Merge branch 'main' into feature/add_hdd_monitoring_items

autowarefoundation · Sep 21, 2022 · 369b751 · 369b751
2 parents c97b8bc + 64b1398
commit 369b751
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diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
diff --git a/.github/PULL_REQUEST_TEMPLATE/standard-change.md b/.github/PULL_REQUEST_TEMPLATE/standard-change.md
@@ -4,7 +4,7 @@
 
 ## Related links
 
-<!-- Write the links related to this PR. -->
+<!-- Write the links related to this PR. Private links should be clearly marked as private, for example, '[FOO COMPANY INTERNAL LINK](https://example.com)'. -->
 
 ## Tests performed
 

diff --git a/build_depends.humble.repos b/build_depends.humble.repos
@@ -12,6 +12,10 @@ repositories:
     type: git
     url: https://github.com/autowarefoundation/autoware_msgs.git
     version: main
+  core/autoware_adapi_msgs:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_adapi_msgs.git
+    version: main
   core/external/autoware_auto_msgs:
     type: git
     url: https://github.com/tier4/autoware_auto_msgs.git

diff --git a/build_depends.repos b/build_depends.repos
@@ -12,6 +12,10 @@ repositories:
     type: git
     url: https://github.com/autowarefoundation/autoware_msgs.git
     version: main
+  core/autoware_adapi_msgs:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_adapi_msgs.git
+    version: main
   core/external/autoware_auto_msgs:
     type: git
     url: https://github.com/tier4/autoware_auto_msgs.git

diff --git a/common/autoware_ad_api_msgs/CMakeLists.txt b/common/autoware_ad_api_msgs/CMakeLists.txt
diff --git a/common/autoware_ad_api_msgs/README.md b/common/autoware_ad_api_msgs/README.md
diff --git a/common/autoware_ad_api_msgs/common/msg/ResponseStatus.msg b/common/autoware_ad_api_msgs/common/msg/ResponseStatus.msg
diff --git a/common/autoware_ad_api_msgs/interface/srv/InterfaceVersion.srv b/common/autoware_ad_api_msgs/interface/srv/InterfaceVersion.srv
diff --git a/common/autoware_ad_api_msgs/localization/msg/LocalizationInitializationState.msg b/common/autoware_ad_api_msgs/localization/msg/LocalizationInitializationState.msg
diff --git a/common/autoware_ad_api_msgs/localization/srv/InitializeLocalization.srv b/common/autoware_ad_api_msgs/localization/srv/InitializeLocalization.srv
diff --git a/common/autoware_ad_api_msgs/package.xml b/common/autoware_ad_api_msgs/package.xml
diff --git a/common/autoware_ad_api_msgs/routing/msg/Route.msg b/common/autoware_ad_api_msgs/routing/msg/Route.msg
diff --git a/common/autoware_ad_api_msgs/routing/msg/RouteData.msg b/common/autoware_ad_api_msgs/routing/msg/RouteData.msg
diff --git a/common/autoware_ad_api_msgs/routing/msg/RoutePrimitive.msg b/common/autoware_ad_api_msgs/routing/msg/RoutePrimitive.msg
diff --git a/common/autoware_ad_api_msgs/routing/msg/RouteSegment.msg b/common/autoware_ad_api_msgs/routing/msg/RouteSegment.msg
diff --git a/common/autoware_ad_api_msgs/routing/msg/RouteState.msg b/common/autoware_ad_api_msgs/routing/msg/RouteState.msg
diff --git a/common/autoware_ad_api_msgs/routing/srv/ClearRoute.srv b/common/autoware_ad_api_msgs/routing/srv/ClearRoute.srv
diff --git a/common/autoware_ad_api_msgs/routing/srv/SetRoute.srv b/common/autoware_ad_api_msgs/routing/srv/SetRoute.srv
diff --git a/common/autoware_ad_api_msgs/routing/srv/SetRoutePoints.srv b/common/autoware_ad_api_msgs/routing/srv/SetRoutePoints.srv
diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/interface.hpp b/common/autoware_ad_api_specs/include/autoware_ad_api_specs/interface.hpp
@@ -15,14 +15,14 @@
 #ifndef AUTOWARE_AD_API_SPECS__INTERFACE_HPP_
 #define AUTOWARE_AD_API_SPECS__INTERFACE_HPP_
 
