feat!: replace autoware_auto_msgs with autoware_msgs

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>
autowarefoundation · Apr 25, 2024 · c013e83 · c013e83
1 parent 425e122
commit c013e83
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Showing 30 changed files with 106 additions and 122 deletions.
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/autoware.universe:
     type: git

diff --git a/common/tier4_debug_tools/include/tier4_debug_tools/lateral_error_publisher.hpp b/common/tier4_debug_tools/include/tier4_debug_tools/lateral_error_publisher.hpp
@@ -22,7 +22,7 @@
 #include <motion_utils/trajectory/trajectory.hpp>
 #include <rclcpp/rclcpp.hpp>
 
-#include <autoware_auto_planning_msgs/msg/trajectory.hpp>
+#include <autoware_planning_msgs/msg/trajectory.hpp>
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
 #include <tier4_debug_msgs/msg/float32_stamped.hpp>
 
@@ -36,15 +36,15 @@ class LateralErrorPublisher : public rclcpp::Node
   double yaw_threshold_to_search_closest_;
 
   /* States */
-  autoware_auto_planning_msgs::msg::Trajectory::SharedPtr
+  autoware_planning_msgs::msg::Trajectory::SharedPtr
     current_trajectory_ptr_;  //!< @brief reference trajectory
   geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr
     current_vehicle_pose_ptr_;  //!< @brief current EKF pose
   geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr
     current_ground_truth_pose_ptr_;  //!< @brief current GNSS pose
 
   /* Publishers and Subscribers */
-  rclcpp::Subscription<autoware_auto_planning_msgs::msg::Trajectory>::SharedPtr
+  rclcpp::Subscription<autoware_planning_msgs::msg::Trajectory>::SharedPtr
     sub_trajectory_;  //!< @brief subscription for reference trajectory
   rclcpp::Subscription<geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr
     sub_vehicle_pose_;  //!< @brief subscription for vehicle pose
@@ -60,7 +60,7 @@ class LateralErrorPublisher : public rclcpp::Node
   /**
    * @brief set current_trajectory_ with received message
    */
-  void onTrajectory(const autoware_auto_planning_msgs::msg::Trajectory::SharedPtr);
+  void onTrajectory(const autoware_planning_msgs::msg::Trajectory::SharedPtr);
   /**
    * @brief set current_vehicle_pose_ with received message
    */

diff --git a/common/tier4_debug_tools/package.xml b/common/tier4_debug_tools/package.xml
@@ -10,7 +10,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>autoware_auto_planning_msgs</depend>
+  <depend>autoware_planning_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>motion_utils</depend>
   <depend>rclcpp</depend>

diff --git a/common/tier4_debug_tools/src/lateral_error_publisher.cpp b/common/tier4_debug_tools/src/lateral_error_publisher.cpp
@@ -26,7 +26,7 @@ LateralErrorPublisher::LateralErrorPublisher(const rclcpp::NodeOptions & node_op
     declare_parameter("yaw_threshold_to_search_closest", M_PI / 4.0);
 
   /* Publishers and Subscribers */
-  sub_trajectory_ = create_subscription<autoware_auto_planning_msgs::msg::Trajectory>(
+  sub_trajectory_ = create_subscription<autoware_planning_msgs::msg::Trajectory>(
     "~/input/reference_trajectory", rclcpp::QoS{1},
     std::bind(&LateralErrorPublisher::onTrajectory, this, _1));
   sub_vehicle_pose_ = create_subscription<geometry_msgs::msg::PoseWithCovarianceStamped>(
@@ -44,7 +44,7 @@ LateralErrorPublisher::LateralErrorPublisher(const rclcpp::NodeOptions & node_op
 }
 
 void LateralErrorPublisher::onTrajectory(
-  const autoware_auto_planning_msgs::msg::Trajectory::SharedPtr msg)
+  const autoware_planning_msgs::msg::Trajectory::SharedPtr msg)
 {
   current_trajectory_ptr_ = msg;
 }

diff --git a/driving_environment_analyzer/include/driving_environment_analyzer/node.hpp b/driving_environment_analyzer/include/driving_environment_analyzer/node.hpp
@@ -20,8 +20,8 @@
 
