feat!: replace autoware_auto_msgs with autoware_msgs for control modules

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]>
autowarefoundation · Jun 3, 2024 · 7b50687 · 7b50687
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commit 7b50687
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diff --git a/control/autonomous_emergency_braking/include/autonomous_emergency_braking/node.hpp b/control/autonomous_emergency_braking/include/autonomous_emergency_braking/node.hpp
@@ -23,9 +23,9 @@
 #include <tier4_autoware_utils/ros/polling_subscriber.hpp>
 #include <vehicle_info_util/vehicle_info_util.hpp>
 
-#include <autoware_auto_planning_msgs/msg/trajectory.hpp>
-#include <autoware_auto_system_msgs/msg/autoware_state.hpp>
-#include <autoware_auto_vehicle_msgs/msg/velocity_report.hpp>
+#include <autoware_planning_msgs/msg/trajectory.hpp>
+#include <autoware_system_msgs/msg/autoware_state.hpp>
+#include <autoware_vehicle_msgs/msg/velocity_report.hpp>
 #include <geometry_msgs/msg/vector3.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 #include <sensor_msgs/msg/imu.hpp>
@@ -52,9 +52,9 @@
 namespace autoware::motion::control::autonomous_emergency_braking
 {
 
-using autoware_auto_planning_msgs::msg::Trajectory;
-using autoware_auto_system_msgs::msg::AutowareState;
-using autoware_auto_vehicle_msgs::msg::VelocityReport;
+using autoware_planning_msgs::msg::Trajectory;
+using autoware_system_msgs::msg::AutowareState;
+using autoware_vehicle_msgs::msg::VelocityReport;
 using nav_msgs::msg::Odometry;
 using sensor_msgs::msg::Imu;
 using sensor_msgs::msg::PointCloud2;

diff --git a/control/autonomous_emergency_braking/package.xml b/control/autonomous_emergency_braking/package.xml
@@ -14,9 +14,10 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>autoware_auto_control_msgs</depend>
-  <depend>autoware_auto_system_msgs</depend>
-  <depend>autoware_auto_vehicle_msgs</depend>
+  <depend>autoware_control_msgs</depend>
+  <depend>autoware_planning_msgs</depend>
+  <depend>autoware_system_msgs</depend>
+  <depend>autoware_vehicle_msgs</depend>
   <depend>diagnostic_updater</depend>
   <depend>geometry_msgs</depend>
   <depend>motion_utils</depend>

diff --git a/control/control_performance_analysis/README.md b/control/control_performance_analysis/README.md
@@ -25,13 +25,13 @@ Error acceleration calculations are made based on the velocity calculations abov
 
 ### Input topics
 
-| Name                                     | Type                                                     | Description                                 |
-| ---------------------------------------- | -------------------------------------------------------- | ------------------------------------------- |
-| `/planning/scenario_planning/trajectory` | autoware_auto_planning_msgs::msg::Trajectory             | Output trajectory from planning module.     |
-| `/control/command/control_cmd`           | autoware_auto_control_msgs::msg::AckermannControlCommand | Output control command from control module. |
-| `/vehicle/status/steering_status`        | autoware_auto_vehicle_msgs::msg::SteeringReport          | Steering information from vehicle.          |
-| `/localization/kinematic_state`          | nav_msgs::msg::Odometry                                  | Use twist from odometry.                    |
-| `/tf`                                    | tf2_msgs::msg::TFMessage                                 | Extract ego pose from tf.                   |
+| Name                                     | Type                                       | Description                                 |
+| ---------------------------------------- | ------------------------------------------ | ------------------------------------------- |
+| `/planning/scenario_planning/trajectory` | autoware_planning_msgs::msg::Trajectory    | Output trajectory from planning module.     |
+| `/control/command/control_cmd`           | autoware_control_msgs::msg::Control        | Output control command from control module. |
+| `/vehicle/status/steering_status`        | autoware_vehicle_msgs::msg::SteeringReport | Steering information from vehicle.          |
+| `/localization/kinematic_state`          | nav_msgs::msg::Odometry                    | Use twist from odometry.                    |
+| `/tf`                                    | tf2_msgs::msg::TFMessage                   | Extract ego pose from tf.                   |
 
