What: Changed the data type of marker color to use the existing stand…

…ard ROS2 message format instead of custom defined struct

planning/behavior_velocity_planner/src/scene_module/detection_area/debug.cpp

@@ -19,8 +19,10 @@
 
 #ifdef ROS_DISTRO_GALACTIC
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <std_msgs/color_rgba.h>
 #else
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+#include <std_msgs/color_rgba.hpp>
 #endif
 
 #include <vector>
@@ -31,19 +33,12 @@ using tier4_autoware_utils::appendMarkerArray;
 using tier4_autoware_utils::createDefaultMarker;
 using tier4_autoware_utils::createMarkerColor;
 using tier4_autoware_utils::createMarkerScale;
+using std_msgs::msg::ColorRGBA;
 
 namespace
 {
 using DebugData = DetectionAreaModule::DebugData;
 
-struct MarkerColor
-{
-  float r;
-  float g;
-  float b;
-  float a;
-};
-
 lanelet::BasicPoint3d getCentroidPoint(const lanelet::BasicPolygon3d & poly)
 {
   lanelet::BasicPoint3d p_sum{0.0, 0.0, 0.0};
@@ -64,7 +59,7 @@ geometry_msgs::msg::Point toMsg(const lanelet::BasicPoint3d & point)
 
 visualization_msgs::msg::MarkerArray createCorrespondenceMarkerArray(
   const lanelet::autoware::DetectionArea & detection_area_reg_elem, const rclcpp::Time & now,
-  MarkerColor marker_color)
+  ColorRGBA marker_color)
 {
   visualization_msgs::msg::MarkerArray msg;
 
@@ -147,7 +142,7 @@ visualization_msgs::msg::MarkerArray DetectionAreaModule::createDebugMarkerArray
   const rclcpp::Time now = clock_->now();
 
   if (!debug_data_.stop_poses.empty()) {
-    MarkerColor marker_color;
+    ColorRGBA marker_color;
     marker_color.r = 1.0;
     marker_color.g = 0.0;
     marker_color.b = 0.0;
@@ -161,7 +156,7 @@ visualization_msgs::msg::MarkerArray DetectionAreaModule::createDebugMarkerArray
         debug_data_.obstacle_points, "obstacles", module_id_, now, 0.6, 0.6, 0.6, 1.0, 0.0, 0.0),
       &wall_marker, now);
   } else {
-    MarkerColor marker_color;
+    ColorRGBA marker_color;
     marker_color.r = 0.0;
     marker_color.g = 1.0;
     marker_color.b = 0.0;