Merge branch 'main' into feat/use_takeData_in_external_cmd_converter

N-Eiki · Jun 5, 2024 · 2547e14 · 2547e14
2 parents 6eee396 + 10a83d9
commit 2547e14
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diff --git a/build_depends.repos b/build_depends.repos
@@ -20,10 +20,6 @@ repositories:
     type: git
     url: https://github.com/autowarefoundation/autoware_internal_msgs.git
     version: main
-  core/external/autoware_auto_msgs:
-    type: git
-    url: https://github.com/tier4/autoware_auto_msgs.git
-    version: tier4/main
   # universe
   universe/external/tier4_autoware_msgs:
     type: git

diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CMakeLists.txt b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CMakeLists.txt
@@ -68,7 +68,7 @@ pluginlib_export_plugin_description_file(rviz_common plugins_description.xml)
 ament_target_dependencies(${PROJECT_NAME} PUBLIC
   rviz_common
   rviz_rendering
-  autoware_auto_vehicle_msgs
+  autoware_vehicle_msgs
   tier4_planning_msgs
   autoware_perception_msgs
 )

diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/README.md b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/README.md
@@ -15,13 +15,13 @@ This plugin provides a visual and easy-to-understand display of vehicle speed, t
 
 | Name                                                    | Type                                                    | Description                          |
 | ------------------------------------------------------- | ------------------------------------------------------- | ------------------------------------ |
-| `/vehicle/status/velocity_status`                       | `autoware_auto_vehicle_msgs::msg::VelocityReport`       | The topic is vehicle velocity        |
-| `/vehicle/status/turn_indicators_status`                | `autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport` | The topic is status of turn signal   |
-| `/vehicle/status/hazard_status`                         | `autoware_auto_vehicle_msgs::msg::HazardReport`         | The topic is status of hazard        |
-| `/vehicle/status/steering_status`                       | `autoware_auto_vehicle_msgs::msg::SteeringReport`       | The topic is status of steering      |
-| `/vehicle/status/gear_status`                           | `autoware_auto_vehicle_msgs::msg::GearReport`           | The topic is status of gear          |
+| `/vehicle/status/velocity_status`                       | `autoware_vehicle_msgs::msg::VelocityReport`            | The topic is vehicle velocity        |
+| `/vehicle/status/turn_indicators_status`                | `autoware_vehicle_msgs::msg::TurnIndicatorsReport`      | The topic is status of turn signal   |
+| `/vehicle/status/hazard_status`                         | `autoware_vehicle_msgs::msg::HazardReport`              | The topic is status of hazard        |
+| `/vehicle/status/steering_status`                       | `autoware_vehicle_msgs::msg::SteeringReport`            | The topic is status of steering      |
+| `/vehicle/status/gear_status`                           | `autoware_vehicle_msgs::msg::GearReport`                | The topic is status of gear          |
 | `/planning/scenario_planning/current_max_velocity`      | `tier4_planning_msgs::msg::VelocityLimit`               | The topic is velocity limit          |
-| `/perception/traffic_light_recognition/traffic_signals` | `autoware_perception_msgs::msg::TrafficSignalArray`     | The topic is status of traffic light |
+| `/perception/traffic_light_recognition/traffic_signals` | `autoware_perception_msgs::msg::TrafficLightGroupArray` | The topic is status of traffic light |
 
 ## Parameter
 

diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/gear_display.hpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/gear_display.hpp
@@ -23,7 +23,7 @@
 #include <rviz_common/properties/int_property.hpp>
 #include <rviz_common/ros_topic_display.hpp>
 
-#include "autoware_auto_vehicle_msgs/msg/gear_report.hpp"
+#include "autoware_vehicle_msgs/msg/gear_report.hpp"
 
