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feat: change pachage name: autoware_msgs -> tier4_msgs #150

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merged 8 commits into from
Dec 10, 2021
Merged

feat: change pachage name: autoware_msgs -> tier4_msgs #150

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7fffcbf
change pkg name: autoware_*_msgs -> tier_*_msgs
tkimura4 Dec 8, 2021
9d56930
ci(pre-commit): autofix
pre-commit-ci[bot] Dec 9, 2021
b57181c
autoware_external_api_msgs -> tier4_external_api_msgs
tkimura4 Dec 9, 2021
efebaf3
ci(pre-commit): autofix
pre-commit-ci[bot] Dec 9, 2021
f6c151c
Merge branch 'tier4/proposal' into 1-change-msg-name
tkimura4 Dec 9, 2021
2459c35
Merge branch 'tier4/proposal' into 1-change-msg-name
1222-takeshi Dec 10, 2021
502f974
Merge branch 'tier4/proposal' into 1-change-msg-name
1222-takeshi Dec 10, 2021
83c7259
fix description
tkimura4 Dec 10, 2021
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200 changes: 100 additions & 100 deletions awapi/awapi_awiv_adapter/Readme.md
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31 changes: 15 additions & 16 deletions awapi/awapi_awiv_adapter/include/awapi_awiv_adapter/awapi_autoware_state_publisher.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,7 @@

#include <rclcpp/rclcpp.hpp>

#include <autoware_api_msgs/msg/awapi_autoware_status.hpp>
#include <tier4_api_msgs/msg/awapi_autoware_status.hpp>

#include <set>
#include <string>
Expand All @@ -37,7 +37,7 @@ class AutowareIvAutowareStatePublisher
rclcpp::Logger logger_;
rclcpp::Clock::SharedPtr clock_;
// publisher
rclcpp::Publisher<autoware_api_msgs::msg::AwapiAutowareStatus>::SharedPtr pub_state_;
rclcpp::Publisher<tier4_api_msgs::msg::AwapiAutowareStatus>::SharedPtr pub_state_;

// parameter

Expand All @@ -47,31 +47,30 @@ class AutowareIvAutowareStatePublisher

void getAutowareStateInfo(
const autoware_auto_system_msgs::msg::AutowareState::ConstSharedPtr & autoware_state_ptr,
autoware_api_msgs::msg::AwapiAutowareStatus * status);
tier4_api_msgs::msg::AwapiAutowareStatus * status);
void getControlModeInfo(
const autoware_auto_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr & control_mode_ptr,
autoware_api_msgs::msg::AwapiAutowareStatus * status);
tier4_api_msgs::msg::AwapiAutowareStatus * status);
void getGateModeInfo(
const autoware_control_msgs::msg::GateMode::ConstSharedPtr & gate_mode_ptr,
autoware_api_msgs::msg::AwapiAutowareStatus * status);
const tier4_control_msgs::msg::GateMode::ConstSharedPtr & gate_mode_ptr,
tier4_api_msgs::msg::AwapiAutowareStatus * status);
void getEmergencyStateInfo(
const autoware_auto_system_msgs::msg::EmergencyState::ConstSharedPtr & emergency_state_ptr,
autoware_api_msgs::msg::AwapiAutowareStatus * status);
tier4_api_msgs::msg::AwapiAutowareStatus * status);
void getCurrentMaxVelInfo(
const autoware_planning_msgs::msg::VelocityLimit::ConstSharedPtr & current_max_velocity_ptr,
autoware_api_msgs::msg::AwapiAutowareStatus * status);
const tier4_planning_msgs::msg::VelocityLimit::ConstSharedPtr & current_max_velocity_ptr,
tier4_api_msgs::msg::AwapiAutowareStatus * status);
void getHazardStatusInfo(
const AutowareInfo & aw_info, autoware_api_msgs::msg::AwapiAutowareStatus * status);
const AutowareInfo & aw_info, tier4_api_msgs::msg::AwapiAutowareStatus * status);
void getStopReasonInfo(
const autoware_planning_msgs::msg::StopReasonArray::ConstSharedPtr & stop_reason_ptr,
autoware_api_msgs::msg::AwapiAutowareStatus * status);
void getDiagInfo(
const AutowareInfo & aw_info, autoware_api_msgs::msg::AwapiAutowareStatus * status);
const tier4_planning_msgs::msg::StopReasonArray::ConstSharedPtr & stop_reason_ptr,
tier4_api_msgs::msg::AwapiAutowareStatus * status);
void getDiagInfo(const AutowareInfo & aw_info, tier4_api_msgs::msg::AwapiAutowareStatus * status);
void getErrorDiagInfo(
const AutowareInfo & aw_info, autoware_api_msgs::msg::AwapiAutowareStatus * status);
const AutowareInfo & aw_info, tier4_api_msgs::msg::AwapiAutowareStatus * status);
void getGlobalRptInfo(
const pacmod3_msgs::msg::GlobalRpt::ConstSharedPtr & global_rpt_ptr,
autoware_api_msgs::msg::AwapiAutowareStatus * status);
tier4_api_msgs::msg::AwapiAutowareStatus * status);

