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feat!: replace autoware_auto_msgs with autoware_msgs for system modules #7249

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Jun 4, 2024
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feat!: replace autoware_auto_msgs with autoware_msgs for system modules #7249

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18 changes: 9 additions & 9 deletions system/component_state_monitor/config/topics.yaml
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Expand Up @@ -4,7 +4,7 @@
args:
node_name_suffix: vector_map
topic: /map/vector_map
topic_type: autoware_auto_mapping_msgs/msg/HADMapBin
topic_type: autoware_map_msgs/msg/LaneletMapBin
best_effort: false
transient_local: true
warn_rate: 0.0
Expand Down Expand Up @@ -69,7 +69,7 @@
args:
node_name_suffix: object_recognition_objects
topic: /perception/object_recognition/objects
topic_type: autoware_auto_perception_msgs/msg/PredictedObjects
topic_type: autoware_perception_msgs/msg/PredictedObjects
best_effort: false
transient_local: false
warn_rate: 5.0
Expand All @@ -82,7 +82,7 @@
args:
node_name_suffix: traffic_light_recognition_traffic_signals
topic: /perception/traffic_light_recognition/traffic_signals
topic_type: autoware_perception_msgs/msg/TrafficSignalArray
topic_type: autoware_perception_msgs/msg/TrafficLightGroupArray
best_effort: false
transient_local: false
warn_rate: 5.0
Expand All @@ -108,7 +108,7 @@
args:
node_name_suffix: scenario_planning_trajectory
topic: /planning/scenario_planning/trajectory
topic_type: autoware_auto_planning_msgs/msg/Trajectory
topic_type: autoware_planning_msgs/msg/Trajectory
best_effort: false
transient_local: false
warn_rate: 5.0
Expand All @@ -121,7 +121,7 @@
args:
node_name_suffix: trajectory_follower_control_cmd
topic: /control/trajectory_follower/control_cmd
topic_type: autoware_auto_control_msgs/msg/AckermannControlCommand
topic_type: autoware_control_msgs/msg/Control
best_effort: false
transient_local: false
warn_rate: 5.0
Expand All @@ -134,7 +134,7 @@
args:
node_name_suffix: control_command_control_cmd
topic: /control/command/control_cmd
topic_type: autoware_auto_control_msgs/msg/AckermannControlCommand
topic_type: autoware_control_msgs/msg/Control
best_effort: false
transient_local: false
warn_rate: 5.0
Expand All @@ -147,7 +147,7 @@
args:
node_name_suffix: vehicle_status_velocity_status
topic: /vehicle/status/velocity_status
topic_type: autoware_auto_vehicle_msgs/msg/VelocityReport
topic_type: autoware_vehicle_msgs/msg/VelocityReport
best_effort: false
transient_local: false
warn_rate: 5.0
Expand All @@ -160,7 +160,7 @@
args:
node_name_suffix: vehicle_status_steering_status
topic: /vehicle/status/steering_status
topic_type: autoware_auto_vehicle_msgs/msg/SteeringReport
topic_type: autoware_vehicle_msgs/msg/SteeringReport
best_effort: false
transient_local: false
warn_rate: 5.0
Expand All @@ -173,7 +173,7 @@
args:
node_name_suffix: system_emergency_control_cmd
topic: /system/emergency/control_cmd
topic_type: autoware_auto_control_msgs/msg/AckermannControlCommand
topic_type: autoware_control_msgs/msg/Control
best_effort: false
transient_local: false
warn_rate: 5.0
Expand Down
5 changes: 2 additions & 3 deletions system/default_ad_api/package.xml
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Expand Up @@ -15,10 +15,9 @@
<depend>autoware_ad_api_specs</depend>
<depend>autoware_adapi_v1_msgs</depend>
<depend>autoware_adapi_version_msgs</depend>
<depend>autoware_auto_planning_msgs</depend>
<depend>autoware_auto_system_msgs</depend>
<depend>autoware_auto_vehicle_msgs</depend>
<depend>autoware_planning_msgs</depend>
<depend>autoware_system_msgs</depend>
<depend>autoware_vehicle_msgs</depend>
<depend>component_interface_specs</depend>
<depend>component_interface_utils</depend>
<depend>diagnostic_graph_utils</depend>
Expand Down
4 changes: 2 additions & 2 deletions system/default_ad_api/src/compatibility/autoware_state.hpp
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Expand Up @@ -19,7 +19,7 @@
#include <autoware_ad_api_specs/operation_mode.hpp>
#include <autoware_ad_api_specs/routing.hpp>

