feat(autoware_velocity_smoother):porting from universe to core, autow…

…are_velocity_smoother, solve dependency conflict which use tier4 planning velocity limit msg: v0.2

Signed-off-by: liuXinGangChina <lxg19892021@gmail.com>

planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/type_alias.hpp

@@ -31,8 +31,8 @@
 #include "nav_msgs/msg/odometry.hpp"
 #include "sensor_msgs/msg/point_cloud2.hpp"
 #include "tier4_planning_msgs/msg/stop_speed_exceeded.hpp"
-#include "tier4_planning_msgs/msg/velocity_limit.hpp"
-#include "tier4_planning_msgs/msg/velocity_limit_clear_command.hpp"
+#include "autoware_internal_planning_msgs/msg/velocity_limit.hpp"
+#include "autoware_internal_planning_msgs/msg/velocity_limit_clear_command.hpp"
 #include "visualization_msgs/msg/marker_array.hpp"
 
 #include <pcl/point_cloud.h>
@@ -54,8 +54,8 @@ using geometry_msgs::msg::Twist;
 using nav_msgs::msg::Odometry;
 using sensor_msgs::msg::PointCloud2;
 using tier4_planning_msgs::msg::StopSpeedExceeded;
-using tier4_planning_msgs::msg::VelocityLimit;
-using tier4_planning_msgs::msg::VelocityLimitClearCommand;
+using autoware_internal_planning_msgs::msg::VelocityLimit;
+using autoware_internal_planning_msgs::msg::VelocityLimitClearCommand;
 using visualization_msgs::msg::Marker;
 using visualization_msgs::msg::MarkerArray;
 namespace bg = boost::geometry;

planning/autoware_obstacle_cruise_planner/package.xml

@@ -42,6 +42,7 @@
   <depend>tier4_metric_msgs</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>
+  <depend>autoware_internal_planning_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>

planning/autoware_obstacle_stop_planner/package.xml

@@ -44,6 +44,7 @@
   <depend>tf2_ros</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>
+  <depend>autoware_internal_planning_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>

planning/autoware_obstacle_stop_planner/src/node.hpp

@@ -42,8 +42,8 @@
 #include <geometry_msgs/msg/twist_stamped.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <tier4_planning_msgs/msg/expand_stop_range.hpp>
-#include <tier4_planning_msgs/msg/velocity_limit.hpp>
-#include <tier4_planning_msgs/msg/velocity_limit_clear_command.hpp>
+#include <autoware_internal_planning_msgs/msg/velocity_limit.hpp>
+#include <autoware_internal_planning_msgs/msg/velocity_limit_clear_command.hpp>
 
 #include <boost/assert.hpp>
 #include <boost/assign/list_of.hpp>
@@ -90,8 +90,8 @@ using autoware_perception_msgs::msg::PredictedObjects;
 using autoware_planning_msgs::msg::Trajectory;
 using autoware_planning_msgs::msg::TrajectoryPoint;
 using tier4_planning_msgs::msg::ExpandStopRange;
-using tier4_planning_msgs::msg::VelocityLimit;
-using tier4_planning_msgs::msg::VelocityLimitClearCommand;
+using autoware_internal_planning_msgs::msg::VelocityLimit;
+using autoware_internal_planning_msgs::msg::VelocityLimitClearCommand;
 
 using TrajectoryPoints = std::vector<TrajectoryPoint>;
 using PointCloud = pcl::PointCloud<pcl::PointXYZ>;

planning/autoware_remaining_distance_time_calculator/package.xml

@@ -25,6 +25,7 @@
   <depend>rclcpp_components</depend>
   <depend>std_msgs</depend>
   <depend>tier4_planning_msgs</depend>
+  <depend>autoware_internal_planning_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>

planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.cpp

@@ -55,7 +55,7 @@ RemainingDistanceTimeCalculatorNode::RemainingDistanceTimeCalculatorNode(
   sub_route_ = create_subscription<LaneletRoute>(
     "~/input/route", qos_transient_local,
     std::bind(&RemainingDistanceTimeCalculatorNode::on_route, this, _1));
-  sub_planning_velocity_ = create_subscription<tier4_planning_msgs::msg::VelocityLimit>(
+  sub_planning_velocity_ = create_subscription<autoware_internal_planning_msgs::msg::VelocityLimit>(
     "/planning/scenario_planning/current_max_velocity", qos_transient_local,
     std::bind(&RemainingDistanceTimeCalculatorNode::on_velocity_limit, this, _1));
   sub_scenario_ = this->create_subscription<tier4_planning_msgs::msg::Scenario>(

planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.hpp

@@ -26,7 +26,7 @@
 #include <geometry_msgs/msg/vector3.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 #include <tier4_planning_msgs/msg/scenario.hpp>
-#include <tier4_planning_msgs/msg/velocity_limit.hpp>
+#include <autoware_internal_planning_msgs/msg/velocity_limit.hpp>
 