bool isGoal(const autoware_auto_system_msgs::msg::AutowareState::ConstSharedPtr & autoware_state);
};
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42 changes: 21 additions & 21 deletions awapi/awapi_awiv_adapter/include/awapi_awiv_adapter/awapi_autoware_util.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -17,8 +17,6 @@

#include <rclcpp/rclcpp.hpp>

#include <autoware_api_msgs/msg/stop_command.hpp>
#include <autoware_api_msgs/msg/velocity_limit.hpp>
#include <autoware_auto_control_msgs/msg/ackermann_control_command.hpp>
#include <autoware_auto_planning_msgs/msg/path.hpp>
#include <autoware_auto_planning_msgs/msg/trajectory.hpp>
Expand All @@ -30,20 +28,22 @@
#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 <autoware_control_msgs/msg/gate_mode.hpp>
#include <autoware_planning_msgs/msg/is_avoidance_possible.hpp>
#include <autoware_planning_msgs/msg/lane_change_status.hpp>
#include <autoware_planning_msgs/msg/stop_reason_array.hpp>
#include <autoware_planning_msgs/msg/velocity_limit.hpp>
#include <autoware_v2x_msgs/msg/infrastructure_command_array.hpp>
#include <autoware_v2x_msgs/msg/virtual_traffic_light_state_array.hpp>
#include <autoware_vehicle_msgs/msg/battery_status.hpp>
#include <diagnostic_msgs/msg/diagnostic_array.hpp>
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <nav_msgs/msg/odometry.hpp>
#include <pacmod3_msgs/msg/global_rpt.hpp>
#include <pacmod3_msgs/msg/system_rpt_int.hpp>
#include <sensor_msgs/msg/nav_sat_fix.hpp>
#include <tier4_api_msgs/msg/stop_command.hpp>
#include <tier4_api_msgs/msg/velocity_limit.hpp>
#include <tier4_control_msgs/msg/gate_mode.hpp>
#include <tier4_planning_msgs/msg/is_avoidance_possible.hpp>
#include <tier4_planning_msgs/msg/lane_change_status.hpp>
#include <tier4_planning_msgs/msg/stop_reason_array.hpp>
#include <tier4_planning_msgs/msg/velocity_limit.hpp>
#include <tier4_v2x_msgs/msg/infrastructure_command_array.hpp>
#include <tier4_v2x_msgs/msg/virtual_traffic_light_state_array.hpp>
#include <tier4_vehicle_msgs/msg/battery_status.hpp>

