From 8d5ce0915b10be2e07ff0a6aba0a439b899f3ed4 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Sat, 6 Aug 2022 05:01:02 +0900 Subject: [PATCH 1/7] feat(tier4_system_msgs): change operation mode messages Signed-off-by: Takagi, Isamu --- tier4_system_msgs/CMakeLists.txt | 8 +++++--- tier4_system_msgs/msg/OperationMode.msg | 9 --------- ...utonomousAvailable.msg => OperationModeAvailable.msg} | 2 +- tier4_system_msgs/msg/OperationModeState.msg | 3 +++ tier4_system_msgs/package.xml | 1 + tier4_system_msgs/srv/ChangeAutowareControl.srv | 3 +++ tier4_system_msgs/srv/ChangeOperationMode.srv | 3 +++ tier4_system_msgs/srv/OperationModeRequest.srv | 3 --- 8 files changed, 16 insertions(+), 16 deletions(-) delete mode 100644 tier4_system_msgs/msg/OperationMode.msg rename tier4_system_msgs/msg/{IsAutonomousAvailable.msg => OperationModeAvailable.msg} (50%) create mode 100644 tier4_system_msgs/msg/OperationModeState.msg create mode 100644 tier4_system_msgs/srv/ChangeAutowareControl.srv create mode 100644 tier4_system_msgs/srv/ChangeOperationMode.srv delete mode 100644 tier4_system_msgs/srv/OperationModeRequest.srv diff --git a/tier4_system_msgs/CMakeLists.txt b/tier4_system_msgs/CMakeLists.txt index 82cb07fd..0e6af6c6 100644 --- a/tier4_system_msgs/CMakeLists.txt +++ b/tier4_system_msgs/CMakeLists.txt @@ -20,10 +20,12 @@ rosidl_generate_interfaces(${PROJECT_NAME} "msg/EmergencyStateStamped.msg" "msg/HazardStatus.msg" "msg/HazardStatusStamped.msg" - "msg/IsAutonomousAvailable.msg" - "msg/OperationMode.msg" - "srv/OperationModeRequest.srv" + "msg/OperationModeAvailable.msg" + "msg/OperationModeState.msg" + "srv/ChangeOperationMode.srv" + "srv/ChangeAutowareControl.srv" DEPENDENCIES + autoware_ad_api_msgs diagnostic_msgs std_msgs ) diff --git a/tier4_system_msgs/msg/OperationMode.msg b/tier4_system_msgs/msg/OperationMode.msg deleted file mode 100644 index 6b425729..00000000 --- a/tier4_system_msgs/msg/OperationMode.msg +++ /dev/null @@ -1,9 +0,0 @@ -uint8 STOP = 0 # no operation (e.g. no human driver, no autonomous system) -uint8 MANUAL_DIRECT = 1 # operated manually by a human driver -uint8 REMOTE_OPERATOR = 2 # operated manually by remote control through Autoware -uint8 LOCAL_OPERATOR = 3 # operated manually by local control (e.g. joystick) through Autoware -uint8 TRANSITION_TO_AUTO = 4 # on transition from manual to auto -uint8 AUTONOMOUS = 5 # operated automatically by Autoware - -builtin_interfaces/Time stamp -uint8 mode diff --git a/tier4_system_msgs/msg/IsAutonomousAvailable.msg b/tier4_system_msgs/msg/OperationModeAvailable.msg similarity index 50% rename from tier4_system_msgs/msg/IsAutonomousAvailable.msg rename to tier4_system_msgs/msg/OperationModeAvailable.msg index 6773e956..c3b60352 100644 --- a/tier4_system_msgs/msg/IsAutonomousAvailable.msg +++ b/tier4_system_msgs/msg/OperationModeAvailable.msg @@ -1,2 +1,2 @@ builtin_interfaces/Time stamp -bool is_autonomous_available +bool available diff --git a/tier4_system_msgs/msg/OperationModeState.msg b/tier4_system_msgs/msg/OperationModeState.msg new file mode 100644 index 00000000..ccd1854b --- /dev/null +++ b/tier4_system_msgs/msg/OperationModeState.msg @@ -0,0 +1,3 @@ +builtin_interfaces/Time stamp +autoware_ad_api_msgs/OperationMode operation +bool is_in_transition