From 0035a38240fb12192fc048e4b66a30a9e265cc91 Mon Sep 17 00:00:00 2001 From: Rin Iwai <72665456+eyr1n@users.noreply.github.com> Date: Fri, 27 Oct 2023 16:45:11 +0900 Subject: [PATCH 01/15] feat: announce volume service (#104) * feat: announce volume service * Volume split into GetVolume/SetVolume * remove GetVolume.srv --- tier4_hmi_msgs/CMakeLists.txt | 1 + tier4_hmi_msgs/srv/SetVolume.srv | 3 +++ 2 files changed, 4 insertions(+) create mode 100644 tier4_hmi_msgs/srv/SetVolume.srv diff --git a/tier4_hmi_msgs/CMakeLists.txt b/tier4_hmi_msgs/CMakeLists.txt index 61e52856..037b5e97 100644 --- a/tier4_hmi_msgs/CMakeLists.txt +++ b/tier4_hmi_msgs/CMakeLists.txt @@ -16,6 +16,7 @@ ament_auto_find_build_dependencies() rosidl_generate_interfaces(${PROJECT_NAME} srv/Announce.srv + srv/SetVolume.srv DEPENDENCIES builtin_interfaces tier4_external_api_msgs diff --git a/tier4_hmi_msgs/srv/SetVolume.srv b/tier4_hmi_msgs/srv/SetVolume.srv new file mode 100644 index 00000000..3d674e0f --- /dev/null +++ b/tier4_hmi_msgs/srv/SetVolume.srv @@ -0,0 +1,3 @@ +float32 volume +--- +tier4_external_api_msgs/ResponseStatus status From 29d1db4a3f887daf5b73b26a304522db13b651f5 Mon Sep 17 00:00:00 2001 From: Tao Zhong <55872497+tzhong518@users.noreply.github.com> Date: Thu, 28 Dec 2023 15:30:29 +0900 Subject: [PATCH 02/15] feat(tier4_perception_msgs): add traffic_light_type to msg (#110) * add: traffic_light_type Signed-off-by: tzhong518 * fix: precommit Signed-off-by: tzhong518 * fix: message type name Signed-off-by: tzhong518 --------- Signed-off-by: tzhong518 --- tier4_perception_msgs/msg/traffic_light/TrafficLightRoi.msg | 4 ++++ tier4_perception_msgs/msg/traffic_light/TrafficSignal.msg | 4 ++++ 2 files changed, 8 insertions(+) diff --git a/tier4_perception_msgs/msg/traffic_light/TrafficLightRoi.msg b/tier4_perception_msgs/msg/traffic_light/TrafficLightRoi.msg index 6433f706..44923e4d 100644 --- a/tier4_perception_msgs/msg/traffic_light/TrafficLightRoi.msg +++ b/tier4_perception_msgs/msg/traffic_light/TrafficLightRoi.msg @@ -1,2 +1,6 @@ +uint8 CAR_TRAFFIC_LIGHT=0 +uint8 PEDESTRIAN_TRAFFIC_LIGHT=1 + sensor_msgs/RegionOfInterest roi int64 traffic_light_id +uint8 traffic_light_type diff --git a/tier4_perception_msgs/msg/traffic_light/TrafficSignal.msg b/tier4_perception_msgs/msg/traffic_light/TrafficSignal.msg index 9a01736a..f00e0f8f 100644 --- a/tier4_perception_msgs/msg/traffic_light/TrafficSignal.msg +++ b/tier4_perception_msgs/msg/traffic_light/TrafficSignal.msg @@ -1,2 +1,6 @@ +uint8 CAR_TRAFFIC_LIGHT=0 +uint8 PEDESTRIAN_TRAFFIC_LIGHT=1 + int64 traffic_light_id +uint8 traffic_light_type tier4_perception_msgs/TrafficLightElement[] elements From e192b37387218b513954881ee0615f6673999a41 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Tue, 13 Feb 2024 11:56:06 +0900 Subject: [PATCH 03/15] feat(tier4_planning_msgs): add internal route interface (#111) * feat(tier4_planning_msgs): add internal route interface Signed-off-by: Takagi, Isamu * add interrupted state Signed-off-by: Takagi, Isamu --------- Signed-off-by: Takagi, Isamu --- tier4_planning_msgs/CMakeLists.txt | 7 +++++++ tier4_planning_msgs/msg/RouteState.msg | 12 ++++++++++++ tier4_planning_msgs/package.xml | 2 ++ tier4_planning_msgs/srv/ClearRoute.srv | 2 ++ tier4_planning_msgs/srv/SetLaneletRoute.srv | 7 +++++++ tier4_planning_msgs/srv/SetWaypointRoute.srv | 7 +++++++ 6 files changed, 37 insertions(+) create mode 100644 tier4_planning_msgs/msg/RouteState.msg create mode 100644 tier4_planning_msgs/srv/ClearRoute.srv create mode 100644 tier4_planning_msgs/srv/SetLaneletRoute.srv create mode 100644 tier4_planning_msgs/srv/SetWaypointRoute.srv diff --git a/tier4_planning_msgs/CMakeLists.txt b/tier4_planning_msgs/CMakeLists.txt index a4de6fdd..08cccf10 100644 --- a/tier4_planning_msgs/CMakeLists.txt +++ b/tier4_planning_msgs/CMakeLists.txt @@ -33,6 +33,7 @@ rosidl_generate_interfaces(${PROJECT_NAME} "msg/PathChangeModuleId.msg" "msg/PathPoint.msg" "msg/RerouteAvailability.msg" + "msg/RouteState.msg" "msg/Scenario.msg" "msg/StopFactor.msg" "msg/StopReason.msg" @@ -43,7 +44,13 @@ rosidl_generate_interfaces(${PROJECT_NAME} "msg/VelocityLimit.msg" "msg/VelocityLimitClearCommand.msg" "msg/VelocityLimitConstraints.msg" + "srv/ClearRoute.srv" + "srv/SetLaneletRoute.srv" + "srv/SetWaypointRoute.srv" DEPENDENCIES + autoware_common_msgs + autoware_planning_msgs + builtin_interfaces geometry_msgs nav_msgs std_msgs diff --git a/tier4_planning_msgs/msg/RouteState.msg b/tier4_planning_msgs/msg/RouteState.msg new file mode 100644 index 00000000..c3b2fb02 --- /dev/null +++ b/tier4_planning_msgs/msg/RouteState.msg @@ -0,0 +1,12 @@ +uint8 UNKNOWN = 0 +uint8 INITIALIZING = 1 +uint8 UNSET = 2 +uint8 ROUTING = 3 +uint8 SET = 4 +uint8 REROUTING = 5 +uint8 ARRIVED = 6 +uint8 ABORTED = 7 +uint8 INTERRUPTED = 8 + +builtin_interfaces/Time stamp +uint8 state diff --git a/tier4_planning_msgs/package.xml b/tier4_planning_msgs/package.xml index af298efc..f8d136e6 100644 --- a/tier4_planning_msgs/package.xml +++ b/tier4_planning_msgs/package.xml @@ -11,6 +11,8 @@ rosidl_default_generators + autoware_common_msgs + autoware_planning_msgs builtin_interfaces geometry_msgs nav_msgs diff --git a/tier4_planning_msgs/srv/ClearRoute.srv b/tier4_planning_msgs/srv/ClearRoute.srv new file mode 100644 index 00000000..c6c8fc60 --- /dev/null +++ b/tier4_planning_msgs/srv/ClearRoute.srv @@ -0,0 +1,2 @@ +--- +autoware_common_msgs/ResponseStatus status diff --git a/tier4_planning_msgs/srv/SetLaneletRoute.srv b/tier4_planning_msgs/srv/SetLaneletRoute.srv new file mode 100644 index 00000000..f7294745 --- /dev/null +++ b/tier4_planning_msgs/srv/SetLaneletRoute.srv @@ -0,0 +1,7 @@ +std_msgs/Header header +geometry_msgs/Pose goal_pose +autoware_planning_msgs/LaneletSegment[] segments +unique_identifier_msgs/UUID uuid +bool allow_modification +--- +autoware_common_msgs/ResponseStatus status diff --git a/tier4_planning_msgs/srv/SetWaypointRoute.srv b/tier4_planning_msgs/srv/SetWaypointRoute.srv new file mode 100644 index 00000000..f0f2ad60 --- /dev/null +++ b/tier4_planning_msgs/srv/SetWaypointRoute.srv @@ -0,0 +1,7 @@ +std_msgs/Header header +geometry_msgs/Pose goal_pose +geometry_msgs/Pose[] waypoints +unique_identifier_msgs/UUID uuid +bool allow_modification +--- +autoware_common_msgs/ResponseStatus status From a1664b39899717bb7c38ee07c5bbb30d436f4ea9 Mon Sep 17 00:00:00 2001 From: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Date: Tue, 13 Feb 2024 12:16:37 +0900 Subject: [PATCH 04/15] refactor: rename traffic_signal to traffic_light (#112) Signed-off-by: Shunsuke Miura --- tier4_perception_msgs/CMakeLists.txt | 4 ++-- .../msg/traffic_light/{TrafficSignal.msg => TrafficLight.msg} | 0 tier4_perception_msgs/msg/traffic_light/TrafficLightArray.msg | 2 ++ .../msg/traffic_light/TrafficSignalArray.msg | 2 -- 4 files changed, 4 insertions(+), 4 deletions(-) rename