[pull] main from autowarefoundation:main

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()

system/default_ad_api/include/default_ad_api/specs/interface/version.hpp → common/autoware_ad_api_specs/include/autoware_ad_api_specs/interface.hpp

@@ -12,20 +12,20 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef DEFAULT_AD_API__SPECS__INTERFACE__VERSION_HPP_
-#define DEFAULT_AD_API__SPECS__INTERFACE__VERSION_HPP_
+#ifndef AUTOWARE_AD_API_SPECS__INTERFACE_HPP_
+#define AUTOWARE_AD_API_SPECS__INTERFACE_HPP_
 
-#include "autoware_ad_api_msgs/srv/interface_version.hpp"
+#include <autoware_ad_api_msgs/srv/interface_version.hpp>
 
-namespace ad_api::interface::version
+namespace autoware_ad_api::interface
 {
 
-struct T
+struct Version
 {
   using Service = autoware_ad_api_msgs::srv::InterfaceVersion;
   static constexpr char name[] = "/api/interface/version";
 };
 
-}  // namespace ad_api::interface::version
+}  // namespace autoware_ad_api::interface
 
-#endif  // DEFAULT_AD_API__SPECS__INTERFACE__VERSION_HPP_
+#endif  // AUTOWARE_AD_API_SPECS__INTERFACE_HPP_

common/autoware_ad_api_specs/package.xml

@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>autoware_ad_api_specs</name>
+  <version>0.0.0</version>
+  <description>The autoware_ad_api_specs package</description>
+  <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <build_depend>autoware_cmake</build_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

common/autoware_auto_perception_rviz_plugin/src/object_detection/detected_objects_display.cpp

@@ -31,6 +31,7 @@ void DetectedObjectsDisplay::processMessage(DetectedObjects::ConstSharedPtr msg)
   clear_markers();
   int id = 0;
   for (const auto & object : msg->objects) {
+    // TODO(Satoshi Tanaka): fixing from string label to one string
     // Get marker for shape
     auto shape_marker = get_shape_marker_ptr(
       object.shape, object.kinematics.pose_with_covariance.pose.position,
@@ -53,6 +54,28 @@ void DetectedObjectsDisplay::processMessage(DetectedObjects::ConstSharedPtr msg)
       label_marker_ptr->id = id++;
       add_marker(label_marker_ptr);
     }
+
+    // Get marker for velocity text
+    geometry_msgs::msg::Point vel_vis_position;
+    vel_vis_position.x = object.kinematics.pose_with_covariance.pose.position.x - 0.5;
+    vel_vis_position.y = object.kinematics.pose_with_covariance.pose.position.y;
+    vel_vis_position.z = object.kinematics.pose_with_covariance.pose.position.z - 0.5;
+    auto velocity_text_marker = get_velocity_text_marker_ptr(
+      object.kinematics.twist_with_covariance.twist, vel_vis_position, object.classification);
+    if (velocity_text_marker) {
+      auto velocity_text_marker_ptr = velocity_text_marker.value();
+      velocity_text_marker_ptr->header = msg->header;
+      add_marker(velocity_text_marker_ptr);
+    }
+
+    // Get marker for twist
+    auto twist_marker = get_twist_marker_ptr(
+      object.kinematics.pose_with_covariance, object.kinematics.twist_with_covariance);
+    if (twist_marker) {
+      auto twist_marker_ptr = twist_marker.value();
+      twist_marker_ptr->header = msg->header;
+      add_marker(twist_marker_ptr);
+    }
   }
 }
 

planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp

@@ -2255,6 +2255,7 @@ void AvoidanceModule::addShiftPointIfApproved(const AvoidPointArray & shift_poin
 
     uuid_left_ = generateUUID();
     uuid_right_ = generateUUID();
+    candidate_uuid_ = generateUUID();
 
