Merge branch 'main' into ci/add_cpp_check

map/map_height_fitter/package.xml

@@ -18,7 +18,6 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>autoware_auto_mapping_msgs</depend>
   <depend>autoware_map_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_extension</depend>

map/map_height_fitter/src/map_height_fitter.cpp

@@ -17,7 +17,7 @@
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/query.hpp>
 
-#include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
+#include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 #include <autoware_map_msgs/srv/get_partial_point_cloud_map.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
@@ -38,7 +38,7 @@ struct MapHeightFitter::Impl
 
   explicit Impl(rclcpp::Node * node);
   void on_pcd_map(const sensor_msgs::msg::PointCloud2::ConstSharedPtr msg);
-  void on_vector_map(const autoware_auto_mapping_msgs::msg::HADMapBin::ConstSharedPtr msg);
+  void on_vector_map(const autoware_map_msgs::msg::LaneletMapBin::ConstSharedPtr msg);
   bool get_partial_point_cloud_map(const Point & point);
   double get_ground_height(const Point & point) const;
   std::optional<Point> fit(const Point & position, const std::string & frame);
@@ -59,7 +59,7 @@ struct MapHeightFitter::Impl
 
   // for fitting by vector_map_loader
   lanelet::LaneletMapPtr vector_map_;
-  rclcpp::Subscription<autoware_auto_mapping_msgs::msg::HADMapBin>::SharedPtr sub_vector_map_;
+  rclcpp::Subscription<autoware_map_msgs::msg::LaneletMapBin>::SharedPtr sub_vector_map_;
 };
 
 MapHeightFitter::Impl::Impl(rclcpp::Node * node) : tf2_listener_(tf2_buffer_), node_(node)
@@ -95,7 +95,7 @@ MapHeightFitter::Impl::Impl(rclcpp::Node * node) : tf2_listener_(tf2_buffer_), n
 
   } else if (fit_target_ == "vector_map") {
     const auto durable_qos = rclcpp::QoS(1).transient_local();
-    sub_vector_map_ = node_->create_subscription<autoware_auto_mapping_msgs::msg::HADMapBin>(
+    sub_vector_map_ = node_->create_subscription<autoware_map_msgs::msg::LaneletMapBin>(
       "~/vector_map", durable_qos,
       std::bind(&MapHeightFitter::Impl::on_vector_map, this, std::placeholders::_1));
 
@@ -163,7 +163,7 @@ bool MapHeightFitter::Impl::get_partial_point_cloud_map(const Point & point)
 }
 
 void MapHeightFitter::Impl::on_vector_map(
-  const autoware_auto_mapping_msgs::msg::HADMapBin::ConstSharedPtr msg)
+  const autoware_map_msgs::msg::LaneletMapBin::ConstSharedPtr msg)
 {
   vector_map_ = std::make_shared<lanelet::LaneletMap>();
   lanelet::utils::conversion::fromBinMsg(*msg, vector_map_);

map/map_loader/README.md

@@ -130,7 +130,7 @@ Please see [the description of `GetSelectedPointCloudMap.srv`](https://github.co
 
 ### Feature
 
-lanelet2_map_loader loads Lanelet2 file and publishes the map data as autoware_auto_mapping_msgs/HADMapBin message.
+lanelet2_map_loader loads Lanelet2 file and publishes the map data as autoware_map_msgs/LaneletMapBin message.
 The node projects lan/lon coordinates into arbitrary coordinates defined in `/map/map_projector_info` from `map_projection_loader`.
 Please see [tier4_autoware_msgs/msg/MapProjectorInfo.msg](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_map_msgs/msg/MapProjectorInfo.msg) for supported projector types.
 
