feat!: replace autoware_auto_msgs with autoware_msgs for planning mod…

…ules (autowarefoundation#7246) Signed-off-by: Ryohsuke Mitsudome <[email protected]> Co-authored-by: Cynthia Liu <[email protected]> Co-authored-by: NorahXiong <[email protected]> Co-authored-by: beginningfan <[email protected]>
a-maumau · Jun 7, 2024 · 95b1fff · 95b1fff
1 parent d3ecfbf
commit 95b1fff
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diff --git a/...oidance_module/include/autoware_behavior_path_dynamic_obstacle_avoidance_module/scene.hpp b/...oidance_module/include/autoware_behavior_path_dynamic_obstacle_avoidance_module/scene.hpp
@@ -21,9 +21,12 @@
 #include <rclcpp/rclcpp.hpp>
 #include <tier4_autoware_utils/geometry/boost_geometry.hpp>
 
-#include <autoware_auto_perception_msgs/msg/predicted_object.hpp>
-#include <autoware_auto_perception_msgs/msg/predicted_path.hpp>
-#include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
+#include <autoware_perception_msgs/msg/predicted_object.hpp>
+#include <autoware_perception_msgs/msg/predicted_path.hpp>
+#include <autoware_vehicle_msgs/msg/turn_indicators_command.hpp>
+#include <tier4_planning_msgs/msg/avoidance_debug_msg.hpp>
+#include <tier4_planning_msgs/msg/avoidance_debug_msg_array.hpp>
+#include <tier4_planning_msgs/msg/path_with_lane_id.hpp>
 
 #include <algorithm>
 #include <memory>
@@ -54,9 +57,9 @@ std::vector<T> getAllKeys(const std::unordered_map<T, S> & map)
 
 namespace behavior_path_planner
 {
-using autoware_auto_perception_msgs::msg::PredictedPath;
-using autoware_auto_planning_msgs::msg::PathWithLaneId;
+using autoware_perception_msgs::msg::PredictedPath;
 using tier4_autoware_utils::Polygon2d;
+using tier4_planning_msgs::msg::PathWithLaneId;
 
 struct MinMaxValue
 {
@@ -190,12 +193,12 @@ class DynamicObstacleAvoidanceModule : public SceneModuleInterface
     std::string uuid{};
     uint8_t label{};
     geometry_msgs::msg::Pose pose{};
-    autoware_auto_perception_msgs::msg::Shape shape;
+    autoware_perception_msgs::msg::Shape shape;
     double vel{0.0};
     double lat_vel{0.0};
     bool is_object_on_ego_path{false};
     std::optional<rclcpp::Time> latest_time_inside_ego_path{std::nullopt};
-    std::vector<autoware_auto_perception_msgs::msg::PredictedPath> predicted_paths{};
+    std::vector<autoware_perception_msgs::msg::PredictedPath> predicted_paths{};
 
     // NOTE: Previous values of the following are used for low-pass filtering.
     //       Therefore, they has to be initialized as nullopt.
@@ -397,7 +400,7 @@ class DynamicObstacleAvoidanceModule : public SceneModuleInterface
     const std::optional<DynamicAvoidanceObject> & prev_object) const;
   bool willObjectBeOutsideEgoChangingPath(
     const geometry_msgs::msg::Pose & obj_pose,
-    const autoware_auto_perception_msgs::msg::Shape & obj_shape, const double obj_vel) const;
+    const autoware_perception_msgs::msg::Shape & obj_shape, const double obj_vel) const;
   bool isObjectFarFromPath(
     const PredictedObject & predicted_object, const double obj_dist_to_path) const;
   TimeWhileCollision calcTimeWhileCollision(
@@ -407,15 +410,15 @@ class DynamicObstacleAvoidanceModule : public SceneModuleInterface
     const std::vector<PathPointWithLaneId> & ego_path, const PredictedPath & obj_path) const;
   LatLonOffset getLateralLongitudinalOffset(
     const std::vector<PathPointWithLaneId> & ego_path, const geometry_msgs::msg::Pose & obj_pose,
-    const autoware_auto_perception_msgs::msg::Shape & obj_shape) const;
+    const autoware_perception_msgs::msg::Shape & obj_shape) const;
   double calcValidLengthToAvoid(
     const PredictedPath & obj_path, const geometry_msgs::msg::Pose & obj_pose,
-    const autoware_auto_perception_msgs::msg::Shape & obj_shape,
+    const autoware_perception_msgs::msg::Shape & obj_shape,
     const bool is_object_same_direction) const;
   MinMaxValue calcMinMaxLongitudinalOffsetToAvoid(
     const std::vector<PathPointWithLaneId> & ref_path_points_for_obj_poly,
     const geometry_msgs::msg::Pose & obj_pose, const Polygon2d & obj_points, const double obj_vel,
-    const PredictedPath & obj_path, const autoware_auto_perception_msgs::msg::Shape & obj_shape,
+    const PredictedPath & obj_path, const autoware_perception_msgs::msg::Shape & obj_shape,
     const TimeWhileCollision & time_while_collision) const;
   std::optional<MinMaxValue> calcMinMaxLateralOffsetToAvoidRegulatedObject(
     const std::vector<PathPointWithLaneId> & ref_path_points_for_obj_poly,