 #include <route_handler/route_handler.hpp>
 
-#include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
-#include <autoware_auto_perception_msgs/msg/predicted_objects.hpp>
+#include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
+#include <autoware_perception_msgs/msg/predicted_objects.hpp>
 #include <autoware_planning_msgs/msg/lanelet_route.hpp>
 #include <geometry_msgs/msg/accel_with_covariance_stamped.hpp>
 #include <nav_msgs/msg/occupancy_grid.hpp>
@@ -36,9 +36,9 @@
 
 namespace driving_environment_analyzer
 {
-using autoware_auto_mapping_msgs::msg::HADMapBin;
-using autoware_auto_perception_msgs::msg::PredictedObject;
-using autoware_auto_perception_msgs::msg::PredictedObjects;
+using autoware_map_msgs::msg::LaneletMapBin;
+using autoware_perception_msgs::msg::PredictedObject;
+using autoware_perception_msgs::msg::PredictedObjects;
 using autoware_planning_msgs::msg::LaneletRoute;
 using geometry_msgs::msg::AccelWithCovarianceStamped;
 using nav_msgs::msg::Odometry;
@@ -50,7 +50,7 @@ class DrivingEnvironmentAnalyzer : public rclcpp::Node
 
 private:
   bool isDataReady(const bool use_map_in_bag);
-  void onMap(const HADMapBin::ConstSharedPtr map_msg);
+  void onMap(const LaneletMapBin::ConstSharedPtr map_msg);
   void analyze();
 
   bool has_map_data_{false};
@@ -59,7 +59,7 @@ class DrivingEnvironmentAnalyzer : public rclcpp::Node
 
   route_handler::RouteHandler route_handler_;
   LaneletRoute::ConstSharedPtr route_ptr_{nullptr};
-  rclcpp::Subscription<HADMapBin>::SharedPtr sub_map_;
+  rclcpp::Subscription<LaneletMapBin>::SharedPtr sub_map_;
   rclcpp::TimerBase::SharedPtr timer_;
   rosbag2_cpp::Reader reader_;
 };

diff --git a/driving_environment_analyzer/package.xml b/driving_environment_analyzer/package.xml
@@ -15,11 +15,10 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_adapi_v1_msgs</depend>
-  <depend>autoware_auto_perception_msgs</depend>
-  <depend>autoware_auto_planning_msgs</depend>
   <depend>autoware_auto_tf2</depend>
-  <depend>autoware_auto_vehicle_msgs</depend>
   <depend>autoware_perception_msgs</depend>
+  <depend>autoware_planning_msgs</depend>
+  <depend>autoware_vehicle_msgs</depend>
   <depend>behavior_path_planner_common</depend>
   <depend>geometry_msgs</depend>
   <depend>interpolation</depend>

diff --git a/driving_environment_analyzer/src/node.cpp b/driving_environment_analyzer/src/node.cpp
@@ -275,7 +275,7 @@ DrivingEnvironmentAnalyzer::DrivingEnvironmentAnalyzer(const rclcpp::NodeOptions
   timer_ = rclcpp::create_timer(
     this, get_clock(), 100ms, std::bind(&DrivingEnvironmentAnalyzer::analyze, this));
 
-  sub_map_ = create_subscription<HADMapBin>(
+  sub_map_ = create_subscription<LaneletMapBin>(
     "input/lanelet2_map", rclcpp::QoS{1}.transient_local(),
     std::bind(&DrivingEnvironmentAnalyzer::onMap, this, _1));
 
@@ -292,7 +292,7 @@ bool DrivingEnvironmentAnalyzer::isDataReady(const bool use_map_in_bag)
   const std::string topic_map = "/map/vector_map";
 
   rclcpp::Serialization<LaneletRoute> serializer_route;
-  rclcpp::Serialization<HADMapBin> serializer_map;
+  rclcpp::Serialization<LaneletMapBin> serializer_map;
 
   rosbag2_storage::StorageFilter filter;
   filter.topics.emplace_back(topic_route);
@@ -311,7 +311,7 @@ bool DrivingEnvironmentAnalyzer::isDataReady(const bool use_map_in_bag)
 
     if (data->topic_name == topic_map) {
       rclcpp::SerializedMessage serialized_msg(*data->serialized_data);
-      const auto deserialized_message = std::make_shared<HADMapBin>();
+      const auto deserialized_message = std::make_shared<LaneletMapBin>();
       serializer_route.deserialize_message(&serialized_msg, deserialized_message.get());
       route_handler_.setMap(*deserialized_message);
       has_map_data_ = true;
@@ -331,7 +331,7 @@ bool DrivingEnvironmentAnalyzer::isDataReady(const bool use_map_in_bag)
   return true;
 }
 