@@ -144,7 +144,7 @@ Please see [tier4_autoware_msgs/msg/MapProjectorInfo.msg](https://github.com/tie
 
 ### Published Topics
 
-- ~output/lanelet2_map (autoware_auto_mapping_msgs/HADMapBin) : Binary data of loaded Lanelet2 Map
+- ~output/lanelet2_map (autoware_map_msgs/LaneletMapBin) : Binary data of loaded Lanelet2 Map
 
 ### Parameters
 
@@ -156,15 +156,15 @@ Please see [tier4_autoware_msgs/msg/MapProjectorInfo.msg](https://github.com/tie
 
 ### Feature
 
-lanelet2_map_visualization visualizes autoware_auto_mapping_msgs/HADMapBin messages into visualization_msgs/MarkerArray.
+lanelet2_map_visualization visualizes autoware_map_msgs/LaneletMapBin messages into visualization_msgs/MarkerArray.
 
 ### How to Run
 
 `ros2 run map_loader lanelet2_map_visualization`
 
 ### Subscribed Topics
 
-- ~input/lanelet2_map (autoware_auto_mapping_msgs/HADMapBin) : binary data of Lanelet2 Map
+- ~input/lanelet2_map (autoware_map_msgs/LaneletMapBin) : binary data of Lanelet2 Map
 
 ### Published Topics
 

map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp

@@ -19,15 +19,15 @@
 #include <component_interface_utils/rclcpp.hpp>
 #include <rclcpp/rclcpp.hpp>
 
-#include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
+#include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 #include <tier4_map_msgs/msg/map_projector_info.hpp>
 
 #include <lanelet2_projection/UTM.h>
 
 #include <memory>
 #include <string>
 
-using autoware_auto_mapping_msgs::msg::HADMapBin;
+using autoware_map_msgs::msg::LaneletMapBin;
 using tier4_map_msgs::msg::MapProjectorInfo;
 
 class Lanelet2MapLoaderNode : public rclcpp::Node
@@ -38,7 +38,7 @@ class Lanelet2MapLoaderNode : public rclcpp::Node
   static lanelet::LaneletMapPtr load_map(
     const std::string & lanelet2_filename,
     const tier4_map_msgs::msg::MapProjectorInfo & projector_info);
-  static HADMapBin create_map_bin_msg(
+  static LaneletMapBin create_map_bin_msg(
     const lanelet::LaneletMapPtr map, const std::string & lanelet2_filename,
     const rclcpp::Time & now);
 
@@ -48,7 +48,7 @@ class Lanelet2MapLoaderNode : public rclcpp::Node
   void on_map_projector_info(const MapProjectorInfo::Message::ConstSharedPtr msg);
 
   component_interface_utils::Subscription<MapProjectorInfo>::SharedPtr sub_map_projector_info_;
-  rclcpp::Publisher<HADMapBin>::SharedPtr pub_map_bin_;
+  rclcpp::Publisher<LaneletMapBin>::SharedPtr pub_map_bin_;
 };
 
 #endif  // MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_

map/map_loader/include/map_loader/lanelet2_map_visualization_node.hpp

@@ -17,7 +17,7 @@
 
 #include <rclcpp/rclcpp.hpp>
 
-#include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
+#include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
 
 #include <string>
@@ -29,12 +29,12 @@ class Lanelet2MapVisualizationNode : public rclcpp::Node
   explicit Lanelet2MapVisualizationNode(const rclcpp::NodeOptions & options);
 
 private:
-  rclcpp::Subscription<autoware_auto_mapping_msgs::msg::HADMapBin>::SharedPtr sub_map_bin_;
+  rclcpp::Subscription<autoware_map_msgs::msg::LaneletMapBin>::SharedPtr sub_map_bin_;
   rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr pub_marker_;
 
   bool viz_lanelets_centerline_;
 
-  void onMapBin(const autoware_auto_mapping_msgs::msg::HADMapBin::ConstSharedPtr msg);
+  void onMapBin(const autoware_map_msgs::msg::LaneletMapBin::ConstSharedPtr msg);
 };
 
