feat(autoware_adapi_v1_msgs): add geometry shape message

[isamu-takagi]

Signed-off-by: Takagi, Isamu isamu.takagi@tier4.jp

Description

Add geometry shape message. See the document for details.
This is used for detected object and detection area.

Related links

autowarefoundation/autoware#3225

Tests performed

Notes for reviewers

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.
• The PR has been properly tested.
• The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.
• The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.

[yukkysaito]

Which API is used this shape.msg for what purpose?

[isamu-takagi]

Which API is used this shape.msg for what purpose?

I assume the following:

• detection area
• detected object
• visualization (Because I hear that the size of MarkerArray is large for some applications)

[yukkysaito]

I assume the following:
detection area
detected object
visualization (Because I hear that the size of MarkerArray is large for some applications)

Thank you!
Can you give me some more details?
What is the API for detection area and detected object?
I think we should organize requests a bit more.

[isamu-takagi]

What is the API for detection area and detected object?

For remote control and cooperation, applications need to know the status of Autoware to display the operator. These API will be used for that purpose.

It is under consideration here.

• Create api for visualization autoware#3225
• Create api for vehicle information autoware#3226
• Create api for vehicle status autoware#3232

[tkhmy]

I think is the shape is common, we also can use this for the object recognition
autowarefoundation/autoware.universe#2887

[isamu-takagi]

@yukkysaito @tkhmy
Changed the message to be more structured.

[tkhmy]

@isamu-takagi
I feel that controls and values are quite hard to understand, why don't we use dimension and footprint like this
https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_perception_msgs/msg/object_recognition/Shape.msg

[isamu-takagi]

@tkhmy
dimension and footprint can only be applied to some shapes, and rotation cannot be expressed.

[tkhmy]

@tkhmy dimension and footprint can only be applied to some shapes, and rotation cannot be expressed.

@isamu-takagi I see, so the controls will set the limit of the values. values only will use to contain radius and height?
Do we plan to add width and length for defining rectangle?

[isamu-takagi]

@isamu-takagi I see, so the controls will set the limit of the values. values only will use to contain radius and height?
Do we plan to add width and length for defining rectangle?

Shapes currently supported only have radius and height. Since rectangle is polygon, it is specified in points. This is a trade-off between data efficiency and readability. Other method is to add new shape type and set the values to width and height, but In this case the rectangle cannot be rotated.

[isamu-takagi]

@tkhmy There are two designs.

• Focus on readability and add all the fields each shape needs. This is closer to visualization_msgs/msg/Marker and less data efficient.
• Focus on data efficiency and send it in binary. The application need to interpret it according to the shape type.

The original design was the latter, but it is now in the middle by 07aa7bf.

[tkhmy]

LGTM

[yukkysaito]

What should I do when dealing with 3D bounding boxes?

[isamu-takagi]

What should I do when dealing with 3D bounding boxes?

@yukkysaito It is treated as a prism and is represented by a rectangular base polygon and height.

[isamu-takagi]

Close because create a dedicated message for each purpose.