     DEBUG_PRINT("shift_point size: %lu -> %lu", prev_size, path_shifter_.getShiftPointsSize());
   } else {

planning/freespace_planning_algorithms/package.xml

@@ -4,10 +4,10 @@
   <name>freespace_planning_algorithms</name>
   <version>0.1.0</version>
   <description>The freespace_planning_algorithms package</description>
-  <maintainer email="aohsato@gmail.com">Akihito Ohsato</maintainer>
+  <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
   <license>Apache License 2.0</license>
 
-  <author email="aohsato@gmail.com">Akihito Ohsato</author>
+  <author email="akihito.ohsato@tier4.jp">Akihito Ohsato</author>
   <author email="h-ishida@jsk.imi.i.u-tokyo.ac.jp">Hirokazu Ishida</author>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>

system/default_ad_api/package.xml

@@ -12,6 +12,7 @@
   <build_depend>autoware_cmake</build_depend>
 
   <depend>autoware_ad_api_msgs</depend>
+  <depend>autoware_ad_api_specs</depend>
   <depend>component_interface_utils</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>

system/default_ad_api/src/interface.cpp

@@ -19,16 +19,14 @@ namespace default_ad_api
 
 InterfaceNode::InterfaceNode(const rclcpp::NodeOptions & options) : Node("interface", options)
 {
-  using InterfaceVersion = autoware_ad_api_msgs::srv::InterfaceVersion;
-
-  const auto on_interface_version = [](SERVICE_ARG_NO_REQ(InterfaceVersion)) {
-    response->major = 0;
-    response->minor = 1;
-    response->patch = 0;
+  const auto on_interface_version = [](auto, auto res) {
+    res->major = 0;
+    res->minor = 1;
+    res->patch = 0;
   };
 
-  const auto node = component_interface_utils::NodeAdaptor(this);
-  node.init_srv(srv_, on_interface_version);
+  const auto adaptor = component_interface_utils::NodeAdaptor(this);
+  adaptor.init_srv(srv_, on_interface_version);
 }
 
 }  // namespace default_ad_api

system/default_ad_api/src/interface.hpp

@@ -15,12 +15,13 @@
 #ifndef INTERFACE_HPP_
 #define INTERFACE_HPP_
 
-#include "default_ad_api/specs/interface/version.hpp"
-#include "utils/types.hpp"
-
+#include <autoware_ad_api_specs/interface.hpp>
 #include <component_interface_utils/rclcpp.hpp>
 #include <rclcpp/rclcpp.hpp>
 
+// This file should be included after messages.
+#include "utils/types.hpp"
+
 namespace default_ad_api
 {
 
@@ -30,7 +31,7 @@ class InterfaceNode : public rclcpp::Node
   explicit InterfaceNode(const rclcpp::NodeOptions & options);
 
 private:
-  Service<ad_api::interface::version::T>::SharedPtr srv_;
+  Srv<autoware_ad_api::interface::Version> srv_;
 };
 
 }  // namespace default_ad_api

system/default_ad_api/src/utils/types.hpp

@@ -17,23 +17,17 @@
 
 #include <component_interface_utils/rclcpp.hpp>
 
-#define MESSAGE_ARG(Type) const Type::ConstSharedPtr message
-#define SERVICE_ARG(Type) \
-  const Type::Request::SharedPtr request, const Type::Response::SharedPtr response
-#define SERVICE_ARG_NO_REQ(Type) \
-  const Type::Request::SharedPtr, const Type::Response::SharedPtr response
-
 namespace default_ad_api
 {
 
 template <class T>
-using Publisher = component_interface_utils::Publisher<T>;
+using Pub = typename component_interface_utils::Publisher<T>::SharedPtr;
 template <class T>
-using Subscription = component_interface_utils::Subscription<T>;
+using Sub = typename component_interface_utils::Subscription<T>::SharedPtr;
 template <class T>
-using Client = component_interface_utils::Client<T>;
+using Cli = typename component_interface_utils::Client<T>::SharedPtr;
 template <class T>
-using Service = component_interface_utils::Service<T>;
+using Srv = typename component_interface_utils::Service<T>::SharedPtr;
 
 }  // namespace default_ad_api