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chore(autoware_default_adapi)!: prefix autoware to package name #8533

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Aug 27, 2024
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chore(autoware_default_adapi)!: prefix autoware to package name #8533

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edde1a5
chore(autoware_default_adapi): prefix autoware
isamu-takagi Aug 8, 2024
63139e9
fix package name
isamu-takagi Aug 20, 2024
185d6b6
Merge branch 'main' into chore/default-adapi-prefix-autoware
isamu-takagi Aug 23, 2024
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2 changes: 1 addition & 1 deletion .github/CODEOWNERS
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Expand Up @@ -221,7 +221,7 @@ system/autoware_component_monitor/** memin@leodrive.ai
system/autoware_processing_time_checker/** kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp
system/bluetooth_monitor/** fumihito.ito@tier4.jp
system/component_state_monitor/** isamu.takagi@tier4.jp
system/default_ad_api/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp
system/autoware_default_adapi/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp
system/default_ad_api_helpers/ad_api_adaptors/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp
system/default_ad_api_helpers/ad_api_visualizers/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp
system/default_ad_api_helpers/automatic_pose_initializer/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp
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4 changes: 2 additions & 2 deletions launch/tier4_autoware_api_launch/launch/autoware_api.launch.xml
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@@ -1,7 +1,7 @@
<launch>
<!-- AD API options -->
<arg name="launch_deprecated_api" default="false"/>
<arg name="launch_default_ad_api" default="true"/>
<arg name="launch_default_adapi" default="true"/>
<arg name="launch_rviz_adaptors" default="true"/>

<!-- rosbridge options -->
Expand All @@ -16,7 +16,7 @@

<!-- AD API -->
<group>
<include file="$(find-pkg-share default_ad_api)/launch/default_ad_api.launch.py" if="$(var launch_default_ad_api)"/>
<include file="$(find-pkg-share autoware_default_adapi)/launch/default_adapi.launch.py" if="$(var launch_default_adapi)"/>
<include file="$(find-pkg-share ad_api_adaptors)/launch/rviz_adaptors.launch.xml" if="$(var launch_rviz_adaptors)"/>
</group>

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2 changes: 1 addition & 1 deletion launch/tier4_autoware_api_launch/package.xml
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Expand Up @@ -12,11 +12,11 @@
<buildtool_depend>autoware_cmake</buildtool_depend>

<exec_depend>ad_api_adaptors</exec_depend>
<exec_depend>autoware_default_adapi</exec_depend>
<exec_depend>autoware_iv_external_api_adaptor</exec_depend>
<exec_depend>autoware_iv_internal_api_adaptor</exec_depend>
<exec_depend>autoware_path_distance_calculator</exec_depend>
<exec_depend>awapi_awiv_adapter</exec_depend>
<exec_depend>default_ad_api</exec_depend>
<exec_depend>rosbridge_server</exec_depend>
<exec_depend>topic_tools</exec_depend>

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6 changes: 3 additions & 3 deletions localization/pose_initializer/README.md
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Expand Up @@ -51,9 +51,9 @@ If the score of initial pose estimation result is lower than score threshold, ER

## Connection with Default AD API

This `pose_initializer` is used via default AD API. For detailed description of the API description, please refer to [the description of `default_ad_api`](https://github.com/autowarefoundation/autoware.universe/blob/main/system/default_ad_api/document/localization.md).
This `pose_initializer` is used via default AD API. For detailed description of the API description, please refer to [the description of `autoware_default_adapi`](https://github.com/autowarefoundation/autoware.universe/blob/main/system/autoware_default_adapi/document/localization.md).