#include <autoware_auto_system_msgs/msg/autoware_state.hpp>
#include <autoware_system_msgs/msg/autoware_state.hpp>
#include <std_srvs/srv/trigger.hpp>
#include <tier4_system_msgs/msg/mode_change_available.hpp>

Expand All @@ -44,7 +44,7 @@ class AutowareStateNode : public rclcpp::Node
Sub<autoware_ad_api::routing::RouteState> sub_routing_;
Sub<autoware_ad_api::operation_mode::OperationModeState> sub_operation_mode_;

using AutowareState = autoware_auto_system_msgs::msg::AutowareState;
using AutowareState = autoware_system_msgs::msg::AutowareState;
using LocalizationState = autoware_ad_api::localization::InitializationState::Message;
using RoutingState = autoware_ad_api::routing::RouteState::Message;
using OperationModeState = autoware_ad_api::operation_mode::OperationModeState::Message;
Expand Down
2 changes: 1 addition & 1 deletion system/default_ad_api/src/perception.cpp
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Expand Up @@ -24,7 +24,7 @@ using ObjectClassification = autoware_adapi_v1_msgs::msg::ObjectClassification;
using DynamicObject = autoware_adapi_v1_msgs::msg::DynamicObject;
using DynamicObjectPath = autoware_adapi_v1_msgs::msg::DynamicObjectPath;
using API_Shape = shape_msgs::msg::SolidPrimitive;
using Shape = autoware_auto_perception_msgs::msg::Shape;
using Shape = autoware_perception_msgs::msg::Shape;

std::unordered_map<uint8_t, uint8_t> shape_type_ = {
{Shape::BOUNDING_BOX, API_Shape::BOX},
Expand Down
2 changes: 1 addition & 1 deletion system/default_ad_api/src/perception.hpp
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Expand Up @@ -22,7 +22,7 @@
#include <autoware_adapi_v1_msgs/msg/dynamic_object.hpp>
#include <autoware_adapi_v1_msgs/msg/dynamic_object_path.hpp>
#include <autoware_adapi_v1_msgs/msg/object_classification.hpp>
#include <autoware_auto_perception_msgs/msg/shape.hpp>
#include <autoware_perception_msgs/msg/shape.hpp>
#include <shape_msgs/msg/solid_primitive.hpp>

#include <unordered_map>
Expand Down
30 changes: 15 additions & 15 deletions system/emergency_handler/README.md
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Expand Up @@ -14,24 +14,24 @@ Emergency Handler is a node to select proper MRM from from system failure state

### Input

| Name | Type | Description |
| ----------------------------------------- | ---------------------------------------------------------- | ----------------------------------------------------------------------------- |
| `/system/emergency/hazard_status` | `autoware_auto_system_msgs::msg::HazardStatusStamped` | Used to select proper MRM from system failure state contained in HazardStatus |
| `/control/vehicle_cmd` | `autoware_auto_control_msgs::msg::AckermannControlCommand` | Used as reference when generate Emergency Control Command |
| `/localization/kinematic_state` | `nav_msgs::msg::Odometry` | Used to decide whether vehicle is stopped or not |
| `/vehicle/status/control_mode` | `autoware_auto_vehicle_msgs::msg::ControlModeReport` | Used to check vehicle mode: autonomous or manual |
| `/system/api/mrm/comfortable_stop/status` | `tier4_system_msgs::msg::MrmBehaviorStatus` | Used to check if MRM comfortable stop operation is available |
| `/system/api/mrm/emergency_stop/status` | `tier4_system_msgs::msg::MrmBehaviorStatus` | Used to check if MRM emergency stop operation is available |
| Name | Type | Description |
| ----------------------------------------- | ------------------------------------------------ | ----------------------------------------------------------------------------- |
| `/system/emergency/hazard_status` | `autoware_system_msgs::msg::HazardStatusStamped` | Used to select proper MRM from system failure state contained in HazardStatus |
| `/control/vehicle_cmd` | `autoware_control_msgs::msg::Control` | Used as reference when generate Emergency Control Command |
| `/localization/kinematic_state` | `nav_msgs::msg::Odometry` | Used to decide whether vehicle is stopped or not |
| `/vehicle/status/control_mode` | `autoware_vehicle_msgs::msg::ControlModeReport` | Used to check vehicle mode: autonomous or manual |
| `/system/api/mrm/comfortable_stop/status` | `tier4_system_msgs::msg::MrmBehaviorStatus` | Used to check if MRM comfortable stop operation is available |
| `/system/api/mrm/emergency_stop/status` | `tier4_system_msgs::msg::MrmBehaviorStatus` | Used to check if MRM emergency stop operation is available |

