feat(autoware_adapi_v1_msgs): add object recognition msg (#25)

* add perception message for object recognition Signed-off-by: tkhmy <[email protected]> * use the correct msg Signed-off-by: tkhmy <[email protected]> * change naming Signed-off-by: tkhmy <[email protected]> * fix naming Signed-off-by: tkhmy <[email protected]> * change shape Signed-off-by: tkhmy <[email protected]> * add missing data Signed-off-by: tkhmy <[email protected]> * change naming Signed-off-by: tkhmy <[email protected]> * change naming Signed-off-by: tkhmy <[email protected]> * change shape type Signed-off-by: tkhmy <[email protected]> --------- Signed-off-by: tkhmy <[email protected]>
autowarefoundation · May 10, 2023 · bc9f865 · bc9f865
1 parent 62da7d2
commit bc9f865
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diff --git a/autoware_adapi_v1_msgs/CMakeLists.txt b/autoware_adapi_v1_msgs/CMakeLists.txt
@@ -21,6 +21,11 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   operation_mode/srv/ChangeOperationMode.srv
   motion/msg/MotionState.msg
   motion/srv/AcceptStart.srv
+  perception/msg/DynamicObject.msg
+  perception/msg/DynamicObjectArray.msg
+  perception/msg/DynamicObjectKinematics.msg
+  perception/msg/DynamicObjectPath.msg
+  perception/msg/ObjectClassification.msg
   planning/msg/SteeringFactor.msg
   planning/msg/SteeringFactorArray.msg
   planning/msg/VelocityFactor.msg
@@ -34,6 +39,8 @@ rosidl_generate_interfaces(${PROJECT_NAME}
     builtin_interfaces
     std_msgs
     geometry_msgs
+    shape_msgs
+    unique_identifier_msgs
 )
 
 ament_auto_package()
diff --git a/autoware_adapi_v1_msgs/package.xml b/autoware_adapi_v1_msgs/package.xml
@@ -13,7 +13,9 @@
 
   <depend>builtin_interfaces</depend>
   <depend>geometry_msgs</depend>
+  <depend>shape_msgs</depend>
   <depend>std_msgs</depend>
+  <depend>unique_identifier_msgs</depend>
 
   <exec_depend>rosidl_default_runtime</exec_depend>
 

diff --git a/autoware_adapi_v1_msgs/perception/msg/DynamicObject.msg b/autoware_adapi_v1_msgs/perception/msg/DynamicObject.msg
@@ -0,0 +1,5 @@
+unique_identifier_msgs/UUID id
+float64 existence_probability
+autoware_adapi_v1_msgs/ObjectClassification[] classification
+autoware_adapi_v1_msgs/DynamicObjectKinematics kinematics
+shape_msgs/SolidPrimitive shape
diff --git a/autoware_adapi_v1_msgs/perception/msg/DynamicObjectArray.msg b/autoware_adapi_v1_msgs/perception/msg/DynamicObjectArray.msg
@@ -0,0 +1,2 @@
+std_msgs/Header header
+autoware_adapi_v1_msgs/DynamicObject[] objects
diff --git a/autoware_adapi_v1_msgs/perception/msg/DynamicObjectKinematics.msg b/autoware_adapi_v1_msgs/perception/msg/DynamicObjectKinematics.msg
@@ -0,0 +1,5 @@
+geometry_msgs/Pose pose
+geometry_msgs/Twist twist
+geometry_msgs/Accel accel
+
+autoware_adapi_v1_msgs/DynamicObjectPath[] predicted_paths
diff --git a/autoware_adapi_v1_msgs/perception/msg/DynamicObjectPath.msg b/autoware_adapi_v1_msgs/perception/msg/DynamicObjectPath.msg
@@ -0,0 +1,3 @@
+geometry_msgs/Pose[] path
+builtin_interfaces/Duration time_step
+float64 confidence
diff --git a/autoware_adapi_v1_msgs/perception/msg/ObjectClassification.msg b/autoware_adapi_v1_msgs/perception/msg/ObjectClassification.msg
@@ -0,0 +1,11 @@
+uint8 UNKNOWN=0
+uint8 CAR=1
+uint8 TRUCK=2
+uint8 BUS=3
+uint8 TRAILER = 4
+uint8 MOTORCYCLE = 5
+uint8 BICYCLE = 6
+uint8 PEDESTRIAN = 7
+
+uint8 label
+float64 probability
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
		std_msgs/Header header
		autoware_adapi_v1_msgs/DynamicObject[] objects