feat(autoware_adapi_v1_msgs): add vehicle status msgs (autowarefounda…

…tion#24) * add vehicle status msgs Signed-off-by: tkhmy <[email protected]> * simplify door msg Signed-off-by: tkhmy <[email protected]> * add vehicle state Signed-off-by: tkhmy <[email protected]> * change vehicle motion Signed-off-by: tkhmy <[email protected]> * clean up Signed-off-by: tkhmy <[email protected]> * fix typo Signed-off-by: tkhmy <[email protected]> * change geo position to array and remove GeoPosition msg Signed-off-by: tkhmy <[email protected]> * update msgs Signed-off-by: tkhmy <[email protected]> * update msgs Signed-off-by: tkhmy <[email protected]> * update naming Signed-off-by: tkhmy <[email protected]> * add none Signed-off-by: tkhmy <[email protected]> * update msg Signed-off-by: tkhmy <[email protected]> * fix naming Signed-off-by: tkhmy <[email protected]> * fix typo Signed-off-by: tkhmy <[email protected]> * change naming Signed-off-by: tkhmy <[email protected]> * update geopoint to use geographic_msgs Signed-off-by: tkhmy <[email protected]> * add commend document Signed-off-by: tkhmy <[email protected]> * update message Signed-off-by: tkhmy <[email protected]> * Update autoware_adapi_v1_msgs/vehicle/msg/Kinematic.msg Fix speelling Co-authored-by: Takagi, Isamu <[email protected]> * update message name Signed-off-by: Takagi, Isamu <[email protected]> * update door layout Signed-off-by: Takagi, Isamu <[email protected]> * Update autoware_adapi_v1_msgs/vehicle/msg/VehicleKinematics.msg Update commend in VehicleKinematics Co-authored-by: Ryohsuke Mitsudome <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: tkhmy <[email protected]> Signed-off-by: Takagi, Isamu <[email protected]> Co-authored-by: Takagi, Isamu <[email protected]> Co-authored-by: Takagi, Isamu <[email protected]> Co-authored-by: Ryohsuke Mitsudome <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
isamu-takagi · Jun 16, 2023 · 7cd8033 · 7cd8033
1 parent 6de4fe5
commit 7cd8033
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Showing 10 changed files with 57 additions and 1 deletion.
diff --git a/autoware_adapi_v1_msgs/CMakeLists.txt b/autoware_adapi_v1_msgs/CMakeLists.txt
@@ -32,12 +32,20 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   planning/msg/VelocityFactorArray.msg
   system/msg/MrmState.msg
   vehicle/msg/DoorLayout.msg
+  vehicle/msg/DoorStatus.msg
+  vehicle/msg/DoorStatusArray.msg
+  vehicle/msg/Gear.msg
+  vehicle/msg/HazardLights.msg
+  vehicle/msg/TurnIndicators.msg
+  vehicle/msg/VehicleStatus.msg
   vehicle/msg/VehicleDimensions.msg
+  vehicle/msg/VehicleKinematics.msg
   vehicle/srv/GetDoorLayout.srv
   vehicle/srv/GetVehicleDimensions.srv
   DEPENDENCIES
     builtin_interfaces
     std_msgs
+    geographic_msgs
     geometry_msgs
     shape_msgs
     unique_identifier_msgs

diff --git a/autoware_adapi_v1_msgs/package.xml b/autoware_adapi_v1_msgs/package.xml
@@ -12,6 +12,7 @@
   <build_depend>rosidl_default_generators</build_depend>
 
   <depend>builtin_interfaces</depend>
+  <depend>geographic_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>shape_msgs</depend>
   <depend>std_msgs</depend>

diff --git a/autoware_adapi_v1_msgs/vehicle/msg/DoorLayout.msg b/autoware_adapi_v1_msgs/vehicle/msg/DoorLayout.msg
@@ -2,4 +2,4 @@ uint8 GET_ON = 1
 uint8 GET_OFF = 2
 
 uint8[] roles
-geometry_msgs/Pose pose
+string description
diff --git a/autoware_adapi_v1_msgs/vehicle/msg/DoorStatus.msg b/autoware_adapi_v1_msgs/vehicle/msg/DoorStatus.msg
@@ -0,0 +1,9 @@
+# constants for door status
+uint8 UNKNOWN = 0
+uint8 NOT_AVAILABLE = 1
+uint8 OPENED = 2
+uint8 CLOSED = 3
+uint8 OPENING = 4
+uint8 CLOSING = 5
+
+uint8 status
diff --git a/autoware_adapi_v1_msgs/vehicle/msg/DoorStatusArray.msg b/autoware_adapi_v1_msgs/vehicle/msg/DoorStatusArray.msg
@@ -0,0 +1,2 @@
+builtin_interfaces/Time stamp
+autoware_adapi_v1_msgs/DoorStatus[] doors
diff --git a/autoware_adapi_v1_msgs/vehicle/msg/Gear.msg b/autoware_adapi_v1_msgs/vehicle/msg/Gear.msg
@@ -0,0 +1,9 @@
+# constants
+uint8 UNKNOWN = 0
+uint8 NEUTRAL = 1
+uint8 DRIVE = 2
+uint8 REVERSE = 3
+uint8 PARK = 4
+uint8 LOW = 5
+
+uint8 status
diff --git a/autoware_adapi_v1_msgs/vehicle/msg/HazardLights.msg b/autoware_adapi_v1_msgs/vehicle/msg/HazardLights.msg
@@ -0,0 +1,6 @@
+# constants
+uint8 UNKNOWN = 0
+uint8 DISABLE = 1
+uint8 ENABLE = 2
+
+uint8 status
diff --git a/autoware_adapi_v1_msgs/vehicle/msg/TurnIndicators.msg b/autoware_adapi_v1_msgs/vehicle/msg/TurnIndicators.msg
@@ -0,0 +1,7 @@
+# constants
+uint8 UNKNOWN = 0
+uint8 DISABLE = 1
+uint8 LEFT = 2
+uint8 RIGHT = 3
+
+uint8 status
diff --git a/autoware_adapi_v1_msgs/vehicle/msg/VehicleKinematics.msg b/autoware_adapi_v1_msgs/vehicle/msg/VehicleKinematics.msg
@@ -0,0 +1,8 @@
+# Geographic point, using the WGS 84 reference ellipsoid.
+# This data will be invalid If Autoware does not provide projection information between geographic coordinates and local coordinates.
+geographic_msgs/GeoPointStamped geographic_pose
+
+# Local coordinate from the autoware
+geometry_msgs/PoseWithCovarianceStamped pose
+geometry_msgs/TwistWithCovarianceStamped twist
+geometry_msgs/AccelWithCovarianceStamped accel
diff --git a/autoware_adapi_v1_msgs/vehicle/msg/VehicleStatus.msg b/autoware_adapi_v1_msgs/vehicle/msg/VehicleStatus.msg
@@ -0,0 +1,6 @@
+builtin_interfaces/Time stamp
+autoware_adapi_v1_msgs/Gear gear
+autoware_adapi_v1_msgs/TurnIndicators turn_indicators
+autoware_adapi_v1_msgs/HazardLights hazard_lights
+float64 steering_tire_angle
+float32 energy_percentage  # Battery percentage or fuel percentage, it will depends on the vehicle.
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
		builtin_interfaces/Time stamp
		autoware_adapi_v1_msgs/DoorStatus[] doors