refactor(autoware_auto_control_msgs): replace autoware_auto_control_msgs with autoware_control_msgs

common/tier4_control_rviz_plugin/README.md

@@ -15,11 +15,11 @@ This package is to mimic external control for simulation.
 
 ### Output
 
-| Name                             | Type                                                       | Description             |
-| -------------------------------- | ---------------------------------------------------------- | ----------------------- |
-| `/control/gate_mode_cmd`         | `tier4_control_msgs::msg::GateMode`                        | GATE mode               |
-| `/external/selected/control_cmd` | `autoware_auto_control_msgs::msg::AckermannControlCommand` | AckermannControlCommand |
-| `/external/selected/gear_cmd`    | `autoware_auto_vehicle_msgs::msg::GearCommand`             | GEAR                    |
+| Name                             | Type                                           | Description |
+| -------------------------------- | ---------------------------------------------- | ----------- |
+| `/control/gate_mode_cmd`         | `tier4_control_msgs::msg::GateMode`            | GATE mode   |
+| `/external/selected/control_cmd` | `autoware_control_msgs::msg::Control`          | Control     |
+| `/external/selected/gear_cmd`    | `autoware_auto_vehicle_msgs::msg::GearCommand` | GEAR        |
 
 ## Usage
 

common/tier4_control_rviz_plugin/package.xml

@@ -10,8 +10,8 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>autoware_auto_control_msgs</depend>
   <depend>autoware_auto_vehicle_msgs</depend>
+  <depend>autoware_control_msgs</depend>
   <depend>libqt5-core</depend>
   <depend>libqt5-gui</depend>
   <depend>libqt5-widgets</depend>

common/tier4_control_rviz_plugin/src/tools/manual_controller.cpp

@@ -110,11 +110,11 @@ ManualController::ManualController(QWidget * parent) : rviz_common::Panel(parent
 void ManualController::update()
 {
   if (!raw_node_) return;
-  AckermannControlCommand ackermann;
+  Control ackermann;
   {
     ackermann.stamp = raw_node_->get_clock()->now();
     ackermann.lateral.steering_tire_angle = steering_angle_;
-    ackermann.longitudinal.speed = cruise_velocity_;
+    ackermann.longitudinal.velocity = cruise_velocity_;
     if (current_acceleration_) {
       /**
        * @brief Calculate desired acceleration by simple BackSteppingControl
@@ -133,9 +133,9 @@ void ManualController::update()
   GearCommand gear_cmd;
   {
     const double eps = 0.001;
-    if (ackermann.longitudinal.speed > eps) {
+    if (ackermann.longitudinal.velocity > eps) {
       gear_cmd.command = GearCommand::DRIVE;
-    } else if (ackermann.longitudinal.speed < -eps && current_velocity_ < eps) {
+    } else if (ackermann.longitudinal.velocity < -eps && current_velocity_ < eps) {
       gear_cmd.command = GearCommand::REVERSE;
       ackermann.longitudinal.acceleration *= -1.0;
     } else {
@@ -180,8 +180,8 @@ void ManualController::onInitialize()
 
   pub_gate_mode_ = raw_node_->create_publisher<GateMode>("/control/gate_mode_cmd", rclcpp::QoS(1));
 
-  pub_control_command_ = raw_node_->create_publisher<AckermannControlCommand>(
-    "/external/selected/control_cmd", rclcpp::QoS(1));
+  pub_control_command_ =
+    raw_node_->create_publisher<Control>("/external/selected/control_cmd", rclcpp::QoS(1));
 
   pub_gear_cmd_ = raw_node_->create_publisher<GearCommand>("/external/selected/gear_cmd", 1);
 }

common/tier4_control_rviz_plugin/src/tools/manual_controller.hpp

@@ -26,20 +26,20 @@
 
 #include "autoware_auto_vehicle_msgs/msg/velocity_report.hpp"
 #include "geometry_msgs/msg/twist.hpp"
-#include <autoware_auto_control_msgs/msg/ackermann_control_command.hpp>
 #include <autoware_auto_vehicle_msgs/msg/engage.hpp>
 #include <autoware_auto_vehicle_msgs/msg/gear_command.hpp>
 #include <autoware_auto_vehicle_msgs/msg/gear_report.hpp>
+#include <autoware_control_msgs/msg/control.hpp>
 #include <tier4_control_msgs/msg/gate_mode.hpp>
 #include <tier4_external_api_msgs/srv/engage.hpp>
 