 #endif  // MAP_LOADER__LANELET2_MAP_VISUALIZATION_NODE_HPP_

map/map_loader/package.xml

@@ -19,7 +19,6 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>autoware_auto_mapping_msgs</depend>
   <depend>autoware_map_msgs</depend>
   <depend>component_interface_specs</depend>
   <depend>component_interface_utils</depend>

map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp

@@ -86,7 +86,7 @@ void Lanelet2MapLoaderNode::on_map_projector_info(
 
   // create publisher and publish
   pub_map_bin_ =
-    create_publisher<HADMapBin>("output/lanelet2_map", rclcpp::QoS{1}.transient_local());
+    create_publisher<LaneletMapBin>("output/lanelet2_map", rclcpp::QoS{1}.transient_local());
   pub_map_bin_->publish(map_bin_msg);
   RCLCPP_INFO(get_logger(), "Succeeded to load lanelet2_map. Map is published.");
 }
@@ -141,18 +141,18 @@ lanelet::LaneletMapPtr Lanelet2MapLoaderNode::load_map(
   return nullptr;
 }
 
-HADMapBin Lanelet2MapLoaderNode::create_map_bin_msg(
+LaneletMapBin Lanelet2MapLoaderNode::create_map_bin_msg(
   const lanelet::LaneletMapPtr map, const std::string & lanelet2_filename, const rclcpp::Time & now)
 {
   std::string format_version{}, map_version{};
   lanelet::io_handlers::AutowareOsmParser::parseVersions(
     lanelet2_filename, &format_version, &map_version);
 
-  HADMapBin map_bin_msg;
+  LaneletMapBin map_bin_msg;
   map_bin_msg.header.stamp = now;
   map_bin_msg.header.frame_id = "map";
-  map_bin_msg.format_version = format_version;
-  map_bin_msg.map_version = map_version;
+  map_bin_msg.version_map_format = format_version;
+  map_bin_msg.version_map = map_version;
   lanelet::utils::conversion::toBinMsg(map, &map_bin_msg);
 
   return map_bin_msg;

map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp

@@ -39,7 +39,7 @@
 #include <lanelet2_extension/visualization/visualization.hpp>
 #include <rclcpp/rclcpp.hpp>
 
-#include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
+#include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
 
@@ -73,7 +73,7 @@ Lanelet2MapVisualizationNode::Lanelet2MapVisualizationNode(const rclcpp::NodeOpt
 
   viz_lanelets_centerline_ = true;
 
-  sub_map_bin_ = this->create_subscription<autoware_auto_mapping_msgs::msg::HADMapBin>(
+  sub_map_bin_ = this->create_subscription<autoware_map_msgs::msg::LaneletMapBin>(
     "input/lanelet2_map", rclcpp::QoS{1}.transient_local(),
     std::bind(&Lanelet2MapVisualizationNode::onMapBin, this, _1));
 
@@ -82,7 +82,7 @@ Lanelet2MapVisualizationNode::Lanelet2MapVisualizationNode(const rclcpp::NodeOpt
 }
 
 void Lanelet2MapVisualizationNode::onMapBin(
-  const autoware_auto_mapping_msgs::msg::HADMapBin::ConstSharedPtr msg)
+  const autoware_map_msgs::msg::LaneletMapBin::ConstSharedPtr msg)
 {
   lanelet::LaneletMapPtr viz_lanelet_map(new lanelet::LaneletMap);
 

map/map_tf_generator/README.md

@@ -25,9 +25,9 @@ The following are the supported methods to calculate the position of the `viewer
 
 #### vector_map_tf_generator
 
-| Name              | Type                                         | Description                                                   |
-| ----------------- | -------------------------------------------- | ------------------------------------------------------------- |
-| `/map/vector_map` | `autoware_auto_mapping_msgs::msg::HADMapBin` | Subscribe vector map to calculate position of `viewer` frames |
+| Name              | Type                                    | Description                                                   |
+| ----------------- | --------------------------------------- | ------------------------------------------------------------- |
+| `/map/vector_map` | `autoware_map_msgs::msg::LaneletMapBin` | Subscribe vector map to calculate position of `viewer` frames |
 
