diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 7a54fa35a31fb..cf81646c6570e 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -12,7 +12,6 @@ control/shift_decider/** takamasa.horibe@tier4.jp control/pure_pursuit/** takamasa.horibe@tier4.jp control/operation_mode_transition_manager/** takamasa.horibe@tier4.jp control/control_performance_analysis/** ali.boyali@tier4.jp berkay@leodrive.ai -common/autoware_ad_api_msgs/** isamu.takagi@tier4.jp common/motion_common/** christopherj.ho@gmail.com common/component_interface_specs/** isamu.takagi@tier4.jp common/motion_testing/** christopherj.ho@gmail.com diff --git a/common/autoware_ad_api_msgs/CMakeLists.txt b/common/autoware_ad_api_msgs/CMakeLists.txt deleted file mode 100644 index 2cb112502f676..0000000000000 --- a/common/autoware_ad_api_msgs/CMakeLists.txt +++ /dev/null @@ -1,26 +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 - 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 a596e8c5ba8b4..0000000000000 --- a/common/autoware_ad_api_msgs/README.md +++ /dev/null @@ -1,39 +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. -[See also routing API][api-routing]. - -## Localization - -The initialization state does not reflect localization errors. Use diagnostics for that purpose. -[See also localization API][api-localization]. - - - -[semver]: https://semver.org/ -[api-localization]: https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/list/api/localization/ -[api-routing]: https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/list/api/routing/ 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 4fe0e5d4208e3..0000000000000 --- a/common/autoware_ad_api_msgs/common/msg/ResponseStatus.msg +++ /dev/null @@ -1,10 +0,0 @@ -# constants for code -uint16 DEPRECATED = 50000 -uint16 SERVICE_UNREADY = 50001 -uint16 SERVICE_TIMEOUT = 50002 -uint16 TRANSFORM_ERROR = 50003 - -# 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/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 diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/interface.hpp b/common/autoware_ad_api_specs/include/autoware_ad_api_specs/interface.hpp index a304bc32da20c..95dca9671e768 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/interface.hpp +++ b/common/autoware_ad_api_specs/include/autoware_ad_api_specs/interface.hpp @@ -15,14 +15,14 @@ #ifndef AUTOWARE_AD_API_SPECS__INTERFACE_HPP_ #define AUTOWARE_AD_API_SPECS__INTERFACE_HPP_ -#include +#include namespace autoware_ad_api::interface { struct Version { - using Service = autoware_ad_api_msgs::srv::InterfaceVersion; + using Service = autoware_adapi_version_msgs::srv::InterfaceVersion; static constexpr char name[] = "/api/interface/version"; }; diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/localization.hpp b/common/autoware_ad_api_specs/include/autoware_ad_api_specs/localization.hpp index 112a8882d2873..a2db70fb8cb7a 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/localization.hpp +++ b/common/autoware_ad_api_specs/include/autoware_ad_api_specs/localization.hpp @@ -17,21 +17,21 @@ #include -#include -#include +#include +#include namespace autoware_ad_api::localization { struct Initialize { - using Service = autoware_ad_api_msgs::srv::InitializeLocalization; + using Service = autoware_adapi_v1_msgs::srv::InitializeLocalization; static constexpr char name[] = "/api/localization/initialize"; }; struct InitializationState { - using Message = autoware_ad_api_msgs::msg::LocalizationInitializationState; + using Message = autoware_adapi_v1_msgs::msg::LocalizationInitializationState; static constexpr char name[] = "/api/localization/initialization_state"; static constexpr size_t depth = 3; static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE; diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/routing.hpp b/common/autoware_ad_api_specs/include/autoware_ad_api_specs/routing.hpp index 336ea670c0c8b..76fac74f667f9 100644 --- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/routing.hpp +++ b/common/autoware_ad_api_specs/include/autoware_ad_api_specs/routing.hpp @@ -17,36 +17,36 @@ #include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include namespace autoware_ad_api::routing { struct SetRoutePoints { - using Service = autoware_ad_api_msgs::srv::SetRoutePoints; + using Service = autoware_adapi_v1_msgs::srv::SetRoutePoints; static constexpr char name[] = "/api/routing/set_route_points"; }; struct SetRoute { - using Service = autoware_ad_api_msgs::srv::SetRoute; + using Service = autoware_adapi_v1_msgs::srv::SetRoute; static