feat: replace autoware_interface_specs_universe with autoware_interfa…

…ce_specs Signed-off-by: Ryohsuke Mitsudome <[email protected]>
autowarefoundation · Mar 12, 2025 · ae54a9f · ae54a9f
1 parent ab5f45e
commit ae54a9f
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Showing 3 changed files with 8 additions and 8 deletions.
diff --git a/...re_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp b/...re_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp
@@ -17,8 +17,7 @@
 
 #include "rclcpp/rclcpp.hpp"
 
-#include <autoware/component_interface_specs_universe/map.hpp>
-#include <autoware/component_interface_utils/rclcpp.hpp>
+#include <autoware/component_interface_specs/map.hpp>
 
 #include <string>
 
@@ -34,8 +33,8 @@ class MapProjectionLoader : public rclcpp::Node
   explicit MapProjectionLoader(const rclcpp::NodeOptions & options);
 
 private:
-  using MapProjectorInfo = autoware::component_interface_specs_universe::map::MapProjectorInfo;
-  autoware::component_interface_utils::Publisher<MapProjectorInfo>::SharedPtr publisher_;
+  using MapProjectorInfo = autoware::component_interface_specs::map::MapProjectorInfo;
+  rclcpp::Publisher<MapProjectorInfo::Message>::SharedPtr publisher_;
 };
 }  // namespace autoware::map_projection_loader
 

diff --git a/map/autoware_map_projection_loader/package.xml b/map/autoware_map_projection_loader/package.xml
@@ -16,8 +16,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>autoware_component_interface_specs_universe</depend>
-  <depend>autoware_component_interface_utils</depend>
+  <depend>autoware_component_interface_specs</depend>
   <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_map_msgs</depend>
   <depend>rclcpp</depend>

diff --git a/map/autoware_map_projection_loader/src/map_projection_loader.cpp b/map/autoware_map_projection_loader/src/map_projection_loader.cpp
@@ -104,8 +104,10 @@ MapProjectionLoader::MapProjectionLoader(const rclcpp::NodeOptions & options)
     load_map_projector_info(yaml_filename, lanelet2_map_filename);
 
   // Publish the message
-  const auto adaptor = autoware::component_interface_utils::NodeAdaptor(this);
-  adaptor.init_pub(publisher_);
+  MapProjectorInfo map_projector_info_specs;
+  publisher_ = this->create_publisher<MapProjectorInfo::Message>(
+    map_projector_info_specs.name,
+    autoware::component_interface_specs::get_qos(map_projector_info_specs));
   publisher_->publish(msg);
 }
 }  // namespace autoware::map_projection_loader