From be415faca92e7f4ccc5317d7b5cd3858b1259d03 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Thu, 7 Dec 2023 14:26:58 +0900 Subject: [PATCH 01/12] feat(autoware_v2x_msgs): add virtual gate messages Signed-off-by: Takagi, Isamu --- autoware_v2x_msgs/CMakeLists.txt | 24 ++++++++++++++++ autoware_v2x_msgs/README.md | 5 ++++ .../msg/VirtualGateAreaCommand.msg | 11 ++++++++ .../msg/VirtualGateAreaStatus.msg | 15 ++++++++++ autoware_v2x_msgs/msg/VirtualGateCommand.msg | 3 ++ autoware_v2x_msgs/msg/VirtualGateStatus.msg | 2 ++ .../msg/VirtualGateVehicleInfo.msg | 2 ++ autoware_v2x_msgs/package.xml | 28 +++++++++++++++++++ 8 files changed, 90 insertions(+) create mode 100644 autoware_v2x_msgs/CMakeLists.txt create mode 100644 autoware_v2x_msgs/README.md create mode 100644 autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg create mode 100644 autoware_v2x_msgs/msg/VirtualGateAreaStatus.msg create mode 100644 autoware_v2x_msgs/msg/VirtualGateCommand.msg create mode 100644 autoware_v2x_msgs/msg/VirtualGateStatus.msg create mode 100644 autoware_v2x_msgs/msg/VirtualGateVehicleInfo.msg create mode 100644 autoware_v2x_msgs/package.xml diff --git a/autoware_v2x_msgs/CMakeLists.txt b/autoware_v2x_msgs/CMakeLists.txt new file mode 100644 index 0000000..b917f72 --- /dev/null +++ b/autoware_v2x_msgs/CMakeLists.txt @@ -0,0 +1,24 @@ +cmake_minimum_required(VERSION 3.14) +project(autoware_v2x_msgs) + +find_package(ament_cmake_auto REQUIRED) +ament_auto_find_build_dependencies() + +rosidl_generate_interfaces(${PROJECT_NAME} + "msg/VirtualGateAreaCommand.msg" + "msg/VirtualGateAreaStatus.msg" + "msg/VirtualGateCommand.msg" + "msg/VirtualGateStatus.msg" + "msg/VirtualGateVehicleInfo.msg" + DEPENDENCIES + builtin_interfaces + geometry_msgs + unique_identifier_msgs +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +ament_auto_package() diff --git a/autoware_v2x_msgs/README.md b/autoware_v2x_msgs/README.md new file mode 100644 index 0000000..e0226d0 --- /dev/null +++ b/autoware_v2x_msgs/README.md @@ -0,0 +1,5 @@ +# autoware_v2x_msgs + +## Virtual gate messages + +WIP diff --git a/autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg b/autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg new file mode 100644 index 0000000..0c3a1f0 --- /dev/null +++ b/autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg @@ -0,0 +1,11 @@ +# constants for command +uint16 ACQUIRE = 1 +uint16 RELEASE = 2 + +uint16 command +uint16 sequence +string type +string id +string[] gates + +builtin_interfaces/Time[<=1] expected_time_arrival diff --git a/autoware_v2x_msgs/msg/VirtualGateAreaStatus.msg b/autoware_v2x_msgs/msg/VirtualGateAreaStatus.msg new file mode 100644 index 0000000..08888c3 --- /dev/null +++ b/autoware_v2x_msgs/msg/VirtualGateAreaStatus.msg @@ -0,0 +1,15 @@ +# constants for status +uint16 RESERVED = 1 +uint16 ACQUIRED = 2 +uint16 RELEASED = 3 + +uint16 status +uint16 sequence +string type +string id +string[] gates + +builtin_interfaces/Time[<=1] expected_time_arrival + +builtin_interfaces/Time stamp +unique_identifier_msgs/UUID vehicle diff --git a/autoware_v2x_msgs/msg/VirtualGateCommand.msg b/autoware_v2x_msgs/msg/VirtualGateCommand.msg new file mode 100644 index 0000000..dce548a --- /dev/null +++ b/autoware_v2x_msgs/msg/VirtualGateCommand.msg @@ -0,0 +1,3 @@ +builtin_interfaces/Time stamp +autoware_v2x_msgs/VirtualGateAreaCommand[] areas +autoware_v2x_msgs/VirtualGateVehicleInfo vehicle diff --git