#include <tf2/utils.h>
#include <tf2_ros/transform_broadcaster.h>
Expand All @@ -63,26 +63,26 @@ struct AutowareInfo
autoware_auto_vehicle_msgs::msg::HazardLightsReport::ConstSharedPtr hazard_lights_ptr;
nav_msgs::msg::Odometry::ConstSharedPtr odometry_ptr;
autoware_auto_vehicle_msgs::msg::GearReport::ConstSharedPtr gear_ptr;
autoware_vehicle_msgs::msg::BatteryStatus::ConstSharedPtr battery_ptr;
tier4_vehicle_msgs::msg::BatteryStatus::ConstSharedPtr battery_ptr;
sensor_msgs::msg::NavSatFix::ConstSharedPtr nav_sat_ptr;
autoware_auto_system_msgs::msg::AutowareState::ConstSharedPtr autoware_state_ptr;
autoware_auto_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr control_mode_ptr;
autoware_control_msgs::msg::GateMode::ConstSharedPtr gate_mode_ptr;
tier4_control_msgs::msg::GateMode::ConstSharedPtr gate_mode_ptr;
autoware_auto_system_msgs::msg::EmergencyState::ConstSharedPtr emergency_state_ptr;
autoware_auto_system_msgs::msg::HazardStatusStamped::ConstSharedPtr hazard_status_ptr;
autoware_planning_msgs::msg::StopReasonArray::ConstSharedPtr stop_reason_ptr;
autoware_v2x_msgs::msg::InfrastructureCommandArray::ConstSharedPtr v2x_command_ptr;
autoware_v2x_msgs::msg::VirtualTrafficLightStateArray::ConstSharedPtr v2x_state_ptr;
tier4_planning_msgs::msg::StopReasonArray::ConstSharedPtr stop_reason_ptr;
tier4_v2x_msgs::msg::InfrastructureCommandArray::ConstSharedPtr v2x_command_ptr;
tier4_v2x_msgs::msg::VirtualTrafficLightStateArray::ConstSharedPtr v2x_state_ptr;
diagnostic_msgs::msg::DiagnosticArray::ConstSharedPtr diagnostic_ptr;
pacmod3_msgs::msg::GlobalRpt::ConstSharedPtr global_rpt_ptr;
autoware_planning_msgs::msg::LaneChangeStatus::ConstSharedPtr lane_change_available_ptr;
autoware_planning_msgs::msg::LaneChangeStatus::ConstSharedPtr lane_change_ready_ptr;
tier4_planning_msgs::msg::LaneChangeStatus::ConstSharedPtr lane_change_available_ptr;
tier4_planning_msgs::msg::LaneChangeStatus::ConstSharedPtr lane_change_ready_ptr;
autoware_auto_planning_msgs::msg::Path::ConstSharedPtr lane_change_candidate_ptr;
autoware_planning_msgs::msg::IsAvoidancePossible::ConstSharedPtr obstacle_avoid_ready_ptr;
tier4_planning_msgs::msg::IsAvoidancePossible::ConstSharedPtr obstacle_avoid_ready_ptr;
autoware_auto_planning_msgs::msg::Trajectory::ConstSharedPtr obstacle_avoid_candidate_ptr;
autoware_api_msgs::msg::VelocityLimit::ConstSharedPtr max_velocity_ptr;
autoware_planning_msgs::msg::VelocityLimit::ConstSharedPtr current_max_velocity_ptr;
autoware_api_msgs::msg::StopCommand::ConstSharedPtr temporary_stop_ptr;
tier4_api_msgs::msg::VelocityLimit::ConstSharedPtr max_velocity_ptr;
tier4_planning_msgs::msg::VelocityLimit::ConstSharedPtr current_max_velocity_ptr;
tier4_api_msgs::msg::StopCommand::ConstSharedPtr temporary_stop_ptr;
autoware_auto_planning_msgs::msg::Trajectory::ConstSharedPtr autoware_planning_traj_ptr;
pacmod3_msgs::msg::SystemRptInt::ConstSharedPtr door_state_ptr;
};
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66 changes: 31 additions & 35 deletions awapi/awapi_awiv_adapter/include/awapi_awiv_adapter/awapi_awiv_adapter_core.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -37,14 +37,14 @@
#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 <autoware_control_msgs/msg/gate_mode.hpp>
#include <autoware_planning_msgs/msg/stop_reason_array.hpp>
#include <autoware_v2x_msgs/msg/infrastructure_command_array.hpp>
#include <autoware_v2x_msgs/msg/virtual_traffic_light_state_array.hpp>
#include <diagnostic_msgs/msg/diagnostic_array.hpp>
#include <nav_msgs/msg/odometry.hpp>
#include <pacmod3_msgs/msg/global_rpt.hpp>
#include <sensor_msgs/msg/nav_sat_fix.hpp>
#include <tier4_control_msgs/msg/gate_mode.hpp>
#include <tier4_planning_msgs/msg/stop_reason_array.hpp>
#include <tier4_v2x_msgs/msg/infrastructure_command_array.hpp>
#include <tier4_v2x_msgs/msg/virtual_traffic_light_state_array.hpp>

