feat!: replace autoware_auto_msgs with autoware_msgs for system modul…

…es (#7249) 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 · Jul 22, 2024 · cbf1c8b · cbf1c8b
1 parent 7464c8a
commit cbf1c8b
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Showing 24 changed files with 197 additions and 216 deletions.
diff --git a/system/component_state_monitor/config/topics.yaml b/system/component_state_monitor/config/topics.yaml
@@ -4,7 +4,7 @@
   args:
     node_name_suffix: vector_map
     topic: /map/vector_map
-    topic_type: autoware_auto_mapping_msgs/msg/HADMapBin
+    topic_type: autoware_map_msgs/msg/LaneletMapBin
     best_effort: false
     transient_local: true
     warn_rate: 0.0
@@ -69,7 +69,7 @@
   args:
     node_name_suffix: object_recognition_objects
     topic: /perception/object_recognition/objects
-    topic_type: autoware_auto_perception_msgs/msg/PredictedObjects
+    topic_type: autoware_perception_msgs/msg/PredictedObjects
     best_effort: false
     transient_local: false
     warn_rate: 5.0
@@ -82,7 +82,7 @@
   args:
     node_name_suffix: traffic_light_recognition_traffic_signals
     topic: /perception/traffic_light_recognition/traffic_signals
-    topic_type: autoware_perception_msgs/msg/TrafficSignalArray
+    topic_type: autoware_perception_msgs/msg/TrafficLightGroupArray
     best_effort: false
     transient_local: false
     warn_rate: 5.0
@@ -108,7 +108,7 @@
   args:
     node_name_suffix: scenario_planning_trajectory
     topic: /planning/scenario_planning/trajectory
-    topic_type: autoware_auto_planning_msgs/msg/Trajectory
+    topic_type: autoware_planning_msgs/msg/Trajectory
     best_effort: false
     transient_local: false
     warn_rate: 5.0
@@ -121,7 +121,7 @@
   args:
     node_name_suffix: trajectory_follower_control_cmd
     topic: /control/trajectory_follower/control_cmd
-    topic_type: autoware_auto_control_msgs/msg/AckermannControlCommand
+    topic_type: autoware_control_msgs/msg/Control
     best_effort: false
     transient_local: false
     warn_rate: 5.0
@@ -134,7 +134,7 @@
   args:
     node_name_suffix: control_command_control_cmd
     topic: /control/command/control_cmd
-    topic_type: autoware_auto_control_msgs/msg/AckermannControlCommand
+    topic_type: autoware_control_msgs/msg/Control
     best_effort: false
     transient_local: false
     warn_rate: 5.0
@@ -147,7 +147,7 @@
   args:
     node_name_suffix: vehicle_status_velocity_status
     topic: /vehicle/status/velocity_status
-    topic_type: autoware_auto_vehicle_msgs/msg/VelocityReport
+    topic_type: autoware_vehicle_msgs/msg/VelocityReport
     best_effort: false
     transient_local: false
     warn_rate: 5.0
@@ -160,7 +160,7 @@
   args:
     node_name_suffix: vehicle_status_steering_status
     topic: /vehicle/status/steering_status
-    topic_type: autoware_auto_vehicle_msgs/msg/SteeringReport
+    topic_type: autoware_vehicle_msgs/msg/SteeringReport
     best_effort: false
     transient_local: false
     warn_rate: 5.0
@@ -173,7 +173,7 @@
   args:
     node_name_suffix: system_emergency_control_cmd
     topic: /system/emergency/control_cmd
-    topic_type: autoware_auto_control_msgs/msg/AckermannControlCommand
+    topic_type: autoware_control_msgs/msg/Control
     best_effort: false
     transient_local: false
     warn_rate: 5.0

diff --git a/system/default_ad_api/package.xml b/system/default_ad_api/package.xml
@@ -15,10 +15,9 @@
   <depend>autoware_ad_api_specs</depend>
   <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_adapi_version_msgs</depend>
-  <depend>autoware_auto_planning_msgs</depend>
-  <depend>autoware_auto_system_msgs</depend>
-  <depend>autoware_auto_vehicle_msgs</depend>
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_system_msgs</depend>
+  <depend>autoware_vehicle_msgs</depend>
   <depend>component_interface_specs</depend>
   <depend>component_interface_utils</depend>
   <depend>diagnostic_graph_utils</depend>

diff --git a/system/default_ad_api/src/compatibility/autoware_state.hpp b/system/default_ad_api/src/compatibility/autoware_state.hpp
@@ -19,7 +19,7 @@
 #include <autoware_ad_api_specs/operation_mode.hpp>
 #include <autoware_ad_api_specs/routing.hpp>
 