 ### Output
 

map/map_tf_generator/src/vector_map_tf_generator_node.cpp

@@ -15,7 +15,7 @@
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <rclcpp/rclcpp.hpp>
 
-#include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
+#include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 
 #include <lanelet2_core/LaneletMap.h>
 #include <lanelet2_core/geometry/Point.h>
@@ -34,7 +34,7 @@ class VectorMapTFGeneratorNode : public rclcpp::Node
     map_frame_ = declare_parameter<std::string>("map_frame");
     viewer_frame_ = declare_parameter<std::string>("viewer_frame");
 
-    sub_ = create_subscription<autoware_auto_mapping_msgs::msg::HADMapBin>(
+    sub_ = create_subscription<autoware_map_msgs::msg::LaneletMapBin>(
       "vector_map", rclcpp::QoS{1}.transient_local(),
       std::bind(&VectorMapTFGeneratorNode::onVectorMap, this, std::placeholders::_1));
 
@@ -44,12 +44,12 @@ class VectorMapTFGeneratorNode : public rclcpp::Node
 private:
   std::string map_frame_;
   std::string viewer_frame_;
-  rclcpp::Subscription<autoware_auto_mapping_msgs::msg::HADMapBin>::SharedPtr sub_;
+  rclcpp::Subscription<autoware_map_msgs::msg::LaneletMapBin>::SharedPtr sub_;
 
   std::shared_ptr<tf2_ros::StaticTransformBroadcaster> static_broadcaster_;
   std::shared_ptr<lanelet::LaneletMap> lanelet_map_ptr_;
 
-  void onVectorMap(const autoware_auto_mapping_msgs::msg::HADMapBin::ConstSharedPtr msg)
+  void onVectorMap(const autoware_map_msgs::msg::LaneletMapBin::ConstSharedPtr msg)
   {
     lanelet_map_ptr_ = std::make_shared<lanelet::LaneletMap>();
     lanelet::utils::conversion::fromBinMsg(*msg, lanelet_map_ptr_);

simulator/dummy_perception_publisher/CMakeLists.txt

@@ -7,14 +7,14 @@ autoware_package()
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/InitialState.msg"
   "msg/Object.msg"
-  DEPENDENCIES autoware_auto_perception_msgs tier4_perception_msgs geometry_msgs std_msgs unique_identifier_msgs
+  DEPENDENCIES autoware_perception_msgs tier4_perception_msgs geometry_msgs std_msgs unique_identifier_msgs
 )
 
 # See ndt_omp package for documentation on why PCL is special
 find_package(PCL REQUIRED COMPONENTS common filters)
 
 set(${PROJECT_NAME}_DEPENDENCIES
-  autoware_auto_perception_msgs
+  autoware_perception_msgs
   tier4_perception_msgs
   pcl_conversions
   rclcpp

simulator/dummy_perception_publisher/README.md

@@ -21,7 +21,7 @@ This node publishes the result of the dummy detection with the type of perceptio
 | ----------------------------------- | -------------------------------------------------------- | ----------------------- |
 | `output/dynamic_object`             | `tier4_perception_msgs::msg::DetectedObjectsWithFeature` | dummy detection objects |
 | `output/points_raw`                 | `sensor_msgs::msg::PointCloud2`                          | point cloud of objects  |
-| `output/debug/ground_truth_objects` | `autoware_auto_perception_msgs::msg::TrackedObjects`     | ground truth objects    |
+| `output/debug/ground_truth_objects` | `autoware_perception_msgs::msg::TrackedObjects`          | ground truth objects    |
 
 ## Parameters
 

simulator/dummy_perception_publisher/include/dummy_perception_publisher/node.hpp

@@ -19,8 +19,8 @@
 
 #include <rclcpp/rclcpp.hpp>
 
-#include <autoware_auto_perception_msgs/msg/detected_objects.hpp>
-#include <autoware_auto_perception_msgs/msg/tracked_objects.hpp>
+#include <autoware_perception_msgs/msg/detected_objects.hpp>
+#include <autoware_perception_msgs/msg/tracked_objects.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <tier4_perception_msgs/msg/detected_objects_with_feature.hpp>
 
