feat(autoware_adapi_v1_msgs): add cooperation (#41)

* feat: add cooperation messages

Signed-off-by: Takagi, Isamu <[email protected]>

* feat: add cooperation service

Signed-off-by: Takagi, Isamu <[email protected]>

* feat: merge planning factors

Signed-off-by: Takagi, Isamu <[email protected]>

* feat: modify constant names

Signed-off-by: Takagi, Isamu <[email protected]>

* feat: add cooperation default

Signed-off-by: Takagi, Isamu <[email protected]>

* update fields

Signed-off-by: Takagi, Isamu <[email protected]>

* upfate default decision service

Signed-off-by: Takagi, Isamu <[email protected]>

* rename service

Signed-off-by: Takagi, Isamu <[email protected]>

* update message name

Signed-off-by: Takagi, Isamu <[email protected]>

* fix constants

Signed-off-by: Takagi, Isamu <[email protected]>

* add constants for behavior and sequence

Signed-off-by: Takagi, Isamu <[email protected]>

* update field

Signed-off-by: Takagi, Isamu <[email protected]>

* fix order

Signed-off-by: Takagi, Isamu <[email protected]>

* add comment

Signed-off-by: Takagi, Isamu <[email protected]>

---------

Signed-off-by: Takagi, Isamu <[email protected]>

autoware_adapi_v1_msgs/CMakeLists.txt

@@ -30,6 +30,15 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   planning/msg/SteeringFactorArray.msg
   planning/msg/VelocityFactor.msg
   planning/msg/VelocityFactorArray.msg
+  planning/msg/PlanningBehavior.msg
+  planning/msg/PlanningSequence.msg
+  planning/msg/CooperationCommand.msg
+  planning/msg/CooperationDecision.msg
+  planning/msg/CooperationPolicy.msg
+  planning/msg/CooperationStatus.msg
+  planning/srv/SetCooperationCommands.srv
+  planning/srv/SetCooperationPolicies.srv
+  planning/srv/GetCooperationPolicies.srv
   system/msg/MrmState.msg
   vehicle/msg/DoorCommand.msg
   vehicle/msg/DoorLayout.msg
@@ -46,10 +55,10 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   vehicle/srv/GetVehicleDimensions.srv
   DEPENDENCIES
     builtin_interfaces
-    std_msgs
     geographic_msgs
     geometry_msgs
     shape_msgs
+    std_msgs
     unique_identifier_msgs
 )
 

autoware_adapi_v1_msgs/planning/msg/CooperationCommand.msg

@@ -0,0 +1,2 @@
+unique_identifier_msgs/UUID uuid
+autoware_adapi_v1_msgs/CooperationDecision cooperator

autoware_adapi_v1_msgs/planning/msg/CooperationDecision.msg

@@ -0,0 +1,7 @@
+uint8 UNKNOWN = 0
+uint8 DEACTIVATE = 1
+uint8 ACTIVATE = 2
+uint8 AUTONOMOUS = 3
+uint8 UNDECIDED = 4
+
+uint8 decision

autoware_adapi_v1_msgs/planning/msg/CooperationPolicy.msg

@@ -0,0 +1,6 @@
+uint8 OPTIONAL = 1
+uint8 REQUIRED = 2
+
+string behavior
+string sequence
+uint8 policy

autoware_adapi_v1_msgs/planning/msg/CooperationStatus.msg

@@ -0,0 +1,4 @@
+unique_identifier_msgs/UUID uuid
+autoware_adapi_v1_msgs/CooperationDecision autonomous
+autoware_adapi_v1_msgs/CooperationDecision cooperator
+bool cancellable

autoware_adapi_v1_msgs/planning/msg/PlanningBehavior.msg

@@ -0,0 +1,16 @@
+# These constants are used in the behavior field of the SteeringFactor/VelocityFactor.
+string AVOIDANCE = "avoidance"
+string CROSSWALK = "crosswalk"
+string EMERGENCY_OPERATION = "emergency-operation"
+string INTERSECTION = "intersection"
+string LANE_CHANGE = "lane-change"
+string MERGE = "merge"
+string NO_DRIVABLE_LANE = "no-drivable-lane"
+string NO_STOPPING_AREA = "no-stopping-area"
+string REAR_CHECK = "rear-check"
+string ROUTE_OBSTACLE = "route-obstacle"
+string SIDEWALK = "sidewalk"
+string STOP_SIGN = "stop-sign"
+string SURROUNDING_OBSTACLE = "surrounding-obstacle"
+string TRAFFIC_SIGNAL = "traffic-signal"
+string USER_DEFINED_DETECTION_AREA = "user-defined-attention-area"