-#include <autoware_auto_system_msgs/msg/autoware_state.hpp>
+#include <autoware_system_msgs/msg/autoware_state.hpp>
 #include <std_srvs/srv/trigger.hpp>
 #include <tier4_system_msgs/msg/mode_change_available.hpp>
 
@@ -44,7 +44,7 @@ class AutowareStateNode : public rclcpp::Node
   Sub<autoware_ad_api::routing::RouteState> sub_routing_;
   Sub<autoware_ad_api::operation_mode::OperationModeState> sub_operation_mode_;
 
-  using AutowareState = autoware_auto_system_msgs::msg::AutowareState;
+  using AutowareState = autoware_system_msgs::msg::AutowareState;
   using LocalizationState = autoware_ad_api::localization::InitializationState::Message;
   using RoutingState = autoware_ad_api::routing::RouteState::Message;
   using OperationModeState = autoware_ad_api::operation_mode::OperationModeState::Message;

diff --git a/system/default_ad_api/src/perception.cpp b/system/default_ad_api/src/perception.cpp
@@ -24,7 +24,7 @@ using ObjectClassification = autoware_adapi_v1_msgs::msg::ObjectClassification;
 using DynamicObject = autoware_adapi_v1_msgs::msg::DynamicObject;
 using DynamicObjectPath = autoware_adapi_v1_msgs::msg::DynamicObjectPath;
 using API_Shape = shape_msgs::msg::SolidPrimitive;
-using Shape = autoware_auto_perception_msgs::msg::Shape;
+using Shape = autoware_perception_msgs::msg::Shape;
 
 std::unordered_map<uint8_t, uint8_t> shape_type_ = {
   {Shape::BOUNDING_BOX, API_Shape::BOX},

diff --git a/system/default_ad_api/src/perception.hpp b/system/default_ad_api/src/perception.hpp
@@ -22,7 +22,7 @@
 #include <autoware_adapi_v1_msgs/msg/dynamic_object.hpp>
 #include <autoware_adapi_v1_msgs/msg/dynamic_object_path.hpp>
 #include <autoware_adapi_v1_msgs/msg/object_classification.hpp>
-#include <autoware_auto_perception_msgs/msg/shape.hpp>
+#include <autoware_perception_msgs/msg/shape.hpp>
 #include <shape_msgs/msg/solid_primitive.hpp>
 
 #include <unordered_map>

diff --git a/system/emergency_handler/README.md b/system/emergency_handler/README.md
@@ -14,24 +14,24 @@ Emergency Handler is a node to select proper MRM from from system failure state
 
 ### Input
 
-| Name                                      | Type                                                       | Description                                                                   |
-| ----------------------------------------- | ---------------------------------------------------------- | ----------------------------------------------------------------------------- |
-| `/system/emergency/hazard_status`         | `autoware_auto_system_msgs::msg::HazardStatusStamped`      | Used to select proper MRM from system failure state contained in HazardStatus |
-| `/control/vehicle_cmd`                    | `autoware_auto_control_msgs::msg::AckermannControlCommand` | Used as reference when generate Emergency Control Command                     |
-| `/localization/kinematic_state`           | `nav_msgs::msg::Odometry`                                  | Used to decide whether vehicle is stopped or not                              |
-| `/vehicle/status/control_mode`            | `autoware_auto_vehicle_msgs::msg::ControlModeReport`       | Used to check vehicle mode: autonomous or manual                              |
-| `/system/api/mrm/comfortable_stop/status` | `tier4_system_msgs::msg::MrmBehaviorStatus`                | Used to check if MRM comfortable stop operation is available                  |
-| `/system/api/mrm/emergency_stop/status`   | `tier4_system_msgs::msg::MrmBehaviorStatus`                | Used to check if MRM emergency stop operation is available                    |
+| Name                                      | Type                                             | Description                                                                   |
+| ----------------------------------------- | ------------------------------------------------ | ----------------------------------------------------------------------------- |
+| `/system/emergency/hazard_status`         | `autoware_system_msgs::msg::HazardStatusStamped` | Used to select proper MRM from system failure state contained in HazardStatus |
+| `/control/vehicle_cmd`                    | `autoware_control_msgs::msg::Control`            | Used as reference when generate Emergency Control Command                     |
+| `/localization/kinematic_state`           | `nav_msgs::msg::Odometry`                        | Used to decide whether vehicle is stopped or not                              |
+| `/vehicle/status/control_mode`            | `autoware_vehicle_msgs::msg::ControlModeReport`  | Used to check vehicle mode: autonomous or manual                              |
+| `/system/api/mrm/comfortable_stop/status` | `tier4_system_msgs::msg::MrmBehaviorStatus`      | Used to check if MRM comfortable stop operation is available                  |
+| `/system/api/mrm/emergency_stop/status`   | `tier4_system_msgs::msg::MrmBehaviorStatus`      | Used to check if MRM emergency stop operation is available                    |
 
