feat!: replace autoware_auto_msgs with autoware_msgs for simulator mo…

…dules

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]>

simulator/dummy_perception_publisher/CMakeLists.txt

@@ -7,14 +7,14 @@ autoware_package()
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/InitialState.msg"
   "msg/Object.msg"
-  DEPENDENCIES autoware_auto_perception_msgs tier4_perception_msgs geometry_msgs std_msgs unique_identifier_msgs
+  DEPENDENCIES autoware_perception_msgs tier4_perception_msgs geometry_msgs std_msgs unique_identifier_msgs
 )
 
 # See ndt_omp package for documentation on why PCL is special
 find_package(PCL REQUIRED COMPONENTS common filters)
 
 set(${PROJECT_NAME}_DEPENDENCIES
-  autoware_auto_perception_msgs
+  autoware_perception_msgs
   tier4_perception_msgs
   pcl_conversions
   rclcpp

simulator/dummy_perception_publisher/README.md

@@ -21,7 +21,7 @@ This node publishes the result of the dummy detection with the type of perceptio
 | ----------------------------------- | -------------------------------------------------------- | ----------------------- |
 | `output/dynamic_object`             | `tier4_perception_msgs::msg::DetectedObjectsWithFeature` | dummy detection objects |
 | `output/points_raw`                 | `sensor_msgs::msg::PointCloud2`                          | point cloud of objects  |
-| `output/debug/ground_truth_objects` | `autoware_auto_perception_msgs::msg::TrackedObjects`     | ground truth objects    |
+| `output/debug/ground_truth_objects` | `autoware_perception_msgs::msg::TrackedObjects`          | ground truth objects    |
 
 ## Parameters
 

simulator/dummy_perception_publisher/include/dummy_perception_publisher/node.hpp

@@ -19,8 +19,8 @@
 
 #include <rclcpp/rclcpp.hpp>
 
-#include <autoware_auto_perception_msgs/msg/detected_objects.hpp>
-#include <autoware_auto_perception_msgs/msg/tracked_objects.hpp>
+#include <autoware_perception_msgs/msg/detected_objects.hpp>
+#include <autoware_perception_msgs/msg/tracked_objects.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <tier4_perception_msgs/msg/detected_objects_with_feature.hpp>
 
@@ -59,7 +59,7 @@ struct ObjectInfo
   geometry_msgs::msg::PoseWithCovariance pose_covariance_;
   // convert to TrackedObject
   // (todo) currently need object input to get id and header information, but it should be removed
-  autoware_auto_perception_msgs::msg::TrackedObject toTrackedObject(
+  autoware_perception_msgs::msg::TrackedObject toTrackedObject(
     const dummy_perception_publisher::msg::Object & object) const;
 };
 
@@ -114,7 +114,7 @@ class DummyPerceptionPublisherNode : public rclcpp::Node
   rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr pointcloud_pub_;
   rclcpp::Publisher<tier4_perception_msgs::msg::DetectedObjectsWithFeature>::SharedPtr
     detected_object_with_feature_pub_;
-  rclcpp::Publisher<autoware_auto_perception_msgs::msg::TrackedObjects>::SharedPtr
+  rclcpp::Publisher<autoware_perception_msgs::msg::TrackedObjects>::SharedPtr
     ground_truth_objects_pub_;
   rclcpp::Subscription<dummy_perception_publisher::msg::Object>::SharedPtr object_sub_;
   rclcpp::TimerBase::SharedPtr timer_;

simulator/dummy_perception_publisher/msg/Object.msg

@@ -1,8 +1,8 @@
 std_msgs/Header header
 unique_identifier_msgs/UUID id
 dummy_perception_publisher/InitialState initial_state
-autoware_auto_perception_msgs/ObjectClassification classification
-autoware_auto_perception_msgs/Shape shape
+autoware_perception_msgs/ObjectClassification classification
+autoware_perception_msgs/Shape shape
 float32 max_velocity
 float32 min_velocity
 

simulator/dummy_perception_publisher/package.xml

@@ -18,7 +18,7 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
 
-  <depend>autoware_auto_perception_msgs</depend>
+  <depend>autoware_perception_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>libpcl-all-dev</depend>
   <depend>pcl_conversions</depend>

simulator/dummy_perception_publisher/src/empty_objects_publisher.cpp

@@ -14,7 +14,7 @@
 
 #include <rclcpp/rclcpp.hpp>
 
-#include <autoware_auto_perception_msgs/msg/predicted_objects.hpp>
+#include <autoware_perception_msgs/msg/predicted_objects.hpp>
 
