From 1e8de329081f7a7fc177bfce809a58634d0163de Mon Sep 17 00:00:00 2001 From: Lukasz Chojnacki Date: Wed, 5 Jun 2024 09:31:21 +0200 Subject: [PATCH 01/15] feat(ros2unity): add autoware_vehicle_msgs Signed-off-by: Lukasz Chojnacki --- ...toware_vehicle_msgs__rosidl_generator_c.so | Bin 0 -> 74144 bytes ...e_vehicle_msgs__rosidl_generator_c.so.meta | 27 ++++ ...oware_vehicle_msgs__rosidl_generator_py.so | Bin 0 -> 31288 bytes ..._vehicle_msgs__rosidl_generator_py.so.meta | 27 ++++ ...ware_vehicle_msgs__rosidl_typesupport_c.so | Bin 0 -> 34952 bytes ...vehicle_msgs__rosidl_typesupport_c.so.meta | 27 ++++ ...re_vehicle_msgs__rosidl_typesupport_cpp.so | Bin 0 -> 41720 bytes ...hicle_msgs__rosidl_typesupport_cpp.so.meta | 27 ++++ ...cle_msgs__rosidl_typesupport_fastrtps_c.so | Bin 0 -> 48608 bytes ...sgs__rosidl_typesupport_fastrtps_c.so.meta | 27 ++++ ...e_msgs__rosidl_typesupport_fastrtps_cpp.so | Bin 0 -> 69544 bytes ...s__rosidl_typesupport_fastrtps_cpp.so.meta | 27 ++++ ...sgs__rosidl_typesupport_introspection_c.so | Bin 0 -> 44792 bytes ...rosidl_typesupport_introspection_c.so.meta | 27 ++++ ...s__rosidl_typesupport_introspection_cpp.so | Bin 0 -> 46400 bytes ...sidl_typesupport_introspection_cpp.so.meta | 27 ++++ ...ode_report__rosidl_typesupport_c_native.so | Bin 0 -> 23840 bytes ...eport__rosidl_typesupport_c_native.so.meta | 27 ++++ ...t__rosidl_typesupport_fastrtps_c_native.so | Bin 0 -> 23848 bytes ...sidl_typesupport_fastrtps_c_native.so.meta | 27 ++++ ...sidl_typesupport_introspection_c_native.so | Bin 0 -> 23856 bytes ...typesupport_introspection_c_native.so.meta | 27 ++++ ...sgs_engage__rosidl_typesupport_c_native.so | Bin 0 -> 23760 bytes ...ngage__rosidl_typesupport_c_native.so.meta | 27 ++++ ...e__rosidl_typesupport_fastrtps_c_native.so | Bin 0 -> 23768 bytes ...sidl_typesupport_fastrtps_c_native.so.meta | 27 ++++ ...sidl_typesupport_introspection_c_native.so | Bin 0 -> 23776 bytes ...typesupport_introspection_c_native.so.meta | 27 ++++ ...ar_command__rosidl_typesupport_c_native.so | Bin 0 -> 23792 bytes ...mmand__rosidl_typesupport_c_native.so.meta | 27 ++++ ...d__rosidl_typesupport_fastrtps_c_native.so | Bin 0 -> 23808 bytes ...sidl_typesupport_fastrtps_c_native.so.meta | 27 ++++ ...sidl_typesupport_introspection_c_native.so | Bin 0 -> 23808 bytes ...typesupport_introspection_c_native.so.meta | 27 ++++ ...ear_report__rosidl_typesupport_c_native.so | Bin 0 -> 23792 bytes ...eport__rosidl_typesupport_c_native.so.meta | 27 ++++ ...t__rosidl_typesupport_fastrtps_c_native.so | Bin 0 -> 23800 bytes ...sidl_typesupport_fastrtps_c_native.so.meta | 27 ++++ ...sidl_typesupport_introspection_c_native.so | Bin 0 -> 23800 bytes ...typesupport_introspection_c_native.so.meta | 27 ++++ ...ts_command__rosidl_typesupport_c_native.so | Bin 0 -> 23856 bytes ...mmand__rosidl_typesupport_c_native.so.meta | 27 ++++ ...d__rosidl_typesupport_fastrtps_c_native.so | Bin 0 -> 23864 bytes ...sidl_typesupport_fastrtps_c_native.so.meta | 27 ++++ ...sidl_typesupport_introspection_c_native.so | Bin 0 -> 23864 bytes ...typesupport_introspection_c_native.so.meta | 27 ++++ ...hts_report__rosidl_typesupport_c_native.so | Bin 0 -> 23848 bytes ...eport__rosidl_typesupport_c_native.so.meta | 27 ++++ ...t__rosidl_typesupport_fastrtps_c_native.so | Bin 0 -> 23856 bytes ...sidl_typesupport_fastrtps_c_native.so.meta | 27 ++++ ...sidl_typesupport_introspection_c_native.so | Bin 0 -> 23856 bytes ...typesupport_introspection_c_native.so.meta | 27 ++++ ...de_command__rosidl_typesupport_c_native.so | Bin 0 -> 17032 bytes ...mmand__rosidl_typesupport_c_native.so.meta | 27 ++++ ...d__rosidl_typesupport_fastrtps_c_native.so | Bin 0 -> 17048 bytes ...sidl_typesupport_fastrtps_c_native.so.meta | 27 ++++ ...sidl_typesupport_introspection_c_native.so | Bin 0 -> 17048 bytes ...typesupport_introspection_c_native.so.meta | 27 ++++ ...ing_report__rosidl_typesupport_c_native.so | Bin 0 -> 23816 bytes ...eport__rosidl_typesupport_c_native.so.meta | 27 ++++ ...t__rosidl_typesupport_fastrtps_c_native.so | Bin 0 -> 23824 bytes ...sidl_typesupport_fastrtps_c_native.so.meta | 27 ++++ ...sidl_typesupport_introspection_c_native.so | Bin 0 -> 23832 bytes ...typesupport_introspection_c_native.so.meta | 27 ++++ ...rs_command__rosidl_typesupport_c_native.so | Bin 0 -> 23864 bytes ...mmand__rosidl_typesupport_c_native.so.meta | 27 ++++ ...d__rosidl_typesupport_fastrtps_c_native.so | Bin 0 -> 23872 bytes ...sidl_typesupport_fastrtps_c_native.so.meta | 27 ++++ ...sidl_typesupport_introspection_c_native.so | Bin 0 -> 23880 bytes ...typesupport_introspection_c_native.so.meta | 27 ++++ ...ors_report__rosidl_typesupport_c_native.so | Bin 0 -> 23856 bytes ...eport__rosidl_typesupport_c_native.so.meta | 27 ++++ ...t__rosidl_typesupport_fastrtps_c_native.so | Bin 0 -> 23872 bytes ...sidl_typesupport_fastrtps_c_native.so.meta | 27 ++++ ...sidl_typesupport_introspection_c_native.so | Bin 0 -> 23872 bytes ...typesupport_introspection_c_native.so.meta | 27 ++++ 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- first: + Any: + second: + enabled: 1 + settings: {} + - first: + Editor: Editor + second: + enabled: 0 + settings: + DefaultValueInitialized: true + - first: + Windows Store Apps: WindowsStoreApps + second: + enabled: 0 + settings: + CPU: AnyCPU + userData: + assetBundleName: + assetBundleVariant: From 16dde4e5f7d40d30bcd3e9e9e94a796e81200252 Mon Sep 17 00:00:00 2001 From: Lukasz Chojnacki Date: Wed, 5 Jun 2024 09:42:19 +0200 Subject: [PATCH 02/15] feat: change autoware_auto_vehicle_msgs to autoware_vehicle_msgs Signed-off-by: Lukasz Chojnacki --- .../Sensors/VehicleReportRos2Publisher.cs | 62 +++++++++---------- .../Scripts/Vehicles/VehicleROS2Utility.cs | 52 ++++++++-------- .../AWSIM/Scripts/Vehicles/VehicleRosInput.cs | 18 +++--- Assets/Tests/EditMode/Tests.asmdef | 2 +- Assets/Tests/EditMode/VehicleRos2InputTest.cs | 38 ++++++------ Assets/Tests/PlayMode/Ego/EgoTest.cs | 16 ++--- Assets/Tests/PlayMode/RuntimeTests.asmdef | 2 +- 7 files changed, 95 insertions(+), 95 deletions(-) diff --git a/Assets/AWSIM/Scripts/Sensors/VehicleReportRos2Publisher.cs b/Assets/AWSIM/Scripts/Sensors/VehicleReportRos2Publisher.cs index bd30ef2d1..730042e75 100644 --- a/Assets/AWSIM/Scripts/Sensors/VehicleReportRos2Publisher.cs +++ b/Assets/AWSIM/Scripts/Sensors/VehicleReportRos2Publisher.cs @@ -56,20 +56,20 @@ public class VehicleReportRos2Publisher : MonoBehaviour [SerializeField] Vehicle vehicle; // msgs. - autoware_auto_vehicle_msgs.msg.ControlModeReport controlModeReportMsg; - autoware_auto_vehicle_msgs.msg.GearReport gearReportMsg; - autoware_auto_vehicle_msgs.msg.SteeringReport steeringReportMsg; - autoware_auto_vehicle_msgs.msg.TurnIndicatorsReport turnIndicatorsReportMsg; - autoware_auto_vehicle_msgs.msg.HazardLightsReport hazardLightsReportMsg; - autoware_auto_vehicle_msgs.msg.VelocityReport velocityReportMsg; + autoware_vehicle_msgs.msg.ControlModeReport controlModeReportMsg; + autoware_vehicle_msgs.msg.GearReport gearReportMsg; + autoware_vehicle_msgs.msg.SteeringReport steeringReportMsg; + autoware_vehicle_msgs.msg.TurnIndicatorsReport turnIndicatorsReportMsg; + autoware_vehicle_msgs.msg.HazardLightsReport hazardLightsReportMsg; + autoware_vehicle_msgs.msg.VelocityReport velocityReportMsg; // publisher. - IPublisher controlModeReportPublisher; - IPublisher gearReportPublisher; - IPublisher steeringReportPublisher; - IPublisher turnIndicatorsReportPublisher; - IPublisher hazardLightsReportPublisher; - IPublisher velocityReportPublisher; + IPublisher controlModeReportPublisher; + IPublisher gearReportPublisher; + IPublisher steeringReportPublisher; + IPublisher turnIndicatorsReportPublisher; + IPublisher hazardLightsReportPublisher; + IPublisher velocityReportPublisher; bool initialized = false; float timer; @@ -78,20 +78,20 @@ void Start() { // Create publisher. var qos = qosSettings.GetQoSProfile(); - controlModeReportPublisher = SimulatorROS2Node.CreatePublisher(controlModeReportTopic, qos); - gearReportPublisher = SimulatorROS2Node.CreatePublisher(gearReportTopic, qos); - steeringReportPublisher = SimulatorROS2Node.CreatePublisher(steeringReportTopic, qos); - turnIndicatorsReportPublisher = SimulatorROS2Node.CreatePublisher(turnIndicatorsReportTopic, qos); - hazardLightsReportPublisher = SimulatorROS2Node.CreatePublisher(hazardLightsReportTopic, qos); - velocityReportPublisher = SimulatorROS2Node.CreatePublisher(velocityReportTopic, qos); + controlModeReportPublisher = SimulatorROS2Node.CreatePublisher(controlModeReportTopic, qos); + gearReportPublisher = SimulatorROS2Node.CreatePublisher(gearReportTopic, qos); + steeringReportPublisher = SimulatorROS2Node.CreatePublisher(steeringReportTopic, qos); + turnIndicatorsReportPublisher = SimulatorROS2Node.CreatePublisher(turnIndicatorsReportTopic, qos); + hazardLightsReportPublisher = SimulatorROS2Node.CreatePublisher(hazardLightsReportTopic, qos); + velocityReportPublisher = SimulatorROS2Node.CreatePublisher(velocityReportTopic, qos); // Create msg. - controlModeReportMsg = new autoware_auto_vehicle_msgs.msg.ControlModeReport(); - gearReportMsg = new autoware_auto_vehicle_msgs.msg.GearReport(); - steeringReportMsg = new autoware_auto_vehicle_msgs.msg.SteeringReport(); - turnIndicatorsReportMsg = new autoware_auto_vehicle_msgs.msg.TurnIndicatorsReport(); - hazardLightsReportMsg = new autoware_auto_vehicle_msgs.msg.HazardLightsReport(); - velocityReportMsg = new autoware_auto_vehicle_msgs.msg.VelocityReport() + controlModeReportMsg = new autoware_vehicle_msgs.msg.ControlModeReport(); + gearReportMsg = new autoware_vehicle_msgs.msg.GearReport(); + steeringReportMsg = new