tier4 · TetsuKawa · Dec 28, 2023 · Feb 13, 2024 · Feb 13, 2024 · Mar 11, 2024
diff --git a/tier4_auto_msgs_converter/include/tier4_auto_msgs_converter/tier4_auto_msgs_converter.hpp b/tier4_auto_msgs_converter/include/tier4_auto_msgs_converter/tier4_auto_msgs_converter.hpp
diff --git a/tier4_auto_msgs_converter/package.xml b/tier4_auto_msgs_converter/package.xml
@@ -9,10 +9,10 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
-  <depend>autoware_auto_perception_msgs</depend>
-  <depend>autoware_auto_planning_msgs</depend>
-  <depend>autoware_auto_system_msgs</depend>
-  <depend>autoware_auto_vehicle_msgs</depend>
+  <depend>autoware_perception_msgs</depend>
+  <depend>autoware_planning_msgs</depend>
+  <depend>autoware_system_msgs</depend>
+  <depend>autoware_vehicle_msgs</depend>
   <depend>tier4_perception_msgs</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>tier4_system_msgs</depend>

diff --git a/tier4_localization_msgs/CMakeLists.txt b/tier4_localization_msgs/CMakeLists.txt
@@ -15,8 +15,10 @@ find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
 
 rosidl_generate_interfaces(${PROJECT_NAME}
+  "srv/InitializeLocalization.srv"
   "srv/PoseWithCovarianceStamped.srv"
   DEPENDENCIES
+    autoware_common_msgs
     builtin_interfaces
     geometry_msgs
 )

diff --git a/tier4_localization_msgs/package.xml b/tier4_localization_msgs/package.xml
@@ -11,6 +11,7 @@
 
   <build_depend>rosidl_default_generators</build_depend>
 
+  <depend>autoware_common_msgs</depend>
   <depend>builtin_interfaces</depend>
   <depend>geometry_msgs</depend>
 

diff --git a/tier4_localization_msgs/srv/InitializeLocalization.srv b/tier4_localization_msgs/srv/InitializeLocalization.srv
@@ -0,0 +1,20 @@
+# constants for specifying initialization method
+uint8 AUTO = 0
+uint8 DIRECT = 1
+
+# input pose for initialization
+geometry_msgs/PoseWithCovarianceStamped[<=1] pose_with_covariance
+
+# Variable to set initialization method
+# AUTO: The initial position is automatically estimated with localization algorithm.
+#       The input pose will be used as an initial guess if provided.
+# DIRECT: The initial position is set directly by the input pose without going through localization algorithm.
+uint8 method
+---
+# ERROR CODES used in response status in case of failure
+uint16 ERROR_UNSAFE = 1
+uint16 ERROR_GNSS_SUPPORT = 2
+uint16 ERROR_GNSS = 3
+uint16 ERROR_ESTIMATION = 4
+
+autoware_common_msgs/ResponseStatus status
diff --git a/tier4_perception_msgs/CMakeLists.txt b/tier4_perception_msgs/CMakeLists.txt
@@ -27,10 +27,10 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/traffic_light/TrafficLightElement.msg"
   "msg/traffic_light/TrafficLightRoi.msg"
   "msg/traffic_light/TrafficLightRoiArray.msg"
-  "msg/traffic_light/TrafficSignal.msg"
-  "msg/traffic_light/TrafficSignalArray.msg"
+  "msg/traffic_light/TrafficLight.msg"
+  "msg/traffic_light/TrafficLightArray.msg"
   DEPENDENCIES
-    autoware_auto_perception_msgs
+    autoware_perception_msgs
     builtin_interfaces
     geometry_msgs
     sensor_msgs