 #include <memory>
 #include <utility>
@@ -24,23 +24,21 @@ class EmptyObjectsPublisher : public rclcpp::Node
 public:
   EmptyObjectsPublisher() : Node("empty_objects_publisher")
   {
-    empty_objects_pub_ =
-      this->create_publisher<autoware_auto_perception_msgs::msg::PredictedObjects>(
-        "~/output/objects", 1);
+    empty_objects_pub_ = this->create_publisher<autoware_perception_msgs::msg::PredictedObjects>(
+      "~/output/objects", 1);
 
     using std::chrono_literals::operator""ms;
     timer_ = rclcpp::create_timer(
       this, get_clock(), 100ms, std::bind(&EmptyObjectsPublisher::timerCallback, this));
   }
 
 private:
-  rclcpp::Publisher<autoware_auto_perception_msgs::msg::PredictedObjects>::SharedPtr
-    empty_objects_pub_;
+  rclcpp::Publisher<autoware_perception_msgs::msg::PredictedObjects>::SharedPtr empty_objects_pub_;
   rclcpp::TimerBase::SharedPtr timer_;
 
   void timerCallback()
   {
-    autoware_auto_perception_msgs::msg::PredictedObjects empty_objects;
+    autoware_perception_msgs::msg::PredictedObjects empty_objects;
     empty_objects.header.frame_id = "map";
     empty_objects.header.stamp = this->now();
     empty_objects_pub_->publish(empty_objects);

simulator/dummy_perception_publisher/src/node.cpp

@@ -33,8 +33,8 @@
 #include <utility>
 #include <vector>
 
-using autoware_auto_perception_msgs::msg::TrackedObject;
-using autoware_auto_perception_msgs::msg::TrackedObjects;
+using autoware_perception_msgs::msg::TrackedObject;
+using autoware_perception_msgs::msg::TrackedObjects;
 
 ObjectInfo::ObjectInfo(
   const dummy_perception_publisher::msg::Object & object, const rclcpp::Time & current_time)
@@ -169,7 +169,7 @@ DummyPerceptionPublisherNode::DummyPerceptionPublisherNode()
   // optional ground truth publisher
   if (publish_ground_truth_objects_) {
     ground_truth_objects_pub_ =
-      this->create_publisher<autoware_auto_perception_msgs::msg::TrackedObjects>(
+      this->create_publisher<autoware_perception_msgs::msg::TrackedObjects>(
         "~/output/debug/ground_truth_objects", qos);
   }
 
@@ -182,7 +182,7 @@ void DummyPerceptionPublisherNode::timerCallback()
 {
   // output msgs
   tier4_perception_msgs::msg::DetectedObjectsWithFeature output_dynamic_object_msg;
-  autoware_auto_perception_msgs::msg::TrackedObjects output_ground_truth_objects_msg;
+  autoware_perception_msgs::msg::TrackedObjects output_ground_truth_objects_msg;
   geometry_msgs::msg::PoseStamped output_moved_object_pose;
   sensor_msgs::msg::PointCloud2 output_pointcloud_msg;
   std_msgs::msg::Header header;
@@ -282,7 +282,7 @@ void DummyPerceptionPublisherNode::timerCallback()
       feature_object.object.kinematics.twist_with_covariance =
         object.initial_state.twist_covariance;
       feature_object.object.kinematics.orientation_availability =
-        autoware_auto_perception_msgs::msg::DetectedObjectKinematics::UNAVAILABLE;
+        autoware_perception_msgs::msg::DetectedObjectKinematics::UNAVAILABLE;
       feature_object.object.kinematics.has_twist = false;
       tf2::toMsg(
         tf_base_link2noised_moved_object,

simulator/simple_planning_simulator/README.md

@@ -18,23 +18,23 @@ The purpose of this simulator is for the integration test of planning and contro
 ### input
 