 #include <lanelet2_core/Forward.h>
 #include <lanelet2_core/utility/Optional.h>
@@ -49,7 +49,7 @@ class RemainingDistanceTimeCalculatorNode : public rclcpp::Node
   using LaneletRoute = autoware_planning_msgs::msg::LaneletRoute;
   using HADMapBin = autoware_map_msgs::msg::LaneletMapBin;
   using Odometry = nav_msgs::msg::Odometry;
-  using VelocityLimit = tier4_planning_msgs::msg::VelocityLimit;
+  using VelocityLimit = autoware_internal_planning_msgs::msg::VelocityLimit;
   using MissionRemainingDistanceTime = autoware_internal_msgs::msg::MissionRemainingDistanceTime;
 
   rclcpp::Subscription<LaneletRoute>::SharedPtr sub_route_;

planning/autoware_surround_obstacle_checker/README.md

@@ -88,8 +88,8 @@ As mentioned in stop condition section, it prevents chattering by changing thres
 
 | Name                                    | Type                                                  | Description                                                                           |
 | --------------------------------------- | ----------------------------------------------------- | ------------------------------------------------------------------------------------- |
-| `~/output/velocity_limit_clear_command` | `tier4_planning_msgs::msg::VelocityLimitClearCommand` | Velocity limit clear command                                                          |
-| `~/output/max_velocity`                 | `tier4_planning_msgs::msg::VelocityLimit`             | Velocity limit command                                                                |
+| `~/output/velocity_limit_clear_command` | `autoware_internal_planning_msgs::msg::VelocityLimitClearCommand` | Velocity limit clear command                                                          |
+| `~/output/max_velocity`                 | `autoware_internal_planning_msgs::msg::VelocityLimit`             | Velocity limit command                                                                |
 | `~/output/no_start_reason`              | `diagnostic_msgs::msg::DiagnosticStatus`              | No start reason                                                                       |
 | `~/debug/marker`                        | `visualization_msgs::msg::MarkerArray`                | Marker for visualization                                                              |
 | `~/debug/footprint`                     | `geometry_msgs::msg::PolygonStamped`                  | Ego vehicle base footprint for visualization                                          |

planning/autoware_surround_obstacle_checker/package.xml

@@ -34,8 +34,8 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>
+  <depend>autoware_internal_planning_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>

planning/autoware_surround_obstacle_checker/src/node.hpp

@@ -30,8 +30,8 @@
 #include <diagnostic_msgs/msg/key_value.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
-#include <tier4_planning_msgs/msg/velocity_limit.hpp>
-#include <tier4_planning_msgs/msg/velocity_limit_clear_command.hpp>
+#include <autoware_internal_planning_msgs/msg/velocity_limit.hpp>
+#include <autoware_internal_planning_msgs/msg/velocity_limit_clear_command.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
 
 #include <tf2/utils.h>
@@ -52,8 +52,8 @@ using autoware::motion_utils::VehicleStopChecker;
 using autoware::vehicle_info_utils::VehicleInfo;
 using autoware_perception_msgs::msg::PredictedObjects;
 using autoware_perception_msgs::msg::Shape;
-using tier4_planning_msgs::msg::VelocityLimit;
-using tier4_planning_msgs::msg::VelocityLimitClearCommand;
+using autoware_internal_planning_msgs::msg::VelocityLimit;
+using autoware_internal_planning_msgs::msg::VelocityLimitClearCommand;
 
 using Obstacle = std::pair<double /* distance */, geometry_msgs::msg::Point>;
 

planning/autoware_surround_obstacle_checker/surround_obstacle_checker-design.ja.md