a/autoware_v2x_msgs/msg/VirtualGateStatus.msg b/autoware_v2x_msgs/msg/VirtualGateStatus.msg new file mode 100644 index 0000000..a3d894a --- /dev/null +++ b/autoware_v2x_msgs/msg/VirtualGateStatus.msg @@ -0,0 +1,2 @@ +builtin_interfaces/Time stamp +autoware_v2x_msgs/VirtualGateAreaStatus[] areas diff --git a/autoware_v2x_msgs/msg/VirtualGateVehicleInfo.msg b/autoware_v2x_msgs/msg/VirtualGateVehicleInfo.msg new file mode 100644 index 0000000..499951e --- /dev/null +++ b/autoware_v2x_msgs/msg/VirtualGateVehicleInfo.msg @@ -0,0 +1,2 @@ +unique_identifier_msgs/UUID uuid +geometry_msgs/PoseStamped[<=1] pose diff --git a/autoware_v2x_msgs/package.xml b/autoware_v2x_msgs/package.xml new file mode 100644 index 0000000..014c0ce --- /dev/null +++ b/autoware_v2x_msgs/package.xml @@ -0,0 +1,28 @@ + + + + autoware_v2x_msgs + 1.0.0 + Autoware common messages package. + Takagi, Isamu + Apache License 2.0 + + ament_cmake_auto + + rosidl_default_generators + + builtin_interfaces + geometry_msgs + unique_identifier_msgs + + rosidl_default_runtime + + ament_lint_auto + ament_lint_common + + rosidl_interface_packages + + + ament_cmake + + From b8ebf5e6ec3fd36a3f0403c3c00eb0768d94ad53 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Wed, 13 Dec 2023 15:17:00 +0900 Subject: [PATCH 02/12] feat(autoware_v2x_msgs): update virtual gate messages Signed-off-by: Takagi, Isamu --- autoware_v2x_msgs/CMakeLists.txt | 1 - autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg | 10 ++++++---- autoware_v2x_msgs/msg/VirtualGateAreaStatus.msg | 14 +++++++------- autoware_v2x_msgs/msg/VirtualGateStatus.msg | 1 - autoware_v2x_msgs/msg/VirtualGateVehicleInfo.msg | 1 - autoware_v2x_msgs/package.xml | 1 - 6 files changed, 13 insertions(+), 15 deletions(-) diff --git a/autoware_v2x_msgs/CMakeLists.txt b/autoware_v2x_msgs/CMakeLists.txt index b917f72..4047aa6 100644 --- a/autoware_v2x_msgs/CMakeLists.txt +++ b/autoware_v2x_msgs/CMakeLists.txt @@ -13,7 +13,6 @@ rosidl_generate_interfaces(${PROJECT_NAME} DEPENDENCIES builtin_interfaces geometry_msgs - unique_identifier_msgs ) if(BUILD_TESTING) diff --git a/autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg b/autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg index 0c3a1f0..8488847 100644 --- a/autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg +++ b/autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg @@ -2,10 +2,12 @@ uint16 ACQUIRE = 1 uint16 RELEASE = 2 +# variables for lock uint16 command -uint16 sequence -string type -string id -string[] gates +uint16 sequence # Used to check correspondence with commands. +string type # Used to select destination or driver. +string id # Target area ID. +string[] gates # Entry and exit gate ID. +# variables for scheduling builtin_interfaces/Time[<=1] expected_time_arrival diff --git a/autoware_v2x_msgs/msg/VirtualGateAreaStatus.msg b/autoware_v2x_msgs/msg/VirtualGateAreaStatus.msg index 08888c3..7395275 100644 --- a/autoware_v2x_msgs/msg/VirtualGateAreaStatus.msg +++ b/autoware_v2x_msgs/msg/VirtualGateAreaStatus.msg @@ -3,13 +3,13 @@ uint16 RESERVED = 1 uint16 ACQUIRED = 2 uint16 RELEASED = 3 +# variables for lock +builtin_interfaces/Time stamp uint16 status -uint16 sequence -string type -string id -string[] gates +uint16 sequence # Used to check correspondence with commands. +string type # Used to select destination or driver. +string id # Target area ID. +string[] gates # Entry and exit gate ID. +# variables for scheduling