diff --git a/tier4_system_msgs/package.xml b/tier4_system_msgs/package.xml index 0f61ac58..b62b122e 100644 --- a/tier4_system_msgs/package.xml +++ b/tier4_system_msgs/package.xml @@ -11,6 +11,7 @@ rosidl_default_generators + autoware_ad_api_msgs diagnostic_msgs std_msgs diff --git a/tier4_system_msgs/srv/ChangeAutowareControl.srv b/tier4_system_msgs/srv/ChangeAutowareControl.srv new file mode 100644 index 00000000..7149ad0e --- /dev/null +++ b/tier4_system_msgs/srv/ChangeAutowareControl.srv @@ -0,0 +1,3 @@ +bool autoware_control +--- +autoware_ad_api_msgs/ResponseStatus status diff --git a/tier4_system_msgs/srv/ChangeOperationMode.srv b/tier4_system_msgs/srv/ChangeOperationMode.srv new file mode 100644 index 00000000..6c153a09 --- /dev/null +++ b/tier4_system_msgs/srv/ChangeOperationMode.srv @@ -0,0 +1,3 @@ +autoware_ad_api_msgs/OperationMode operation +--- +autoware_ad_api_msgs/ResponseStatus status diff --git a/tier4_system_msgs/srv/OperationModeRequest.srv b/tier4_system_msgs/srv/OperationModeRequest.srv deleted file mode 100644 index 81b75d05..00000000 --- a/tier4_system_msgs/srv/OperationModeRequest.srv +++ /dev/null @@ -1,3 +0,0 @@ -OperationMode mode ---- -bool success From 863c673dfdca0104ccb8b51780eea0999dafaf7c Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Wed, 10 Aug 2022 23:27:20 +0900 Subject: [PATCH 2/7] fix: merge operation mode state message Signed-off-by: Takagi, Isamu --- tier4_system_msgs/CMakeLists.txt | 2 -- tier4_system_msgs/msg/OperationModeAvailable.msg | 2 -- tier4_system_msgs/msg/OperationModeState.msg | 3 --- 3 files changed, 7 deletions(-) delete mode 100644 tier4_system_msgs/msg/OperationModeAvailable.msg delete mode 100644 tier4_system_msgs/msg/OperationModeState.msg diff --git a/tier4_system_msgs/CMakeLists.txt b/tier4_system_msgs/CMakeLists.txt index 0e6af6c6..cd457ece 100644 --- a/tier4_system_msgs/CMakeLists.txt +++ b/tier4_system_msgs/CMakeLists.txt @@ -20,8 +20,6 @@ rosidl_generate_interfaces(${PROJECT_NAME} "msg/EmergencyStateStamped.msg" "msg/HazardStatus.msg" "msg/HazardStatusStamped.msg" - "msg/OperationModeAvailable.msg" - "msg/OperationModeState.msg" "srv/ChangeOperationMode.srv" "srv/ChangeAutowareControl.srv" DEPENDENCIES diff --git a/tier4_system_msgs/msg/OperationModeAvailable.msg b/tier4_system_msgs/msg/OperationModeAvailable.msg deleted file mode 100644 index c3b60352..00000000 --- a/tier4_system_msgs/msg/OperationModeAvailable.msg +++ /dev/null @@ -1,2 +0,0 @@ -builtin_interfaces/Time stamp -bool available diff --git a/tier4_system_msgs/msg/OperationModeState.msg b/tier4_system_msgs/msg/OperationModeState.msg deleted file mode 100644 index ccd1854b..00000000 --- a/tier4_system_msgs/msg/OperationModeState.msg +++ /dev/null @@ -1,3 +0,0 @@ -builtin_interfaces/Time stamp -autoware_ad_api_msgs/OperationMode operation -bool is_in_transition From 5dd5199f6045063013d2ab094c74973f10f25430 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Tue, 20 Sep 2022 14:39:25 +0900 Subject: [PATCH 3/7] fix: restore is autonomous available Signed-off-by: Takagi, Isamu --- tier4_system_msgs/CMakeLists.txt | 1 + tier4_system_msgs/msg/IsAutonomousAvailable.msg | 2 ++ 2 files changed, 3 insertions(+) create mode 100644 tier4_system_msgs/msg/IsAutonomousAvailable.msg diff --git