autowarefoundation · tkimura4 · Dec 8, 2021 · Dec 7, 2021 · Dec 7, 2021 · Dec 7, 2021
diff --git a/map/map_loader/README.md b/map/map_loader/README.md
@@ -22,7 +22,7 @@ pointcloud_map_loader loads PointCloud file and publishes the map data as sensor
 
 ### Feature
 
-lanelet2_map_loader loads Lanelet2 file and publishes the map data as autoware_lanelet2_msgs/MapBin message.
+lanelet2_map_loader loads Lanelet2 file and publishes the map data as autoware_auto_mapping_msgs/HADMapBin message.
 The node projects lan/lon coordinates into MGRS coordinates.
 
 ### How to run
@@ -31,23 +31,23 @@ The node projects lan/lon coordinates into MGRS coordinates.
 
 ### Published Topics
 
-- ~output/lanelet2_map (autoware_lanelet2_msgs/MapBin) : Binary data of loaded Lanelet2 Map
+- ~output/lanelet2_map (autoware_auto_mapping_msgs/HADMapBin) : Binary data of loaded Lanelet2 Map
 
 ---
 
 ## lanelet2_map_visualization
 
 ### Feature
 
-lanelet2_map_visualization visualizes autoware_lanelet2_msgs/MapBin messages into visualization_msgs/MarkerArray.
+lanelet2_map_visualization visualizes autoware_auto_mapping_msgs/HADMapBin messages into visualization_msgs/MarkerArray.
 
 ### How to Run
 
 `ros2 run map_loader lanelet2_map_visualization`
 
 ### Subscribed Topics
 
-- ~input/lanelet2_map (autoware_lanelet2_msgs/MapBin) : binary data of Lanelet2 Map
+- ~input/lanelet2_map (autoware_auto_mapping_msgs/HADMapBin) : binary data of Lanelet2 Map
 
 ### Published Topics
 

diff --git a/messages/autoware_control_msgs/CMakeLists.txt b/messages/autoware_control_msgs/CMakeLists.txt
@@ -16,8 +16,6 @@ ament_auto_find_build_dependencies()
 
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/GateMode.msg"
-  "msg/ControlCommand.msg"
-  "msg/ControlCommandStamped.msg"
   "msg/ExternalCommandSelectorMode.msg"
   "srv/ExternalCommandSelect.srv"
   DEPENDENCIES

diff --git a/messages/autoware_control_msgs/msg/ControlCommand.msg b/messages/autoware_control_msgs/msg/ControlCommand.msg
diff --git a/messages/autoware_control_msgs/msg/ControlCommandStamped.msg b/messages/autoware_control_msgs/msg/ControlCommandStamped.msg
diff --git a/messages/autoware_lanelet2_msgs/CMakeLists.txt b/messages/autoware_lanelet2_msgs/CMakeLists.txt
diff --git a/messages/autoware_lanelet2_msgs/msg/MapBin.msg b/messages/autoware_lanelet2_msgs/msg/MapBin.msg
diff --git a/messages/autoware_lanelet2_msgs/package.xml b/messages/autoware_lanelet2_msgs/package.xml
diff --git a/messages/autoware_perception_msgs/CMakeLists.txt b/messages/autoware_perception_msgs/CMakeLists.txt
@@ -19,21 +19,11 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/object_recognition/DetectedObjectsWithFeature.msg"
   "msg/object_recognition/DynamicObject.msg"
   "msg/object_recognition/DynamicObjectArray.msg"
-  "msg/object_recognition/DynamicObjectWithFeature.msg"
-  "msg/object_recognition/DynamicObjectWithFeatureArray.msg"
   "msg/object_recognition/Feature.msg"
   "msg/object_recognition/PredictedPath.msg"
   "msg/object_recognition/Semantic.msg"
   "msg/object_recognition/Shape.msg"
   "msg/object_recognition/State.msg"
-  "msg/traffic_light_recognition/LampState.msg"
-  "msg/traffic_light_recognition/LookingTrafficLightState.msg"
-  "msg/traffic_light_recognition/TrafficLightStateWithJudge.msg"
-  "msg/traffic_light_recognition/TrafficLightRoi.msg"
-  "msg/traffic_light_recognition/TrafficLightRoiArray.msg"
-  "msg/traffic_light_recognition/TrafficLightState.msg"
-  "msg/traffic_light_recognition/TrafficLightStateArray.msg"
-  "msg/traffic_light_recognition/TrafficLightStateStamped.msg"
   DEPENDENCIES
     autoware_auto_perception_msgs
     builtin_interfaces

