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Merge pull request #10 from mitsudome-r/revert-ros1
Revert ros1
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,39 @@ | ||
| cmake_minimum_required(VERSION 3.0.2) | ||
| project(autoware_api_msgs) | ||
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| add_compile_options(-std=c++14) | ||
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| find_package(catkin REQUIRED COMPONENTS | ||
| std_msgs | ||
| geometry_msgs | ||
| diagnostic_msgs | ||
| autoware_planning_msgs | ||
| ) | ||
|
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||
| add_message_files( | ||
| DIRECTORY msg | ||
| FILES | ||
| Latlon.msg | ||
| Euler.msg | ||
| AwapiVehicleStatus.msg | ||
| AwapiAutowareStatus.msg | ||
| LaneChangeStatus.msg | ||
| ObstacleAvoidanceStatus.msg | ||
| ) | ||
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| generate_messages( | ||
| DEPENDENCIES | ||
| std_msgs | ||
| geometry_msgs | ||
| diagnostic_msgs | ||
| autoware_planning_msgs | ||
| ) | ||
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| catkin_package( | ||
| CATKIN_DEPENDS | ||
| message_runtime | ||
| std_msgs | ||
| geometry_msgs | ||
| diagnostic_msgs | ||
| autoware_planning_msgs | ||
| ) |
Empty file.
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,9 @@ | ||
| Header header | ||
| string autoware_state | ||
| int32 control_mode | ||
| int32 gate_mode | ||
| bool emergency_stopped | ||
| autoware_planning_msgs/StopReasonArray stop_reason | ||
| diagnostic_msgs/DiagnosticStatus[] diagnostics | ||
| bool autonomous_overriden | ||
| bool arrived_goal |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,16 @@ | ||
| std_msgs/Header header | ||
| geometry_msgs/Pose pose | ||
| autoware_api_msgs/Euler eulerangle | ||
| autoware_api_msgs/Latlon latlon | ||
| float64 velocity | ||
| float64 acceleration | ||
| float64 steering | ||
| float64 steering_velocity | ||
| float64 angular_velocity | ||
| int32 gear | ||
| float32 energy_level | ||
| int32 turn_signal | ||
| float64 target_velocity | ||
| float64 target_acceleration | ||
| float64 target_steering | ||
| float64 target_steering_velocity |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,3 @@ | ||
| float64 roll | ||
| float64 pitch | ||
| float64 yaw |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,4 @@ | ||
| Header header | ||
| bool force_lane_change_available | ||
| bool lane_change_ready | ||
| autoware_planning_msgs/Path candidate_path |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,3 @@ | ||
| float64 lat | ||
| float64 lon | ||
| float64 alt |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,3 @@ | ||
| Header header | ||
| bool obstacle_avoidance_ready | ||
| autoware_planning_msgs/Trajectory candidate_path |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,20 @@ | ||
| <?xml version="1.0"?> | ||
| <package format="2"> | ||
| <name>autoware_api_msgs</name> | ||
| <version>0.1.0</version> | ||
| <description>The autoware_api_msgs package</description> | ||
| <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer> | ||
| <author email="tomoya.kimura@tier4.jp">Tomoya Kimura</author> | ||
| <license>BSD</license> | ||
|
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| <buildtool_depend>catkin</buildtool_depend> | ||
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| <depend>message_generation</depend> | ||
| <depend>message_runtime</depend> | ||
| <depend>roscpp</depend> | ||
| <depend>std_msgs</depend> | ||
| <depend>geometry_msgs</depend> | ||
| <depend>diagnostic_msgs</depend> | ||
| <depend>autoware_planning_msgs</depend> | ||
| <export></export> | ||
| </package> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,70 @@ | ||
| cmake_minimum_required(VERSION 3.0.2) | ||
| project(awapi_awiv_adapter) | ||
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| add_compile_options(-std=c++14) | ||
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| find_package(catkin REQUIRED COMPONENTS | ||
| message_generation | ||
| message_runtime | ||
| roscpp | ||
| autoware_api_msgs | ||
| autoware_system_msgs | ||
| autoware_planning_msgs | ||
| autoware_control_msgs | ||
| autoware_vehicle_msgs | ||
| diagnostic_msgs | ||
| geometry_msgs | ||
| pacmod_msgs | ||
| std_msgs | ||
| sensor_msgs | ||
| tf2 | ||
| tf2_geometry_msgs | ||
| ) | ||
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| catkin_package( | ||
| INCLUDE_DIRS include | ||
| ) | ||
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| include_directories( | ||
| include | ||
| ${catkin_INCLUDE_DIRS} | ||
| ) | ||
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| add_executable(awapi_awiv_adapter | ||
| src/awapi_awiv_adapter_node.cpp | ||
| src/awapi_awiv_adapter_core.cpp | ||
| src/awapi_vehicle_state_publisher.cpp | ||
| src/awapi_autoware_state_publisher.cpp | ||
| src/awapi_stop_reason_aggregator.cpp | ||
| src/awapi_lane_change_state_publisher.cpp | ||
| src/awapi_obstacle_avoidance_state_publisher.cpp | ||
| src/awapi_autoware_util.cpp | ||
| ) | ||
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| target_link_libraries(awapi_awiv_adapter | ||
| ${catkin_LIBRARIES} | ||
| ) | ||
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| add_dependencies(awapi_awiv_adapter | ||
| ${catkin_EXPORTED_TARGETS} | ||
| ) | ||
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| install(DIRECTORY include/${PROJECT_NAME}/ | ||
| DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} | ||
| ) | ||
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| install( | ||
| DIRECTORY | ||
| launch | ||
| DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} | ||
| ) | ||
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| install(TARGETS awapi_awiv_adapter | ||
| ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | ||
| LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | ||
| RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} | ||
| ) | ||
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| if(CATKIN_ENABLE_TESTING) | ||
| find_package(rostest REQUIRED) | ||
| endif() |
Empty file.