### Output

| Name | Type | Description |
| ------------------------------------------ | ------------------------------------------------------ | ----------------------------------------------------- |
| `/system/emergency/shift_cmd` | `autoware_auto_vehicle_msgs::msg::GearCommand` | Required to execute proper MRM (send gear cmd) |
| `/system/emergency/hazard_cmd` | `autoware_auto_vehicle_msgs::msg::HazardLightsCommand` | Required to execute proper MRM (send turn signal cmd) |
| `/api/fail_safe/mrm_state` | `autoware_adapi_v1_msgs::msg::MrmState` | Inform MRM execution state and selected MRM behavior |
| `/system/api/mrm/comfortable_stop/operate` | `tier4_system_msgs::srv::OperateMrm` | Execution order for MRM comfortable stop |
| `/system/api/mrm/emergency_stop/operate` | `tier4_system_msgs::srv::OperateMrm` | Execution order for MRM emergency stop |
| Name | Type | Description |
| ------------------------------------------ | ------------------------------------------------- | ----------------------------------------------------- |
| `/system/emergency/shift_cmd` | `autoware_vehicle_msgs::msg::GearCommand` | Required to execute proper MRM (send gear cmd) |
| `/system/emergency/hazard_cmd` | `autoware_vehicle_msgs::msg::HazardLightsCommand` | Required to execute proper MRM (send turn signal cmd) |
| `/api/fail_safe/mrm_state` | `autoware_adapi_v1_msgs::msg::MrmState` | Inform MRM execution state and selected MRM behavior |
| `/system/api/mrm/comfortable_stop/operate` | `tier4_system_msgs::srv::OperateMrm` | Execution order for MRM comfortable stop |
| `/system/api/mrm/emergency_stop/operate` | `tier4_system_msgs::srv::OperateMrm` | Execution order for MRM emergency stop |

## Parameters

Expand Down
43 changes: 19 additions & 24 deletions system/emergency_handler/include/emergency_handler/emergency_handler_core.hpp
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Expand Up @@ -21,11 +21,11 @@

// Autoware
#include <autoware_adapi_v1_msgs/msg/mrm_state.hpp>
#include <autoware_auto_control_msgs/msg/ackermann_control_command.hpp>
#include <autoware_auto_system_msgs/msg/hazard_status_stamped.hpp>
#include <autoware_auto_vehicle_msgs/msg/control_mode_report.hpp>
#include <autoware_auto_vehicle_msgs/msg/gear_command.hpp>
#include <autoware_auto_vehicle_msgs/msg/hazard_lights_command.hpp>
#include <autoware_control_msgs/msg/control.hpp>
#include <autoware_system_msgs/msg/hazard_status_stamped.hpp>
#include <autoware_vehicle_msgs/msg/control_mode_report.hpp>
#include <autoware_vehicle_msgs/msg/gear_command.hpp>
#include <autoware_vehicle_msgs/msg/hazard_lights_command.hpp>
#include <tier4_system_msgs/msg/mrm_behavior_status.hpp>
#include <tier4_system_msgs/srv/operate_mrm.hpp>

Expand Down Expand Up @@ -57,48 +57,43 @@ class EmergencyHandler : public rclcpp::Node

private:
// Subscribers
rclcpp::Subscription<autoware_auto_system_msgs::msg::HazardStatusStamped>::SharedPtr
rclcpp::Subscription<autoware_system_msgs::msg::HazardStatusStamped>::SharedPtr
sub_hazard_status_stamped_;
rclcpp::Subscription<autoware_auto_control_msgs::msg::AckermannControlCommand>::SharedPtr
sub_prev_control_command_;
rclcpp::Subscription<autoware_control_msgs::msg::Control>::SharedPtr sub_prev_control_command_;
rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr sub_odom_;
rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::ControlModeReport>::SharedPtr
sub_control_mode_;
rclcpp::Subscription<autoware_vehicle_msgs::msg::ControlModeReport>::SharedPtr sub_control_mode_;
rclcpp::Subscription<tier4_system_msgs::msg::MrmBehaviorStatus>::SharedPtr
sub_mrm_comfortable_stop_status_;
rclcpp::Subscription<tier4_system_msgs::msg::MrmBehaviorStatus>::SharedPtr
sub_mrm_emergency_stop_status_;