-void DrivingEnvironmentAnalyzer::onMap(const HADMapBin::ConstSharedPtr msg)
+void DrivingEnvironmentAnalyzer::onMap(const LaneletMapBin::ConstSharedPtr msg)
 {
   route_handler_.setMap(*msg);
   has_map_data_ = true;

diff --git a/planning/planning_debug_tools/include/planning_debug_tools/trajectory_analyzer.hpp b/planning/planning_debug_tools/include/planning_debug_tools/trajectory_analyzer.hpp
@@ -21,11 +21,11 @@
 #include "rclcpp/rclcpp.hpp"
 #include "tier4_autoware_utils/geometry/geometry.hpp"
 
-#include "autoware_auto_planning_msgs/msg/path.hpp"
-#include "autoware_auto_planning_msgs/msg/path_with_lane_id.hpp"
-#include "autoware_auto_planning_msgs/msg/trajectory.hpp"
+#include "autoware_planning_msgs/msg/path.hpp"
+#include "autoware_planning_msgs/msg/trajectory.hpp"
 #include "nav_msgs/msg/odometry.hpp"
 #include "tier4_debug_msgs/msg/float64_multi_array_stamped.hpp"
+#include "tier4_planning_msgs/msg/path_with_lane_id.hpp"
 
 #include <iostream>
 #include <map>
@@ -35,11 +35,11 @@
 
 namespace planning_debug_tools
 {
-using autoware_auto_planning_msgs::msg::Path;
-using autoware_auto_planning_msgs::msg::PathWithLaneId;
-using autoware_auto_planning_msgs::msg::Trajectory;
+using autoware_planning_msgs::msg::Path;
+using autoware_planning_msgs::msg::Trajectory;
 using nav_msgs::msg::Odometry;
 using planning_debug_tools::msg::TrajectoryDebugInfo;
+using tier4_planning_msgs::msg::PathWithLaneId;
 
 template <typename T>
 class TrajectoryAnalyzer

diff --git a/planning/planning_debug_tools/include/planning_debug_tools/util.hpp b/planning/planning_debug_tools/include/planning_debug_tools/util.hpp
@@ -19,21 +19,21 @@
 #include "rclcpp/rclcpp.hpp"
 #include "tier4_autoware_utils/geometry/geometry.hpp"
 
-#include "autoware_auto_planning_msgs/msg/path.hpp"
-#include "autoware_auto_planning_msgs/msg/path_with_lane_id.hpp"
-#include "autoware_auto_planning_msgs/msg/trajectory.hpp"
+#include "autoware_planning_msgs/msg/path.hpp"
+#include "autoware_planning_msgs/msg/trajectory.hpp"
+#include "tier4_planning_msgs/msg/path_with_lane_id.hpp"
 
 #include <vector>
 
 namespace planning_debug_tools
 {
 
-using autoware_auto_planning_msgs::msg::PathPoint;
-using autoware_auto_planning_msgs::msg::PathPointWithLaneId;
-using autoware_auto_planning_msgs::msg::TrajectoryPoint;
+using autoware_planning_msgs::msg::PathPoint;
+using autoware_planning_msgs::msg::TrajectoryPoint;
 using tier4_autoware_utils::calcDistance2d;
 using tier4_autoware_utils::getPoint;
 using tier4_autoware_utils::getRPY;
+using tier4_planning_msgs::msg::PathPointWithLaneId;
 
 double getVelocity(const PathPoint & p)
 {

diff --git a/planning/planning_debug_tools/package.xml b/planning/planning_debug_tools/package.xml
@@ -17,7 +17,7 @@
 
   <build_depend>rosidl_default_generators</build_depend>
 
-  <depend>autoware_auto_planning_msgs</depend>
+  <depend>autoware_planning_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>motion_utils</depend>
   <depend>nav_msgs</depend>

diff --git a/planning/planning_debug_tools/scripts/closest_velocity_checker.py b/planning/planning_debug_tools/scripts/closest_velocity_checker.py
@@ -16,12 +16,12 @@
 
 import time
 
-from autoware_auto_control_msgs.msg import AckermannControlCommand
-from autoware_auto_planning_msgs.msg import Path
-from autoware_auto_planning_msgs.msg import PathWithLaneId
-from autoware_auto_planning_msgs.msg import Trajectory
-from autoware_auto_vehicle_msgs.msg import Engage
-from autoware_auto_vehicle_msgs.msg import VelocityReport
+from autoware_control_msgs.msg import Control
+from autoware_planning_msgs.msg import Path
+from tier4_planning_msgs.msg import PathWithLaneId
+from autoware_planning_msgs.msg import Trajectory
+from autoware_vehicle_msgs.msg import Engage
+from autoware_vehicle_msgs.msg import VelocityReport
 from geometry_msgs.msg import Pose
 from nav_msgs.msg import Odometry
 import numpy as np

diff --git a/planning/planning_debug_tools/scripts/perception_replayer/perception_replayer_common.py b/planning/planning_debug_tools/scripts/perception_replayer/perception_replayer_common.py
@@ -19,11 +19,10 @@
 from subprocess import check_output
 import time
 
