feat: update msg definitions (#87)

* feat(autoware_perception_msgs): Add DetectedObjects messages and TrackedObjects messages Signed-off-by: Ryohsuke Mitsudome <[email protected]> * feat!(autoware_planning_msgs): remove PathWithLaneId msgs Signed-off-by: Ryohsuke Mitsudome <[email protected]> * feat!(autoware_perception_msgs): rename traffic signals to traffic lights Signed-off-by: Ryohsuke Mitsudome <[email protected]> * remove control mode command msg Signed-off-by: Yukihito Saito <[email protected]> * fix(autoware_vehicle_msgs): remove ControlModeCommands.msg in CMakeLists.txt (#90) Signed-off-by: Ryohsuke Mitsudome <[email protected]> * feat(autoware_vehicle_msgs)!: remove VehicleControlCommand, VehicleKinematicState, and VehicleOdometry messages (#88) feat!(autoware_vehicle_msgs): remove VehicleControlCommand, VehicleKinematicState, and VehicleOdometry messages Signed-off-by: mitsudome-r <[email protected]> * Revert "feat!(autoware_perception_msgs): rename traffic signals to traffic lights" This reverts commit 768bb85. * add TrafficLight msgs Signed-off-by: Yutaka Kondo <[email protected]> * add todo Signed-off-by: Yutaka Kondo <[email protected]> --------- Signed-off-by: Ryohsuke Mitsudome <[email protected]> Signed-off-by: Yukihito Saito <[email protected]> Signed-off-by: mitsudome-r <[email protected]> Signed-off-by: Yutaka Kondo <[email protected]> Co-authored-by: Ryohsuke Mitsudome <[email protected]> Co-authored-by: Ryohsuke Mitsudome <[email protected]> Co-authored-by: Yutaka Kondo <[email protected]>
autowarefoundation · May 9, 2024 · 54c1dab · 54c1dab
1 parent 224bd3a
commit 54c1dab
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Showing 21 changed files with 108 additions and 30 deletions.
diff --git a/autoware_perception_msgs/CMakeLists.txt b/autoware_perception_msgs/CMakeLists.txt
@@ -5,12 +5,22 @@ find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
 
 rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/DetectedObject.msg"
+  "msg/DetectedObjectKinematics.msg"
+  "msg/DetectedObjects.msg"
   "msg/ObjectClassification.msg"
   "msg/PredictedObject.msg"
   "msg/PredictedObjectKinematics.msg"
   "msg/PredictedObjects.msg"
   "msg/PredictedPath.msg"
   "msg/Shape.msg"
+  "msg/TrackedObject.msg"
+  "msg/TrackedObjectKinematics.msg"
+  "msg/TrackedObjects.msg"
+  "msg/TrafficLightElement.msg"
+  "msg/TrafficLightGroup.msg"
+  "msg/TrafficLightGroupArray.msg"
+  # TODO(youtalk): Remove below after migration to TrafficLight
   "msg/TrafficSignalElement.msg"
   "msg/TrafficSignal.msg"
   "msg/TrafficSignalArray.msg"