@@ -88,8 +88,8 @@ Stop condition の項で述べたように、状態によって障害物判定
 
 | Name                                    | Type                                                  | Description                  |
 | --------------------------------------- | ----------------------------------------------------- | ---------------------------- |
-| `~/output/velocity_limit_clear_command` | `tier4_planning_msgs::msg::VelocityLimitClearCommand` | Velocity limit clear command |
-| `~/output/max_velocity`                 | `tier4_planning_msgs::msg::VelocityLimit`             | Velocity limit command       |
+| `~/output/velocity_limit_clear_command` | `autoware_internal_planning_msgs::msg::VelocityLimitClearCommand` | Velocity limit clear command |
+| `~/output/max_velocity`                 | `autoware_internal_planning_msgs::msg::VelocityLimit`             | Velocity limit command       |
 | `~/output/no_start_reason`              | `diagnostic_msgs::msg::DiagnosticStatus`              | No start reason              |
 | `~/debug/marker`                        | `visualization_msgs::msg::MarkerArray`                | Marker for visualization     |
 

planning/autoware_velocity_smoother/include/autoware/velocity_smoother/node.hpp

@@ -46,7 +46,7 @@
 #include "autoware_planning_msgs/msg/trajectory_point.hpp"
 #include "geometry_msgs/msg/accel_with_covariance_stamped.hpp"
 #include "nav_msgs/msg/odometry.hpp"
-#include "tier4_planning_msgs/msg/velocity_limit.hpp"  // temporary
+#include "autoware_internal_planning_msgs/msg/velocity_limit.hpp"  // temporary
 #include "visualization_msgs/msg/marker_array.hpp"
 
 #include <iostream>
@@ -69,7 +69,7 @@ using geometry_msgs::msg::AccelWithCovarianceStamped;
 using geometry_msgs::msg::Pose;
 using geometry_msgs::msg::PoseStamped;
 using nav_msgs::msg::Odometry;
-using tier4_planning_msgs::msg::VelocityLimit;  // temporary
+using autoware_internal_planning_msgs::msg::VelocityLimit;  // temporary
 using visualization_msgs::msg::MarkerArray;
 
 struct Motion

planning/autoware_velocity_smoother/package.xml

@@ -35,7 +35,7 @@
   <depend>rclcpp</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_planning_msgs</depend>
+  <depend>autoware_internal_planning_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>

planning/autoware_velocity_smoother/test/test_velocity_smoother_node_interface.cpp

@@ -64,7 +64,7 @@ void publishMandatoryTopics(
     test_target_node, "/localization/kinematic_state", autoware::test_utils::makeOdometry());
   test_manager->publishInput(
     test_target_node, "velocity_smoother/input/external_velocity_limit_mps",
-    tier4_planning_msgs::msg::VelocityLimit{});
+    autoware_internal_planning_msgs::msg::VelocityLimit{});
   test_manager->publishInput(
     test_target_node, "velocity_smoother/input/operation_mode_state",
     autoware_adapi_v1_msgs::msg::OperationModeState{});

planning/behavior_velocity_planner/autoware_behavior_velocity_planner/include/autoware/behavior_velocity_planner/node.hpp

@@ -31,7 +31,7 @@
 #include <nav_msgs/msg/occupancy_grid.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
-#include <tier4_planning_msgs/msg/velocity_limit.hpp>
+#include <autoware_internal_planning_msgs/msg/velocity_limit.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
 
 #include <tf2_ros/buffer.h>
@@ -45,7 +45,7 @@
 namespace autoware::behavior_velocity_planner
 {
 using autoware_map_msgs::msg::LaneletMapBin;
-using tier4_planning_msgs::msg::VelocityLimit;
+using autoware_internal_planning_msgs::msg::VelocityLimit;
 
 class BehaviorVelocityPlannerNode : public rclcpp::Node
 {

planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml

@@ -55,7 +55,7 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_planning_msgs</depend>
+  <depend>autoware_internal_planning_msgs</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>

planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/test_utils.cpp

@@ -119,7 +119,7 @@ void publishMandatoryTopics(
     autoware_perception_msgs::msg::TrafficLightGroupArray{});
   test_manager->publishInput(
     test_target_node, "behavior_velocity_planner_node/input/external_velocity_limit_mps",
-    tier4_planning_msgs::msg::VelocityLimit{});
+    autoware_internal_planning_msgs::msg::VelocityLimit{});
   test_manager->publishInput(
     test_target_node, "behavior_velocity_planner_node/input/occupancy_grid",
     autoware::test_utils::makeCostMapMsg());

planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/planner_data.hpp

@@ -29,7 +29,7 @@
 #include <nav_msgs/msg/occupancy_grid.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <std_msgs/msg/header.hpp>
-#include <tier4_planning_msgs/msg/velocity_limit.hpp>
+#include <autoware_internal_planning_msgs/msg/velocity_limit.hpp>
 
