From 98d517f9de53f54859c9de0c12ac57cb8febfbe9 Mon Sep 17 00:00:00 2001 From: Muhammad Zulfaqar Azmi Date: Thu, 16 Nov 2023 23:01:01 +0900 Subject: [PATCH 1/4] feat(tier4_planning_msgs): safety check debug msg Signed-off-by: Muhammad Zulfaqar Azmi --- tier4_planning_msgs/CMakeLists.txt | 4 ++-- tier4_planning_msgs/msg/LaneChangeDebugMsg.msg | 6 ------ tier4_planning_msgs/msg/LaneChangeDebugMsgArray.msg | 2 -- tier4_planning_msgs/msg/SafetyCheckDebugMsg.msg | 7 +++++++ tier4_planning_msgs/msg/SafetyCheckDebugMsgArray.msg | 2 ++ 5 files changed, 11 insertions(+), 10 deletions(-) delete mode 100644 tier4_planning_msgs/msg/LaneChangeDebugMsg.msg delete mode 100644 tier4_planning_msgs/msg/LaneChangeDebugMsgArray.msg create mode 100644 tier4_planning_msgs/msg/SafetyCheckDebugMsg.msg create mode 100644 tier4_planning_msgs/msg/SafetyCheckDebugMsgArray.msg diff --git a/tier4_planning_msgs/CMakeLists.txt b/tier4_planning_msgs/CMakeLists.txt index a4de6fdd..dc2e1340 100644 --- a/tier4_planning_msgs/CMakeLists.txt +++ b/tier4_planning_msgs/CMakeLists.txt @@ -23,8 +23,6 @@ rosidl_generate_interfaces(${PROJECT_NAME} "msg/ExpandStopRange.msg" "msg/IsAvoidancePossible.msg" "msg/LaneChangeCommand.msg" - "msg/LaneChangeDebugMsg.msg" - "msg/LaneChangeDebugMsgArray.msg" "msg/LaneChangeStatus.msg" "msg/LateralOffset.msg" "msg/Path.msg" @@ -33,6 +31,8 @@ rosidl_generate_interfaces(${PROJECT_NAME} "msg/PathChangeModuleId.msg" "msg/PathPoint.msg" "msg/RerouteAvailability.msg" + "msg/SafetyCheckDebugMsg.msg" + "msg/SafetyCheckDebugMsgArray.msg" "msg/Scenario.msg" "msg/StopFactor.msg" "msg/StopReason.msg" diff --git a/tier4_planning_msgs/msg/LaneChangeDebugMsg.msg b/tier4_planning_msgs/msg/LaneChangeDebugMsg.msg deleted file mode 100644 index 694e9cc1..00000000 --- a/tier4_planning_msgs/msg/LaneChangeDebugMsg.msg +++ /dev/null @@ -1,6 +0,0 @@ -string object_id -bool allow_lane_change -bool is_front -geometry_msgs/Pose relative_distance -float64 velocity -string failed_reason diff --git a/tier4_planning_msgs/msg/LaneChangeDebugMsgArray.msg b/tier4_planning_msgs/msg/LaneChangeDebugMsgArray.msg deleted file mode 100644 index 9a577f81..00000000 --- a/tier4_planning_msgs/msg/LaneChangeDebugMsgArray.msg +++ /dev/null @@ -1,2 +0,0 @@ -std_msgs/Header header -tier4_planning_msgs/LaneChangeDebugMsg[] lane_change_info diff --git a/tier4_planning_msgs/msg/SafetyCheckDebugMsg.msg b/tier4_planning_msgs/msg/SafetyCheckDebugMsg.msg new file mode 100644 index 00000000..cecc75aa --- /dev/null +++ b/tier4_planning_msgs/msg/SafetyCheckDebugMsg.msg @@ -0,0 +1,7 @@ +string object_id +string unsafe_reason +bool is_safe +bool is_front +geometry_msgs/Pose object_pose +geometry_msgs/Polygon extended_ego_polygon +geometry_msgs/Polygon extended_obj_polygon diff --git a/tier4_planning_msgs/msg/SafetyCheckDebugMsgArray.msg b/tier4_planning_msgs/msg/SafetyCheckDebugMsgArray.msg new file mode 100644 index 00000000..09fa2d4f --- /dev/null +++ b/tier4_planning_msgs/msg/SafetyCheckDebugMsgArray.