diff --git a/common/tier4_control_rviz_plugin/README.md b/common/tier4_control_rviz_plugin/README.md index 8bca77771..aed5a92b7 100644 --- a/common/tier4_control_rviz_plugin/README.md +++ b/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 diff --git a/common/tier4_control_rviz_plugin/package.xml b/common/tier4_control_rviz_plugin/package.xml index 73562a766..bec78de02 100644 --- a/common/tier4_control_rviz_plugin/package.xml +++ b/common/tier4_control_rviz_plugin/package.xml @@ -10,8 +10,8 @@ ament_cmake_auto autoware_cmake - autoware_auto_control_msgs - autoware_auto_vehicle_msgs + autoware_control_msgs + autoware_vehicle_msgs libqt5-core libqt5-gui libqt5-widgets diff --git a/common/tier4_control_rviz_plugin/src/tools/manual_controller.cpp b/common/tier4_control_rviz_plugin/src/tools/manual_controller.cpp index 8bbb096f7..7fd700b22 100644 --- a/common/tier4_control_rviz_plugin/src/tools/manual_controller.cpp +++ b/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("/control/gate_mode_cmd", rclcpp::QoS(1)); - pub_control_command_ = raw_node_->create_publisher( - "/external/selected/control_cmd", rclcpp::QoS(1)); + pub_control_command_ = + raw_node_->create_publisher("/external/selected/control_cmd", rclcpp::QoS(1)); pub_gear_cmd_ = raw_node_->create_publisher("/external/selected/gear_cmd", 1); } diff --git a/common/tier4_control_rviz_plugin/src/tools/manual_controller.hpp b/common/tier4_control_rviz_plugin/src/tools/manual_controller.hpp index aaa625bff..61b4f2a0b 100644 --- a/common/tier4_control_rviz_plugin/src/tools/manual_controller.hpp +++ b/common/tier4_control_rviz_plugin/src/tools/manual_controller.hpp @@ -24,13 +24,13 @@ #include #include -#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 -#include -#include -#include +#include +#include +#include +#include #include #include @@ -38,15 +38,15 @@ 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::SharedPtr sub_velocity_; rclcpp::Subscription::SharedPtr sub_engage_; rclcpp::Publisher::SharedPtr pub_gate_mode_; - rclcpp::Publisher::SharedPtr pub_control_command_; + rclcpp::Publisher::SharedPtr pub_control_command_; rclcpp::Publisher::SharedPtr pub_gear_cmd_; rclcpp::Client::SharedPtr client_engage_; rclcpp::Subscription::SharedPtr sub_gear_; diff --git a/driving_environment_analyzer/include/driving_environment_analyzer/analyzer_core.hpp b/driving_environment_analyzer/include/driving_environment_analyzer/analyzer_core.hpp index 09188fc49..3227faa63 100644 --- a/driving_environment_analyzer/include/driving_environment_analyzer/analyzer_core.hpp +++ b/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; } diff --git a/driving_environment_analyzer/include/driving_environment_analyzer/driving_environment_analyzer_node.hpp b/driving_environment_analyzer/include/driving_environment_analyzer/driving_environment_analyzer_node.hpp index b6ddc1ad4..aed631cb6 100644 --- a/driving_environment_analyzer/include/driving_environment_analyzer/driving_environment_analyzer_node.hpp +++ b/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_; - rclcpp::Subscription::SharedPtr sub_map_; + rclcpp::Subscription::SharedPtr sub_map_; rclcpp::TimerBase::SharedPtr timer_; rosbag2_cpp::Reader reader_; }; diff --git a/driving_environment_analyzer/include/driving_environment_analyzer/driving_environment_analyzer_rviz_plugin.hpp b/driving_environment_analyzer/include/driving_environment_analyzer/driving_environment_analyzer_rviz_plugin.hpp index caba75997..3d12c3500 100644 --- a/driving_environment_analyzer/include/driving_environment_analyzer/driving_environment_analyzer_rviz_plugin.hpp +++ b/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_; @@ -75,7 +75,7 @@ public Q_SLOTS: QPushButton * set_timestamp_btn_; rclcpp::Node::SharedPtr raw_node_; - rclcpp::Subscription::SharedPtr sub_map_; + rclcpp::Subscription::SharedPtr sub_map_; rclcpp::Publisher::SharedPtr pub_odometry_; rclcpp::Publisher::SharedPtr pub_objects_; rclcpp::Publisher::SharedPtr pub_tf_; diff --git a/driving_environment_analyzer/include/driving_environment_analyzer/type_alias.hpp b/driving_environment_analyzer/include/driving_environment_analyzer/type_alias.hpp index 30721beda..a0c4625db 100644 --- a/driving_environment_analyzer/include/driving_environment_analyzer/type_alias.hpp +++ b/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 -#include +#include +#include #include #include #include @@ -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; diff --git a/driving_environment_analyzer/src/analyzer_core.cpp b/driving_environment_analyzer/src/analyzer_core.cpp index 4ff435ef3..06d0fda90 100644 --- a/driving_environment_analyzer/src/analyzer_core.cpp +++ b/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("/map/vector_map"); + const auto opt_map = getLastTopic("/map/vector_map"); if (opt_map.has_value()) { route_handler_.setMap(opt_map.value()); } diff --git a/driving_environment_analyzer/src/driving_environment_analyzer_node.cpp