diff --git a/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml b/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml
@@ -16,9 +16,9 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
-  <depend>autoware_auto_perception_msgs</depend>
-  <depend>autoware_auto_planning_msgs</depend>
-  <depend>autoware_auto_vehicle_msgs</depend>
+  <depend>autoware_perception_msgs</depend>
+  <depend>autoware_planning_msgs</depend>
+  <depend>autoware_vehicle_msgs</depend>
   <depend>behavior_path_planner</depend>
   <depend>behavior_path_planner_common</depend>
   <depend>geometry_msgs</depend>

diff --git a/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp b/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp
@@ -128,13 +128,13 @@ std::pair<double, double> projectObstacleVelocityToTrajectory(
   return std::make_pair(projected_velocity[0], projected_velocity[1]);
 }
 
-double calcObstacleMaxLength(const autoware_auto_perception_msgs::msg::Shape & shape)
+double calcObstacleMaxLength(const autoware_perception_msgs::msg::Shape & shape)
 {
-  if (shape.type == autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX) {
+  if (shape.type == autoware_perception_msgs::msg::Shape::BOUNDING_BOX) {
     return std::hypot(shape.dimensions.x / 2.0, shape.dimensions.y / 2.0);
-  } else if (shape.type == autoware_auto_perception_msgs::msg::Shape::CYLINDER) {
+  } else if (shape.type == autoware_perception_msgs::msg::Shape::CYLINDER) {
     return shape.dimensions.x / 2.0;
-  } else if (shape.type == autoware_auto_perception_msgs::msg::Shape::POLYGON) {
+  } else if (shape.type == autoware_perception_msgs::msg::Shape::POLYGON) {
     double max_length_to_point = 0.0;
     for (const auto rel_point : shape.footprint.points) {
       const double length_to_point = std::hypot(rel_point.x, rel_point.y);
@@ -148,13 +148,13 @@ double calcObstacleMaxLength(const autoware_auto_perception_msgs::msg::Shape & s
   throw std::logic_error("The shape type is not supported in dynamic_avoidance.");
 }
 
-double calcObstacleWidth(const autoware_auto_perception_msgs::msg::Shape & shape)
+double calcObstacleWidth(const autoware_perception_msgs::msg::Shape & shape)
 {
-  if (shape.type == autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX) {
+  if (shape.type == autoware_perception_msgs::msg::Shape::BOUNDING_BOX) {
     return shape.dimensions.y;
-  } else if (shape.type == autoware_auto_perception_msgs::msg::Shape::CYLINDER) {
+  } else if (shape.type == autoware_perception_msgs::msg::Shape::CYLINDER) {
     return shape.dimensions.x;
-  } else if (shape.type == autoware_auto_perception_msgs::msg::Shape::POLYGON) {
+  } else if (shape.type == autoware_perception_msgs::msg::Shape::POLYGON) {
     double max_length_to_point = 0.0;
     for (const auto rel_point : shape.footprint.points) {
       const double length_to_point = std::hypot(rel_point.x, rel_point.y);
@@ -458,7 +458,7 @@ BehaviorModuleOutput DynamicObstacleAvoidanceModule::planWaitingApproval()
 