tier4_perception_msgs/msg/traffic_light/{TrafficSignal.msg => TrafficLight.msg} (100%) create mode 100644 tier4_perception_msgs/msg/traffic_light/TrafficLightArray.msg delete mode 100644 tier4_perception_msgs/msg/traffic_light/TrafficSignalArray.msg diff --git a/tier4_perception_msgs/CMakeLists.txt b/tier4_perception_msgs/CMakeLists.txt index ec4365f5..51a61857 100644 --- a/tier4_perception_msgs/CMakeLists.txt +++ b/tier4_perception_msgs/CMakeLists.txt @@ -27,8 +27,8 @@ rosidl_generate_interfaces(${PROJECT_NAME} "msg/traffic_light/TrafficLightElement.msg" "msg/traffic_light/TrafficLightRoi.msg" "msg/traffic_light/TrafficLightRoiArray.msg" - "msg/traffic_light/TrafficSignal.msg" - "msg/traffic_light/TrafficSignalArray.msg" + "msg/traffic_light/TrafficLight.msg" + "msg/traffic_light/TrafficLightArray.msg" DEPENDENCIES autoware_auto_perception_msgs builtin_interfaces diff --git a/tier4_perception_msgs/msg/traffic_light/TrafficSignal.msg b/tier4_perception_msgs/msg/traffic_light/TrafficLight.msg similarity index 100% rename from tier4_perception_msgs/msg/traffic_light/TrafficSignal.msg rename to tier4_perception_msgs/msg/traffic_light/TrafficLight.msg diff --git a/tier4_perception_msgs/msg/traffic_light/TrafficLightArray.msg b/tier4_perception_msgs/msg/traffic_light/TrafficLightArray.msg new file mode 100644 index 00000000..855416d2 --- /dev/null +++ b/tier4_perception_msgs/msg/traffic_light/TrafficLightArray.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +tier4_perception_msgs/TrafficLight[] signals diff --git a/tier4_perception_msgs/msg/traffic_light/TrafficSignalArray.msg b/tier4_perception_msgs/msg/traffic_light/TrafficSignalArray.msg deleted file mode 100644 index 9ccf1ab9..00000000 --- a/tier4_perception_msgs/msg/traffic_light/TrafficSignalArray.msg +++ /dev/null @@ -1,2 +0,0 @@ -std_msgs/Header header -tier4_perception_msgs/TrafficSignal[] signals From dd006f206298b49d6f57c9ae698da588f3a23893 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Tue, 12 Mar 2024 01:34:39 +0900 Subject: [PATCH 05/15] feat(tier4_system_msgs): improve diagnostic graph efficiency (#113) * feat(tier4_system_msgs): improve diagnostic graph efficiency Signed-off-by: Takagi, Isamu * change struct Signed-off-by: Takagi, Isamu * add readme Signed-off-by: Takagi, Isamu --------- Signed-off-by: Takagi, Isamu --- tier4_system_msgs/CMakeLists.txt | 8 + tier4_system_msgs/README.md | 14 + .../doc/diagnostic-graph-data.drawio.svg | 1465 +++++++++++++++++ .../doc/diagnostic-graph-tree.drawio.svg | 625 +++++++ tier4_system_msgs/doc/diagnostic-graph.md | 14 + tier4_system_msgs/msg/DiagGraphStatus.msg | 4 + tier4_system_msgs/msg/DiagGraphStruct.msg | 4 + tier4_system_msgs/msg/DiagLeafStatus.msg | 4 + tier4_system_msgs/msg/DiagLeafStruct.msg | 2 + tier4_system_msgs/msg/DiagLinkStatus.msg | 1 + tier4_system_msgs/msg/DiagLinkStruct.msg | 6 + tier4_system_msgs/msg/DiagNodeStatus.msg | 1 + tier4_system_msgs/msg/DiagNodeStruct.msg | 1 + 13 files changed, 2149 insertions(+) create mode 100644 tier4_system_msgs/README.md create mode 100644 tier4_system_msgs/doc/diagnostic-graph-data.drawio.svg create mode 100644 tier4_system_msgs/doc/diagnostic-graph-tree.drawio.svg create mode 100644 tier4_system_msgs/doc/diagnostic-graph.md create mode 100644 tier4_system_msgs/msg/DiagGraphStatus.msg create mode 100644 tier4_system_msgs/msg/DiagGraphStruct.msg create mode 100644 tier4_system_msgs/msg/DiagLeafStatus.msg create mode 100644 tier4_system_msgs/msg/DiagLeafStruct.msg create mode 100644 tier4_system_msgs/msg/DiagLinkStatus.msg create mode 100644 tier4_system_msgs/msg/DiagLinkStruct.msg create mode 100644 tier4_system_msgs/msg/DiagNodeStatus.msg create mode 100644 tier4_system_msgs/msg/DiagNodeStruct.msg diff --git a/tier4_system_msgs/CMakeLists.txt b/tier4_system_msgs/CMakeLists.txt index 803893a0..b363c99f 100644 --- a/tier4_system_msgs/CMakeLists.txt +++ b/tier4_system_msgs/CMakeLists.txt @@ -19,6 +19,14 @@ rosidl_generate_interfaces(${PROJECT_NAME} "msg/DiagnosticGraph.msg" "msg/DiagnosticLink.msg" "msg/DiagnosticNode.msg" + "msg/DiagGraphStruct.msg" + "msg/DiagGraphStatus.msg" + "msg/DiagNodeStruct.msg" + "msg/DiagNodeStatus.msg" + "msg/DiagLeafStruct.msg" + "msg/DiagLeafStatus.msg" + "msg/DiagLinkStruct.msg" + "msg/DiagLinkStatus.msg" "msg/OperationModeAvailability.msg" "msg/EmergencyState.msg" "msg/EmergencyStateStamped.msg" diff --git a/tier4_system_msgs/README.md b/tier4_system_msgs/README.md new file mode 100644 index 00000000..87a5947c --- /dev/null +++ b/tier4_system_msgs/README.md @@ -0,0 +1,14 @@ +# tier4_system_msgs + +## Diagnostic graph messages + +See [this page](./doc/diagnostic-graph.md) for the following diagnostic graph messages. + +- DiagGraphStatus +- DiagGraphStruct +- DiagLeafStatus +- DiagLeafStruct +- DiagLinkStatus +- DiagLinkStruct +- DiagNodeStatus +- DiagNodeStruct diff --git 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+
+ + + path: /mode/stop... + + + + + + + + + +
+
+
+ path: /vehicle/interface +
+ status: +
+ name: sample_vehicle +
+ level: OK +
+ message: ... +
+ hardware_id: ... +
+ values: ... +
+
+
+ + + path: /vehicle/interface... + + + + + + + + + +
+
+
+ path: /planning/route +
+ status: +
+ name: route_topic_check +
+ level: OK +
+ message: ... +
+ hardware_id: ... +
+ values: ... +
+
+
+ + + path: /planning/route... + + + + + + + + + +
+
+
+ path: /planning/trajectory +
+ status: +
+ name: path_topic_check +
+ level: ERROR +
+ message: ... +
+ hardware_id: ... +
+ values: ... +
+
+
+ + + path: /planning/trajectory... + + + + + + + + + + + +
+
+
+ path: /vehicle/status +
+ level: OK +
+
+
+ + + path: /vehicle/status... + + + + + + + + + +
+
+
+ path: /planning/status +
+ level: ERROR +
+
+
+ + + path: /planning/status... + + + + + + + + + +
+
+
+ path: /control/status +
+ level: OK +
+
+
+ + + path: /control/status... + + + + + + + + + +
+
+
+ path: /control/command +
+ status: +
+ name: command_check +
+ level: OK +
+ message: ... +
+ hardware_id: ... +
+ values: ... +
+
+
+ + + path: /control/command... + + + + + + + +
+
+
+ diags[0] +
+
+
+ + + diags[0] + + + + + + + +
+
+
+ diags[1] +
+
+
+ + + diags[1] + + + + + + + +
+
+
+ diags[2] +
+
+
+ + + diags[2] + + + + + + + +
+
+
+ diags[3] +
+
+
+ + + diags[3] + + + + + + + +
+
+
+ nodes[0] +
+
+
+ + + nodes[0] + + + + + + + +
+
+
+ nodes[1] +
+
+
+ + + nodes[1] + + + + + + + +
+
+
+ nodes[2] +
+
+
+ + + nodes[2] + + + + + + + +
+
+
+ nodes[4] +
+
+
+ + + nodes[4] + + + + + + + +
+
+
+ nodes[3] +
+
+
+ + + nodes[3] + + + + + + + +
+
+
+ links[0] +
+
+
+ + + links[0] + + + + + + + +
+
+
+ links[1] +
+
+
+ + + links[1] + + + + + + + +
+
+
+ links[2] +
+
+
+ + + links[2] + + + + + + + +
+
+
+ links[3] +
+
+
+ + + links[3] + + + + + + + +
+
+
+ links[4] +
+
+
+ + + links[4] + + + + + + + +
+
+
+ links[5] +
+
+
+ + + links[5] + + + + + + + +
+
+
+ links[7] +
+
+
+ + + links[7] + + + + + + + +
+
+
+ links[6] +
+