builtin_interfaces/Time[<=1] expected_time_arrival - -builtin_interfaces/Time stamp -unique_identifier_msgs/UUID vehicle diff --git a/autoware_v2x_msgs/msg/VirtualGateStatus.msg b/autoware_v2x_msgs/msg/VirtualGateStatus.msg index a3d894a..e20cf37 100644 --- a/autoware_v2x_msgs/msg/VirtualGateStatus.msg +++ b/autoware_v2x_msgs/msg/VirtualGateStatus.msg @@ -1,2 +1 @@ -builtin_interfaces/Time stamp autoware_v2x_msgs/VirtualGateAreaStatus[] areas diff --git a/autoware_v2x_msgs/msg/VirtualGateVehicleInfo.msg b/autoware_v2x_msgs/msg/VirtualGateVehicleInfo.msg index 499951e..f1f2806 100644 --- a/autoware_v2x_msgs/msg/VirtualGateVehicleInfo.msg +++ b/autoware_v2x_msgs/msg/VirtualGateVehicleInfo.msg @@ -1,2 +1 @@ -unique_identifier_msgs/UUID uuid geometry_msgs/PoseStamped[<=1] pose diff --git a/autoware_v2x_msgs/package.xml b/autoware_v2x_msgs/package.xml index 014c0ce..e50a080 100644 --- a/autoware_v2x_msgs/package.xml +++ b/autoware_v2x_msgs/package.xml @@ -13,7 +13,6 @@ builtin_interfaces geometry_msgs - unique_identifier_msgs rosidl_default_runtime From c9106cfd4e6ca337d287171f2254324d4e73afd3 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Wed, 13 Dec 2023 16:05:24 +0900 Subject: [PATCH 03/12] docs(autoware_v2x_msgs): add readme Signed-off-by: Takagi, Isamu --- autoware_v2x_msgs/README.md | 24 +- .../doc/virtual-gate-nodes.drawio.svg | 218 ++++++++++++++++++ 2 files changed, 241 insertions(+), 1 deletion(-) create mode 100644 autoware_v2x_msgs/doc/virtual-gate-nodes.drawio.svg diff --git a/autoware_v2x_msgs/README.md b/autoware_v2x_msgs/README.md index e0226d0..c3b6cce 100644 --- a/autoware_v2x_msgs/README.md +++ b/autoware_v2x_msgs/README.md @@ -2,4 +2,26 @@ ## Virtual gate messages -WIP +### Overview + +This message represents the status of the virtual gate for passing through the area managed by the facility. +The virtual gate treats area entry permission as a shared resource and controls vehicles by acquiring and releasing locks. +Each facility may support different protocols, but Autoware V2X component converts each protocol and this message. +This allows Autoware to handle facilities with different protocols with a unified message. + +![virtual-gate-nodes](./doc/virtual-gate-nodes.drawio.svg) + +### Sequence + +Because there is a time lag before commands are reflected, the vehicle must wait until it receives the status of the same sequence as the command it sent. +Until the vehicle receives the status, treat it as if it were unlocked. + +### Gates + +Specify the entrance and exit gate IDs. This is used to check if vehicles can pass simultaneously when multiple routes are possible within an area. +If omitted, it is treated as a lock for the entire area. + +### Vehicle ID + +This message does not include the vehicle ID, so add it in the V2X component if required by the communication protocol. +And if facilities publish multiple vehicle statuses, filter to only status for own vehicle. diff --git a/autoware_v2x_msgs/doc/virtual-gate-nodes.drawio.svg b/autoware_v2x_msgs/doc/virtual-gate-nodes.drawio.svg new file mode 100644 index 0000000..5da8bcd --- /dev/null +++ b/autoware_v2x_msgs/doc/virtual-gate-nodes.drawio.svg @@ -0,0 +1,218 @@ + + + + + + + + + +
+
+
+ planning +
+ component +
+
+
+ + + planning... + + + + + + + +
+
+
+ v2x component +
+
+
+ + + v2x component + + + + + + + + + + + +
+
+
+ virtual gate command +
+
+
+ + + virtual gate command + + + + + + + + + +
+
+
+ virtual gate status +
+
+
+ + + virtual gate status + + + + + + + + + + + + + +