 #include <memory>
 
 namespace rviz_plugins
 {
-using autoware_auto_control_msgs::msg::AckermannControlCommand;
 using autoware_auto_vehicle_msgs::msg::GearCommand;
 using autoware_auto_vehicle_msgs::msg::VelocityReport;
+using autoware_control_msgs::msg::Control;
 using geometry_msgs::msg::Twist;
 using tier4_control_msgs::msg::GateMode;
 using EngageSrv = tier4_external_api_msgs::srv::Engage;
@@ -74,7 +74,7 @@ public Q_SLOTS:  // NOLINT for Qt
   rclcpp::Subscription<VelocityReport>::SharedPtr sub_velocity_;
   rclcpp::Subscription<Engage>::SharedPtr sub_engage_;
   rclcpp::Publisher<tier4_control_msgs::msg::GateMode>::SharedPtr pub_gate_mode_;
-  rclcpp::Publisher<AckermannControlCommand>::SharedPtr pub_control_command_;
+  rclcpp::Publisher<Control>::SharedPtr pub_control_command_;
   rclcpp::Publisher<GearCommand>::SharedPtr pub_gear_cmd_;
   rclcpp::Client<EngageSrv>::SharedPtr client_engage_;
   rclcpp::Subscription<GearReport>::SharedPtr sub_gear_;

control/autonomous_emergency_braking/package.xml

@@ -11,9 +11,9 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>autoware_auto_control_msgs</depend>
   <depend>autoware_auto_system_msgs</depend>
   <depend>autoware_auto_vehicle_msgs</depend>
+  <depend>autoware_control_msgs</depend>
   <depend>diagnostic_updater</depend>
   <depend>geometry_msgs</depend>
   <depend>motion_utils</depend>

control/control_performance_analysis/README.md

@@ -25,13 +25,13 @@ Error acceleration calculations are made based on the velocity calculations abov
 
 ### Input topics
 
-| Name                                     | Type                                                     | Description                                 |
-| ---------------------------------------- | -------------------------------------------------------- | ------------------------------------------- |
-| `/planning/scenario_planning/trajectory` | autoware_auto_planning_msgs::msg::Trajectory             | Output trajectory from planning module.     |
-| `/control/command/control_cmd`           | autoware_auto_control_msgs::msg::AckermannControlCommand | Output control command from control module. |
-| `/vehicle/status/steering_status`        | autoware_auto_vehicle_msgs::msg::SteeringReport          | Steering information from vehicle.          |
-| `/localization/kinematic_state`          | nav_msgs::msg::Odometry                                  | Use twist from odometry.                    |
-| `/tf`                                    | tf2_msgs::msg::TFMessage                                 | Extract ego pose from tf.                   |
+| Name                                     | Type                                            | Description                                 |
+| ---------------------------------------- | ----------------------------------------------- | ------------------------------------------- |
+| `/planning/scenario_planning/trajectory` | autoware_auto_planning_msgs::msg::Trajectory    | Output trajectory from planning module.     |
+| `/control/command/control_cmd`           | autoware_control_msgs::msg::Control             | Output control command from control module. |
+| `/vehicle/status/steering_status`        | autoware_auto_vehicle_msgs::msg::SteeringReport | Steering information from vehicle.          |
+| `/localization/kinematic_state`          | nav_msgs::msg::Odometry                         | Use twist from odometry.                    |
+| `/tf`                                    | tf2_msgs::msg::TFMessage                        | Extract ego pose from tf.                   |
 
