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feat!: replacing autoware_auto_msgs with autoware_msgs #78

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merged 9 commits into from
Jun 4, 2024
Merged

feat!: replacing autoware_auto_msgs with autoware_msgs #78

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b134508
feat(pacmod_interface): replace autoware_control_msg with autoware_co…
NorahXiong Dec 7, 2023
475b6b2
feat(pacmod_interface): replace autoware_auto_msgs with autoware_msgs
cyn-liu Dec 19, 2023
fee2775
Merge branch 'main' into autoware_msg
cyn-liu Apr 23, 2024
0ff60a3
fix: remove unused header
mitsudome-r Apr 25, 2024
1e6da0c
Merge pull request #1 from mitsudome-r/autoware_msg
cyn-liu Apr 25, 2024
aa16dbb
merge branch main into autoware_msg
cyn-liu May 15, 2024
1a908ba
Merge branch 'main' into autoware_msg
cyn-liu May 21, 2024
67add86
style(pre-commit): autofix
pre-commit-ci[bot] Jun 4, 2024
38be3d3
feat: remove autoware_auto_msgs from build_depends.repos
mitsudome-r Jun 4, 2024
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4 changes: 0 additions & 4 deletions build_depends.repos
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Expand Up @@ -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
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36 changes: 18 additions & 18 deletions pacmod_interface/README.md
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Expand Up @@ -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

Expand Down Expand Up @@ -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

Expand Down
8 changes: 4 additions & 4 deletions pacmod_interface/include/pacmod_interface/pacmod_diag_publisher.hpp
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Expand Up @@ -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>
Expand All @@ -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;

Expand Down Expand Up @@ -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 */
Expand Down Expand Up @@ -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);
Expand Down
78 changes: 37 additions & 41 deletions pacmod_interface/include/pacmod_interface/pacmod_interface.hpp
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Expand Up @@ -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>
Expand Down Expand Up @@ -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_;
Expand Down Expand Up @@ -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_;
Expand Down Expand Up @@ -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]
Expand All @@ -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);
Expand All @@ -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);
Expand Down
29 changes: 13 additions & 16 deletions pacmod_interface/include/pacmod_steer_test/pacmod_steer_test.hpp
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Expand Up @@ -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>
Expand Down Expand Up @@ -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>>
Expand All @@ -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_;
Expand Down Expand Up @@ -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,
Expand Down
4 changes: 2 additions & 2 deletions pacmod_interface/package.xml
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Expand Up @@ -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>
Expand Down
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