 ### Output
 
-| Name                                       | Type                                                   | Description                                           |
-| ------------------------------------------ | ------------------------------------------------------ | ----------------------------------------------------- |
-| `/system/emergency/shift_cmd`              | `autoware_auto_vehicle_msgs::msg::GearCommand`         | Required to execute proper MRM (send gear cmd)        |
-| `/system/emergency/hazard_cmd`             | `autoware_auto_vehicle_msgs::msg::HazardLightsCommand` | Required to execute proper MRM (send turn signal cmd) |
-| `/api/fail_safe/mrm_state`                 | `autoware_adapi_v1_msgs::msg::MrmState`                | Inform MRM execution state and selected MRM behavior  |
-| `/system/api/mrm/comfortable_stop/operate` | `tier4_system_msgs::srv::OperateMrm`                   | Execution order for MRM comfortable stop              |
-| `/system/api/mrm/emergency_stop/operate`   | `tier4_system_msgs::srv::OperateMrm`                   | Execution order for MRM emergency stop                |
+| Name                                       | Type                                              | Description                                           |
+| ------------------------------------------ | ------------------------------------------------- | ----------------------------------------------------- |
+| `/system/emergency/shift_cmd`              | `autoware_vehicle_msgs::msg::GearCommand`         | Required to execute proper MRM (send gear cmd)        |
+| `/system/emergency/hazard_cmd`             | `autoware_vehicle_msgs::msg::HazardLightsCommand` | Required to execute proper MRM (send turn signal cmd) |
+| `/api/fail_safe/mrm_state`                 | `autoware_adapi_v1_msgs::msg::MrmState`           | Inform MRM execution state and selected MRM behavior  |
+| `/system/api/mrm/comfortable_stop/operate` | `tier4_system_msgs::srv::OperateMrm`              | Execution order for MRM comfortable stop              |
+| `/system/api/mrm/emergency_stop/operate`   | `tier4_system_msgs::srv::OperateMrm`              | Execution order for MRM emergency stop                |
 
 ## Parameters
 

diff --git a/system/emergency_handler/include/emergency_handler/emergency_handler_core.hpp b/system/emergency_handler/include/emergency_handler/emergency_handler_core.hpp
@@ -21,11 +21,11 @@
 
 // Autoware
 #include <autoware_adapi_v1_msgs/msg/mrm_state.hpp>
-#include <autoware_auto_control_msgs/msg/ackermann_control_command.hpp>
-#include <autoware_auto_system_msgs/msg/hazard_status_stamped.hpp>
-#include <autoware_auto_vehicle_msgs/msg/control_mode_report.hpp>
-#include <autoware_auto_vehicle_msgs/msg/gear_command.hpp>
-#include <autoware_auto_vehicle_msgs/msg/hazard_lights_command.hpp>
+#include <autoware_control_msgs/msg/control.hpp>
+#include <autoware_system_msgs/msg/hazard_status_stamped.hpp>
+#include <autoware_vehicle_msgs/msg/control_mode_report.hpp>
+#include <autoware_vehicle_msgs/msg/gear_command.hpp>
+#include <autoware_vehicle_msgs/msg/hazard_lights_command.hpp>
 #include <tier4_system_msgs/msg/mrm_behavior_status.hpp>
 #include <tier4_system_msgs/srv/operate_mrm.hpp>
 