autoware_auto_system_msgs::msg::HazardStatusStamped::ConstSharedPtr hazard_status_stamped_;
autoware_auto_control_msgs::msg::AckermannControlCommand::ConstSharedPtr prev_control_command_;
autoware_system_msgs::msg::HazardStatusStamped::ConstSharedPtr hazard_status_stamped_;
autoware_control_msgs::msg::Control::ConstSharedPtr prev_control_command_;
nav_msgs::msg::Odometry::ConstSharedPtr odom_;
autoware_auto_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr control_mode_;
autoware_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr control_mode_;
tier4_system_msgs::msg::MrmBehaviorStatus::ConstSharedPtr mrm_comfortable_stop_status_;
tier4_system_msgs::msg::MrmBehaviorStatus::ConstSharedPtr mrm_emergency_stop_status_;

void onHazardStatusStamped(
const autoware_auto_system_msgs::msg::HazardStatusStamped::ConstSharedPtr msg);
void onPrevControlCommand(
const autoware_auto_control_msgs::msg::AckermannControlCommand::ConstSharedPtr msg);
const autoware_system_msgs::msg::HazardStatusStamped::ConstSharedPtr msg);
void onPrevControlCommand(const autoware_control_msgs::msg::Control::ConstSharedPtr msg);
void onOdometry(const nav_msgs::msg::Odometry::ConstSharedPtr msg);
void onControlMode(const autoware_auto_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr msg);
void onControlMode(const autoware_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr msg);
void onMrmComfortableStopStatus(
const tier4_system_msgs::msg::MrmBehaviorStatus::ConstSharedPtr msg);
void onMrmEmergencyStopStatus(
const tier4_system_msgs::msg::MrmBehaviorStatus::ConstSharedPtr msg);

// Publisher
rclcpp::Publisher<autoware_auto_control_msgs::msg::AckermannControlCommand>::SharedPtr
pub_control_command_;
rclcpp::Publisher<autoware_control_msgs::msg::Control>::SharedPtr pub_control_command_;

// rclcpp::Publisher<tier4_vehicle_msgs::msg::ShiftStamped>::SharedPtr pub_shift_;
// rclcpp::Publisher<tier4_vehicle_msgs::msg::TurnSignal>::SharedPtr pub_turn_signal_;
rclcpp::Publisher<autoware_auto_vehicle_msgs::msg::HazardLightsCommand>::SharedPtr
pub_hazard_cmd_;
rclcpp::Publisher<autoware_auto_vehicle_msgs::msg::GearCommand>::SharedPtr pub_gear_cmd_;
rclcpp::Publisher<autoware_vehicle_msgs::msg::HazardLightsCommand>::SharedPtr pub_hazard_cmd_;
rclcpp::Publisher<autoware_vehicle_msgs::msg::GearCommand>::SharedPtr pub_gear_cmd_;

autoware_auto_vehicle_msgs::msg::HazardLightsCommand createHazardCmdMsg();
autoware_auto_vehicle_msgs::msg::GearCommand createGearCmdMsg();
autoware_vehicle_msgs::msg::HazardLightsCommand createHazardCmdMsg();
autoware_vehicle_msgs::msg::GearCommand createGearCmdMsg();
void publishControlCommands();

rclcpp::Publisher<autoware_adapi_v1_msgs::msg::MrmState>::SharedPtr pub_mrm_state_;
Expand Down
6 changes: 3 additions & 3 deletions system/emergency_handler/package.xml
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Expand Up @@ -13,9 +13,9 @@
<buildtool_depend>autoware_cmake</buildtool_depend>

<depend>autoware_adapi_v1_msgs</depend>
<depend>autoware_auto_control_msgs</depend>
<depend>autoware_auto_system_msgs</depend>
<depend>autoware_auto_vehicle_msgs</depend>
<depend>autoware_control_msgs</depend>
<depend>autoware_system_msgs</depend>
<depend>autoware_vehicle_msgs</depend>
<depend>nav_msgs</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
Expand Down
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