+
+
+ Area 1 +
+ (supports protocol A) +
+
+
+ + + Area 1... + + + + + + + +
+
+
+ Area 2 +
+ (supports protocol A) +
+
+
+ + + Area 2... + + + + + + + +
+
+
+ driver +
+ (for protocol A) +
+
+
+ + + driver... + + + + + + + +
+
+
+ driver +
+ (for protocol B) +
+
+
+ + + driver... + + + + + + + +
+
+
+ Area 3 +
+ (supports protocol B) +
+
+
+ + + Area 3... + + + + + + + + + + + + + + + + +
+
+
+ router +
+
+
+ + + router + + + + + + + + + Text is not SVG - cannot display + + + + \ No newline at end of file From 107a3b3354a660869ac91e07453ace2c3e3134e7 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Wed, 13 Dec 2023 19:31:30 +0900 Subject: [PATCH 04/12] feat(autoware_v2x_msgs): update virtual gate messages Signed-off-by: Takagi, Isamu --- autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg | 2 +- autoware_v2x_msgs/msg/VirtualGateAreaStatus.msg | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg b/autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg index 8488847..73d94a3 100644 --- a/autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg +++ b/autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg @@ -5,7 +5,7 @@ uint16 RELEASE = 2 # variables for lock uint16 command uint16 sequence # Used to check correspondence with commands. -string type # Used to select destination or driver. +string type # Used to select driver. string id # Target area ID. string[] gates # Entry and exit gate ID. diff --git a/autoware_v2x_msgs/msg/VirtualGateAreaStatus.msg b/autoware_v2x_msgs/msg/VirtualGateAreaStatus.msg index 7395275..1318da5 100644 --- a/autoware_v2x_msgs/msg/VirtualGateAreaStatus.msg +++ b/autoware_v2x_msgs/msg/VirtualGateAreaStatus.msg @@ -7,7 +7,7 @@ uint16 RELEASED = 3 builtin_interfaces/Time stamp uint16 status uint16 sequence # Used to check correspondence with commands. -string type # Used to select destination or driver. +string type # Used to select driver. string id # Target area ID. string[] gates # Entry and exit gate ID. From ce9718d39c7d50e034b1015c39e6c60212a0e562 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Wed, 6 Mar 2024 18:01:07 +0900 Subject: [PATCH 05/12] feat(autoware_v2x_msgs): remove type field Signed-off-by: Takagi, Isamu --- autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg | 1 - autoware_v2x_msgs/msg/VirtualGateAreaStatus.msg | 1 - 2 files changed, 2 deletions(-) diff --git a/autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg b/autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg index 73d94a3..62fb7a8 100644 --- a/autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg +++ b/autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg @@ -5,7 +5,6 @@ uint16 RELEASE = 2 # variables for lock uint16 command uint16 sequence # Used to check correspondence with commands. -string type # Used to select driver. string id # Target area ID. string[] gates # Entry and exit gate ID. diff --git a/autoware_v2x_msgs/msg/VirtualGateAreaStatus.msg b/autoware_v2x_msgs/msg/VirtualGateAreaStatus.msg index 1318da5..d0dccdc 100644 --- a/autoware_v2x_msgs/msg/VirtualGateAreaStatus.msg +++ b/autoware_v2x_msgs/msg/VirtualGateAreaStatus.msg @@ -7,7 +7,6 @@ uint16 RELEASED = 3 builtin_interfaces/Time stamp uint16 status uint16 sequence # Used to check correspondence with commands. -string type # Used to select driver. string id # Target area ID. string[] gates # Entry and exit gate ID. From 35755d7bb3b6ed2da71c32d0779e23f4e41ea4b0 