 ObjectType DynamicObstacleAvoidanceModule::getObjectType(const uint8_t label) const
 {
-  using autoware_auto_perception_msgs::msg::ObjectClassification;
+  using autoware_perception_msgs::msg::ObjectClassification;
 
   if (label == ObjectClassification::CAR && parameters_->avoid_car) {
     return ObjectType::REGULATED;
@@ -1121,8 +1121,8 @@ DynamicObstacleAvoidanceModule::DecisionWithReason DynamicObstacleAvoidanceModul
 }
 
 [[maybe_unused]] bool DynamicObstacleAvoidanceModule::willObjectBeOutsideEgoChangingPath(
-  const geometry_msgs::msg::Pose & obj_pose,
-  const autoware_auto_perception_msgs::msg::Shape & obj_shape, const double obj_vel) const
+  const geometry_msgs::msg::Pose & obj_pose, const autoware_perception_msgs::msg::Shape & obj_shape,
+  const double obj_vel) const
 {
   if (!ref_path_before_lane_change_ || obj_vel < 0.0) {
     return false;
@@ -1183,7 +1183,7 @@ DynamicObstacleAvoidanceModule::getAdjacentLanes(
 DynamicObstacleAvoidanceModule::LatLonOffset
 DynamicObstacleAvoidanceModule::getLateralLongitudinalOffset(
   const std::vector<PathPointWithLaneId> & ego_path, const geometry_msgs::msg::Pose & obj_pose,
-  const autoware_auto_perception_msgs::msg::Shape & obj_shape) const
+  const autoware_perception_msgs::msg::Shape & obj_shape) const
 {
   const size_t obj_seg_idx = motion_utils::findNearestSegmentIndex(ego_path, obj_pose.position);
   const auto obj_points = tier4_autoware_utils::toPolygon2d(obj_pose, obj_shape);
@@ -1218,7 +1218,7 @@ DynamicObstacleAvoidanceModule::getLateralLongitudinalOffset(
 MinMaxValue DynamicObstacleAvoidanceModule::calcMinMaxLongitudinalOffsetToAvoid(
   const std::vector<PathPointWithLaneId> & ref_path_points_for_obj_poly,
   const geometry_msgs::msg::Pose & obj_pose, const Polygon2d & obj_points, const double obj_vel,
-  const PredictedPath & obj_path, const autoware_auto_perception_msgs::msg::Shape & obj_shape,
+  const PredictedPath & obj_path, const autoware_perception_msgs::msg::Shape & obj_shape,
   const TimeWhileCollision & time_while_collision) const
 {
   const size_t obj_seg_idx =
@@ -1290,8 +1290,7 @@ MinMaxValue DynamicObstacleAvoidanceModule::calcMinMaxLongitudinalOffsetToAvoid(
 
 double DynamicObstacleAvoidanceModule::calcValidLengthToAvoid(
   const PredictedPath & obj_path, const geometry_msgs::msg::Pose & obj_pose,
-  const autoware_auto_perception_msgs::msg::Shape & obj_shape,
-  const bool is_object_same_direction) const
+  const autoware_perception_msgs::msg::Shape & obj_shape, const bool is_object_same_direction) const
 {
   const auto & input_path_points = getPreviousModuleOutput().path.points;
   const size_t obj_seg_idx =

diff --git a/...dule/include/autoware_behavior_path_static_obstacle_avoidance_module/parameter_helper.hpp b/...dule/include/autoware_behavior_path_static_obstacle_avoidance_module/parameter_helper.hpp
@@ -19,14 +19,14 @@
 #include <autoware_behavior_path_static_obstacle_avoidance_module/data_structs.hpp>
 #include <rclcpp/node.hpp>
 
-#include <autoware_auto_perception_msgs/msg/detail/object_classification__struct.hpp>
+#include <autoware_perception_msgs/msg/detail/object_classification__struct.hpp>
 
