From 23982c2b675b0d852548e39312cbf7d183c2a11f Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Wed, 10 Aug 2022 23:46:55 +0900 Subject: [PATCH 1/6] feat(autoware_ad_api_msgs): define operation mode interface Signed-off-by: Takagi, Isamu --- common/autoware_ad_api_specs/CMakeLists.txt | 7 ++ .../autoware_ad_api_specs/operation_mode.hpp | 73 +++++++++++++++++++ common/autoware_ad_api_specs/package.xml | 20 +++++ .../component_interface_specs/CMakeLists.txt | 7 ++ .../component_interface_specs/system.hpp | 50 +++++++++++++ common/component_interface_specs/package.xml | 20 +++++ 6 files changed, 177 insertions(+) create mode 100644 common/autoware_ad_api_specs/CMakeLists.txt create mode 100644 common/autoware_ad_api_specs/include/autoware_ad_api_specs/operation_mode.hpp create mode 100644 common/autoware_ad_api_specs/package.xml create mode 100644 common/component_interface_specs/CMakeLists.txt create mode 100644 common/component_interface_specs/include/component_interface_specs/system.hpp create mode 100644 common/component_interface_specs/package.xml diff --git a/common/autoware_ad_api_specs/CMakeLists.txt b/common/autoware_ad_api_specs/CMakeLists.txt new file mode 100644 index 0000000000000..5f02e45a9c6b2 --- /dev/null +++ b/common/autoware_ad_api_specs/CMakeLists.txt @@ -0,0 +1,7 @@ +cmake_minimum_required(VERSION 3.14) +project(autoware_ad_api_specs) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +ament_auto_package() diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/operation_mode.hpp b/common/autoware_ad_api_specs/include/autoware_ad_api_specs/operation_mode.hpp new file mode 100644 index 0000000000000..08528055d9966 --- /dev/null +++ b/common/autoware_ad_api_specs/include/autoware_ad_api_specs/operation_mode.hpp @@ -0,0 +1,73 @@ +// Copyright 2022 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. + +#ifndef AUTOWARE_AD_API_SPECS__OPERATION_MODE_HPP_ +#define AUTOWARE_AD_API_SPECS__OPERATION_MODE_HPP_ + +#include + +#include +#include + +namespace autoware_ad_api::operation_mode +{ + +struct ChangeToStop +{ + using Service = autoware_ad_api_msgs::srv::ChangeOperationMode; + static constexpr char name[] = "/api/operation_mode/change_to_stop"; +}; + +struct ChangeToAutonomous +{ + using Service = autoware_ad_api_msgs::srv::ChangeOperationMode; + static constexpr char name[] = "/api/operation_mode/change_to_autonomous"; +}; + +struct ChangeToLocal +{ + using Service = autoware_ad_api_msgs::srv::ChangeOperationMode; + static constexpr char name[] = "/api/operation_mode/change_to_local"; +}; + +struct ChangeToRemote +{ + using Service = autoware_ad_api_msgs::srv::ChangeOperationMode; + static constexpr char name[] = "/api/operation_mode/change_to_remote"; +}; + +struct EnableAutowareControl +{ + using Service = autoware_ad_api_msgs::srv::ChangeOperationMode; + static constexpr char name[] = "/api/operation_mode/enable_autoware_control"; +}; + +struct DisableAutowareControl +{ + using Service = autoware_ad_api_msgs::srv::ChangeOperationMode; + static constexpr char name[] = "/api/operation_mode/disable_autoware_control"; +}; + +struct OperationModeState +{ + using Message = autoware_ad_api_msgs::msg::OperationModeState; + static constexpr char name[] = "/api/operation_mode/state"; + 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; +}; + +} // namespace autoware_ad_api::operation_mode + +#endif // AUTOWARE_AD_API_SPECS__OPERATION_MODE_HPP_ diff --git