From b9849fd7c0182a4948f5ac774a6159481e1d3c1f Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Mon, 30 Aug 2021 18:23:32 +0900 Subject: [PATCH 1/7] Add autoware api (#22) * Add engage, emergency, door service (#4) * Add external engage and emergency service Signed-off-by: Takagi, Isamu * Fix api utils Signed-off-by: Takagi, Isamu * Add external door messages Signed-off-by: Takagi, Isamu * Fix lint Signed-off-by: Takagi, Isamu * Add service and client for logging Signed-off-by: Takagi, Isamu * Fix cppcheck Signed-off-by: Takagi, Isamu * Add error level Signed-off-by: Takagi, Isamu * Fix maintainer Signed-off-by: Takagi, Isamu * Fix package.xml Signed-off-by: Takagi, Isamu * Add response build functions Signed-off-by: Takagi, Isamu * Remove unnecessary explicit Signed-off-by: Takagi, Isamu * Add service result type alias Signed-off-by: Takagi, Isamu * Rename proxy class Signed-off-by: Takagi, Isamu * Change type name Signed-off-by: Takagi, Isamu * Add service call timeout * Add CI for develop branch Signed-off-by: Takagi, Isamu * Fix CI Signed-off-by: Takagi, Isamu * Fix lint Signed-off-by: Takagi, Isamu * Use default argument Signed-off-by: Takagi, Isamu * Rename package Signed-off-by: Takagi, Isamu * Move response message Signed-off-by: Takagi, Isamu * Move autoware_api_utils Signed-off-by: Takagi, Isamu * Fix package.xml format Signed-off-by: Takagi, Isamu * Fix package.xml format Signed-off-by: Takagi, Isamu * Fix package name Signed-off-by: Takagi, Isamu * Rename response type Signed-off-by: Takagi, Isamu * Fix enum type Signed-off-by: Takagi, Isamu * Add version service (#6) * Add diagnostics message (#7) Signed-off-by: Takagi, Isamu * Add route service (#8) * Add goal and route service Signed-off-by: Takagi, Isamu * Fix service name Signed-off-by: Takagi, Isamu * Add route message Signed-off-by: Takagi, Isamu * Add clear route service (#10) Signed-off-by: Takagi, Isamu * Add stop and velocity type (#9) * Add velocity service and message Signed-off-by: Takagi, Isamu * Add stop service Signed-off-by: Takagi, Isamu * Rename velocity limit service Signed-off-by: Takagi, Isamu * Rename pause driving service Signed-off-by: Takagi, Isamu * Add engage status message (#11) Signed-off-by: Takagi, Isamu * Add map info message (#13) * Add map info message Signed-off-by: Takagi, Isamu * Rename message Signed-off-by: Takagi, Isamu * Add driver type (#12) * Add driver type Signed-off-by: Takagi, Isamu * Modify variable size Signed-off-by: Takagi, Isamu * Modify message type Signed-off-by: Takagi, Isamu * Remove driver mode from observer Signed-off-by: Takagi, Isamu * Fix observer none mode Signed-off-by: Takagi, Isamu * Add initial pose service (#14) * Add initial pose service Signed-off-by: Takagi, Isamu * Rename service type name Signed-off-by: Takagi, Isamu * Remove use gnss flag Signed-off-by: Takagi, Isamu * Add service mode (#15) Signed-off-by: Takagi, Isamu * Add control command messages (#20) * Add control command messages Signed-off-by: Takagi, Isamu * Fix control command messages Signed-off-by: Takagi, Isamu * Add self package namespace (#21) Signed-off-by: Takagi, Isamu --- .../autoware_external_api_msgs/CMakeLists.txt | 60 +++++++++++++++++++ .../msg/ClassifiedDiagnostics.msg | 5 ++ .../msg/ControlCommand.msg | 4 ++ .../msg/ControlCommandStamped.msg | 2 + .../msg/DoorStatus.msg | 11 ++++ .../msg/EngageStatus.msg | 2 + .../msg/GearShift.msg | 10 ++++ .../msg/GearShiftStamped.msg | 2 + .../msg/Heartbeat.msg | 1 + .../msg/MapHash.msg | 1 + .../msg/Observer.msg | 7 +++ .../msg/Operator.msg | 7 +++ .../msg/ResponseStatus.msg | 9 +++ .../autoware_external_api_msgs/msg/Route.msg | 2 + .../msg/RouteSection.msg | 3 + .../msg/Service.msg | 6 ++ .../msg/TurnSignal.msg | 8 +++ .../msg/TurnSignalStamped.msg | 2 + .../autoware_external_api_msgs/package.xml | 31 ++++++++++ .../srv/ClearRoute.srv | 2 + .../autoware_external_api_msgs/srv/Engage.srv | 3 + .../srv/GetVersion.srv | 3 + .../srv/InitializePose.srv | 3 + .../srv/InitializePoseAuto.srv | 2 + .../srv/PauseDriving.srv | 3 + .../srv/SetDoor.srv | 3 + .../srv/SetEmergency.srv | 3 + .../srv/SetObserver.srv | 3 + .../srv/SetOperator.srv | 3 + .../srv/SetPose.srv | 3 + .../srv/SetRoute.srv | 3 + .../srv/SetService.srv | 3 + .../srv/SetVelocityLimit.srv | 3 + 33 files changed, 213 insertions(+) create mode 100644 messages/autoware_external_api_msgs/CMakeLists.txt create mode 100644 messages/autoware_external_api_msgs/msg/ClassifiedDiagnostics.msg create mode 100644 messages/autoware_external_api_msgs/msg/ControlCommand.msg create mode 100644 messages/autoware_external_api_msgs/msg/ControlCommandStamped.msg create mode 100644 messages/autoware_external_api_msgs/msg/DoorStatus.msg create mode 100644 messages/autoware_external_api_msgs/msg/EngageStatus.msg create mode 100644 messages/autoware_external_api_msgs/msg/GearShift.msg create mode 100644 messages/autoware_external_api_msgs/msg/GearShiftStamped.msg create mode 100644 messages/autoware_external_api_msgs/msg/Heartbeat.msg create mode 100644 messages/autoware_external_api_msgs/msg/MapHash.msg create mode 100644 messages/autoware_external_api_msgs/msg/Observer.msg create mode 100644 messages/autoware_external_api_msgs/msg/Operator.msg create mode 100644 messages/autoware_external_api_msgs/msg/ResponseStatus.msg create mode 100644 messages/autoware_external_api_msgs/msg/Route.msg create mode 100644 messages/autoware_external_api_msgs/msg/RouteSection.msg create mode 100644 messages/autoware_external_api_msgs/msg/Service.msg create mode 100644 messages/autoware_external_api_msgs/msg/TurnSignal.msg create mode 100644 messages/autoware_external_api_msgs/msg/TurnSignalStamped.msg create mode 100644 messages/autoware_external_api_msgs/package.xml create mode 100644 messages/autoware_external_api_msgs/srv/ClearRoute.srv create mode 100644 messages/autoware_external_api_msgs/srv/Engage.srv create mode 100644 messages/autoware_external_api_msgs/srv/GetVersion.srv create mode 100644 messages/autoware_external_api_msgs/srv/InitializePose.srv create mode 100644 messages/autoware_external_api_msgs/srv/InitializePoseAuto.srv create mode 100644 messages/autoware_external_api_msgs/srv/PauseDriving.srv create mode 100644 messages/autoware_external_api_msgs/srv/SetDoor.srv create mode 100644 messages/autoware_external_api_msgs/srv/SetEmergency.srv create mode 100644 messages/autoware_external_api_msgs/srv/SetObserver.srv create mode 100644 messages/autoware_external_api_msgs/srv/SetOperator.srv create mode 100644 messages/autoware_external_api_msgs/srv/SetPose.srv create mode 100644 messages/autoware_external_api_msgs/srv/SetRoute.srv create mode 100644 messages/autoware_external_api_msgs/srv/SetService.srv create mode 100644 messages/autoware_external_api_msgs/srv/SetVelocityLimit.srv diff --git a/messages/autoware_external_api_msgs/CMakeLists.txt b/messages/autoware_external_api_msgs/CMakeLists.txt new file mode 100644 index 0000000000000..5655898c81a02 --- /dev/null +++ b/messages/autoware_external_api_msgs/CMakeLists.txt @@ -0,0 +1,60 @@ +cmake_minimum_required(VERSION 3.5) +project(autoware_external_api_msgs) + +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + set(CMAKE_CXX_EXTENSIONS OFF) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +find_package(ament_cmake_auto REQUIRED) +ament_auto_find_build_dependencies() + +rosidl_generate_interfaces(${PROJECT_NAME} + msg/ClassifiedDiagnostics.msg + msg/ControlCommand.msg + msg/ControlCommandStamped.msg + msg/DoorStatus.msg + msg/Observer.msg + msg/Operator.msg + msg/EngageStatus.msg + msg/GearShift.msg + msg/GearShiftStamped.msg + msg/Heartbeat.msg + msg/MapHash.msg + msg/ResponseStatus.msg + msg/Route.msg + msg/RouteSection.msg + msg/Service.msg + msg/TurnSignal.msg + msg/TurnSignalStamped.msg + srv/ClearRoute.srv + srv/Engage.srv + srv/GetVersion.srv + srv/InitializePose.srv + srv/InitializePoseAuto.srv + srv/PauseDriving.srv + srv/SetDoor.srv + srv/SetObserver.srv + srv/SetOperator.srv + srv/SetEmergency.srv + srv/SetPose.srv + srv/SetRoute.srv + srv/SetService.srv + srv/SetVelocityLimit.srv + DEPENDENCIES + builtin_interfaces + diagnostic_msgs + geometry_msgs +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +ament_auto_package() diff --git a/messages/autoware_external_api_msgs/msg/ClassifiedDiagnostics.msg b/messages/autoware_external_api_msgs/msg/ClassifiedDiagnostics.msg new file mode 100644 index 0000000000000..8d4db7f9c4beb --- /dev/null +++ b/messages/autoware_external_api_msgs/msg/ClassifiedDiagnostics.msg @@ -0,0 +1,5 @@ +builtin_interfaces/Time stamp +# TODO: move diagnostics +# TODO: move diagnostics_error +diagnostic_msgs/DiagnosticStatus[] diagnostics_notice +# TODO: move hazard_status diff --git a/messages/autoware_external_api_msgs/msg/ControlCommand.msg b/messages/autoware_external_api_msgs/msg/ControlCommand.msg new file mode 100644 index 0000000000000..8209a16efb163 --- /dev/null +++ b/messages/autoware_external_api_msgs/msg/ControlCommand.msg @@ -0,0 +1,4 @@ +float64 steering_angle +float64 steering_angle_velocity +float64 throttle +float64 brake diff --git a/messages/autoware_external_api_msgs/msg/ControlCommandStamped.msg b/messages/autoware_external_api_msgs/msg/ControlCommandStamped.msg new file mode 100644 index 0000000000000..82c1492003c09 --- /dev/null +++ b/messages/autoware_external_api_msgs/msg/ControlCommandStamped.msg @@ -0,0 +1,2 @@ +builtin_interfaces/Time stamp +autoware_external_api_msgs/ControlCommand control diff --git a/messages/autoware_external_api_msgs/msg/DoorStatus.msg b/messages/autoware_external_api_msgs/msg/DoorStatus.msg new file mode 100644 index 0000000000000..10428618bd6b0 --- /dev/null +++ b/messages/autoware_external_api_msgs/msg/DoorStatus.msg @@ -0,0 +1,11 @@ +# constants +int8 NOT_SUPPORTED = -1 +int8 UNKNOWN = 0 +int8 OPENED = 1 +int8 CLOSED = 2 +int8 OPENING = 3 +int8 CLOSING = 4 + +# fields +builtin_interfaces/Time stamp +int8 status diff --git a/messages/autoware_external_api_msgs/msg/EngageStatus.msg b/messages/autoware_external_api_msgs/msg/EngageStatus.msg new file mode 100644 index 0000000000000..c5fe7dc3988b9 --- /dev/null +++ b/messages/autoware_external_api_msgs/msg/EngageStatus.msg @@ -0,0 +1,2 @@ +builtin_interfaces/Time stamp +bool engage diff --git a/messages/autoware_external_api_msgs/msg/GearShift.msg b/messages/autoware_external_api_msgs/msg/GearShift.msg new file mode 100644 index 0000000000000..a7729854c08ba --- /dev/null +++ b/messages/autoware_external_api_msgs/msg/GearShift.msg @@ -0,0 +1,10 @@ +# constants +uint8 NONE=0 +uint8 PARKING=1 +uint8 REVERSE=2 +uint8 NEUTRAL=3 +uint8 DRIVE=4 +uint8 LOW=5 + +# fields +uint8 data diff --git a/messages/autoware_external_api_msgs/msg/GearShiftStamped.msg b/messages/autoware_external_api_msgs/msg/GearShiftStamped.msg new file mode 100644 index 0000000000000..2a9cfb1716328 --- /dev/null +++ b/messages/autoware_external_api_msgs/msg/GearShiftStamped.msg @@ -0,0 +1,2 @@ +builtin_interfaces/Time stamp +autoware_external_api_msgs/GearShift gear_shift diff --git a/messages/autoware_external_api_msgs/msg/Heartbeat.msg b/messages/autoware_external_api_msgs/msg/Heartbeat.msg new file mode 100644 index 0000000000000..4b20d3199e5a6 --- /dev/null +++ b/messages/autoware_external_api_msgs/msg/Heartbeat.msg @@ -0,0 +1 @@ +builtin_interfaces/Time stamp diff --git a/messages/autoware_external_api_msgs/msg/MapHash.msg b/messages/autoware_external_api_msgs/msg/MapHash.msg new file mode 100644 index 0000000000000..9febad42d0627 --- /dev/null +++ b/messages/autoware_external_api_msgs/msg/MapHash.msg @@ -0,0 +1 @@ +string lanelet diff --git a/messages/autoware_external_api_msgs/msg/Observer.msg b/messages/autoware_external_api_msgs/msg/Observer.msg new file mode 100644 index 0000000000000..3f472c8b929d1 --- /dev/null +++ b/messages/autoware_external_api_msgs/msg/Observer.msg @@ -0,0 +1,7 @@ +# constants +# uint8 NONE=1 (reserved) +uint8 LOCAL=2 +uint8 REMOTE=3 + +# fields +uint8 mode