feat!: replacing autoware_auto_msgs with autoware_msgs (#78)

* feat(pacmod_interface): replace autoware_control_msg with autoware_control_msg

Signed-off-by: NorahXiong <norah.xiong@autocore.ai>

* feat(pacmod_interface): replace autoware_auto_msgs with autoware_msgs

Signed-off-by: liu cui <cynthia.liu@autocore.ai>

* fix: remove unused header

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* style(pre-commit): autofix

* feat: remove autoware_auto_msgs from build_depends.repos

Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>

---------

Signed-off-by: NorahXiong <norah.xiong@autocore.ai>
Signed-off-by: liu cui <cynthia.liu@autocore.ai>
Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>
Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
Co-authored-by: NorahXiong <norah.xiong@autocore.ai>
Co-authored-by: liu cui <cynthia.liu@autocore.ai>
Co-authored-by: cyn-liu <104069308+cyn-liu@users.noreply.github.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

build_depends.repos

@@ -11,10 +11,6 @@ repositories:
     type: git
     url: https://github.com/autowarefoundation/autoware_common.git
     version: main
-  core/external/autoware_auto_msgs:
-    type: git
-    url: https://github.com/tier4/autoware_auto_msgs.git # TODO(Tier IV): Move to autowarefoundation/autoware_msgs
-    version: tier4/main
   universe/autoware:
     type: git
     url: https://github.com/autowarefoundation/autoware.universe

pacmod_interface/README.md

@@ -8,15 +8,15 @@
 
 - From Autoware
 
-  | Name                                   | Type                                                     | Description                                           |
-  | -------------------------------------- | -------------------------------------------------------- | ----------------------------------------------------- |
-  | `/control/command/control_cmd`         | autoware_auto_control_msgs::msg::AckermannControlCommand | lateral and longitudinal control command              |
-  | `/control/command/gear_cmd`            | autoware_auto_vehicle_msgs::msg::GearCommand             | gear command                                          |
-  | `/control/command/turn_indicators_cmd` | autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand   | turn indicators command                               |
-  | `/control/command/hazard_lights_cmd`   | autoware_auto_vehicle_msgs::msg::HazardLightsCommand     | hazard lights command                                 |
-  | `/vehicle/engage`                      | autoware_auto_vehicle_msgs::msg::Engage                  | engage command                                        |
-  | `/vehicle/command/actuation_cmd`       | tier4_vehicle_msgs::msg::ActuationCommandStamped         | actuation (accel/brake pedal, steering wheel) command |
-  | `/control/command/emergency_cmd`       | tier4_vehicle_msgs::msg::VehicleEmergencyStamped         | emergency command                                     |
+  | Name                                   | Type                                              | Description                                           |
+  | -------------------------------------- | ------------------------------------------------- | ----------------------------------------------------- |
+  | `/control/command/control_cmd`         | autoware_control_msgs::msg::Control               | lateral and longitudinal control command              |
+  | `/control/command/gear_cmd`            | autoware_vehicle_msgs::msg::GearCommand           | gear command                                          |
+  | `/control/command/turn_indicators_cmd` | autoware_vehicle_msgs::msg::TurnIndicatorsCommand | turn indicators command                               |
+  | `/control/command/hazard_lights_cmd`   | autoware_vehicle_msgs::msg::HazardLightsCommand   | hazard lights command                                 |
+  | `/vehicle/engage`                      | autoware_vehicle_msgs::msg::Engage                | engage command                                        |
+  | `/vehicle/command/actuation_cmd`       | tier4_vehicle_msgs::msg::ActuationCommandStamped  | actuation (accel/brake pedal, steering wheel) command |
+  | `/control/command/emergency_cmd`       | tier4_vehicle_msgs::msg::VehicleEmergencyStamped  | emergency command                                     |
 