a/common/autoware_ad_api_specs/package.xml b/common/autoware_ad_api_specs/package.xml new file mode 100644 index 0000000000000..cc6b46b9c7210 --- /dev/null +++ b/common/autoware_ad_api_specs/package.xml @@ -0,0 +1,20 @@ + + + + autoware_ad_api_specs + 0.0.0 + The autoware_ad_api_specs package + Takagi, Isamu + Apache License 2.0 + + ament_cmake_auto + + autoware_cmake + + ament_lint_auto + autoware_lint_common + + + ament_cmake + + diff --git a/common/component_interface_specs/CMakeLists.txt b/common/component_interface_specs/CMakeLists.txt new file mode 100644 index 0000000000000..31c723600183f --- /dev/null +++ b/common/component_interface_specs/CMakeLists.txt @@ -0,0 +1,7 @@ +cmake_minimum_required(VERSION 3.14) +project(component_interface_specs) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +ament_auto_package() diff --git a/common/component_interface_specs/include/component_interface_specs/system.hpp b/common/component_interface_specs/include/component_interface_specs/system.hpp new file mode 100644 index 0000000000000..2c82632d237f3 --- /dev/null +++ b/common/component_interface_specs/include/component_interface_specs/system.hpp @@ -0,0 +1,50 @@ +// Copyright 2022 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. + +#ifndef COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_ +#define COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_ + +#include + +#include +#include +#include + +namespace system_interface +{ + +struct ChangeAutowareControl +{ + using Service = tier4_system_msgs::srv::ChangeAutowareControl; + static constexpr char name[] = "/system/operation_mode/change_autoware_control"; +}; + +struct ChangeOperationMode +{ + using Service = tier4_system_msgs::srv::ChangeOperationMode; + static constexpr char name[] = "/system/operation_mode/change_operation_mode"; +}; + +struct OperationModeState +{ + using Message = autoware_ad_api_msgs::msg::OperationModeState; + static constexpr char name[] = "/system/operation_mode/state"; + 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; +}; + +} // namespace system_interface + +#endif // COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_ diff --git a/common/component_interface_specs/package.xml b/common/component_interface_specs/package.xml new file mode 100644 index 0000000000000..d0c12c83c2379 --- /dev/null +++ b/common/component_interface_specs/package.xml @@ -0,0 +1,20 @@ + + + + component_interface_specs + 0.0.0 + The component_interface_specs package + Takagi, Isamu + Apache License 2.0 + + ament_cmake_auto + + autoware_cmake + + ament_lint_auto + autoware_lint_common + + + ament_cmake + + From 3772e2c332c17da3c6d722b415676b0e48d9f888 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Wed, 10 Aug 2022 23:56:00 +0900 Subject: [PATCH 2/6] fix: add message Signed-off-by: Takagi, Isamu --- common/autoware_ad_api_msgs/CMakeLists.txt | 3 +++ .../autoware_ad_api_msgs/common/msg/ResponseStatus.msg | 4 ++++ .../operation_mode/msg/OperationMode.msg | 9 +++++++++ .../operation_mode/msg/OperationModeState.msg | 8 ++++++++ .../operation_mode/srv/ChangeOperationMode.srv | 4 ++++ 5 files changed, 28 insertions(+) create mode 100644 common/autoware_ad_api_msgs/operation_mode/msg/OperationMode.msg create mode 100644 common/autoware_ad_api_msgs/operation_mode/msg/OperationModeState.msg create mode 100644 common/autoware_ad_api_msgs/operation_mode/srv/ChangeOperationMode.srv diff --git