revert: engage button action in autoware_state_panel (#1079)

* Revert "fix(autoware_state_panel): fix message type for /api/autoware/get/engage (#666)"

This reverts commit 49cc906.

* Revert "fix(tier4_state_rviz_plugin): change service and topic name for engage (#633)"

This reverts commit 15f43bc.

common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp

@@ -137,11 +137,11 @@ void AutowareStatePanel::onInitialize()
   sub_gear_ = raw_node_->create_subscription<autoware_auto_vehicle_msgs::msg::GearReport>(
     "/vehicle/status/gear_status", 10, std::bind(&AutowareStatePanel::onShift, this, _1));
 
-  sub_engage_ = raw_node_->create_subscription<autoware_auto_vehicle_msgs::msg::Engage>(
-    "/api/autoware/get/engage", 10, std::bind(&AutowareStatePanel::onEngageStatus, this, _1));
+  sub_engage_ = raw_node_->create_subscription<tier4_external_api_msgs::msg::EngageStatus>(
+    "/api/external/get/engage", 10, std::bind(&AutowareStatePanel::onEngageStatus, this, _1));
 
   client_engage_ = raw_node_->create_client<tier4_external_api_msgs::srv::Engage>(
-    "/api/autoware/set/engage", rmw_qos_profile_services_default);
+    "/api/external/set/engage", rmw_qos_profile_services_default);
 
   pub_velocity_limit_ = raw_node_->create_publisher<tier4_planning_msgs::msg::VelocityLimit>(
     "/planning/scenario_planning/max_velocity_default", rclcpp::QoS(1));
@@ -248,7 +248,7 @@ void AutowareStatePanel::onShift(
 }
 
 void AutowareStatePanel::onEngageStatus(
-  const autoware_auto_vehicle_msgs::msg::Engage::ConstSharedPtr msg)
+  const tier4_external_api_msgs::msg::EngageStatus::ConstSharedPtr msg)
 {
   current_engage_ = msg->engage;
   engage_status_label_ptr_->setText(QString::fromStdString(Bool2String(current_engage_)));

common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp

@@ -24,10 +24,10 @@
 #include <rviz_common/panel.hpp>
 
 #include <autoware_auto_system_msgs/msg/autoware_state.hpp>
-#include <autoware_auto_vehicle_msgs/msg/engage.hpp>
 #include <autoware_auto_vehicle_msgs/msg/gear_report.hpp>
 #include <tier4_control_msgs/msg/external_command_selector_mode.hpp>
 #include <tier4_control_msgs/msg/gate_mode.hpp>
+#include <tier4_external_api_msgs/msg/engage_status.hpp>
 #include <tier4_external_api_msgs/srv/engage.hpp>
 #include <tier4_planning_msgs/msg/approval.hpp>
 #include <tier4_planning_msgs/msg/velocity_limit.hpp>
@@ -54,7 +54,7 @@ public Q_SLOTS:
     const tier4_control_msgs::msg::ExternalCommandSelectorMode::ConstSharedPtr msg);
   void onAutowareState(const autoware_auto_system_msgs::msg::AutowareState::ConstSharedPtr msg);
   void onShift(const autoware_auto_vehicle_msgs::msg::GearReport::ConstSharedPtr msg);
-  void onEngageStatus(const autoware_auto_vehicle_msgs::msg::Engage::ConstSharedPtr msg);
+  void onEngageStatus(const tier4_external_api_msgs::msg::EngageStatus::ConstSharedPtr msg);
 
   rclcpp::Node::SharedPtr raw_node_;
   rclcpp::Subscription<tier4_control_msgs::msg::GateMode>::SharedPtr sub_gate_mode_;
@@ -63,7 +63,7 @@ public Q_SLOTS:
   rclcpp::Subscription<autoware_auto_system_msgs::msg::AutowareState>::SharedPtr
     sub_autoware_state_;
   rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::GearReport>::SharedPtr sub_gear_;
-  rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::Engage>::SharedPtr sub_engage_;
+  rclcpp::Subscription<tier4_external_api_msgs::msg::EngageStatus>::SharedPtr sub_engage_;
 
   rclcpp::Client<tier4_external_api_msgs::srv::Engage>::SharedPtr client_engage_;