diff --git a/messages/autoware_external_api_msgs/msg/Operator.msg b/messages/autoware_external_api_msgs/msg/Operator.msg new file mode 100644 index 0000000000000..18d508c615e96 --- /dev/null +++ b/messages/autoware_external_api_msgs/msg/Operator.msg @@ -0,0 +1,7 @@ +# constants +uint8 DRIVER=1 +uint8 AUTONOMOUS=2 +uint8 OBSERVER=3 + +# fields +uint8 mode diff --git a/messages/autoware_external_api_msgs/msg/ResponseStatus.msg b/messages/autoware_external_api_msgs/msg/ResponseStatus.msg new file mode 100644 index 0000000000000..440ffcd1f89ed --- /dev/null +++ b/messages/autoware_external_api_msgs/msg/ResponseStatus.msg @@ -0,0 +1,9 @@ +# constants +uint32 SUCCESS=1 +uint32 IGNORED=2 +uint32 WARN=3 +uint32 ERROR=4 + +# fields +uint32 code +string message diff --git a/messages/autoware_external_api_msgs/msg/Route.msg b/messages/autoware_external_api_msgs/msg/Route.msg new file mode 100644 index 0000000000000..89c881d9d3d53 --- /dev/null +++ b/messages/autoware_external_api_msgs/msg/Route.msg @@ -0,0 +1,2 @@ +geometry_msgs/PoseStamped goal_pose +autoware_external_api_msgs/RouteSection[] route_sections diff --git a/messages/autoware_external_api_msgs/msg/RouteSection.msg b/messages/autoware_external_api_msgs/msg/RouteSection.msg new file mode 100644 index 0000000000000..9c056b7049735 --- /dev/null +++ b/messages/autoware_external_api_msgs/msg/RouteSection.msg @@ -0,0 +1,3 @@ +int64 preferred_lane_id +int64[] lane_ids +int64[] continued_lane_ids diff --git a/messages/autoware_external_api_msgs/msg/Service.msg b/messages/autoware_external_api_msgs/msg/Service.msg new file mode 100644 index 0000000000000..2630a53714e50 --- /dev/null +++ b/messages/autoware_external_api_msgs/msg/Service.msg @@ -0,0 +1,6 @@ +# constants +uint8 NOT_IN_SERVICE=1 +uint8 IN_SERVICE=2 + +# fields +uint8 mode diff --git a/messages/autoware_external_api_msgs/msg/TurnSignal.msg b/messages/autoware_external_api_msgs/msg/TurnSignal.msg new file mode 100644 index 0000000000000..d2a8eadd4dcdf --- /dev/null +++ b/messages/autoware_external_api_msgs/msg/TurnSignal.msg @@ -0,0 +1,8 @@ +# constants +uint8 NONE = 0 +uint8 LEFT = 1 +uint8 RIGHT = 2 +uint8 HAZARD = 3 + +# fields +uint8 data diff --git a/messages/autoware_external_api_msgs/msg/TurnSignalStamped.msg b/messages/autoware_external_api_msgs/msg/TurnSignalStamped.msg new file mode 100644 index 0000000000000..40396b4f008a4 --- /dev/null +++ b/messages/autoware_external_api_msgs/msg/TurnSignalStamped.msg @@ -0,0 +1,2 @@ +builtin_interfaces/Time stamp +autoware_external_api_msgs/TurnSignal turn_signal diff --git a/messages/autoware_external_api_msgs/package.xml b/messages/autoware_external_api_msgs/package.xml new file mode 100644 index 0000000000000..157f52416f418 --- /dev/null +++ b/messages/autoware_external_api_msgs/package.xml @@ -0,0 +1,31 @@ + + + + + autoware_external_api_msgs + 0.0.0 + The autoware_external_api_msgs package + Takagi, Isamu + Apache License 2.0 + + ament_cmake_auto + + rosidl_default_generators + builtin_interfaces + + rosidl_default_runtime + builtin_interfaces + + diagnostic_msgs + geometry_msgs + + ament_lint_auto + ament_lint_common + + rosidl_interface_packages + + + ament_cmake + + + diff --git a/messages/autoware_external_api_msgs/srv/ClearRoute.srv b/messages/autoware_external_api_msgs/srv/ClearRoute.srv new file mode 100644 index 0000000000000..0184f8d197fd3 --- /dev/null +++ b/messages/autoware_external_api_msgs/srv/ClearRoute.srv @@ -0,0 +1,2 @@ +--- +autoware_external_api_msgs/ResponseStatus status diff --git a/messages/autoware_external_api_msgs/srv/Engage.srv b/messages/autoware_external_api_msgs/srv/Engage.srv new file mode 100644 index 0000000000000..33d9cb7dc1609 --- /dev/null +++ b/messages/autoware_external_api_msgs/srv/Engage.srv @@ -0,0 +1,3 @@ +bool engage +--- +autoware_external_api_msgs/ResponseStatus status diff --git a/messages/autoware_external_api_msgs/srv/GetVersion.srv b/messages/autoware_external_api_msgs/srv/GetVersion.srv new file mode 100644 