diff --git a/messages/autoware_perception_msgs/msg/object_recognition/DynamicObjectWithFeature.msg b/messages/autoware_perception_msgs/msg/object_recognition/DynamicObjectWithFeature.msg
diff --git a/messages/autoware_perception_msgs/msg/object_recognition/DynamicObjectWithFeatureArray.msg b/messages/autoware_perception_msgs/msg/object_recognition/DynamicObjectWithFeatureArray.msg
diff --git a/messages/autoware_perception_msgs/msg/traffic_light_recognition/LampState.msg b/messages/autoware_perception_msgs/msg/traffic_light_recognition/LampState.msg
diff --git a/messages/autoware_perception_msgs/msg/traffic_light_recognition/LookingTrafficLightState.msg b/messages/autoware_perception_msgs/msg/traffic_light_recognition/LookingTrafficLightState.msg
diff --git a/messages/autoware_perception_msgs/msg/traffic_light_recognition/TrafficLightRoi.msg b/messages/autoware_perception_msgs/msg/traffic_light_recognition/TrafficLightRoi.msg
diff --git a/messages/autoware_perception_msgs/msg/traffic_light_recognition/TrafficLightRoiArray.msg b/messages/autoware_perception_msgs/msg/traffic_light_recognition/TrafficLightRoiArray.msg
diff --git a/messages/autoware_perception_msgs/msg/traffic_light_recognition/TrafficLightState.msg b/messages/autoware_perception_msgs/msg/traffic_light_recognition/TrafficLightState.msg
diff --git a/messages/autoware_perception_msgs/msg/traffic_light_recognition/TrafficLightStateArray.msg b/messages/autoware_perception_msgs/msg/traffic_light_recognition/TrafficLightStateArray.msg
diff --git a/messages/autoware_perception_msgs/msg/traffic_light_recognition/TrafficLightStateStamped.msg b/messages/autoware_perception_msgs/msg/traffic_light_recognition/TrafficLightStateStamped.msg
diff --git a/...ges/autoware_perception_msgs/msg/traffic_light_recognition/TrafficLightStateWithJudge.msg b/...ges/autoware_perception_msgs/msg/traffic_light_recognition/TrafficLightStateWithJudge.msg
diff --git a/messages/autoware_planning_msgs/CMakeLists.txt b/messages/autoware_planning_msgs/CMakeLists.txt
@@ -21,17 +21,12 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/IsAvoidancePossible.msg"
   "msg/LaneChangeCommand.msg"
   "msg/LaneChangeStatus.msg"
-  "msg/LaneSequence.msg"
   "msg/LateralOffset.msg"
   "msg/Path.msg"
   "msg/PathChangeModule.msg"
   "msg/PathChangeModuleArray.msg"
   "msg/PathChangeModuleId.msg"
   "msg/PathPoint.msg"
-  "msg/PathWithLaneId.msg"
-  "msg/PathPointWithLaneId.msg"
-  "msg/Route.msg"
-  "msg/RouteSection.msg"
   "msg/Scenario.msg"
   "msg/StopFactor.msg"
   "msg/StopReason.msg"