<img src="../../system/default_ad_api/document/images/localization.drawio.svg" alt="drawing" width="800"/>
<img src="../../system/autoware_default_adapi/document/images/localization.drawio.svg" alt="drawing" width="800"/>

## Initialize pose via CLI

Expand Down Expand Up @@ -136,4 +136,4 @@ pose:
```

It behaves the same as "initialpose (from rviz)".
The position.z and the covariance will be overwritten by [ad_api_adaptors](https://github.com/autowarefoundation/autoware.universe/tree/main/system/default_ad_api_helpers/ad_api_adaptors), so there is no need to input them.
The position.z and the covariance will be overwritten by [ad_api_adaptors](https://github.com/autowarefoundation/autoware.universe/tree/main/system/autoware_default_adapi_helpers/ad_api_adaptors), so there is no need to input them.
24 changes: 12 additions & 12 deletions planning/behavior_path_planner/autoware_behavior_path_planner/README.md
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Expand Up @@ -89,18 +89,18 @@ The Planner Manager's responsibilities include:

### Input

| Name | Required? | Type | Description |
| :---------------------------- | :-------: | :------------------------------------------------------ | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| ~/input/odometry | ○ | `nav_msgs::msg::Odometry` | for ego velocity. |
| ~/input/accel | ○ | `geometry_msgs::msg::AccelWithCovarianceStamped` | for ego acceleration. |
| ~/input/objects | ○ | `autoware_perception_msgs::msg::PredictedObjects` | dynamic objects from perception module. |
| ~/input/occupancy_grid_map | ○ | `nav_msgs::msg::OccupancyGrid` | occupancy grid map from perception module. This is used for only Goal Planner module. |
| ~/input/traffic_signals | ○ | `autoware_perception_msgs::msg::TrafficLightGroupArray` | traffic signals information from the perception module |
| ~/input/vector_map | ○ | `autoware_map_msgs::msg::LaneletMapBin` | vector map information. |
| ~/input/route | ○ | `autoware_planning_msgs::msg::LaneletRoute` | current route from start to goal. |
| ~/input/scenario | ○ | `tier4_planning_msgs::msg::Scenario` | Launches behavior path planner if current scenario == `Scenario:LaneDriving`. |
| ~/input/lateral_offset | △ | `tier4_planning_msgs::msg::LateralOffset` | lateral offset to trigger side shift |
| ~/system/operation_mode/state | ○ | `autoware_adapi_v1_msgs::msg::OperationModeState` | Allows planning module to know if vehicle is in autonomous mode or can be controlled<sup>[ref](https://github.com/autowarefoundation/autoware.universe/blob/main/system/default_ad_api/document/operation-mode.md)</sup> |
| Name | Required? | Type | Description |
| :---------------------------- | :-------: | :------------------------------------------------------ | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| ~/input/odometry | ○ | `nav_msgs::msg::Odometry` | for ego velocity. |
| ~/input/accel | ○ | `geometry_msgs::msg::AccelWithCovarianceStamped` | for ego acceleration. |
| ~/input/objects | ○ | `autoware_perception_msgs::msg::PredictedObjects` | dynamic objects from perception module. |
| ~/input/occupancy_grid_map | ○ | `nav_msgs::msg::OccupancyGrid` | occupancy grid map from perception module. This is used for only Goal Planner module. |
| ~/input/traffic_signals | ○ | `autoware_perception_msgs::msg::TrafficLightGroupArray` | traffic signals information from the perception module |
| ~/input/vector_map | ○ | `autoware_map_msgs::msg::LaneletMapBin` | vector map information. |
| ~/input/route | ○ | `autoware_planning_msgs::msg::LaneletRoute` | current route from start to goal. |
| ~/input/scenario | ○ | `tier4_planning_msgs::msg::Scenario` | Launches behavior path planner if current scenario == `Scenario:LaneDriving`. |
| ~/input/lateral_offset | △ | `tier4_planning_msgs::msg::LateralOffset` | lateral offset to trigger side shift |
| ~/system/operation_mode/state | ○ | `autoware_adapi_v1_msgs::msg::OperationModeState` | Allows planning module to know if vehicle is in autonomous mode or can be controlled<sup>[ref](https://github.com/autowarefoundation/autoware.universe/blob/main/system/autoware_default_adapi/document/operation-mode.md)</sup> |

- ○ Mandatory: Planning Module would not work if anyone of this is not present.
- △ Optional: Some module would not work, but Planning Module can still be operated.
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30 changes: 15 additions & 15 deletions system/default_ad_api/CMakeLists.txt → system/autoware_default_adapi/CMakeLists.txt
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@@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 3.14)
project(default_ad_api)
project(autoware_default_adapi)

find_package(autoware_cmake REQUIRED)
autoware_package()
Expand All @@ -24,20 +24,20 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
)

rclcpp_components_register_nodes(${PROJECT_NAME}
"default_ad_api::AutowareStateNode"
"default_ad_api::DiagnosticsNode"
"default_ad_api::FailSafeNode"
"default_ad_api::HeartbeatNode"
"default_ad_api::InterfaceNode"
"default_ad_api::LocalizationNode"
"default_ad_api::MotionNode"
"default_ad_api::OperationModeNode"
"default_ad_api::PerceptionNode"
"default_ad_api::PlanningNode"
"default_ad_api::RoutingNode"
"default_ad_api::VehicleNode"
"default_ad_api::VehicleInfoNode"
"default_ad_api::VehicleDoorNode"
"autoware::default_adapi::AutowareStateNode"
"autoware::default_adapi::DiagnosticsNode"
"autoware::default_adapi::FailSafeNode"
"autoware::default_adapi::HeartbeatNode"
"autoware::default_adapi::InterfaceNode"
"autoware::default_adapi::LocalizationNode"
"autoware::default_adapi::MotionNode"
"autoware::default_adapi::OperationModeNode"
"autoware::default_adapi::PerceptionNode"
"autoware::default_adapi::PlanningNode"
"autoware::default_adapi::RoutingNode"
"autoware::default_adapi::VehicleNode"
"autoware::default_adapi::VehicleInfoNode"
"autoware::default_adapi::VehicleDoorNode"
)

if(BUILD_TESTING)
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4 changes: 2 additions & 2 deletions system/default_ad_api/README.md → system/autoware_default_adapi/README.md
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@@ -1,4 +1,4 @@
# default_ad_api
# autoware_default_adapi

## Notes

Expand All @@ -25,7 +25,7 @@ This is a sample to call API using HTTP.
This is a debug script to check the conditions for transition to autonomous mode.