a/common/autoware_ad_api_msgs/CMakeLists.txt b/common/autoware_ad_api_msgs/CMakeLists.txt index 031134af5a5de..fb675886636d1 100644 --- a/common/autoware_ad_api_msgs/CMakeLists.txt +++ b/common/autoware_ad_api_msgs/CMakeLists.txt @@ -7,6 +7,9 @@ autoware_package() rosidl_generate_interfaces(${PROJECT_NAME} common/msg/ResponseStatus.msg interface/srv/InterfaceVersion.srv + operation_mode/srv/ChangeOperationMode.srv + operation_mode/msg/OperationMode.msg + operation_mode/msg/OperationModeState.msg DEPENDENCIES builtin_interfaces std_msgs diff --git a/common/autoware_ad_api_msgs/common/msg/ResponseStatus.msg b/common/autoware_ad_api_msgs/common/msg/ResponseStatus.msg index 4fe0e5d4208e3..65d6be71240ed 100644 --- a/common/autoware_ad_api_msgs/common/msg/ResponseStatus.msg +++ b/common/autoware_ad_api_msgs/common/msg/ResponseStatus.msg @@ -3,6 +3,10 @@ uint16 DEPRECATED = 50000 uint16 SERVICE_UNREADY = 50001 uint16 SERVICE_TIMEOUT = 50002 uint16 TRANSFORM_ERROR = 50003 +uint16 PARAMETER_ERROR = 50004 + +# constants for code +uint16 NO_EFFECT = 60001 # variables bool success diff --git a/common/autoware_ad_api_msgs/operation_mode/msg/OperationMode.msg b/common/autoware_ad_api_msgs/operation_mode/msg/OperationMode.msg new file mode 100644 index 0000000000000..7d750bd71be70 --- /dev/null +++ b/common/autoware_ad_api_msgs/operation_mode/msg/OperationMode.msg @@ -0,0 +1,9 @@ +# constants for mode +uint16 UNKNOWN = 0 +uint16 STOP = 1 +uint16 AUTONOMOUS = 2 +uint16 LOCAL = 3 +uint16 REMOTE = 4 + +# variables +uint16 mode diff --git a/common/autoware_ad_api_msgs/operation_mode/msg/OperationModeState.msg b/common/autoware_ad_api_msgs/operation_mode/msg/OperationModeState.msg new file mode 100644 index 0000000000000..4ec8180acda5a --- /dev/null +++ b/common/autoware_ad_api_msgs/operation_mode/msg/OperationModeState.msg @@ -0,0 +1,8 @@ +builtin_interfaces/Time stamp +autoware_ad_api_msgs/OperationMode operation +bool is_autoware_control_enabled +bool is_in_transition +bool change_to_stop +bool change_to_autonomous +bool change_to_local +bool change_to_remote diff --git a/common/autoware_ad_api_msgs/operation_mode/srv/ChangeOperationMode.srv b/common/autoware_ad_api_msgs/operation_mode/srv/ChangeOperationMode.srv new file mode 100644 index 0000000000000..2c0723843d927 --- /dev/null +++ b/common/autoware_ad_api_msgs/operation_mode/srv/ChangeOperationMode.srv @@ -0,0 +1,4 @@ +--- +uint16 ERROR_NOT_AVAILABLE = 1 +uint16 ERROR_IN_TRANSITION = 2 +autoware_ad_api_msgs/ResponseStatus status From c27f603e197b31285ba03173213d40a8f8940b56 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Thu, 11 Aug 2022 16:57:33 +0900 Subject: [PATCH 3/6] Update common/autoware_ad_api_msgs/operation_mode/msg/OperationModeState.msg Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> --- .../operation_mode/msg/OperationModeState.msg | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/common/autoware_ad_api_msgs/operation_mode/msg/OperationModeState.msg b/common/autoware_ad_api_msgs/operation_mode/msg/OperationModeState.msg index 4ec8180acda5a..9062580c78ed9 100644 --- a/common/autoware_ad_api_msgs/operation_mode/msg/OperationModeState.msg +++ b/common/autoware_ad_api_msgs/operation_mode/msg/OperationModeState.msg @@ -2,7 +2,7 @@ builtin_interfaces/Time stamp autoware_ad_api_msgs/OperationMode operation bool is_autoware_control_enabled bool is_in_transition -bool change_to_stop -bool change_to_autonomous -bool