PATCH 2/2] style(pre-commit): autofix

---
 .../autoware/behavior_velocity_planner/node.hpp    | 14 ++++++++------
 1 file changed, 8 insertions(+), 6 deletions(-)

diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/include/autoware/behavior_velocity_planner/node.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/include/autoware/behavior_velocity_planner/node.hpp
index d70ce9c0b7..e69987a4da 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/include/autoware/behavior_velocity_planner/node.hpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/include/autoware/behavior_velocity_planner/node.hpp
@@ -62,25 +62,27 @@ class BehaviorVelocityPlannerNode : public rclcpp::Node
     trigger_sub_path_with_lane_id_;
 
   // polling subscribers
-  autoware_utils_rclcpp::InterProcessPollingSubscriber<autoware_perception_msgs::msg::PredictedObjects>
+  autoware_utils_rclcpp::InterProcessPollingSubscriber<
+    autoware_perception_msgs::msg::PredictedObjects>
     sub_predicted_objects_{this, "~/input/dynamic_objects"};
 
   autoware_utils_rclcpp::InterProcessPollingSubscriber<sensor_msgs::msg::PointCloud2>
     sub_no_ground_pointcloud_{
       this, "~/input/no_ground_pointcloud", autoware_utils_rclcpp::single_depth_sensor_qos()};
 
-  autoware_utils_rclcpp::InterProcessPollingSubscriber<nav_msgs::msg::Odometry> sub_vehicle_odometry_{
-    this, "~/input/vehicle_odometry"};
+  autoware_utils_rclcpp::InterProcessPollingSubscriber<nav_msgs::msg::Odometry>
+    sub_vehicle_odometry_{this, "~/input/vehicle_odometry"};
 
-  autoware_utils_rclcpp::InterProcessPollingSubscriber<geometry_msgs::msg::AccelWithCovarianceStamped>
+  autoware_utils_rclcpp::InterProcessPollingSubscriber<
+    geometry_msgs::msg::AccelWithCovarianceStamped>
     sub_acceleration_{this, "~/input/accel"};
 
   autoware_utils_rclcpp::InterProcessPollingSubscriber<
     autoware_perception_msgs::msg::TrafficLightGroupArray>
     sub_traffic_signals_{this, "~/input/traffic_signals"};
 
-  autoware_utils_rclcpp::InterProcessPollingSubscriber<nav_msgs::msg::OccupancyGrid> sub_occupancy_grid_{
-    this, "~/input/occupancy_grid"};
+  autoware_utils_rclcpp::InterProcessPollingSubscriber<nav_msgs::msg::OccupancyGrid>
+    sub_occupancy_grid_{this, "~/input/occupancy_grid"};
 
   autoware_utils_rclcpp::InterProcessPollingSubscriber<
     LaneletMapBin, autoware_utils_rclcpp::polling_policy::Newest>