+
+ + + links[6] + + + + + + + +
+
+
+
+ Additional diagnostics +
+
+ (Intermediate) +
+
+
+
+ + + Additional diagnostics... + + + + + + + +
+
+
+
+ Additional diagnostics +
+ (top level) +
+
+
+
+ + + Additional diagnostics... + + + + + + + +
+
+
+
+ Raw diagnostics +
+
+
+
+ + + Raw diagnostics + + + + + + + + + Text is not SVG - cannot display + + + + \ No newline at end of file diff --git a/tier4_system_msgs/doc/diagnostic-graph.md b/tier4_system_msgs/doc/diagnostic-graph.md new file mode 100644 index 00000000..9deadca5 --- /dev/null +++ b/tier4_system_msgs/doc/diagnostic-graph.md @@ -0,0 +1,14 @@ +# Diagnostic graph messages + +These are messages that represent aggregated diagnostic graphs. +Diagnostic graph structure is static, so it is published only once as the DiagGraphStruct. +And diagnostic status that changes dynamically is periodically published as the DiagGraphStatus. +The DiagGraphStruct and DiagGraphStatus have the list of nodes and links, and their indices correspond. + +## Sample graph + +![diagnostic-graph-tree](./diagnostic-graph-tree.drawio.svg) + +## Sample message + +![diagnostic-graph-data](./diagnostic-graph-data.drawio.svg) diff --git a/tier4_system_msgs/msg/DiagGraphStatus.msg b/tier4_system_msgs/msg/DiagGraphStatus.msg new file mode 100644 index 00000000..f34b1b3c --- /dev/null +++ b/tier4_system_msgs/msg/DiagGraphStatus.msg @@ -0,0 +1,4 @@ +builtin_interfaces/Time stamp +tier4_system_msgs/DiagNodeStatus[] nodes +tier4_system_msgs/DiagLeafStatus[] diags +tier4_system_msgs/DiagLinkStatus[] links diff --git a/tier4_system_msgs/msg/DiagGraphStruct.msg b/tier4_system_msgs/msg/DiagGraphStruct.msg new file mode 100644 index 00000000..0c18d46c --- /dev/null +++ b/tier4_system_msgs/msg/DiagGraphStruct.msg @@ -0,0 +1,4 @@ +builtin_interfaces/Time stamp +tier4_system_msgs/DiagNodeStruct[] nodes +tier4_system_msgs/DiagLeafStruct[] diags +tier4_system_msgs/DiagLinkStruct[] links diff --git a/tier4_system_msgs/msg/DiagLeafStatus.msg b/tier4_system_msgs/msg/DiagLeafStatus.msg new file mode 100644 index 00000000..a70e54ff --- /dev/null +++ b/tier4_system_msgs/msg/DiagLeafStatus.msg @@ -0,0 +1,4 @@ +byte level +string message +string hardware_id +diagnostic_msgs/KeyValue[] values diff --git a/tier4_system_msgs/msg/DiagLeafStruct.msg b/tier4_system_msgs/msg/DiagLeafStruct.msg new file mode 100644 index 00000000..6aa733e5 --- /dev/null +++ b/tier4_system_msgs/msg/DiagLeafStruct.msg @@ -0,0 +1,2 @@ +string path +string name diff --git a/tier4_system_msgs/msg/DiagLinkStatus.msg b/tier4_system_msgs/msg/DiagLinkStatus.msg new file mode 100644 index 00000000..211a64e8 --- /dev/null +++ b/tier4_system_msgs/msg/DiagLinkStatus.msg @@ -0,0 +1 @@ +bool used diff --git a/tier4_system_msgs/msg/DiagLinkStruct.msg b/tier4_system_msgs/msg/DiagLinkStruct.msg new file mode 100644 index 00000000..33633dac --- /dev/null +++ b/tier4_system_msgs/msg/DiagLinkStruct.msg @@ -0,0 +1,6 @@ +# The index of nodes/diags in the graph struct message. +uint32 parent +uint32 child + +# Whether the child is a leaf, The parent is always not. +bool is_leaf diff --git a/tier4_system_msgs/msg/DiagNodeStatus.msg b/tier4_system_msgs/msg/DiagNodeStatus.msg new file mode 100644 index 00000000..dd0d9bd1 --- /dev/null +++ b/tier4_system_msgs/msg/DiagNodeStatus.msg @@ -0,0 +1 @@ +byte level diff --git a/tier4_system_msgs/msg/DiagNodeStruct.msg b/tier4_system_msgs/msg/DiagNodeStruct.msg new file mode 100644 index 00000000..f3f7414d --- /dev/null +++ b/tier4_system_msgs/msg/DiagNodeStruct.msg @@ -0,0 +1 @@ +string path From db7eef53ef8f32a7b92adfa62d7dca8da86c1dfd Mon Sep 17 00:00:00 2001 From: Makoto Kurihara Date: Fri, 22 Mar 2024 16:30:54 +0900 Subject: [PATCH 06/15] feat(tier4_system_msgs): add msgs for MRM pull over (#115) * feat(tier4_system_msgs): add msgs for MRM pull over Signed-off-by: Makoto Kurihara * chore(tier4_system_msgs): add a newline Signed-off-by: Makoto Kurihara --------- Signed-off-by: Makoto Kurihara Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> --- tier4_system_msgs/CMakeLists.txt | 3 +++ tier4_system_msgs/msg/EmergencyGoalsClearCommand.msg | 2 ++ tier4_system_msgs/msg/EmergencyGoalsStamped.msg | 3 +++ tier4_system_msgs/package.xml | 1 + 4 files changed, 9 insertions(+) create mode 100644 tier4_system_msgs/msg/EmergencyGoalsClearCommand.msg create mode 100644 tier4_system_msgs/msg/EmergencyGoalsStamped.msg diff --git a/tier4_system_msgs/CMakeLists.txt b/tier4_system_msgs/CMakeLists.txt index b363c99f..454e79b1 100644 --- a/tier4_system_msgs/CMakeLists.txt +++ b/tier4_system_msgs/CMakeLists.txt @@ -28,6 +28,8 @@ rosidl_generate_interfaces(${PROJECT_NAME} "msg/DiagLinkStruct.msg" "msg/DiagLinkStatus.msg" "msg/OperationModeAvailability.msg" + "msg/EmergencyGoalsClearCommand.msg" + "msg/EmergencyGoalsStamped.msg" "msg/EmergencyState.msg" "msg/EmergencyStateStamped.msg" "msg/HazardStatus.msg" @@ -42,6 +44,7 @@ rosidl_generate_interfaces(${PROJECT_NAME} autoware_common_msgs builtin_interfaces diagnostic_msgs + geometry_msgs std_msgs ) diff --git a/tier4_system_msgs/msg/EmergencyGoalsClearCommand.msg b/tier4_system_msgs/msg/EmergencyGoalsClearCommand.msg new file mode 100644 index 00000000..ebcd509b --- /dev/null +++ b/tier4_system_msgs/msg/EmergencyGoalsClearCommand.msg @@ -0,0 +1,2 @@ +builtin_interfaces/Time stamp +string sender diff --git a/tier4_system_msgs/msg/EmergencyGoalsStamped.msg b/tier4_system_msgs/msg/EmergencyGoalsStamped.msg new file mode 100644 index 00000000..034df10b --- /dev/null +++ b/tier4_system_msgs/msg/EmergencyGoalsStamped.msg @@ -0,0 +1,3 @@ +builtin_interfaces/Time stamp +geometry_msgs/Pose[] goals +string sender diff --git a/tier4_system_msgs/package.xml b/tier4_system_msgs/package.xml index 1e724faa..b8bffcaf 100644 --- a/tier4_system_msgs/package.xml +++ b/tier4_system_msgs/package.xml @@ -14,6 +14,7 @@ autoware_common_msgs builtin_interfaces diagnostic_msgs + geometry_msgs std_msgs rosidl_default_runtime From 9aebc8c3f2f5c8e89addc8889d08c5dd41e60811 Mon Sep 17 00:00:00 2001 From: ito-san <57388357+ito-san@users.noreply.github.com> Date: Mon, 25 Mar 2024 11:08:28 +0900 Subject: [PATCH 07/15] feat(logpacker): add rosbag api (#114) Signed-off-by: ito-san --- tier4_external_api_msgs/CMakeLists.txt | 2 ++ tier4_external_api_msgs/msg/RosbagRecordStatus.msg | 10 ++++++++++ tier4_external_api_msgs/srv/SetRosbagRecord.srv | 3 +++ 3 files changed, 15 insertions(+) create mode 100644 tier4_external_api_msgs/msg/RosbagRecordStatus.msg create mode 100644 tier4_external_api_msgs/srv/SetRosbagRecord.srv diff --git a/tier4_external_api_msgs/CMakeLists.txt b/tier4_external_api_msgs/CMakeLists.txt index 67af9491..3d9bdb8a 100644 --- a/tier4_external_api_msgs/CMakeLists.txt +++ b/tier4_external_api_msgs/CMakeLists.txt @@ -38,6 +38,7 @@ rosidl_generate_interfaces(${PROJECT_NAME} msg/Operator.msg msg/RosbagCopyStatus.msg msg/RosbagLoggingMode.msg + msg/RosbagRecordStatus.msg msg/ResponseStatus.msg msg/Route.msg msg/RouteSection.msg @@ -65,6 +66,7 @@ rosidl_generate_interfaces(${PROJECT_NAME} srv/SetEmergency.srv srv/SetPose.srv srv/SetRosbagLoggingMode.srv + srv/SetRosbagRecord.srv srv/SetRoute.srv srv/SetService.srv srv/SetVelocityLimit.srv diff --git a/tier4_external_api_msgs/msg/RosbagRecordStatus.msg b/tier4_external_api_msgs/msg/RosbagRecordStatus.msg new file mode 100644 index 00000000..989feac0 --- /dev/null +++ b/tier4_external_api_msgs/msg/RosbagRecordStatus.msg @@ -0,0 +1,10 @@ +# constants +uint8 INITIALIZING=0 +uint8 WAITING_VEHICLE_INFO=1 +uint8 READY=2 +uint8 RECORDING=3 +uint8 ERROR=4 + +# fields +uint8 status +string message diff --git a/tier4_external_api_msgs/srv/SetRosbagRecord.srv b/tier4_external_api_msgs/srv/SetRosbagRecord.srv new file mode 100644 index 00000000..4d5d36da --- /dev/null +++ b/tier4_external_api_msgs/srv/SetRosbagRecord.srv @@ -0,0 +1,3 @@ +bool record +--- +tier4_external_api_msgs/ResponseStatus status From cf6771745c27edd577b836765966cd571dc185a0 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Wed, 27 Mar 2024 10:12:45 +0900 Subject: [PATCH 08/15] feat(tier4_system_msgs): add node type to graph struct (#116) Signed-off-by: Takagi, Isamu --- tier4_system_msgs/msg/DiagNodeStruct.msg | 1 + 1 file changed, 1 insertion(+) diff --git a/tier4_system_msgs/msg/DiagNodeStruct.msg b/tier4_system_msgs/msg/DiagNodeStruct.msg index f3f7414d..06fa6276 100644 --- a/tier4_system_msgs/msg/DiagNodeStruct.msg +++ b/tier4_system_msgs/msg/DiagNodeStruct.msg @@ -1 +1,2 @@ string path +string type From 4a5f78b99dd1504a64d1571ff5da5c32b1c50bef Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Tue, 2 Apr 2024 15:47:55 +0900 Subject: [PATCH 09/15] feat(tier4_system_msgs): add diag graph id (#118) * feat(tier4_system_msgs): add diag graph name Signed-off-by: Takagi, Isamu * feat(tier4_system_msgs): add diag graph type Signed-off-by: Takagi, Isamu * feat(tier4_system_msgs): rename id Signed-off-by: Takagi, Isamu --------- Signed-off-by: Takagi, Isamu --- tier4_system_msgs/msg/DiagGraphStatus.msg | 1 + tier4_system_msgs/msg/DiagGraphStruct.msg | 1 + tier4_system_msgs/msg/DiagLeafStruct.msg | 1 + 3 files changed, 3 insertions(+) diff --git a/tier4_system_msgs/msg/DiagGraphStatus.msg b/tier4_system_msgs/msg/DiagGraphStatus.msg index f34b1b3c..814e2794 100644 --- a/tier4_system_msgs/msg/DiagGraphStatus.msg +++ b/tier4_system_msgs/msg/DiagGraphStatus.msg @@ -1,4 +1,5 @@ builtin_interfaces/Time stamp +string id tier4_system_msgs/DiagNodeStatus[] nodes tier4_system_msgs/DiagLeafStatus[] diags tier4_system_msgs/DiagLinkStatus[] links diff --git a/tier4_system_msgs/msg/DiagGraphStruct.msg b/tier4_system_msgs/msg/DiagGraphStruct.msg index 0c18d46c..9c1e700c 100644 --- a/tier4_system_msgs/msg/DiagGraphStruct.msg +++ b/tier4_system_msgs/msg/DiagGraphStruct.msg @@ -1,4 +1,5 @@ builtin_interfaces/Time stamp +string id tier4_system_msgs/DiagNodeStruct[] nodes tier4_system_msgs/DiagLeafStruct[] diags tier4_system_msgs/DiagLinkStruct[] links diff --git a/tier4_system_msgs/msg/DiagLeafStruct.msg b/tier4_system_msgs/msg/DiagLeafStruct.msg index 6aa733e5..f38afd85 100644 --- a/tier4_system_msgs/msg/DiagLeafStruct.msg +++ b/tier4_system_msgs/msg/DiagLeafStruct.msg @@ -1,2 +1,3 @@ string path +string type string name From cc93262eb146339390aa3db91664bb464cc2ad41 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 9 May 2024 15:29:36 +0900 Subject: [PATCH 10/15] feat(tier4_rtc_msgs): add new field to rtc cooperate status (#119) * feat(tier4_rtc_msgs): add new field Signed-off-by: satoshi-ota * chore(tier4_rtc_request): add description to msg file Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- tier4_rtc_msgs/CMakeLists.txt | 1 + tier4_rtc_msgs/msg/CooperateStatus.msg | 17 +++++++++++++++++ tier4_rtc_msgs/msg/State.msg | 7 +++++++ 3 files changed, 25 insertions(+) create mode 100644 tier4_rtc_msgs/msg/State.msg diff --git a/tier4_rtc_msgs/CMakeLists.txt b/tier4_rtc_msgs/CMakeLists.txt index 0faafaad..0e9f99b1 100644 --- a/tier4_rtc_msgs/CMakeLists.txt +++ b/tier4_rtc_msgs/CMakeLists.txt @@ -16,6 +16,7 @@ ament_auto_find_build_dependencies() rosidl_generate_interfaces(${PROJECT_NAME} "msg/Command.msg" + "msg/State.msg" "msg/CooperateCommand.msg" "msg/CooperateResponse.msg" "msg/CooperateStatus.msg" diff --git a/tier4_rtc_msgs/msg/CooperateStatus.msg b/tier4_rtc_msgs/msg/CooperateStatus.msg index 5f49fb8a..da0eac67 100644 --- a/tier4_rtc_msgs/msg/CooperateStatus.msg +++ b/tier4_rtc_msgs/msg/CooperateStatus.msg @@ -1,8 +1,25 @@ builtin_interfaces/Time stamp + +# Request unique id unique_identifier_msgs/UUID uuid + +# Indicate module type which makes this cooperate request. tier4_rtc_msgs/Module module + +# Indicate whether the system judges it's safe condition to execute or not. bool safe + +# Indicate RTC approval status tier4_rtc_msgs/Command command_status + +# Current execution state +tier4_rtc_msgs/State state + +# RTC execution mode +# TRUE: Auto mode (it can execute without human operator's approval.) +# FALSE: Manual mode (it needs human operator's approval to execute.) bool auto_mode + +# Section which will be modified when this cooperate request is approved. float32 start_distance float32 finish_distance diff --git a/tier4_rtc_msgs/msg/State.msg b/tier4_rtc_msgs/msg/State.msg new file mode 100644 index 00000000..36a4aca4 --- /dev/null +++ b/tier4_rtc_msgs/msg/State.msg @@ -0,0 +1,7 @@ +uint8 type + +uint8 WAITING_FOR_EXECUTION = 0 +uint8 RUNNING = 1 +uint8 ABORTING = 2 +uint8 SUCCEEDED = 3 +uint8 FAILED = 4 From 3c13a40151c64ee2337f021f093bf341b3acc60f Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Mon, 27 May 2024 15:44:39 +0900 Subject: [PATCH 11/15] feat(tier4_localization_msgs): add InitilizeLocalization srv (#121) * add InitializeLocalization.srv Signed-off-by: Yamato Ando * add new line Signed-off-by: Yamato Ando * add description Signed-off-by: Yamato Ando * remove unnecessary space Signed-off-by: Yamato Ando * ci(pre-commit): autofix --------- Signed-off-by: Yamato Ando Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- tier4_localization_msgs/CMakeLists.txt | 2 ++ tier4_localization_msgs/package.xml | 1 + .../srv/InitializeLocalization.srv | 20 +++++++++++++++++++ 3 files changed, 23 insertions(+) create mode 100644 tier4_localization_msgs/srv/InitializeLocalization.srv diff --git a/tier4_localization_msgs/CMakeLists.txt b/tier4_localization_msgs/CMakeLists.txt index 7c77d216..3eef98ce 100644 --- a/tier4_localization_msgs/CMakeLists.txt +++ b/tier4_localization_msgs/CMakeLists.txt @@ -15,8 +15,10 @@ find_package(ament_cmake_auto REQUIRED) ament_auto_find_build_dependencies() rosidl_generate_interfaces(${PROJECT_NAME} + "srv/InitializeLocalization.srv" "srv/PoseWithCovarianceStamped.srv" DEPENDENCIES + autoware_common_msgs builtin_interfaces geometry_msgs ) diff --git