-#include <autoware_ad_api_msgs/srv/interface_version.hpp>
+#include <autoware_adapi_version_msgs/srv/interface_version.hpp>
 
 namespace autoware_ad_api::interface
 {
 
 struct Version
 {
-  using Service = autoware_ad_api_msgs::srv::InterfaceVersion;
+  using Service = autoware_adapi_version_msgs::srv::InterfaceVersion;
   static constexpr char name[] = "/api/interface/version";
 };
 

diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/localization.hpp b/common/autoware_ad_api_specs/include/autoware_ad_api_specs/localization.hpp
@@ -17,21 +17,21 @@
 
 #include <rclcpp/qos.hpp>
 
-#include <autoware_ad_api_msgs/msg/localization_initialization_state.hpp>
-#include <autoware_ad_api_msgs/srv/initialize_localization.hpp>
+#include <autoware_adapi_v1_msgs/msg/localization_initialization_state.hpp>
+#include <autoware_adapi_v1_msgs/srv/initialize_localization.hpp>
 
 namespace autoware_ad_api::localization
 {
 
 struct Initialize
 {
-  using Service = autoware_ad_api_msgs::srv::InitializeLocalization;
+  using Service = autoware_adapi_v1_msgs::srv::InitializeLocalization;
   static constexpr char name[] = "/api/localization/initialize";
 };
 
 struct InitializationState
 {
-  using Message = autoware_ad_api_msgs::msg::LocalizationInitializationState;
+  using Message = autoware_adapi_v1_msgs::msg::LocalizationInitializationState;
   static constexpr char name[] = "/api/localization/initialization_state";
   static constexpr size_t depth = 3;
   static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;

diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/routing.hpp b/common/autoware_ad_api_specs/include/autoware_ad_api_specs/routing.hpp
@@ -17,36 +17,36 @@
 
 #include <rclcpp/qos.hpp>
 
-#include <autoware_ad_api_msgs/msg/route.hpp>
-#include <autoware_ad_api_msgs/msg/route_state.hpp>
-#include <autoware_ad_api_msgs/srv/clear_route.hpp>
-#include <autoware_ad_api_msgs/srv/set_route.hpp>
-#include <autoware_ad_api_msgs/srv/set_route_points.hpp>
+#include <autoware_adapi_v1_msgs/msg/route.hpp>
+#include <autoware_adapi_v1_msgs/msg/route_state.hpp>
+#include <autoware_adapi_v1_msgs/srv/clear_route.hpp>
+#include <autoware_adapi_v1_msgs/srv/set_route.hpp>
+#include <autoware_adapi_v1_msgs/srv/set_route_points.hpp>
 
 namespace autoware_ad_api::routing
 {
 
 struct SetRoutePoints
 {
-  using Service = autoware_ad_api_msgs::srv::SetRoutePoints;
+  using Service = autoware_adapi_v1_msgs::srv::SetRoutePoints;
   static constexpr char name[] = "/api/routing/set_route_points";
 };
 
 struct SetRoute
 {
-  using Service = autoware_ad_api_msgs::srv::SetRoute;
+  using Service = autoware_adapi_v1_msgs::srv::SetRoute;
   static constexpr char name[] = "/api/routing/set_route";
 };
 
 struct ClearRoute
 {
-  using Service = autoware_ad_api_msgs::srv::ClearRoute;
+  using Service = autoware_adapi_v1_msgs::srv::ClearRoute;
   static constexpr char name[] = "/api/routing/clear_route";
 };
 
 struct RouteState
 {
-  using Message = autoware_ad_api_msgs::msg::RouteState;
+  using Message = autoware_adapi_v1_msgs::msg::RouteState;
   static constexpr char name[] = "/api/routing/state";
   static constexpr size_t depth = 3;
   static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
@@ -55,7 +55,7 @@ struct RouteState
 
 struct Route
 {
-  using Message = autoware_ad_api_msgs::msg::Route;
+  using Message = autoware_adapi_v1_msgs::msg::Route;
   static constexpr char name[] = "/api/routing/route";
   static constexpr size_t depth = 1;
   static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;

diff --git a/...on/autoware_auto_perception_rviz_plugin/src/object_detection/detected_objects_display.cpp b/...on/autoware_auto_perception_rviz_plugin/src/object_detection/detected_objects_display.cpp
@@ -65,6 +65,7 @@ void DetectedObjectsDisplay::processMessage(DetectedObjects::ConstSharedPtr msg)
     if (velocity_text_marker) {
       auto velocity_text_marker_ptr = velocity_text_marker.value();
       velocity_text_marker_ptr->header = msg->header;
+      velocity_text_marker_ptr->id = id++;
       add_marker(velocity_text_marker_ptr);
     }
 