 ### Output topics
 

control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_core.hpp

@@ -24,9 +24,9 @@
 #include <Eigen/Core>
 #include <rclcpp/time.hpp>
 
-#include <autoware_auto_control_msgs/msg/ackermann_control_command.hpp>
 #include <autoware_auto_planning_msgs/msg/trajectory.hpp>
 #include <autoware_auto_vehicle_msgs/msg/steering_report.hpp>
+#include <autoware_control_msgs/msg/control.hpp>
 #include <geometry_msgs/msg/pose.hpp>
 #include <geometry_msgs/msg/pose_array.hpp>
 #include <geometry_msgs/msg/twist.hpp>
@@ -38,9 +38,9 @@
 
 namespace control_performance_analysis
 {
-using autoware_auto_control_msgs::msg::AckermannControlCommand;
 using autoware_auto_planning_msgs::msg::Trajectory;
 using autoware_auto_vehicle_msgs::msg::SteeringReport;
+using autoware_control_msgs::msg::Control;
 using control_performance_analysis::msg::DrivingMonitorStamped;
 using control_performance_analysis::msg::Error;
 using control_performance_analysis::msg::ErrorStamped;
@@ -72,7 +72,7 @@ class ControlPerformanceAnalysisCore
   // Setters
   void setCurrentPose(const Pose & msg);
   void setCurrentWaypoints(const Trajectory & trajectory);
-  void setCurrentControlValue(const AckermannControlCommand & msg);
+  void setCurrentControlValue(const Control & msg);
   void setInterpolatedVars(
     const Pose & interpolated_pose, const double & interpolated_velocity,
     const double & interpolated_acceleration, const double & interpolated_steering_angle);
@@ -102,7 +102,7 @@ class ControlPerformanceAnalysisCore
   std::shared_ptr<autoware_auto_planning_msgs::msg::Trajectory> current_trajectory_ptr_;
   std::shared_ptr<Pose> current_vec_pose_ptr_;
   std::shared_ptr<std::vector<Odometry>> odom_history_ptr_;  // velocities at k-2, k-1, k, k+1
-  std::shared_ptr<AckermannControlCommand> current_control_ptr_;
+  std::shared_ptr<Control> current_control_ptr_;
   std::shared_ptr<SteeringReport> current_vec_steering_msg_ptr_;
 
   // State holder

control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_node.hpp

@@ -23,9 +23,9 @@
 #include <signal_processing/lowpass_filter_1d.hpp>
 #include <tier4_autoware_utils/ros/self_pose_listener.hpp>
 
-#include <autoware_auto_control_msgs/msg/ackermann_control_command.hpp>
 #include <autoware_auto_planning_msgs/msg/trajectory.hpp>
 #include <autoware_auto_vehicle_msgs/msg/steering_report.hpp>
+#include <autoware_control_msgs/msg/control.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 
@@ -36,9 +36,9 @@
 
 namespace control_performance_analysis
 {
-using autoware_auto_control_msgs::msg::AckermannControlCommand;
 using autoware_auto_planning_msgs::msg::Trajectory;
 using autoware_auto_vehicle_msgs::msg::SteeringReport;
+using autoware_control_msgs::msg::Control;
 using control_performance_analysis::msg::DrivingMonitorStamped;
 using control_performance_analysis::msg::ErrorStamped;
 using geometry_msgs::msg::PoseStamped;
@@ -52,9 +52,8 @@ class ControlPerformanceAnalysisNode : public rclcpp::Node
 private:
   // Subscribers and Local Variable Assignment
   rclcpp::Subscription<Trajectory>::SharedPtr sub_trajectory_;  // subscribe to trajectory
-  rclcpp::Subscription<AckermannControlCommand>::SharedPtr
-    sub_control_cmd_;                                       // subscribe to steering control value
-  rclcpp::Subscription<Odometry>::SharedPtr sub_velocity_;  // subscribe to velocity
+  rclcpp::Subscription<Control>::SharedPtr sub_control_cmd_;  // subscribe to steering control value
+  rclcpp::Subscription<Odometry>::SharedPtr sub_velocity_;    // subscribe to velocity
   rclcpp::Subscription<SteeringReport>::SharedPtr sub_vehicle_steering_;
 
   // Publishers
@@ -68,26 +67,26 @@ class ControlPerformanceAnalysisNode : public rclcpp::Node
 
