Merge branch 'tier4/universe' into feat/remove-old-diagnostic-graph

tier4_external_api_msgs/CMakeLists.txt

@@ -39,6 +39,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   msg/RosbagCopyStatus.msg
   msg/RosbagLoggingMode.msg
   msg/RosbagRecordStatus.msg
+  msg/RosbagRollbackStatus.msg
   msg/ResponseStatus.msg
   msg/Route.msg
   msg/RouteSection.msg
@@ -67,6 +68,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   srv/SetPose.srv
   srv/SetRosbagLoggingMode.srv
   srv/SetRosbagRecord.srv
+  srv/SetRosbagRollback.srv
   srv/SetRoute.srv
   srv/SetService.srv
   srv/SetVelocityLimit.srv

tier4_external_api_msgs/msg/RosbagRollbackStatus.msg

@@ -0,0 +1,17 @@
+# constants
+uint8 READY=0
+uint8 IN_PROGRESS=1
+uint8 STOP_IN_PROGRESS=2
+uint8 COMPLETED=3
+uint8 STOP_COMPLETED=4
+uint8 ERROR=5
+
+# fields
+uint8 status
+string message
+float64 progress
+uint64 bytes_to_copy
+uint64 bytes_copied
+float64 elapsed_time
+float64 estimated_time
+float64 remaining_time

tier4_external_api_msgs/srv/SetRosbagRollback.srv

@@ -0,0 +1,3 @@
+bool rollback
+---
+tier4_external_api_msgs/ResponseStatus status

tier4_metric_msgs/CMakeLists.txt

@@ -0,0 +1,23 @@
+cmake_minimum_required(VERSION 3.5)
+project(tier4_metric_msgs)
+
+find_package(ament_cmake_auto REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+ament_auto_find_build_dependencies()
+
+rosidl_generate_interfaces(
+  ${PROJECT_NAME}
+  "msg/Metric.msg"
+  "msg/MetricArray.msg"
+  DEPENDENCIES builtin_interfaces
+)
+
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package()

tier4_metric_msgs/msg/Metric.msg

@@ -0,0 +1,9 @@
+# name of the metric
+string name
+
+# unit (or type) of the metric
+# you can leave it empty or assign any identifier to the unit, such as "milliseconds", "m/s", "IoU", "battery percentage", etc.
+string unit
+
+# value of the metric
+string value

tier4_metric_msgs/msg/MetricArray.msg

@@ -0,0 +1,5 @@
+# time stamp
+builtin_interfaces/Time stamp
+
+# metrics list
+Metric[] metric_array

tier4_metric_msgs/package.xml

@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>tier4_metric_msgs</name>
+  <version>0.1.0</version>
+  <description>The tier4_metric_msgs package</description>
+  <maintainer email="[email protected]">Temkei Kem</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <depend>builtin_interfaces</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

tier4_planning_msgs/CMakeLists.txt

@@ -19,6 +19,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/AvoidanceDebugFactor.msg"
   "msg/AvoidanceDebugMsg.msg"
   "msg/AvoidanceDebugMsgArray.msg"
+  "msg/ControlPoint.msg"
   "msg/EnableAvoidance.msg"
   "msg/ExpandStopRange.msg"
   "msg/IsAvoidancePossible.msg"
@@ -34,8 +35,12 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/PathPoint.msg"
   "msg/PathPointWithLaneId.msg"
   "msg/PathWithLaneId.msg"
+  "msg/PlanningFactor.msg"
+  "msg/PlanningFactorArray.msg"
   "msg/RerouteAvailability.msg"
   "msg/RouteState.msg"
+  "msg/SafetyFactor.msg"
+  "msg/SafetyFactorArray.msg"
   "msg/Scenario.msg"
   "msg/StopFactor.msg"
   "msg/StopReason.msg"
@@ -52,6 +57,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   DEPENDENCIES
     autoware_common_msgs
     autoware_planning_msgs
+    autoware_perception_msgs
     builtin_interfaces
     geometry_msgs
     nav_msgs

tier4_planning_msgs/msg/ControlPoint.msg

@@ -0,0 +1,4 @@
+geometry_msgs/Pose pose
+float32 velocity
+float32 shift_length
+float32 distance

tier4_planning_msgs/msg/PlanningFactor.msg

@@ -0,0 +1,22 @@
+# constants for behavior
+uint16 UNKNOWN = 0
+uint16 NONE = 1
+uint16 SLOW_DOWN = 2
+uint16 STOP = 3
+uint16 SHIFT_LEFT = 4
+uint16 SHIFT_RIGHT = 5
+uint16 TURN_LEFT = 6
+uint16 TURN_RIGHT = 7
+
+# variables
+string module
+
+bool is_driving_forward
+
+tier4_planning_msgs/ControlPoint[] control_points
+
+uint16 behavior
+
+string detail
+
+tier4_planning_msgs/SafetyFactorArray safety_factors