@@ -74,6 +75,7 @@ void DetectedObjectsDisplay::processMessage(DetectedObjects::ConstSharedPtr msg)
     if (twist_marker) {
       auto twist_marker_ptr = twist_marker.value();
       twist_marker_ptr->header = msg->header;
+      twist_marker_ptr->id = id++;
       add_marker(twist_marker_ptr);
     }
   }

diff --git a/common/component_interface_specs/include/component_interface_specs/localization.hpp b/common/component_interface_specs/include/component_interface_specs/localization.hpp
@@ -17,21 +17,21 @@
 
 #include <rclcpp/qos.hpp>
 
-#include <autoware_ad_api_msgs/msg/localization_initialization_state.hpp>
-#include <autoware_ad_api_msgs/srv/initialize_localization.hpp>
+#include <autoware_adapi_v1_msgs/msg/localization_initialization_state.hpp>
+#include <autoware_adapi_v1_msgs/srv/initialize_localization.hpp>
 
 namespace localization_interface
 {
 
 struct Initialize
 {
-  using Service = autoware_ad_api_msgs::srv::InitializeLocalization;
+  using Service = autoware_adapi_v1_msgs::srv::InitializeLocalization;
   static constexpr char name[] = "/localization/initialize";
 };
 
 struct InitializationState
 {
-  using Message = autoware_ad_api_msgs::msg::LocalizationInitializationState;
+  using Message = autoware_adapi_v1_msgs::msg::LocalizationInitializationState;
   static constexpr char name[] = "/localization/initialization_state";
   static constexpr size_t depth = 3;
   static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;

diff --git a/common/component_interface_specs/include/component_interface_specs/planning.hpp b/common/component_interface_specs/include/component_interface_specs/planning.hpp
@@ -17,36 +17,36 @@
 
 #include <rclcpp/qos.hpp>
 
-#include <autoware_ad_api_msgs/msg/route.hpp>
-#include <autoware_ad_api_msgs/msg/route_state.hpp>
-#include <autoware_ad_api_msgs/srv/clear_route.hpp>
-#include <autoware_ad_api_msgs/srv/set_route.hpp>
-#include <autoware_ad_api_msgs/srv/set_route_points.hpp>
+#include <autoware_adapi_v1_msgs/msg/route.hpp>
+#include <autoware_adapi_v1_msgs/msg/route_state.hpp>
+#include <autoware_adapi_v1_msgs/srv/clear_route.hpp>
+#include <autoware_adapi_v1_msgs/srv/set_route.hpp>
+#include <autoware_adapi_v1_msgs/srv/set_route_points.hpp>
 
 namespace planning_interface
 {
 
 struct SetRoutePoints
 {
-  using Service = autoware_ad_api_msgs::srv::SetRoutePoints;
+  using Service = autoware_adapi_v1_msgs::srv::SetRoutePoints;
   static constexpr char name[] = "/planning/mission_planning/set_route_points";
 };
 
 struct SetRoute
 {
-  using Service = autoware_ad_api_msgs::srv::SetRoute;
+  using Service = autoware_adapi_v1_msgs::srv::SetRoute;
   static constexpr char name[] = "/planning/mission_planning/set_route";
 };
 
 struct ClearRoute
 {
-  using Service = autoware_ad_api_msgs::srv::ClearRoute;
+  using Service = autoware_adapi_v1_msgs::srv::ClearRoute;
   static constexpr char name[] = "/planning/mission_planning/clear_route";
 };
 
 struct RouteState
 {
-  using Message = autoware_ad_api_msgs::msg::RouteState;
+  using Message = autoware_adapi_v1_msgs::msg::RouteState;
   static constexpr char name[] = "/planning/mission_planning/route_state";
   static constexpr size_t depth = 3;
   static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
@@ -55,7 +55,7 @@ struct RouteState
 
 struct Route
 {
-  using Message = autoware_ad_api_msgs::msg::Route;
+  using Message = autoware_adapi_v1_msgs::msg::Route;
   static constexpr char name[] = "/planning/mission_planning/route";
   static constexpr size_t depth = 1;
   static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;