 - From Pacmod
 
@@ -45,15 +45,15 @@
 
 - To Autoware
 
-  | Name                                     | Type                                                    | Description                                          |
-  | ---------------------------------------- | ------------------------------------------------------- | ---------------------------------------------------- |
-  | `/vehicle/status/control_mode`           | autoware_auto_vehicle_msgs::msg::ControlModeReport      | control mode                                         |
-  | `/vehicle/status/velocity_status`        | autoware_auto_vehicle_msgs::msg::VelocityReport         | velocity                                             |
-  | `/vehicle/status/steering_status`        | autoware_auto_vehicle_msgs::msg::SteeringReport         | steering wheel angle                                 |
-  | `/vehicle/status/gear_status`            | autoware_auto_vehicle_msgs::msg::GearReport             | gear status                                          |
-  | `/vehicle/status/turn_indicators_status` | autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport   | turn indicators status                               |
-  | `/vehicle/status/hazard_lights_status`   | autoware_auto_vehicle_msgs::msg::HazardLightsReport     | hazard lights status                                 |
-  | `/vehicle/status/actuation_status`       | autoware_auto_vehicle_msgs::msg::ActuationStatusStamped | actuation (accel/brake pedal, steering wheel) status |
+  | Name                                     | Type                                               | Description                                          |
+  | ---------------------------------------- | -------------------------------------------------- | ---------------------------------------------------- |
+  | `/vehicle/status/control_mode`           | autoware_vehicle_msgs::msg::ControlModeReport      | control mode                                         |
+  | `/vehicle/status/velocity_status`        | autoware_vehicle_msgs::msg::VelocityReport         | velocity                                             |
+  | `/vehicle/status/steering_status`        | autoware_vehicle_msgs::msg::SteeringReport         | steering wheel angle                                 |
+  | `/vehicle/status/gear_status`            | autoware_vehicle_msgs::msg::GearReport             | gear status                                          |
+  | `/vehicle/status/turn_indicators_status` | autoware_vehicle_msgs::msg::TurnIndicatorsReport   | turn indicators status                               |
+  | `/vehicle/status/hazard_lights_status`   | autoware_vehicle_msgs::msg::HazardLightsReport     | hazard lights status                                 |
+  | `/vehicle/status/actuation_status`       | autoware_vehicle_msgs::msg::ActuationStatusStamped | actuation (accel/brake pedal, steering wheel) status |
 
 ## ROS Parameters
 

pacmod_interface/include/pacmod_interface/pacmod_diag_publisher.hpp

@@ -18,7 +18,7 @@
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <rclcpp/rclcpp.hpp>
 
-#include <autoware_auto_control_msgs/msg/ackermann_control_command.hpp>
+#include <autoware_control_msgs/msg/control.hpp>
 #include <can_msgs/msg/frame.hpp>
 #include <geometry_msgs/msg/accel_with_covariance_stamped.hpp>
 #include <nav_msgs/msg/odometry.hpp>
@@ -42,7 +42,7 @@
 #include <utility>
 #include <vector>
 
-using autoware_auto_control_msgs::msg::AckermannControlCommand;
+using autoware_control_msgs::msg::Control;
 using geometry_msgs::msg::AccelWithCovarianceStamped;
 using nav_msgs::msg::Odometry;
 
@@ -76,7 +76,7 @@ class PacmodDiagPublisher : public rclcpp::Node
 
   // Acceleration-related Topics
   rclcpp::Subscription<AccelWithCovarianceStamped>::SharedPtr current_acc_sub_;
-  rclcpp::Subscription<AckermannControlCommand>::SharedPtr control_cmd_sub_;
+  rclcpp::Subscription<Control>::SharedPtr control_cmd_sub_;
   rclcpp::Subscription<Odometry>::SharedPtr odom_sub_;
 
   /* ros parameters */
@@ -122,7 +122,7 @@ class PacmodDiagPublisher : public rclcpp::Node
 
   void callbackAccel(const AccelWithCovarianceStamped::ConstSharedPtr accel);
   void callbackOdometry(const Odometry::SharedPtr odom);
-  void callbackControlCmd(const AckermannControlCommand::ConstSharedPtr control_cmd);
+  void callbackControlCmd(const Control::ConstSharedPtr control_cmd);
 