 - input/initialpose [`geometry_msgs/msg/PoseWithCovarianceStamped`] : for initial pose
-- input/ackermann_control_command [`autoware_auto_msgs/msg/AckermannControlCommand`] : target command to drive a vehicle
-- input/manual_ackermann_control_command [`autoware_auto_msgs/msg/AckermannControlCommand`] : manual target command to drive a vehicle (used when control_mode_request = Manual)
-- input/gear_command [`autoware_auto_vehicle_msgs/msg/GearCommand`] : target gear command.
-- input/manual_gear_command [`autoware_auto_vehicle_msgs/msg/GearCommand`] : target gear command (used when control_mode_request = Manual)
-- input/turn_indicators_command [`autoware_auto_vehicle_msgs/msg/TurnIndicatorsCommand`] : target turn indicator command
-- input/hazard_lights_command [`autoware_auto_vehicle_msgs/msg/HazardLightsCommand`] : target hazard lights command
+- input/ackermann_control_command [`autoware_control_msgs/msg/Control`] : target command to drive a vehicle
+- input/manual_ackermann_control_command [`autoware_control_msgs/msg/Control`] : manual target command to drive a vehicle (used when control_mode_request = Manual)
+- input/gear_command [`autoware_vehicle_msgs/msg/GearCommand`] : target gear command.
+- input/manual_gear_command [`autoware_vehicle_msgs/msg/GearCommand`] : target gear command (used when control_mode_request = Manual)
+- input/turn_indicators_command [`autoware_vehicle_msgs/msg/TurnIndicatorsCommand`] : target turn indicator command
+- input/hazard_lights_command [`autoware_vehicle_msgs/msg/HazardLightsCommand`] : target hazard lights command
 - input/control_mode_request [`tier4_vehicle_msgs::srv::ControlModeRequest`] : mode change for Auto/Manual driving
 
 ### output
 
 - /tf [`tf2_msgs/msg/TFMessage`] : simulated vehicle pose (base_link)
 - /output/odometry [`nav_msgs/msg/Odometry`] : simulated vehicle pose and twist
-- /output/steering [`autoware_auto_vehicle_msgs/msg/SteeringReport`] : simulated steering angle
-- /output/control_mode_report [`autoware_auto_vehicle_msgs/msg/ControlModeReport`] : current control mode (Auto/Manual)
-- /output/gear_report [`autoware_auto_vehicle_msgs/msg/ControlModeReport`] : simulated gear
-- /output/turn_indicators_report [`autoware_auto_vehicle_msgs/msg/ControlModeReport`] : simulated turn indicator status
-- /output/hazard_lights_report [`autoware_auto_vehicle_msgs/msg/ControlModeReport`] : simulated hazard lights status
+- /output/steering [`autoware_vehicle_msgs/msg/SteeringReport`] : simulated steering angle
+- /output/control_mode_report [`autoware_vehicle_msgs/msg/ControlModeReport`] : current control mode (Auto/Manual)
+- /output/gear_report [`autoware_vehicle_msgs/msg/ControlModeReport`] : simulated gear
+- /output/turn_indicators_report [`autoware_vehicle_msgs/msg/ControlModeReport`] : simulated turn indicator status
+- /output/hazard_lights_report [`autoware_vehicle_msgs/msg/ControlModeReport`] : simulated hazard lights status
 
 ## Inner-workings / Algorithms
 

simulator/simple_planning_simulator/include/simple_planning_simulator/simple_planning_simulator_core.hpp

@@ -20,23 +20,20 @@
 #include "simple_planning_simulator/visibility_control.hpp"
 #include "tier4_api_utils/tier4_api_utils.hpp"
 
