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common/autoware_ad_api_specs/include/autoware_ad_api_specs/planning.hpp
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| // 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. | ||
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| #ifndef AUTOWARE_AD_API_SPECS__PLANNING_HPP_ | ||
| #define AUTOWARE_AD_API_SPECS__PLANNING_HPP_ | ||
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| #include <rclcpp/qos.hpp> | ||
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| #include <autoware_adapi_v1_msgs/msg/steering_factor_array.hpp> | ||
| #include <autoware_adapi_v1_msgs/msg/velocity_factor_array.hpp> | ||
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| namespace autoware_ad_api::planning | ||
| { | ||
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| struct VelocityFactors | ||
| { | ||
| using Message = autoware_adapi_v1_msgs::msg::VelocityFactorArray; | ||
| static constexpr char name[] = "/api/planning/velocity_factors"; | ||
| static constexpr size_t depth = 1; | ||
| static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE; | ||
| static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; | ||
| }; | ||
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| struct SteeringFactors | ||
| { | ||
| using Message = autoware_adapi_v1_msgs::msg::SteeringFactorArray; | ||
| static constexpr char name[] = "/api/planning/steering_factors"; | ||
| static constexpr size_t depth = 1; | ||
| static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE; | ||
| static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; | ||
| }; | ||
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| } // namespace autoware_ad_api::planning | ||
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| #endif // AUTOWARE_AD_API_SPECS__PLANNING_HPP_ |
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@@ -15,4 +15,5 @@ rclcpp_components_register_node(external_cmd_selector_node | |
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| ament_auto_package(INSTALL_TO_SHARE | ||
| launch | ||
| config | ||
| ) | ||
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control/external_cmd_selector/config/external_cmd_selector.param.yaml
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| /**: | ||
| ros__parameters: | ||
| update_rate: 10.0 | ||
| initial_selector_mode: "local" # ["local", "remote"] |
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