 ### Output topics
 

diff --git a/...mance_analysis/include/control_performance_analysis/control_performance_analysis_core.hpp b/...mance_analysis/include/control_performance_analysis/control_performance_analysis_core.hpp
@@ -24,9 +24,9 @@
 #include <Eigen/Core>
 #include <rclcpp/time.hpp>
 
-#include <autoware_auto_control_msgs/msg/ackermann_control_command.hpp>
-#include <autoware_auto_planning_msgs/msg/trajectory.hpp>
-#include <autoware_auto_vehicle_msgs/msg/steering_report.hpp>
+#include <autoware_control_msgs/msg/control.hpp>
+#include <autoware_planning_msgs/msg/trajectory.hpp>
+#include <autoware_vehicle_msgs/msg/steering_report.hpp>
 #include <geometry_msgs/msg/pose.hpp>
 #include <geometry_msgs/msg/pose_array.hpp>
 #include <geometry_msgs/msg/twist.hpp>
@@ -39,9 +39,9 @@
 
 namespace control_performance_analysis
 {
-using autoware_auto_control_msgs::msg::AckermannControlCommand;
-using autoware_auto_planning_msgs::msg::Trajectory;
-using autoware_auto_vehicle_msgs::msg::SteeringReport;
+using autoware_control_msgs::msg::Control;
+using autoware_planning_msgs::msg::Trajectory;
+using autoware_vehicle_msgs::msg::SteeringReport;
 using control_performance_analysis::msg::DrivingMonitorStamped;
 using control_performance_analysis::msg::Error;
 using control_performance_analysis::msg::ErrorStamped;
@@ -73,7 +73,7 @@ class ControlPerformanceAnalysisCore
   // Setters
   void setCurrentPose(const Pose & msg);
   void setCurrentWaypoints(const Trajectory & trajectory);
-  void setCurrentControlValue(const AckermannControlCommand & msg);
+  void setCurrentControlValue(const Control & msg);
   void setInterpolatedVars(
     const Pose & interpolated_pose, const double & interpolated_velocity,
     const double & interpolated_acceleration, const double & interpolated_steering_angle);
@@ -100,10 +100,10 @@ class ControlPerformanceAnalysisCore
   Params p_;
 
   // Variables Received Outside
-  std::shared_ptr<autoware_auto_planning_msgs::msg::Trajectory> current_trajectory_ptr_;
+  std::shared_ptr<autoware_planning_msgs::msg::Trajectory> current_trajectory_ptr_;
   std::shared_ptr<Pose> current_vec_pose_ptr_;
   std::shared_ptr<std::vector<Odometry>> odom_history_ptr_;  // velocities at k-2, k-1, k, k+1
-  std::shared_ptr<AckermannControlCommand> current_control_ptr_;
+  std::shared_ptr<Control> current_control_ptr_;
   std::shared_ptr<SteeringReport> current_vec_steering_msg_ptr_;
 
   // State holder

diff --git a/...mance_analysis/include/control_performance_analysis/control_performance_analysis_node.hpp b/...mance_analysis/include/control_performance_analysis/control_performance_analysis_node.hpp
@@ -23,9 +23,9 @@
 #include <signal_processing/lowpass_filter_1d.hpp>
 #include <tier4_autoware_utils/ros/self_pose_listener.hpp>
 
-#include <autoware_auto_control_msgs/msg/ackermann_control_command.hpp>
-#include <autoware_auto_planning_msgs/msg/trajectory.hpp>
-#include <autoware_auto_vehicle_msgs/msg/steering_report.hpp>
+#include <autoware_control_msgs/msg/control.hpp>
+#include <autoware_planning_msgs/msg/trajectory.hpp>
+#include <autoware_vehicle_msgs/msg/steering_report.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 
@@ -36,9 +36,9 @@
 
 namespace control_performance_analysis
 {
-using autoware_auto_control_msgs::msg::AckermannControlCommand;
-using autoware_auto_planning_msgs::msg::Trajectory;
-using autoware_auto_vehicle_msgs::msg::SteeringReport;
+using autoware_control_msgs::msg::Control;
+using autoware_planning_msgs::msg::Trajectory;
+using autoware_vehicle_msgs::msg::SteeringReport;
 using control_performance_analysis::msg::DrivingMonitorStamped;
 using control_performance_analysis::msg::ErrorStamped;
 using geometry_msgs::msg::PoseStamped;
@@ -52,9 +52,8 @@ class ControlPerformanceAnalysisNode : public rclcpp::Node
 private:
   // Subscribers and Local Variable Assignment
   rclcpp::Subscription<Trajectory>::SharedPtr sub_trajectory_;  // subscribe to trajectory
-  rclcpp::Subscription<AckermannControlCommand>::SharedPtr
-    sub_control_cmd_;                                       // subscribe to steering control value
-  rclcpp::Subscription<Odometry>::SharedPtr sub_velocity_;  // subscribe to velocity
+  rclcpp::Subscription<Control>::SharedPtr sub_control_cmd_;  // subscribe to steering control value
+  rclcpp::Subscription<Odometry>::SharedPtr sub_velocity_;    // subscribe to velocity
   rclcpp::Subscription<SteeringReport>::SharedPtr sub_vehicle_steering_;
 
