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feat: migrate autoware_auto_msgs to autoware_msgs #313

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merged 18 commits into from
Oct 16, 2024
Merged

feat: migrate autoware_auto_msgs to autoware_msgs #313

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1e8de32
feat(ros2unity): add autoware_vehicle_msgs
lchojnack Jun 5, 2024
16dde4e
feat: change autoware_auto_vehicle_msgs to autoware_vehicle_msgs
lchojnack Jun 5, 2024
2eae2f8
feat(ros2unity): add autoware_control_msgs
lchojnack Jun 5, 2024
a6ca49c
feat: change autoware_auto_control_msgs to autoware_control_msgs
lchojnack Jun 5, 2024
47f8df8
feat(ros2unity): add autoware_perception_msgs
lchojnack Jun 5, 2024
b5e7c58
feat: change autoware_auto_perception_msgs to autoware_perception_msgs
lchojnack Jun 5, 2024
5f01307
feat(ss2): autoware_auto_msgs to autoware_msgs migration for Scenario…
lchojnack Jun 6, 2024
a59c33a
feat: remove all autoware_auto_msgs libraries and dependencies
lchojnack Jun 6, 2024
d564483
feat(ros2unity): add autoware_common_msgs, autoware_localization_msgs…
lchojnack Jun 6, 2024
c5908a6
feat(ros2unity): add autoware_msg for Windows
lchojnack Jun 7, 2024
44ad955
feat(docs): migrate autoware_auto_msgs to autoware_msgs
lchojnack Jun 7, 2024
fec067b
refactor(v2i): change TrafficSignalArray to TrafficLightGroupArray
lchojnack Jun 10, 2024
e8e4b5f
Merge branch 'main' into feature/autoware_msgs
lchojnack Jun 20, 2024
3597976
Merge branch 'main' into feature/autoware_msgs
Goldob Aug 1, 2024
cf72aff
Merge branch 'main' into feature/autoware_msgs
lchojnack Sep 12, 2024
4aad23f
fix(scripts): message adjustment after the merge
lchojnack Sep 12, 2024
d1d8929
chore: remove autoware_auto msgs
lchojnack Sep 12, 2024
24de674
chore: update docs
lchojnack Sep 12, 2024
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34 changes: 17 additions & 17 deletions Assets/AWSIM/Scripts/Environments/V2I/V2IRos2Publisher.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -26,8 +26,8 @@ public enum TrafficSignalID{
Depth = 1,
};

IPublisher<autoware_perception_msgs.msg.TrafficSignalArray> trafficSignalsPublisher;
autoware_perception_msgs.msg.TrafficSignalArray trafficSignalArrayMsg;
IPublisher<autoware_perception_msgs.msg.TrafficLightGroupArray> trafficLightGroupPublisher;
autoware_perception_msgs.msg.TrafficLightGroupArray trafficLightGroupMsg;

V2I v2iComponent;

Expand All @@ -36,21 +36,21 @@ void Start()
v2iComponent = GetComponent<V2I>();
v2iComponent.OnOutputData += UpdateMessageAndPublish;

trafficSignalArrayMsg = new autoware_perception_msgs.msg.TrafficSignalArray();
trafficLightGroupMsg = new autoware_perception_msgs.msg.TrafficLightGroupArray();

var qos = qosSettings.GetQoSProfile();
trafficSignalsPublisher = SimulatorROS2Node.CreatePublisher<autoware_perception_msgs.msg.TrafficSignalArray>(trafficSignalsTopic, qos);
trafficLightGroupPublisher = SimulatorROS2Node.CreatePublisher<autoware_perception_msgs.msg.TrafficLightGroupArray>(trafficSignalsTopic, qos);
}

void UpdateMessageAndPublish(V2I.OutputData outputData)
{
UpdateTrafficSignalArrayMsg(outputData);
trafficSignalsPublisher.Publish(trafficSignalArrayMsg);
UpdateTrafficLightGroupMsg(outputData);
trafficLightGroupPublisher.Publish(trafficLightGroupMsg);
}

private void UpdateTrafficSignalArrayMsg(V2I.OutputData data)
private void UpdateTrafficLightGroupMsg(V2I.OutputData data)
{
var trafficSignalList = new List<autoware_perception_msgs.msg.TrafficSignal>();
var trafficLightGroup = new List<autoware_perception_msgs.msg.TrafficLightGroup>();
var allRelationID = new List<long>();
foreach (var trafficLight in data.trafficLights)
{
Expand All @@ -68,21 +68,21 @@ private void UpdateTrafficSignalArrayMsg(V2I.OutputData data)
}
foreach (var relationID in ids)
{
var trafficSignalMsg = new autoware_perception_msgs.msg.TrafficSignal();
var trafficLightGroupMsg = new autoware_perception_msgs.msg.TrafficLightGroup();
if (allRelationID.Contains(relationID))
{
continue;
}
trafficSignalMsg.Traffic_signal_id = relationID;
trafficLightGroupMsg.Traffic_light_group_id = relationID;
//Get bulbData
var trafficLightBulbData = trafficLight.GetBulbData();
//Fill TrafficSignal with bulbData
var trafficLightElementList = new List<autoware_perception_msgs.msg.TrafficSignalElement>();
var trafficLightElementList = new List<autoware_perception_msgs.msg.TrafficLightElement>();
foreach (var bulbData in trafficLightBulbData)
{
if (isBulbTurnOn(bulbData.Status))
{
var trafficLightElementMsg = new autoware_perception_msgs.msg.TrafficSignalElement();
var trafficLightElementMsg = new autoware_perception_msgs.msg.TrafficLightElement();
trafficLightElementMsg.Color = V2IROS2Utility.UnityToRosBulbColor(bulbData.Color);
trafficLightElementMsg.Shape = V2IROS2Utility.UnityToRosBulbShape(bulbData.Type);
trafficLightElementMsg.Status = V2IROS2Utility.UnityToRosBulbStatus(bulbData.Status);
Expand All @@ -91,14 +91,14 @@ private void UpdateTrafficSignalArrayMsg(V2I.OutputData data)
}
}
//Add TrafficLight signal to list
trafficSignalMsg.Elements = trafficLightElementList.ToArray();
trafficSignalList.Add(trafficSignalMsg);
trafficLightGroupMsg.Elements = trafficLightElementList.ToArray();
trafficLightGroup.Add(trafficLightGroupMsg);
allRelationID.Add(relationID);
}
}
}
trafficSignalArrayMsg.Stamp = SimulatorROS2Node.GetCurrentRosTime();
trafficSignalArrayMsg.Signals = trafficSignalList.ToArray();
trafficLightGroupMsg.Stamp = SimulatorROS2Node.GetCurrentRosTime();
trafficLightGroupMsg.Traffic_light_groups = trafficLightGroup.ToArray();
}

private bool isBulbTurnOn(TrafficLight.BulbStatus bulbStatus)
Expand All @@ -108,7 +108,7 @@ private bool isBulbTurnOn(TrafficLight.BulbStatus bulbStatus)

void OnDestroy()
{
SimulatorROS2Node.RemovePublisher<autoware_perception_msgs.msg.TrafficSignalArray>(trafficSignalsPublisher);
SimulatorROS2Node.RemovePublisher<autoware_perception_msgs.msg.TrafficLightGroupArray>(trafficLightGroupPublisher);
}
}

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