diff --git a/messages/autoware_planning_msgs/msg/LaneSequence.msg b/messages/autoware_planning_msgs/msg/LaneSequence.msg
diff --git a/messages/autoware_planning_msgs/msg/PathPointWithLaneId.msg b/messages/autoware_planning_msgs/msg/PathPointWithLaneId.msg
diff --git a/messages/autoware_planning_msgs/msg/PathWithLaneId.msg b/messages/autoware_planning_msgs/msg/PathWithLaneId.msg
diff --git a/messages/autoware_planning_msgs/msg/Route.msg b/messages/autoware_planning_msgs/msg/Route.msg
diff --git a/messages/autoware_planning_msgs/msg/RouteSection.msg b/messages/autoware_planning_msgs/msg/RouteSection.msg
diff --git a/messages/autoware_system_msgs/CMakeLists.txt b/messages/autoware_system_msgs/CMakeLists.txt
@@ -16,12 +16,10 @@ ament_auto_find_build_dependencies()
 
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/AutowareState.msg"
-  "msg/AutowareVersion.msg"
-  "msg/HazardStatus.msg"
-  "msg/HazardStatusStamped.msg"
-  "msg/TimeoutNotification.msg"
   "msg/EmergencyState.msg"
   "msg/EmergencyStateStamped.msg"
+  "msg/HazardStatus.msg"
+  "msg/HazardStatusStamped.msg"
   DEPENDENCIES
     diagnostic_msgs
     std_msgs

diff --git a/messages/autoware_system_msgs/msg/AutowareVersion.msg b/messages/autoware_system_msgs/msg/AutowareVersion.msg
diff --git a/messages/autoware_system_msgs/msg/TimeoutNotification.msg b/messages/autoware_system_msgs/msg/TimeoutNotification.msg
diff --git a/messages/autoware_vehicle_msgs/CMakeLists.txt b/messages/autoware_vehicle_msgs/CMakeLists.txt
@@ -18,17 +18,13 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/ActuationStatus.msg"
   "msg/ActuationStatusStamped.msg"
   "msg/BatteryStatus.msg"
-  "msg/Engage.msg"
-  "msg/VehicleCommand.msg"
   "msg/Shift.msg"
   "msg/ShiftStamped.msg"
   "msg/ControlMode.msg"
   "msg/TurnSignal.msg"
   "msg/Steering.msg"
   "msg/SteeringWheelStatusStamped.msg"
   "msg/VehicleEmergencyStamped.msg"
-  "msg/RawVehicleCommand.msg"
-  "msg/RawControlCommand.msg"
   "srv/UpdateAccelBrakeMap.srv"
   DEPENDENCIES std_msgs geometry_msgs autoware_control_msgs
 )

diff --git a/messages/autoware_vehicle_msgs/msg/Engage.msg b/messages/autoware_vehicle_msgs/msg/Engage.msg
diff --git a/messages/autoware_vehicle_msgs/msg/RawControlCommand.msg b/messages/autoware_vehicle_msgs/msg/RawControlCommand.msg
diff --git a/messages/autoware_vehicle_msgs/msg/RawVehicleCommand.msg b/messages/autoware_vehicle_msgs/msg/RawVehicleCommand.msg
diff --git a/messages/autoware_vehicle_msgs/msg/VehicleCommand.msg b/messages/autoware_vehicle_msgs/msg/VehicleCommand.msg
diff --git a/messages/build_depends.repos b/messages/build_depends.repos
diff --git a/perception/detection_by_tracker/README.md b/perception/detection_by_tracker/README.md
@@ -33,16 +33,16 @@ Simply looking at the overlap between the unknown object and the tracker does no
 
 ### Input
 
-| Name                      | Type                                                           | Description     |
-| ------------------------- | -------------------------------------------------------------- | --------------- |
-| `~/input/initial_objects` | `autoware_perception_msgs::msg::DynamicObjectWithFeatureArray` | unknown objects |
-| `~/input/tracked_objects` | `autoware_perception_msgs::msg::TrackedObjects`                | trackers        |
+| Name                      | Type                                                        | Description     |
+| ------------------------- | ----------------------------------------------------------- | --------------- |
+| `~/input/initial_objects` | `autoware_perception_msgs::msg::DetectedObjectsWithFeature` | unknown objects |
+| `~/input/tracked_objects` | `autoware_perception_msgs::msg::TrackedObjects`             | trackers        |
 
