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feat!: replace autoware_auto_msgs with autoware_msgs for vehicle modules #7251

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Jun 4, 2024
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feat!: replace autoware_auto_msgs with autoware_msgs for vehicle modules #7251

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8 changes: 4 additions & 4 deletions ...ake_map_calibrator/include/accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp
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Expand Up @@ -27,8 +27,8 @@

#include <Eigen/Dense>

#include "autoware_auto_vehicle_msgs/msg/steering_report.hpp"
#include "autoware_auto_vehicle_msgs/msg/velocity_report.hpp"
#include "autoware_vehicle_msgs/msg/steering_report.hpp"
#include "autoware_vehicle_msgs/msg/velocity_report.hpp"
#include "geometry_msgs/msg/twist_stamped.hpp"
#include "nav_msgs/msg/occupancy_grid.hpp"
#include "std_msgs/msg/bool.hpp"
Expand Down Expand Up @@ -56,8 +56,8 @@
namespace accel_brake_map_calibrator
{

using autoware_auto_vehicle_msgs::msg::SteeringReport;
using autoware_auto_vehicle_msgs::msg::VelocityReport;
using autoware_vehicle_msgs::msg::SteeringReport;
using autoware_vehicle_msgs::msg::VelocityReport;
using geometry_msgs::msg::TwistStamped;
using nav_msgs::msg::OccupancyGrid;
using raw_vehicle_cmd_converter::AccelMap;
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2 changes: 1 addition & 1 deletion vehicle/accel_brake_map_calibrator/package.xml
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Expand Up @@ -13,7 +13,7 @@
<buildtool_depend>ament_cmake_auto</buildtool_depend>
<buildtool_depend>autoware_cmake</buildtool_depend>

<depend>autoware_auto_vehicle_msgs</depend>
<depend>autoware_vehicle_msgs</depend>
<depend>diagnostic_updater</depend>
<depend>geometry_msgs</depend>
<depend>motion_utils</depend>
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2 changes: 1 addition & 1 deletion vehicle/accel_brake_map_calibrator/scripts/actuation_cmd_publisher.py
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Expand Up @@ -15,7 +15,7 @@
# See the License for the specific language governing permissions and
# limitations under the License.

from autoware_auto_vehicle_msgs.msg import GearCommand
from autoware_vehicle_msgs.msg import GearCommand
import rclpy
from rclpy.node import Node
from tier4_debug_msgs.msg import Float32Stamped
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2 changes: 1 addition & 1 deletion vehicle/accel_brake_map_calibrator/test/sim_actuation_status_publisher.py
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Expand Up @@ -15,7 +15,7 @@
# limitations under the License.


from autoware_auto_vehicle_msgs.msg import VelocityReport
from autoware_vehicle_msgs.msg import VelocityReport
import rclpy
from rclpy.node import Node
from rclpy.qos import QoSDurabilityPolicy
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8 changes: 4 additions & 4 deletions vehicle/external_cmd_converter/README.md
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Expand Up @@ -7,16 +7,16 @@
| Name | Type | Description |
| --------------------------- | -------------------------------------------- | ----------------------------------------------------------------------------------------------------------------- |
| `~/in/external_control_cmd` | tier4_external_api_msgs::msg::ControlCommand | target `throttle/brake/steering_angle/steering_angle_velocity` is necessary to calculate desired control command. |
| `~/input/shift_cmd"` | autoware_auto_vehicle_msgs::GearCommand | current command of gear. |
| `~/input/shift_cmd"` | autoware_vehicle_msgs::GearCommand | current command of gear. |
| `~/input/emergency_stop` | tier4_external_api_msgs::msg::Heartbeat | emergency heart beat for external command. |
| `~/input/current_gate_mode` | tier4_control_msgs::msg::GateMode | topic for gate mode. |
| `~/input/odometry` | navigation_msgs::Odometry | twist topic in odometry is used. |

## Output topics

| Name | Type | Description |
| ------------------- | -------------------------------------------------------- | ------------------------------------------------------------------ |
| `~/out/control_cmd` | autoware_auto_control_msgs::msg::AckermannControlCommand | ackermann control command converted from selected external command |
| Name | Type | Description |
| ------------------- | ----------------------------------- | ------------------------------------------------------------------ |
| `~/out/control_cmd` | autoware_control_msgs::msg::Control | ackermann control command converted from selected external command |