change_to_local -bool change_to_remote +bool is_stop_mode_available +bool is_autonomous_mode_available +bool is_local_mode_available +bool is_remote_mode_available From 3ab7ff0e5d5ee4c521d00150a3b018a8101ccd73 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Thu, 11 Aug 2022 16:57:49 +0900 Subject: [PATCH 4/6] Update common/autoware_ad_api_msgs/operation_mode/msg/OperationModeState.msg Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> --- .../operation_mode/msg/OperationModeState.msg | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/common/autoware_ad_api_msgs/operation_mode/msg/OperationModeState.msg b/common/autoware_ad_api_msgs/operation_mode/msg/OperationModeState.msg index 9062580c78ed9..0ca9ff31be842 100644 --- a/common/autoware_ad_api_msgs/operation_mode/msg/OperationModeState.msg +++ b/common/autoware_ad_api_msgs/operation_mode/msg/OperationModeState.msg @@ -1,5 +1,5 @@ builtin_interfaces/Time stamp -autoware_ad_api_msgs/OperationMode operation +autoware_ad_api_msgs/OperationMode mode bool is_autoware_control_enabled bool is_in_transition bool is_stop_mode_available From 95324055d55d4f1a31983b016736b38694c51427 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Wed, 21 Sep 2022 17:03:59 +0900 Subject: [PATCH 5/6] feat: move adapi message Signed-off-by: Takagi, Isamu --- common/autoware_ad_api_msgs/CMakeLists.txt | 29 ----------------- common/autoware_ad_api_msgs/README.md | 31 ------------------- .../common/msg/ResponseStatus.msg | 14 --------- .../interface/srv/InterfaceVersion.srv | 4 --- .../msg/LocalizationInitializationState.msg | 7 ----- .../srv/InitializeLocalization.srv | 7 ----- .../operation_mode/msg/OperationMode.msg | 9 ------ .../operation_mode/msg/OperationModeState.msg | 8 ----- .../srv/ChangeOperationMode.srv | 4 --- common/autoware_ad_api_msgs/package.xml | 30 ------------------ .../routing/msg/Route.msg | 2 -- .../routing/msg/RouteData.msg | 3 -- .../routing/msg/RoutePrimitive.msg | 2 -- .../routing/msg/RouteSegment.msg | 2 -- .../routing/msg/RouteState.msg | 8 ----- .../routing/srv/ClearRoute.srv | 2 -- .../routing/srv/SetRoute.srv | 6 ---- .../routing/srv/SetRoutePoints.srv | 8 ----- 18 files changed, 176 deletions(-) delete mode 100644 common/autoware_ad_api_msgs/CMakeLists.txt delete mode 100644 common/autoware_ad_api_msgs/README.md delete mode 100644 common/autoware_ad_api_msgs/common/msg/ResponseStatus.msg delete mode 100644 common/autoware_ad_api_msgs/interface/srv/InterfaceVersion.srv delete mode 100644 common/autoware_ad_api_msgs/localization/msg/LocalizationInitializationState.msg delete mode 100644 common/autoware_ad_api_msgs/localization/srv/InitializeLocalization.srv delete mode 100644 common/autoware_ad_api_msgs/operation_mode/msg/OperationMode.msg delete mode 100644 common/autoware_ad_api_msgs/operation_mode/msg/OperationModeState.msg delete mode 100644 common/autoware_ad_api_msgs/operation_mode/srv/ChangeOperationMode.srv delete mode 100644 common/autoware_ad_api_msgs/package.xml delete mode 100644 common/autoware_ad_api_msgs/routing/msg/Route.msg delete mode 100644 common/autoware_ad_api_msgs/routing/msg/RouteData.msg delete mode 100644 common/autoware_ad_api_msgs/routing/msg/RoutePrimitive.msg delete mode 100644 common/autoware_ad_api_msgs/routing/msg/RouteSegment.msg delete mode 100644 common/autoware_ad_api_msgs/routing/msg/RouteState.msg delete mode 100644 common/autoware_ad_api_msgs/routing/srv/ClearRoute.srv