   // Publishers
@@ -68,26 +67,26 @@ class ControlPerformanceAnalysisNode : public rclcpp::Node
 
   // Callback Methods
   void onTrajectory(const Trajectory::ConstSharedPtr msg);
-  void onControlRaw(const AckermannControlCommand::ConstSharedPtr control_msg);
+  void onControlRaw(const Control::ConstSharedPtr control_msg);
   void onVecSteeringMeasured(const SteeringReport::ConstSharedPtr meas_steer_msg);
   void onVelocity(const Odometry::ConstSharedPtr msg);
 
   // Parameters
   Params param_{};  // wheelbase, control period and feedback coefficients.
   // State holder
-  AckermannControlCommand::ConstSharedPtr last_control_cmd_;
+  Control::ConstSharedPtr last_control_cmd_;
   double d_control_cmd_{0};
 
   // Subscriber Parameters
   Trajectory::ConstSharedPtr current_trajectory_ptr_;  // ConstPtr to local traj.
-  AckermannControlCommand::ConstSharedPtr current_control_msg_ptr_;
+  Control::ConstSharedPtr current_control_msg_ptr_;
   SteeringReport::ConstSharedPtr current_vec_steering_msg_ptr_;
   Odometry::ConstSharedPtr current_odom_ptr_;
   PoseStamped::ConstSharedPtr current_pose_;  // pose of the vehicle, x, y, heading
 
   // prev states
   Trajectory prev_traj;
-  AckermannControlCommand prev_cmd;
+  Control prev_cmd;
   SteeringReport prev_steering;
 
   // Algorithm

diff --git a/control/control_performance_analysis/package.xml b/control/control_performance_analysis/package.xml
@@ -24,9 +24,9 @@
 
   <build_depend>builtin_interfaces</build_depend>
 
-  <depend>autoware_auto_control_msgs</depend>
-  <depend>autoware_auto_planning_msgs</depend>
-  <depend>autoware_auto_vehicle_msgs</depend>
+  <depend>autoware_control_msgs</depend>
+  <depend>autoware_planning_msgs</depend>
+  <depend>autoware_vehicle_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>libboost-dev</depend>
   <depend>motion_utils</depend>

diff --git a/control/control_performance_analysis/src/control_performance_analysis_core.cpp b/control/control_performance_analysis/src/control_performance_analysis_core.cpp
@@ -75,9 +75,9 @@ void ControlPerformanceAnalysisCore::setCurrentPose(const Pose & msg)
   current_vec_pose_ptr_ = std::make_shared<Pose>(msg);
 }
 
-void ControlPerformanceAnalysisCore::setCurrentControlValue(const AckermannControlCommand & msg)
+void ControlPerformanceAnalysisCore::setCurrentControlValue(const Control & msg)
 {
-  current_control_ptr_ = std::make_shared<AckermannControlCommand>(msg);
+  current_control_ptr_ = std::make_shared<Control>(msg);
 }
 
 std::pair<bool, int32_t> ControlPerformanceAnalysisCore::findClosestPrevWayPointIdx_path_direction()

diff --git a/control/control_performance_analysis/src/control_performance_analysis_node.cpp b/control/control_performance_analysis/src/control_performance_analysis_node.cpp
@@ -24,7 +24,7 @@
 
 namespace
 {
-using autoware_auto_control_msgs::msg::AckermannControlCommand;
+using autoware_control_msgs::msg::Control;
 using control_performance_analysis::msg::DrivingMonitorStamped;
 using control_performance_analysis::msg::ErrorStamped;
 
