feat!: change from autoware_auto_msgs to autoware_msgs (#30)

* feat!: replace autoware_auto_msgs with autoware_msgs

Signed-off-by: mitsudome-r <[email protected]>

* style(pre-commit): autofix

* feat: port remaining autoware_auto_msgs to autoware_msgs  (#32)

* feat: port remaining autoware_auto_msgs to autoware_msgs

Signed-off-by: Ryohsuke Mitsudome <[email protected]>

* style(pre-commit): autofix

---------

Signed-off-by: Ryohsuke Mitsudome <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* remove <depend>autoware_msgs</depend>

Signed-off-by: M. Fatih Cırıt <[email protected]>

* remove non-existent dep

Signed-off-by: M. Fatih Cırıt <[email protected]>

---------

Signed-off-by: mitsudome-r <[email protected]>
Signed-off-by: Ryohsuke Mitsudome <[email protected]>
Signed-off-by: M. Fatih Cırıt <[email protected]>
Co-authored-by: mitsudome-r <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Ryohsuke Mitsudome <[email protected]>
Co-authored-by: M. Fatih Cırıt <[email protected]>

build_depends.repos

@@ -20,10 +20,6 @@ repositories:
     type: git
     url: https://github.com/autowarefoundation/autoware_internal_msgs.git
     version: main
-  core/external/autoware_auto_msgs:
-    type: git
-    url: https://github.com/tier4/autoware_auto_msgs.git
-    version: tier4/main
   # universe
   universe/autoware.universe:
     type: git

common/tier4_control_rviz_plugin/README.md

@@ -6,20 +6,20 @@ This package is to mimic external control for simulation.
 
 ### Input
 
-| Name                              | Type                                              | Description             |
-| --------------------------------- | ------------------------------------------------- | ----------------------- |
-| `/control/current_gate_mode`      | `tier4_control_msgs::msg::GateMode`               | Current GATE mode       |
-| `/vehicle/status/velocity_status` | `autoware_auto_vehicle_msgs::msg::VelocityReport` | Current velocity status |
-| `/api/autoware/get/engage`        | `tier4_external_api_msgs::srv::Engage`            | Getting Engage          |
-| `/vehicle/status/gear_status`     | `autoware_auto_vehicle_msgs::msg::GearReport`     | The state of GEAR       |
+| Name                              | Type                                         | Description             |
+| --------------------------------- | -------------------------------------------- | ----------------------- |
+| `/control/current_gate_mode`      | `tier4_control_msgs::msg::GateMode`          | Current GATE mode       |
+| `/vehicle/status/velocity_status` | `autoware_vehicle_msgs::msg::VelocityReport` | Current velocity status |
+| `/api/autoware/get/engage`        | `tier4_external_api_msgs::srv::Engage`       | Getting Engage          |
+| `/vehicle/status/gear_status`     | `autoware_vehicle_msgs::msg::GearReport`     | The state of GEAR       |
 
 ### Output
 
-| Name                             | Type                                                       | Description             |
-| -------------------------------- | ---------------------------------------------------------- | ----------------------- |
-| `/control/gate_mode_cmd`         | `tier4_control_msgs::msg::GateMode`                        | GATE mode               |
-| `/external/selected/control_cmd` | `autoware_auto_control_msgs::msg::AckermannControlCommand` | AckermannControlCommand |
-| `/external/selected/gear_cmd`    | `autoware_auto_vehicle_msgs::msg::GearCommand`             | GEAR                    |
+| Name                             | Type                                         | Description     |
+| -------------------------------- | -------------------------------------------- | --------------- |
+| `/control/gate_mode_cmd`         | `tier4_control_msgs::msg::GateMode`          | GATE mode       |
+| `/external/selected/control_cmd` | `autoware_control_msgs::msg::ControlCommand` | Control command |
+| `/external/selected/gear_cmd`    | `autoware_vehicle_msgs::msg::GearCommand`    | GEAR            |
 
