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feat(autoware_adapi_v1_msgs): modify cooperation #57

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feat(autoware_adapi_v1_msgs): modify cooperation #57

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34e1820
feat(autoware_adapi_v1_msgs): modify cooperation
isamu-takagi Jun 5, 2024
32fb890
Merge branch 'main' into feat/modify-cooperation
isamu-takagi Jun 26, 2024
fd8be4e
feat: add state and key value
isamu-takagi Jun 26, 2024
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2 changes: 2 additions & 0 deletions autoware_adapi_v1_msgs/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@ ament_auto_find_build_dependencies()

rosidl_generate_interfaces(${PROJECT_NAME}
common/msg/ResponseStatus.msg
common/msg/KeyValue.msg
localization/msg/LocalizationInitializationState.msg
localization/srv/InitializeLocalization.srv
routing/msg/RouteState.msg
Expand Down Expand Up @@ -36,6 +37,7 @@ rosidl_generate_interfaces(${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
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2 changes: 2 additions & 0 deletions autoware_adapi_v1_msgs/common/msg/KeyValue.msg
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Original file line number Diff line number Diff line change
@@ -0,0 +1,2 @@
string key
string value
8 changes: 4 additions & 4 deletions autoware_adapi_v1_msgs/planning/msg/CooperationDecision.msg
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
uint8 UNKNOWN = 0
uint8 DEACTIVATE = 1
uint8 ACTIVATE = 2
uint8 AUTONOMOUS = 3
uint8 UNDECIDED = 4
uint8 WAIT = 1
uint8 EXECUTE = 2
uint8 NONE = 3
uint8 FORCE = 4

uint8 decision
12 changes: 11 additions & 1 deletion autoware_adapi_v1_msgs/planning/msg/CooperationStatus.msg
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Original file line number Diff line number Diff line change
@@ -1,4 +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
bool cancellable
autoware_adapi_v1_msgs/KeyValue[] values
1 change: 1 addition & 0 deletions autoware_adapi_v1_msgs/planning/msg/CooperationStatusArray.msg
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@@ -0,0 +1 @@
autoware_adapi_v1_msgs/CooperationStatus[] cooperations
1 change: 0 additions & 1 deletion autoware_adapi_v1_msgs/planning/msg/SteeringFactor.msg
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Expand Up @@ -18,4 +18,3 @@ uint16 status
string behavior
string sequence
string detail
autoware_adapi_v1_msgs/CooperationStatus[<=1] cooperation
1 change: 0 additions & 1 deletion autoware_adapi_v1_msgs/planning/msg/VelocityFactor.msg
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Expand Up @@ -12,4 +12,3 @@ uint16 status
string behavior
string sequence
string detail
autoware_adapi_v1_msgs/CooperationStatus[<=1] cooperation
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