```bash
$ ros2 run default_ad_api guide.py
$ ros2 run autoware_default_adapi guide.py

The vehicle pose is not estimated. Please set an initial pose or check GNSS.
The route is not set. Please set a goal pose.
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4 changes: 2 additions & 2 deletions ...t_ad_api/config/default_ad_api.param.yaml → ...ult_adapi/config/default_adapi.param.yaml
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@@ -1,8 +1,8 @@
/default_ad_api/node/autoware_state:
/adapi/node/autoware_state:
ros__parameters:
update_rate: 10.0

/default_ad_api/node/motion:
/adapi/node/motion:
ros__parameters:
require_accept_start: false
stop_check_duration: 1.0
4 changes: 2 additions & 2 deletions ...default_ad_api/document/autoware-state.md → ..._default_adapi/document/autoware-state.md
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Expand Up @@ -2,7 +2,7 @@

## Overview

Since `/autoware/state` was so widely used, default_ad_api creates it from the states of AD API for backwards compatibility.
Since `/autoware/state` was so widely used, this packages creates it from the states of AD API for backwards compatibility.
The diagnostic checks that ad_service_state_monitor used to perform have been replaced by component_state_monitor.
The service `/autoware/shutdown` to change autoware state to finalizing is also supported for compatibility.

Expand All @@ -11,6 +11,6 @@ The service `/autoware/shutdown` to change autoware state to finalizing is also
## Conversion

This is the correspondence between AD API states and autoware states.
The launch state is the data that default_ad_api node holds internally.
The launch state is the data that this node holds internally.

![autoware-state-table](images/autoware-state-table.drawio.svg)
0 system/default_ad_api/document/fail-safe.md → ...oware_default_adapi/document/fail-safe.md
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