 #include <OgreColourValue.h>
 #include <OgreMaterial.h>
@@ -37,7 +37,7 @@ class GearDisplay
 public:
   GearDisplay();
   void drawGearIndicator(QPainter & painter, const QRectF & backgroundRect);
-  void updateGearData(const autoware_auto_vehicle_msgs::msg::GearReport::ConstSharedPtr & msg);
+  void updateGearData(const autoware_vehicle_msgs::msg::GearReport::ConstSharedPtr & msg);
 
 private:
   int current_gear_;  // Internal variable to store current gear

diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp
@@ -95,29 +95,29 @@ private Q_SLOTS:
   std::unique_ptr<TrafficDisplay> traffic_display_;
   std::unique_ptr<SpeedLimitDisplay> speed_limit_display_;
 
-  rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::GearReport>::SharedPtr gear_sub_;
-  rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::SteeringReport>::SharedPtr steering_sub_;
-  rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::VelocityReport>::SharedPtr speed_sub_;
-  rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport>::SharedPtr
+  rclcpp::Subscription<autoware_vehicle_msgs::msg::GearReport>::SharedPtr gear_sub_;
+  rclcpp::Subscription<autoware_vehicle_msgs::msg::SteeringReport>::SharedPtr steering_sub_;
+  rclcpp::Subscription<autoware_vehicle_msgs::msg::VelocityReport>::SharedPtr speed_sub_;
+  rclcpp::Subscription<autoware_vehicle_msgs::msg::TurnIndicatorsReport>::SharedPtr
     turn_signals_sub_;
-  rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::HazardLightsReport>::SharedPtr
+  rclcpp::Subscription<autoware_vehicle_msgs::msg::HazardLightsReport>::SharedPtr
     hazard_lights_sub_;
-  rclcpp::Subscription<autoware_perception_msgs::msg::TrafficSignal>::SharedPtr traffic_sub_;
+  rclcpp::Subscription<autoware_perception_msgs::msg::TrafficLightGroupArray>::SharedPtr
+    traffic_sub_;
   rclcpp::Subscription<tier4_planning_msgs::msg::VelocityLimit>::SharedPtr speed_limit_sub_;
 
   std::mutex property_mutex_;
 
-  void updateGearData(const autoware_auto_vehicle_msgs::msg::GearReport::ConstSharedPtr & msg);
-  void updateSteeringData(
-    const autoware_auto_vehicle_msgs::msg::SteeringReport::ConstSharedPtr & msg);
-  void updateSpeedData(const autoware_auto_vehicle_msgs::msg::VelocityReport::ConstSharedPtr & msg);
+  void updateGearData(const autoware_vehicle_msgs::msg::GearReport::ConstSharedPtr & msg);
+  void updateSteeringData(const autoware_vehicle_msgs::msg::SteeringReport::ConstSharedPtr & msg);
+  void updateSpeedData(const autoware_vehicle_msgs::msg::VelocityReport::ConstSharedPtr & msg);
   void updateTurnSignalsData(
-    const autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport::ConstSharedPtr & msg);
+    const autoware_vehicle_msgs::msg::TurnIndicatorsReport::ConstSharedPtr & msg);
   void updateHazardLightsData(
-    const autoware_auto_vehicle_msgs::msg::HazardLightsReport::ConstSharedPtr & msg);
+    const autoware_vehicle_msgs::msg::HazardLightsReport::ConstSharedPtr & msg);
   void updateSpeedLimitData(const tier4_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg);
   void updateTrafficLightData(
-    const autoware_perception_msgs::msg::TrafficSignal::ConstSharedPtr msg);
+    const autoware_perception_msgs::msg::TrafficLightGroupArray::ConstSharedPtr msg);
   void drawWidget(QImage & hud);
 };
 }  // namespace autoware_overlay_rviz_plugin

diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_display.hpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_display.hpp
@@ -23,7 +23,7 @@
 #include <rviz_common/properties/int_property.hpp>
 #include <rviz_common/ros_topic_display.hpp>
 
-#include "autoware_auto_vehicle_msgs/msg/velocity_report.hpp"
+#include "autoware_vehicle_msgs/msg/velocity_report.hpp"
 
