feat(autoware_velocity_smoother): porting from universe to core, auto…

…ware_velocity_smoother, partially replace tier4 message dependency with autoware_internal message.local test passed: v0.0

Signed-off-by: liuXinGangChina <lxg19892021@gmail.com>

planning/autoware_external_velocity_limit_selector/README.md

@@ -39,15 +39,15 @@ Example:
 
 | Name                                                | Type                                           | Description                                   |
 | --------------------------------------------------- | ---------------------------------------------- | --------------------------------------------- |
-| `~input/velocity_limit_from_api`                    | tier4_planning_msgs::VelocityLimit             | velocity limit from api                       |
-| `~input/velocity_limit_from_internal`               | tier4_planning_msgs::VelocityLimit             | velocity limit from autoware internal modules |
-| `~input/velocity_limit_clear_command_from_internal` | tier4_planning_msgs::VelocityLimitClearCommand | velocity limit clear command                  |
+| `~input/velocity_limit_from_api`                    | autoware_internal_planning_msgs::VelocityLimit             | velocity limit from api                       |
+| `~input/velocity_limit_from_internal`               | autoware_internal_planning_msgs::VelocityLimit             | velocity limit from autoware internal modules |
+| `~input/velocity_limit_clear_command_from_internal` | autoware_internal_planning_msgs::VelocityLimitClearCommand | velocity limit clear command                  |
 
 ## Outputs
 
 | Name                   | Type                               | Description                                       |
 | ---------------------- | ---------------------------------- | ------------------------------------------------- |
-| `~output/max_velocity` | tier4_planning_msgs::VelocityLimit | current information of the hardest velocity limit |
+| `~output/max_velocity` | autoware_internal_planning_msgs::VelocityLimit | current information of the hardest velocity limit |
 
 ## Parameters
 

planning/autoware_external_velocity_limit_selector/include/autoware/external_velocity_limit_selector/external_velocity_limit_selector_node.hpp

@@ -19,8 +19,8 @@
 #include <rclcpp/rclcpp.hpp>
 
 #include <autoware_internal_debug_msgs/msg/string_stamped.hpp>
-#include <tier4_planning_msgs/msg/velocity_limit.hpp>
-#include <tier4_planning_msgs/msg/velocity_limit_clear_command.hpp>
+#include <autoware_internal_planning_msgs/msg/velocity_limit.hpp>
+#include <autoware_internal_planning_msgs/msg/velocity_limit_clear_command.hpp>
 
 #include <memory>
 #include <string>
@@ -30,9 +30,9 @@ namespace autoware::external_velocity_limit_selector
 {
 
 using autoware_internal_debug_msgs::msg::StringStamped;
-using tier4_planning_msgs::msg::VelocityLimit;
-using tier4_planning_msgs::msg::VelocityLimitClearCommand;
-using tier4_planning_msgs::msg::VelocityLimitConstraints;
+using autoware_internal_planning_msgs::msg::VelocityLimit;
+using autoware_internal_planning_msgs::msg::VelocityLimitClearCommand;
+using autoware_internal_planning_msgs::msg::VelocityLimitConstraints;
 
 using VelocityLimitTable = std::unordered_map<std::string, VelocityLimit>;
 

planning/autoware_external_velocity_limit_selector/package.xml

@@ -21,7 +21,7 @@
   <depend>generate_parameter_library</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
-  <depend>tier4_planning_msgs</depend>
+  <depend>autoware_internal_planning_msgs</depend>
 
   <exec_depend>ros2cli</exec_depend>
   <exec_depend>topic_tools</exec_depend>

planning/autoware_external_velocity_limit_selector/test/test_external_velocity_limit_selector_node_launch.py

@@ -30,8 +30,8 @@
 from rcl_interfaces.srv import SetParameters
 import rclpy
 import rclpy.qos
-from tier4_planning_msgs.msg import VelocityLimit
-from tier4_planning_msgs.msg import VelocityLimitClearCommand
+from autoware_internal_planning_msgs.msg import VelocityLimit
+from autoware_internal_planning_msgs.msg import VelocityLimitClearCommand
 
 logger = get_logger(__name__)
 

planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp

@@ -43,6 +43,7 @@
 #include <tier4_planning_msgs/msg/scenario.hpp>
 #include <tier4_planning_msgs/msg/velocity_limit.hpp>
 #include <visualization_msgs/msg/marker.hpp>
+#include <autoware_internal_planning_msgs/msg/velocity_limit.hpp>
 
 #include <map>
 #include <memory>
@@ -113,7 +114,7 @@ class BehaviorPathPlannerNode : public rclcpp::Node
   autoware::universe_utils::InterProcessPollingSubscriber<OperationModeState>
     operation_mode_subscriber_{
       this, "/system/operation_mode/state", rclcpp::QoS{1}.transient_local()};
-  autoware::universe_utils::InterProcessPollingSubscriber<tier4_planning_msgs::msg::VelocityLimit>
+  autoware::universe_utils::InterProcessPollingSubscriber<autoware_internal_planning_msgs::msg::VelocityLimit>
     external_limit_max_velocity_subscriber_{this, "/planning/scenario_planning/max_velocity"};
 
   // publisher
@@ -158,7 +159,7 @@ class BehaviorPathPlannerNode : public rclcpp::Node
   void onOperationMode(const OperationModeState::ConstSharedPtr msg);
   void onLateralOffset(const LateralOffset::ConstSharedPtr msg);
   void on_external_velocity_limiter(
-    const tier4_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg);
+    const autoware_internal_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg);
 
   SetParametersResult onSetParam(const std::vector<rclcpp::Parameter> & parameters);
 

planning/behavior_path_planner/autoware_behavior_path_planner/package.xml

@@ -70,6 +70,7 @@
   <depend>tf2_ros</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>
+  <depend>autoware_internal_planning_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>

planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/data_manager.hpp

@@ -38,8 +38,8 @@
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <nav_msgs/msg/occupancy_grid.hpp>
 #include <nav_msgs/msg/odometry.hpp>
-#include <tier4_planning_msgs/msg/detail/velocity_limit__struct.hpp>
 #include <tier4_planning_msgs/msg/lateral_offset.hpp>
+#include <autoware_internal_planning_msgs/msg/detail/velocity_limit__struct.hpp>
 
 #include <limits>
 #include <map>
@@ -66,7 +66,7 @@ using nav_msgs::msg::Odometry;
 using tier4_planning_msgs::msg::LateralOffset;
 using PlanResult = PathWithLaneId::SharedPtr;
 using lanelet::TrafficLight;
-using tier4_planning_msgs::msg::VelocityLimit;
+using autoware_internal_planning_msgs::msg::VelocityLimit;
 using unique_identifier_msgs::msg::UUID;
 
 struct TrafficSignalStamped

planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml

@@ -65,6 +65,7 @@
   <depend>tf2</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>
+  <depend>autoware_internal_planning_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>