From 34e182001170312acce22490057f6f0b226a29db Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Wed, 5 Jun 2024 14:59:42 +0900 Subject: [PATCH 1/2] feat(autoware_adapi_v1_msgs): modify cooperation Signed-off-by: Takagi, Isamu --- autoware_adapi_v1_msgs/CMakeLists.txt | 1 + autoware_adapi_v1_msgs/planning/msg/CooperationDecision.msg | 4 ++-- autoware_adapi_v1_msgs/planning/msg/CooperationStatus.msg | 1 - .../planning/msg/CooperationStatusArray.msg | 1 + autoware_adapi_v1_msgs/planning/msg/SteeringFactor.msg | 1 - autoware_adapi_v1_msgs/planning/msg/VelocityFactor.msg | 1 - 6 files changed, 4 insertions(+), 5 deletions(-) create mode 100644 autoware_adapi_v1_msgs/planning/msg/CooperationStatusArray.msg diff --git a/autoware_adapi_v1_msgs/CMakeLists.txt b/autoware_adapi_v1_msgs/CMakeLists.txt index 91ffe11..c64dd3f 100644 --- a/autoware_adapi_v1_msgs/CMakeLists.txt +++ b/autoware_adapi_v1_msgs/CMakeLists.txt @@ -36,6 +36,7 @@ rosidl_generate_interfaces(${PROJECT_NAME} planning/msg/CooperationDecision.msg planning/msg/CooperationPolicy.msg planning/msg/CooperationStatus.msg + planning/msg/CooperationStatusArray.msg planning/srv/SetCooperationCommands.srv planning/srv/SetCooperationPolicies.srv planning/srv/GetCooperationPolicies.srv diff --git a/autoware_adapi_v1_msgs/planning/msg/CooperationDecision.msg b/autoware_adapi_v1_msgs/planning/msg/CooperationDecision.msg index 95773fe..491bc01 100644 --- a/autoware_adapi_v1_msgs/planning/msg/CooperationDecision.msg +++ b/autoware_adapi_v1_msgs/planning/msg/CooperationDecision.msg @@ -1,7 +1,7 @@ uint8 UNKNOWN = 0 uint8 DEACTIVATE = 1 uint8 ACTIVATE = 2 -uint8 AUTONOMOUS = 3 -uint8 UNDECIDED = 4 +uint8 UNDECIDED = 3 +uint8 FORCE = 4 uint8 decision diff --git a/autoware_adapi_v1_msgs/planning/msg/CooperationStatus.msg b/autoware_adapi_v1_msgs/planning/msg/CooperationStatus.msg index 21f295d..3b199c7 100644 --- a/autoware_adapi_v1_msgs/planning/msg/CooperationStatus.msg +++ b/autoware_adapi_v1_msgs/planning/msg/CooperationStatus.msg @@ -1,4 +1,3 @@ unique_identifier_msgs/UUID uuid autoware_adapi_v1_msgs/CooperationDecision autonomous autoware_adapi_v1_msgs/CooperationDecision cooperator -bool cancellable diff --git a/autoware_adapi_v1_msgs/planning/msg/CooperationStatusArray.msg b/autoware_adapi_v1_msgs/planning/msg/CooperationStatusArray.msg new file mode 100644 index 0000000..5e556ac --- /dev/null +++ b/autoware_adapi_v1_msgs/planning/msg/CooperationStatusArray.msg @@ -0,0 +1 @@ +autoware_adapi_v1_msgs/CooperationStatus[] cooperations diff --git a/autoware_adapi_v1_msgs/planning/msg/SteeringFactor.msg b/autoware_adapi_v1_msgs/planning/msg/SteeringFactor.msg index f685153..c3a17d8 100644 --- a/autoware_adapi_v1_msgs/planning/msg/SteeringFactor.msg +++ b/autoware_adapi_v1_msgs/planning/msg/SteeringFactor.msg @@ -18,4 +18,3 @@ uint16 status string behavior string sequence string detail -autoware_adapi_v1_msgs/CooperationStatus[<=1] cooperation diff --git a/autoware_adapi_v1_msgs/planning/msg/VelocityFactor.msg b/autoware_adapi_v1_msgs/planning/msg/VelocityFactor.msg index 5c9327c..6fcf5b0 100644 --- a/autoware_adapi_v1_msgs/planning/msg/VelocityFactor.msg +++ b/autoware_adapi_v1_msgs/planning/msg/VelocityFactor.msg @@ -12,4 +12,3 @@ uint16 status string behavior string sequence string detail -autoware_adapi_v1_msgs/CooperationStatus[<=1] cooperation From fd8be4ea28e61ecaf18110fe6498c0497d25606f Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Wed, 26 Jun 2024 13:30:25 +0900 Subject: [PATCH 2/2] feat: add state and key value Signed-off-by: Takagi, Isamu --- autoware_adapi_v1_msgs/CMakeLists.txt | 1 + autoware_adapi_v1_msgs/common/msg/KeyValue.msg | 2 ++ .../planning/msg/CooperationDecision.msg | 6 +++--- .../planning/msg/CooperationStatus.msg | 11 +++++++++++ 4 files changed, 17 insertions(+), 3 deletions(-) create mode 100644 autoware_adapi_v1_msgs/common/msg/KeyValue.msg diff --git a/autoware_adapi_v1_msgs/CMakeLists.txt b/autoware_adapi_v1_msgs/CMakeLists.txt index c64dd3f..61d9358 100644 --- a/autoware_adapi_v1_msgs/CMakeLists.txt +++ b/autoware_adapi_v1_msgs/CMakeLists.txt @@ -6,6 +6,7 @@ ament_auto_find_build_dependencies() rosidl_generate_interfaces(${PROJECT_NAME} common/msg/ResponseStatus.msg + common/msg/KeyValue.msg localization/msg/LocalizationInitializationState.msg localization/srv/InitializeLocalization.srv routing/msg/RouteState.msg diff --git a/autoware_adapi_v1_msgs/common/msg/KeyValue.msg b/autoware_adapi_v1_msgs/common/msg/KeyValue.msg new file mode 100644 index 0000000..6f825d5 --- /dev/null +++ b/autoware_adapi_v1_msgs/common/msg/KeyValue.msg @@ -0,0 +1,2 @@ +string key +string value diff --git a/autoware_adapi_v1_msgs/planning/msg/CooperationDecision.msg b/autoware_adapi_v1_msgs/planning/msg/CooperationDecision.msg index 491bc01..0473995 100644 --- a/autoware_adapi_v1_msgs/planning/msg/CooperationDecision.msg +++ b/autoware_adapi_v1_msgs/planning/msg/CooperationDecision.msg @@ -1,7 +1,7 @@ uint8 UNKNOWN = 0 -uint8 DEACTIVATE = 1 -uint8 ACTIVATE = 2 -uint8 UNDECIDED = 3 +uint8 WAIT = 1 +uint8 EXECUTE = 2 +uint8 NONE = 3 uint8 FORCE = 4 uint8 decision diff --git a/autoware_adapi_v1_msgs/planning/msg/CooperationStatus.msg b/autoware_adapi_v1_msgs/planning/msg/CooperationStatus.msg index 3b199c7..c238853 100644 --- a/autoware_adapi_v1_msgs/planning/msg/CooperationStatus.msg +++ b/autoware_adapi_v1_msgs/planning/msg/CooperationStatus.msg @@ -1,3 +1,14 @@ +# constants for state +uint8 UNKNOWN = 0 +uint8 WAITING = 1 +uint8 EXECUTING = 2 +uint8 ABORTING = 3 +uint8 SUCCEEDED = 4 +uint8 FAILED = 5 + +# variables unique_identifier_msgs/UUID uuid +uint8 state autoware_adapi_v1_msgs/CooperationDecision autonomous autoware_adapi_v1_msgs/CooperationDecision cooperator +autoware_adapi_v1_msgs/KeyValue[] values