 #include <OgreColourValue.h>
 #include <OgreMaterial.h>
@@ -37,7 +37,7 @@ class SpeedDisplay
 public:
   SpeedDisplay();
   void drawSpeedDisplay(QPainter & painter, const QRectF & backgroundRect);
-  void updateSpeedData(const autoware_auto_vehicle_msgs::msg::VelocityReport::ConstSharedPtr & msg);
+  void updateSpeedData(const autoware_vehicle_msgs::msg::VelocityReport::ConstSharedPtr & msg);
 
 private:
   float current_speed_;  // Internal variable to store current speed

diff --git a/...autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_limit_display.hpp b/...autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_limit_display.hpp
@@ -23,7 +23,7 @@
 #include <rviz_common/properties/int_property.hpp>
 #include <rviz_common/ros_topic_display.hpp>
 
-#include "autoware_auto_vehicle_msgs/msg/velocity_report.hpp"
+#include "autoware_vehicle_msgs/msg/velocity_report.hpp"
 #include <tier4_planning_msgs/msg/velocity_limit.hpp>
 
 #include <OgreColourValue.h>
@@ -39,7 +39,7 @@ class SpeedLimitDisplay
   SpeedLimitDisplay();
   void drawSpeedLimitIndicator(QPainter & painter, const QRectF & backgroundRect);
   void updateSpeedLimitData(const tier4_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg);
-  void updateSpeedData(const autoware_auto_vehicle_msgs::msg::VelocityReport::ConstSharedPtr & msg);
+  void updateSpeedData(const autoware_vehicle_msgs::msg::VelocityReport::ConstSharedPtr & msg);
 
 private:
   float current_limit;   // Internal variable to store current gear

diff --git a/...oware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/steering_wheel_display.hpp b/...oware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/steering_wheel_display.hpp
@@ -23,7 +23,7 @@
 #include <rviz_common/properties/int_property.hpp>
 #include <rviz_common/ros_topic_display.hpp>
 
-#include "autoware_auto_vehicle_msgs/msg/steering_report.hpp"
+#include "autoware_vehicle_msgs/msg/steering_report.hpp"
 
 #include <OgreColourValue.h>
 #include <OgreMaterial.h>
@@ -37,8 +37,7 @@ class SteeringWheelDisplay
 public:
   SteeringWheelDisplay();
   void drawSteeringWheel(QPainter & painter, const QRectF & backgroundRect);
-  void updateSteeringData(
-    const autoware_auto_vehicle_msgs::msg::SteeringReport::ConstSharedPtr & msg);
+  void updateSteeringData(const autoware_vehicle_msgs::msg::SteeringReport::ConstSharedPtr & msg);
 
 private:
   float steering_angle_ = 0.0f;

diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/traffic_display.hpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/traffic_display.hpp
@@ -23,8 +23,9 @@
 #include <rviz_common/properties/int_property.hpp>
 #include <rviz_common/ros_topic_display.hpp>
 
-#include <autoware_perception_msgs/msg/traffic_signal.hpp>
-#include <autoware_perception_msgs/msg/traffic_signal_element.hpp>
+#include <autoware_perception_msgs/msg/traffic_light_element.hpp>
+#include <autoware_perception_msgs/msg/traffic_light_group.hpp>
+#include <autoware_perception_msgs/msg/traffic_light_group_array.hpp>
 
 #include <OgreColourValue.h>
 #include <OgreMaterial.h>
@@ -39,8 +40,8 @@ class TrafficDisplay
   TrafficDisplay();
   void drawTrafficLightIndicator(QPainter & painter, const QRectF & backgroundRect);
   void updateTrafficLightData(
-    const autoware_perception_msgs::msg::TrafficSignal::ConstSharedPtr & msg);
-  autoware_perception_msgs::msg::TrafficSignal current_traffic_;
+    const autoware_perception_msgs::msg::TrafficLightGroupArray::ConstSharedPtr & msg);
+  autoware_perception_msgs::msg::TrafficLightGroupArray current_traffic_;
 
 private:
   QImage traffic_light_image_;

diff --git a/...utoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/turn_signals_display.hpp b/...utoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/turn_signals_display.hpp
@@ -23,8 +23,8 @@
 #include <rviz_common/properties/int_property.hpp>
 #include <rviz_common/ros_topic_display.hpp>
 