 ## Usage
 

common/tier4_control_rviz_plugin/package.xml

@@ -10,8 +10,8 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>autoware_auto_control_msgs</depend>
-  <depend>autoware_auto_vehicle_msgs</depend>
+  <depend>autoware_control_msgs</depend>
+  <depend>autoware_vehicle_msgs</depend>
   <depend>libqt5-core</depend>
   <depend>libqt5-gui</depend>
   <depend>libqt5-widgets</depend>

common/tier4_control_rviz_plugin/src/tools/manual_controller.cpp

@@ -102,11 +102,11 @@ ManualController::ManualController(QWidget * parent) : rviz_common::Panel(parent
 void ManualController::update()
 {
   if (!raw_node_) return;
-  AckermannControlCommand ackermann;
+  Control control_cmd;
   {
-    ackermann.stamp = raw_node_->get_clock()->now();
-    ackermann.lateral.steering_tire_angle = steering_angle_;
-    ackermann.longitudinal.speed = cruise_velocity_;
+    control_cmd.stamp = raw_node_->get_clock()->now();
+    control_cmd.lateral.steering_tire_angle = steering_angle_;
+    control_cmd.longitudinal.velocity = cruise_velocity_;
     /**
      * @brief Calculate desired acceleration by simple BackSteppingControl
      *  V = 0.5*(v-v_des)^2 >= 0
@@ -118,21 +118,21 @@ void ManualController::update()
     const double v_des = cruise_velocity_;
     const double a = current_acceleration_;
     const double a_des = k * (v - v_des) + a;
-    ackermann.longitudinal.acceleration = std::clamp(a_des, -1.0, 1.0);
+    control_cmd.longitudinal.acceleration = std::clamp(a_des, -1.0, 1.0);
   }
   GearCommand gear_cmd;
   {
     const double eps = 0.001;
-    if (ackermann.longitudinal.speed > eps && current_velocity_ > -eps) {
+    if (control_cmd.longitudinal.velocity > eps && current_velocity_ > -eps) {
       gear_cmd.command = GearCommand::DRIVE;
-    } else if (ackermann.longitudinal.speed < -eps && current_velocity_ < eps) {
+    } else if (control_cmd.longitudinal.velocity < -eps && current_velocity_ < eps) {
       gear_cmd.command = GearCommand::REVERSE;
-      ackermann.longitudinal.acceleration *= -1.0;
+      control_cmd.longitudinal.acceleration *= -1.0;
     } else {
       gear_cmd.command = GearCommand::PARK;
     }
   }
-  pub_control_command_->publish(ackermann);
+  pub_control_command_->publish(control_cmd);
   pub_gear_cmd_->publish(gear_cmd);
 }
 
@@ -170,8 +170,8 @@ void ManualController::onInitialize()
 
   pub_gate_mode_ = raw_node_->create_publisher<GateMode>("/control/gate_mode_cmd", rclcpp::QoS(1));
 
-  pub_control_command_ = raw_node_->create_publisher<AckermannControlCommand>(
-    "/external/selected/control_cmd", rclcpp::QoS(1));
+  pub_control_command_ =
+    raw_node_->create_publisher<Control>("/external/selected/control_cmd", rclcpp::QoS(1));
 
   pub_gear_cmd_ = raw_node_->create_publisher<GearCommand>("/external/selected/gear_cmd", 1);
 }

common/tier4_control_rviz_plugin/src/tools/manual_controller.hpp

@@ -24,29 +24,29 @@
 #include <rclcpp/rclcpp.hpp>
 #include <rviz_common/panel.hpp>
 
-#include "autoware_auto_vehicle_msgs/msg/velocity_report.hpp"
+#include "autoware_vehicle_msgs/msg/velocity_report.hpp"
 #include "geometry_msgs/msg/accel_with_covariance_stamped.hpp"
 #include "geometry_msgs/msg/twist.hpp"
-#include <autoware_auto_control_msgs/msg/ackermann_control_command.hpp>
-#include <autoware_auto_vehicle_msgs/msg/engage.hpp>
-#include <autoware_auto_vehicle_msgs/msg/gear_command.hpp>
-#include <autoware_auto_vehicle_msgs/msg/gear_report.hpp>
+#include <autoware_control_msgs/msg/control.hpp>
+#include <autoware_vehicle_msgs/msg/engage.hpp>
+#include <autoware_vehicle_msgs/msg/gear_command.hpp>
+#include <autoware_vehicle_msgs/msg/gear_report.hpp>
 #include <tier4_control_msgs/msg/gate_mode.hpp>
 #include <tier4_external_api_msgs/srv/engage.hpp>
 