@@ -59,7 +59,7 @@ struct ObjectInfo
   geometry_msgs::msg::PoseWithCovariance pose_covariance_;
   // convert to TrackedObject
   // (todo) currently need object input to get id and header information, but it should be removed
-  autoware_auto_perception_msgs::msg::TrackedObject toTrackedObject(
+  autoware_perception_msgs::msg::TrackedObject toTrackedObject(
     const dummy_perception_publisher::msg::Object & object) const;
 };
 
@@ -114,7 +114,7 @@ class DummyPerceptionPublisherNode : public rclcpp::Node
   rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr pointcloud_pub_;
   rclcpp::Publisher<tier4_perception_msgs::msg::DetectedObjectsWithFeature>::SharedPtr
     detected_object_with_feature_pub_;
-  rclcpp::Publisher<autoware_auto_perception_msgs::msg::TrackedObjects>::SharedPtr
+  rclcpp::Publisher<autoware_perception_msgs::msg::TrackedObjects>::SharedPtr
     ground_truth_objects_pub_;
   rclcpp::Subscription<dummy_perception_publisher::msg::Object>::SharedPtr object_sub_;
   rclcpp::TimerBase::SharedPtr timer_;

simulator/dummy_perception_publisher/msg/Object.msg

@@ -1,8 +1,8 @@
 std_msgs/Header header
 unique_identifier_msgs/UUID id
 dummy_perception_publisher/InitialState initial_state
-autoware_auto_perception_msgs/ObjectClassification classification
-autoware_auto_perception_msgs/Shape shape
+autoware_perception_msgs/ObjectClassification classification
+autoware_perception_msgs/Shape shape
 float32 max_velocity
 float32 min_velocity
 

simulator/dummy_perception_publisher/package.xml

@@ -18,7 +18,7 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
 
-  <depend>autoware_auto_perception_msgs</depend>
+  <depend>autoware_perception_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>libpcl-all-dev</depend>
   <depend>pcl_conversions</depend>

simulator/dummy_perception_publisher/src/empty_objects_publisher.cpp

@@ -14,7 +14,7 @@
 
 #include <rclcpp/rclcpp.hpp>
 
-#include <autoware_auto_perception_msgs/msg/predicted_objects.hpp>
+#include <autoware_perception_msgs/msg/predicted_objects.hpp>
 
 #include <memory>
 #include <utility>
@@ -24,23 +24,21 @@ class EmptyObjectsPublisher : public rclcpp::Node
 public:
   EmptyObjectsPublisher() : Node("empty_objects_publisher")
   {
-    empty_objects_pub_ =
-      this->create_publisher<autoware_auto_perception_msgs::msg::PredictedObjects>(
-        "~/output/objects", 1);
+    empty_objects_pub_ = this->create_publisher<autoware_perception_msgs::msg::PredictedObjects>(
+      "~/output/objects", 1);
 
     using std::chrono_literals::operator""ms;
     timer_ = rclcpp::create_timer(
       this, get_clock(), 100ms, std::bind(&EmptyObjectsPublisher::timerCallback, this));
   }
 
 private:
-  rclcpp::Publisher<autoware_auto_perception_msgs::msg::PredictedObjects>::SharedPtr
-    empty_objects_pub_;
+  rclcpp::Publisher<autoware_perception_msgs::msg::PredictedObjects>::SharedPtr empty_objects_pub_;
   rclcpp::TimerBase::SharedPtr timer_;
 
   void timerCallback()
   {
-    autoware_auto_perception_msgs::msg::PredictedObjects empty_objects;
+    autoware_perception_msgs::msg::PredictedObjects empty_objects;
     empty_objects.header.frame_id = "map";
     empty_objects.header.stamp = this->now();
     empty_objects_pub_->publish(empty_objects);