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,190 @@ | ||
| # AWAPI_AWIV_ADAPTER | ||
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| ✓: confirmed, (blank): not confirmed | ||
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| ## get topic | ||
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| ### /awapi/vehicle/get/status | ||
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| - get vehicle status | ||
| - MessageType: awapi_awiv_adapter/AwapiVehicleStatus | ||
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| | ✓ | type | name | unit | note | | ||
| | --- | :------------------------ | :----------------------- | :-------------------------------------------- | :--------------------------------------- | | ||
| | ✓ | std_msgs/Header | header | | | | ||
| | ✓ | geometry_msgs/Pose | pose | position:[m] | | | ||
| | ✓ | awapi_awiv_adapter/Euler | eulerangle | [rad] | roll/pitch/yaw | | ||
| | | awapi_awiv_adapter/Latlon | latlon | | lat/lon/alt | | ||
| | ✓ | float64 | velocity | [m/s] | | | ||
| | ✓ | float64 | acceleration | [m/ss] | calculate from velocity in awapi_adapter | | ||
| | ✓ | float64 | steering | [rad] | | | ||
| | ✓ | float64 | steering_velocity | [rad/s] | calculate from steering in awapi_adapter | | ||
| | ✓ | float64 | angular_velocity | [rad/s] | | | ||
| | | int32 | gear | accroding to autoware_vehicle_msgs/Shift | | | ||
| | | float32 | energy_level | | available only for golf-cart | | ||
| | ✓ | int32 | turn_signal | accroding to autoware_vehicle_msgs/TurnSignal | | | ||
| | ✓ | float64 | target_velocity | [m/s] | | | ||
| | ✓ | float64 | target_acceleration | [m/ss] | | | ||
| | ✓ | float64 | target_steering | [rad] | | | ||
| | ✓ | float64 | target_steering_velocity | [rad/s] | | | ||
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| ### /awapi/autoware/get/status | ||
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| - get autoware status | ||
| - MessageType: awapi_awiv_adapter/AwapiVehicleStatus | ||
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| | ✓ | type | name | unit | note | | ||
| | --- | :------------------------------------- | :---------------- | :--------------------------------------------- | :-------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | ||
| | ✓ | std_msgs/Header | header | | | | ||
| | ✓ | string | autoware_state | | | | ||
| | ✓ | int32 | control_mode | accroding to autoware_vehicle_msgs/ControlMode | manual/auto (changed by /awapi/autoware/put/engage) | | ||
| | | int32 | gate_mode | autoware_vehicle_msgs/GateMode | auto/remote (it is valid only when control_mode=auto)) | | ||
| | ✓ | bool | emergency_stopped | True in emergency mode | | | ||
| | ✓ | autoware_planning_msgs/StopReasonArray | stop_reason | | "stop_pose" represents the position of "base_link" (not the head of the car) | | ||
| | ✓ | diagnostic_msgs/DiagnosticStatus[] | diagnostics | | output only diag. of leaf node (diag. of parent node are cut) | | ||
| | ✓ | bool | arrived_goal | | True if the autoware_state is changed from Driving to ArrivedGoal or WairingForRoute. False if the autoware_state is changed to WaitingForEngage or Driving. Default False. | | ||
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| ### /awapi/autoware/get/route | ||
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| - get route | ||
| - MessageType: autoware_planning_msgs/Route | ||
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| | ✓ | type | name | unit | note | | ||
| | --- | :--------------------------- | :--- | :--- | :--- | | ||
| | ✓ | autoware_planning_msgs/Route | | | | | ||
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| ### /awapi/prediction/get/objects | ||
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| - get predicted object | ||
| - MessageType: autoware_perception_msgs/DynamicObjectArray | ||
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| | ✓ | type | name | unit | note | | ||
| | --- | :------------------------------------------ | :--- | :--- | :--- | | ||
| | ✓ | autoware_perception_msgs/DynamicObjectArray | | | | | ||
|
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| ### /awapi/lane_change/get/status | ||
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| - get lane change information | ||
| - MessageType: awapi_awiv_adapter/LaneChangeStatus | ||
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| | ✓ | type | name | unit | note | | ||
| | --- | :-------------------------- | :-------------------------- | :--------------------------------------- | :--------------------------------------------------------------------------------- | | ||
| | | std_msgs/Header | header | | | | ||
| | | bool | force_lane_change_available | True when lane change is avilable | available: Physically lane changeable state (do not consider other vehicle) | | ||
| | | bool | lane_change_ready | True when lane change is ready | ready: State that ego-vehicle can change lane without collision with other vehicle | | ||
| | | autoware_planning_msgs/Path | candidate_path | according to autoware_planning_msgs/Path | | | ||
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| ### /awapi/object_avoidance/get/status | ||
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| - get obstacle avoidance information | ||
| - MessageType: awapi_awiv_adapter/ObstacleAvoidanceStatus | ||
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| | ✓ | type | name | unit | note | | ||
| | --- | :-------------------------------- | :----------------------- | :--------------------------------------------- | :---------------------------------------------------- | | ||