   // Callback Methods
   void onTrajectory(const Trajectory::ConstSharedPtr msg);
-  void onControlRaw(const AckermannControlCommand::ConstSharedPtr control_msg);
+  void onControlRaw(const Control::ConstSharedPtr control_msg);
   void onVecSteeringMeasured(const SteeringReport::ConstSharedPtr meas_steer_msg);
   void onVelocity(const Odometry::ConstSharedPtr msg);
 
   // Parameters
   Params param_{};  // wheelbase, control period and feedback coefficients.
   // State holder
-  AckermannControlCommand::ConstSharedPtr last_control_cmd_;
+  Control::ConstSharedPtr last_control_cmd_;
   double d_control_cmd_{0};
 
   // Subscriber Parameters
   Trajectory::ConstSharedPtr current_trajectory_ptr_;  // ConstPtr to local traj.
-  AckermannControlCommand::ConstSharedPtr current_control_msg_ptr_;
+  Control::ConstSharedPtr current_control_msg_ptr_;
   SteeringReport::ConstSharedPtr current_vec_steering_msg_ptr_;
   Odometry::ConstSharedPtr current_odom_ptr_;
   PoseStamped::ConstSharedPtr current_pose_;  // pose of the vehicle, x, y, heading
 
   // prev states
   Trajectory prev_traj;
-  AckermannControlCommand prev_cmd;
+  Control prev_cmd;
   SteeringReport prev_steering;
 
   // Algorithm

control/control_performance_analysis/package.xml

@@ -24,9 +24,9 @@
 
   <build_depend>builtin_interfaces</build_depend>
 
-  <depend>autoware_auto_control_msgs</depend>
   <depend>autoware_auto_planning_msgs</depend>
   <depend>autoware_auto_vehicle_msgs</depend>
+  <depend>autoware_control_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>libboost-dev</depend>
   <depend>motion_utils</depend>

control/control_performance_analysis/src/control_performance_analysis_core.cpp

@@ -74,9 +74,9 @@ void ControlPerformanceAnalysisCore::setCurrentPose(const Pose & msg)
   current_vec_pose_ptr_ = std::make_shared<Pose>(msg);
 }
 
-void ControlPerformanceAnalysisCore::setCurrentControlValue(const AckermannControlCommand & msg)
+void ControlPerformanceAnalysisCore::setCurrentControlValue(const Control & msg)
 {
-  current_control_ptr_ = std::make_shared<AckermannControlCommand>(msg);
+  current_control_ptr_ = std::make_shared<Control>(msg);
 }
 
 std::pair<bool, int32_t> ControlPerformanceAnalysisCore::findClosestPrevWayPointIdx_path_direction()

control/control_performance_analysis/src/control_performance_analysis_node.cpp

@@ -24,7 +24,7 @@
 
 namespace
 {
-using autoware_auto_control_msgs::msg::AckermannControlCommand;
+using autoware_control_msgs::msg::Control;
 using control_performance_analysis::msg::DrivingMonitorStamped;
 using control_performance_analysis::msg::ErrorStamped;
 
@@ -62,7 +62,7 @@ ControlPerformanceAnalysisNode::ControlPerformanceAnalysisNode(
     "~/input/reference_trajectory", 1,
     std::bind(&ControlPerformanceAnalysisNode::onTrajectory, this, _1));
 
-  sub_control_cmd_ = create_subscription<AckermannControlCommand>(
+  sub_control_cmd_ = create_subscription<Control>(
     "~/input/control_raw", 1, std::bind(&ControlPerformanceAnalysisNode::onControlRaw, this, _1));
 
   sub_vehicle_steering_ = create_subscription<SteeringReport>(
@@ -93,8 +93,7 @@ void ControlPerformanceAnalysisNode::onTrajectory(const Trajectory::ConstSharedP
   current_trajectory_ptr_ = msg;
 }
 