## Parameters

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11 changes: 5 additions & 6 deletions vehicle/external_cmd_converter/include/external_cmd_converter/node.hpp
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Expand Up @@ -20,8 +20,8 @@
#include <raw_vehicle_cmd_converter/brake_map.hpp>
#include <rclcpp/rclcpp.hpp>

#include <autoware_auto_control_msgs/msg/ackermann_control_command.hpp>
#include <autoware_auto_vehicle_msgs/msg/gear_command.hpp>
#include <autoware_control_msgs/msg/control.hpp>
#include <autoware_vehicle_msgs/msg/gear_command.hpp>
#include <nav_msgs/msg/odometry.hpp>
#include <tier4_control_msgs/msg/gate_mode.hpp>
#include <tier4_external_api_msgs/msg/control_command_stamped.hpp>
Expand All @@ -32,13 +32,12 @@

namespace external_cmd_converter
{
using GearCommand = autoware_auto_vehicle_msgs::msg::GearCommand;
using AckermannControlCommand = autoware_auto_control_msgs::msg::AckermannControlCommand;
using GearCommand = autoware_vehicle_msgs::msg::GearCommand;
using Control = autoware_control_msgs::msg::Control;
using ExternalControlCommand = tier4_external_api_msgs::msg::ControlCommandStamped;
using Odometry = nav_msgs::msg::Odometry;
using raw_vehicle_cmd_converter::AccelMap;
using raw_vehicle_cmd_converter::BrakeMap;
using ControlCommandStamped = autoware_auto_control_msgs::msg::AckermannControlCommand;
using Odometry = nav_msgs::msg::Odometry;

class ExternalCmdConverterNode : public rclcpp::Node
Expand All @@ -48,7 +47,7 @@ class ExternalCmdConverterNode : public rclcpp::Node

private:
// Publisher
rclcpp::Publisher<AckermannControlCommand>::SharedPtr pub_cmd_;
rclcpp::Publisher<Control>::SharedPtr pub_cmd_;
rclcpp::Publisher<tier4_external_api_msgs::msg::ControlCommandStamped>::SharedPtr
pub_current_cmd_;

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4 changes: 2 additions & 2 deletions vehicle/external_cmd_converter/package.xml
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Expand Up @@ -12,8 +12,8 @@
<buildtool_depend>ament_cmake_auto</buildtool_depend>
<buildtool_depend>autoware_cmake</buildtool_depend>

<depend>autoware_auto_control_msgs</depend>
<depend>autoware_auto_vehicle_msgs</depend>
<depend>autoware_control_msgs</depend>
<depend>autoware_vehicle_msgs</depend>
<depend>diagnostic_updater</depend>
<depend>geometry_msgs</depend>
<depend>nav_msgs</depend>
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6 changes: 3 additions & 3 deletions vehicle/external_cmd_converter/src/node.cpp
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Expand Up @@ -26,7 +26,7 @@ ExternalCmdConverterNode::ExternalCmdConverterNode(const rclcpp::NodeOptions & n
{
using std::placeholders::_1;

pub_cmd_ = create_publisher<AckermannControlCommand>("out/control_cmd", rclcpp::QoS{1});
pub_cmd_ = create_publisher<Control>("out/control_cmd", rclcpp::QoS{1});
pub_current_cmd_ =
create_publisher<ExternalControlCommand>("out/latest_external_control_cmd", rclcpp::QoS{1});
sub_velocity_ = create_subscription<Odometry>(
Expand Down Expand Up @@ -142,11 +142,11 @@ void ExternalCmdConverterNode::onExternalCmd(const ExternalControlCommand::Const
}

// Publish ControlCommand
autoware_auto_control_msgs::msg::AckermannControlCommand output;
autoware_control_msgs::msg::Control output;
output.stamp = cmd_ptr->stamp;
output.lateral.steering_tire_angle = cmd_ptr->control.steering_angle;
output.lateral.steering_tire_rotation_rate = cmd_ptr->control.steering_angle_velocity;
output.longitudinal.speed = ref_velocity;
output.longitudinal.velocity = ref_velocity;
output.longitudinal.acceleration = ref_acceleration;

pub_cmd_->publish(output);
Expand Down
10 changes: 5 additions & 5 deletions vehicle/raw_vehicle_cmd_converter/README.md
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Expand Up @@ -26,11 +26,11 @@ For ease of calibration and adjustments to the lookup table, an auto-calibration

