feat!: replace autoware_auto_msgs with autoware_msgs for tools (#7250)

mitsudome-r · cyn-liu · NorahXiong · KhalilSelyan · commit a369c32cb899 · 2024-07-22T17:25:39.000+03:00
Signed-off-by: Ryohsuke Mitsudome &lt;ryohsuke.mitsudome@tier4.jp&gt;
Co-authored-by: Cynthia Liu &lt;cynthia.liu@autocore.ai&gt;
Co-authored-by: NorahXiong &lt;norah.xiong@autocore.ai&gt;
Co-authored-by: beginningfan &lt;beginning.fan@autocore.ai&gt;
diff --git a/tools/reaction_analyzer/README.md b/tools/reaction_analyzer/README.md
@@ -201,21 +201,21 @@ for each of the nodes.
   - `sensor_msgs/msg/Image`
   - `geometry_msgs/msg/PoseWithCovarianceStamped`
   - `sensor_msgs/msg/Imu`
-  - `autoware_auto_vehicle_msgs/msg/ControlModeReport`
-  - `autoware_auto_vehicle_msgs/msg/GearReport`
-  - `autoware_auto_vehicle_msgs/msg/HazardLightsReport`
-  - `autoware_auto_vehicle_msgs/msg/SteeringReport`
-  - `autoware_auto_vehicle_msgs/msg/TurnIndicatorsReport`
-  - `autoware_auto_vehicle_msgs/msg/VelocityReport`
+  - `autoware_vehicle_msgs/msg/ControlModeReport`
+  - `autoware_vehicle_msgs/msg/GearReport`
+  - `autoware_vehicle_msgs/msg/HazardLightsReport`
+  - `autoware_vehicle_msgs/msg/SteeringReport`
+  - `autoware_vehicle_msgs/msg/TurnIndicatorsReport`
+  - `autoware_vehicle_msgs/msg/VelocityReport`
 
 - **Subscriber Message Types:**
 
   - `sensor_msgs/msg/PointCloud2`
-  - `autoware_auto_perception_msgs/msg/DetectedObjects`
-  - `autoware_auto_perception_msgs/msg/TrackedObjects`
-  - `autoware_auto_msgs/msg/PredictedObject`
-  - `autoware_auto_planning_msgs/msg/Trajectory`
-  - `autoware_auto_control_msgs/msg/AckermannControlCommand`
+  - `autoware_perception_msgs/msg/DetectedObjects`
+  - `autoware_perception_msgs/msg/TrackedObjects`
+  - `autoware_perception_msgs/msg/PredictedObject`
+  - `autoware_planning_msgs/msg/Trajectory`
+  - `autoware_control_msgs/msg/Control`
 
 - **Reaction Types:**
   - `FIRST_BRAKE`
diff --git a/tools/reaction_analyzer/include/reaction_analyzer_node.hpp b/tools/reaction_analyzer/include/reaction_analyzer_node.hpp
@@ -42,9 +42,9 @@ using autoware_adapi_v1_msgs::msg::LocalizationInitializationState;
 using autoware_adapi_v1_msgs::msg::OperationModeState;
 using autoware_adapi_v1_msgs::msg::RouteState;
 using autoware_adapi_v1_msgs::srv::ChangeOperationMode;
-using autoware_auto_perception_msgs::msg::PredictedObject;
-using autoware_auto_perception_msgs::msg::PredictedObjects;
 using autoware_internal_msgs::msg::PublishedTime;
+using autoware_perception_msgs::msg::PredictedObject;
+using autoware_perception_msgs::msg::PredictedObjects;
 using geometry_msgs::msg::Pose;
 using geometry_msgs::msg::PoseStamped;
 using nav_msgs::msg::Odometry;
diff --git a/tools/reaction_analyzer/include/subscriber.hpp b/tools/reaction_analyzer/include/subscriber.hpp
@@ -39,23 +39,23 @@
 
 namespace reaction_analyzer::subscriber
 {
-using autoware_auto_control_msgs::msg::AckermannControlCommand;
-using autoware_auto_perception_msgs::msg::DetectedObject;
-using autoware_auto_perception_msgs::msg::DetectedObjects;
-using autoware_auto_perception_msgs::msg::PredictedObject;
-using autoware_auto_perception_msgs::msg::PredictedObjects;
-using autoware_auto_perception_msgs::msg::TrackedObject;
-using autoware_auto_perception_msgs::msg::TrackedObjects;
-using autoware_auto_planning_msgs::msg::Trajectory;
+using autoware_control_msgs::msg::Control;
 using autoware_internal_msgs::msg::PublishedTime;
+using autoware_perception_msgs::msg::DetectedObject;
+using autoware_perception_msgs::msg::DetectedObjects;
+using autoware_perception_msgs::msg::PredictedObject;
+using autoware_perception_msgs::msg::PredictedObjects;
+using autoware_perception_msgs::msg::TrackedObject;
+using autoware_perception_msgs::msg::TrackedObjects;
+using autoware_planning_msgs::msg::Trajectory;
 using geometry_msgs::msg::Pose;
 using nav_msgs::msg::Odometry;
 using sensor_msgs::msg::PointCloud2;
 