a/tier4_localization_msgs/package.xml b/tier4_localization_msgs/package.xml index 960d37f0..9a9511f0 100644 --- a/tier4_localization_msgs/package.xml +++ b/tier4_localization_msgs/package.xml @@ -11,6 +11,7 @@ rosidl_default_generators + autoware_common_msgs builtin_interfaces geometry_msgs diff --git a/tier4_localization_msgs/srv/InitializeLocalization.srv b/tier4_localization_msgs/srv/InitializeLocalization.srv new file mode 100644 index 00000000..658d709f --- /dev/null +++ b/tier4_localization_msgs/srv/InitializeLocalization.srv @@ -0,0 +1,20 @@ +# constants for specifying initialization method +uint8 AUTO = 0 +uint8 DIRECT = 1 + +# input pose for initialization +geometry_msgs/PoseWithCovarianceStamped[<=1] pose_with_covariance + +# Variable to set initialization method +# AUTO: The initial position is automatically estimated with localization algorithm. +# The input pose will be used as an initial guess if provided. +# DIRECT: The initial position is set directly by the input pose without going through localization algorithm. +uint8 method +--- +# ERROR CODES used in response status in case of failure +uint16 ERROR_UNSAFE = 1 +uint16 ERROR_GNSS_SUPPORT = 2 +uint16 ERROR_GNSS = 3 +uint16 ERROR_ESTIMATION = 4 + +autoware_common_msgs/ResponseStatus status From 7991e7df074a5338d912f56637551937159f70cf Mon Sep 17 00:00:00 2001 From: Yukihiro Saito Date: Tue, 4 Jun 2024 23:17:18 +0900 Subject: [PATCH 12/15] feat!: change from autoware_auto_msgs to autoware_msgs (#122) * fix:autoware_planning_msgs Signed-off-by: jack.song * feat(tier4_autoware_msgs): replace autoware_auto_system_msg with autoware_system_msg Signed-off-by: NorahXiong * feat(tier4_autoware_msgs): replace autoware_auto_msgs with autoware_msgs Signed-off-by: liu cui * feat!: replace autoware_auto_perception_msgs with autoware_perception_msgs Signed-off-by: Ryohsuke Mitsudome * feat: move PathWithLaneId from autoware_msgs to tier4_autoware_msgs Signed-off-by: Ryohsuke Mitsudome --------- Signed-off-by: jack.song Signed-off-by: NorahXiong Signed-off-by: liu cui Signed-off-by: Ryohsuke Mitsudome Co-authored-by: jack.song Co-authored-by: NorahXiong Co-authored-by: liu cui Co-authored-by: Ryohsuke Mitsudome --- .../tier4_auto_msgs_converter.hpp | 178 +++++++++--------- tier4_auto_msgs_converter/package.xml | 8 +- tier4_perception_msgs/CMakeLists.txt | 2 +- .../DetectedObjectWithFeature.msg | 2 +- tier4_perception_msgs/package.xml | 2 +- tier4_planning_msgs/CMakeLists.txt | 2 + .../msg/PathPointWithLaneId.msg | 2 + tier4_planning_msgs/msg/PathWithLaneId.msg | 4 + 8 files changed, 105 insertions(+), 95 deletions(-) create mode 100644 tier4_planning_msgs/msg/PathPointWithLaneId.msg create mode 100644 tier4_planning_msgs/msg/PathWithLaneId.msg diff --git a/tier4_auto_msgs_converter/include/tier4_auto_msgs_converter/tier4_auto_msgs_converter.hpp b/tier4_auto_msgs_converter/include/tier4_auto_msgs_converter/tier4_auto_msgs_converter.hpp index 34b78ebd..e2758bb5 100644 --- a/tier4_auto_msgs_converter/include/tier4_auto_msgs_converter/tier4_auto_msgs_converter.hpp +++ b/tier4_auto_msgs_converter/include/tier4_auto_msgs_converter/tier4_auto_msgs_converter.hpp @@ -15,19 +15,21 @@ #ifndef TIER4_AUTO_MSGS_CONVERTER__TIER4_AUTO_MSGS_CONVERTER_HPP_ #define TIER4_AUTO_MSGS_CONVERTER__TIER4_AUTO_MSGS_CONVERTER_HPP_ -#include "autoware_auto_perception_msgs/msg/tracked_objects.hpp" -#include "autoware_auto_planning_msgs/msg/path.hpp" -#include "autoware_auto_planning_msgs/msg/trajectory.hpp" -#include "autoware_auto_system_msgs/msg/autoware_state.hpp" -#include "autoware_auto_system_msgs/msg/hazard_status_stamped.hpp" -#include "autoware_auto_vehicle_msgs/msg/control_mode_report.hpp" -#include "autoware_auto_vehicle_msgs/msg/gear_command.hpp" -#include "autoware_auto_vehicle_msgs/msg/gear_report.hpp" -#include "autoware_auto_vehicle_msgs/msg/hazard_lights_command.hpp" -#include "autoware_auto_vehicle_msgs/msg/hazard_lights_report.hpp" -#include "autoware_auto_vehicle_msgs/msg/steering_report.hpp" -#include "autoware_auto_vehicle_msgs/msg/turn_indicators_command.hpp" -#include "autoware_auto_vehicle_msgs/msg/turn_indicators_report.hpp" +#include "autoware_perception_msgs/msg/tracked_objects.hpp" +#include "autoware_planning_msgs/msg/path.hpp" +#include "autoware_planning_msgs/msg/trajectory.hpp" +#include "autoware_planning_msgs/msg/path.hpp" +#include "autoware_planning_msgs/msg/trajectory.hpp" +#include "autoware_system_msgs/msg/autoware_state.hpp" +#include "autoware_system_msgs/msg/hazard_status_stamped.hpp" +#include "autoware_vehicle_msgs/msg/control_mode_report.hpp" +#include "autoware_vehicle_msgs/msg/gear_command.hpp" +#include "autoware_vehicle_msgs/msg/gear_report.hpp" +#include "autoware_vehicle_msgs/msg/hazard_lights_command.hpp" +#include "autoware_vehicle_msgs/msg/hazard_lights_report.hpp" +#include "autoware_vehicle_msgs/msg/steering_report.hpp" +#include "autoware_vehicle_msgs/msg/turn_indicators_command.hpp" +#include "autoware_vehicle_msgs/msg/turn_indicators_report.hpp" #include "tier4_external_api_msgs/msg/gear_shift_stamped.hpp" #include "tier4_external_api_msgs/msg/turn_signal_stamped.hpp" #include "tier4_perception_msgs/msg/dynamic_object_array.hpp" @@ -43,40 +45,40 @@ namespace tier4_auto_msgs_converter { struct LightSignal { - autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand turn_signal; - autoware_auto_vehicle_msgs::msg::HazardLightsCommand hazard_signal; + autoware_vehicle_msgs::msg::TurnIndicatorsCommand turn_signal; + autoware_vehicle_msgs::msg::HazardLightsCommand hazard_signal; }; -inline auto convert(const autoware_auto_system_msgs::msg::AutowareState & state) +inline auto convert(const autoware_system_msgs::msg::AutowareState & state) { tier4_system_msgs::msg::AutowareState iv_state; switch (state.state) { - case autoware_auto_system_msgs::msg::AutowareState::INITIALIZING: + case autoware_system_msgs::msg::AutowareState::INITIALIZING: iv_state.state = tier4_system_msgs::msg::AutowareState::INITIALIZING_VEHICLE; break; - case autoware_auto_system_msgs::msg::AutowareState::WAITING_FOR_ROUTE: + case autoware_system_msgs::msg::AutowareState::WAITING_FOR_ROUTE: iv_state.state = tier4_system_msgs::msg::AutowareState::WAITING_FOR_ROUTE; break; - case autoware_auto_system_msgs::msg::AutowareState::PLANNING: + case autoware_system_msgs::msg::AutowareState::PLANNING: iv_state.state = tier4_system_msgs::msg::AutowareState::PLANNING; break; - case autoware_auto_system_msgs::msg::AutowareState::WAITING_FOR_ENGAGE: + case autoware_system_msgs::msg::AutowareState::WAITING_FOR_ENGAGE: iv_state.state = tier4_system_msgs::msg::AutowareState::WAITING_FOR_ENGAGE; break; - case autoware_auto_system_msgs::msg::AutowareState::DRIVING: + case autoware_system_msgs::msg::AutowareState::DRIVING: iv_state.state = tier4_system_msgs::msg::AutowareState::DRIVING; break; - case autoware_auto_system_msgs::msg::AutowareState::ARRIVED_GOAL: + case autoware_system_msgs::msg::AutowareState::ARRIVED_GOAL: iv_state.state = tier4_system_msgs::msg::AutowareState::ARRIVAL_GOAL; break; - case autoware_auto_system_msgs::msg::AutowareState::FINALIZING: + case autoware_system_msgs::msg::AutowareState::FINALIZING: iv_state.state = tier4_system_msgs::msg::AutowareState::FINALIZING; break; } return iv_state; } -inline auto convert(const autoware_auto_system_msgs::msg::HazardStatusStamped & status) +inline auto convert(const autoware_system_msgs::msg::HazardStatusStamped & status) { tier4_system_msgs::msg::HazardStatusStamped iv_status; iv_status.header.stamp = status.stamp; @@ -90,7 +92,7 @@ inline auto convert(const autoware_auto_system_msgs::msg::HazardStatusStamped & return iv_status; } -inline auto convert(const autoware_auto_planning_msgs::msg::Path & path) +inline auto convert(const autoware_planning_msgs::msg::Path & path) { tier4_planning_msgs::msg::Path iv_path; iv_path.header = path.header; @@ -107,7 +109,7 @@ inline auto convert(const autoware_auto_planning_msgs::msg::Path & path) return iv_path; } -inline auto convert(const autoware_auto_planning_msgs::msg::Trajectory & traj) +inline auto convert(const autoware_planning_msgs::msg::Trajectory & traj) { tier4_planning_msgs::msg::Trajectory iv_traj; iv_traj.header = traj.header; @@ -124,40 +126,40 @@ inline auto convert(const autoware_auto_planning_msgs::msg::Trajectory & traj) return iv_traj; } -inline auto convert(const autoware_auto_vehicle_msgs::msg::GearReport & gear) +inline auto convert(const autoware_vehicle_msgs::msg::GearReport & gear) { tier4_vehicle_msgs::msg::ShiftStamped iv_shift; iv_shift.header.stamp = gear.stamp; switch (gear.report) { - case autoware_auto_vehicle_msgs::msg::GearReport::PARK: + case autoware_vehicle_msgs::msg::GearReport::PARK: iv_shift.shift.data = tier4_vehicle_msgs::msg::Shift::PARKING; break; - case autoware_auto_vehicle_msgs::msg::GearReport::REVERSE: - case autoware_auto_vehicle_msgs::msg::GearReport::REVERSE_2: + case autoware_vehicle_msgs::msg::GearReport::REVERSE: + case autoware_vehicle_msgs::msg::GearReport::REVERSE_2: iv_shift.shift.data = tier4_vehicle_msgs::msg::Shift::REVERSE; break; - case autoware_auto_vehicle_msgs::msg::GearReport::DRIVE: - case autoware_auto_vehicle_msgs::msg::GearReport::DRIVE_2: - case autoware_auto_vehicle_msgs::msg::GearReport::DRIVE_3: - case autoware_auto_vehicle_msgs::msg::GearReport::DRIVE_4: - case autoware_auto_vehicle_msgs::msg::GearReport::DRIVE_5: - case autoware_auto_vehicle_msgs::msg::GearReport::DRIVE_6: - case autoware_auto_vehicle_msgs::msg::GearReport::DRIVE_7: - case autoware_auto_vehicle_msgs::msg::GearReport::DRIVE_8: - case autoware_auto_vehicle_msgs::msg::GearReport::DRIVE_9: - case autoware_auto_vehicle_msgs::msg::GearReport::DRIVE_10: - case autoware_auto_vehicle_msgs::msg::GearReport::DRIVE_11: - case autoware_auto_vehicle_msgs::msg::GearReport::DRIVE_12: - case autoware_auto_vehicle_msgs::msg::GearReport::DRIVE_13: - case autoware_auto_vehicle_msgs::msg::GearReport::DRIVE_14: - case autoware_auto_vehicle_msgs::msg::GearReport::DRIVE_15: - case autoware_auto_vehicle_msgs::msg::GearReport::DRIVE_16: - case autoware_auto_vehicle_msgs::msg::GearReport::DRIVE_17: - case autoware_auto_vehicle_msgs::msg::GearReport::DRIVE_18: + case autoware_vehicle_msgs::msg::GearReport::DRIVE: + case autoware_vehicle_msgs::msg::GearReport::DRIVE_2: + case autoware_vehicle_msgs::msg::GearReport::DRIVE_3: + case autoware_vehicle_msgs::msg::GearReport::DRIVE_4: + case autoware_vehicle_msgs::msg::GearReport::DRIVE_5: + case autoware_vehicle_msgs::msg::GearReport::DRIVE_6: + case autoware_vehicle_msgs::msg::GearReport::DRIVE_7: + case autoware_vehicle_msgs::msg::GearReport::DRIVE_8: + case autoware_vehicle_msgs::msg::GearReport::DRIVE_9: + case autoware_vehicle_msgs::msg::GearReport::DRIVE_10: + case autoware_vehicle_msgs::msg::GearReport::DRIVE_11: + case autoware_vehicle_msgs::msg::GearReport::DRIVE_12: + case autoware_vehicle_msgs::msg::GearReport::DRIVE_13: + case autoware_vehicle_msgs::msg::GearReport::DRIVE_14: + case autoware_vehicle_msgs::msg::GearReport::DRIVE_15: + case autoware_vehicle_msgs::msg::GearReport::DRIVE_16: + case autoware_vehicle_msgs::msg::GearReport::DRIVE_17: + case autoware_vehicle_msgs::msg::GearReport::DRIVE_18: iv_shift.shift.data = tier4_vehicle_msgs::msg::Shift::DRIVE; break; - case autoware_auto_vehicle_msgs::msg::GearReport::LOW: - case autoware_auto_vehicle_msgs::msg::GearReport::LOW_2: + case autoware_vehicle_msgs::msg::GearReport::LOW: + case autoware_vehicle_msgs::msg::GearReport::LOW_2: iv_shift.shift.data = tier4_vehicle_msgs::msg::Shift::LOW; break; default: @@ -169,20 +171,20 @@ inline auto convert(const autoware_auto_vehicle_msgs::msg::GearReport & gear) inline auto convert(const tier4_external_api_msgs::msg::GearShiftStamped & shift) { - autoware_auto_vehicle_msgs::msg::GearCommand auto_gear; + autoware_vehicle_msgs::msg::GearCommand auto_gear; auto_gear.stamp = shift.stamp; switch (shift.gear_shift.data) { case tier4_external_api_msgs::msg::GearShift::PARKING: - auto_gear.command = autoware_auto_vehicle_msgs::msg::GearCommand::PARK; + auto_gear.command = autoware_vehicle_msgs::msg::GearCommand::PARK; break; case tier4_external_api_msgs::msg::GearShift::REVERSE: - auto_gear.command = autoware_auto_vehicle_msgs::msg::GearCommand::REVERSE; + auto_gear.command = autoware_vehicle_msgs::msg::GearCommand::REVERSE; break; case tier4_external_api_msgs::msg::GearShift::DRIVE: - auto_gear.command = autoware_auto_vehicle_msgs::msg::GearCommand::DRIVE; + auto_gear.command = autoware_vehicle_msgs::msg::GearCommand::DRIVE; break; case tier4_external_api_msgs::msg::GearShift::LOW: - auto_gear.command = autoware_auto_vehicle_msgs::msg::GearCommand::LOW; + auto_gear.command = autoware_vehicle_msgs::msg::GearCommand::LOW; break; default: constexpr int default_val = 0; @@ -193,12 +195,12 @@ inline auto convert(const tier4_external_api_msgs::msg::GearShiftStamped & shift } inline auto convert( - const autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport & turn_indicators, - const autoware_auto_vehicle_msgs::msg::HazardLightsReport & hazard_lights) + const autoware_vehicle_msgs::msg::TurnIndicatorsReport & turn_indicators, + const autoware_vehicle_msgs::msg::HazardLightsReport & hazard_lights) { tier4_vehicle_msgs::msg::TurnSignal iv_turn_signal; - if (hazard_lights.report == autoware_auto_vehicle_msgs::msg::HazardLightsReport::ENABLE) { + if (hazard_lights.report == autoware_vehicle_msgs::msg::HazardLightsReport::ENABLE) { iv_turn_signal.header.stamp = hazard_lights.stamp; iv_turn_signal.data = tier4_vehicle_msgs::msg::TurnSignal::HAZARD; return iv_turn_signal; @@ -206,10 +208,10 @@ inline auto convert( iv_turn_signal.header.stamp = turn_indicators.stamp; switch (turn_indicators.report) { - case autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport::ENABLE_LEFT: + case autoware_vehicle_msgs::msg::TurnIndicatorsReport::ENABLE_LEFT: iv_turn_signal.data = tier4_vehicle_msgs::msg::TurnSignal::LEFT; break; - case autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport::ENABLE_RIGHT: + case autoware_vehicle_msgs::msg::TurnIndicatorsReport::ENABLE_RIGHT: iv_turn_signal.data = tier4_vehicle_msgs::msg::TurnSignal::RIGHT; break; default: @@ -221,27 +223,27 @@ inline auto convert( inline auto convert(const tier4_external_api_msgs::msg::TurnSignalStamped & in_signal) { - autoware_auto_vehicle_msgs::msg::HazardLightsCommand hazard; + autoware_vehicle_msgs::msg::HazardLightsCommand hazard; hazard.stamp = in_signal.stamp; - autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand turn; + autoware_vehicle_msgs::msg::TurnIndicatorsCommand turn; turn.stamp = in_signal.stamp; switch (in_signal.turn_signal.data) { case tier4_vehicle_msgs::msg::TurnSignal::HAZARD: - hazard.command = autoware_auto_vehicle_msgs::msg::HazardLightsCommand::ENABLE; - turn.command = autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand::DISABLE; + hazard.command = autoware_vehicle_msgs::msg::HazardLightsCommand::ENABLE; + turn.command = autoware_vehicle_msgs::msg::TurnIndicatorsCommand::DISABLE; break; case tier4_vehicle_msgs::msg::TurnSignal::LEFT: - hazard.command = autoware_auto_vehicle_msgs::msg::HazardLightsCommand::DISABLE; - turn.command = autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand::ENABLE_LEFT; + hazard.command = autoware_vehicle_msgs::msg::HazardLightsCommand::DISABLE; + turn.command = autoware_vehicle_msgs::msg::TurnIndicatorsCommand::ENABLE_LEFT; break; case tier4_vehicle_msgs::msg::TurnSignal::RIGHT: - hazard.command = autoware_auto_vehicle_msgs::msg::HazardLightsCommand::DISABLE; - turn.command = autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand::ENABLE_RIGHT; + hazard.command = autoware_vehicle_msgs::msg::HazardLightsCommand::DISABLE; + turn.command = autoware_vehicle_msgs::msg::TurnIndicatorsCommand::ENABLE_RIGHT; break; default: - hazard.command = autoware_auto_vehicle_msgs::msg::HazardLightsCommand::DISABLE; - turn.command = autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand::DISABLE; + hazard.command = autoware_vehicle_msgs::msg::HazardLightsCommand::DISABLE; + turn.command = autoware_vehicle_msgs::msg::TurnIndicatorsCommand::DISABLE; } LightSignal light_signal; @@ -250,7 +252,7 @@ inline auto convert(const tier4_external_api_msgs::msg::TurnSignalStamped & in_s return light_signal; } -inline auto convert(const autoware_auto_vehicle_msgs::msg::SteeringReport & steering) +inline auto convert(const autoware_vehicle_msgs::msg::SteeringReport & steering) { tier4_vehicle_msgs::msg::Steering iv_steering; iv_steering.header.stamp = steering.stamp; @@ -258,33 +260,33 @@ inline auto convert(const autoware_auto_vehicle_msgs::msg::SteeringReport & stee return iv_steering; } -inline auto convert(const autoware_auto_perception_msgs::msg::ObjectClassification & classification) +inline auto convert(const autoware_perception_msgs::msg::ObjectClassification & classification) { tier4_perception_msgs::msg::Semantic iv_semantic; iv_semantic.confidence = classification.probability; switch (classification.label) { - case autoware_auto_perception_msgs::msg::ObjectClassification::UNKNOWN: + case autoware_perception_msgs::msg::ObjectClassification::UNKNOWN: iv_semantic.type = tier4_perception_msgs::msg::Semantic::UNKNOWN; break; - case autoware_auto_perception_msgs::msg::ObjectClassification::CAR: + case autoware_perception_msgs::msg::ObjectClassification::CAR: iv_semantic.type = tier4_perception_msgs::msg::Semantic::CAR; break; - case autoware_auto_perception_msgs::msg::ObjectClassification::TRUCK: + case autoware_perception_msgs::msg::ObjectClassification::TRUCK: iv_semantic.type = tier4_perception_msgs::msg::Semantic::TRUCK; break; - case autoware_auto_perception_msgs::msg::ObjectClassification::BUS: + case autoware_perception_msgs::msg::ObjectClassification::BUS: iv_semantic.type = tier4_perception_msgs::msg::Semantic::BUS; break; - case autoware_auto_perception_msgs::msg::ObjectClassification::TRAILER: + case autoware_perception_msgs::msg::ObjectClassification::TRAILER: iv_semantic.type = tier4_perception_msgs::msg::Semantic::TRUCK; break; - case autoware_auto_perception_msgs::msg::ObjectClassification::MOTORCYCLE: + case autoware_perception_msgs::msg::ObjectClassification::MOTORCYCLE: iv_semantic.type = tier4_perception_msgs::msg::Semantic::MOTORBIKE; break; - case autoware_auto_perception_msgs::msg::ObjectClassification::BICYCLE: + case autoware_perception_msgs::msg::ObjectClassification::BICYCLE: iv_semantic.type = tier4_perception_msgs::msg::Semantic::BICYCLE; break; - case autoware_auto_perception_msgs::msg::ObjectClassification::PEDESTRIAN: + case autoware_perception_msgs::msg::ObjectClassification::PEDESTRIAN: iv_semantic.type = tier4_perception_msgs::msg::Semantic::PEDESTRIAN; break; default: @@ -294,9 +296,9 @@ inline auto convert(const autoware_auto_perception_msgs::msg::ObjectClassificati return iv_semantic; } -inline auto convert(const autoware_auto_perception_msgs::msg::TrackedObjectKinematics & kinematics) +inline auto convert(const autoware_perception_msgs::msg::TrackedObjectKinematics & kinematics) { - using Kinematics = autoware_auto_perception_msgs::msg::TrackedObjectKinematics; + using Kinematics = autoware_perception_msgs::msg::TrackedObjectKinematics; tier4_perception_msgs::msg::State iv_state; iv_state.pose_covariance = kinematics.pose_with_covariance; iv_state.orientation_reliable = (kinematics.orientation_availability == Kinematics::AVAILABLE); @@ -308,26 +310,26 @@ inline auto convert(const autoware_auto_perception_msgs::msg::TrackedObjectKinem return iv_state; } -inline auto convert(const autoware_auto_perception_msgs::msg::Shape & shape) +inline auto convert(const autoware_perception_msgs::msg::Shape & shape) { tier4_perception_msgs::msg::Shape iv_shape; iv_shape.dimensions = shape.dimensions; iv_shape.footprint = shape.footprint; switch (shape.type) { - case autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX: + case autoware_perception_msgs::msg::Shape::BOUNDING_BOX: iv_shape.type = tier4_perception_msgs::msg::Shape::BOUNDING_BOX; break; - case autoware_auto_perception_msgs::msg::Shape::CYLINDER: + case autoware_perception_msgs::msg::Shape::CYLINDER: iv_shape.type = tier4_perception_msgs::msg::Shape::CYLINDER; break; - case autoware_auto_perception_msgs::msg::Shape::POLYGON: + case autoware_perception_msgs::msg::Shape::POLYGON: iv_shape.type = tier4_perception_msgs::msg::Shape::POLYGON; break; } return iv_shape; } -inline auto convert(const autoware_auto_perception_msgs::msg::TrackedObject & object) +inline auto convert(const autoware_perception_msgs::msg::TrackedObject & object) { tier4_perception_msgs::msg::DynamicObject