constexpr char name[] = "/api/routing/set_route"; }; struct ClearRoute { - using Service = autoware_ad_api_msgs::srv::ClearRoute; + using Service = autoware_adapi_v1_msgs::srv::ClearRoute; static constexpr char name[] = "/api/routing/clear_route"; }; struct RouteState { - using Message = autoware_ad_api_msgs::msg::RouteState; + using Message = autoware_adapi_v1_msgs::msg::RouteState; static constexpr char name[] = "/api/routing/state"; static constexpr size_t depth = 3; static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE; @@ -55,7 +55,7 @@ struct RouteState struct Route { - using Message = autoware_ad_api_msgs::msg::Route; + using Message = autoware_adapi_v1_msgs::msg::Route; static constexpr char name[] = "/api/routing/route"; 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/localization.hpp b/common/component_interface_specs/include/component_interface_specs/localization.hpp index 050400bc2d625..a1a39f5cd57af 100644 --- a/common/component_interface_specs/include/component_interface_specs/localization.hpp +++ b/common/component_interface_specs/include/component_interface_specs/localization.hpp @@ -17,21 +17,21 @@ #include -#include -#include +#include +#include namespace localization_interface { struct Initialize { - using Service = autoware_ad_api_msgs::srv::InitializeLocalization; + using Service = autoware_adapi_v1_msgs::srv::InitializeLocalization; static constexpr char name[] = "/localization/initialize"; }; struct InitializationState { - using Message = autoware_ad_api_msgs::msg::LocalizationInitializationState; + using Message = autoware_adapi_v1_msgs::msg::LocalizationInitializationState; static constexpr char name[] = "/localization/initialization_state"; static constexpr size_t depth = 3; static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE; diff --git a/common/component_interface_specs/include/component_interface_specs/planning.hpp b/common/component_interface_specs/include/component_interface_specs/planning.hpp index 08ba456976804..641f36ffa0504 100644 --- a/common/component_interface_specs/include/component_interface_specs/planning.hpp +++ b/common/component_interface_specs/include/component_interface_specs/planning.hpp @@ -17,36 +17,36 @@ #include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include namespace planning_interface { struct SetRoutePoints { - using Service = autoware_ad_api_msgs::srv::SetRoutePoints; + using Service = autoware_adapi_v1_msgs::srv::SetRoutePoints; static constexpr char name[] = "/planning/mission_planning/set_route_points"; }; struct SetRoute { - using Service = autoware_ad_api_msgs::srv::SetRoute; + using Service = autoware_adapi_v1_msgs::srv::SetRoute; static constexpr char name[] = "/planning/mission_planning/set_route"; }; struct ClearRoute { - using Service = autoware_ad_api_msgs::srv::ClearRoute; + using Service = autoware_adapi_v1_msgs::srv::ClearRoute; static constexpr char name[] = "/planning/mission_planning/clear_route"; }; struct RouteState { - using Message = autoware_ad_api_msgs::msg::RouteState; + using Message = autoware_adapi_v1_msgs::msg::RouteState; static constexpr char name[] = "/planning/mission_planning/route_state"; static constexpr size_t depth = 3; static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE; @@ -55,7 +55,7 @@ struct RouteState struct Route { - using Message = autoware_ad_api_msgs::msg::Route; + using Message = autoware_adapi_v1_msgs::msg::Route; static constexpr char name[] = "/planning/mission_planning/route"; static constexpr size_t depth = 1; static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE; diff --git a/common/component_interface_utils/include/component_interface_utils/rclcpp/exceptions.hpp b/common/component_interface_utils/include/component_interface_utils/rclcpp/exceptions.hpp index a243ba60c1954..972d2a6bdf721 100644 --- a/common/component_interface_utils/include/component_interface_utils/rclcpp/exceptions.hpp +++ b/common/component_interface_utils/include/component_interface_utils/rclcpp/exceptions.hpp @@ -15,7 +15,7 @@ #ifndef COMPONENT_INTERFACE_UTILS__RCLCPP__EXCEPTIONS_HPP_ #define COMPONENT_INTERFACE_UTILS__RCLCPP__EXCEPTIONS_HPP_ -#include +#include #include #include @@ -26,7 +26,7 @@ namespace component_interface_utils class ServiceException : public std::runtime_error { public: - using ResponseStatus = autoware_ad_api_msgs::msg::ResponseStatus; + using ResponseStatus = autoware_adapi_v1_msgs::msg::ResponseStatus; using ResponseStatusCode = ResponseStatus::_code_type; ServiceException(ResponseStatusCode