diff --git a/autoware_perception_msgs/msg/DetectedObject.msg b/autoware_perception_msgs/msg/DetectedObject.msg
@@ -0,0 +1,4 @@
+float32 existence_probability
+ObjectClassification[] classification
+DetectedObjectKinematics kinematics
+Shape shape
diff --git a/autoware_perception_msgs/msg/DetectedObjectKinematics.msg b/autoware_perception_msgs/msg/DetectedObjectKinematics.msg
@@ -0,0 +1,25 @@
+# Only position is available, orientation is empty. Note that the shape can be an oriented
+# bounding box but the direction the object is facing is unknown, in which case
+# orientation should be empty.
+uint8 UNAVAILABLE=0
+
+# The orientation is determined only up to a sign flip. For instance, assume that cars are
+# longer than they are wide, and the perception pipeline can accurately estimate the
+# dimensions of a car. It should set the orientation to coincide with the major axis, with
+# the sign chosen arbitrarily, and use this tag to signify that the orientation could
+# point to the front or the back.
+uint8 SIGN_UNKNOWN=1
+
+# The full orientation is available. Use e.g. for machine-learning models that can
+# differentiate between the front and back of a vehicle.
+uint8 AVAILABLE=2
+
+geometry_msgs/PoseWithCovariance pose_with_covariance
+
+bool has_position_covariance
+uint8 orientation_availability
+
+geometry_msgs/TwistWithCovariance twist_with_covariance
+
+bool has_twist
+bool has_twist_covariance
diff --git a/autoware_perception_msgs/msg/DetectedObjects.msg b/autoware_perception_msgs/msg/DetectedObjects.msg
@@ -0,0 +1,2 @@
+std_msgs/Header header
+DetectedObject[] objects
diff --git a/autoware_perception_msgs/msg/TrackedObject.msg b/autoware_perception_msgs/msg/TrackedObject.msg
@@ -0,0 +1,5 @@
+unique_identifier_msgs/UUID object_id
+float32 existence_probability
+ObjectClassification[] classification
+TrackedObjectKinematics kinematics
+Shape shape
diff --git a/autoware_perception_msgs/msg/TrackedObjectKinematics.msg b/autoware_perception_msgs/msg/TrackedObjectKinematics.msg
@@ -0,0 +1,22 @@
+# Only position is available, orientation is empty. Note that the shape can be an oriented
+# bounding box but the direction the object is facing is unknown, in which case
+# orientation should be empty.
+uint8 UNAVAILABLE=0
+
+# The orientation is determined only up to a sign flip. For instance, assume that cars are
+# longer than they are wide, and the perception pipeline can accurately estimate the
+# dimensions of a car. It should set the orientation to coincide with the major axis, with
+# the sign chosen arbitrarily, and use this tag to signify that the orientation could
+# point to the front or the back.
+uint8 SIGN_UNKNOWN=1
+
+# The full orientation is available. Use e.g. for machine-learning models that can
+# differentiate between the front and back of a vehicle.
+uint8 AVAILABLE=2
+
+geometry_msgs/PoseWithCovariance pose_with_covariance
+geometry_msgs/TwistWithCovariance twist_with_covariance
+geometry_msgs/AccelWithCovariance acceleration_with_covariance
+
+uint8 orientation_availability
+bool is_stationary
diff --git a/autoware_perception_msgs/msg/TrackedObjects.msg b/autoware_perception_msgs/msg/TrackedObjects.msg
@@ -0,0 +1,2 @@
+std_msgs/Header header
+TrackedObject[] objects
diff --git a/autoware_perception_msgs/msg/TrafficLightElement.msg b/autoware_perception_msgs/msg/TrafficLightElement.msg
@@ -0,0 +1,31 @@
+# constants for common use
+uint8 UNKNOWN = 0
+
+# constants for color
+uint8 RED = 1
+uint8 AMBER = 2
+uint8 GREEN = 3
+uint8 WHITE = 4
+
+# constants for shape
+uint8 CIRCLE = 1
+uint8 LEFT_ARROW = 2
+uint8 RIGHT_ARROW = 3
+uint8 UP_ARROW = 4
+uint8 UP_LEFT_ARROW=5
+uint8 UP_RIGHT_ARROW=6
+uint8 DOWN_ARROW = 7
+uint8 DOWN_LEFT_ARROW = 8
+uint8 DOWN_RIGHT_ARROW = 9
+uint8 CROSS = 10
+
+# constants for status
+uint8 SOLID_OFF = 1
+uint8 SOLID_ON = 2
+uint8 FLASHING = 3
+
+# variables
+uint8 color
+uint8 shape
+uint8 status
+float32 confidence
diff --git a/autoware_perception_msgs/msg/TrafficLightGroup.msg b/autoware_perception_msgs/msg/TrafficLightGroup.msg
@@ -0,0 +1,2 @@
+int64 traffic_light_group_id
+autoware_perception_msgs/TrafficLightElement[] elements
diff --git a/autoware_perception_msgs/msg/TrafficLightGroupArray.msg b/autoware_perception_msgs/msg/TrafficLightGroupArray.msg
@@ -0,0 +1,2 @@
+builtin_interfaces/Time stamp
+autoware_perception_msgs/TrafficLightGroup[] traffic_light_groups
diff --git a/autoware_perception_msgs/msg/TrafficSignal.msg b/autoware_perception_msgs/msg/TrafficSignal.msg
@@ -1,2 +1,3 @@
+# TODO(youtalk): Remove this after migration to TrafficLight
 int64 traffic_signal_id
 autoware_perception_msgs/TrafficSignalElement[] elements
diff --git a/autoware_perception_msgs/msg/TrafficSignalArray.msg b/autoware_perception_msgs/msg/TrafficSignalArray.msg
@@ -1,2 +1,3 @@
+# TODO(youtalk): Remove this after migration to TrafficLight
 builtin_interfaces/Time stamp
 autoware_perception_msgs/TrafficSignal[] signals
diff --git a/autoware_perception_msgs/msg/TrafficSignalElement.msg b/autoware_perception_msgs/msg/TrafficSignalElement.msg
@@ -1,3 +1,4 @@
+# TODO(youtalk): Remove this after migration to TrafficLight
 # constants for common use
 uint8 UNKNOWN = 0
 