   /* functions */
   void checkPacmodMsgs(diagnostic_updater::DiagnosticStatusWrapper & stat);

pacmod_interface/include/pacmod_interface/pacmod_interface.hpp

@@ -19,18 +19,18 @@
 #include <tier4_api_utils/tier4_api_utils.hpp>
 #include <vehicle_info_util/vehicle_info_util.hpp>
 
-#include <autoware_auto_control_msgs/msg/ackermann_control_command.hpp>
-#include <autoware_auto_vehicle_msgs/msg/control_mode_report.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_auto_vehicle_msgs/msg/hazard_lights_command.hpp>
-#include <autoware_auto_vehicle_msgs/msg/hazard_lights_report.hpp>
-#include <autoware_auto_vehicle_msgs/msg/steering_report.hpp>
-#include <autoware_auto_vehicle_msgs/msg/turn_indicators_command.hpp>
-#include <autoware_auto_vehicle_msgs/msg/turn_indicators_report.hpp>
-#include <autoware_auto_vehicle_msgs/msg/velocity_report.hpp>
-#include <autoware_auto_vehicle_msgs/srv/control_mode_command.hpp>
+#include <autoware_control_msgs/msg/control.hpp>
+#include <autoware_vehicle_msgs/msg/control_mode_report.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 <autoware_vehicle_msgs/msg/hazard_lights_command.hpp>
+#include <autoware_vehicle_msgs/msg/hazard_lights_report.hpp>
+#include <autoware_vehicle_msgs/msg/steering_report.hpp>
+#include <autoware_vehicle_msgs/msg/turn_indicators_command.hpp>
+#include <autoware_vehicle_msgs/msg/turn_indicators_report.hpp>
+#include <autoware_vehicle_msgs/msg/velocity_report.hpp>
+#include <autoware_vehicle_msgs/srv/control_mode_command.hpp>
 #include <pacmod3_msgs/msg/global_rpt.hpp>
 #include <pacmod3_msgs/msg/steering_cmd.hpp>
 #include <pacmod3_msgs/msg/system_cmd_float.hpp>
@@ -58,18 +58,17 @@ class PacmodInterface : public rclcpp::Node
   using ActuationCommandStamped = tier4_vehicle_msgs::msg::ActuationCommandStamped;
   using ActuationStatusStamped = tier4_vehicle_msgs::msg::ActuationStatusStamped;
   using SteeringWheelStatusStamped = tier4_vehicle_msgs::msg::SteeringWheelStatusStamped;
-  using ControlModeCommand = autoware_auto_vehicle_msgs::srv::ControlModeCommand;
+  using ControlModeCommand = autoware_vehicle_msgs::srv::ControlModeCommand;
   PacmodInterface();
 
 private:
   /* subscribers */
   // From Autoware
-  rclcpp::Subscription<autoware_auto_control_msgs::msg::AckermannControlCommand>::SharedPtr
-    control_cmd_sub_;
-  rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::GearCommand>::SharedPtr gear_cmd_sub_;
-  rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand>::SharedPtr
+  rclcpp::Subscription<autoware_control_msgs::msg::Control>::SharedPtr control_cmd_sub_;
+  rclcpp::Subscription<autoware_vehicle_msgs::msg::GearCommand>::SharedPtr gear_cmd_sub_;
+  rclcpp::Subscription<autoware_vehicle_msgs::msg::TurnIndicatorsCommand>::SharedPtr
     turn_indicators_cmd_sub_;
-  rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::HazardLightsCommand>::SharedPtr
+  rclcpp::Subscription<autoware_vehicle_msgs::msg::HazardLightsCommand>::SharedPtr
     hazard_lights_cmd_sub_;
   rclcpp::Subscription<ActuationCommandStamped>::SharedPtr actuation_cmd_sub_;
   rclcpp::Subscription<tier4_vehicle_msgs::msg::VehicleEmergencyStamped>::SharedPtr emergency_sub_;
@@ -97,15 +96,13 @@ class PacmodInterface : public rclcpp::Node
     raw_steer_cmd_pub_;  // only for debug
 