-from autoware_auto_perception_msgs.msg import DetectedObjects
-from autoware_auto_perception_msgs.msg import PredictedObjects
-from autoware_auto_perception_msgs.msg import TrackedObjects
-from autoware_auto_perception_msgs.msg import TrafficSignalArray as AutoTrafficSignalArray
-from autoware_perception_msgs.msg import TrafficSignalArray
+from autoware_perception_msgs.msg import DetectedObjects
+from autoware_perception_msgs.msg import PredictedObjects
+from autoware_perception_msgs.msg import TrackedObjects
+from autoware_perception_msgs.msg import TrafficLightGroupArray
 from geometry_msgs.msg import PoseStamped
 from geometry_msgs.msg import PoseWithCovarianceStamped
 from nav_msgs.msg import Odometry
@@ -45,7 +44,6 @@ def __init__(self, args, name):
         self.rosbag_objects_data = []
         self.rosbag_ego_odom_data = []
         self.rosbag_traffic_signals_data = []
-        self.is_auto_traffic_signals = False
 
         # subscriber
         self.sub_odom = self.create_subscription(
@@ -91,15 +89,9 @@ def __init__(self, args, name):
             self.load_rosbag(args.bag)
         print("Ended loading rosbag")
 
-        # temporary support old auto msgs
-        if self.is_auto_traffic_signals:
-            self.auto_traffic_signals_pub = self.create_publisher(
-                AutoTrafficSignalArray, "/perception/traffic_light_recognition/traffic_signals", 1
-            )
-        else:
-            self.traffic_signals_pub = self.create_publisher(
-                TrafficSignalArray, "/perception/traffic_light_recognition/traffic_signals", 1
-            )
+        self.traffic_signals_pub = self.create_publisher(
+            TrafficLightGroupArray, "/perception/traffic_light_recognition/traffic_signals", 1
+        )
 
         # wait for ready to publish/subscribe
         time.sleep(1.0)
@@ -136,9 +128,6 @@ def load_rosbag(self, rosbag2_path: str):
                 self.rosbag_ego_odom_data.append((stamp, msg))
             if topic == traffic_signals_topic:
                 self.rosbag_traffic_signals_data.append((stamp, msg))
-                self.is_auto_traffic_signals = (
-                    "autoware_auto_perception_msgs" in type(msg).__module__
-                )
 
     def kill_online_perception_node(self):
         # kill node if required

diff --git a/planning/planning_debug_tools/scripts/trajectory_visualizer.py b/planning/planning_debug_tools/scripts/trajectory_visualizer.py
@@ -16,13 +16,11 @@
 
 import argparse
 
-from autoware_auto_planning_msgs.msg import Path
-from autoware_auto_planning_msgs.msg import PathPoint
-from autoware_auto_planning_msgs.msg import PathPointWithLaneId
-from autoware_auto_planning_msgs.msg import PathWithLaneId
-from autoware_auto_planning_msgs.msg import Trajectory
-from autoware_auto_planning_msgs.msg import TrajectoryPoint
-from autoware_auto_vehicle_msgs.msg import VelocityReport
+from autoware_planning_msgs.msg import Path
+from autoware_planning_msgs.msg import PathPoint
+from autoware_planning_msgs.msg import Trajectory
+from autoware_planning_msgs.msg import TrajectoryPoint
+from autoware_vehicle_msgs.msg import VelocityReport
 from geometry_msgs.msg import Pose
 from matplotlib import animation
 import matplotlib.pyplot as plt
@@ -33,6 +31,8 @@
 from rclpy.node import Node
 from tf2_ros.buffer import Buffer
 from tf2_ros.transform_listener import TransformListener
+from tier4_planning_msgs.msg import PathPointWithLaneId
+from tier4_planning_msgs.msg import PathWithLaneId
 from tier4_planning_msgs.msg import VelocityLimit
 
 parser = argparse.ArgumentParser()

diff --git a/simulator/simulator_compatibility_test/README.md b/simulator/simulator_compatibility_test/README.md
@@ -147,22 +147,22 @@ Detailed process
 