 #include <memory>
 
 namespace rviz_plugins
 {
-using autoware_auto_control_msgs::msg::AckermannControlCommand;
-using autoware_auto_vehicle_msgs::msg::GearCommand;
-using autoware_auto_vehicle_msgs::msg::VelocityReport;
+using autoware_control_msgs::msg::Control;
+using autoware_vehicle_msgs::msg::GearCommand;
+using autoware_vehicle_msgs::msg::VelocityReport;
 using geometry_msgs::msg::AccelWithCovarianceStamped;
 using geometry_msgs::msg::Twist;
 using tier4_control_msgs::msg::GateMode;
 using EngageSrv = tier4_external_api_msgs::srv::Engage;
-using autoware_auto_vehicle_msgs::msg::Engage;
-using autoware_auto_vehicle_msgs::msg::GearReport;
+using autoware_vehicle_msgs::msg::Engage;
+using autoware_vehicle_msgs::msg::GearReport;
 
 class ManualController : public rviz_common::Panel
 {
@@ -77,7 +77,7 @@ public Q_SLOTS:  // NOLINT for Qt
   rclcpp::Subscription<VelocityReport>::SharedPtr sub_velocity_;
   rclcpp::Subscription<Engage>::SharedPtr sub_engage_;
   rclcpp::Publisher<tier4_control_msgs::msg::GateMode>::SharedPtr pub_gate_mode_;
-  rclcpp::Publisher<AckermannControlCommand>::SharedPtr pub_control_command_;
+  rclcpp::Publisher<Control>::SharedPtr pub_control_command_;
   rclcpp::Publisher<GearCommand>::SharedPtr pub_gear_cmd_;
   rclcpp::Client<EngageSrv>::SharedPtr client_engage_;
   rclcpp::Subscription<GearReport>::SharedPtr sub_gear_;

common/tier4_debug_tools/include/tier4_debug_tools/lateral_error_publisher.hpp

@@ -22,7 +22,7 @@
 #include <motion_utils/trajectory/trajectory.hpp>
 #include <rclcpp/rclcpp.hpp>
 
-#include <autoware_auto_planning_msgs/msg/trajectory.hpp>
+#include <autoware_planning_msgs/msg/trajectory.hpp>
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
 #include <tier4_debug_msgs/msg/float32_stamped.hpp>
 
@@ -36,15 +36,15 @@ class LateralErrorPublisher : public rclcpp::Node
   double yaw_threshold_to_search_closest_;
 
   /* States */
-  autoware_auto_planning_msgs::msg::Trajectory::SharedPtr
+  autoware_planning_msgs::msg::Trajectory::SharedPtr
     current_trajectory_ptr_;  //!< @brief reference trajectory
   geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr
     current_vehicle_pose_ptr_;  //!< @brief current EKF pose
   geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr
     current_ground_truth_pose_ptr_;  //!< @brief current GNSS pose
 
   /* Publishers and Subscribers */
-  rclcpp::Subscription<autoware_auto_planning_msgs::msg::Trajectory>::SharedPtr
+  rclcpp::Subscription<autoware_planning_msgs::msg::Trajectory>::SharedPtr
     sub_trajectory_;  //!< @brief subscription for reference trajectory
   rclcpp::Subscription<geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr
     sub_vehicle_pose_;  //!< @brief subscription for vehicle pose
@@ -60,7 +60,7 @@ class LateralErrorPublisher : public rclcpp::Node
   /**
    * @brief set current_trajectory_ with received message
    */
-  void onTrajectory(const autoware_auto_planning_msgs::msg::Trajectory::SharedPtr);
+  void onTrajectory(const autoware_planning_msgs::msg::Trajectory::SharedPtr);
   /**
    * @brief set current_vehicle_pose_ with received message
    */

common/tier4_debug_tools/package.xml

@@ -10,7 +10,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>autoware_auto_planning_msgs</depend>
+  <depend>autoware_planning_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>motion_utils</depend>
   <depend>rclcpp</depend>

common/tier4_debug_tools/src/lateral_error_publisher.cpp

@@ -26,7 +26,7 @@ LateralErrorPublisher::LateralErrorPublisher(const rclcpp::NodeOptions & node_op
     declare_parameter("yaw_threshold_to_search_closest", M_PI / 4.0);
 
   /* Publishers and Subscribers */
-  sub_trajectory_ = create_subscription<autoware_auto_planning_msgs::msg::Trajectory>(
+  sub_trajectory_ = create_subscription<autoware_planning_msgs::msg::Trajectory>(
     "~/input/reference_trajectory", rclcpp::QoS{1},
     std::bind(&LateralErrorPublisher::onTrajectory, this, _1));
   sub_vehicle_pose_ = create_subscription<geometry_msgs::msg::PoseWithCovarianceStamped>(
@@ -44,7 +44,7 @@ LateralErrorPublisher::LateralErrorPublisher(const rclcpp::NodeOptions & node_op
 }
 
 void LateralErrorPublisher::onTrajectory(
-  const autoware_auto_planning_msgs::msg::Trajectory::SharedPtr msg)
+  const autoware_planning_msgs::msg::Trajectory::SharedPtr msg)
 {
   current_trajectory_ptr_ = msg;
 }

driving_environment_analyzer/include/driving_environment_analyzer/analyzer_core.hpp