-#include <autoware_auto_vehicle_msgs/msg/hazard_lights_report.hpp>
-#include <autoware_auto_vehicle_msgs/msg/turn_indicators_report.hpp>
+#include <autoware_vehicle_msgs/msg/hazard_lights_report.hpp>
+#include <autoware_vehicle_msgs/msg/turn_indicators_report.hpp>
 
 #include <OgreColourValue.h>
 #include <OgreMaterial.h>
@@ -41,9 +41,9 @@ class TurnSignalsDisplay
   TurnSignalsDisplay();
   void drawArrows(QPainter & painter, const QRectF & backgroundRect, const QColor & color);
   void updateTurnSignalsData(
-    const autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport::ConstSharedPtr & msg);
+    const autoware_vehicle_msgs::msg::TurnIndicatorsReport::ConstSharedPtr & msg);
   void updateHazardLightsData(
-    const autoware_auto_vehicle_msgs::msg::HazardLightsReport::ConstSharedPtr & msg);
+    const autoware_vehicle_msgs::msg::HazardLightsReport::ConstSharedPtr & msg);
 
 private:
   QImage arrowImage;

diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml
@@ -11,8 +11,8 @@
 
   <license>BSD-3-Clause</license>
 
-  <depend>autoware_auto_vehicle_msgs</depend>
   <depend>autoware_perception_msgs</depend>
+  <depend>autoware_vehicle_msgs</depend>
   <depend>boost</depend>
   <depend>rviz_common</depend>
   <depend>rviz_ogre_vendor</depend>

diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/gear_display.cpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/gear_display.cpp
@@ -49,8 +49,7 @@ GearDisplay::GearDisplay() : current_gear_(0)
   }
 }
 
-void GearDisplay::updateGearData(
-  const autoware_auto_vehicle_msgs::msg::GearReport::ConstSharedPtr & msg)
+void GearDisplay::updateGearData(const autoware_vehicle_msgs::msg::GearReport::ConstSharedPtr & msg)
 {
   current_gear_ = msg->report;  // Assuming msg->report contains the gear information
 }
@@ -60,19 +59,19 @@ void GearDisplay::drawGearIndicator(QPainter & painter, const QRectF & backgroun
   // we deal with the different gears here
   std::string gearString;
   switch (current_gear_) {
-    case autoware_auto_vehicle_msgs::msg::GearReport::NEUTRAL:
+    case autoware_vehicle_msgs::msg::GearReport::NEUTRAL:
       gearString = "N";
       break;
-    case autoware_auto_vehicle_msgs::msg::GearReport::LOW:
-    case autoware_auto_vehicle_msgs::msg::GearReport::LOW_2:
+    case autoware_vehicle_msgs::msg::GearReport::LOW:
+    case autoware_vehicle_msgs::msg::GearReport::LOW_2:
       gearString = "L";
       break;
-    case autoware_auto_vehicle_msgs::msg::GearReport::NONE:
-    case autoware_auto_vehicle_msgs::msg::GearReport::PARK:
+    case autoware_vehicle_msgs::msg::GearReport::NONE:
+    case autoware_vehicle_msgs::msg::GearReport::PARK:
       gearString = "P";
       break;
-    case autoware_auto_vehicle_msgs::msg::GearReport::REVERSE:
-    case autoware_auto_vehicle_msgs::msg::GearReport::REVERSE_2:
+    case autoware_vehicle_msgs::msg::GearReport::REVERSE:
+    case autoware_vehicle_msgs::msg::GearReport::REVERSE_2:
       gearString = "R";
       break;
     // all the drive gears from DRIVE to DRIVE_16