 | Name                                     | Type                                                    | Description        |
 | ---------------------------------------- | ------------------------------------------------------- | ------------------ |
-| `/vehicle/status/control_mode`           | `autoware_auto_vehicle_msgs::msg::ControlModeReport`    | for [Test Case #1] |
-| `/vehicle/status/gear_status`            | `autoware_auto_vehicle_msgs::msg::GearReport`           | for [Test Case #2] |
-| `/vehicle/status/velocity_status`        | `autoware_auto_vehicle_msgs::msg::VelocityReport`       | for [Test Case #3] |
-| `/vehicle/status/steering_status`        | `autoware_auto_vehicle_msgs::msg::SteeringReport`       | for [Test Case #4] |
-| `/vehicle/status/turn_indicators_status` | `autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport` | for [Test Case #5] |
-| `/vehicle/status/hazard_lights_status`   | `autoware_auto_vehicle_msgs::msg::HazardLightsReport`   | for [Test Case #6] |
+| `/vehicle/status/control_mode`           | `autoware_vehicle_msgs::msg::ControlModeReport`    | for [Test Case #1] |
+| `/vehicle/status/gear_status`            | `autoware_vehicle_msgs::msg::GearReport`           | for [Test Case #2] |
+| `/vehicle/status/velocity_status`        | `autoware_vehicle_msgs::msg::VelocityReport`       | for [Test Case #3] |
+| `/vehicle/status/steering_status`        | `autoware_vehicle_msgs::msg::SteeringReport`       | for [Test Case #4] |
+| `/vehicle/status/turn_indicators_status` | `autoware_vehicle_msgs::msg::TurnIndicatorsReport` | for [Test Case #5] |
+| `/vehicle/status/hazard_lights_status`   | `autoware_vehicle_msgs::msg::HazardLightsReport`   | for [Test Case #6] |
 
 ### Output
 
 | Name                                   | Type                                                 | Description            |
 | -------------------------------------- | ---------------------------------------------------- | ---------------------- |
-| `/control/command/control_mode_cmd`    | `autoware_auto_vehicle_msgs/ControlModeCommand`      | for [Test Case #1]     |
-| `/control/command/gear_cmd`            | `autoware_auto_vehicle_msgs/GearCommand`             | for [Test Case #2]     |
-| `/control/command/control_cmd`         | `autoware_auto_vehicle_msgs/AckermannControlCommand` | for [Test Case #3, #4] |
-| `/vehicle/status/steering_status`      | `autoware_auto_vehicle_msgs/TurnIndicatorsCommand`   | for [Test Case #5]     |
-| `/control/command/turn_indicators_cmd` | `autoware_auto_vehicle_msgs/HazardLightsCommand`     | for [Test Case #6]     |
+| `/control/command/control_mode_cmd`    | `autoware_vehicle_msgs/ControlModeCommand`      | for [Test Case #1]     |
+| `/control/command/gear_cmd`            | `autoware_vehicle_msgs/GearCommand`             | for [Test Case #2]     |
+| `/control/command/control_cmd`         | `autoware_vehicle_msgs/AckermannControlCommand` | for [Test Case #3, #4] |
+| `/vehicle/status/steering_status`      | `autoware_vehicle_msgs/TurnIndicatorsCommand`   | for [Test Case #5]     |
+| `/control/command/turn_indicators_cmd` | `autoware_vehicle_msgs/HazardLightsCommand`     | for [Test Case #6]     |
 
 ## Parameters
 

diff --git a/simulator/simulator_compatibility_test/package.xml b/simulator/simulator_compatibility_test/package.xml
@@ -9,14 +9,14 @@
   <maintainer email="shumpei.wakabayashi@tier4.jp">Shumpei Wakabayashi</maintainer>
   <license>TODO: License declaration</license>
 
-  <depend>autoware_auto_control_msgs</depend>
-  <depend>autoware_auto_geometry_msgs</depend>
-  <depend>autoware_auto_mapping_msgs</depend>
-  <depend>autoware_auto_msgs</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_control_msgs</depend>
+  <depend>autoware_geometry_msgs</depend>
+  <depend>autoware_map_msgs</depend>
+  <depend>autoware_msgs</depend>
+  <depend>autoware_perception_msgs</depend>
+  <depend>autoware_planning_msgs</depend>
+  <depend>autoware_system_msgs</depend>
+  <depend>autoware_vehicle_msgs</depend>
   <depend>rclpy</depend>
 
   <test_depend>ament_copyright</test_depend>