@@ -60,7 +60,7 @@ class AnalyzerCore
     odd_raw_data_ = getRawData(timestamp);
   }
 
-  void setMap(const HADMapBin & msg) { route_handler_.setMap(msg); }
+  void setMap(const LaneletMapBin & msg) { route_handler_.setMap(msg); }
 
   void clearData() { odd_raw_data_ = std::nullopt; }
 

driving_environment_analyzer/include/driving_environment_analyzer/driving_environment_analyzer_node.hpp

@@ -31,12 +31,12 @@ class DrivingEnvironmentAnalyzerNode : public rclcpp::Node
   explicit DrivingEnvironmentAnalyzerNode(const rclcpp::NodeOptions & node_options);
 
 private:
-  void onMap(const HADMapBin::ConstSharedPtr map_msg);
+  void onMap(const LaneletMapBin::ConstSharedPtr map_msg);
   void analyze();
 
   std::shared_ptr<analyzer_core::AnalyzerCore> analyzer_;
 
-  rclcpp::Subscription<HADMapBin>::SharedPtr sub_map_;
+  rclcpp::Subscription<LaneletMapBin>::SharedPtr sub_map_;
   rclcpp::TimerBase::SharedPtr timer_;
   rosbag2_cpp::Reader reader_;
 };

driving_environment_analyzer/include/driving_environment_analyzer/driving_environment_analyzer_rviz_plugin.hpp

@@ -58,7 +58,7 @@ public Q_SLOTS:
   void onClickAnalyzeDynamicODDFactor();
 
 private:
-  void onMap(const HADMapBin::ConstSharedPtr map_msg);
+  void onMap(const LaneletMapBin::ConstSharedPtr map_msg);
 
   std::shared_ptr<analyzer_core::AnalyzerCore> analyzer_;
 
@@ -75,7 +75,7 @@ public Q_SLOTS:
   QPushButton * set_timestamp_btn_;
 
   rclcpp::Node::SharedPtr raw_node_;
-  rclcpp::Subscription<HADMapBin>::SharedPtr sub_map_;
+  rclcpp::Subscription<LaneletMapBin>::SharedPtr sub_map_;
   rclcpp::Publisher<Odometry>::SharedPtr pub_odometry_;
   rclcpp::Publisher<PredictedObjects>::SharedPtr pub_objects_;
   rclcpp::Publisher<TFMessage>::SharedPtr pub_tf_;

driving_environment_analyzer/include/driving_environment_analyzer/type_alias.hpp

@@ -21,8 +21,8 @@
 #include "tier4_rtc_msgs/msg/command.hpp"
 #include "tier4_rtc_msgs/msg/cooperate_status_array.hpp"
 #include "tier4_rtc_msgs/msg/module.hpp"
-#include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
-#include <autoware_auto_perception_msgs/msg/predicted_objects.hpp>
+#include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
+#include <autoware_perception_msgs/msg/predicted_objects.hpp>
 #include <autoware_planning_msgs/msg/lanelet_route.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 #include <tf2_msgs/msg/tf_message.hpp>
@@ -40,9 +40,9 @@ using nav_msgs::msg::Odometry;
 using tf2_msgs::msg::TFMessage;
 
 // autoware
-using autoware_auto_mapping_msgs::msg::HADMapBin;
-using autoware_auto_perception_msgs::msg::ObjectClassification;
-using autoware_auto_perception_msgs::msg::PredictedObjects;
+using autoware_map_msgs::msg::LaneletMapBin;
+using autoware_perception_msgs::msg::ObjectClassification;
+using autoware_perception_msgs::msg::PredictedObjects;
 using autoware_planning_msgs::msg::LaneletRoute;
 using tier4_rtc_msgs::msg::Command;
 using tier4_rtc_msgs::msg::CooperateStatusArray;

driving_environment_analyzer/package.xml

@@ -15,10 +15,9 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_adapi_v1_msgs</depend>
-  <depend>autoware_auto_perception_msgs</depend>
-  <depend>autoware_auto_planning_msgs</depend>
-  <depend>autoware_auto_vehicle_msgs</depend>
   <depend>autoware_perception_msgs</depend>
+  <depend>autoware_planning_msgs</depend>
+  <depend>autoware_vehicle_msgs</depend>
   <depend>behavior_path_planner_common</depend>
   <depend>geometry_msgs</depend>
   <depend>interpolation</depend>

driving_environment_analyzer/src/analyzer_core.cpp

@@ -53,7 +53,7 @@ void AnalyzerCore::setBagFile(const std::string & file_name)
     route_handler_.setRoute(opt_route.value());
   }
 