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +tier4_planning_msgs/SafetyCheckDebugMsg[] info From d42794af2bcfa267c960c4e6bdfdd7fa3352b94c Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi Date: Mon, 20 Nov 2023 19:26:25 +0900 Subject: [PATCH 2/4] change uuid to ros Signed-off-by: Zulfaqar Azmi --- tier4_planning_msgs/msg/SafetyCheckDebugMsg.msg | 3 ++- tier4_planning_msgs/msg/SafetyCheckDebugMsgArray.msg | 4 +++- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/tier4_planning_msgs/msg/SafetyCheckDebugMsg.msg b/tier4_planning_msgs/msg/SafetyCheckDebugMsg.msg index cecc75aa..10a618e1 100644 --- a/tier4_planning_msgs/msg/SafetyCheckDebugMsg.msg +++ b/tier4_planning_msgs/msg/SafetyCheckDebugMsg.msg @@ -1,7 +1,8 @@ -string object_id +unique_identifier_msgs/UUID object_uuid string unsafe_reason bool is_safe bool is_front +bool after_apprroval geometry_msgs/Pose object_pose geometry_msgs/Polygon extended_ego_polygon geometry_msgs/Polygon extended_obj_polygon diff --git a/tier4_planning_msgs/msg/SafetyCheckDebugMsgArray.msg b/tier4_planning_msgs/msg/SafetyCheckDebugMsgArray.msg index 09fa2d4f..baa90625 100644 --- a/tier4_planning_msgs/msg/SafetyCheckDebugMsgArray.msg +++ b/tier4_planning_msgs/msg/SafetyCheckDebugMsgArray.msg @@ -1,2 +1,4 @@ std_msgs/Header header -tier4_planning_msgs/SafetyCheckDebugMsg[] info +tier4_planning_msgs/SafetyCheckDebugMsg[] safe +tier4_planning_msgs/SafetyCheckDebugMsg[] unsafe + From 4866004d29bca7c325faedae5cfb345527a472f2 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Tue, 21 Nov 2023 02:42:04 +0000 Subject: [PATCH 3/4] ci(pre-commit): autofix --- tier4_planning_msgs/msg/SafetyCheckDebugMsgArray.msg | 1 - 1 file changed, 1 deletion(-) diff --git a/tier4_planning_msgs/msg/SafetyCheckDebugMsgArray.msg b/tier4_planning_msgs/msg/SafetyCheckDebugMsgArray.msg index baa90625..538b567f 100644 --- a/tier4_planning_msgs/msg/SafetyCheckDebugMsgArray.msg +++ b/tier4_planning_msgs/msg/SafetyCheckDebugMsgArray.msg @@ -1,4 +1,3 @@ std_msgs/Header header tier4_planning_msgs/SafetyCheckDebugMsg[] safe tier4_planning_msgs/SafetyCheckDebugMsg[] unsafe - From 7d9ffc118e89ebccbf7596f2fb31a8e199e4bf33 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi Date: Mon, 27 Nov 2023 11:00:48 +0900 Subject: [PATCH 4/4] fix flag Signed-off-by: Zulfaqar Azmi --- tier4_planning_msgs/msg/SafetyCheckDebugMsg.msg | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tier4_planning_msgs/msg/SafetyCheckDebugMsg.msg b/tier4_planning_msgs/msg/SafetyCheckDebugMsg.msg index 10a618e1..8971d744 100644 --- a/tier4_planning_msgs/msg/SafetyCheckDebugMsg.msg +++ b/tier4_planning_msgs/msg/SafetyCheckDebugMsg.msg @@ -2,7 +2,7 @@ unique_identifier_msgs/UUID object_uuid string unsafe_reason bool is_safe bool is_front -bool after_apprroval +bool is_after_approval geometry_msgs/Pose object_pose geometry_msgs/Polygon extended_ego_polygon geometry_msgs/Polygon extended_obj_polygon