@@ -57,48 +57,43 @@ class EmergencyHandler : public rclcpp::Node
 
 private:
   // Subscribers
-  rclcpp::Subscription<autoware_auto_system_msgs::msg::HazardStatusStamped>::SharedPtr
+  rclcpp::Subscription<autoware_system_msgs::msg::HazardStatusStamped>::SharedPtr
     sub_hazard_status_stamped_;
-  rclcpp::Subscription<autoware_auto_control_msgs::msg::AckermannControlCommand>::SharedPtr
-    sub_prev_control_command_;
+  rclcpp::Subscription<autoware_control_msgs::msg::Control>::SharedPtr sub_prev_control_command_;
   rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr sub_odom_;
-  rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::ControlModeReport>::SharedPtr
-    sub_control_mode_;
+  rclcpp::Subscription<autoware_vehicle_msgs::msg::ControlModeReport>::SharedPtr sub_control_mode_;
   rclcpp::Subscription<tier4_system_msgs::msg::MrmBehaviorStatus>::SharedPtr
     sub_mrm_comfortable_stop_status_;
   rclcpp::Subscription<tier4_system_msgs::msg::MrmBehaviorStatus>::SharedPtr
     sub_mrm_emergency_stop_status_;
 
-  autoware_auto_system_msgs::msg::HazardStatusStamped::ConstSharedPtr hazard_status_stamped_;
-  autoware_auto_control_msgs::msg::AckermannControlCommand::ConstSharedPtr prev_control_command_;
+  autoware_system_msgs::msg::HazardStatusStamped::ConstSharedPtr hazard_status_stamped_;
+  autoware_control_msgs::msg::Control::ConstSharedPtr prev_control_command_;
   nav_msgs::msg::Odometry::ConstSharedPtr odom_;
-  autoware_auto_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr control_mode_;
+  autoware_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr control_mode_;
   tier4_system_msgs::msg::MrmBehaviorStatus::ConstSharedPtr mrm_comfortable_stop_status_;
   tier4_system_msgs::msg::MrmBehaviorStatus::ConstSharedPtr mrm_emergency_stop_status_;
 
   void onHazardStatusStamped(
-    const autoware_auto_system_msgs::msg::HazardStatusStamped::ConstSharedPtr msg);
-  void onPrevControlCommand(
-    const autoware_auto_control_msgs::msg::AckermannControlCommand::ConstSharedPtr msg);
+    const autoware_system_msgs::msg::HazardStatusStamped::ConstSharedPtr msg);
+  void onPrevControlCommand(const autoware_control_msgs::msg::Control::ConstSharedPtr msg);
   void onOdometry(const nav_msgs::msg::Odometry::ConstSharedPtr msg);
-  void onControlMode(const autoware_auto_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr msg);
+  void onControlMode(const autoware_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr msg);
   void onMrmComfortableStopStatus(
     const tier4_system_msgs::msg::MrmBehaviorStatus::ConstSharedPtr msg);
   void onMrmEmergencyStopStatus(
     const tier4_system_msgs::msg::MrmBehaviorStatus::ConstSharedPtr msg);
 
   // Publisher
-  rclcpp::Publisher<autoware_auto_control_msgs::msg::AckermannControlCommand>::SharedPtr
-    pub_control_command_;
+  rclcpp::Publisher<autoware_control_msgs::msg::Control>::SharedPtr pub_control_command_;
 
   // rclcpp::Publisher<tier4_vehicle_msgs::msg::ShiftStamped>::SharedPtr pub_shift_;
   // rclcpp::Publisher<tier4_vehicle_msgs::msg::TurnSignal>::SharedPtr pub_turn_signal_;
-  rclcpp::Publisher<autoware_auto_vehicle_msgs::msg::HazardLightsCommand>::SharedPtr
-    pub_hazard_cmd_;
-  rclcpp::Publisher<autoware_auto_vehicle_msgs::msg::GearCommand>::SharedPtr pub_gear_cmd_;
+  rclcpp::Publisher<autoware_vehicle_msgs::msg::HazardLightsCommand>::SharedPtr pub_hazard_cmd_;
+  rclcpp::Publisher<autoware_vehicle_msgs::msg::GearCommand>::SharedPtr pub_gear_cmd_;
 
-  autoware_auto_vehicle_msgs::msg::HazardLightsCommand createHazardCmdMsg();
-  autoware_auto_vehicle_msgs::msg::GearCommand createGearCmdMsg();
+  autoware_vehicle_msgs::msg::HazardLightsCommand createHazardCmdMsg();
+  autoware_vehicle_msgs::msg::GearCommand createGearCmdMsg();
   void publishControlCommands();
 
   rclcpp::Publisher<autoware_adapi_v1_msgs::msg::MrmState>::SharedPtr pub_mrm_state_;

diff --git a/system/emergency_handler/package.xml b/system/emergency_handler/package.xml
@@ -13,9 +13,9 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_adapi_v1_msgs</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_system_msgs</depend>
+  <depend>autoware_vehicle_msgs</depend>
   <depend>nav_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>