index 0000000000000..158b6b4b847ea --- /dev/null +++ b/messages/autoware_external_api_msgs/srv/GetVersion.srv @@ -0,0 +1,3 @@ +--- +autoware_external_api_msgs/ResponseStatus status +string version diff --git a/messages/autoware_external_api_msgs/srv/InitializePose.srv b/messages/autoware_external_api_msgs/srv/InitializePose.srv new file mode 100644 index 0000000000000..0df0be88501f0 --- /dev/null +++ b/messages/autoware_external_api_msgs/srv/InitializePose.srv @@ -0,0 +1,3 @@ +geometry_msgs/PoseWithCovarianceStamped pose +--- +autoware_external_api_msgs/ResponseStatus status diff --git a/messages/autoware_external_api_msgs/srv/InitializePoseAuto.srv b/messages/autoware_external_api_msgs/srv/InitializePoseAuto.srv new file mode 100644 index 0000000000000..0184f8d197fd3 --- /dev/null +++ b/messages/autoware_external_api_msgs/srv/InitializePoseAuto.srv @@ -0,0 +1,2 @@ +--- +autoware_external_api_msgs/ResponseStatus status diff --git a/messages/autoware_external_api_msgs/srv/PauseDriving.srv b/messages/autoware_external_api_msgs/srv/PauseDriving.srv new file mode 100644 index 0000000000000..9e7d918a2785c --- /dev/null +++ b/messages/autoware_external_api_msgs/srv/PauseDriving.srv @@ -0,0 +1,3 @@ +bool pause +--- +autoware_external_api_msgs/ResponseStatus status diff --git a/messages/autoware_external_api_msgs/srv/SetDoor.srv b/messages/autoware_external_api_msgs/srv/SetDoor.srv new file mode 100644 index 0000000000000..aa8a042f0ff17 --- /dev/null +++ b/messages/autoware_external_api_msgs/srv/SetDoor.srv @@ -0,0 +1,3 @@ +bool open +--- +autoware_external_api_msgs/ResponseStatus status diff --git a/messages/autoware_external_api_msgs/srv/SetEmergency.srv b/messages/autoware_external_api_msgs/srv/SetEmergency.srv new file mode 100644 index 0000000000000..7213c8724265b --- /dev/null +++ b/messages/autoware_external_api_msgs/srv/SetEmergency.srv @@ -0,0 +1,3 @@ +bool emergency +--- +autoware_external_api_msgs/ResponseStatus status diff --git a/messages/autoware_external_api_msgs/srv/SetObserver.srv b/messages/autoware_external_api_msgs/srv/SetObserver.srv new file mode 100644 index 0000000000000..faa2df42df4f9 --- /dev/null +++ b/messages/autoware_external_api_msgs/srv/SetObserver.srv @@ -0,0 +1,3 @@ +autoware_external_api_msgs/Observer mode +--- +autoware_external_api_msgs/ResponseStatus status diff --git a/messages/autoware_external_api_msgs/srv/SetOperator.srv b/messages/autoware_external_api_msgs/srv/SetOperator.srv new file mode 100644 index 0000000000000..fde557769a2da --- /dev/null +++ b/messages/autoware_external_api_msgs/srv/SetOperator.srv @@ -0,0 +1,3 @@ +autoware_external_api_msgs/Operator mode +--- +autoware_external_api_msgs/ResponseStatus status diff --git a/messages/autoware_external_api_msgs/srv/SetPose.srv b/messages/autoware_external_api_msgs/srv/SetPose.srv new file mode 100644 index 0000000000000..b6360a13e2dd5 --- /dev/null +++ b/messages/autoware_external_api_msgs/srv/SetPose.srv @@ -0,0 +1,3 @@ +geometry_msgs/PoseStamped pose +--- +autoware_external_api_msgs/ResponseStatus status diff --git a/messages/autoware_external_api_msgs/srv/SetRoute.srv b/messages/autoware_external_api_msgs/srv/SetRoute.srv new file mode 100644 index 0000000000000..84b4be958fc58 --- /dev/null +++ b/messages/autoware_external_api_msgs/srv/SetRoute.srv @@ -0,0 +1,3 @@ +autoware_external_api_msgs/Route route +--- +autoware_external_api_msgs/ResponseStatus status diff --git a/messages/autoware_external_api_msgs/srv/SetService.srv b/messages/autoware_external_api_msgs/srv/SetService.srv new file mode 100644 index 0000000000000..fd40a19fee0b6 --- /dev/null +++ b/messages/autoware_external_api_msgs/srv/SetService.srv @@ -0,0 +1,3 @@ +autoware_external_api_msgs/Service mode +--- +autoware_external_api_msgs/ResponseStatus status diff --git a/messages/autoware_external_api_msgs/srv/SetVelocityLimit.srv b/messages/autoware_external_api_msgs/srv/SetVelocityLimit.srv new file mode 100644 index 0000000000000..2960a5e524440 --- /dev/null +++ b/messages/autoware_external_api_msgs/srv/SetVelocityLimit.srv @@ -0,0 +1,3 @@ +float32 velocity +--- +autoware_external_api_msgs/ResponseStatus status From 6da5a1cbb5374dcdc6844098a2f76f9f0ac38ef6 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Tue, 5 Oct 2021 22:08:14 +0900 Subject: [PATCH 2/7] Add emergency status API (#37) --- messages/autoware_external_api_msgs/CMakeLists.txt | 1 + messages/autoware_external_api_msgs/msg/Emergency.msg | 2 ++ 2 files changed, 3 insertions(+) create mode 100644 messages/autoware_external_api_msgs/msg/Emergency.msg diff --git a/messages/autoware_external_api_msgs/CMakeLists.txt b/messages/autoware_external_api_msgs/CMakeLists.txt index 5655898c81a02..82b8f271910de 100644 --- a/messages/autoware_external_api_msgs/CMakeLists.txt +++ b/messages/autoware_external_api_msgs/CMakeLists.txt @@ -21,6 +21,7 @@ rosidl_generate_interfaces(${PROJECT_NAME} msg/DoorStatus.msg msg/Observer.msg msg/Operator.msg + msg/Emergency.msg msg/EngageStatus.msg msg/GearShift.msg msg/GearShiftStamped.msg diff --git a/messages/autoware_external_api_msgs/msg/Emergency.msg b/messages/autoware_external_api_msgs/msg/Emergency.msg new file mode 100644 index 0000000000000..b6f2933e20c8c --- /dev/null +++ b/messages/autoware_external_api_msgs/msg/Emergency.msg @@ -0,0 +1,2 @@ +builtin_interfaces/Time stamp +bool emergency From 515a102731a05a0f7f6d0c7ab4b33fd5c22fb273 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Wed, 20 Oct 2021 22:11:49 +0900 Subject: [PATCH 3/7] Add package version API (#36) * Add package version API * Fix message type * Fix message name Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> --- messages/autoware_external_api_msgs/CMakeLists.txt | 6 ++++-- .../autoware_external_api_msgs/msg/MetadataPackages.msg | 2 ++ .../autoware_external_api_msgs/srv/GetMetadataPackages.srv | 3 +++ 3 files changed, 9 insertions(+), 2 deletions(-) create mode 100644 messages/autoware_external_api_msgs/msg/MetadataPackages.msg create mode 100644 messages/autoware_external_api_msgs/srv/GetMetadataPackages.srv diff --git a/messages/autoware_external_api_msgs/CMakeLists.txt b/messages/autoware_external_api_msgs/CMakeLists.txt index 82b8f271910de..dc87c3671382f 100644 --- a/messages/autoware_external_api_msgs/CMakeLists.txt +++ b/messages/autoware_external_api_msgs/CMakeLists.txt @@ -19,14 +19,15 @@ rosidl_generate_interfaces(${PROJECT_NAME} msg/ControlCommand.msg msg/ControlCommandStamped.msg msg/DoorStatus.msg - msg/Observer.msg - msg/Operator.msg msg/Emergency.msg msg/EngageStatus.msg msg/GearShift.msg msg/GearShiftStamped.msg msg/Heartbeat.msg msg/MapHash.msg + msg/MetadataPackages.msg + msg/Observer.msg + msg/Operator.msg msg/ResponseStatus.msg msg/Route.msg msg/RouteSection.msg @@ -35,6 +36,7 @@ rosidl_generate_interfaces(${PROJECT_NAME} msg/TurnSignalStamped.msg srv/ClearRoute.srv srv/Engage.srv + srv/GetMetadataPackages.srv srv/GetVersion.srv srv/InitializePose.srv srv/InitializePoseAuto.srv diff --git a/messages/autoware_external_api_msgs/msg/MetadataPackages.msg b/messages/autoware_external_api_msgs/msg/MetadataPackages.msg new file mode 100644 index 0000000000000..638ae995b7e3c --- /dev/null +++ b/messages/autoware_external_api_msgs/msg/MetadataPackages.msg @@ -0,0 +1,2 @@ +string format +string json diff --git a/messages/autoware_external_api_msgs/srv/GetMetadataPackages.srv b/messages/autoware_external_api_msgs/srv/GetMetadataPackages.srv new file mode 100644 index 0000000000000..e9dd2a22c04ca --- /dev/null +++ b/messages/autoware_external_api_msgs/srv/GetMetadataPackages.srv @@ -0,0 +1,3 @@ +--- +autoware_external_api_msgs/ResponseStatus status +autoware_external_api_msgs/MetadataPackages metadata From 792b8c99c13ce218f9852a8bb76ac509a1be83d2 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Wed, 27 Oct 2021 10:50:38 +0900 Subject: [PATCH 4/7] Add lanelet XML API (#39) --- messages/autoware_external_api_msgs/CMakeLists.txt | 2 ++ messages/autoware_external_api_msgs/msg/TextFile.msg | 1 + messages/autoware_external_api_msgs/srv/GetTextFile.srv | 3 +++ 3 files changed, 6 insertions(+) create mode 100644 messages/autoware_external_api_msgs/msg/TextFile.msg create mode 100644 messages/autoware_external_api_msgs/srv/GetTextFile.srv diff --git a/messages/autoware_external_api_msgs/CMakeLists.txt b/messages/autoware_external_api_msgs/CMakeLists.txt index dc87c3671382f..f469abeefa88f 100644 --- a/messages/autoware_external_api_msgs/CMakeLists.txt +++ b/messages/autoware_external_api_msgs/CMakeLists.txt @@ -32,11 +32,13 @@ rosidl_generate_interfaces(${PROJECT_NAME} msg/Route.msg msg/RouteSection.msg msg/Service.msg + msg/TextFile.msg msg/TurnSignal.msg msg/TurnSignalStamped.msg srv/ClearRoute.srv srv/Engage.srv srv/GetMetadataPackages.srv + srv/GetTextFile.srv srv/GetVersion.srv srv/InitializePose.srv srv/InitializePoseAuto.srv diff --git a/messages/autoware_external_api_msgs/msg/TextFile.msg b/messages/autoware_external_api_msgs/msg/TextFile.msg new file mode 100644 index 0000000000000..7866644a83726 --- /dev/null +++ b/messages/autoware_external_api_msgs/msg/TextFile.msg @@ -0,0 +1 @@ +string text diff --git a/messages/autoware_external_api_msgs/srv/GetTextFile.srv b/messages/autoware_external_api_msgs/srv/GetTextFile.srv new file mode 100644 index 0000000000000..c06f0b0b076c5 --- /dev/null +++ b/messages/autoware_external_api_msgs/srv/GetTextFile.srv @@ -0,0 +1,3 @@ +--- +autoware_external_api_msgs/ResponseStatus status +autoware_external_api_msgs/TextFile file From 5f086dab1b0d4c32435bcbfe6ada7a453839775c Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Fri, 29 Oct 2021 19:27:13 +0900 Subject: [PATCH 5/7] develop -> main sync (#41) * Add vehicle status types (#25) * Add vehicle status types * Trigger CI * Add vehicle command types (#30) * Add fail safe state types Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Co-authored-by: Takagi, Isamu --- messages/autoware_external_api_msgs/CMakeLists.txt | 7 +++++++ .../autoware_external_api_msgs/msg/FailSafeState.msg | 9 +++++++++ .../msg/FailSafeStateStamped.msg | 2 ++ messages/autoware_external_api_msgs/msg/Steering.msg | 1 + .../autoware_external_api_msgs/msg/VehicleCommand.msg | 2 ++ .../msg/VehicleCommandStamped.msg | 2 ++ .../autoware_external_api_msgs/msg/VehicleStatus.msg | 4 ++++ .../msg/VehicleStatusStamped.msg | 2 ++ 8 files changed, 29 insertions(+) create mode 100644 messages/autoware_external_api_msgs/msg/FailSafeState.msg create mode 100644 messages/autoware_external_api_msgs/msg/FailSafeStateStamped.msg create mode 100644 messages/autoware_external_api_msgs/msg/Steering.msg create mode 100644 messages/autoware_external_api_msgs/msg/VehicleCommand.msg create mode 100644 messages/autoware_external_api_msgs/msg/VehicleCommandStamped.msg create mode 100644 messages/autoware_external_api_msgs/msg/VehicleStatus.msg create mode 100644 messages/autoware_external_api_msgs/msg/VehicleStatusStamped.msg diff --git a/messages/autoware_external_api_msgs/CMakeLists.txt b/messages/autoware_external_api_msgs/CMakeLists.txt index f469abeefa88f..2b923c688b499 100644 --- a/messages/autoware_external_api_msgs/CMakeLists.txt +++ b/messages/autoware_external_api_msgs/CMakeLists.txt @@ -21,6 +21,8 @@ rosidl_generate_interfaces(${PROJECT_NAME} msg/DoorStatus.msg msg/Emergency.msg msg/EngageStatus.msg + msg/FailSafeState.msg + msg/FailSafeStateStamped.msg msg/GearShift.msg msg/GearShiftStamped.msg msg/Heartbeat.msg @@ -33,8 +35,13 @@ rosidl_generate_interfaces(${PROJECT_NAME} msg/RouteSection.msg msg/Service.msg msg/TextFile.msg + msg/Steering.msg msg/TurnSignal.msg msg/TurnSignalStamped.msg + msg/VehicleCommand.msg + msg/VehicleCommandStamped.msg + msg/VehicleStatus.msg + msg/VehicleStatusStamped.msg srv/ClearRoute.srv srv/Engage.srv srv/GetMetadataPackages.srv diff --git a/messages/autoware_external_api_msgs/msg/FailSafeState.msg b/messages/autoware_external_api_msgs/msg/FailSafeState.msg new file mode 100644 index 0000000000000..f5abbbeb7e82b --- /dev/null +++ b/messages/autoware_external_api_msgs/msg/FailSafeState.msg @@ -0,0 +1,9 @@ +# constants +uint8 NORMAL = 1 +uint8 OVERRIDE_REQUESTING = 2 +uint8 MRM_OPERATING = 3 +uint8 MRM_SUCCEEDED = 4 +uint8 MRM_FAILED = 5 + +# fields +uint8 state diff --git a/messages/autoware_external_api_msgs/msg/FailSafeStateStamped.msg b/messages/autoware_external_api_msgs/msg/FailSafeStateStamped.msg new file mode 100644 index 0000000000000..2f53f255e8cc9 --- /dev/null +++ b/messages/autoware_external_api_msgs/msg/FailSafeStateStamped.msg @@ -0,0 +1,2 @@ +builtin_interfaces/Time stamp +autoware_external_api_msgs/FailSafeState state diff --git a/messages/autoware_external_api_msgs/msg/Steering.msg b/messages/autoware_external_api_msgs/msg/Steering.msg new file mode 100644 index 0000000000000..c4705704f3464 --- /dev/null +++ b/messages/autoware_external_api_msgs/msg/Steering.msg @@ -0,0 +1 @@ +float32 data diff --git a/messages/autoware_external_api_msgs/msg/VehicleCommand.msg b/messages/autoware_external_api_msgs/msg/VehicleCommand.msg new file mode 100644 index 0000000000000..a0a3652f1291a --- /dev/null +++ b/messages/autoware_external_api_msgs/msg/VehicleCommand.msg @@ -0,0 +1,2 @@ +float64 velocity +float64 acceleration diff --git a/messages/autoware_external_api_msgs/msg/VehicleCommandStamped.msg b/messages/autoware_external_api_msgs/msg/VehicleCommandStamped.msg new file mode 100644 index 0000000000000..1bd6fce2e6250 --- /dev/null +++ b/messages/autoware_external_api_msgs/msg/VehicleCommandStamped.msg @@ -0,0 +1,2 @@ +builtin_interfaces/Time stamp +autoware_external_api_msgs/VehicleCommand command diff --git a/messages/autoware_external_api_msgs/msg/VehicleStatus.msg b/messages/autoware_external_api_msgs/msg/VehicleStatus.msg new file mode 100644 index 0000000000000..8ade861f825cb --- /dev/null +++ b/messages/autoware_external_api_msgs/msg/VehicleStatus.msg @@ -0,0 +1,4 @@ +geometry_msgs/Twist twist +autoware_external_api_msgs/Steering steering +autoware_external_api_msgs/TurnSignal turn_signal +autoware_external_api_msgs/GearShift gear_shift diff --git a/messages/autoware_external_api_msgs/msg/VehicleStatusStamped.msg b/messages/autoware_external_api_msgs/msg/VehicleStatusStamped.msg new file mode 100644 index 0000000000000..9152f95d96b53 --- /dev/null +++ b/messages/autoware_external_api_msgs/msg/VehicleStatusStamped.msg @@ -0,0 +1,2 @@ +builtin_interfaces/Time stamp +autoware_external_api_msgs/VehicleStatus status From e8218d792733898f3bb48403bacd59b2983fb99a Mon Sep 17 00:00:00 2001 From: 1222-takeshi Date: Wed, 1 Dec 2021 10:06:27 +0900 Subject: [PATCH 6/7] fix: remove TODO comment --- .../autoware_external_api_msgs/msg/ClassifiedDiagnostics.msg | 3 --- 1 file changed, 3 deletions(-) diff --git a/messages/autoware_external_api_msgs/msg/ClassifiedDiagnostics.msg b/messages/autoware_external_api_msgs/msg/ClassifiedDiagnostics.msg index 8d4db7f9c4beb..943546654a1b3 100644 --- a/messages/autoware_external_api_msgs/msg/ClassifiedDiagnostics.msg +++ b/messages/autoware_external_api_msgs/msg/ClassifiedDiagnostics.msg @@ -1,5 +1,2 @@ builtin_interfaces/Time stamp -# TODO: move diagnostics -# TODO: move diagnostics_error diagnostic_msgs/DiagnosticStatus[] diagnostics_notice -# TODO: move hazard_status From ba6159e0f01d08f16b710811575bccce49fd1b45 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Wed, 1 Dec 2021 01:06:49 +0000 Subject: [PATCH 7/7] ci(pre-commit): autofix --- messages/autoware_external_api_msgs/package.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/messages/autoware_external_api_msgs/package.xml b/messages/autoware_external_api_msgs/package.xml index 157f52416f418..edb6f6e7a752a 100644 --- a/messages/autoware_external_api_msgs/package.xml +++ b/messages/autoware_external_api_msgs/package.xml @@ -10,11 +10,11 @@ ament_cmake_auto - rosidl_default_generators builtin_interfaces + rosidl_default_generators - rosidl_default_runtime builtin_interfaces + rosidl_default_runtime diagnostic_msgs geometry_msgs