@@ -62,7 +62,7 @@ ControlPerformanceAnalysisNode::ControlPerformanceAnalysisNode(
     "~/input/reference_trajectory", 1,
     std::bind(&ControlPerformanceAnalysisNode::onTrajectory, this, _1));
 
-  sub_control_cmd_ = create_subscription<AckermannControlCommand>(
+  sub_control_cmd_ = create_subscription<Control>(
     "~/input/control_raw", 1, std::bind(&ControlPerformanceAnalysisNode::onControlRaw, this, _1));
 
   sub_vehicle_steering_ = create_subscription<SteeringReport>(
@@ -93,8 +93,7 @@ void ControlPerformanceAnalysisNode::onTrajectory(const Trajectory::ConstSharedP
   current_trajectory_ptr_ = msg;
 }
 
-void ControlPerformanceAnalysisNode::onControlRaw(
-  const AckermannControlCommand::ConstSharedPtr control_msg)
+void ControlPerformanceAnalysisNode::onControlRaw(const Control::ConstSharedPtr control_msg)
 {
   if (last_control_cmd_) {
     const rclcpp::Duration & duration =

diff --git a/control/control_validator/README.md b/control/control_validator/README.md
@@ -20,11 +20,11 @@ Other features are to be implemented.
 
 The `control_validator` takes in the following inputs:
 
-| Name                           | Type                                  | Description                                                                    |
-| ------------------------------ | ------------------------------------- | ------------------------------------------------------------------------------ |
-| `~/input/kinematics`           | nav_msgs/Odometry                     | ego pose and twist                                                             |
-| `~/input/reference_trajectory` | autoware_auto_control_msgs/Trajectory | reference trajectory which is outputted from planning module to to be followed |
-| `~/input/predicted_trajectory` | autoware_auto_control_msgs/Trajectory | predicted trajectory which is outputted from control module                    |
+| Name                           | Type                              | Description                                                                    |
+| ------------------------------ | --------------------------------- | ------------------------------------------------------------------------------ |
+| `~/input/kinematics`           | nav_msgs/Odometry                 | ego pose and twist                                                             |
+| `~/input/reference_trajectory` | autoware_planning_msgs/Trajectory | reference trajectory which is outputted from planning module to to be followed |
+| `~/input/predicted_trajectory` | autoware_planning_msgs/Trajectory | predicted trajectory which is outputted from control module                    |
 
 ### Outputs
 

diff --git a/control/control_validator/include/control_validator/control_validator.hpp b/control/control_validator/include/control_validator/control_validator.hpp
@@ -22,7 +22,7 @@
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <rclcpp/rclcpp.hpp>
 
-#include <autoware_auto_planning_msgs/msg/trajectory.hpp>
+#include <autoware_planning_msgs/msg/trajectory.hpp>
 #include <diagnostic_msgs/msg/diagnostic_array.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 
@@ -31,8 +31,8 @@
 
 namespace control_validator
 {
-using autoware_auto_planning_msgs::msg::Trajectory;
-using autoware_auto_planning_msgs::msg::TrajectoryPoint;
+using autoware_planning_msgs::msg::Trajectory;
+using autoware_planning_msgs::msg::TrajectoryPoint;
 using control_validator::msg::ControlValidatorStatus;
 using diagnostic_updater::DiagnosticStatusWrapper;
 using diagnostic_updater::Updater;

diff --git a/control/control_validator/include/control_validator/debug_marker.hpp b/control/control_validator/include/control_validator/debug_marker.hpp
@@ -17,7 +17,7 @@
 
 #include <rclcpp/rclcpp.hpp>
 
-#include <autoware_auto_planning_msgs/msg/trajectory.hpp>
+#include <autoware_planning_msgs/msg/trajectory.hpp>
 #include <visualization_msgs/msg/marker.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
 
@@ -32,8 +32,7 @@ class ControlValidatorDebugMarkerPublisher
   explicit ControlValidatorDebugMarkerPublisher(rclcpp::Node * node);
 
   void pushPoseMarker(
-    const autoware_auto_planning_msgs::msg::TrajectoryPoint & p, const std::string & ns,
-    int id = 0);
+    const autoware_planning_msgs::msg::TrajectoryPoint & p, const std::string & ns, int id = 0);
   void pushPoseMarker(const geometry_msgs::msg::Pose & pose, const std::string & ns, int id = 0);
   void pushVirtualWall(const geometry_msgs::msg::Pose & pose);
   void pushWarningMsg(const geometry_msgs::msg::Pose & pose, const std::string & msg);

diff --git a/control/control_validator/include/control_validator/utils.hpp b/control/control_validator/include/control_validator/utils.hpp
@@ -18,16 +18,16 @@
 #include <motion_utils/trajectory/conversion.hpp>
 #include <rclcpp/rclcpp.hpp>
 