| | | std_msgs/Header | header | | | | ||
| | | bool | obstacle_avoidance_ready | True when obstacle avoidance is ready | | | ||
| | | autoware_planning_msgs/Trajectory | candidate_path | according to autoware_planning_msgs/Trajectory | Msg type is different from lane change candidate path | | ||
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| ### /awapi/traffic_light/get/status | ||
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| - get recognition result of traffic light | ||
| - MessageType: autoware_perception_msgs/TrafficLightStateArray | ||
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| | ✓ | type | name | unit | note | | ||
| | --- | :---------------------------------------------- | :--- | :--- | :--- | | ||
| | | autoware_perception_msgs/TrafficLightStateArray | | | | | ||
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| ## put topic | ||
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| ### /awapi/vehicle/put/velocity | ||
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| - set upper velocity | ||
| - MessageType: std_msgs/Float32 | ||
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| | ✓ | type | name | unit | note | | ||
| | --- | :--------------- | :--- | :--- | :----------- | | ||
| | ✓ | std_msgs/Float32 | | | max velocity | | ||
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| ### /awapi/autoware/put/gate_mode | ||
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| - send gate mode (auto/remote) | ||
| - MessageType: autoware_control_msgs/GateMode | ||
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| | ✓ | type | name | unit | note | | ||
| | --- | :----------------------------- | :--- | :--- | :--- | | ||
| | | autoware_control_msgs/GateMode | | | | | ||
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| ### /awapi/autoware/put/emergency | ||
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| - send emergency signal | ||
| - MessageType: std_msgs/Bool | ||
| - <font color="Cyan">**To enable this functionality, autoware have to be in the Remote Mode or set _/control/vehicle_cmd_gate/use_emergency_handling_ to true.**</font> | ||
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| | ✓ | type | name | unit | note | | ||
| | --- | :------------ | :--- | :--- | :--- | | ||
| | ✓ | std_msgs/Bool | | | | | ||
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| ### /awapi/autoware/put/engage | ||
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| - send engage signal (both of autoware/engage and vehicle/engage) | ||
| - MessageType: std_msgs/Bool | ||
|
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| | ✓ | type | name | unit | note | | ||
| | --- | :------------ | :--- | :--- | :--- | | ||
| | ✓ | std_msgs/Bool | | | | | ||
|
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| ### /awapi/autoware/put/route | ||
|
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| - send goal pose | ||
| - MessageType: autoware_planning_msgs/Route | ||
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| | ✓ | type | name | unit | note | | ||
| | --- | :--------------------------- | :--- | :--- | :--- | | ||
| | ✓ | autoware_planning_msgs/Route | | | | | ||
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| ### /awapi/lane_change/put/approval | ||
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| - send lane change approval flag | ||
| - send True: start lane change when **lane_change_ready** is true | ||
| - MessageType: std_msgs/Bool | ||
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| | ✓ | type | name | unit | note | | ||
| | --- | :------------ | :--- | :--- | :--- | | ||
| | | std_msgs/Bool | | | | | ||
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| ### /awapi/lane_change/put/force | ||
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| - send force lane change flag | ||
| - send True: start lane change when **force_lane_change_available** is true | ||
| - MessageType: std_msgs/Bool | ||
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| | ✓ | type | name | unit | note | | ||
| | --- | :------------ | :--- | :--- | :--- | | ||
| | | std_msgs/Bool | | | | | ||
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| ### /awapi/object_avoidance/put/approval | ||
|
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| - send object avoidance approval flag | ||
| - MessageType: std_msgs/Bool | ||
|
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| | ✓ | type | name | unit | note | | ||
| | --- | :------------ | :--- | :--- | :--- | | ||
| | | std_msgs/Bool | | | | | ||
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| ### /awapi/object_avoidance/put/force | ||
|
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| - send force object avoidance flag | ||
| - <font color="Red">**not implemented (Autoware does not have corresponded topic)**</font> | ||
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| | ✓ | type | name | unit | note | | ||
| | --- | :--- | :--- | :--- | :--- | | ||
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| ### /awapi/traffic_light/put/traffic_light | ||
|
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| - Overwrite the recognition result of traffic light | ||
| - <font color="Red">**not implemented (Autoware does not have corresponded topic)**</font> | ||
|
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| | ✓ | type | name | unit | note | | ||
| | --- | :--- | :--- | :--- | :--- | | ||
|
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