diff --git a/tier4_perception_msgs/msg/object_recognition/DetectedObjectWithFeature.msg b/tier4_perception_msgs/msg/object_recognition/DetectedObjectWithFeature.msg
@@ -1,2 +1,2 @@
-autoware_auto_perception_msgs/DetectedObject object
+autoware_perception_msgs/DetectedObject object
 Feature feature
diff --git a/tier4_perception_msgs/msg/traffic_light/TrafficLight.msg b/tier4_perception_msgs/msg/traffic_light/TrafficLight.msg
@@ -0,0 +1,6 @@
+uint8 CAR_TRAFFIC_LIGHT=0
+uint8 PEDESTRIAN_TRAFFIC_LIGHT=1
+
+int64 traffic_light_id
+uint8 traffic_light_type
+tier4_perception_msgs/TrafficLightElement[] elements
diff --git a/tier4_perception_msgs/msg/traffic_light/TrafficLightArray.msg b/tier4_perception_msgs/msg/traffic_light/TrafficLightArray.msg
@@ -0,0 +1,2 @@
+std_msgs/Header header
+tier4_perception_msgs/TrafficLight[] signals
diff --git a/tier4_perception_msgs/msg/traffic_light/TrafficLightRoi.msg b/tier4_perception_msgs/msg/traffic_light/TrafficLightRoi.msg
@@ -1,2 +1,6 @@
+uint8 CAR_TRAFFIC_LIGHT=0
+uint8 PEDESTRIAN_TRAFFIC_LIGHT=1
+
 sensor_msgs/RegionOfInterest roi
 int64 traffic_light_id
+uint8 traffic_light_type
diff --git a/tier4_perception_msgs/msg/traffic_light/TrafficSignal.msg b/tier4_perception_msgs/msg/traffic_light/TrafficSignal.msg
diff --git a/tier4_perception_msgs/msg/traffic_light/TrafficSignalArray.msg b/tier4_perception_msgs/msg/traffic_light/TrafficSignalArray.msg
diff --git a/tier4_perception_msgs/package.xml b/tier4_perception_msgs/package.xml
@@ -11,7 +11,7 @@
 
   <build_depend>rosidl_default_generators</build_depend>
 
-  <depend>autoware_auto_perception_msgs</depend>
+  <depend>autoware_perception_msgs</depend>
   <depend>builtin_interfaces</depend>
   <depend>geometry_msgs</depend>
   <depend>sensor_msgs</depend>

diff --git a/tier4_planning_msgs/CMakeLists.txt b/tier4_planning_msgs/CMakeLists.txt
@@ -32,7 +32,10 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/PathChangeModuleArray.msg"
   "msg/PathChangeModuleId.msg"
   "msg/PathPoint.msg"
+  "msg/PathPointWithLaneId.msg"
+  "msg/PathWithLaneId.msg"
   "msg/RerouteAvailability.msg"
+  "msg/RouteState.msg"
   "msg/Scenario.msg"
   "msg/StopFactor.msg"
   "msg/StopReason.msg"
@@ -43,7 +46,13 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/VelocityLimit.msg"
   "msg/VelocityLimitClearCommand.msg"
   "msg/VelocityLimitConstraints.msg"
+  "srv/ClearRoute.srv"
+  "srv/SetLaneletRoute.srv"
+  "srv/SetWaypointRoute.srv"
   DEPENDENCIES
+    autoware_common_msgs
+    autoware_planning_msgs
+    builtin_interfaces
     geometry_msgs
     nav_msgs
     std_msgs

diff --git a/tier4_planning_msgs/msg/PathPointWithLaneId.msg b/tier4_planning_msgs/msg/PathPointWithLaneId.msg
@@ -0,0 +1,2 @@
+autoware_planning_msgs/PathPoint point
+int64[] lane_ids
diff --git a/tier4_planning_msgs/msg/PathWithLaneId.msg b/tier4_planning_msgs/msg/PathWithLaneId.msg
@@ -0,0 +1,4 @@
+std_msgs/Header header
+tier4_planning_msgs/PathPointWithLaneId[] points
+geometry_msgs/Point[] left_bound
+geometry_msgs/Point[] right_bound
diff --git a/tier4_planning_msgs/msg/RouteState.msg b/tier4_planning_msgs/msg/RouteState.msg
@@ -0,0 +1,12 @@
+uint8 UNKNOWN = 0
+uint8 INITIALIZING = 1
+uint8 UNSET = 2
+uint8 ROUTING = 3
+uint8 SET = 4
+uint8 REROUTING = 5
+uint8 ARRIVED = 6
+uint8 ABORTED = 7
+uint8 INTERRUPTED = 8
+
+builtin_interfaces/Time stamp
+uint8 state
diff --git a/tier4_planning_msgs/package.xml b/tier4_planning_msgs/package.xml
@@ -11,6 +11,8 @@
 