   // To Autoware
-  rclcpp::Publisher<autoware_auto_vehicle_msgs::msg::ControlModeReport>::SharedPtr
-    control_mode_pub_;
-  rclcpp::Publisher<autoware_auto_vehicle_msgs::msg::VelocityReport>::SharedPtr vehicle_twist_pub_;
-  rclcpp::Publisher<autoware_auto_vehicle_msgs::msg::SteeringReport>::SharedPtr
-    steering_status_pub_;
-  rclcpp::Publisher<autoware_auto_vehicle_msgs::msg::GearReport>::SharedPtr gear_status_pub_;
-  rclcpp::Publisher<autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport>::SharedPtr
+  rclcpp::Publisher<autoware_vehicle_msgs::msg::ControlModeReport>::SharedPtr control_mode_pub_;
+  rclcpp::Publisher<autoware_vehicle_msgs::msg::VelocityReport>::SharedPtr vehicle_twist_pub_;
+  rclcpp::Publisher<autoware_vehicle_msgs::msg::SteeringReport>::SharedPtr steering_status_pub_;
+  rclcpp::Publisher<autoware_vehicle_msgs::msg::GearReport>::SharedPtr gear_status_pub_;
+  rclcpp::Publisher<autoware_vehicle_msgs::msg::TurnIndicatorsReport>::SharedPtr
     turn_indicators_status_pub_;
-  rclcpp::Publisher<autoware_auto_vehicle_msgs::msg::HazardLightsReport>::SharedPtr
+  rclcpp::Publisher<autoware_vehicle_msgs::msg::HazardLightsReport>::SharedPtr
     hazard_lights_status_pub_;
   rclcpp::Publisher<ActuationStatusStamped>::SharedPtr actuation_status_pub_;
   rclcpp::Publisher<SteeringWheelStatusStamped>::SharedPtr steering_wheel_status_pub_;
@@ -164,10 +161,10 @@ class PacmodInterface : public rclcpp::Node
 
   /* input values */
   ActuationCommandStamped::ConstSharedPtr actuation_cmd_ptr_;
-  autoware_auto_control_msgs::msg::AckermannControlCommand::ConstSharedPtr control_cmd_ptr_;
-  autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand::ConstSharedPtr turn_indicators_cmd_ptr_;
-  autoware_auto_vehicle_msgs::msg::HazardLightsCommand::ConstSharedPtr hazard_lights_cmd_ptr_;
-  autoware_auto_vehicle_msgs::msg::GearCommand::ConstSharedPtr gear_cmd_ptr_;
+  autoware_control_msgs::msg::Control::ConstSharedPtr control_cmd_ptr_;
+  autoware_vehicle_msgs::msg::TurnIndicatorsCommand::ConstSharedPtr turn_indicators_cmd_ptr_;
+  autoware_vehicle_msgs::msg::HazardLightsCommand::ConstSharedPtr hazard_lights_cmd_ptr_;
+  autoware_vehicle_msgs::msg::GearCommand::ConstSharedPtr gear_cmd_ptr_;
 
   pacmod3_msgs::msg::SystemRptFloat::ConstSharedPtr steer_wheel_rpt_ptr_;  // [rad]
   pacmod3_msgs::msg::WheelSpeedRpt::ConstSharedPtr wheel_speed_rpt_ptr_;   // [m/s]
@@ -188,18 +185,17 @@ class PacmodInterface : public rclcpp::Node
 