delete mode 100644 common/autoware_ad_api_msgs/routing/srv/SetRoute.srv delete mode 100644 common/autoware_ad_api_msgs/routing/srv/SetRoutePoints.srv diff --git a/common/autoware_ad_api_msgs/CMakeLists.txt b/common/autoware_ad_api_msgs/CMakeLists.txt deleted file mode 100644 index fe3b695f1f266..0000000000000 --- a/common/autoware_ad_api_msgs/CMakeLists.txt +++ /dev/null @@ -1,29 +0,0 @@ -cmake_minimum_required(VERSION 3.14) -project(autoware_ad_api_msgs) - -find_package(autoware_cmake REQUIRED) -autoware_package() - -rosidl_generate_interfaces(${PROJECT_NAME} - common/msg/ResponseStatus.msg - interface/srv/InterfaceVersion.srv - localization/msg/LocalizationInitializationState.msg - localization/srv/InitializeLocalization.srv - operation_mode/srv/ChangeOperationMode.srv - operation_mode/msg/OperationMode.msg - operation_mode/msg/OperationModeState.msg - routing/msg/RouteState.msg - routing/msg/Route.msg - routing/msg/RouteData.msg - routing/msg/RoutePrimitive.msg - routing/msg/RouteSegment.msg - routing/srv/ClearRoute.srv - routing/srv/SetRoute.srv - routing/srv/SetRoutePoints.srv - DEPENDENCIES - builtin_interfaces - std_msgs - geometry_msgs -) - -ament_auto_package() diff --git a/common/autoware_ad_api_msgs/README.md b/common/autoware_ad_api_msgs/README.md deleted file mode 100644 index 58ccb8bbf2d2b..0000000000000 --- a/common/autoware_ad_api_msgs/README.md +++ /dev/null @@ -1,31 +0,0 @@ -# autoware_ad_api_msgs - -## ResponseStatus - -This message is a response status commonly used in the service type API. Each API can define its own status codes. -The status codes are primarily used to indicate the error cause, such as invalid parameter and timeout. -If the API succeeds, set success to true, code to zero, and message to the empty string. -Alternatively, codes and messages can be used for warnings or additional information. -If the API fails, set success to false, code to the related status code, and message to the information. -The status code zero is reserved for success. The status code 50000 or over are also reserved for typical cases. - -| Name | Code | Description | -| ---------- | ----: | ------------------------------------ | -| SUCCESS | 0 | This API has completed successfully. | -| DEPRECATED | 50000 | This API is deprecated. | - -## InterfaceVersion - -Considering the product life cycle, there may be multiple vehicles using different versions of the AD API due to changes in requirements or functional improvements. For example, one vehicle uses `v1` for stability and another vehicle uses `v2` to enable more advanced functionality. - -In that situation, the AD API users such as developers of a web service have to switch the application behavior based on the version that each vehicle uses. -The version of AD API follows [Semantic Versioning][semver] in order to provide an intuitive understanding of the changes between versions. - -## Routing - -The routing service support two formats. One uses pose and the other uses map dependent data directly. -The body part of the route message is optional, since the route does not exist when it is cleared by the service. - - - -[semver]: https://semver.org/ diff --git a/common/autoware_ad_api_msgs/common/msg/ResponseStatus.msg b/common/autoware_ad_api_msgs/common/msg/ResponseStatus.msg deleted file mode 100644 index 65d6be71240ed..0000000000000 --- a/common/autoware_ad_api_msgs/common/msg/ResponseStatus.msg +++ /dev/null @@ -1,14 +0,0 @@ -# constants for code -uint16 DEPRECATED = 50000 -uint16 SERVICE_UNREADY = 50001 -uint16 SERVICE_TIMEOUT = 50002 -uint16 TRANSFORM_ERROR = 50003 -uint16 PARAMETER_ERROR = 50004 - -# constants for code -uint16 NO_EFFECT = 60001 - -# variables -bool success -uint16 code -string message diff --git a/common/autoware_ad_api_msgs/interface/srv/InterfaceVersion.srv b/common/autoware_ad_api_msgs/interface/srv/InterfaceVersion.srv deleted file mode 100644 index 93ba2680f1859..0000000000000 --- a/common/autoware_ad_api_msgs/interface/srv/InterfaceVersion.srv +++ /dev/null @@ -1,4 +0,0 @@ ---- -uint16 major -uint16 minor -uint16 patch diff --git a/common/autoware_ad_api_msgs/localization/msg/LocalizationInitializationState.msg b/common/autoware_ad_api_msgs/localization/msg/LocalizationInitializationState.msg deleted file mode 100644 index 8a4d790dbc321..0000000000000 --- a/common/autoware_ad_api_msgs/localization/msg/LocalizationInitializationState.msg +++ /dev/null @@ -1,7 +0,0 @@ -uint16 UNKNOWN = 0 -uint16 UNINITIALIZED = 1 -uint16 INITIALIZING = 2 -uint16 INITIALIZED = 3 - -builtin_interfaces/Time stamp -uint16 state diff --git a/common/autoware_ad_api_msgs/localization/srv/InitializeLocalization.srv b/common/autoware_ad_api_msgs/localization/srv/InitializeLocalization.srv deleted file mode 100644 index d3ffaece7789a..0000000000000 --- a/common/autoware_ad_api_msgs/localization/srv/InitializeLocalization.srv +++ /dev/null @@ -1,7 +0,0 @@ -geometry_msgs/PoseWithCovarianceStamped[<=1] pose ---- -uint16 ERROR_UNSAFE = 1 -uint16 ERROR_GNSS_SUPPORT = 2 -uint16 ERROR_GNSS = 3 -uint16 ERROR_ESTIMATION = 4 -autoware_ad_api_msgs/ResponseStatus status diff --git a/common/autoware_ad_api_msgs/operation_mode/msg/OperationMode.msg b/common/autoware_ad_api_msgs/operation_mode/msg/OperationMode.msg deleted file mode 100644 index 7d750bd71be70..0000000000000 --- a/common/autoware_ad_api_msgs/operation_mode/msg/OperationMode.msg +++ /dev/null @@ -1,9 +0,0 @@ -# constants for mode -uint16 UNKNOWN = 0 -uint16 STOP = 1 -uint16 AUTONOMOUS = 2 -uint16 LOCAL = 3 -uint16 REMOTE = 4 - -# variables -uint16 mode diff --git a/common/autoware_ad_api_msgs/operation_mode/msg/OperationModeState.msg b/common/autoware_ad_api_msgs/operation_mode/msg/OperationModeState.msg deleted file mode 100644 index 0ca9ff31be842..0000000000000 --- a/common/autoware_ad_api_msgs/operation_mode/msg/OperationModeState.msg +++ /dev/null @@ -1,8 +0,0 @@ -builtin_interfaces/Time stamp -autoware_ad_api_msgs/OperationMode mode -bool is_autoware_control_enabled -bool is_in_transition -bool is_stop_mode_available -bool is_autonomous_mode_available -bool is_local_mode_available -bool is_remote_mode_available diff --git a/common/autoware_ad_api_msgs/operation_mode/srv/ChangeOperationMode.srv b/common/autoware_ad_api_msgs/operation_mode/srv/ChangeOperationMode.srv deleted file mode 100644 index 2c0723843d927..0000000000000 --- a/common/autoware_ad_api_msgs/operation_mode/srv/ChangeOperationMode.srv +++ /dev/null @@ -1,4 +0,0 @@ ---- -uint16 ERROR_NOT_AVAILABLE = 1 -uint16 ERROR_IN_TRANSITION = 2 -autoware_ad_api_msgs/ResponseStatus status diff --git a/common/autoware_ad_api_msgs/package.xml b/common/autoware_ad_api_msgs/package.xml deleted file mode 100644 index db10bd2cdb877..0000000000000 --- a/common/autoware_ad_api_msgs/package.xml +++ /dev/null @@ -1,30 +0,0 @@ - - - - autoware_ad_api_msgs - 0.0.0 - The autoware_ad_api_msgs