diff --git a/Assets/AWSIM/Scripts/NPCs/RvizNPCSpawner/RVIZNPCSpawner.cs b/Assets/AWSIM/Scripts/NPCs/RvizNPCSpawner/RVIZNPCSpawner.cs index ce11d7c67..b00896acc 100644 --- a/Assets/AWSIM/Scripts/NPCs/RvizNPCSpawner/RVIZNPCSpawner.cs +++ b/Assets/AWSIM/Scripts/NPCs/RvizNPCSpawner/RVIZNPCSpawner.cs @@ -45,13 +45,13 @@ public class RVIZNPCSpawner : MonoBehaviour private float _raycastStart = 1.33f; // Subscriber - ISubscription<dummy_perception_publisher.msg.Object> dummyPerceptionSubscriber; + ISubscription<tier4_simulation_msgs.msg.DummyObject> dummyPerceptionSubscriber; void Start() { // Initialize the ROS2 node and create the subscription dummyPerceptionSubscriber - = SimulatorROS2Node.CreateSubscription<dummy_perception_publisher.msg.Object>( + = SimulatorROS2Node.CreateSubscription<tier4_simulation_msgs.msg.DummyObject>( dummyPerceptionTopic, OnObjectInfoReceived, qosSettings.GetQoSProfile()); } @@ -100,7 +100,7 @@ private void FixedUpdate() /// Callback method to handle incoming ROS messages /// </summary> /// <param name="msg">Received Object message</param> - void OnObjectInfoReceived(dummy_perception_publisher.msg.Object msg) + void OnObjectInfoReceived(tier4_simulation_msgs.msg.DummyObject msg) { _npcLabel = msg.Classification.Label; // Label: 0 = delete All Npcs, 7 = Spawn pedestrians, 3 = spawn vehicle _interactiveAction = msg.Action; // Action: 0 = uninteractive mode, 1 = interactive mode, 2 = delete interactive NPCs @@ -321,7 +321,7 @@ private void DespawnInteractiveNPCs() /// </summary> void OnDestroy() { - SimulatorROS2Node.RemoveSubscription<dummy_perception_publisher.msg.Object>(dummyPerceptionSubscriber); + SimulatorROS2Node.RemoveSubscription<tier4_simulation_msgs.msg.DummyObject>(dummyPerceptionSubscriber); } } }