-  const auto opt_map = getLastTopic<HADMapBin>("/map/vector_map");
+  const auto opt_map = getLastTopic<LaneletMapBin>("/map/vector_map");
   if (opt_map.has_value()) {
     route_handler_.setMap(opt_map.value());
   }

driving_environment_analyzer/src/driving_environment_analyzer_node.cpp

@@ -33,7 +33,7 @@ DrivingEnvironmentAnalyzerNode::DrivingEnvironmentAnalyzerNode(
   timer_ = rclcpp::create_timer(
     this, get_clock(), 100ms, std::bind(&DrivingEnvironmentAnalyzerNode::analyze, this));
 
-  sub_map_ = create_subscription<HADMapBin>(
+  sub_map_ = create_subscription<LaneletMapBin>(
     "input/lanelet2_map", rclcpp::QoS{1}.transient_local(),
     std::bind(&DrivingEnvironmentAnalyzerNode::onMap, this, _1));
 
@@ -42,7 +42,7 @@ DrivingEnvironmentAnalyzerNode::DrivingEnvironmentAnalyzerNode(
   analyzer_->setBagFile(declare_parameter<std::string>("bag_path"));
 }
 
-void DrivingEnvironmentAnalyzerNode::onMap(const HADMapBin::ConstSharedPtr msg)
+void DrivingEnvironmentAnalyzerNode::onMap(const LaneletMapBin::ConstSharedPtr msg)
 {
   analyzer_->setMap(*msg);
 }

driving_environment_analyzer/src/driving_environment_analyzer_rviz_plugin.cpp

@@ -112,7 +112,7 @@ void DrivingEnvironmentAnalyzerPanel::onInitialize()
 
   raw_node_ = this->getDisplayContext()->getRosNodeAbstraction().lock()->get_raw_node();
 
-  sub_map_ = raw_node_->create_subscription<HADMapBin>(
+  sub_map_ = raw_node_->create_subscription<LaneletMapBin>(
     "/map/vector_map", rclcpp::QoS{1}.transient_local(),
     std::bind(&DrivingEnvironmentAnalyzerPanel::onMap, this, _1));
 
@@ -126,7 +126,7 @@ void DrivingEnvironmentAnalyzerPanel::onInitialize()
   analyzer_ = std::make_shared<analyzer_core::AnalyzerCore>(*raw_node_);
 }
 
-void DrivingEnvironmentAnalyzerPanel::onMap(const HADMapBin::ConstSharedPtr msg)
+void DrivingEnvironmentAnalyzerPanel::onMap(const LaneletMapBin::ConstSharedPtr msg)
 {
   analyzer_->setMap(*msg);
 }

planning/planning_debug_tools/include/planning_debug_tools/trajectory_analyzer.hpp

@@ -21,11 +21,11 @@
 #include "rclcpp/rclcpp.hpp"
 #include "tier4_autoware_utils/geometry/geometry.hpp"
 
-#include "autoware_auto_planning_msgs/msg/path.hpp"
-#include "autoware_auto_planning_msgs/msg/path_with_lane_id.hpp"
-#include "autoware_auto_planning_msgs/msg/trajectory.hpp"
+#include "autoware_planning_msgs/msg/path.hpp"
+#include "autoware_planning_msgs/msg/trajectory.hpp"
 #include "nav_msgs/msg/odometry.hpp"
 #include "tier4_debug_msgs/msg/float64_multi_array_stamped.hpp"
+#include "tier4_planning_msgs/msg/path_with_lane_id.hpp"
 
 #include <iostream>
 #include <map>
@@ -35,11 +35,11 @@
 
 namespace planning_debug_tools
 {
-using autoware_auto_planning_msgs::msg::Path;
-using autoware_auto_planning_msgs::msg::PathWithLaneId;
-using autoware_auto_planning_msgs::msg::Trajectory;
+using autoware_planning_msgs::msg::Path;
+using autoware_planning_msgs::msg::Trajectory;
 using nav_msgs::msg::Odometry;
 using planning_debug_tools::msg::TrajectoryDebugInfo;
+using tier4_planning_msgs::msg::PathWithLaneId;
 
 template <typename T>
 class TrajectoryAnalyzer