 #include <string>
 #include <vector>
 
 namespace behavior_path_planner
 {
-using autoware_auto_perception_msgs::msg::ObjectClassification;
+using autoware_perception_msgs::msg::ObjectClassification;
 using tier4_autoware_utils::getOrDeclareParameter;
 
 AvoidanceParameters getParameter(rclcpp::Node * node)

diff --git a/...nce_module/include/autoware_behavior_path_static_obstacle_avoidance_module/type_alias.hpp b/...nce_module/include/autoware_behavior_path_static_obstacle_avoidance_module/type_alias.hpp
@@ -23,20 +23,20 @@
 #include <tier4_autoware_utils/ros/marker_helper.hpp>
 #include <tier4_autoware_utils/ros/uuid_helper.hpp>
 
-#include <autoware_auto_perception_msgs/msg/predicted_object.hpp>
-#include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
-#include <autoware_auto_vehicle_msgs/msg/turn_indicators_command.hpp>
+#include <autoware_perception_msgs/msg/predicted_object.hpp>
+#include <autoware_vehicle_msgs/msg/turn_indicators_command.hpp>
 #include <tier4_planning_msgs/msg/avoidance_debug_msg.hpp>
 #include <tier4_planning_msgs/msg/avoidance_debug_msg_array.hpp>
+#include <tier4_planning_msgs/msg/path_with_lane_id.hpp>
 #include <tier4_rtc_msgs/msg/state.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
 
 namespace behavior_path_planner
 {
 // auto msgs
-using autoware_auto_perception_msgs::msg::PredictedObject;
-using autoware_auto_perception_msgs::msg::PredictedPath;
-using autoware_auto_planning_msgs::msg::PathWithLaneId;
+using autoware_perception_msgs::msg::PredictedObject;
+using autoware_perception_msgs::msg::PredictedPath;
+using tier4_planning_msgs::msg::PathWithLaneId;
 
 // ROS 2 general msgs
 using geometry_msgs::msg::Point;

diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/package.xml b/planning/autoware_behavior_path_static_obstacle_avoidance_module/package.xml
@@ -21,8 +21,6 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
-  <depend>autoware_auto_perception_msgs</depend>
-  <depend>autoware_auto_planning_msgs</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>behavior_path_planner</depend>
   <depend>behavior_path_planner_common</depend>

diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/src/debug.cpp b/planning/autoware_behavior_path_static_obstacle_avoidance_module/src/debug.cpp
@@ -44,7 +44,7 @@ MarkerArray createObjectsCubeMarkerArray(
   const ObjectDataArray & objects, std::string && ns, const Vector3 & scale,
   const ColorRGBA & color)
 {
-  using autoware_auto_perception_msgs::msg::ObjectClassification;
+  using autoware_perception_msgs::msg::ObjectClassification;
 
   MarkerArray msg;
 

diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/src/manager.cpp b/planning/autoware_behavior_path_static_obstacle_avoidance_module/src/manager.cpp
@@ -28,7 +28,7 @@ namespace behavior_path_planner
 {
 void StaticObstacleAvoidanceModuleManager::init(rclcpp::Node * node)
 {
-  using autoware_auto_perception_msgs::msg::ObjectClassification;
+  using autoware_perception_msgs::msg::ObjectClassification;
   using tier4_autoware_utils::getOrDeclareParameter;
 
   // init manager interface
@@ -42,7 +42,7 @@ void StaticObstacleAvoidanceModuleManager::init(rclcpp::Node * node)
 void StaticObstacleAvoidanceModuleManager::updateModuleParams(
   const std::vector<rclcpp::Parameter> & parameters)
 {
-  using autoware_auto_perception_msgs::msg::ObjectClassification;
+  using autoware_perception_msgs::msg::ObjectClassification;
   using tier4_autoware_utils::updateParam;
 
   auto p = parameters_;

diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp b/planning/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp
@@ -40,7 +40,7 @@
 namespace behavior_path_planner::utils::static_obstacle_avoidance
 {
 