-void ControlPerformanceAnalysisNode::onControlRaw(
-  const AckermannControlCommand::ConstSharedPtr control_msg)
+void ControlPerformanceAnalysisNode::onControlRaw(const Control::ConstSharedPtr control_msg)
 {
   if (last_control_cmd_) {
     const rclcpp::Duration & duration =

control/joy_controller/README.md

@@ -15,15 +15,15 @@
 
 ### Output topics
 
-| Name                                | Type                                                     | Description                              |
-| ----------------------------------- | -------------------------------------------------------- | ---------------------------------------- |
-| `~/output/control_command`          | autoware_auto_control_msgs::msg::AckermannControlCommand | lateral and longitudinal control command |
-| `~/output/external_control_command` | tier4_external_api_msgs::msg::ControlCommandStamped      | lateral and longitudinal control command |
-| `~/output/shift`                    | tier4_external_api_msgs::msg::GearShiftStamped           | gear command                             |
-| `~/output/turn_signal`              | tier4_external_api_msgs::msg::TurnSignalStamped          | turn signal command                      |
-| `~/output/gate_mode`                | tier4_control_msgs::msg::GateMode                        | gate mode (Auto or External)             |
-| `~/output/heartbeat`                | tier4_external_api_msgs::msg::Heartbeat                  | heartbeat                                |
-| `~/output/vehicle_engage`           | autoware_auto_vehicle_msgs::msg::Engage                  | vehicle engage                           |
+| Name                                | Type                                                | Description                              |
+| ----------------------------------- | --------------------------------------------------- | ---------------------------------------- |
+| `~/output/control_command`          | autoware_control_msgs::msg::Control                 | lateral and longitudinal control command |
+| `~/output/external_control_command` | tier4_external_api_msgs::msg::ControlCommandStamped | lateral and longitudinal control command |
+| `~/output/shift`                    | tier4_external_api_msgs::msg::GearShiftStamped      | gear command                             |
+| `~/output/turn_signal`              | tier4_external_api_msgs::msg::TurnSignalStamped     | turn signal command                      |
+| `~/output/gate_mode`                | tier4_control_msgs::msg::GateMode                   | gate mode (Auto or External)             |
+| `~/output/heartbeat`                | tier4_external_api_msgs::msg::Heartbeat             | heartbeat                                |
+| `~/output/vehicle_engage`           | autoware_auto_vehicle_msgs::msg::Engage             | vehicle engage                           |
 
 ## Parameters
 

control/joy_controller/include/joy_controller/joy_controller.hpp

@@ -19,8 +19,8 @@
 
 #include <rclcpp/rclcpp.hpp>
 
-#include <autoware_auto_control_msgs/msg/ackermann_control_command.hpp>
 #include <autoware_auto_vehicle_msgs/msg/engage.hpp>
+#include <autoware_control_msgs/msg/control.hpp>
 #include <geometry_msgs/msg/twist_stamped.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 #include <sensor_msgs/msg/joy.hpp>
@@ -80,8 +80,7 @@ class AutowareJoyControllerNode : public rclcpp::Node
   void onOdometry(const nav_msgs::msg::Odometry::ConstSharedPtr msg);
 
   // Publisher
-  rclcpp::Publisher<autoware_auto_control_msgs::msg::AckermannControlCommand>::SharedPtr
-    pub_control_command_;
+  rclcpp::Publisher<autoware_control_msgs::msg::Control>::SharedPtr pub_control_command_;
   rclcpp::Publisher<tier4_external_api_msgs::msg::ControlCommandStamped>::SharedPtr
     pub_external_control_command_;
   rclcpp::Publisher<tier4_external_api_msgs::msg::GearShiftStamped>::SharedPtr pub_shift_;
@@ -105,7 +104,7 @@ class AutowareJoyControllerNode : public rclcpp::Node
   rclcpp::Client<tier4_external_api_msgs::srv::Engage>::SharedPtr client_autoware_engage_;
 
   // Previous State
-  autoware_auto_control_msgs::msg::AckermannControlCommand prev_control_command_;
+  autoware_control_msgs::msg::Control prev_control_command_;
   tier4_external_api_msgs::msg::ControlCommand prev_external_control_command_;
   GearShiftType prev_shift_ = tier4_external_api_msgs::msg::GearShift::NONE;
   TurnSignalType prev_turn_signal_ = tier4_external_api_msgs::msg::TurnSignal::NONE;

control/joy_controller/package.xml

@@ -16,8 +16,8 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>autoware_auto_control_msgs</depend>
   <depend>autoware_auto_vehicle_msgs</depend>
+  <depend>autoware_control_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>joy</depend>
   <depend>nav_msgs</depend>