b/driving_environment_analyzer/src/driving_environment_analyzer_node.cpp index 2517509d5..6ec4b567f 100644 --- a/driving_environment_analyzer/src/driving_environment_analyzer_node.cpp +++ b/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( + sub_map_ = create_subscription( "input/lanelet2_map", rclcpp::QoS{1}.transient_local(), std::bind(&DrivingEnvironmentAnalyzerNode::onMap, this, _1)); @@ -42,7 +42,7 @@ DrivingEnvironmentAnalyzerNode::DrivingEnvironmentAnalyzerNode( analyzer_->setBagFile(declare_parameter("bag_path")); } -void DrivingEnvironmentAnalyzerNode::onMap(const HADMapBin::ConstSharedPtr msg) +void DrivingEnvironmentAnalyzerNode::onMap(const LaneletMapBin::ConstSharedPtr msg) { analyzer_->setMap(*msg); } diff --git a/driving_environment_analyzer/src/driving_environment_analyzer_rviz_plugin.cpp b/driving_environment_analyzer/src/driving_environment_analyzer_rviz_plugin.cpp index 65717e8f6..6045ef721 100644 --- a/driving_environment_analyzer/src/driving_environment_analyzer_rviz_plugin.cpp +++ b/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( + sub_map_ = raw_node_->create_subscription( "/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(*raw_node_); } -void DrivingEnvironmentAnalyzerPanel::onMap(const HADMapBin::ConstSharedPtr msg) +void DrivingEnvironmentAnalyzerPanel::onMap(const LaneletMapBin::ConstSharedPtr msg) { analyzer_->setMap(*msg); } diff --git a/planning/planning_debug_tools/scripts/closest_velocity_checker.py b/planning/planning_debug_tools/scripts/closest_velocity_checker.py index 2a4a5bfdd..a8a553a38 100755 --- a/planning/planning_debug_tools/scripts/closest_velocity_checker.py +++ b/planning/planning_debug_tools/scripts/closest_velocity_checker.py @@ -16,7 +16,7 @@ import time -from autoware_control_msgs.msg import Control +from autoware_control_msgs.msg import Control as AckermannControlCommand from autoware_planning_msgs.msg import Path from autoware_planning_msgs.msg import Trajectory from autoware_vehicle_msgs.msg import Engage diff --git a/simulator/simulator_compatibility_test/README.md b/simulator/simulator_compatibility_test/README.md index c8af542cc..1fcd0ca24 100644 --- a/simulator/simulator_compatibility_test/README.md +++ b/simulator/simulator_compatibility_test/README.md @@ -156,13 +156,13 @@ Detailed process ### Output -| Name | Type | Description | -| -------------------------------------- | ----------------------------------------------- | ---------------------- | -| `/control/command/control_mode_cmd` | `autoware_vehicle_msgs/ControlModeCommand` | for [Test Case #1] | -| `/control/command/gear_cmd` | `autoware_vehicle_msgs/GearCommand` | for [Test Case #2] | -| `/control/command/control_cmd` | `autoware_vehicle_msgs/AckermannControlCommand` | for [Test Case #3, #4] | -| `/vehicle/status/steering_status` | `autoware_vehicle_msgs/TurnIndicatorsCommand` | for [Test Case #5] | -| `/control/command/turn_indicators_cmd` | `autoware_vehicle_msgs/HazardLightsCommand` | for [Test Case #6] | +| Name | Type | Description | +| -------------------------------------- | --------------------------------------------- | ---------------------- | +| `/control/command/control_cmd` | `autoware_control_msgs/Control` | for [Test Case #3, #4] | +| `/control/command/control_mode_cmd` | `autoware_vehicle_msgs/ControlModeCommand` | for [Test Case #1] | +| `/control/command/gear_cmd` | `autoware_vehicle_msgs/GearCommand` | for [Test Case #2] | +| `/vehicle/status/steering_status` | `autoware_vehicle_msgs/TurnIndicatorsCommand` | for [Test Case #5] | +| `/control/command/turn_indicators_cmd` | `autoware_vehicle_msgs/HazardLightsCommand` | for [Test Case #6] | ## Parameters diff --git a/simulator/simulator_compatibility_test/simulator_compatibility_test/publishers/ackermann_control_command.py b/simulator/simulator_compatibility_test/simulator_compatibility_test/publishers/ackermann_control_command.py index 037c2f930..9c643fbb9 100644 --- a/simulator/simulator_compatibility_test/simulator_compatibility_test/publishers/ackermann_control_command.py +++ b/simulator/simulator_compatibility_test/simulator_compatibility_test/publishers/ackermann_control_command.py @@ -1,4 +1,4 @@ -from autoware_control_msgs.msg import Control as ControlCommand +from autoware_control_msgs.msg import Control as AckermannControlCommand from autoware_control_msgs.msg import Lateral as LateralCommand from autoware_control_msgs.msg import Longitudinal as LongitudinalCommand import rclpy @@ -23,11 +23,11 @@ def __init__(self): durability=QoSDurabilityPolicy.TRANSIENT_LOCAL, ) self.topic = "/control/command/control_cmd" - self.publisher_ = self.create_publisher(ControlCommand, self.topic, QOS_RKL10TL) + self.publisher_ = self.create_publisher(AckermannControlCommand, self.topic, QOS_RKL10TL) def publish_msg(self, control_cmd): stamp = self.get_clock().now().to_msg() - msg = ControlCommand() + msg = AckermannControlCommand() lateral_cmd = LateralCommand() longitudinal_cmd = LongitudinalCommand() lateral_cmd.stamp.sec = stamp.sec