package - Takagi, Isamu - Apache License 2.0 - - ament_cmake_auto - - autoware_cmake - builtin_interfaces - rosidl_default_generators - - geometry_msgs - std_msgs - - builtin_interfaces - rosidl_default_runtime - - ament_lint_auto - autoware_lint_common - - rosidl_interface_packages - - - ament_cmake - - diff --git a/common/autoware_ad_api_msgs/routing/msg/Route.msg b/common/autoware_ad_api_msgs/routing/msg/Route.msg deleted file mode 100644 index 3e6ff3a06e18b..0000000000000 --- a/common/autoware_ad_api_msgs/routing/msg/Route.msg +++ /dev/null @@ -1,2 +0,0 @@ -std_msgs/Header header -autoware_ad_api_msgs/RouteData[<=1] data diff --git a/common/autoware_ad_api_msgs/routing/msg/RouteData.msg b/common/autoware_ad_api_msgs/routing/msg/RouteData.msg deleted file mode 100644 index e5d03efb14008..0000000000000 --- a/common/autoware_ad_api_msgs/routing/msg/RouteData.msg +++ /dev/null @@ -1,3 +0,0 @@ -geometry_msgs/Pose start -geometry_msgs/Pose goal -autoware_ad_api_msgs/RouteSegment[] segments diff --git a/common/autoware_ad_api_msgs/routing/msg/RoutePrimitive.msg b/common/autoware_ad_api_msgs/routing/msg/RoutePrimitive.msg deleted file mode 100644 index f7d9312611e51..0000000000000 --- a/common/autoware_ad_api_msgs/routing/msg/RoutePrimitive.msg +++ /dev/null @@ -1,2 +0,0 @@ -int64 id -string type # The same id may be used for each type. diff --git a/common/autoware_ad_api_msgs/routing/msg/RouteSegment.msg b/common/autoware_ad_api_msgs/routing/msg/RouteSegment.msg deleted file mode 100644 index a3f3d12d3872d..0000000000000 --- a/common/autoware_ad_api_msgs/routing/msg/RouteSegment.msg +++ /dev/null @@ -1,2 +0,0 @@ -autoware_ad_api_msgs/RoutePrimitive preferred -autoware_ad_api_msgs/RoutePrimitive[] alternatives # Does not include the preferred primitive. diff --git a/common/autoware_ad_api_msgs/routing/msg/RouteState.msg b/common/autoware_ad_api_msgs/routing/msg/RouteState.msg deleted file mode 100644 index 9dfe77ddee175..0000000000000 --- a/common/autoware_ad_api_msgs/routing/msg/RouteState.msg +++ /dev/null @@ -1,8 +0,0 @@ -uint16 UNKNOWN = 0 -uint16 UNSET = 1 -uint16 SET = 2 -uint16 ARRIVED = 3 -uint16 CHANGING = 4 - -builtin_interfaces/Time stamp -uint16 state diff --git a/common/autoware_ad_api_msgs/routing/srv/ClearRoute.srv b/common/autoware_ad_api_msgs/routing/srv/ClearRoute.srv deleted file mode 100644 index 38a3199e9d091..0000000000000 --- a/common/autoware_ad_api_msgs/routing/srv/ClearRoute.srv +++ /dev/null @@ -1,2 +0,0 @@ ---- -autoware_ad_api_msgs/ResponseStatus status diff --git a/common/autoware_ad_api_msgs/routing/srv/SetRoute.srv b/common/autoware_ad_api_msgs/routing/srv/SetRoute.srv deleted file mode 100644 index 7299b12fe8141..0000000000000 --- a/common/autoware_ad_api_msgs/routing/srv/SetRoute.srv +++ /dev/null @@ -1,6 +0,0 @@ -std_msgs/Header header -geometry_msgs/Pose goal -autoware_ad_api_msgs/RouteSegment[] segments ---- -uint16 ERROR_ROUTE_EXISTS = 1 -autoware_ad_api_msgs/ResponseStatus status diff --git a/common/autoware_ad_api_msgs/routing/srv/SetRoutePoints.srv b/common/autoware_ad_api_msgs/routing/srv/SetRoutePoints.srv deleted file mode 100644 index c05a211fae4fb..0000000000000 --- a/common/autoware_ad_api_msgs/routing/srv/SetRoutePoints.srv +++ /dev/null @@ -1,8 +0,0 @@ -std_msgs/Header header -geometry_msgs/Pose goal -geometry_msgs/Pose[] waypoints ---- -uint16 ERROR_ROUTE_EXISTS = 1 -uint16 ERROR_PLANNER_UNREADY = 2 -uint16 