autoware_vehicle_msgs.msg.SteeringReport(); + turnIndicatorsReportMsg = new autoware_vehicle_msgs.msg.TurnIndicatorsReport(); + hazardLightsReportMsg = new autoware_vehicle_msgs.msg.HazardLightsReport(); + velocityReportMsg = new autoware_vehicle_msgs.msg.VelocityReport() { Header = new std_msgs.msg.Header() { @@ -118,7 +118,7 @@ void FixedUpdate() timer = 0; // ControlModeReport - controlModeReportMsg.Mode = autoware_auto_vehicle_msgs.msg.ControlModeReport.AUTONOMOUS; + controlModeReportMsg.Mode = autoware_vehicle_msgs.msg.ControlModeReport.AUTONOMOUS; // GearReport gearReportMsg.Report = VehicleROS2Utility.UnityToRosShift(vehicle.AutomaticShiftInput); @@ -160,12 +160,12 @@ void FixedUpdate() void OnDestroy() { - SimulatorROS2Node.RemovePublisher(controlModeReportPublisher); - SimulatorROS2Node.RemovePublisher(gearReportPublisher); - SimulatorROS2Node.RemovePublisher(steeringReportPublisher); - SimulatorROS2Node.RemovePublisher(turnIndicatorsReportPublisher); - SimulatorROS2Node.RemovePublisher(hazardLightsReportPublisher); - SimulatorROS2Node.RemovePublisher(velocityReportPublisher); + SimulatorROS2Node.RemovePublisher(controlModeReportPublisher); + SimulatorROS2Node.RemovePublisher(gearReportPublisher); + SimulatorROS2Node.RemovePublisher(steeringReportPublisher); + SimulatorROS2Node.RemovePublisher(turnIndicatorsReportPublisher); + SimulatorROS2Node.RemovePublisher(hazardLightsReportPublisher); + SimulatorROS2Node.RemovePublisher(velocityReportPublisher); } } } \ No newline at end of file diff --git a/Assets/AWSIM/Scripts/Vehicles/VehicleROS2Utility.cs b/Assets/AWSIM/Scripts/Vehicles/VehicleROS2Utility.cs index 0dd9ad4d2..fd34cd29f 100644 --- a/Assets/AWSIM/Scripts/Vehicles/VehicleROS2Utility.cs +++ b/Assets/AWSIM/Scripts/Vehicles/VehicleROS2Utility.cs @@ -15,21 +15,21 @@ public static class VehicleROS2Utility /// /// /// Converted shift. - public static Vehicle.Shift RosToUnityShift(autoware_auto_vehicle_msgs.msg.GearCommand gearCommand) + public static Vehicle.Shift RosToUnityShift(autoware_vehicle_msgs.msg.GearCommand gearCommand) { // NONE, PARKING to PARKING. - if (gearCommand.Command == autoware_auto_vehicle_msgs.msg.GearReport.NONE || - gearCommand.Command == autoware_auto_vehicle_msgs.msg.GearReport.PARK) + if (gearCommand.Command == autoware_vehicle_msgs.msg.GearReport.NONE || + gearCommand.Command == autoware_vehicle_msgs.msg.GearReport.PARK) return Vehicle.Shift.PARKING; // REVERSE to REVERSE. - else if (gearCommand.Command == autoware_auto_vehicle_msgs.msg.GearReport.REVERSE) + else if (gearCommand.Command == autoware_vehicle_msgs.msg.GearReport.REVERSE) return Vehicle.Shift.REVERSE; // NEUTEAL to NEUTEAL. - else if (gearCommand.Command == autoware_auto_vehicle_msgs.msg.GearReport.NEUTRAL) + else if (gearCommand.Command == autoware_vehicle_msgs.msg.GearReport.NEUTRAL) return Vehicle.Shift.NEUTRAL; // DRIVE, LOW to DRIVE. - else if (gearCommand.Command == autoware_auto_vehicle_msgs.msg.GearReport.DRIVE || - gearCommand.Command == autoware_auto_vehicle_msgs.msg.GearReport.LOW) + else if (gearCommand.Command == autoware_vehicle_msgs.msg.GearReport.DRIVE || + gearCommand.Command == autoware_vehicle_msgs.msg.GearReport.LOW) return Vehicle.Shift.DRIVE; else return Vehicle.Shift.PARKING; @@ -43,15 +43,15 @@ public static Vehicle.Shift RosToUnityShift(autoware_auto_vehicle_msgs.msg.GearC public static byte UnityToRosShift(Vehicle.Shift shift) { if (shift == Vehicle.Shift.PARKING) - return autoware_auto_vehicle_msgs.msg.GearReport.PARK; + return autoware_vehicle_msgs.msg.GearReport.PARK; else if (shift == Vehicle.Shift.REVERSE) - return autoware_auto_vehicle_msgs.msg.GearReport.REVERSE; + return autoware_vehicle_msgs.msg.GearReport.REVERSE; else if (shift == Vehicle.Shift.NEUTRAL) - return autoware_auto_vehicle_msgs.msg.GearReport.NEUTRAL; + return autoware_vehicle_msgs.msg.GearReport.NEUTRAL; else if (shift == Vehicle.Shift.DRIVE) - return autoware_auto_vehicle_msgs.msg.GearReport.DRIVE; + return autoware_vehicle_msgs.msg.GearReport.DRIVE; else - return autoware_auto_vehicle_msgs.msg.GearReport.PARK; + return autoware_vehicle_msgs.msg.GearReport.PARK; } /// @@ -59,13 +59,13 @@ public static byte UnityToRosShift(Vehicle.Shift shift) /// /// /// Converted turn signal. - public static Vehicle.TurnSignal RosToUnityTurnSignal(autoware_auto_vehicle_msgs.msg.TurnIndicatorsCommand turnIndicatorsCommand) + public static Vehicle.TurnSignal RosToUnityTurnSignal(autoware_vehicle_msgs.msg.TurnIndicatorsCommand turnIndicatorsCommand) { - if (turnIndicatorsCommand.Command == autoware_auto_vehicle_msgs.msg.TurnIndicatorsCommand.DISABLE) + if (turnIndicatorsCommand.Command == autoware_vehicle_msgs.msg.TurnIndicatorsCommand.DISABLE) return Vehicle.TurnSignal.NONE; - else if (turnIndicatorsCommand.Command == autoware_auto_vehicle_msgs.msg.TurnIndicatorsCommand.ENABLE_LEFT) + else