 // Buffers to be used to store subscribed messages' data, pipeline Header, and PublishedTime
 using MessageBuffer = std::optional<PublishedTime>;
-// We need to store the past AckermannControlCommands to analyze the first brake
-using ControlCommandBuffer = std::pair<std::vector<AckermannControlCommand>, MessageBuffer>;
+// We need to store the past Control to analyze the first brake
+using ControlCommandBuffer = std::pair<std::vector<Control>, MessageBuffer>;
 // Variant to store different types of buffers
 using MessageBufferVariant = std::variant<ControlCommandBuffer, MessageBuffer>;
 
@@ -67,15 +67,15 @@ struct SubscriberVariables
   std::unique_ptr<message_filters::Subscriber<MessageType>> sub1_;
   std::unique_ptr<message_filters::Subscriber<PublishedTime>> sub2_;
   std::unique_ptr<message_filters::Synchronizer<ExactTimePolicy>> synchronizer_;
-  // tmp: only for the messages who don't have header e.g. AckermannControlCommand
+  // tmp: only for the messages who don't have header e.g. Control
   std::unique_ptr<message_filters::Cache<PublishedTime>> cache_;
 };
 
 // Variant to create subscribers for different message types
 using SubscriberVariablesVariant = std::variant<
   SubscriberVariables<PointCloud2>, SubscriberVariables<DetectedObjects>,
   SubscriberVariables<TrackedObjects>, SubscriberVariables<PredictedObjects>,
-  SubscriberVariables<Trajectory>, SubscriberVariables<AckermannControlCommand>>;
+  SubscriberVariables<Trajectory>, SubscriberVariables<Control>>;
 
 // The configuration of the topic to be subscribed which are defined in reaction_chain
 struct TopicConfig
@@ -153,14 +153,11 @@ class SubscriberBase
   bool init_subscribers();
   std::optional<SubscriberVariablesVariant> get_subscriber_variable(
     const TopicConfig & topic_config);
-  std::optional<size_t> find_first_brake_idx(
-    const std::vector<AckermannControlCommand> & cmd_array);
-  void set_control_command_to_buffer(
-    std::vector<AckermannControlCommand> & buffer, const AckermannControlCommand & cmd) const;
+  std::optional<size_t> find_first_brake_idx(const std::vector<Control> & cmd_array);
+  void set_control_command_to_buffer(std::vector<Control> & buffer, const Control & cmd) const;
 
   // Callbacks for modules are subscribed
-  void on_control_command(
-    const std::string & node_name, const AckermannControlCommand::ConstSharedPtr & msg_ptr);
+  void on_control_command(const std::string & node_name, const Control::ConstSharedPtr & msg_ptr);
   void on_trajectory(const std::string & node_name, const Trajectory::ConstSharedPtr & msg_ptr);
   void on_trajectory(
     const std::string & node_name, const Trajectory::ConstSharedPtr & msg_ptr,
diff --git a/tools/reaction_analyzer/include/topic_publisher.hpp b/tools/reaction_analyzer/include/topic_publisher.hpp
@@ -20,12 +20,12 @@
 #include <tf2_eigen/tf2_eigen/tf2_eigen.hpp>
 #include <utils.hpp>
 
-#include <autoware_auto_vehicle_msgs/msg/control_mode_report.hpp>
-#include <autoware_auto_vehicle_msgs/msg/gear_report.hpp>
-#include <autoware_auto_vehicle_msgs/msg/hazard_lights_report.hpp>
-#include <autoware_auto_vehicle_msgs/msg/steering_report.hpp>
-#include <autoware_auto_vehicle_msgs/msg/turn_indicators_report.hpp>
-#include <autoware_auto_vehicle_msgs/msg/velocity_report.hpp>
+#include <autoware_vehicle_msgs/msg/control_mode_report.hpp>
+#include <autoware_vehicle_msgs/msg/gear_report.hpp>
+#include <autoware_vehicle_msgs/msg/hazard_lights_report.hpp>
+#include <autoware_vehicle_msgs/msg/steering_report.hpp>
+#include <autoware_vehicle_msgs/msg/turn_indicators_report.hpp>
+#include <autoware_vehicle_msgs/msg/velocity_report.hpp>
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 #include <sensor_msgs/msg/camera_info.hpp>
@@ -45,12 +45,12 @@
 