ERROR_PLANNER_FAILED = 3 -autoware_ad_api_msgs/ResponseStatus status From 871bdc411669de47ff82f2f2192b27911dee6f02 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Wed, 21 Sep 2022 17:19:58 +0900 Subject: [PATCH 6/6] feat: change message type Signed-off-by: Takagi, Isamu --- .../autoware_ad_api_specs/operation_mode.hpp | 18 +++++++++--------- .../component_interface_specs/system.hpp | 4 ++-- 2 files changed, 11 insertions(+), 11 deletions(-) diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/operation_mode.hpp b/common/autoware_ad_api_specs/include/autoware_ad_api_specs/operation_mode.hpp index 08528055d9966..f52b66cc88d2a 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/operation_mode.hpp +++ b/common/autoware_ad_api_specs/include/autoware_ad_api_specs/operation_mode.hpp @@ -17,51 +17,51 @@ #include -#include -#include +#include +#include namespace autoware_ad_api::operation_mode { struct ChangeToStop { - using Service = autoware_ad_api_msgs::srv::ChangeOperationMode; + using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode; static constexpr char name[] = "/api/operation_mode/change_to_stop"; }; struct ChangeToAutonomous { - using Service = autoware_ad_api_msgs::srv::ChangeOperationMode; + using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode; static constexpr char name[] = "/api/operation_mode/change_to_autonomous"; }; struct ChangeToLocal { - using Service = autoware_ad_api_msgs::srv::ChangeOperationMode; + using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode; static constexpr char name[] = "/api/operation_mode/change_to_local"; }; struct ChangeToRemote { - using Service = autoware_ad_api_msgs::srv::ChangeOperationMode; + using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode; static constexpr char name[] = "/api/operation_mode/change_to_remote"; }; struct EnableAutowareControl { - using Service = autoware_ad_api_msgs::srv::ChangeOperationMode; + using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode; static constexpr char name[] = "/api/operation_mode/enable_autoware_control"; }; struct DisableAutowareControl { - using Service = autoware_ad_api_msgs::srv::ChangeOperationMode; + using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode; static constexpr char name[] = "/api/operation_mode/disable_autoware_control"; }; struct OperationModeState { - using Message = autoware_ad_api_msgs::msg::OperationModeState; + using Message = autoware_adapi_v1_msgs::msg::OperationModeState; static constexpr char name[] = "/api/operation_mode/state"; static constexpr size_t depth = 1; static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE; diff --git a/common/component_interface_specs/include/component_interface_specs/system.hpp b/common/component_interface_specs/include/component_interface_specs/system.hpp index 2c82632d237f3..e7143d64fa05a 100644 --- a/common/component_interface_specs/include/component_interface_specs/system.hpp +++ b/common/component_interface_specs/include/component_interface_specs/system.hpp @@ -17,7 +17,7 @@ #include -#include +#include #include #include @@ -38,7 +38,7 @@ struct ChangeOperationMode struct OperationModeState { - using Message = autoware_ad_api_msgs::msg::OperationModeState; + using Message = autoware_adapi_v1_msgs::msg::OperationModeState; static constexpr char name[] = "/system/operation_mode/state"; static constexpr size_t depth = 1; static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;