 ### Output
 
-| Name       | Type                                                           | Description |
-| ---------- | -------------------------------------------------------------- | ----------- |
-| `~/output` | `autoware_perception_msgs::msg::DynamicObjectWithFeatureArray` | objects     |
+| Name       | Type                                                  | Description |
+| ---------- | ----------------------------------------------------- | ----------- |
+| `~/output` | `autoware_auto_perception_msgs::msg::DetectedObjects` | objects     |
 
 ## Parameters
 

diff --git a/perception/detection_by_tracker/include/detection_by_tracker/detection_by_tracker_core.hpp b/perception/detection_by_tracker/include/detection_by_tracker/detection_by_tracker_core.hpp
@@ -25,8 +25,6 @@
 #include <autoware_auto_perception_msgs/msg/detected_objects.hpp>
 #include <autoware_auto_perception_msgs/msg/tracked_objects.hpp>
 #include <autoware_perception_msgs/msg/detected_objects_with_feature.hpp>
-#include <autoware_perception_msgs/msg/dynamic_object_array.hpp>
-#include <autoware_perception_msgs/msg/dynamic_object_with_feature_array.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 

diff --git a/...on/lidar_apollo_instance_segmentation/include/lidar_apollo_instance_segmentation/node.hpp b/...on/lidar_apollo_instance_segmentation/include/lidar_apollo_instance_segmentation/node.hpp
@@ -16,7 +16,7 @@
 
 #include <rclcpp/rclcpp.hpp>
 
-#include <autoware_perception_msgs/msg/dynamic_object_with_feature_array.hpp>
+#include <autoware_perception_msgs/msg/detected_objects_with_feature.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 
 #include <memory>

diff --git a/perception/traffic_light_visualization/package.xml b/perception/traffic_light_visualization/package.xml
@@ -10,7 +10,6 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <depend>autoware_auto_perception_msgs</depend>
-  <depend>autoware_lanelet2_msgs</depend>
   <depend>cv_bridge</depend>
   <depend>image_transport</depend>
   <depend>lanelet2_extension</depend>

diff --git a/planning/behavior_path_planner/package.xml b/planning/behavior_path_planner/package.xml
@@ -17,7 +17,6 @@
   <depend>autoware_auto_perception_msgs</depend>
   <depend>autoware_auto_planning_msgs</depend>
   <depend>autoware_auto_vehicle_msgs</depend>
-  <depend>autoware_lanelet2_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_utils</depend>
   <depend>behaviortree_cpp_v3</depend>

diff --git a/system/autoware_state_monitor/package.xml b/system/autoware_state_monitor/package.xml
@@ -25,7 +25,6 @@
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
 
-  <exec_depend>autoware_lanelet2_msgs</exec_depend>
   <exec_depend>autoware_perception_msgs</exec_depend>
   <exec_depend>sensor_msgs</exec_depend>
 

diff --git a/vehicle/external_cmd_converter/README.md b/vehicle/external_cmd_converter/README.md
@@ -14,9 +14,9 @@
 
 ## Output topics
 
-| Name                | Type                                                | Description                                                        |
-| ------------------- | --------------------------------------------------- | ------------------------------------------------------------------ |
-| `~/out/control_cmd` | autoware_control_msgs::msg::AckermannControlCommand | ackermann control command converted from selected external command |
+| Name                | Type                                                     | Description                                                        |
+| ------------------- | -------------------------------------------------------- | ------------------------------------------------------------------ |
+| `~/out/control_cmd` | autoware_auto_control_msgs::msg::AckermannControlCommand | ackermann control command converted from selected external command |
 
 ## Parameters