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
@@ -62,7 +62,7 @@ struct PlannerData
 
   std::map<lanelet::Id, TrafficSignalStamped> traffic_light_id_map_raw_;
   std::map<lanelet::Id, TrafficSignalStamped> traffic_light_id_map_last_observed_;
-  std::optional<tier4_planning_msgs::msg::VelocityLimit> external_velocity_limit;
+  std::optional<autoware_internal_planning_msgs::msg::VelocityLimit> external_velocity_limit;
 
   bool is_simulation = false;
 

planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml

@@ -45,7 +45,7 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_planning_msgs</depend>
+  <depend>autoware_internal_planning_msgs</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>

planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test/src/test_trajectory_utils.cpp

@@ -77,7 +77,7 @@ TEST(smoothPath, nominal)
 
   planner_data->velocity_smoother_ =
     std::make_shared<autoware::velocity_smoother::JerkFilteredSmoother>(
-      *node, std::make_shared<autoware::universe_utils::TimeKeeper>());
+      *node, std::make_shared<autoware_utils::TimeKeeper>());
 
   // Input path
   PathWithLaneId in_path;

planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/package.xml

@@ -30,6 +30,7 @@
   <depend>tier4_metric_msgs</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>
+  <depend>autoware_internal_planning_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>

planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/type_alias.hpp

@@ -26,8 +26,8 @@
 #include "geometry_msgs/msg/twist.hpp"
 #include "nav_msgs/msg/odometry.hpp"
 #include "sensor_msgs/msg/point_cloud2.hpp"
-#include "tier4_planning_msgs/msg/velocity_limit.hpp"
-#include "tier4_planning_msgs/msg/velocity_limit_clear_command.hpp"
+#include "autoware_internal_planning_msgs/msg/velocity_limit.hpp"
+#include "autoware_internal_planning_msgs/msg/velocity_limit_clear_command.hpp"
 #include "visualization_msgs/msg/marker_array.hpp"
 #include <tier4_metric_msgs/msg/metric.hpp>
 #include <tier4_metric_msgs/msg/metric_array.hpp>
@@ -53,8 +53,8 @@ using autoware_planning_msgs::msg::TrajectoryPoint;
 using geometry_msgs::msg::Twist;
 using nav_msgs::msg::Odometry;
 using sensor_msgs::msg::PointCloud2;
-using tier4_planning_msgs::msg::VelocityLimit;
-using tier4_planning_msgs::msg::VelocityLimitClearCommand;
+using autoware_internal_planning_msgs::msg::VelocityLimit;
+using autoware_internal_planning_msgs::msg::VelocityLimitClearCommand;
 using visualization_msgs::msg::Marker;
 using visualization_msgs::msg::MarkerArray;
 namespace bg = boost::geometry;

planning/motion_velocity_planner/autoware_motion_velocity_obstacle_slow_down_module/package.xml

@@ -29,6 +29,7 @@
   <depend>tier4_metric_msgs</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>
+  <depend>autoware_internal_planning_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>

planning/motion_velocity_planner/autoware_motion_velocity_obstacle_slow_down_module/src/type_alias.hpp

@@ -26,8 +26,8 @@
 #include "geometry_msgs/msg/twist.hpp"
 #include "nav_msgs/msg/odometry.hpp"
 #include "sensor_msgs/msg/point_cloud2.hpp"
-#include "tier4_planning_msgs/msg/velocity_limit.hpp"
-#include "tier4_planning_msgs/msg/velocity_limit_clear_command.hpp"
+#include "autoware_internal_planning_msgs/msg/velocity_limit.hpp"
+#include "autoware_internal_planning_msgs/msg/velocity_limit_clear_command.hpp"
 #include "visualization_msgs/msg/marker_array.hpp"
 #include <tier4_metric_msgs/msg/metric.hpp>
 #include <tier4_metric_msgs/msg/metric_array.hpp>
@@ -53,8 +53,8 @@ using autoware_planning_msgs::msg::TrajectoryPoint;
 using geometry_msgs::msg::Twist;
 using nav_msgs::msg::Odometry;
 using sensor_msgs::msg::PointCloud2;
-using tier4_planning_msgs::msg::VelocityLimit;
-using tier4_planning_msgs::msg::VelocityLimitClearCommand;
+using autoware_internal_planning_msgs::msg::VelocityLimit;
+using autoware_internal_planning_msgs::msg::VelocityLimitClearCommand;
 using visualization_msgs::msg::Marker;
 using visualization_msgs::msg::MarkerArray;
 namespace bg = boost::geometry;

planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/include/autoware/motion_velocity_planner_common_universe/velocity_planning_result.hpp

