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Merge pull request autowarefoundation#639 from tier4/sync-upstream
chore: sync upstream
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36 changes: 36 additions & 0 deletions
36
common/component_interface_specs/include/component_interface_specs/map.hpp
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| Original file line number | Diff line number | Diff line change |
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| // Copyright 2023 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__MAP_HPP_ | ||
| #define COMPONENT_INTERFACE_SPECS__MAP_HPP_ | ||
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| #include <rclcpp/qos.hpp> | ||
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| #include <tier4_map_msgs/msg/map_projector_info.hpp> | ||
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| namespace map_interface | ||
| { | ||
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| struct MapProjectorInfo | ||
| { | ||
| using Message = tier4_map_msgs::msg::MapProjectorInfo; | ||
| static constexpr char name[] = "/map/map_projector_type"; | ||
| 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 map_interface | ||
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| #endif // COMPONENT_INTERFACE_SPECS__MAP_HPP_ |
76 changes: 76 additions & 0 deletions
76
common/component_interface_specs/include/component_interface_specs/vehicle.hpp
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| Original file line number | Diff line number | Diff line change |
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| // Copyright 2023 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__VEHICLE_HPP_ | ||
| #define COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_ | ||
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| #include <rclcpp/qos.hpp> | ||
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| #include <autoware_auto_vehicle_msgs/msg/gear_report.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_report.hpp> | ||
| #include <tier4_vehicle_msgs/msg/battery_status.hpp> | ||
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| namespace vehicle_interface | ||
| { | ||
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| struct SteeringStatus | ||
| { | ||
| using Message = autoware_auto_vehicle_msgs::msg::SteeringReport; | ||
| static constexpr char name[] = "/vehicle/status/steering_status"; | ||
| static constexpr size_t depth = 1; | ||
| static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE; | ||
| static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; | ||
| }; | ||
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| struct GearStatus | ||
| { | ||
| using Message = autoware_auto_vehicle_msgs::msg::GearReport; | ||
| static constexpr char name[] = "/vehicle/status/gear_status"; | ||
| static constexpr size_t depth = 1; | ||
| static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE; | ||
| static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; | ||
| }; | ||
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| struct TurnIndicatorStatus | ||
| { | ||
| using Message = autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport; | ||
| static constexpr char name[] = "/vehicle/status/turn_indicators_status"; | ||
| static constexpr size_t depth = 1; | ||
| static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE; | ||
| static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; | ||
| }; | ||
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| struct HazardLightStatus | ||
| { | ||
| using Message = autoware_auto_vehicle_msgs::msg::HazardLightsReport; | ||
| static constexpr char name[] = "/vehicle/status/hazard_lights_status"; | ||
| static constexpr size_t depth = 1; | ||
| static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE; | ||
| static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; | ||
| }; | ||
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| struct EnergyStatus | ||
| { | ||
| using Message = tier4_vehicle_msgs::msg::BatteryStatus; | ||
| static constexpr char name[] = "/vehicle/status/battery_charge"; | ||
| static constexpr size_t depth = 1; | ||
| static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE; | ||
| static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; | ||
| }; | ||
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| } // namespace vehicle_interface | ||
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| #endif // COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_ |
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