-#include "autoware_auto_control_msgs/msg/ackermann_control_command.hpp"
-#include "autoware_auto_geometry_msgs/msg/complex32.hpp"
-#include "autoware_auto_mapping_msgs/msg/had_map_bin.hpp"
-#include "autoware_auto_planning_msgs/msg/trajectory.hpp"
-#include "autoware_auto_vehicle_msgs/msg/control_mode_command.hpp"
-#include "autoware_auto_vehicle_msgs/msg/control_mode_report.hpp"
-#include "autoware_auto_vehicle_msgs/msg/engage.hpp"
-#include "autoware_auto_vehicle_msgs/msg/gear_command.hpp"
-#include "autoware_auto_vehicle_msgs/msg/gear_report.hpp"
-#include "autoware_auto_vehicle_msgs/msg/hazard_lights_command.hpp"
-#include "autoware_auto_vehicle_msgs/msg/hazard_lights_report.hpp"
-#include "autoware_auto_vehicle_msgs/msg/steering_report.hpp"
-#include "autoware_auto_vehicle_msgs/msg/turn_indicators_command.hpp"
-#include "autoware_auto_vehicle_msgs/msg/turn_indicators_report.hpp"
-#include "autoware_auto_vehicle_msgs/msg/vehicle_control_command.hpp"
-#include "autoware_auto_vehicle_msgs/msg/velocity_report.hpp"
-#include "autoware_auto_vehicle_msgs/srv/control_mode_command.hpp"
+#include "autoware_control_msgs/msg/control.hpp"
+#include "autoware_map_msgs/msg/lanelet_map_bin.hpp"
+#include "autoware_planning_msgs/msg/trajectory.hpp"
+#include "autoware_vehicle_msgs/msg/control_mode_report.hpp"
+#include "autoware_vehicle_msgs/msg/engage.hpp"
+#include "autoware_vehicle_msgs/msg/gear_command.hpp"
+#include "autoware_vehicle_msgs/msg/gear_report.hpp"
+#include "autoware_vehicle_msgs/msg/hazard_lights_command.hpp"
+#include "autoware_vehicle_msgs/msg/hazard_lights_report.hpp"
+#include "autoware_vehicle_msgs/msg/steering_report.hpp"
+#include "autoware_vehicle_msgs/msg/turn_indicators_command.hpp"
+#include "autoware_vehicle_msgs/msg/turn_indicators_report.hpp"
+#include "autoware_vehicle_msgs/msg/velocity_report.hpp"
+#include "autoware_vehicle_msgs/srv/control_mode_command.hpp"
 #include "geometry_msgs/msg/accel_with_covariance_stamped.hpp"
 #include "geometry_msgs/msg/pose.hpp"
 #include "geometry_msgs/msg/pose_stamped.hpp"
@@ -62,22 +59,20 @@ namespace simulation
 namespace simple_planning_simulator
 {
 