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Thu, 7 Mar 2024 16:15:04 +0900 Subject: [PATCH 06/12] add maintainers Signed-off-by: Takagi, Isamu --- autoware_v2x_msgs/package.xml | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/autoware_v2x_msgs/package.xml b/autoware_v2x_msgs/package.xml index e50a080..db58bf7 100644 --- a/autoware_v2x_msgs/package.xml +++ b/autoware_v2x_msgs/package.xml @@ -3,8 +3,10 @@ autoware_v2x_msgs 1.0.0 - Autoware common messages package. + Autoware v2x messages package. Takagi, Isamu + Ryohsuke Mitsudome + Yukihiro Saito Apache License 2.0 ament_cmake_auto From 6c551fa176b3a33cab52fe6bcfdfa09882a8828a Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Fri, 8 Mar 2024 18:37:31 +0900 Subject: [PATCH 07/12] Update autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> --- autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg b/autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg index 62fb7a8..ef18dba 100644 --- a/autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg +++ b/autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg @@ -4,7 +4,7 @@ uint16 RELEASE = 2 # variables for lock uint16 command -uint16 sequence # Used to check correspondence with commands. +uint16 sequence_id # Used to check correspondence with status messages. string id # Target area ID. string[] gates # Entry and exit gate ID. From 5a5d1eabadcf9d23ee4b6bafca2e08ea83ed22ba Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Fri, 8 Mar 2024 18:37:39 +0900 Subject: [PATCH 08/12] Update autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> --- autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg b/autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg index ef18dba..2608614 100644 --- a/autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg +++ b/autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg @@ -5,7 +5,7 @@ uint16 RELEASE = 2 # variables for lock uint16 command uint16 sequence_id # Used to check correspondence with status messages. -string id # Target area ID. +string area_id # Target area ID. string[] gates # Entry and exit gate ID. # variables for scheduling From 42df0ef2e1f049475db8f99231b5656ae81fb5fe Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Fri, 8 Mar 2024 18:37:48 +0900 Subject: [PATCH 09/12] Update autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> --- autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg b/autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg index 2608614..bc81926 100644 --- a/autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg +++ b/autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg @@ -6,7 +6,7 @@ uint16 RELEASE = 2 uint16 command uint16 sequence_id # Used to check correspondence with status messages. string area_id # Target area ID. -string[] gates # Entry and exit gate ID. +string[] gate_ids # Entry and exit gate ID. # variables for scheduling builtin_interfaces/Time[<=1] expected_time_arrival From 72b9b0af748fe5d15fd4e43014b0e1988fac147a Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Fri, 8 Mar 2024 18:37:56 +0900 Subject: [PATCH 10/12] Update autoware_v2x_msgs/msg/VirtualGateAreaStatus.msg Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> --- autoware_v2x_msgs/msg/VirtualGateAreaStatus.msg | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_v2x_msgs/msg/VirtualGateAreaStatus.msg b/autoware_v2x_msgs/msg/VirtualGateAreaStatus.msg index d0dccdc..2a6e63e 100644 --- a/autoware_v2x_msgs/msg/VirtualGateAreaStatus.msg +++ b/autoware_v2x_msgs/msg/VirtualGateAreaStatus.msg @@ -6,9 +6,9 @@ uint16 RELEASED = 3 # variables for lock builtin_interfaces/Time stamp uint16 status -uint16 sequence # Used to check correspondence with commands. -string id # Target area ID. -string[] gates # Entry and exit gate ID. +uint16 sequence_id # Used to check correspondence with commands. +string area_id # Target area ID. +string[] gate_ids # Entry and exit gate ID. # variables for scheduling builtin_interfaces/Time[<=1] expected_time_arrival From 91379824de1516187b67f0cb14eec96ea84e9cff Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Fri, 8 Mar 2024 18:47:09 +0900 Subject: [PATCH 11/12] fix indent Signed-off-by: Takagi, Isamu --- autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg | 2 +- autoware_v2x_msgs/msg/VirtualGateAreaStatus.msg | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg b/autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg index bc81926..7b16144 100644 --- a/autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg +++ b/autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg @@ -5,7 +5,7 @@ uint16 RELEASE = 2 # variables for lock uint16 command uint16 sequence_id # Used to check correspondence with status messages. -string area_id # Target area ID. +string area_id # Target area ID. string[] gate_ids # Entry and exit gate ID. # variables for scheduling diff --git a/autoware_v2x_msgs/msg/VirtualGateAreaStatus.msg b/autoware_v2x_msgs/msg/VirtualGateAreaStatus.msg index 2a6e63e..4a75a1c 100644 --- a/autoware_v2x_msgs/msg/VirtualGateAreaStatus.msg +++ b/autoware_v2x_msgs/msg/VirtualGateAreaStatus.msg @@ -7,7 +7,7 @@ uint16 RELEASED = 3 builtin_interfaces/Time stamp uint16 status uint16 sequence_id # Used to check correspondence with commands. -string area_id # Target area ID. +string area_id # Target area ID. string[] gate_ids # Entry and exit gate ID. # variables for scheduling From 3e7f9d553c5d777bd84eb523b696482d2c02254a Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Fri, 8 Mar 2024 18:49:38 +0900 Subject: [PATCH 12/12] remove vehicle info Signed-off-by: Takagi, Isamu --- autoware_v2x_msgs/CMakeLists.txt | 1 - autoware_v2x_msgs/msg/VirtualGateCommand.msg | 1 - autoware_v2x_msgs/msg/VirtualGateVehicleInfo.msg | 1 - 3 files changed, 3 deletions(-) delete mode 100644 autoware_v2x_msgs/msg/VirtualGateVehicleInfo.msg diff --git a/autoware_v2x_msgs/CMakeLists.txt b/autoware_v2x_msgs/CMakeLists.txt index 4047aa6..ef156d0 100644 --- a/autoware_v2x_msgs/CMakeLists.txt +++ b/autoware_v2x_msgs/CMakeLists.txt @@ -9,7 +9,6 @@ rosidl_generate_interfaces(${PROJECT_NAME} "msg/VirtualGateAreaStatus.msg" "msg/VirtualGateCommand.msg" "msg/VirtualGateStatus.msg" - "msg/VirtualGateVehicleInfo.msg" DEPENDENCIES builtin_interfaces geometry_msgs diff --git a/autoware_v2x_msgs/msg/VirtualGateCommand.msg b/autoware_v2x_msgs/msg/VirtualGateCommand.msg index dce548a..e497847 100644 --- a/autoware_v2x_msgs/msg/VirtualGateCommand.msg +++ b/autoware_v2x_msgs/msg/VirtualGateCommand.msg @@ -1,3 +1,2 @@ builtin_interfaces/Time stamp autoware_v2x_msgs/VirtualGateAreaCommand[] areas -autoware_v2x_msgs/VirtualGateVehicleInfo vehicle diff --git a/autoware_v2x_msgs/msg/VirtualGateVehicleInfo.msg b/autoware_v2x_msgs/msg/VirtualGateVehicleInfo.msg deleted file mode 100644 index f1f2806..0000000 --- a/autoware_v2x_msgs/msg/VirtualGateVehicleInfo.msg +++ /dev/null @@ -1 +0,0 @@ -geometry_msgs/PoseStamped[<=1] pose