a/tier4_system_msgs/CMakeLists.txt b/tier4_system_msgs/CMakeLists.txt index cd457ece..f28e33c3 100644 --- a/tier4_system_msgs/CMakeLists.txt +++ b/tier4_system_msgs/CMakeLists.txt @@ -20,6 +20,7 @@ rosidl_generate_interfaces(${PROJECT_NAME} "msg/EmergencyStateStamped.msg" "msg/HazardStatus.msg" "msg/HazardStatusStamped.msg" + "msg/IsAutonomousAvailable.msg" "srv/ChangeOperationMode.srv" "srv/ChangeAutowareControl.srv" DEPENDENCIES diff --git a/tier4_system_msgs/msg/IsAutonomousAvailable.msg b/tier4_system_msgs/msg/IsAutonomousAvailable.msg new file mode 100644 index 00000000..6773e956 --- /dev/null +++ b/tier4_system_msgs/msg/IsAutonomousAvailable.msg @@ -0,0 +1,2 @@ +builtin_interfaces/Time stamp +bool is_autonomous_available From 0608752b5ffb8f85e06566ae4747e38f78af3086 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Tue, 20 Sep 2022 14:57:13 +0900 Subject: [PATCH 4/7] WIP Signed-off-by: Takagi, Isamu --- tier4_system_msgs/CMakeLists.txt | 2 +- tier4_system_msgs/package.xml | 2 +- tier4_system_msgs/srv/ChangeAutowareControl.srv | 2 +- tier4_system_msgs/srv/ChangeOperationMode.srv | 4 ++-- 4 files changed, 5 insertions(+), 5 deletions(-) diff --git a/tier4_system_msgs/CMakeLists.txt b/tier4_system_msgs/CMakeLists.txt index f28e33c3..ffc80bab 100644 --- a/tier4_system_msgs/CMakeLists.txt +++ b/tier4_system_msgs/CMakeLists.txt @@ -24,7 +24,7 @@ rosidl_generate_interfaces(${PROJECT_NAME} "srv/ChangeOperationMode.srv" "srv/ChangeAutowareControl.srv" DEPENDENCIES - autoware_ad_api_msgs + autoware_common_msgs diagnostic_msgs std_msgs ) diff --git a/tier4_system_msgs/package.xml b/tier4_system_msgs/package.xml index b62b122e..b3c58fe5 100644 --- a/tier4_system_msgs/package.xml +++ b/tier4_system_msgs/package.xml @@ -11,7 +11,7 @@ rosidl_default_generators - autoware_ad_api_msgs + autoware_common_msgs diagnostic_msgs std_msgs diff --git a/tier4_system_msgs/srv/ChangeAutowareControl.srv b/tier4_system_msgs/srv/ChangeAutowareControl.srv index 7149ad0e..01ab51b7 100644 --- a/tier4_system_msgs/srv/ChangeAutowareControl.srv +++ b/tier4_system_msgs/srv/ChangeAutowareControl.srv @@ -1,3 +1,3 @@ bool autoware_control --- -autoware_ad_api_msgs/ResponseStatus status +autoware_common_msgs/ResponseStatus status diff --git a/tier4_system_msgs/srv/ChangeOperationMode.srv b/tier4_system_msgs/srv/ChangeOperationMode.srv index 6c153a09..6d531ca3 100644 --- a/tier4_system_msgs/srv/ChangeOperationMode.srv +++ b/tier4_system_msgs/srv/ChangeOperationMode.srv @@ -1,3 +1,3 @@ -autoware_ad_api_msgs/OperationMode operation +autoware_common_msgs/OperationMode operation --- -autoware_ad_api_msgs/ResponseStatus status +autoware_common_msgs/ResponseStatus status From 9273ff71bf46f0d5bdea3b23d23d713266e11325 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Wed, 21 Sep 2022 17:26:04 +0900 Subject: [PATCH 5/7] feat: remove dependency Signed-off-by: Takagi, Isamu --- tier4_system_msgs/srv/ChangeOperationMode.srv | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/tier4_system_msgs/srv/ChangeOperationMode.srv b/tier4_system_msgs/srv/ChangeOperationMode.srv index 6d531ca3..daea96cf 100644 --- a/tier4_system_msgs/srv/ChangeOperationMode.srv +++ b/tier4_system_msgs/srv/ChangeOperationMode.srv @@ -1,3 +1,7 @@ -autoware_common_msgs/OperationMode