code, const std::string & message) diff --git a/common/component_interface_utils/package.xml b/common/component_interface_utils/package.xml index 6a67111bc2c99..94e925b7b4b7a 100644 --- a/common/component_interface_utils/package.xml +++ b/common/component_interface_utils/package.xml @@ -11,7 +11,7 @@ autoware_cmake - autoware_ad_api_msgs + autoware_adapi_v1_msgs rclcpp rclcpp_components diff --git a/localization/pose_initializer/docs/pose_initializer.md b/localization/pose_initializer/docs/pose_initializer.md index 08d27ae83b51d..c1b2cc3d8b353 100644 --- a/localization/pose_initializer/docs/pose_initializer.md +++ b/localization/pose_initializer/docs/pose_initializer.md @@ -21,9 +21,9 @@ Finally, it publishes the initial pose to `ekf_localizer`. ### Services -| Name | Type | Description | -| -------------------------- | ------------------------------------------------- | --------------------- | -| `/localization/initialize` | autoware_ad_api_msgs::srv::InitializeLocalization | initial pose from api | +| Name | Type | Description | +| -------------------------- | --------------------------------------------------- | --------------------- | +| `/localization/initialize` | autoware_adapi_v1_msgs::srv::InitializeLocalization | initial pose from api | ### Clients @@ -40,7 +40,7 @@ Finally, it publishes the initial pose to `ekf_localizer`. ### Publications -| Name | Type | Description | -| ------------------------------------ | ---------------------------------------------------------- | --------------------------- | -| `/localization/initialization_state` | autoware_ad_api_msgs::msg::LocalizationInitializationState | pose initialization state | -| `/initialpose3d` | geometry_msgs::msg::PoseWithCovarianceStamped | calculated initial ego pose | +| Name | Type | Description | +| ------------------------------------ | ------------------------------------------------------------ | --------------------------- | +| `/localization/initialization_state` | autoware_adapi_v1_msgs::msg::LocalizationInitializationState | pose initialization state | +| `/initialpose3d` | geometry_msgs::msg::PoseWithCovarianceStamped | calculated initial ego pose | diff --git a/system/default_ad_api/package.xml b/system/default_ad_api/package.xml index 9826f5af66f1c..1cee944589391 100644 --- a/system/default_ad_api/package.xml +++ b/system/default_ad_api/package.xml @@ -11,8 +11,9 @@ autoware_cmake - autoware_ad_api_msgs autoware_ad_api_specs + autoware_adapi_v1_msgs + autoware_adapi_version_msgs component_interface_specs component_interface_utils rclcpp diff --git a/system/default_ad_api/script/web_server.py b/system/default_ad_api/script/web_server.py index ac2e4762cd80b..80a801c8fafa6 100755 --- a/system/default_ad_api/script/web_server.py +++ b/system/default_ad_api/script/web_server.py @@ -17,7 +17,7 @@ import sys from threading import Thread -from autoware_ad_api_msgs.srv import InterfaceVersion +from autoware_adapi_version_msgs.srv import InterfaceVersion import flask import rclpy from rclpy.node import Node diff --git a/system/default_ad_api/test/node/interface_version.py b/system/default_ad_api/test/node/interface_version.py index d5abd2924e24e..12c3918ef902a 100644 --- a/system/default_ad_api/test/node/interface_version.py +++ b/system/default_ad_api/test/node/interface_version.py @@ -12,7 +12,7 @@ # See the License for the specific language governing permissions and # limitations under the License. -from autoware_ad_api_msgs.srv import InterfaceVersion +from autoware_adapi_version_msgs.srv import InterfaceVersion import rclpy import rclpy.node diff --git a/system/default_ad_api_helpers/ad_api_adaptors/package.xml b/system/default_ad_api_helpers/ad_api_adaptors/package.xml index 442a076a9c544..84b02be0799d1 100644 --- a/system/default_ad_api_helpers/ad_api_adaptors/package.xml +++ b/system/default_ad_api_helpers/ad_api_adaptors/package.xml @@ -11,8 +11,8 @@ autoware_cmake - autoware_ad_api_msgs autoware_ad_api_specs + autoware_adapi_v1_msgs component_interface_utils rclcpp tier4_localization_msgs diff --git a/system/default_ad_api_helpers/automatic_pose_initializer/package.xml b/system/default_ad_api_helpers/automatic_pose_initializer/package.xml index e6a351b392680..cff20de603f7f 100644 --- a/system/default_ad_api_helpers/automatic_pose_initializer/package.xml +++ b/system/default_ad_api_helpers/automatic_pose_initializer/package.xml @@ -11,8 +11,8 @@ autoware_cmake - autoware_ad_api_msgs autoware_ad_api_specs + autoware_adapi_v1_msgs component_interface_utils rclcpp