diff --git a/autoware_planning_msgs/CMakeLists.txt b/autoware_planning_msgs/CMakeLists.txt
@@ -13,8 +13,6 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/TrajectoryPoint.msg"
   "msg/Path.msg"
   "msg/PathPoint.msg"
-  "msg/PathWithLaneId.msg"
-  "msg/PathPointWithLaneId.msg"
   DEPENDENCIES
     geometry_msgs
     std_msgs

diff --git a/autoware_planning_msgs/msg/PathPointWithLaneId.msg b/autoware_planning_msgs/msg/PathPointWithLaneId.msg
diff --git a/autoware_planning_msgs/msg/PathWithLaneId.msg b/autoware_planning_msgs/msg/PathWithLaneId.msg
diff --git a/autoware_vehicle_msgs/CMakeLists.txt b/autoware_vehicle_msgs/CMakeLists.txt
@@ -9,7 +9,6 @@ find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
 
 rosidl_generate_interfaces(${PROJECT_NAME}
-    "msg/ControlModeCommand.msg"
     "msg/ControlModeReport.msg"
     "msg/Engage.msg"
     "msg/GearCommand.msg"
@@ -19,9 +18,6 @@ rosidl_generate_interfaces(${PROJECT_NAME}
     "msg/SteeringReport.msg"
     "msg/TurnIndicatorsCommand.msg"
     "msg/TurnIndicatorsReport.msg"
-    "msg/VehicleControlCommand.msg"
-    "msg/VehicleKinematicState.msg"
-    "msg/VehicleOdometry.msg"
     "msg/VelocityReport.msg"
     "srv/ControlModeCommand.srv"
   DEPENDENCIES

diff --git a/autoware_vehicle_msgs/msg/ControlModeCommand.msg b/autoware_vehicle_msgs/msg/ControlModeCommand.msg
diff --git a/autoware_vehicle_msgs/msg/VehicleControlCommand.msg b/autoware_vehicle_msgs/msg/VehicleControlCommand.msg
diff --git a/autoware_vehicle_msgs/msg/VehicleKinematicState.msg b/autoware_vehicle_msgs/msg/VehicleKinematicState.msg
diff --git a/autoware_vehicle_msgs/msg/VehicleOdometry.msg b/autoware_vehicle_msgs/msg/VehicleOdometry.msg
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
		std_msgs/Header header
		DetectedObject[] objects
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
		std_msgs/Header header
		TrackedObject[] objects
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
		int64 traffic_light_group_id
		autoware_perception_msgs/TrafficLightElement[] elements
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
		builtin_interfaces/Time stamp
		autoware_perception_msgs/TrafficLightGroup[] traffic_light_groups