operation +uint16 STOP = 1 +uint16 AUTONOMOUS = 2 +uint16 LOCAL = 3 +uint16 REMOTE = 4 +uint16 mode --- autoware_common_msgs/ResponseStatus status From e3c767c5070ab5ca06bebbf3adb2850195e93200 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Fri, 7 Oct 2022 19:59:19 +0900 Subject: [PATCH 6/7] feat: restore old message Signed-off-by: Takagi, Isamu --- tier4_system_msgs/CMakeLists.txt | 2 ++ tier4_system_msgs/msg/OperationMode.msg | 9 +++++++++ tier4_system_msgs/srv/OperationModeRequest.srv | 3 +++ 3 files changed, 14 insertions(+) create mode 100644 tier4_system_msgs/msg/OperationMode.msg create mode 100644 tier4_system_msgs/srv/OperationModeRequest.srv diff --git a/tier4_system_msgs/CMakeLists.txt b/tier4_system_msgs/CMakeLists.txt index ffc80bab..da5ece69 100644 --- a/tier4_system_msgs/CMakeLists.txt +++ b/tier4_system_msgs/CMakeLists.txt @@ -21,6 +21,8 @@ rosidl_generate_interfaces(${PROJECT_NAME} "msg/HazardStatus.msg" "msg/HazardStatusStamped.msg" "msg/IsAutonomousAvailable.msg" + "msg/OperationMode.msg" + "srv/OperationModeRequest.srv" "srv/ChangeOperationMode.srv" "srv/ChangeAutowareControl.srv" DEPENDENCIES diff --git a/tier4_system_msgs/msg/OperationMode.msg b/tier4_system_msgs/msg/OperationMode.msg new file mode 100644 index 00000000..6b425729 --- /dev/null +++ b/tier4_system_msgs/msg/OperationMode.msg @@ -0,0 +1,9 @@ +uint8 STOP = 0 # no operation (e.g. no human driver, no autonomous system) +uint8 MANUAL_DIRECT = 1 # operated manually by a human driver +uint8 REMOTE_OPERATOR = 2 # operated manually by remote control through Autoware +uint8 LOCAL_OPERATOR = 3 # operated manually by local control (e.g. joystick) through Autoware +uint8 TRANSITION_TO_AUTO = 4 # on transition from manual to auto +uint8 AUTONOMOUS = 5 # operated automatically by Autoware + +builtin_interfaces/Time stamp +uint8 mode diff --git a/tier4_system_msgs/srv/OperationModeRequest.srv b/tier4_system_msgs/srv/OperationModeRequest.srv new file mode 100644 index 00000000..81b75d05 --- /dev/null +++ b/tier4_system_msgs/srv/OperationModeRequest.srv @@ -0,0 +1,3 @@ +OperationMode mode +--- +bool success From 4be63e58929100d8878207e8dc9f5141ffd5a0dc Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Wed, 26 Oct 2022 11:45:26 +0900 Subject: [PATCH 7/7] feat: remove old message Signed-off-by: Takagi, Isamu --- tier4_system_msgs/CMakeLists.txt | 1 - tier4_system_msgs/msg/IsAutonomousAvailable.msg | 2 -- 2 files changed, 3 deletions(-) delete mode 100644 tier4_system_msgs/msg/IsAutonomousAvailable.msg diff --git a/tier4_system_msgs/CMakeLists.txt b/tier4_system_msgs/CMakeLists.txt index 10fb6b2d..a9b97b9d 100644 --- a/tier4_system_msgs/CMakeLists.txt +++ b/tier4_system_msgs/CMakeLists.txt @@ -22,7 +22,6 @@ rosidl_generate_interfaces(${PROJECT_NAME} "msg/HazardStatusStamped.msg" "msg/ServiceLog.msg" "msg/ModeChangeAvailable.msg" - "msg/IsAutonomousAvailable.msg" "msg/OperationMode.msg" "srv/OperationModeRequest.srv" "srv/ChangeOperationMode.srv" diff --git a/tier4_system_msgs/msg/IsAutonomousAvailable.msg b/tier4_system_msgs/msg/IsAutonomousAvailable.msg deleted file mode 100644 index 6773e956..00000000 --- a/tier4_system_msgs/msg/IsAutonomousAvailable.msg +++ /dev/null @@ -1,2 +0,0 @@ -builtin_interfaces/Time stamp -bool is_autonomous_available