if (turnIndicatorsCommand.Command == autoware_vehicle_msgs.msg.TurnIndicatorsCommand.ENABLE_LEFT) return Vehicle.TurnSignal.LEFT; - else if (turnIndicatorsCommand.Command == autoware_auto_vehicle_msgs.msg.TurnIndicatorsCommand.ENABLE_RIGHT) + else if (turnIndicatorsCommand.Command == autoware_vehicle_msgs.msg.TurnIndicatorsCommand.ENABLE_RIGHT) return Vehicle.TurnSignal.RIGHT; else return Vehicle.TurnSignal.NONE; @@ -79,20 +79,20 @@ public static Vehicle.TurnSignal RosToUnityTurnSignal(autoware_auto_vehicle_msgs public static byte UnityToRosTurnSignal(Vehicle.TurnSignal turnSignal) { if (turnSignal == Vehicle.TurnSignal.NONE) - return autoware_auto_vehicle_msgs.msg.TurnIndicatorsReport.DISABLE; + return autoware_vehicle_msgs.msg.TurnIndicatorsReport.DISABLE; else if (turnSignal == Vehicle.TurnSignal.LEFT) - return autoware_auto_vehicle_msgs.msg.TurnIndicatorsReport.ENABLE_LEFT; + return autoware_vehicle_msgs.msg.TurnIndicatorsReport.ENABLE_LEFT; else if (turnSignal == Vehicle.TurnSignal.RIGHT) - return autoware_auto_vehicle_msgs.msg.TurnIndicatorsReport.ENABLE_RIGHT; + return autoware_vehicle_msgs.msg.TurnIndicatorsReport.ENABLE_RIGHT; else - return autoware_auto_vehicle_msgs.msg.TurnIndicatorsReport.DISABLE; + return autoware_vehicle_msgs.msg.TurnIndicatorsReport.DISABLE; } - public static Vehicle.TurnSignal RosToUnityHazard(autoware_auto_vehicle_msgs.msg.HazardLightsCommand hazardLightsCommand) + public static Vehicle.TurnSignal RosToUnityHazard(autoware_vehicle_msgs.msg.HazardLightsCommand hazardLightsCommand) { - if (hazardLightsCommand.Command == autoware_auto_vehicle_msgs.msg.HazardLightsCommand.ENABLE) + if (hazardLightsCommand.Command == autoware_vehicle_msgs.msg.HazardLightsCommand.ENABLE) return Vehicle.TurnSignal.HAZARD; - else if (hazardLightsCommand.Command == autoware_auto_vehicle_msgs.msg.HazardLightsCommand.DISABLE) + else if (hazardLightsCommand.Command == autoware_vehicle_msgs.msg.HazardLightsCommand.DISABLE) return Vehicle.TurnSignal.NONE; else return Vehicle.TurnSignal.NONE; @@ -101,11 +101,11 @@ public static Vehicle.TurnSignal RosToUnityHazard(autoware_auto_vehicle_msgs.msg public static byte UnityToRosHazard(Vehicle.TurnSignal turnSignal) { if (turnSignal == Vehicle.TurnSignal.HAZARD) - return autoware_auto_vehicle_msgs.msg.HazardLightsReport.ENABLE; + return autoware_vehicle_msgs.msg.HazardLightsReport.ENABLE; else if (turnSignal == Vehicle.TurnSignal.NONE) - return autoware_auto_vehicle_msgs.msg.HazardLightsReport.DISABLE; + return autoware_vehicle_msgs.msg.HazardLightsReport.DISABLE; else - return autoware_auto_vehicle_msgs.msg.HazardLightsReport.DISABLE; + return autoware_vehicle_msgs.msg.HazardLightsReport.DISABLE; } } } \ No newline at end of file diff --git a/Assets/AWSIM/Scripts/Vehicles/VehicleRosInput.cs b/Assets/AWSIM/Scripts/Vehicles/VehicleRosInput.cs index 81d7af952..d9c2ef861 100644 --- a/Assets/AWSIM/Scripts/Vehicles/VehicleRosInput.cs +++ b/Assets/AWSIM/Scripts/Vehicles/VehicleRosInput.cs @@ -22,10 +22,10 @@ public class VehicleRosInput : MonoBehaviour [SerializeField] Vehicle vehicle; // subscribers. - ISubscription turnIndicatorsCommandSubscriber; - ISubscription hazardLightsCommandSubscriber; + ISubscription turnIndicatorsCommandSubscriber; + ISubscription hazardLightsCommandSubscriber; ISubscription ackermanControlCommandSubscriber; - ISubscription gearCommandSubscriber; + ISubscription gearCommandSubscriber; ISubscription vehicleEmergencyStampedSubscriber; // Latest Emergency value. @@ -78,7 +78,7 @@ void OnEnable() var qos = qosSettings.GetQoSProfile(); turnIndicatorsCommandSubscriber - = SimulatorROS2Node.CreateSubscription( + = SimulatorROS2Node.CreateSubscription( turnIndicatorsCommandTopic, msg => { turnIndicatorsSignal = VehicleROS2Utility.RosToUnityTurnSignal(msg); @@ -86,7 +86,7 @@ void OnEnable() }, qos); hazardLightsCommandSubscriber - = SimulatorROS2Node.CreateSubscription( + = SimulatorROS2Node.CreateSubscription( hazardLightsCommandTopic, msg => { hazardLightsSignal = VehicleROS2Utility.RosToUnityHazard(msg); @@ -106,7 +106,7 @@ void OnEnable() }, qos); gearCommandSubscriber - = SimulatorROS2Node.CreateSubscription( + = SimulatorROS2Node.CreateSubscription( gearCommandTopic, msg => { vehicle.AutomaticShiftInput = VehicleROS2Utility.RosToUnityShift(msg); @@ -126,10 +126,10 @@ void OnEnable() void OnDisable() { - SimulatorROS2Node.RemoveSubscription(turnIndicatorsCommandSubscriber); - SimulatorROS2Node.RemoveSubscription(hazardLightsCommandSubscriber); + SimulatorROS2Node.RemoveSubscription(turnIndicatorsCommandSubscriber); + SimulatorROS2Node.RemoveSubscription(hazardLightsCommandSubscriber); SimulatorROS2Node.RemoveSubscription(ackermanControlCommandSubscriber); - SimulatorROS2Node.RemoveSubscription(gearCommandSubscriber); + SimulatorROS2Node.RemoveSubscription(gearCommandSubscriber); SimulatorROS2Node.RemoveSubscription(vehicleEmergencyStampedSubscriber); } } diff --git a/Assets/Tests/EditMode/Tests.asmdef b/Assets/Tests/EditMode/Tests.asmdef index 36961d1fb..257b5f98a 100644 --- a/Assets/Tests/EditMode/Tests.asmdef +++ b/Assets/Tests/EditMode/Tests.asmdef @@ -15,7 +15,7 @@ "overrideReferences": true, "precompiledReferences": [ "nunit.framework.dll", - "autoware_auto_vehicle_msgs_assembly.dll", + "autoware_vehicle_msgs_assembly.dll", "autoware_auto_planning_msgs_assembly.dll", "autoware_auto_geometry_msgs_assembly.dll", "autoware_auto_mapping_msgs_assembly.dll", diff --git a/Assets/Tests/EditMode/VehicleRos2InputTest.cs b/Assets/Tests/EditMode/VehicleRos2InputTest.cs index 2cedc761c..e0ac1f949 100644 --- a/Assets/Tests/EditMode/VehicleRos2InputTest.cs +++ b/Assets/Tests/EditMode/VehicleRos2InputTest.cs @@ -1,6 +1,6 @@ using NUnit.Framework; using AWSIM; -using autoware_auto_vehicle_msgs.msg; +using autoware_vehicle_msgs.msg; public class VehicleRos2InputTest { @@ -15,10 +15,10 @@ public void OneTimeSetUp() public static object[] ros2UnityHazardTestCases = { - new object[] { autoware_auto_vehicle_msgs.msg.TurnIndicatorsCommand.DISABLE, Vehicle.TurnSignal.NONE }, - new object[] { autoware_auto_vehicle_msgs.msg.TurnIndicatorsCommand.ENABLE_LEFT, Vehicle.TurnSignal.LEFT }, - new object[] { autoware_auto_vehicle_msgs.msg.TurnIndicatorsCommand.ENABLE_RIGHT, Vehicle.TurnSignal.RIGHT }, - new object[] { autoware_auto_vehicle_msgs.msg.TurnIndicatorsCommand.NO_COMMAND, Vehicle.TurnSignal.NONE }, + new object[] { autoware_vehicle_msgs.msg.TurnIndicatorsCommand.DISABLE, Vehicle.TurnSignal.NONE }, + new object[] { autoware_vehicle_msgs.msg.TurnIndicatorsCommand.ENABLE_LEFT, Vehicle.TurnSignal.LEFT }, + new object[] { autoware_vehicle_msgs.msg.TurnIndicatorsCommand.ENABLE_RIGHT, Vehicle.TurnSignal.RIGHT }, + new object[] { autoware_vehicle_msgs.msg.TurnIndicatorsCommand.NO_COMMAND, Vehicle.TurnSignal.NONE }, }; [TestCaseSource(nameof(ros2UnityHazardTestCases))] public void Ros2Unity(byte light, Vehicle.TurnSignal result) @@ -29,10 +29,10 @@ public void Ros2Unity(byte light, Vehicle.TurnSignal result) public static object[] ros2UnityTurnSignalTestCases = { - new object[] { Vehicle.TurnSignal.NONE, autoware_auto_vehicle_msgs.msg.TurnIndicatorsCommand.DISABLE}, - new object[] { Vehicle.TurnSignal.LEFT, autoware_auto_vehicle_msgs.msg.TurnIndicatorsCommand.ENABLE_LEFT}, - new object[] { Vehicle.TurnSignal.RIGHT, autoware_auto_vehicle_msgs.msg.TurnIndicatorsCommand.ENABLE_RIGHT}, - new object[] { Vehicle.TurnSignal.NONE, autoware_auto_vehicle_msgs.msg.TurnIndicatorsCommand.DISABLE}, + new object[] { Vehicle.TurnSignal.NONE, autoware_vehicle_msgs.msg.TurnIndicatorsCommand.DISABLE}, + new object[] { Vehicle.TurnSignal.LEFT, autoware_vehicle_msgs.msg.TurnIndicatorsCommand.ENABLE_LEFT}, + new object[] { Vehicle.TurnSignal.RIGHT, autoware_vehicle_msgs.msg.TurnIndicatorsCommand.ENABLE_RIGHT}, + new object[] { Vehicle.TurnSignal.NONE, autoware_vehicle_msgs.msg.TurnIndicatorsCommand.DISABLE}, }; [TestCaseSource(nameof(ros2UnityTurnSignalTestCases))] public void Unity2Ros(Vehicle.TurnSignal signal, byte result) @@ -53,12 +53,12 @@ public void OneTimeSetUp() public static object[] ros2UnityGearTestCases = { - new object[] { autoware_auto_vehicle_msgs.msg.GearReport.NONE, Vehicle.Shift.PARKING }, - new object[] { autoware_auto_vehicle_msgs.msg.GearReport.PARK, Vehicle.Shift.PARKING }, - new object[] { autoware_auto_vehicle_msgs.msg.GearReport.NEUTRAL, Vehicle.Shift.NEUTRAL }, - new object[] { autoware_auto_vehicle_msgs.msg.GearReport.REVERSE, Vehicle.Shift.REVERSE }, - new object[] { autoware_auto_vehicle_msgs.msg.GearReport.DRIVE, Vehicle.Shift.DRIVE }, - new object[] { autoware_auto_vehicle_msgs.msg.GearReport.LOW, Vehicle.Shift.DRIVE }, + new object[] { autoware_vehicle_msgs.msg.GearReport.NONE, Vehicle.Shift.PARKING }, + new object[] { autoware_vehicle_msgs.msg.GearReport.PARK, Vehicle.Shift.PARKING }, + new object[] { autoware_vehicle_msgs.msg.GearReport.NEUTRAL, Vehicle.Shift.NEUTRAL }, + new object[] { autoware_vehicle_msgs.msg.GearReport.REVERSE, Vehicle.Shift.REVERSE }, + new object[] { autoware_vehicle_msgs.msg.GearReport.DRIVE, Vehicle.Shift.DRIVE }, + new object[] { autoware_vehicle_msgs.msg.GearReport.LOW, Vehicle.Shift.DRIVE }, }; [TestCaseSource(nameof(ros2UnityGearTestCases))] public void Ros2Unity(byte gear, Vehicle.Shift result) @@ -69,10 +69,10 @@ public void Ros2Unity(byte gear, Vehicle.Shift result) public static object[] unityToRosGearTestCases = { - new object[] { Vehicle.Shift.PARKING, autoware_auto_vehicle_msgs.msg.GearReport.PARK }, - new object[] { Vehicle.Shift.NEUTRAL, autoware_auto_vehicle_msgs.msg.GearReport.NEUTRAL }, - new object[] { Vehicle.Shift.REVERSE, autoware_auto_vehicle_msgs.msg.GearReport.REVERSE }, - new object[] { Vehicle.Shift.DRIVE, autoware_auto_vehicle_msgs.msg.GearReport.DRIVE }, + new object[] { Vehicle.Shift.PARKING, autoware_vehicle_msgs.msg.GearReport.PARK }, + new object[] { Vehicle.Shift.NEUTRAL, autoware_vehicle_msgs.msg.GearReport.NEUTRAL }, + new object[] { Vehicle.Shift.REVERSE, autoware_vehicle_msgs.msg.GearReport.REVERSE }, + new object[] { Vehicle.Shift.DRIVE, autoware_vehicle_msgs.msg.GearReport.DRIVE }, }; [TestCaseSource(nameof(unityToRosGearTestCases))] public void Unity2Ros(Vehicle.Shift gear, byte result) diff --git a/Assets/Tests/PlayMode/Ego/EgoTest.cs b/Assets/Tests/PlayMode/Ego/EgoTest.cs index 8e9196345..9e3f840af 100644 --- a/Assets/Tests/PlayMode/Ego/EgoTest.cs +++ b/Assets/Tests/PlayMode/Ego/EgoTest.cs @@ -22,21 +22,21 @@ public class EgoTest Vehicle egoVehicle; VehicleRosInput egoRosInput; - ROS2.IPublisher gearCommandPublisher; + ROS2.IPublisher gearCommandPublisher; ROS2.IPublisher movementPublisher; // Gear commands - autoware_auto_vehicle_msgs.msg.GearCommand parkGearCommand = new autoware_auto_vehicle_msgs.msg.GearCommand() + autoware_vehicle_msgs.msg.GearCommand parkGearCommand = new autoware_vehicle_msgs.msg.GearCommand() { - Command = autoware_auto_vehicle_msgs.msg.GearCommand.PARK + Command = autoware_vehicle_msgs.msg.GearCommand.PARK }; - autoware_auto_vehicle_msgs.msg.GearCommand driveGearCommand = new autoware_auto_vehicle_msgs.msg.GearCommand() + autoware_vehicle_msgs.msg.GearCommand driveGearCommand = new autoware_vehicle_msgs.msg.GearCommand() { - Command = autoware_auto_vehicle_msgs.msg.GearCommand.DRIVE + Command = autoware_vehicle_msgs.msg.GearCommand.DRIVE }; - autoware_auto_vehicle_msgs.msg.GearCommand reverseGearCommand = new autoware_auto_vehicle_msgs.msg.GearCommand() + autoware_vehicle_msgs.msg.GearCommand reverseGearCommand = new autoware_vehicle_msgs.msg.GearCommand() { - Command = autoware_auto_vehicle_msgs.msg.GearCommand.REVERSE + Command = autoware_vehicle_msgs.msg.GearCommand.REVERSE }; autoware_auto_control_msgs.msg.AckermannControlCommand moveCommand = new autoware_auto_control_msgs.msg.AckermannControlCommand() { @@ -103,7 +103,7 @@ public IEnumerator Setup() // Publishers string gearChangeTopic = egoRosInput.GetPrivateFieldValue("gearCommandTopic"); - gearCommandPublisher = SimulatorROS2Node.CreatePublisher( + gearCommandPublisher = SimulatorROS2Node.CreatePublisher( gearChangeTopic, qosSettings.GetQoSProfile() ); diff --git a/Assets/Tests/PlayMode/RuntimeTests.asmdef b/Assets/Tests/PlayMode/RuntimeTests.asmdef index 280fe197e..971dc54c5 100644 --- a/Assets/Tests/PlayMode/RuntimeTests.asmdef +++ b/Assets/Tests/PlayMode/RuntimeTests.asmdef @@ -17,7 +17,7 @@ "ros2cs_common.dll", "geometry_msgs_assembly.dll", "sensor_msgs_assembly.dll", - "autoware_auto_vehicle_msgs_assembly.dll", + "autoware_vehicle_msgs_assembly.dll", "autoware_auto_control_msgs_assembly.dll" ], "autoReferenced": false, From 2eae2f8d491dba2fbc1aa1d4d39ad811b4507706 Mon Sep 17 00:00:00 2001 From: Lukasz Chojnacki Date: Wed, 5 Jun 2024 10:12:23 +0200 Subject: [PATCH 03/15] feat(ros2unity): add autoware_control_msgs Signed-off-by: Lukasz Chojnacki --- ...toware_control_msgs__rosidl_generator_c.so | Bin 0 -> 32096 bytes ...e_control_msgs__rosidl_generator_c.so.meta | 27 +++++++ ...oware_control_msgs__rosidl_generator_py.so | Bin 0 -> 21424 bytes ..._control_msgs__rosidl_generator_py.so.meta | 27 +++++++ ...ware_control_msgs__rosidl_typesupport_c.so | Bin 0 -> 18728 bytes ...control_msgs__rosidl_typesupport_c.so.meta | 27 +++++++ ...re_control_msgs__rosidl_typesupport_cpp.so | Bin 0 -> 19688 bytes ...ntrol_msgs__rosidl_typesupport_cpp.so.meta | 27 +++++++ ...rol_msgs__rosidl_typesupport_fastrtps_c.so | Bin 0 -> 28456 bytes ...sgs__rosidl_typesupport_fastrtps_c.so.meta | 27 +++++++ ...l_msgs__rosidl_typesupport_fastrtps_cpp.so | Bin 0 -> 36736 bytes ...s__rosidl_typesupport_fastrtps_cpp.so.meta | 27 +++++++ ...sgs__rosidl_typesupport_introspection_c.so | Bin 0 -> 27152 bytes ...rosidl_typesupport_introspection_c.so.meta | 27 +++++++ ...s__rosidl_typesupport_introspection_cpp.so | Bin 0 -> 27768 bytes ...sidl_typesupport_introspection_cpp.so.meta | 27 +++++++ ...gs_control__rosidl_typesupport_c_native.so | Bin 0 -> 23392 bytes ...ntrol__rosidl_typesupport_c_native.so.meta | 27 +++++++ ...l__rosidl_typesupport_fastrtps_c_native.so | Bin 0 -> 23400 bytes ...sidl_typesupport_fastrtps_c_native.so.meta | 27 +++++++ ...sidl_typesupport_introspection_c_native.so | Bin 0 -> 23408 bytes ...typesupport_introspection_c_native.so.meta | 27 +++++++ ...ol_horizon__rosidl_typesupport_c_native.so | Bin 0 -> 23440 bytes ...rizon__rosidl_typesupport_c_native.so.meta | 27 +++++++ ...n__rosidl_typesupport_fastrtps_c_native.so | Bin 0 -> 23448 bytes ...sidl_typesupport_fastrtps_c_native.so.meta | 27 +++++++ ...sidl_typesupport_introspection_c_native.so | Bin 0 -> 23456 bytes ...typesupport_introspection_c_native.so.meta | 27 +++++++ ...gs_lateral__rosidl_typesupport_c_native.so | Bin 0 -> 23392 bytes ...teral__rosidl_typesupport_c_native.so.meta | 27 +++++++ ...l__rosidl_typesupport_fastrtps_c_native.so | Bin 0 -> 23400 bytes ...sidl_typesupport_fastrtps_c_native.so.meta | 27 +++++++ ...sidl_typesupport_introspection_c_native.so | Bin 0 -> 23408 bytes ...typesupport_introspection_c_native.so.meta | 27 +++++++ ...ngitudinal__rosidl_typesupport_c_native.so | Bin 0 -> 23424 bytes ...dinal__rosidl_typesupport_c_native.so.meta | 27 +++++++ ...l__rosidl_typesupport_fastrtps_c_native.so | Bin 0 -> 23432 bytes ...sidl_typesupport_fastrtps_c_native.so.meta | 27 +++++++ ...sidl_typesupport_introspection_c_native.so | Bin 0 -> 23440 bytes ...typesupport_introspection_c_native.so.meta | 27 +++++++ .../autoware_control_msgs_assembly.deps.json | 75 ++++++++++++++++++ ...oware_control_msgs_assembly.deps.json.meta | 7 ++ .../autoware_control_msgs_assembly.dll | Bin 0 -> 29696 bytes .../autoware_control_msgs_assembly.dll.meta | 33 ++++++++ 44 files changed, 655 insertions(+) create mode 100644 Assets/Ros2ForUnity/Plugins/Linux/x86_64/libautoware_control_msgs__rosidl_generator_c.so create mode 100644 Assets/Ros2ForUnity/Plugins/Linux/x86_64/libautoware_control_msgs__rosidl_generator_c.so.meta create mode 100644 Assets/Ros2ForUnity/Plugins/Linux/x86_64/libautoware_control_msgs__rosidl_generator_py.so create mode 100644 Assets/Ros2ForUnity/Plugins/Linux/x86_64/libautoware_control_msgs__rosidl_generator_py.so.meta create mode 100644 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settings: + CPU: AnyCPU + userData: + assetBundleName: + assetBundleVariant: From a6ca49c4ec1da7172033f97da1ad70873053fc4f Mon Sep 17 00:00:00 2001 From: Lukasz Chojnacki Date: Wed, 5 Jun 2024 10:14:22 +0200 Subject: [PATCH 04/15] feat: change autoware_auto_control_msgs to autoware_control_msgs Signed-off-by: Lukasz Chojnacki --- .../AWSIM/Scripts/Vehicles/VehicleRosInput.cs | 6 +++--- Assets/Tests/EditMode/Tests.asmdef | 2 +- Assets/Tests/PlayMode/Ego/EgoTest.cs | 20 +++++++++---------- Assets/Tests/PlayMode/RuntimeTests.asmdef | 2 +- 4 files changed, 15 insertions(+), 15 deletions(-) diff --git a/Assets/AWSIM/Scripts/Vehicles/VehicleRosInput.cs b/Assets/AWSIM/Scripts/Vehicles/VehicleRosInput.cs index d9c2ef861..5ca5d2d3c 100644 --- a/Assets/AWSIM/Scripts/Vehicles/VehicleRosInput.cs +++ b/Assets/AWSIM/Scripts/Vehicles/VehicleRosInput.cs @@ -24,7 +24,7 @@ public class VehicleRosInput : MonoBehaviour // subscribers. ISubscription turnIndicatorsCommandSubscriber; ISubscription hazardLightsCommandSubscriber; - ISubscription ackermanControlCommandSubscriber; + ISubscription ackermanControlCommandSubscriber; ISubscription gearCommandSubscriber; ISubscription vehicleEmergencyStampedSubscriber; @@ -94,7 +94,7 @@ void OnEnable() }, qos); ackermanControlCommandSubscriber - = SimulatorROS2Node.CreateSubscription( + = SimulatorROS2Node.CreateSubscription( ackermannControlCommandTopic, msg => { // highest priority is EMERGENCY. @@ -128,7 +128,7 @@ void OnDisable() { SimulatorROS2Node.RemoveSubscription(turnIndicatorsCommandSubscriber); SimulatorROS2Node.RemoveSubscription(hazardLightsCommandSubscriber); - SimulatorROS2Node.RemoveSubscription(ackermanControlCommandSubscriber); + SimulatorROS2Node.RemoveSubscription(ackermanControlCommandSubscriber); SimulatorROS2Node.RemoveSubscription(gearCommandSubscriber); SimulatorROS2Node.RemoveSubscription(vehicleEmergencyStampedSubscriber); } diff --git a/Assets/Tests/EditMode/Tests.asmdef b/Assets/Tests/EditMode/Tests.asmdef index 257b5f98a..0cf3e31a0 100644 --- a/Assets/Tests/EditMode/Tests.asmdef +++ b/Assets/Tests/EditMode/Tests.asmdef @@ -24,7 +24,7 @@ "std_msgs_assembly.dll", "builtin_interfaces_assembly.dll", "action_msgs_assembly.dll", - "autoware_auto_control_msgs_assembly.dll", + "autoware_control_msgs_assembly.dll", "autoware_auto_perception_msgs_assembly.dll", "autoware_common_msgs_assembly.dll", "autoware_perception_msgs_assembly.dll", diff --git a/Assets/Tests/PlayMode/Ego/EgoTest.cs b/Assets/Tests/PlayMode/Ego/EgoTest.cs index 9e3f840af..ac7ec574b 100644 --- a/Assets/Tests/PlayMode/Ego/EgoTest.cs +++ b/Assets/Tests/PlayMode/Ego/EgoTest.cs @@ -23,7 +23,7 @@ public class EgoTest VehicleRosInput egoRosInput; ROS2.IPublisher gearCommandPublisher; - ROS2.IPublisher movementPublisher; + ROS2.IPublisher movementPublisher; // Gear commands autoware_vehicle_msgs.msg.GearCommand parkGearCommand = new autoware_vehicle_msgs.msg.GearCommand() @@ -38,27 +38,27 @@ public class EgoTest { Command = autoware_vehicle_msgs.msg.GearCommand.REVERSE }; - autoware_auto_control_msgs.msg.AckermannControlCommand moveCommand = new