iv_object; iv_object.id = object.object_id; @@ -337,7 +339,7 @@ inline auto convert(const autoware_auto_perception_msgs::msg::TrackedObject & ob return iv_object; } -inline auto convert(const autoware_auto_perception_msgs::msg::TrackedObjects & objects) +inline auto convert(const autoware_perception_msgs::msg::TrackedObjects & objects) { tier4_perception_msgs::msg::DynamicObjectArray iv_objects; iv_objects.header = objects.header; diff --git a/tier4_auto_msgs_converter/package.xml b/tier4_auto_msgs_converter/package.xml index 50a55eb8..c7099a0e 100644 --- a/tier4_auto_msgs_converter/package.xml +++ b/tier4_auto_msgs_converter/package.xml @@ -9,10 +9,10 @@ ament_cmake_auto - autoware_auto_perception_msgs - autoware_auto_planning_msgs - autoware_auto_system_msgs - autoware_auto_vehicle_msgs + autoware_perception_msgs + autoware_planning_msgs + autoware_system_msgs + autoware_vehicle_msgs tier4_perception_msgs tier4_planning_msgs tier4_system_msgs diff --git a/tier4_perception_msgs/CMakeLists.txt b/tier4_perception_msgs/CMakeLists.txt index 51a61857..fd531b0f 100644 --- a/tier4_perception_msgs/CMakeLists.txt +++ b/tier4_perception_msgs/CMakeLists.txt @@ -30,7 +30,7 @@ rosidl_generate_interfaces(${PROJECT_NAME} "msg/traffic_light/TrafficLight.msg" "msg/traffic_light/TrafficLightArray.msg" DEPENDENCIES - autoware_auto_perception_msgs + autoware_perception_msgs builtin_interfaces geometry_msgs sensor_msgs diff --git a/tier4_perception_msgs/msg/object_recognition/DetectedObjectWithFeature.msg b/tier4_perception_msgs/msg/object_recognition/DetectedObjectWithFeature.msg index 08317899..cf41bfac 100644 --- a/tier4_perception_msgs/msg/object_recognition/DetectedObjectWithFeature.msg +++ b/tier4_perception_msgs/msg/object_recognition/DetectedObjectWithFeature.msg @@ -1,2 +1,2 @@ -autoware_auto_perception_msgs/DetectedObject object +autoware_perception_msgs/DetectedObject object Feature feature diff --git a/tier4_perception_msgs/package.xml b/tier4_perception_msgs/package.xml index 36776fbb..9c903b85 100644 --- a/tier4_perception_msgs/package.xml +++ b/tier4_perception_msgs/package.xml @@ -11,7 +11,7 @@ rosidl_default_generators - autoware_auto_perception_msgs + autoware_perception_msgs builtin_interfaces geometry_msgs sensor_msgs diff --git a/tier4_planning_msgs/CMakeLists.txt b/tier4_planning_msgs/CMakeLists.txt index 08cccf10..d2fe9ae9 100644 --- a/tier4_planning_msgs/CMakeLists.txt +++ b/tier4_planning_msgs/CMakeLists.txt @@ -32,6 +32,8 @@ rosidl_generate_interfaces(${PROJECT_NAME} "msg/PathChangeModuleArray.msg" "msg/PathChangeModuleId.msg" "msg/PathPoint.msg" + "msg/PathPointWithLaneId.msg" + "msg/PathWithLaneId.msg" "msg/RerouteAvailability.msg" "msg/RouteState.msg" "msg/Scenario.msg" diff --git a/tier4_planning_msgs/msg/PathPointWithLaneId.msg b/tier4_planning_msgs/msg/PathPointWithLaneId.msg new file mode 100644 index 00000000..19eea9fe --- /dev/null +++ b/tier4_planning_msgs/msg/PathPointWithLaneId.msg @@ -0,0 +1,2 @@ +autoware_planning_msgs/PathPoint point +int64[] lane_ids diff --git a/tier4_planning_msgs/msg/PathWithLaneId.msg b/tier4_planning_msgs/msg/PathWithLaneId.msg new file mode 100644 index 00000000..5a450688 --- /dev/null +++ b/tier4_planning_msgs/msg/PathWithLaneId.msg @@ -0,0 +1,4 @@ +std_msgs/Header header +tier4_planning_msgs/PathPointWithLaneId[] points +geometry_msgs/Point[] left_bound +geometry_msgs/Point[] right_bound From ca0192bebbc8f01a9366ceba04f8482afb8cdd13 Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Mon, 24 Jun 2024 21:11:21 +0900 Subject: [PATCH 13/15] chore(tier4_localization_msgs): add maintainer (#106) Signed-off-by: yamato-ando Co-authored-by: yamato-ando --- tier4_localization_msgs/package.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/tier4_localization_msgs/package.xml b/tier4_localization_msgs/package.xml index 9a9511f0..25122685 100644 --- a/tier4_localization_msgs/package.xml +++ b/tier4_localization_msgs/package.xml @@ -4,6 +4,7 @@ tier4_localization_msgs 0.1.0 The tier4_localization_msgs package + Yamato Ando Ryohsuke Mitsudome Apache License 2.0 From 5cf56e7c1f1156c0067108a83806a22e42120d1b Mon Sep 17 00:00:00 2001 From: Yukihiro Saito Date: Tue, 25 Jun 2024 14:16:37 +0900 Subject: [PATCH 14/15] chore: update README.md (#136) * Update README.md * Update README.md Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> * Update README.md Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> --------- Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> --- README.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/README.md b/README.md index eef76f4b..17738a93 100644 --- a/README.md +++ b/README.md @@ -1 +1,3 @@ # tier4_autoware_msgs + +This repository contains messages that are independently defined by TIER IV for use within each component of Autoware. For the official interface between Autoware components, please refer to the [autoware_msgs](https://github.com/autowarefoundation/autoware_msgs) repository. From e5b219fb2594066c883c2471311bde0e0b15882a Mon Sep 17 00:00:00 2001 From: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> Date: Thu, 4 Jul 2024 19:56:45 +0900 Subject: [PATCH 15/15] feat(tier4_autoware_msgs): add timenode.msg and timetree.msg (#137) * feat(tier4_autoware_msgs): add TimeNode.msg and TimeTree.msg Signed-off-by: Y.Hisaki * rename Signed-off-by: Y.Hisaki * fix miss Signed-off-by: Y.Hisaki --------- Signed-off-by: Y.Hisaki --- tier4_debug_msgs/CMakeLists.txt | 4 +++- tier4_debug_msgs/msg/ProcessingTimeNode.msg | 8 ++++++++ tier4_debug_msgs/msg/ProcessingTimeTree.msg | 2 ++ 3 files changed, 13 insertions(+), 1 deletion(-) create mode 100644 tier4_debug_msgs/msg/ProcessingTimeNode.msg create mode 100644 tier4_debug_msgs/msg/ProcessingTimeTree.msg diff --git a/tier4_debug_msgs/CMakeLists.txt b/tier4_debug_msgs/CMakeLists.txt index e08adfdf..c82be471 100644 --- a/tier4_debug_msgs/CMakeLists.txt +++ b/tier4_debug_msgs/CMakeLists.txt @@ -27,8 +27,10 @@ rosidl_generate_interfaces(${PROJECT_NAME} "msg/Int64Stamped.msg" "msg/Int64MultiArrayStamped.msg" "msg/StringStamped.msg" + "msg/ProcessingTimeNode.msg" + "msg/ProcessingTimeTree.msg" DEPENDENCIES - builtin_interfaces + builtin_interfaces ) if(BUILD_TESTING) diff --git a/tier4_debug_msgs/msg/ProcessingTimeNode.msg b/tier4_debug_msgs/msg/ProcessingTimeNode.msg new file mode 100644 index 00000000..04428b41 --- /dev/null +++ b/tier4_debug_msgs/msg/ProcessingTimeNode.msg @@ -0,0 +1,8 @@ +# Unique ID of the node +int32 id +# Name of the node +string name +# Processing time of the node +float64 processing_time +# ID of the parent node, 0 if no parent +int32 parent_id diff --git a/tier4_debug_msgs/msg/ProcessingTimeTree.msg b/tier4_debug_msgs/msg/ProcessingTimeTree.msg new file mode 100644 index 00000000..0e7be75d --- /dev/null +++ b/tier4_debug_msgs/msg/ProcessingTimeTree.msg @@ -0,0 +1,2 @@ +# Array of all time nodes +ProcessingTimeNode[] nodes