   /* callbacks */
   void callbackActuationCmd(const ActuationCommandStamped::ConstSharedPtr msg);
-  void callbackControlCmd(
-    const autoware_auto_control_msgs::msg::AckermannControlCommand::ConstSharedPtr msg);
+  void callbackControlCmd(const autoware_control_msgs::msg::Control::ConstSharedPtr msg);
 
   void callbackEmergencyCmd(
     const tier4_vehicle_msgs::msg::VehicleEmergencyStamped::ConstSharedPtr msg);
 
-  void callbackGearCmd(const autoware_auto_vehicle_msgs::msg::GearCommand::ConstSharedPtr msg);
+  void callbackGearCmd(const autoware_vehicle_msgs::msg::GearCommand::ConstSharedPtr msg);
   void callbackTurnIndicatorsCommand(
-    const autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand::ConstSharedPtr msg);
+    const autoware_vehicle_msgs::msg::TurnIndicatorsCommand::ConstSharedPtr msg);
   void callbackHazardLightsCommand(
-    const autoware_auto_vehicle_msgs::msg::HazardLightsCommand::ConstSharedPtr msg);
-  void callbackEngage(const autoware_auto_vehicle_msgs::msg::Engage::ConstSharedPtr msg);
+    const autoware_vehicle_msgs::msg::HazardLightsCommand::ConstSharedPtr msg);
+  void callbackEngage(const autoware_vehicle_msgs::msg::Engage::ConstSharedPtr msg);
   void callbackRearDoor(const pacmod3_msgs::msg::SystemRptInt::ConstSharedPtr rear_door_rpt);
   void callbackSteerWheelRpt(
     const pacmod3_msgs::msg::SystemRptFloat::ConstSharedPtr steer_wheel_rpt);
@@ -219,14 +215,14 @@ class PacmodInterface : public rclcpp::Node
     const pacmod3_msgs::msg::SystemRptInt & shift_rpt);
   double calculateVariableGearRatio(const double vel, const double steer_wheel);
   double calcSteerWheelRateCmd(const double gear_ratio);
-  uint16_t toPacmodShiftCmd(const autoware_auto_vehicle_msgs::msg::GearCommand & gear_cmd);
+  uint16_t toPacmodShiftCmd(const autoware_vehicle_msgs::msg::GearCommand & gear_cmd);
   uint16_t getGearCmdForPreventChatter(uint16_t gear_command);
   uint16_t toPacmodTurnCmd(
-    const autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand & turn,
-    const autoware_auto_vehicle_msgs::msg::HazardLightsCommand & hazard);
+    const autoware_vehicle_msgs::msg::TurnIndicatorsCommand & turn,
+    const autoware_vehicle_msgs::msg::HazardLightsCommand & hazard);
   uint16_t toPacmodTurnCmdWithHazardRecover(
-    const autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand & turn,
-    const autoware_auto_vehicle_msgs::msg::HazardLightsCommand & hazard);
+    const autoware_vehicle_msgs::msg::TurnIndicatorsCommand & turn,
+    const autoware_vehicle_msgs::msg::HazardLightsCommand & hazard);
 
   std::optional<int32_t> toAutowareShiftReport(const pacmod3_msgs::msg::SystemRptInt & shift);
   int32_t toAutowareTurnIndicatorsReport(const pacmod3_msgs::msg::SystemRptInt & turn);

pacmod_interface/include/pacmod_steer_test/pacmod_steer_test.hpp

@@ -18,13 +18,12 @@
 #include <rclcpp/rclcpp.hpp>
 #include <vehicle_info_util/vehicle_info_util.hpp>
 
