feat(emergency_goal_manager): change service for route selector

Signed-off-by: Makoto Kurihara <[email protected]>

system/emergency_goal_manager/include/emergency_goal_manager_core.hpp

@@ -17,10 +17,10 @@
 
 #include <rclcpp/rclcpp.hpp>
 
-#include <autoware_adapi_v1_msgs/srv/clear_route.hpp>
-#include <autoware_adapi_v1_msgs/srv/set_route_points.hpp>
 #include <geometry_msgs/msg/pose.hpp>
 #include <std_srvs/srv/trigger.hpp>
+#include <tier4_planning_msgs/srv/clear_route.hpp>
+#include <tier4_planning_msgs/srv/set_waypoint_route.hpp>
 #include <tier4_system_msgs/msg/emergency_goals_clear_command.hpp>
 #include <tier4_system_msgs/msg/emergency_goals_stamped.hpp>
 
@@ -36,8 +36,8 @@ class EmergencyGoalManager : public rclcpp::Node
   EmergencyGoalManager();
 
 private:
-  using SetRoutePoints = autoware_adapi_v1_msgs::srv::SetRoutePoints;
-  using ClearRoute = autoware_adapi_v1_msgs::srv::ClearRoute;
+  using SetWaypointRoute = tier4_planning_msgs::srv::SetWaypointRoute;
+  using ClearRoute = tier4_planning_msgs::srv::ClearRoute;
 
   // Subscriber
   rclcpp::Subscription<tier4_system_msgs::msg::EmergencyGoalsStamped>::SharedPtr
@@ -51,7 +51,7 @@ class EmergencyGoalManager : public rclcpp::Node
 
   // Client
   rclcpp::CallbackGroup::SharedPtr client_set_mrm_route_points_callback_group_;
-  rclcpp::Client<SetRoutePoints>::SharedPtr client_set_mrm_route_points_;
+  rclcpp::Client<SetWaypointRoute>::SharedPtr client_set_mrm_route_points_;
   rclcpp::CallbackGroup::SharedPtr client_clear_mrm_route_callback_group_;
   rclcpp::Client<ClearRoute>::SharedPtr client_clear_mrm_route_;
 

system/emergency_goal_manager/package.xml

@@ -12,9 +12,9 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>autoware_adapi_v1_msgs</depend>
   <depend>rclcpp_components</depend>
   <depend>std_srvs</depend>
+  <depend>tier4_planning_msgs</depend>
   <depend>tier4_system_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>

system/emergency_goal_manager/src/emergency_goal_manager_core.cpp

@@ -30,13 +30,13 @@ EmergencyGoalManager::EmergencyGoalManager() : Node("emergency_goal_manager")
   // Client
   client_set_mrm_route_points_callback_group_ =
     create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
-  client_set_mrm_route_points_ = create_client<SetRoutePoints>(
-    "/planning/mission_planning/mission_planner/srv/set_mrm_route",
+  client_set_mrm_route_points_ = create_client<SetWaypointRoute>(
+    "/planning/mission_planning/route_selector/mrm/set_waypoint_route",
     rmw_qos_profile_services_default, client_set_mrm_route_points_callback_group_);
   client_clear_mrm_route_callback_group_ =
     create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
   client_clear_mrm_route_ = create_client<ClearRoute>(
-    "/planning/mission_planning/mission_planner/srv/clear_mrm_route",
+    "/planning/mission_planning/route_selector/mrm/clear_route",
     rmw_qos_profile_services_default, client_clear_mrm_route_callback_group_);
 
   // Initialize
@@ -76,10 +76,10 @@ void EmergencyGoalManager::onEmergencyGoalsClearCommand(
 
 void EmergencyGoalManager::callSetMrmRoutePoints()
 {
-  auto request = std::make_shared<SetRoutePoints::Request>();
+  auto request = std::make_shared<SetWaypointRoute::Request>();
   request->header.frame_id = "map";
   request->header.stamp = this->now();
-  request->option.allow_goal_modification = true;
+  request->allow_modification = true;
 
   while (!emergency_goals_map_.empty()) {
     // TODO(Makoto Kurihara): set goals with the highest priority
@@ -92,7 +92,7 @@ void EmergencyGoalManager::callSetMrmRoutePoints()
       continue;
     }
 
-    request->goal = goal_queue.front();
+    request->goal_pose = goal_queue.front();
     goal_queue.pop();
 
     auto future = client_set_mrm_route_points_->async_send_request(request);