From bc9f86540acb8c0e14d02d8e6e530ebcff4acf26 Mon Sep 17 00:00:00 2001 From: Kah Hooi Tan <41041286+tkhmy@users.noreply.github.com> Date: Wed, 10 May 2023 13:48:35 +0900 Subject: [PATCH] feat(autoware_adapi_v1_msgs): add object recognition msg (#25) * add perception message for object recognition Signed-off-by: tkhmy * use the correct msg Signed-off-by: tkhmy * change naming Signed-off-by: tkhmy * fix naming Signed-off-by: tkhmy * change shape Signed-off-by: tkhmy * add missing data Signed-off-by: tkhmy * change naming Signed-off-by: tkhmy * change naming Signed-off-by: tkhmy * change shape type Signed-off-by: tkhmy --------- Signed-off-by: tkhmy --- autoware_adapi_v1_msgs/CMakeLists.txt | 7 +++++++ autoware_adapi_v1_msgs/package.xml | 2 ++ .../perception/msg/DynamicObject.msg | 5 +++++ .../perception/msg/DynamicObjectArray.msg | 2 ++ .../perception/msg/DynamicObjectKinematics.msg | 5 +++++ .../perception/msg/DynamicObjectPath.msg | 3 +++ .../perception/msg/ObjectClassification.msg | 11 +++++++++++ 7 files changed, 35 insertions(+) create mode 100644 autoware_adapi_v1_msgs/perception/msg/DynamicObject.msg create mode 100644 autoware_adapi_v1_msgs/perception/msg/DynamicObjectArray.msg create mode 100644 autoware_adapi_v1_msgs/perception/msg/DynamicObjectKinematics.msg create mode 100644 autoware_adapi_v1_msgs/perception/msg/DynamicObjectPath.msg create mode 100644 autoware_adapi_v1_msgs/perception/msg/ObjectClassification.msg diff --git a/autoware_adapi_v1_msgs/CMakeLists.txt b/autoware_adapi_v1_msgs/CMakeLists.txt index 766d8e3..f44c3e4 100644 --- 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 index 64d016d..ae6609d 100644 --- a/autoware_adapi_v1_msgs/package.xml +++ b/autoware_adapi_v1_msgs/package.xml @@ -13,7 +13,9 @@ builtin_interfaces geometry_msgs + shape_msgs std_msgs + unique_identifier_msgs rosidl_default_runtime diff --git a/autoware_adapi_v1_msgs/perception/msg/DynamicObject.msg b/autoware_adapi_v1_msgs/perception/msg/DynamicObject.msg new file mode 100644 index 0000000..7fc578b --- /dev/null +++ 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 new file mode 100644 index 0000000..70fac08 --- /dev/null +++ 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 new file mode 100644 index 0000000..eac4671 --- /dev/null +++ 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 new file mode 100644 index 0000000..249e43f --- /dev/null +++ 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 new file mode 100644 index 0000000..37dc29c --- /dev/null +++ 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