fix(autoware_landmark_manager): fix deprecated autoware_utils header

localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/package.xml

@@ -20,6 +20,7 @@
   <depend>aruco</depend>
   <depend>autoware_landmark_manager</depend>
   <depend>autoware_localization_util</depend>
+  <depend>autoware_utils_geometry</depend>
   <depend>cv_bridge</depend>
   <depend>diagnostic_msgs</depend>
   <depend>rclcpp</depend>

localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/src/ar_tag_based_localizer.cpp

@@ -70,7 +70,7 @@
 #include <tf2_eigen/tf2_eigen.hpp>
 #endif
 
-#include <autoware_utils/geometry/geometry.hpp>
+#include <autoware_utils_geometry/geometry.hpp>
 
 ArTagBasedLocalizer::ArTagBasedLocalizer(const rclcpp::NodeOptions & options)
 : rclcpp::Node("ar_tag_based_localizer", options), cam_info_received_(false)
@@ -192,16 +192,17 @@
     pose_array_msg.header.stamp = sensor_stamp;
     pose_array_msg.header.frame_id = "map";
     for (const Landmark & landmark : landmarks) {
-      const Pose detected_marker_on_map = autoware_utils::transform_pose(landmark.pose, self_pose);
+      const Pose detected_marker_on_map =
+        autoware_utils_geometry::transform_pose(landmark.pose, self_pose);
       pose_array_msg.poses.push_back(detected_marker_on_map);
     }
     detected_tag_pose_pub_->publish(pose_array_msg);
   }
 
   // calc new_self_pose
   const Pose new_self_pose =
     landmark_manager_.calculate_new_self_pose(landmarks, self_pose, consider_orientation_);
-  const Pose diff_pose = autoware_utils::inverse_transform_pose(new_self_pose, self_pose);
+  const Pose diff_pose = autoware_utils_geometry::inverse_transform_pose(new_self_pose, self_pose);
   const double distance =
     std::hypot(diff_pose.position.x, diff_pose.position.y, diff_pose.position.z);
 

localization/autoware_landmark_based_localizer/autoware_landmark_manager/package.xml

@@ -21,7 +21,7 @@
   <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_localization_util</depend>
   <depend>autoware_map_msgs</depend>
-  <depend>autoware_utils</depend>
+  <depend>autoware_utils_geometry</depend>
   <depend>geometry_msgs</depend>
   <depend>rclcpp</depend>
   <depend>tf2_eigen</depend>

localization/autoware_landmark_based_localizer/autoware_landmark_manager/src/landmark_manager.cpp

@@ -16,7 +16,7 @@
 
 #include "autoware/localization_util/util_func.hpp"
 #include "autoware_lanelet2_extension/utility/message_conversion.hpp"
-#include "autoware_utils/geometry/geometry.hpp"
+#include "autoware_utils_geometry/geometry.hpp"
 
 #include <Eigen/Core>
 #include <tf2_eigen/tf2_eigen.hpp>
@@ -165,7 +165,7 @@
 
     // convert base_link to map
     const Pose detected_landmark_on_map =
-      autoware_utils::transform_pose(detected_landmark_on_base_link, self_pose);
+      autoware_utils_geometry::transform_pose(detected_landmark_on_base_link, self_pose);
 
     // match to map
     if (landmarks_map_.count(landmark.id) == 0) {
@@ -175,7 +175,7 @@
     // check all poses
     for (const Pose mapped_landmark_on_map : landmarks_map_.at(landmark.id)) {
       // check distance
-      const double curr_distance = autoware_utils::calc_distance3d(
+      const double curr_distance = autoware_utils_geometry::calc_distance3d(
         mapped_landmark_on_map.position, detected_landmark_on_map.position);
       if (curr_distance > min_distance) {
         continue;