   <build_depend>rosidl_default_generators</build_depend>
 
+  <depend>autoware_common_msgs</depend>
+  <depend>autoware_planning_msgs</depend>
   <depend>builtin_interfaces</depend>
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>

diff --git a/tier4_planning_msgs/srv/ClearRoute.srv b/tier4_planning_msgs/srv/ClearRoute.srv
@@ -0,0 +1,2 @@
+---
+autoware_common_msgs/ResponseStatus status
diff --git a/tier4_planning_msgs/srv/SetLaneletRoute.srv b/tier4_planning_msgs/srv/SetLaneletRoute.srv
@@ -0,0 +1,7 @@
+std_msgs/Header header
+geometry_msgs/Pose goal_pose
+autoware_planning_msgs/LaneletSegment[] segments
+unique_identifier_msgs/UUID uuid
+bool allow_modification
+---
+autoware_common_msgs/ResponseStatus status
diff --git a/tier4_planning_msgs/srv/SetWaypointRoute.srv b/tier4_planning_msgs/srv/SetWaypointRoute.srv
@@ -0,0 +1,7 @@
+std_msgs/Header header
+geometry_msgs/Pose goal_pose
+geometry_msgs/Pose[] waypoints
+unique_identifier_msgs/UUID uuid
+bool allow_modification
+---
+autoware_common_msgs/ResponseStatus status
diff --git a/tier4_rtc_msgs/CMakeLists.txt b/tier4_rtc_msgs/CMakeLists.txt
@@ -16,6 +16,7 @@ ament_auto_find_build_dependencies()
 
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/Command.msg"
+  "msg/State.msg"
   "msg/CooperateCommand.msg"
   "msg/CooperateResponse.msg"
   "msg/CooperateStatus.msg"

diff --git a/tier4_rtc_msgs/msg/CooperateStatus.msg b/tier4_rtc_msgs/msg/CooperateStatus.msg
@@ -1,8 +1,25 @@
 builtin_interfaces/Time stamp
+
+# Request unique id
 unique_identifier_msgs/UUID uuid
+
+# Indicate module type which makes this cooperate request.
 tier4_rtc_msgs/Module module
+
+# Indicate whether the system judges it's safe condition to execute or not.
 bool safe
+
+# Indicate RTC approval status
 tier4_rtc_msgs/Command command_status
+
+# Current execution state
+tier4_rtc_msgs/State state
+
+# RTC execution mode
+# TRUE: Auto mode (it can execute without human operator's approval.)
+# FALSE: Manual mode (it needs human operator's approval to execute.)
 bool auto_mode
+
+# Section which will be modified when this cooperate request is approved.
 float32 start_distance
 float32 finish_distance
diff --git a/tier4_rtc_msgs/msg/State.msg b/tier4_rtc_msgs/msg/State.msg
@@ -0,0 +1,7 @@
+uint8 type
+
+uint8 WAITING_FOR_EXECUTION = 0
+uint8 RUNNING = 1
+uint8 ABORTING = 2
+uint8 SUCCEEDED = 3
+uint8 FAILED = 4
diff --git a/tier4_system_msgs/CMakeLists.txt b/tier4_system_msgs/CMakeLists.txt
@@ -19,6 +19,14 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/DiagnosticGraph.msg"
   "msg/DiagnosticLink.msg"
   "msg/DiagnosticNode.msg"
+  "msg/DiagGraphStruct.msg"
+  "msg/DiagGraphStatus.msg"
+  "msg/DiagNodeStruct.msg"
+  "msg/DiagNodeStatus.msg"
+  "msg/DiagLeafStruct.msg"
+  "msg/DiagLeafStatus.msg"
+  "msg/DiagLinkStruct.msg"
+  "msg/DiagLinkStatus.msg"
   "msg/OperationModeAvailability.msg"
   "msg/EmergencyGoalsClearCommand.msg"
   "msg/EmergencyGoalsStamped.msg"
@@ -29,6 +37,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/ServiceLog.msg"
   "msg/ModeChangeAvailable.msg"
   "msg/MrmBehaviorStatus.msg"
+  "msg/MrmState.msg"
   "srv/OperateMrm.srv"
   "srv/ChangeOperationMode.srv"
   "srv/ChangeAutowareControl.srv"

diff --git a/tier4_system_msgs/README.md b/tier4_system_msgs/README.md
@@ -0,0 +1,14 @@
+# tier4_system_msgs
+
+## Diagnostic graph messages
+
+See [this page](./doc/diagnostic-graph.md) for the following diagnostic graph messages.
+
+- DiagGraphStatus
+- DiagGraphStruct
+- DiagLeafStatus
+- DiagLeafStruct
+- DiagLinkStatus
+- DiagLinkStruct
+- DiagNodeStatus
+- DiagNodeStruct
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
		std_msgs/Header header
		tier4_perception_msgs/TrafficLight[] signals
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
		autoware_planning_msgs/PathPoint point
		int64[] lane_ids
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
		---
		autoware_common_msgs/ResponseStatus status