feat(tier4_planning_msgs): add internal route interface

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
tier4 · Feb 7, 2024 · d2f983a · d2f983a
1 parent 29d1db4
commit d2f983a
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Showing 6 changed files with 36 additions and 0 deletions.
diff --git a/tier4_planning_msgs/CMakeLists.txt b/tier4_planning_msgs/CMakeLists.txt
@@ -33,6 +33,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/PathChangeModuleId.msg"
   "msg/PathPoint.msg"
   "msg/RerouteAvailability.msg"
+  "msg/RouteState.msg"
   "msg/Scenario.msg"
   "msg/StopFactor.msg"
   "msg/StopReason.msg"
@@ -43,7 +44,13 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/VelocityLimit.msg"
   "msg/VelocityLimitClearCommand.msg"
   "msg/VelocityLimitConstraints.msg"
+  "srv/ClearRoute.srv"
+  "srv/SetLaneletRoute.srv"
+  "srv/SetWaypointRoute.srv"
   DEPENDENCIES
+    autoware_common_msgs
+    autoware_planning_msgs
+    builtin_interfaces
     geometry_msgs
     nav_msgs
     std_msgs

diff --git a/tier4_planning_msgs/msg/RouteState.msg b/tier4_planning_msgs/msg/RouteState.msg
@@ -0,0 +1,11 @@
+uint8 UNKNOWN = 0
+uint8 INITIALIZING = 1
+uint8 UNSET = 2
+uint8 ROUTING = 3
+uint8 SET = 4
+uint8 REROUTING = 5
+uint8 ARRIVED = 6
+uint8 ABORTED = 7
+
+builtin_interfaces/Time stamp
+uint8 state
diff --git a/tier4_planning_msgs/package.xml b/tier4_planning_msgs/package.xml
@@ -11,6 +11,8 @@
 
   <build_depend>rosidl_default_generators</build_depend>
 
+  <depend>autoware_common_msgs</depend>
+  <depend>autoware_planning_msgs</depend>
   <depend>builtin_interfaces</depend>
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>

diff --git a/tier4_planning_msgs/srv/ClearRoute.srv b/tier4_planning_msgs/srv/ClearRoute.srv
@@ -0,0 +1,2 @@
+---
+autoware_common_msgs/ResponseStatus status
diff --git a/tier4_planning_msgs/srv/SetLaneletRoute.srv b/tier4_planning_msgs/srv/SetLaneletRoute.srv
@@ -0,0 +1,7 @@
+std_msgs/Header header
+geometry_msgs/Pose goal_pose
+autoware_planning_msgs/LaneletSegment[] segments
+unique_identifier_msgs/UUID uuid
+bool allow_modification
+---
+autoware_common_msgs/ResponseStatus status
diff --git a/tier4_planning_msgs/srv/SetWaypointRoute.srv b/tier4_planning_msgs/srv/SetWaypointRoute.srv
@@ -0,0 +1,7 @@
+std_msgs/Header header
+geometry_msgs/Pose goal_pose
+geometry_msgs/Pose[] waypoints
+unique_identifier_msgs/UUID uuid
+bool allow_modification
+---
+autoware_common_msgs/ResponseStatus status
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
		---
		autoware_common_msgs/ResponseStatus status