-using autoware_perception_msgs::msg::TrafficSignalElement;
+using autoware_perception_msgs::msg::TrafficLightElement;
 using behavior_path_planner::utils::traffic_light::calcDistanceToRedTrafficLight;
 using behavior_path_planner::utils::traffic_light::getDistanceToNextTrafficLight;
 

diff --git a/planning/autoware_behavior_velocity_planner/README.md b/planning/autoware_behavior_velocity_planner/README.md
@@ -29,21 +29,21 @@ So for example, in order to stop at a stop line with the vehicles' front on the
 
 ## Input topics
 
-| Name                                      | Type                                                 | Description                                                                                                                     |
-| ----------------------------------------- | ---------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------- |
-| `~input/path_with_lane_id`                | autoware_auto_planning_msgs::msg::PathWithLaneId     | path with lane_id                                                                                                               |
-| `~input/vector_map`                       | autoware_auto_mapping_msgs::msg::HADMapBin           | vector map                                                                                                                      |
-| `~input/vehicle_odometry`                 | nav_msgs::msg::Odometry                              | vehicle velocity                                                                                                                |
-| `~input/dynamic_objects`                  | autoware_auto_perception_msgs::msg::PredictedObjects | dynamic objects                                                                                                                 |
-| `~input/no_ground_pointcloud`             | sensor_msgs::msg::PointCloud2                        | obstacle pointcloud                                                                                                             |
-| `~/input/compare_map_filtered_pointcloud` | sensor_msgs::msg::PointCloud2                        | obstacle pointcloud filtered by compare map. Note that this is used only when the detection method of run out module is Points. |
-| `~input/traffic_signals`                  | autoware_perception_msgs::msg::TrafficSignalArray    | traffic light states                                                                                                            |
+| Name                                      | Type                                                  | Description                                                                                                                     |
+| ----------------------------------------- | ----------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------- |
+| `~input/path_with_lane_id`                | tier4_planning_msgs::msg::PathWithLaneId              | path with lane_id                                                                                                               |
+| `~input/vector_map`                       | autoware_map_msgs::msg::LaneletMapBin                 | vector map                                                                                                                      |
+| `~input/vehicle_odometry`                 | nav_msgs::msg::Odometry                               | vehicle velocity                                                                                                                |
+| `~input/dynamic_objects`                  | autoware_perception_msgs::msg::PredictedObjects       | dynamic objects                                                                                                                 |
+| `~input/no_ground_pointcloud`             | sensor_msgs::msg::PointCloud2                         | obstacle pointcloud                                                                                                             |
+| `~/input/compare_map_filtered_pointcloud` | sensor_msgs::msg::PointCloud2                         | obstacle pointcloud filtered by compare map. Note that this is used only when the detection method of run out module is Points. |
+| `~input/traffic_signals`                  | autoware_perception_msgs::msg::TrafficLightGroupArray | traffic light states                                                                                                            |
 
 ## Output topics
 
 | Name                   | Type                                      | Description                            |
 | ---------------------- | ----------------------------------------- | -------------------------------------- |
-| `~output/path`         | autoware_auto_planning_msgs::msg::Path    | path to be followed                    |
+| `~output/path`         | autoware_planning_msgs::msg::Path         | path to be followed                    |
 | `~output/stop_reasons` | tier4_planning_msgs::msg::StopReasonArray | reasons that cause the vehicle to stop |
 
 ## Node parameters

diff --git a/planning/autoware_behavior_velocity_planner/package.xml b/planning/autoware_behavior_velocity_planner/package.xml
@@ -34,9 +34,9 @@
 
   <build_depend>rosidl_default_generators</build_depend>
 
-  <depend>autoware_auto_mapping_msgs</depend>
-  <depend>autoware_auto_perception_msgs</depend>
-  <depend>autoware_auto_planning_msgs</depend>
+  <depend>autoware_map_msgs</depend>
+  <depend>autoware_perception_msgs</depend>
+  <depend>autoware_planning_msgs</depend>
   <depend>autoware_velocity_smoother</depend>
   <depend>behavior_velocity_planner_common</depend>
   <depend>diagnostic_msgs</depend>