feat(autoware_planning_msgs): add VelocityLimit message

Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
autowarefoundation · Jan 28, 2025 · dd26627 · dd26627
1 parent 0631905
commit dd26627
Show file tree

Hide file tree

Showing 4 changed files with 24 additions and 0 deletions.
diff --git a/autoware_planning_msgs/CMakeLists.txt b/autoware_planning_msgs/CMakeLists.txt
@@ -13,6 +13,9 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/TrajectoryPoint.msg"
   "msg/Path.msg"
   "msg/PathPoint.msg"
+  "msg/VelocityLimit.msg"
+  "msg/VelocityLimitConstraints.msg"
+  "msg/VelocityClearCommand.msg"
   DEPENDENCIES
     geometry_msgs
     std_msgs

diff --git a/autoware_planning_msgs/msg/VelocityLimit.msg b/autoware_planning_msgs/msg/VelocityLimit.msg
@@ -0,0 +1,7 @@
+builtin_interfaces/Time stamp
+float32 max_velocity
+
+bool use_constraints false
+autoware_planning_msgs/VelocityLimitConstraints constraints
+
+string sender
diff --git a/autoware_planning_msgs/msg/VelocityLimitClearCommand.msg b/autoware_planning_msgs/msg/VelocityLimitClearCommand.msg
@@ -0,0 +1,3 @@
+builtin_interfaces/Time stamp
+bool command false
+string sender
diff --git a/autoware_planning_msgs/msg/VelocityLimitConstraints.msg b/autoware_planning_msgs/msg/VelocityLimitConstraints.msg
@@ -0,0 +1,11 @@
+# maximum signed acceleration
+float32 max_acceleration
+
+# minimum signed acceleration
+float32 min_acceleration
+
+# maximum signed jerk
+float32 max_jerk
+
+# minimum signed jerk
+float32 min_jerk