-#include <autoware_auto_planning_msgs/msg/trajectory.hpp>
+#include <autoware_planning_msgs/msg/trajectory.hpp>
 
 #include <string>
 #include <utility>
 #include <vector>
 
 namespace control_validator
 {
-using autoware_auto_planning_msgs::msg::Trajectory;
-using autoware_auto_planning_msgs::msg::TrajectoryPoint;
+using autoware_planning_msgs::msg::Trajectory;
+using autoware_planning_msgs::msg::TrajectoryPoint;
 using geometry_msgs::msg::Pose;
 using motion_utils::convertToTrajectory;
 using motion_utils::convertToTrajectoryPointArray;

diff --git a/control/control_validator/package.xml b/control/control_validator/package.xml
@@ -20,7 +20,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <build_depend>rosidl_default_generators</build_depend>
 
-  <depend>autoware_auto_planning_msgs</depend>
+  <depend>autoware_planning_msgs</depend>
   <depend>diagnostic_updater</depend>
   <depend>geometry_msgs</depend>
   <depend>motion_utils</depend>

diff --git a/control/control_validator/src/debug_marker.cpp b/control/control_validator/src/debug_marker.cpp
@@ -40,7 +40,7 @@ void ControlValidatorDebugMarkerPublisher::clearMarkers()
 }
 
 void ControlValidatorDebugMarkerPublisher::pushPoseMarker(
-  const autoware_auto_planning_msgs::msg::TrajectoryPoint & p, const std::string & ns, int id)
+  const autoware_planning_msgs::msg::TrajectoryPoint & p, const std::string & ns, int id)
 {
   pushPoseMarker(p.pose, ns, id);
 }

diff --git a/control/external_cmd_selector/README.md b/control/external_cmd_selector/README.md
@@ -23,12 +23,12 @@ The current mode is set via service, `remote` is remotely operated, `local` is t
 
 ### Output topics
 
-| Name                                                   | Type                                                   | Description                                     |
-| ------------------------------------------------------ | ------------------------------------------------------ | ----------------------------------------------- |
-| `/control/external_cmd_selector/current_selector_mode` | TBD                                                    | Current selected mode, remote or local.         |
-| `/diagnostics`                                         | diagnostic_msgs::msg::DiagnosticArray                  | Check if node is active or not.                 |
-| `/external/selected/external_control_cmd`              | TBD                                                    | Pass through control command with current mode. |
-| `/external/selected/gear_cmd`                          | autoware_auto_vehicle_msgs::msg::GearCommand           | Pass through gear command with current mode.    |
-| `/external/selected/hazard_lights_cmd`                 | autoware_auto_vehicle_msgs::msg::HazardLightsCommand   | Pass through hazard light with current mode.    |
-| `/external/selected/heartbeat`                         | TBD                                                    | Pass through heartbeat with current mode.       |
-| `/external/selected/turn_indicators_cmd`               | autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand | Pass through turn indicator with current mode.  |
+| Name                                                   | Type                                              | Description                                     |
+| ------------------------------------------------------ | ------------------------------------------------- | ----------------------------------------------- |
+| `/control/external_cmd_selector/current_selector_mode` | TBD                                               | Current selected mode, remote or local.         |
+| `/diagnostics`                                         | diagnostic_msgs::msg::DiagnosticArray             | Check if node is active or not.                 |
+| `/external/selected/external_control_cmd`              | TBD                                               | Pass through control command with current mode. |
+| `/external/selected/gear_cmd`                          | autoware_vehicle_msgs::msg::GearCommand           | Pass through gear command with current mode.    |
+| `/external/selected/hazard_lights_cmd`                 | autoware_vehicle_msgs::msg::HazardLightsCommand   | Pass through hazard light with current mode.    |
+| `/external/selected/heartbeat`                         | TBD                                               | Pass through heartbeat with current mode.       |
+| `/external/selected/turn_indicators_cmd`               | autoware_vehicle_msgs::msg::TurnIndicatorsCommand | Pass through turn indicator with current mode.  |