-using autoware_auto_control_msgs::msg::AckermannControlCommand;
-using autoware_auto_geometry_msgs::msg::Complex32;
-using autoware_auto_mapping_msgs::msg::HADMapBin;
-using autoware_auto_planning_msgs::msg::Trajectory;
-using autoware_auto_vehicle_msgs::msg::ControlModeReport;
-using autoware_auto_vehicle_msgs::msg::Engage;
-using autoware_auto_vehicle_msgs::msg::GearCommand;
-using autoware_auto_vehicle_msgs::msg::GearReport;
-using autoware_auto_vehicle_msgs::msg::HazardLightsCommand;
-using autoware_auto_vehicle_msgs::msg::HazardLightsReport;
-using autoware_auto_vehicle_msgs::msg::SteeringReport;
-using autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand;
-using autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport;
-using autoware_auto_vehicle_msgs::msg::VehicleControlCommand;
-using autoware_auto_vehicle_msgs::msg::VelocityReport;
-using autoware_auto_vehicle_msgs::srv::ControlModeCommand;
+using autoware_control_msgs::msg::Control;
+using autoware_map_msgs::msg::LaneletMapBin;
+using autoware_planning_msgs::msg::Trajectory;
+using autoware_vehicle_msgs::msg::ControlModeReport;
+using autoware_vehicle_msgs::msg::Engage;
+using autoware_vehicle_msgs::msg::GearCommand;
+using autoware_vehicle_msgs::msg::GearReport;
+using autoware_vehicle_msgs::msg::HazardLightsCommand;
+using autoware_vehicle_msgs::msg::HazardLightsReport;
+using autoware_vehicle_msgs::msg::SteeringReport;
+using autoware_vehicle_msgs::msg::TurnIndicatorsCommand;
+using autoware_vehicle_msgs::msg::TurnIndicatorsReport;
+using autoware_vehicle_msgs::msg::VelocityReport;
+using autoware_vehicle_msgs::srv::ControlModeCommand;
 using geometry_msgs::msg::AccelWithCovarianceStamped;
 using geometry_msgs::msg::Pose;
 using geometry_msgs::msg::PoseStamped;
@@ -143,10 +138,9 @@ class PLANNING_SIMULATOR_PUBLIC SimplePlanningSimulator : public rclcpp::Node
   rclcpp::Subscription<GearCommand>::SharedPtr sub_manual_gear_cmd_;
   rclcpp::Subscription<TurnIndicatorsCommand>::SharedPtr sub_turn_indicators_cmd_;
   rclcpp::Subscription<HazardLightsCommand>::SharedPtr sub_hazard_lights_cmd_;
-  rclcpp::Subscription<VehicleControlCommand>::SharedPtr sub_vehicle_cmd_;
-  rclcpp::Subscription<AckermannControlCommand>::SharedPtr sub_ackermann_cmd_;
-  rclcpp::Subscription<AckermannControlCommand>::SharedPtr sub_manual_ackermann_cmd_;
-  rclcpp::Subscription<HADMapBin>::SharedPtr sub_map_;
+  rclcpp::Subscription<Control>::SharedPtr sub_ackermann_cmd_;
+  rclcpp::Subscription<Control>::SharedPtr sub_manual_ackermann_cmd_;
+  rclcpp::Subscription<LaneletMapBin>::SharedPtr sub_map_;
   rclcpp::Subscription<PoseWithCovarianceStamped>::SharedPtr sub_init_pose_;
   rclcpp::Subscription<TwistStamped>::SharedPtr sub_init_twist_;
   rclcpp::Subscription<Trajectory>::SharedPtr sub_trajectory_;
@@ -176,8 +170,8 @@ class PLANNING_SIMULATOR_PUBLIC SimplePlanningSimulator : public rclcpp::Node
   VelocityReport current_velocity_{};
   Odometry current_odometry_{};
   SteeringReport current_steer_{};
-  AckermannControlCommand current_ackermann_cmd_{};
-  AckermannControlCommand current_manual_ackermann_cmd_{};
+  Control current_ackermann_cmd_{};
+  Control current_manual_ackermann_cmd_{};
   GearCommand current_gear_cmd_{};
   GearCommand current_manual_gear_cmd_{};
   TurnIndicatorsCommand::ConstSharedPtr current_turn_indicators_cmd_ptr_{};
@@ -215,15 +209,10 @@ class PLANNING_SIMULATOR_PUBLIC SimplePlanningSimulator : public rclcpp::Node
   } vehicle_model_type_;  //!< @brief vehicle model type to decide the model dynamics
   std::shared_ptr<SimModelInterface> vehicle_model_ptr_;  //!< @brief vehicle model pointer
 
-  /**
-   * @brief set current_vehicle_cmd_ptr_ with received message
-   */
-  void on_vehicle_cmd(const VehicleControlCommand::ConstSharedPtr msg);
-
   /**
    * @brief set input steering, velocity, and acceleration of the vehicle model
    */
-  void set_input(const AckermannControlCommand & cmd, const double acc_by_slope);
+  void set_input(const Control & cmd, const double acc_by_slope);
 
