feat(tier4_planning_msgs): add new msgs to analyze ego behavior (#155)

* feat: add ControlPoint.msg Signed-off-by: satoshi-ota <[email protected]> * feat: add SafetyFactor.msg Signed-off-by: satoshi-ota <[email protected]> * feat: add SafetyFactorArray.msg Signed-off-by: satoshi-ota <[email protected]> * feat: add PlanningFactor.msg Signed-off-by: satoshi-ota <[email protected]> * feat: add PlanningFactorArray.msg Signed-off-by: satoshi-ota <[email protected]> * feat: build new msgs Signed-off-by: satoshi-ota <[email protected]> * fix: integrate lat/lon Signed-off-by: satoshi-ota <[email protected]> * fix: remove redundancy Signed-off-by: satoshi-ota <[email protected]> * Apply suggestions from code review --------- Signed-off-by: satoshi-ota <[email protected]> Co-authored-by: Mamoru Sobue <[email protected]>
tier4 · Dec 13, 2024 · be1e368 · be1e368
1 parent 08da64e
commit be1e368
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diff --git a/tier4_planning_msgs/CMakeLists.txt b/tier4_planning_msgs/CMakeLists.txt
@@ -19,6 +19,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/AvoidanceDebugFactor.msg"
   "msg/AvoidanceDebugMsg.msg"
   "msg/AvoidanceDebugMsgArray.msg"
+  "msg/ControlPoint.msg"
   "msg/EnableAvoidance.msg"
   "msg/ExpandStopRange.msg"
   "msg/IsAvoidancePossible.msg"
@@ -34,8 +35,12 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/PathPoint.msg"
   "msg/PathPointWithLaneId.msg"
   "msg/PathWithLaneId.msg"
+  "msg/PlanningFactor.msg"
+  "msg/PlanningFactorArray.msg"
   "msg/RerouteAvailability.msg"
   "msg/RouteState.msg"
+  "msg/SafetyFactor.msg"
+  "msg/SafetyFactorArray.msg"
   "msg/Scenario.msg"
   "msg/StopFactor.msg"
   "msg/StopReason.msg"
@@ -52,6 +57,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   DEPENDENCIES
     autoware_common_msgs
     autoware_planning_msgs
+    autoware_perception_msgs
     builtin_interfaces
     geometry_msgs
     nav_msgs

diff --git a/tier4_planning_msgs/msg/ControlPoint.msg b/tier4_planning_msgs/msg/ControlPoint.msg
@@ -0,0 +1,4 @@
+geometry_msgs/Pose pose
+float32 velocity
+float32 shift_length
+float32 distance
diff --git a/tier4_planning_msgs/msg/PlanningFactor.msg b/tier4_planning_msgs/msg/PlanningFactor.msg
@@ -0,0 +1,20 @@
+# constants for behavior
+uint16 UNKNOWN = 0
+uint16 NONE = 1
+uint16 SLOW_DOWN = 2
+uint16 STOP = 3
+uint16 LEFT_SHIFT = 4
+uint16 RIGHT_SHIFT = 5
+
+# variables
+string module
+
+bool is_driving_forward
+
+tier4_planning_msgs/ControlPoint[] control_points
+
+uint16 behavior
+
+string detail
+
+tier4_planning_msgs/SafetyFactorArray safety_factors
diff --git a/tier4_planning_msgs/msg/PlanningFactorArray.msg b/tier4_planning_msgs/msg/PlanningFactorArray.msg
@@ -0,0 +1,2 @@
+std_msgs/Header header
+tier4_planning_msgs/PlanningFactor[] factors
diff --git a/tier4_planning_msgs/msg/SafetyFactor.msg b/tier4_planning_msgs/msg/SafetyFactor.msg
@@ -0,0 +1,27 @@
+# constants for common use
+uint16 UNKNOWN = 0
+
+# constants for factor type
+uint16 POINTCLOUD = 1
+uint16 OBJECT = 2
+
+# variables
+uint16 type
+
+# use only for predicted objects
+unique_identifier_msgs/UUID object_id
+
+# use only for predicted objects
+autoware_perception_msgs/PredictedPath predicted_path
+
+# time to collision in relative to the header time
+float32 ttc_begin
+
+float32 ttc_end
+
+# type == POINTCLOUD: the position of the each points
+# type == OBJECT: the object position
+geometry_msgs/Point[] points
+
+# module's primitive judgement of the safety for its decision
+bool is_safe
diff --git a/tier4_planning_msgs/msg/SafetyFactorArray.msg b/tier4_planning_msgs/msg/SafetyFactorArray.msg
@@ -0,0 +1,4 @@
+std_msgs/Header header
+tier4_planning_msgs/SafetyFactor[] factors
+bool is_safe
+string detail
diff --git a/tier4_planning_msgs/package.xml b/tier4_planning_msgs/package.xml
@@ -12,6 +12,7 @@
   <build_depend>rosidl_default_generators</build_depend>
 
   <depend>autoware_common_msgs</depend>
+  <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>builtin_interfaces</depend>
   <depend>geometry_msgs</depend>
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
		std_msgs/Header header
		tier4_planning_msgs/PlanningFactor[] factors