#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>
Expand All @@ -69,47 +69,45 @@ class AutowareIvAdapter : public rclcpp::Node
sub_hazard_lights_;
rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr sub_odometry_;
rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::GearReport>::SharedPtr sub_gear_;
rclcpp::Subscription<autoware_vehicle_msgs::msg::BatteryStatus>::SharedPtr sub_battery_;
rclcpp::Subscription<tier4_vehicle_msgs::msg::BatteryStatus>::SharedPtr sub_battery_;
rclcpp::Subscription<sensor_msgs::msg::NavSatFix>::SharedPtr sub_nav_sat_;
rclcpp::Subscription<autoware_auto_system_msgs::msg::AutowareState>::SharedPtr
sub_autoware_state_;
rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::ControlModeReport>::SharedPtr
sub_control_mode_;
rclcpp::Subscription<autoware_control_msgs::msg::GateMode>::SharedPtr sub_gate_mode_;
rclcpp::Subscription<tier4_control_msgs::msg::GateMode>::SharedPtr sub_gate_mode_;
rclcpp::Subscription<autoware_auto_system_msgs::msg::EmergencyState>::SharedPtr sub_emergency_;
rclcpp::Subscription<autoware_auto_system_msgs::msg::HazardStatusStamped>::SharedPtr
sub_hazard_status_;
rclcpp::Subscription<autoware_planning_msgs::msg::StopReasonArray>::SharedPtr sub_stop_reason_;
rclcpp::Subscription<autoware_v2x_msgs::msg::InfrastructureCommandArray>::SharedPtr
sub_v2x_command_;
rclcpp::Subscription<autoware_v2x_msgs::msg::VirtualTrafficLightStateArray>::SharedPtr
rclcpp::Subscription<tier4_planning_msgs::msg::StopReasonArray>::SharedPtr sub_stop_reason_;
rclcpp::Subscription<tier4_v2x_msgs::msg::InfrastructureCommandArray>::SharedPtr sub_v2x_command_;
rclcpp::Subscription<tier4_v2x_msgs::msg::VirtualTrafficLightStateArray>::SharedPtr
sub_v2x_state_;
rclcpp::Subscription<diagnostic_msgs::msg::DiagnosticArray>::SharedPtr sub_diagnostics_;
rclcpp::Subscription<pacmod3_msgs::msg::GlobalRpt>::SharedPtr sub_global_rpt_;
rclcpp::Subscription<autoware_planning_msgs::msg::LaneChangeStatus>::SharedPtr
rclcpp::Subscription<tier4_planning_msgs::msg::LaneChangeStatus>::SharedPtr
sub_lane_change_available_;
rclcpp::Subscription<autoware_planning_msgs::msg::LaneChangeStatus>::SharedPtr
rclcpp::Subscription<tier4_planning_msgs::msg::LaneChangeStatus>::SharedPtr
sub_lane_change_ready_;
rclcpp::Subscription<autoware_auto_planning_msgs::msg::Path>::SharedPtr
sub_lane_change_candidate_;
rclcpp::Subscription<autoware_planning_msgs::msg::IsAvoidancePossible>::SharedPtr
rclcpp::Subscription<tier4_planning_msgs::msg::IsAvoidancePossible>::SharedPtr
sub_obstacle_avoid_ready_;
rclcpp::Subscription<autoware_auto_planning_msgs::msg::Trajectory>::SharedPtr
sub_obstacle_avoid_candidate_;
rclcpp::Subscription<autoware_api_msgs::msg::VelocityLimit>::SharedPtr sub_max_velocity_;
rclcpp::Subscription<autoware_planning_msgs::msg::VelocityLimit>::SharedPtr
rclcpp::Subscription<tier4_api_msgs::msg::VelocityLimit>::SharedPtr sub_max_velocity_;
rclcpp::Subscription<tier4_planning_msgs::msg::VelocityLimit>::SharedPtr
sub_current_max_velocity_;
rclcpp::Subscription<autoware_api_msgs::msg::StopCommand>::SharedPtr sub_temporary_stop_;
rclcpp::Subscription<tier4_api_msgs::msg::StopCommand>::SharedPtr sub_temporary_stop_;
rclcpp::Subscription<autoware_auto_planning_msgs::msg::Trajectory>::SharedPtr sub_autoware_traj_;
rclcpp::Subscription<autoware_api_msgs::msg::DoorControlCommand>::SharedPtr sub_door_control_;
rclcpp::Subscription<tier4_api_msgs::msg::DoorControlCommand>::SharedPtr sub_door_control_;
rclcpp::Subscription<pacmod3_msgs::msg::SystemRptInt>::SharedPtr sub_door_status_;