autoware_adapi_v1_msgs/planning/msg/PlanningSequence.msg

@@ -0,0 +1,5 @@
+# These constants are used in the sequence field of the SteeringFactor/VelocityFactor.
+
+# for avoidance behavior
+string CHANGE = "change"
+string RETURN = "return"

autoware_adapi_v1_msgs/planning/msg/SteeringFactor.msg

@@ -1,32 +1,41 @@
 # constants for common use
 uint16 UNKNOWN = 0
 
-# constants for type
-uint16 INTERSECTION = 1
-uint16 LANE_CHANGE = 2
-uint16 AVOIDANCE_PATH_CHANGE = 3
-uint16 AVOIDANCE_PATH_RETURN = 4
-uint16 STATION = 5
-uint16 PULL_OUT = 6 # Deprecated. Use START_PLANNER.
-uint16 START_PLANNER = 6
-uint16 PULL_OVER = 7  # Deprecated. Use GOAL_PLANNER.
-uint16 GOAL_PLANNER = 7
-uint16 EMERGENCY_OPERATION = 8
-
 # constants for direction
 uint16 LEFT = 1
 uint16 RIGHT = 2
 uint16 STRAIGHT = 3
 
 # constants for status
 uint16 APPROACHING = 1
-uint16 TRYING = 2
 uint16 TURNING = 3
 
 # variables
 geometry_msgs/Pose[2] pose
 float32[2] distance
-uint16 type
 uint16 direction
 uint16 status
+string behavior
+string sequence
 string detail
+autoware_adapi_v1_msgs/CooperationStatus[<=1] cooperation
+
+
+
+# deprecated constants for type
+uint16 INTERSECTION = 1
+uint16 LANE_CHANGE = 2
+uint16 AVOIDANCE_PATH_CHANGE = 3
+uint16 AVOIDANCE_PATH_RETURN = 4
+uint16 STATION = 5
+uint16 PULL_OUT = 6 # Deprecated. Use START_PLANNER.
+uint16 START_PLANNER = 6
+uint16 PULL_OVER = 7  # Deprecated. Use GOAL_PLANNER.
+uint16 GOAL_PLANNER = 7
+uint16 EMERGENCY_OPERATION = 8
+
+# deprecated constants for status
+uint16 TRYING = 2
+
+# deprecated variables
+uint16 type

autoware_adapi_v1_msgs/planning/msg/VelocityFactor.msg

@@ -1,7 +1,22 @@
 # constants for common use
 uint16 UNKNOWN = 0
 
-# constants for type
+# constants for status
+uint16 APPROACHING = 1
+uint16 STOPPED = 2
+
+# variables
+geometry_msgs/Pose pose
+float32 distance
+uint16 status
+string behavior
+string sequence
+string detail
+autoware_adapi_v1_msgs/CooperationStatus[<=1] cooperation
+
+
+
+# deprecated constants for type
 uint16 SURROUNDING_OBSTACLE = 1
 uint16 ROUTE_OBSTACLE = 2
 uint16 INTERSECTION = 3
@@ -20,13 +35,5 @@ uint16 AVOIDANCE = 15
 uint16 EMERGENCY_STOP_OPERATION = 16
 uint16 NO_DRIVABLE_LANE = 17
 
-# constants for status
-uint16 APPROACHING = 1
-uint16 STOPPED = 2
-
-# variables
-geometry_msgs/Pose pose
-float32 distance
+# deprecated variables
 uint16 type
-uint16 status
-string detail

autoware_adapi_v1_msgs/planning/srv/GetCooperationPolicies.srv

@@ -0,0 +1,3 @@
+---
+autoware_adapi_v1_msgs/ResponseStatus status
+autoware_adapi_v1_msgs/CooperationPolicy[] policies

autoware_adapi_v1_msgs/planning/srv/SetCooperationCommands.srv

@@ -0,0 +1,3 @@
+autoware_adapi_v1_msgs/CooperationCommand[] commands
+---
+autoware_adapi_v1_msgs/ResponseStatus status

autoware_adapi_v1_msgs/planning/srv/SetCooperationPolicies.srv

@@ -0,0 +1,3 @@
+autoware_adapi_v1_msgs/CooperationPolicy[] policies
+---
+autoware_adapi_v1_msgs/ResponseStatus status