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>
autowarefoundation · Jun 4, 2024 · cf89a2a · cf89a2a
1 parent 25da3b9
commit cf89a2a
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diff --git 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
@@ -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>

diff --git 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<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);
 }

diff --git a/common/tier4_control_rviz_plugin/src/tools/manual_controller.hpp b/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_;

diff --git 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/...nment_analyzer/include/driving_environment_analyzer/driving_environment_analyzer_node.hpp b/...nment_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_;
 };

diff --git a/...nalyzer/include/driving_environment_analyzer/driving_environment_analyzer_rviz_plugin.hpp b/...nalyzer/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_;

diff --git 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 <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;

diff --git 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<HADMapBin>("/map/vector_map");
+  const auto opt_map = getLastTopic<LaneletMapBin>("/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
@@ -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);
 }

diff --git 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<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);
 }

diff --git 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
@@ -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/...r_compatibility_test/simulator_compatibility_test/publishers/ackermann_control_command.py b/...r_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