// publisher
rclcpp::Publisher<pacmod3_msgs::msg::SystemCmdInt>::SharedPtr pub_door_control_;
rclcpp::Publisher<autoware_api_msgs::msg::DoorStatus>::SharedPtr pub_door_status_;
rclcpp::Publisher<autoware_v2x_msgs::msg::InfrastructureCommandArray>::SharedPtr pub_v2x_command_;
rclcpp::Publisher<autoware_v2x_msgs::msg::VirtualTrafficLightStateArray>::SharedPtr
pub_v2x_state_;
rclcpp::Publisher<tier4_api_msgs::msg::DoorStatus>::SharedPtr pub_door_status_;
rclcpp::Publisher<tier4_v2x_msgs::msg::InfrastructureCommandArray>::SharedPtr pub_v2x_command_;
rclcpp::Publisher<tier4_v2x_msgs::msg::VirtualTrafficLightStateArray>::SharedPtr pub_v2x_state_;

// timer
rclcpp::TimerBase::SharedPtr timer_;
Expand All @@ -128,43 +126,41 @@ class AutowareIvAdapter : public rclcpp::Node
const autoware_auto_vehicle_msgs::msg::HazardLightsReport::ConstSharedPtr msg_ptr);
void callbackTwist(const nav_msgs::msg::Odometry::ConstSharedPtr msg_ptr);
void callbackGear(const autoware_auto_vehicle_msgs::msg::GearReport::ConstSharedPtr msg_ptr);
void callbackBattery(const autoware_vehicle_msgs::msg::BatteryStatus::ConstSharedPtr msg_ptr);
void callbackBattery(const tier4_vehicle_msgs::msg::BatteryStatus::ConstSharedPtr msg_ptr);
void callbackNavSat(const sensor_msgs::msg::NavSatFix::ConstSharedPtr msg_ptr);
void callbackAutowareState(
const autoware_auto_system_msgs::msg::AutowareState::ConstSharedPtr msg_ptr);
void callbackControlMode(
const autoware_auto_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr msg_ptr);
void callbackGateMode(const autoware_control_msgs::msg::GateMode::ConstSharedPtr msg_ptr);
void callbackGateMode(const tier4_control_msgs::msg::GateMode::ConstSharedPtr msg_ptr);
void callbackEmergencyState(
const autoware_auto_system_msgs::msg::EmergencyState::ConstSharedPtr msg_ptr);
void callbackHazardStatus(
const autoware_auto_system_msgs::msg::HazardStatusStamped::ConstSharedPtr msg_ptr);
void callbackStopReason(
const autoware_planning_msgs::msg::StopReasonArray::ConstSharedPtr msg_ptr);
void callbackStopReason(const tier4_planning_msgs::msg::StopReasonArray::ConstSharedPtr msg_ptr);
void callbackV2XCommand(
const autoware_v2x_msgs::msg::InfrastructureCommandArray::ConstSharedPtr msg_ptr);
const tier4_v2x_msgs::msg::InfrastructureCommandArray::ConstSharedPtr msg_ptr);
void callbackV2XState(
const autoware_v2x_msgs::msg::VirtualTrafficLightStateArray::ConstSharedPtr msg_ptr);
const tier4_v2x_msgs::msg::VirtualTrafficLightStateArray::ConstSharedPtr msg_ptr);
void callbackDiagnostics(const diagnostic_msgs::msg::DiagnosticArray::ConstSharedPtr msg_ptr);
void callbackGlobalRpt(const pacmod3_msgs::msg::GlobalRpt::ConstSharedPtr msg_ptr);
void callbackLaneChangeAvailable(
const autoware_planning_msgs::msg::LaneChangeStatus::ConstSharedPtr msg_ptr);
const tier4_planning_msgs::msg::LaneChangeStatus::ConstSharedPtr msg_ptr);
void callbackLaneChangeReady(
const autoware_planning_msgs::msg::LaneChangeStatus::ConstSharedPtr msg_ptr);
const tier4_planning_msgs::msg::LaneChangeStatus::ConstSharedPtr msg_ptr);
void callbackLaneChangeCandidatePath(
const autoware_auto_planning_msgs::msg::Path::ConstSharedPtr msg_ptr);
void callbackLaneObstacleAvoidReady(
const autoware_planning_msgs::msg::IsAvoidancePossible::ConstSharedPtr msg_ptr);
const tier4_planning_msgs::msg::IsAvoidancePossible::ConstSharedPtr msg_ptr);
void callbackLaneObstacleAvoidCandidatePath(
const autoware_auto_planning_msgs::msg::Trajectory::ConstSharedPtr msg_ptr);
void callbackMaxVelocity(const autoware_api_msgs::msg::VelocityLimit::ConstSharedPtr msg_ptr);
void callbackMaxVelocity(const tier4_api_msgs::msg::VelocityLimit::ConstSharedPtr msg_ptr);
void callbackCurrentMaxVelocity(
const autoware_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg_ptr);
void callbackTemporaryStop(const autoware_api_msgs::msg::StopCommand::ConstSharedPtr msg_ptr);
const tier4_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg_ptr);
void callbackTemporaryStop(const tier4_api_msgs::msg::StopCommand::ConstSharedPtr msg_ptr);
void callbackAutowareTrajectory(
const autoware_auto_planning_msgs::msg::Trajectory::ConstSharedPtr msg_ptr);
void callbackDoorControl(
const autoware_api_msgs::msg::DoorControlCommand::ConstSharedPtr msg_ptr);
void callbackDoorControl(const tier4_api_msgs::msg::DoorControlCommand::ConstSharedPtr msg_ptr);
void callbackDoorStatus(const pacmod3_msgs::msg::SystemRptInt::ConstSharedPtr msg_ptr);