-#include <autoware_auto_vehicle_msgs/msg/control_mode_report.hpp>
-#include <autoware_auto_vehicle_msgs/msg/engage.hpp>
-#include <autoware_auto_vehicle_msgs/msg/gear_report.hpp>
-#include <autoware_auto_vehicle_msgs/msg/steering_report.hpp>
-#include <autoware_auto_vehicle_msgs/msg/turn_indicators_report.hpp>
-#include <autoware_auto_vehicle_msgs/msg/vehicle_control_command.hpp>
-#include <autoware_auto_vehicle_msgs/msg/velocity_report.hpp>
+#include <autoware_vehicle_msgs/msg/control_mode_report.hpp>
+#include <autoware_vehicle_msgs/msg/engage.hpp>
+#include <autoware_vehicle_msgs/msg/gear_report.hpp>
+#include <autoware_vehicle_msgs/msg/steering_report.hpp>
+#include <autoware_vehicle_msgs/msg/turn_indicators_report.hpp>
+#include <autoware_vehicle_msgs/msg/velocity_report.hpp>
 #include <pacmod3_msgs/msg/global_rpt.hpp>
 #include <pacmod3_msgs/msg/steering_cmd.hpp>
 #include <pacmod3_msgs/msg/system_cmd_float.hpp>
@@ -57,7 +56,7 @@ class PacmodSteerTest : public rclcpp::Node
 
   /* subscribers */
   // From Autoware
-  rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::Engage>::SharedPtr engage_cmd_sub_;
+  rclcpp::Subscription<autoware_vehicle_msgs::msg::Engage>::SharedPtr engage_cmd_sub_;
 
   // From Pacmod
   std::unique_ptr<message_filters::Subscriber<pacmod3_msgs::msg::SystemRptFloat>>
@@ -80,13 +79,11 @@ class PacmodSteerTest : public rclcpp::Node
   rclcpp::Publisher<pacmod3_msgs::msg::SystemCmdInt>::SharedPtr turn_cmd_pub_;
 
   // output vehicle info
-  rclcpp::Publisher<autoware_auto_vehicle_msgs::msg::ControlModeReport>::SharedPtr
-    control_mode_pub_;
-  rclcpp::Publisher<autoware_auto_vehicle_msgs::msg::VelocityReport>::SharedPtr vehicle_twist_pub_;
-  rclcpp::Publisher<autoware_auto_vehicle_msgs::msg::SteeringReport>::SharedPtr
-    steering_status_pub_;
-  rclcpp::Publisher<autoware_auto_vehicle_msgs::msg::GearReport>::SharedPtr shift_status_pub_;
-  rclcpp::Publisher<autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport>::SharedPtr
+  rclcpp::Publisher<autoware_vehicle_msgs::msg::ControlModeReport>::SharedPtr control_mode_pub_;
+  rclcpp::Publisher<autoware_vehicle_msgs::msg::VelocityReport>::SharedPtr vehicle_twist_pub_;
+  rclcpp::Publisher<autoware_vehicle_msgs::msg::SteeringReport>::SharedPtr steering_status_pub_;
+  rclcpp::Publisher<autoware_vehicle_msgs::msg::GearReport>::SharedPtr shift_status_pub_;
+  rclcpp::Publisher<autoware_vehicle_msgs::msg::TurnIndicatorsReport>::SharedPtr
     turn_signal_status_pub_;
 
   vehicle_info_util::VehicleInfo vehicle_info_;
@@ -118,7 +115,7 @@ class PacmodSteerTest : public rclcpp::Node
   bool engage_cmd_ = false;
 
   /* callbacks */
-  void callbackEngage(const autoware_auto_vehicle_msgs::msg::Engage::ConstSharedPtr msg);
+  void callbackEngage(const autoware_vehicle_msgs::msg::Engage::ConstSharedPtr msg);
   void callbackPacmodRpt(
     const pacmod3_msgs::msg::SystemRptFloat::ConstSharedPtr steer_wheel_rpt,
     const pacmod3_msgs::msg::WheelSpeedRpt::ConstSharedPtr wheel_speed_rpt,

pacmod_interface/package.xml

@@ -13,8 +13,8 @@
 
   <buildtool_depend>ament_cmake_auto</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>can_msgs</depend>
   <depend>diagnostic_updater</depend>
   <depend>geometry_msgs</depend>