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feat(tier4_system_msgs): control command gate messages #167

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feat(tier4_system_msgs): control command gate messages #167

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c852fb4
feat(tier4_system_msgs): add messages for control_cmd_gate
isamu-takagi Feb 7, 2025
f4a36e9
update constants and sequence
isamu-takagi Feb 10, 2025
325bafb
update status and source
isamu-takagi Feb 19, 2025
4240764
add request mrm
isamu-takagi Feb 19, 2025
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8 changes: 8 additions & 0 deletions tier4_system_msgs/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -38,10 +38,18 @@ rosidl_generate_interfaces(${PROJECT_NAME}
"msg/ServiceLog.msg"
"msg/ModeChangeAvailable.msg"
"msg/MrmBehaviorStatus.msg"
"msg/CommandSourceStatus.msg"
"msg/CommandModeAvailability.msg"
"msg/CommandModeAvailabilityItem.msg"
"msg/CommandModeRequest.msg"
"msg/CommandModeStatus.msg"
"msg/CommandModeStatusItem.msg"
"srv/OperateMrm.srv"
"srv/ChangeOperationMode.srv"
"srv/ChangeAutowareControl.srv"
"srv/ChangeTopicRelayControl.srv"
"srv/RequestMrm.srv"
"srv/SelectCommandSource.srv"
DEPENDENCIES
autoware_common_msgs
builtin_interfaces
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2 changes: 2 additions & 0 deletions tier4_system_msgs/msg/CommandModeAvailability.msg
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@@ -0,0 +1,2 @@
builtin_interfaces/Time stamp
tier4_system_msgs/CommandModeAvailabilityItem[] items
2 changes: 2 additions & 0 deletions tier4_system_msgs/msg/CommandModeAvailabilityItem.msg
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@@ -0,0 +1,2 @@
string mode
bool available
2 changes: 2 additions & 0 deletions tier4_system_msgs/msg/CommandModeRequest.msg
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@@ -0,0 +1,2 @@
builtin_interfaces/Time stamp
string mode
2 changes: 2 additions & 0 deletions tier4_system_msgs/msg/CommandModeStatus.msg
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@@ -0,0 +1,2 @@
builtin_interfaces/Time stamp
tier4_system_msgs/CommandModeStatusItem[] items
10 changes: 10 additions & 0 deletions tier4_system_msgs/msg/CommandModeStatusItem.msg
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@@ -0,0 +1,10 @@
uint8 UNDEFINED = 0
uint8 NONE = 1
uint8 OPERATING = 2
uint8 SUCCEEDED = 3
uint8 FAILED = 4

string mode
bool activation
bool transition
uint8 mrm
4 changes: 4 additions & 0 deletions tier4_system_msgs/msg/CommandSourceStatus.msg
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@@ -0,0 +1,4 @@
builtin_interfaces/Time stamp
string source
bool transition
bool emergency
3 changes: 3 additions & 0 deletions tier4_system_msgs/srv/RequestMrm.srv
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@@ -0,0 +1,3 @@
string name
---
autoware_common_msgs/ResponseStatus status
3 changes: 3 additions & 0 deletions tier4_system_msgs/srv/SelectCommandSource.srv
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string source
---
autoware_common_msgs/ResponseStatus status
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