// timer function
Expand Down
14 changes: 7 additions & 7 deletions awapi/awapi_awiv_adapter/include/awapi_awiv_adapter/awapi_lane_change_state_publisher.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,7 @@

#include <rclcpp/rclcpp.hpp>

#include <autoware_api_msgs/msg/lane_change_status.hpp>
#include <tier4_api_msgs/msg/lane_change_status.hpp>

namespace autoware_api
{
Expand All @@ -34,17 +34,17 @@ class AutowareIvLaneChangeStatePublisher
rclcpp::Clock::SharedPtr clock_;

// publisher
rclcpp::Publisher<autoware_api_msgs::msg::LaneChangeStatus>::SharedPtr pub_state_;
rclcpp::Publisher<tier4_api_msgs::msg::LaneChangeStatus>::SharedPtr pub_state_;

void getLaneChangeAvailableInfo(
const autoware_planning_msgs::msg::LaneChangeStatus::ConstSharedPtr & available_ptr,
autoware_api_msgs::msg::LaneChangeStatus * status);
const tier4_planning_msgs::msg::LaneChangeStatus::ConstSharedPtr & available_ptr,
tier4_api_msgs::msg::LaneChangeStatus * status);
void getLaneChangeReadyInfo(
const autoware_planning_msgs::msg::LaneChangeStatus::ConstSharedPtr & ready_ptr,
autoware_api_msgs::msg::LaneChangeStatus * status);
const tier4_planning_msgs::msg::LaneChangeStatus::ConstSharedPtr & ready_ptr,
tier4_api_msgs::msg::LaneChangeStatus * status);
void getCandidatePathInfo(
const autoware_auto_planning_msgs::msg::Path::ConstSharedPtr & path_ptr,
autoware_api_msgs::msg::LaneChangeStatus * status);
tier4_api_msgs::msg::LaneChangeStatus * status);
};

} // namespace autoware_api
Expand Down
8 changes: 4 additions & 4 deletions awapi/awapi_awiv_adapter/include/awapi_awiv_adapter/awapi_max_velocity_publisher.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,7 @@

#include <rclcpp/rclcpp.hpp>

#include <autoware_planning_msgs/msg/velocity_limit.hpp>
#include <tier4_planning_msgs/msg/velocity_limit.hpp>

namespace autoware_api
{
Expand All @@ -31,11 +31,11 @@ class AutowareIvMaxVelocityPublisher

private:
// publisher
rclcpp::Publisher<autoware_planning_msgs::msg::VelocityLimit>::SharedPtr pub_state_;
rclcpp::Publisher<tier4_planning_msgs::msg::VelocityLimit>::SharedPtr pub_state_;

bool calcMaxVelocity(
const autoware_api_msgs::msg::VelocityLimit::ConstSharedPtr & max_velocity_ptr,
const autoware_api_msgs::msg::StopCommand::ConstSharedPtr & temporary_stop_ptr,
const tier4_api_msgs::msg::VelocityLimit::ConstSharedPtr & max_velocity_ptr,
const tier4_api_msgs::msg::StopCommand::ConstSharedPtr & temporary_stop_ptr,
float * max_velocity);

double default_max_velocity_;
Expand Down
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