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common/autoware_ad_api_specs/include/autoware_ad_api_specs/operation_mode.hpp
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// Copyright 2022 TIER IV, Inc. | ||
// | ||
// Licensed under the Apache License, Version 2.0 (the "License"); | ||
// you may not use this file except in compliance with the License. | ||
// You may obtain a copy of the License at | ||
// | ||
// http://www.apache.org/licenses/LICENSE-2.0 | ||
// | ||
// Unless required by applicable law or agreed to in writing, software | ||
// distributed under the License is distributed on an "AS IS" BASIS, | ||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
// See the License for the specific language governing permissions and | ||
// limitations under the License. | ||
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#ifndef AUTOWARE_AD_API_SPECS__OPERATION_MODE_HPP_ | ||
#define AUTOWARE_AD_API_SPECS__OPERATION_MODE_HPP_ | ||
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#include <rclcpp/qos.hpp> | ||
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#include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp> | ||
#include <autoware_adapi_v1_msgs/srv/change_operation_mode.hpp> | ||
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namespace autoware_ad_api::operation_mode | ||
{ | ||
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struct ChangeToStop | ||
{ | ||
using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode; | ||
static constexpr char name[] = "/api/operation_mode/change_to_stop"; | ||
}; | ||
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struct ChangeToAutonomous | ||
{ | ||
using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode; | ||
static constexpr char name[] = "/api/operation_mode/change_to_autonomous"; | ||
}; | ||
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struct ChangeToLocal | ||
{ | ||
using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode; | ||
static constexpr char name[] = "/api/operation_mode/change_to_local"; | ||
}; | ||
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struct ChangeToRemote | ||
{ | ||
using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode; | ||
static constexpr char name[] = "/api/operation_mode/change_to_remote"; | ||
}; | ||
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struct EnableAutowareControl | ||
{ | ||
using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode; | ||
static constexpr char name[] = "/api/operation_mode/enable_autoware_control"; | ||
}; | ||
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struct DisableAutowareControl | ||
{ | ||
using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode; | ||
static constexpr char name[] = "/api/operation_mode/disable_autoware_control"; | ||
}; | ||
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struct OperationModeState | ||
{ | ||
using Message = autoware_adapi_v1_msgs::msg::OperationModeState; | ||
static constexpr char name[] = "/api/operation_mode/state"; | ||
static constexpr size_t depth = 1; | ||
static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE; | ||
static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; | ||
}; | ||
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} // namespace autoware_ad_api::operation_mode | ||
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#endif // AUTOWARE_AD_API_SPECS__OPERATION_MODE_HPP_ |
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<version>1.0.0</version> | ||
<description>Contains plugins to visualize object detection outputs</description> | ||
<maintainer email="[email protected]">Apex.AI, Inc.</maintainer> | ||
<maintainer email="[email protected]">Taichi Higashide</maintainer> | ||
<maintainer email="[email protected]">Satoshi Tanaka</maintainer> | ||
<maintainer email="[email protected]">Taiki Tanaka</maintainer> | ||
<license>Apache 2.0</license> | ||
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<buildtool_depend>ament_cmake</buildtool_depend> | ||
|
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50
common/component_interface_specs/include/component_interface_specs/system.hpp
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// Copyright 2022 TIER IV, Inc. | ||
// | ||
// Licensed under the Apache License, Version 2.0 (the "License"); | ||
// you may not use this file except in compliance with the License. | ||
// You may obtain a copy of the License at | ||
// | ||
// http://www.apache.org/licenses/LICENSE-2.0 | ||
// | ||
// Unless required by applicable law or agreed to in writing, software | ||
// distributed under the License is distributed on an "AS IS" BASIS, | ||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
// See the License for the specific language governing permissions and | ||
// limitations under the License. | ||
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#ifndef COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_ | ||
#define COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_ | ||
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#include <rclcpp/qos.hpp> | ||
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#include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp> | ||
#include <tier4_system_msgs/srv/change_autoware_control.hpp> | ||
#include <tier4_system_msgs/srv/change_operation_mode.hpp> | ||
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namespace system_interface | ||
{ | ||
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struct ChangeAutowareControl | ||
{ | ||
using Service = tier4_system_msgs::srv::ChangeAutowareControl; | ||
static constexpr char name[] = "/system/operation_mode/change_autoware_control"; | ||
}; | ||
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struct ChangeOperationMode | ||
{ | ||
using Service = tier4_system_msgs::srv::ChangeOperationMode; | ||
static constexpr char name[] = "/system/operation_mode/change_operation_mode"; | ||
}; | ||
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struct OperationModeState | ||
{ | ||
using Message = autoware_adapi_v1_msgs::msg::OperationModeState; | ||
static constexpr char name[] = "/system/operation_mode/state"; | ||
static constexpr size_t depth = 1; | ||
static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE; | ||
static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; | ||
}; | ||
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} // namespace system_interface | ||
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#endif // COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_ |
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