tier4_planning_msgs/msg/PlanningFactorArray.msg

@@ -0,0 +1,2 @@
+std_msgs/Header header
+tier4_planning_msgs/PlanningFactor[] factors

tier4_planning_msgs/msg/SafetyFactor.msg

@@ -0,0 +1,27 @@
+# constants for common use
+uint16 UNKNOWN = 0
+
+# constants for factor type
+uint16 POINTCLOUD = 1
+uint16 OBJECT = 2
+
+# variables
+uint16 type
+
+# use only for predicted objects
+unique_identifier_msgs/UUID object_id
+
+# use only for predicted objects
+autoware_perception_msgs/PredictedPath predicted_path
+
+# time to collision in relative to the header time
+float32 ttc_begin
+
+float32 ttc_end
+
+# type == POINTCLOUD: the position of the each points
+# type == OBJECT: the object position
+geometry_msgs/Point[] points
+
+# module's primitive judgement of the safety for its decision
+bool is_safe

tier4_planning_msgs/msg/SafetyFactorArray.msg

@@ -0,0 +1,4 @@
+std_msgs/Header header
+tier4_planning_msgs/SafetyFactor[] factors
+bool is_safe
+string detail

tier4_planning_msgs/msg/VelocityLimitConstraints.msg

@@ -1,3 +1,11 @@
+# maximum signed acceleration
+float32 max_acceleration
+
+# minimum signed acceleration
 float32 min_acceleration
+
+# maximum signed jerk
 float32 max_jerk
+
+# minimum signed jerk
 float32 min_jerk

tier4_planning_msgs/package.xml

@@ -12,6 +12,7 @@
   <build_depend>rosidl_default_generators</build_depend>
 
   <depend>autoware_common_msgs</depend>
+  <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>builtin_interfaces</depend>
   <depend>geometry_msgs</depend>

tier4_rtc_msgs/msg/CooperateStatus.msg

@@ -9,6 +9,9 @@ tier4_rtc_msgs/Module module
 # Indicate whether the system judges it's safe condition to execute or not.
 bool safe
 
+#Indicate whether there is request to cooperate from the system
+bool requested false
+
 # Indicate RTC approval status
 tier4_rtc_msgs/Command command_status
 

tier4_simulation_msgs/CMakeLists.txt

@@ -20,7 +20,15 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   msg/SimulationEvents.msg
   msg/UserDefinedValue.msg
   msg/UserDefinedValueType.msg
-  DEPENDENCIES builtin_interfaces std_msgs)
+  msg/DummyObject.msg
+  msg/DummyObjectInitialState.msg
+  DEPENDENCIES
+    builtin_interfaces
+    std_msgs
+    geometry_msgs
+    unique_identifier_msgs
+    autoware_perception_msgs
+)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)

tier4_simulation_msgs/msg/DummyObject.msg

@@ -0,0 +1,13 @@
+std_msgs/Header header
+unique_identifier_msgs/UUID id
+tier4_simulation_msgs/DummyObjectInitialState initial_state
+autoware_perception_msgs/ObjectClassification classification
+autoware_perception_msgs/Shape shape
+float32 max_velocity
+float32 min_velocity
+
+uint8 ADD=0
+uint8 MODIFY=1
+uint8 DELETE=2
+uint8 DELETEALL=3
+int32 action

tier4_simulation_msgs/msg/DummyObjectInitialState.msg

@@ -0,0 +1,3 @@
+geometry_msgs/PoseWithCovariance pose_covariance
+geometry_msgs/TwistWithCovariance twist_covariance
+geometry_msgs/AccelWithCovariance accel_covariance

tier4_simulation_msgs/package.xml

@@ -11,8 +11,11 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
+  <depend>autoware_perception_msgs</depend>
   <depend>builtin_interfaces</depend>
+  <depend>geometry_msgs</depend>
   <depend>std_msgs</depend>
+  <depend>unique_identifier_msgs</depend>
 
   <exec_depend>rosidl_default_runtime</exec_depend>
 

tier4_system_msgs/CMakeLists.txt

@@ -27,6 +27,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/OperationModeAvailability.msg"
   "msg/EmergencyGoalsClearCommand.msg"
   "msg/EmergencyGoalsStamped.msg"
+  "msg/EmergencyHoldingState.msg"
   "msg/EmergencyState.msg"
   "msg/EmergencyStateStamped.msg"
   "msg/HazardStatus.msg"

tier4_system_msgs/msg/EmergencyHoldingState.msg

@@ -0,0 +1,3 @@
+# This message will be deprecated once hazard_status_converter and hazard_status are deprecated.
+builtin_interfaces/Time stamp
+bool is_holding