autoware_auto_control_msgs.msg.AckermannControlCommand() + autoware_control_msgs.msg.Control moveCommand = new autoware_control_msgs.msg.Control() { - Longitudinal = new autoware_auto_control_msgs.msg.LongitudinalCommand() { + Longitudinal = new autoware_control_msgs.msg.Longitudinal() { Acceleration = 1.0f } }; - autoware_auto_control_msgs.msg.AckermannControlCommand leftCommand = new autoware_auto_control_msgs.msg.AckermannControlCommand() + autoware_control_msgs.msg.Control leftCommand = new autoware_control_msgs.msg.Control() { - Longitudinal = new autoware_auto_control_msgs.msg.LongitudinalCommand() { + Longitudinal = new autoware_control_msgs.msg.Longitudinal() { Acceleration = 1.0f }, - Lateral = new autoware_auto_control_msgs.msg.AckermannLateralCommand() { + Lateral = new autoware_control_msgs.msg.Lateral() { Steering_tire_angle = 0.6f } }; - autoware_auto_control_msgs.msg.AckermannControlCommand rightCommand = new autoware_auto_control_msgs.msg.AckermannControlCommand() + autoware_control_msgs.msg.Control rightCommand = new autoware_control_msgs.msg.Control() { - Longitudinal = new autoware_auto_control_msgs.msg.LongitudinalCommand() { + Longitudinal = new autoware_control_msgs.msg.Longitudinal() { Acceleration = 1.0f }, - Lateral = new autoware_auto_control_msgs.msg.AckermannLateralCommand() { + Lateral = new autoware_control_msgs.msg.Lateral() { Steering_tire_angle = -0.6f } }; @@ -109,7 +109,7 @@ public IEnumerator Setup() ); string movementTopic = egoRosInput.GetPrivateFieldValue("ackermannControlCommandTopic"); - movementPublisher = SimulatorROS2Node.CreatePublisher( + movementPublisher = SimulatorROS2Node.CreatePublisher( movementTopic, qosSettings.GetQoSProfile() ); diff --git a/Assets/Tests/PlayMode/RuntimeTests.asmdef b/Assets/Tests/PlayMode/RuntimeTests.asmdef index 971dc54c5..6cc3f62f2 100644 --- a/Assets/Tests/PlayMode/RuntimeTests.asmdef +++ b/Assets/Tests/PlayMode/RuntimeTests.asmdef @@ -18,7 +18,7 @@ "geometry_msgs_assembly.dll", "sensor_msgs_assembly.dll", "autoware_vehicle_msgs_assembly.dll", - "autoware_auto_control_msgs_assembly.dll" + "autoware_control_msgs_assembly.dll" ], "autoReferenced": false, "defineConstraints": [ From 47f8df8905b43add7e251b8f61c3ccf3d0a32a62 Mon Sep 17 00:00:00 2001 From: Lukasz Chojnacki Date: Wed, 5 Jun 2024 13:06:02 +0200 Subject: [PATCH 05/15] feat(ros2unity): add autoware_perception_msgs Signed-off-by: Lukasz Chojnacki --- ...are_perception_msgs__rosidl_generator_c.so | Bin 37792 -> 116736 bytes ...re_perception_msgs__rosidl_generator_py.so | Bin 26184 -> 60208 bytes ...e_perception_msgs__rosidl_typesupport_c.so | Bin 19856 -> 43936 bytes ...perception_msgs__rosidl_typesupport_cpp.so | Bin 25144 -> 55944 bytes ...ion_msgs__rosidl_typesupport_fastrtps_c.so | Bin 30184 -> 83216 bytes ...n_msgs__rosidl_typesupport_fastrtps_cpp.so | Bin 39552 -> 124176 bytes ...sgs__rosidl_typesupport_introspection_c.so | Bin 35056 -> 98400 bytes ...s__rosidl_typesupport_introspection_cpp.so | Bin 39336 -> 132824 bytes ...ted_object__rosidl_typesupport_c_native.so | Bin 0 -> 50824 bytes ...bject__rosidl_typesupport_c_native.so.meta | 27 +++++++++++ ...t__rosidl_typesupport_fastrtps_c_native.so | Bin 0 -> 50832 bytes ...sidl_typesupport_fastrtps_c_native.so.meta | 27 +++++++++++ ...sidl_typesupport_introspection_c_native.so | Bin 0 -> 50832 bytes ...typesupport_introspection_c_native.so.meta | 27 +++++++++++ ...kinematics__rosidl_typesupport_c_native.so | Bin 0 -> 50888 bytes ...atics__rosidl_typesupport_c_native.so.meta | 27 +++++++++++ ...s__rosidl_typesupport_fastrtps_c_native.so | Bin 0 -> 50904 bytes ...sidl_typesupport_fastrtps_c_native.so.meta | 27 +++++++++++ ...sidl_typesupport_introspection_c_native.so | Bin 0 -> 50904 bytes 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...t__rosidl_typesupport_fastrtps_c_native.so | Bin 0 -> 50840 bytes ...sidl_typesupport_fastrtps_c_native.so.meta | 27 +++++++++++ ...sidl_typesupport_introspection_c_native.so | Bin 0 -> 50840 bytes ...typesupport_introspection_c_native.so.meta | 27 +++++++++++ ...kinematics__rosidl_typesupport_c_native.so | Bin 0 -> 50896 bytes ...atics__rosidl_typesupport_c_native.so.meta | 27 +++++++++++ ...s__rosidl_typesupport_fastrtps_c_native.so | Bin 0 -> 50904 bytes ...sidl_typesupport_fastrtps_c_native.so.meta | 27 +++++++++++ ...sidl_typesupport_introspection_c_native.so | Bin 0 -> 50912 bytes ...typesupport_introspection_c_native.so.meta | 27 +++++++++++ ...ed_objects__rosidl_typesupport_c_native.so | Bin 0 -> 50832 bytes ...jects__rosidl_typesupport_c_native.so.meta | 27 +++++++++++ ...s__rosidl_typesupport_fastrtps_c_native.so | Bin 0 -> 50840 bytes ...sidl_typesupport_fastrtps_c_native.so.meta | 27 +++++++++++ ...sidl_typesupport_introspection_c_native.so | Bin 0 -> 50848 bytes 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