## Input topics

| Name | Type | Description |
| --------------------- | -------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------ |
| `~/input/control_cmd` | autoware_auto_control_msgs::msg::AckermannControlCommand | target `velocity/acceleration/steering_angle/steering_angle_velocity` is necessary to calculate actuation command. |
| `~/input/steering"` | autoware_auto_vehicle_msgs::SteeringReport | current status of steering used for steering feed back control |
| `~/input/twist` | navigation_msgs::Odometry | twist topic in odometry is used. |
| Name | Type | Description |
| --------------------- | ------------------------------------- | ------------------------------------------------------------------------------------------------------------------ |
| `~/input/control_cmd` | autoware_control_msgs::msg::Control | target `velocity/acceleration/steering_angle/steering_angle_velocity` is necessary to calculate actuation command. |
| `~/input/steering"` | autoware_vehicle_msgs::SteeringReport | current status of steering used for steering feed back control |
| `~/input/twist` | navigation_msgs::Odometry | twist topic in odometry is used. |

## Output topics

Expand Down
14 changes: 7 additions & 7 deletions vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/node.hpp
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Expand Up @@ -23,8 +23,8 @@

#include <rclcpp/rclcpp.hpp>

#include <autoware_auto_control_msgs/msg/ackermann_control_command.hpp>
#include <autoware_auto_vehicle_msgs/msg/steering_report.hpp>
#include <autoware_control_msgs/msg/control.hpp>
#include <autoware_vehicle_msgs/msg/steering_report.hpp>
#include <geometry_msgs/msg/twist_stamped.hpp>
#include <nav_msgs/msg/odometry.hpp>
#include <tier4_debug_msgs/msg/float32_multi_array_stamped.hpp>
Expand All @@ -36,12 +36,12 @@

namespace raw_vehicle_cmd_converter
{
using AckermannControlCommand = autoware_auto_control_msgs::msg::AckermannControlCommand;
using Control = autoware_control_msgs::msg::Control;
using tier4_debug_msgs::msg::Float32MultiArrayStamped;
using tier4_vehicle_msgs::msg::ActuationCommandStamped;
using TwistStamped = geometry_msgs::msg::TwistStamped;
using Odometry = nav_msgs::msg::Odometry;
using Steering = autoware_auto_vehicle_msgs::msg::SteeringReport;
using Steering = autoware_vehicle_msgs::msg::SteeringReport;

class DebugValues
{
Expand Down Expand Up @@ -77,15 +77,15 @@ class RawVehicleCommandConverterNode : public rclcpp::Node
//!< @brief subscriber for current velocity
rclcpp::Subscription<Odometry>::SharedPtr sub_velocity_;
//!< @brief subscriber for vehicle command
rclcpp::Subscription<AckermannControlCommand>::SharedPtr sub_control_cmd_;
rclcpp::Subscription<Control>::SharedPtr sub_control_cmd_;
//!< @brief subscriber for steering
rclcpp::Subscription<Steering>::SharedPtr sub_steering_;

rclcpp::TimerBase::SharedPtr timer_;

std::unique_ptr<TwistStamped> current_twist_ptr_; // [m/s]
std::unique_ptr<double> current_steer_ptr_;
AckermannControlCommand::ConstSharedPtr control_cmd_ptr_;
Control::ConstSharedPtr control_cmd_ptr_;
AccelMap accel_map_;
BrakeMap brake_map_;
SteerMap steer_map_;
Expand All @@ -110,7 +110,7 @@ class RawVehicleCommandConverterNode : public rclcpp::Node
double calculateBrakeMap(const double current_velocity, const double desired_acc);
double calculateSteer(const double vel, const double steering, const double steer_rate);
void onSteering(const Steering::ConstSharedPtr msg);
void onControlCmd(const AckermannControlCommand::ConstSharedPtr msg);
void onControlCmd(const Control::ConstSharedPtr msg);
void onVelocity(const Odometry::ConstSharedPtr msg);
void publishActuationCmd();
// for debugging
Expand Down
4 changes: 2 additions & 2 deletions vehicle/raw_vehicle_cmd_converter/package.xml
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Expand Up @@ -17,8 +17,8 @@
<buildtool_depend>ament_cmake_auto</buildtool_depend>
<buildtool_depend>autoware_cmake</buildtool_depend>