@@ -18,8 +18,8 @@
 #include <autoware/motion_utils/marker/virtual_wall_marker_creator.hpp>
 
 #include <geometry_msgs/msg/point.hpp>
-#include <tier4_planning_msgs/msg/velocity_limit.hpp>
-#include <tier4_planning_msgs/msg/velocity_limit_clear_command.hpp>
+#include <autoware_internal_planning_msgs/msg/velocity_limit.hpp>
+#include <autoware_internal_planning_msgs/msg/velocity_limit_clear_command.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
 
 #include <string>
@@ -44,8 +44,8 @@ struct VelocityPlanningResult
 {
   std::vector<geometry_msgs::msg::Point> stop_points{};
   std::vector<SlowdownInterval> slowdown_intervals{};
-  std::optional<tier4_planning_msgs::msg::VelocityLimit> velocity_limit{std::nullopt};
-  std::optional<tier4_planning_msgs::msg::VelocityLimitClearCommand> velocity_limit_clear_command{
+  std::optional<autoware_internal_planning_msgs::msg::VelocityLimit> velocity_limit{std::nullopt};
+  std::optional<autoware_internal_planning_msgs::msg::VelocityLimitClearCommand> velocity_limit_clear_command{
     std::nullopt};
 };
 }  // namespace autoware::motion_velocity_planner

planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/package.xml

@@ -32,6 +32,7 @@
   <depend>libboost-dev</depend>
   <depend>rclcpp</depend>
   <depend>visualization_msgs</depend>
+  <depend>autoware_internal_planning_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>

planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/package.xml

@@ -42,6 +42,7 @@
   <depend>tf2_ros</depend>
   <depend>tier4_metric_msgs</depend>
   <depend>visualization_msgs</depend>
+  <depend>autoware_internal_planning_msgs</depend>
 
   <exec_depend>rosidl_default_runtime</exec_depend>
 

planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/src/node.hpp

@@ -33,8 +33,8 @@
 #include <nav_msgs/msg/occupancy_grid.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
-#include <tier4_planning_msgs/msg/velocity_limit.hpp>
-#include <tier4_planning_msgs/msg/velocity_limit_clear_command.hpp>
+#include <autoware_internal_planning_msgs/msg/velocity_limit.hpp>
+#include <autoware_internal_planning_msgs/msg/velocity_limit_clear_command.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
 
 #include <tf2_ros/buffer.h>
@@ -52,8 +52,8 @@ using autoware_map_msgs::msg::LaneletMapBin;
 using autoware_motion_velocity_planner_node_universe::srv::LoadPlugin;
 using autoware_motion_velocity_planner_node_universe::srv::UnloadPlugin;
 using autoware_planning_msgs::msg::Trajectory;
-using tier4_planning_msgs::msg::VelocityLimit;
-using tier4_planning_msgs::msg::VelocityLimitClearCommand;
+using autoware_internal_planning_msgs::msg::VelocityLimit;
+using autoware_internal_planning_msgs::msg::VelocityLimitClearCommand;
 using TrajectoryPoints = std::vector<autoware_planning_msgs::msg::TrajectoryPoint>;
 
 class MotionVelocityPlannerNode : public rclcpp::Node

system/autoware_mrm_comfortable_stop_operator/README.md

@@ -19,8 +19,8 @@ MRM comfortable stop operator is a node that generates comfortable stop commands
 | Name                                   | Type                                                  | Description                  |
 | -------------------------------------- | ----------------------------------------------------- | ---------------------------- |
 | `~/output/mrm/comfortable_stop/status` | `tier4_system_msgs::msg::MrmBehaviorStatus`           | MRM execution status         |
-| `~/output/velocity_limit`              | `tier4_planning_msgs::msg::VelocityLimit`             | Velocity limit command       |
-| `~/output/velocity_limit/clear`        | `tier4_planning_msgs::msg::VelocityLimitClearCommand` | Velocity limit clear command |
+| `~/output/velocity_limit`              | `autoware_internal_planning_msgs::msg::VelocityLimit`             | Velocity limit command       |
+| `~/output/velocity_limit/clear`        | `autoware_internal_planning_msgs::msg::VelocityLimitClearCommand` | Velocity limit clear command |
 
 ## Parameters