   /**
    * @brief set current_vehicle_state_ with received message
@@ -238,7 +227,7 @@ class PLANNING_SIMULATOR_PUBLIC SimplePlanningSimulator : public rclcpp::Node
   /**
    * @brief subscribe lanelet map
    */
-  void on_map(const HADMapBin::ConstSharedPtr msg);
+  void on_map(const LaneletMapBin::ConstSharedPtr msg);
 
   /**
    * @brief set initial pose for simulation with received message

simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.hpp

@@ -152,7 +152,7 @@ class SimModelDelaySteerAccGeared : public SimModelInterface
    * @brief update state considering current gear
    * @param [in] state current state
    * @param [in] prev_state previous state
-   * @param [in] gear current gear (defined in autoware_auto_msgs/GearCommand)
+   * @param [in] gear current gear (defined in autoware_vehicle_msgs/GearCommand)
    * @param [in] dt delta time to update state
    */
   void updateStateWithGear(

simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.hpp

@@ -200,7 +200,7 @@ class SimModelDelaySteerMapAccGeared : public SimModelInterface
    * @brief update state considering current gear
    * @param [in] state current state
    * @param [in] prev_state previous state
-   * @param [in] gear current gear (defined in autoware_auto_msgs/GearCommand)
+   * @param [in] gear current gear (defined in autoware_msgs/GearCommand)
    * @param [in] dt delta time to update state
    */
   void updateStateWithGear(

simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc_geared.hpp

@@ -107,7 +107,7 @@ class SimModelIdealSteerAccGeared : public SimModelInterface
    * @brief update state considering current gear
    * @param [in] state current state
    * @param [in] prev_state previous state
-   * @param [in] gear current gear (defined in autoware_auto_msgs/GearCommand)
+   * @param [in] gear current gear (defined in autoware_vehicle_msgs/GearCommand)
    * @param [in] dt delta time to update state
    */
   void updateStateWithGear(

simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_interface.hpp

@@ -17,7 +17,7 @@
 
 #include <Eigen/Core>
 
-#include "autoware_auto_vehicle_msgs/msg/gear_command.hpp"
+#include "autoware_vehicle_msgs/msg/gear_command.hpp"
 
 /**
  * @class SimModelInterface
@@ -31,8 +31,8 @@ class SimModelInterface
   Eigen::VectorXd state_;  //!< @brief vehicle state vector
   Eigen::VectorXd input_;  //!< @brief vehicle input vector
 
-  //!< @brief gear command defined in autoware_auto_msgs/GearCommand
-  uint8_t gear_ = autoware_auto_vehicle_msgs::msg::GearCommand::DRIVE;
+  //!< @brief gear command defined in autoware_vehicle_msgs/GearCommand
+  uint8_t gear_ = autoware_vehicle_msgs::msg::GearCommand::DRIVE;
 
 public:
   /**
@@ -73,7 +73,7 @@ class SimModelInterface
 
   /**
    * @brief set gear
-   * @param [in] gear gear command defined in autoware_auto_msgs/GearCommand
+   * @param [in] gear gear command defined in autoware_vehicle_msgs/GearCommand
    */
   void setGear(const uint8_t gear);
 

simulator/simple_planning_simulator/package.xml

@@ -15,12 +15,10 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <build_depend>autoware_cmake</build_depend>
-
-  <depend>autoware_auto_control_msgs</depend>
-  <depend>autoware_auto_mapping_msgs</depend>
-  <depend>autoware_auto_planning_msgs</depend>
-  <depend>autoware_auto_vehicle_msgs</depend>
+  <depend>autoware_control_msgs</depend>
+  <depend>autoware_map_msgs</depend>
+  <depend>autoware_planning_msgs</depend>
+  <depend>autoware_vehicle_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_core</depend>
   <depend>lanelet2_extension</depend>
@@ -38,6 +36,7 @@
   <depend>tier4_external_api_msgs</depend>
   <depend>tier4_vehicle_msgs</depend>
   <depend>vehicle_info_util</depend>
+  <build_depend>autoware_cmake</build_depend>
 
   <exec_depend>launch_ros</exec_depend>