<depend>autoware_auto_control_msgs</depend>
<depend>autoware_auto_vehicle_msgs</depend>
<depend>autoware_control_msgs</depend>
<depend>autoware_vehicle_msgs</depend>
<depend>geometry_msgs</depend>
<depend>interpolation</depend>
<depend>nav_msgs</depend>
Expand Down
4 changes: 2 additions & 2 deletions vehicle/raw_vehicle_cmd_converter/src/node.cpp
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Expand Up @@ -76,7 +76,7 @@ RawVehicleCommandConverterNode::RawVehicleCommandConverterNode(
steer_pid_.setInitialized();
}
pub_actuation_cmd_ = create_publisher<ActuationCommandStamped>("~/output/actuation_cmd", 1);
sub_control_cmd_ = create_subscription<AckermannControlCommand>(
sub_control_cmd_ = create_subscription<Control>(
"~/input/control_cmd", 1, std::bind(&RawVehicleCommandConverterNode::onControlCmd, this, _1));
sub_velocity_ = create_subscription<Odometry>(
"~/input/odometry", 1, std::bind(&RawVehicleCommandConverterNode::onVelocity, this, _1));
Expand Down Expand Up @@ -216,7 +216,7 @@ void RawVehicleCommandConverterNode::onVelocity(const Odometry::ConstSharedPtr m
current_twist_ptr_->twist = msg->twist.twist;
}

void RawVehicleCommandConverterNode::onControlCmd(const AckermannControlCommand::ConstSharedPtr msg)
void RawVehicleCommandConverterNode::onControlCmd(const Control::ConstSharedPtr msg)
{
control_cmd_ptr_ = msg;
publishActuationCmd();
Expand Down
8 changes: 4 additions & 4 deletions vehicle/steer_offset_estimator/Readme.md
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Expand Up @@ -17,10 +17,10 @@ Calculate yaw rate error and then calculate steering error recursively by least

### Input

| Name | Type | Description |
| --------------- | ------------------------------------------------- | ------------- |
| `~/input/twist` | `geometry_msgs::msg::TwistStamped` | vehicle twist |
| `~/input/steer` | `autoware_auto_vehicle_msgs::msg::SteeringReport` | steering |
| Name | Type | Description |
| --------------- | -------------------------------------------- | ------------- |
| `~/input/twist` | `geometry_msgs::msg::TwistStamped` | vehicle twist |
| `~/input/steer` | `autoware_vehicle_msgs::msg::SteeringReport` | steering |

### Output

Expand Down
4 changes: 2 additions & 2 deletions ...cle/steer_offset_estimator/include/steer_offset_estimator/steer_offset_estimator_node.hpp
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Expand Up @@ -18,7 +18,7 @@
#include "diagnostic_updater/diagnostic_updater.hpp"
#include "rclcpp/rclcpp.hpp"

#include "autoware_auto_vehicle_msgs/msg/steering_report.hpp"
#include "autoware_vehicle_msgs/msg/steering_report.hpp"
#include "geometry_msgs/msg/twist_stamped.hpp"
#include "tier4_debug_msgs/msg/float32_stamped.hpp"

Expand All @@ -28,7 +28,7 @@ namespace steer_offset_estimator
{
using geometry_msgs::msg::TwistStamped;
using tier4_debug_msgs::msg::Float32Stamped;
using Steering = autoware_auto_vehicle_msgs::msg::SteeringReport;
using Steering = autoware_vehicle_msgs::msg::SteeringReport;
using diagnostic_updater::DiagnosticStatusWrapper;
using diagnostic_updater::Updater;

Expand Down
2 changes: 1 addition & 1 deletion vehicle/steer_offset_estimator/package.xml
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Expand Up @@ -9,7 +9,7 @@
<buildtool_depend>ament_cmake_auto</buildtool_depend>
<buildtool_depend>autoware_cmake</buildtool_depend>

<depend>autoware_auto_vehicle_msgs</depend>
<depend>autoware_vehicle_msgs</depend>
<depend>diagnostic_updater</depend>
<depend>geometry_msgs</depend>
<depend>rclcpp</depend>
Expand Down
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