 namespace reaction_analyzer::topic_publisher
 {
-using autoware_auto_control_msgs::msg::AckermannControlCommand;
-using autoware_auto_perception_msgs::msg::DetectedObject;
-using autoware_auto_perception_msgs::msg::DetectedObjects;
-using autoware_auto_perception_msgs::msg::PredictedObject;
-using autoware_auto_perception_msgs::msg::PredictedObjects;
-using autoware_auto_planning_msgs::msg::Trajectory;
+using autoware_control_msgs::msg::Control;
+using autoware_perception_msgs::msg::DetectedObject;
+using autoware_perception_msgs::msg::DetectedObjects;
+using autoware_perception_msgs::msg::PredictedObject;
+using autoware_perception_msgs::msg::PredictedObjects;
+using autoware_planning_msgs::msg::Trajectory;
 using geometry_msgs::msg::Pose;
 using nav_msgs::msg::Odometry;
 using sensor_msgs::msg::PointCloud2;
@@ -164,12 +164,12 @@ using PublisherVariablesVariant = std::variant<
   PublisherVariables<geometry_msgs::msg::PoseWithCovarianceStamped>,
   PublisherVariables<geometry_msgs::msg::PoseStamped>, PublisherVariables<nav_msgs::msg::Odometry>,
   PublisherVariables<sensor_msgs::msg::Imu>,
-  PublisherVariables<autoware_auto_vehicle_msgs::msg::ControlModeReport>,
-  PublisherVariables<autoware_auto_vehicle_msgs::msg::GearReport>,
-  PublisherVariables<autoware_auto_vehicle_msgs::msg::HazardLightsReport>,
-  PublisherVariables<autoware_auto_vehicle_msgs::msg::SteeringReport>,
-  PublisherVariables<autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport>,
-  PublisherVariables<autoware_auto_vehicle_msgs::msg::VelocityReport>>;
+  PublisherVariables<autoware_vehicle_msgs::msg::ControlModeReport>,
+  PublisherVariables<autoware_vehicle_msgs::msg::GearReport>,
+  PublisherVariables<autoware_vehicle_msgs::msg::HazardLightsReport>,
+  PublisherVariables<autoware_vehicle_msgs::msg::SteeringReport>,
+  PublisherVariables<autoware_vehicle_msgs::msg::TurnIndicatorsReport>,
+  PublisherVariables<autoware_vehicle_msgs::msg::VelocityReport>>;
 
 using LidarOutputPair = std::pair<
   std::shared_ptr<PublisherVariables<PointCloud2>>,
diff --git a/tools/reaction_analyzer/include/utils.hpp b/tools/reaction_analyzer/include/utils.hpp
@@ -22,12 +22,12 @@
 #include <tier4_autoware_utils/geometry/geometry.hpp>
 #include <tier4_autoware_utils/math/unit_conversion.hpp>
 
-#include <autoware_auto_control_msgs/msg/ackermann_control_command.hpp>
-#include <autoware_auto_perception_msgs/msg/detected_objects.hpp>
-#include <autoware_auto_perception_msgs/msg/predicted_objects.hpp>
-#include <autoware_auto_perception_msgs/msg/tracked_objects.hpp>
-#include <autoware_auto_planning_msgs/msg/trajectory.hpp>
+#include <autoware_control_msgs/msg/control.hpp>
 #include <autoware_internal_msgs/msg/published_time.hpp>
+#include <autoware_perception_msgs/msg/detected_objects.hpp>
+#include <autoware_perception_msgs/msg/predicted_objects.hpp>
+#include <autoware_perception_msgs/msg/tracked_objects.hpp>
+#include <autoware_planning_msgs/msg/trajectory.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <unique_identifier_msgs/msg/uuid.hpp>
 #include <visualization_msgs/msg/marker.hpp>
@@ -52,16 +52,16 @@
 // The reaction_analyzer namespace contains utility functions for the Reaction Analyzer tool.
 namespace reaction_analyzer
 {
-using autoware_auto_control_msgs::msg::AckermannControlCommand;
-using autoware_auto_perception_msgs::msg::DetectedObject;
-using autoware_auto_perception_msgs::msg::DetectedObjects;
-using autoware_auto_perception_msgs::msg::PredictedObject;
-using autoware_auto_perception_msgs::msg::PredictedObjects;
-using autoware_auto_perception_msgs::msg::TrackedObject;
-using autoware_auto_perception_msgs::msg::TrackedObjects;
-using autoware_auto_planning_msgs::msg::Trajectory;
-using autoware_auto_planning_msgs::msg::TrajectoryPoint;
+using autoware_control_msgs::msg::Control;
 using autoware_internal_msgs::msg::PublishedTime;
+using autoware_perception_msgs::msg::DetectedObject;
+using autoware_perception_msgs::msg::DetectedObjects;
+using autoware_perception_msgs::msg::PredictedObject;
+using autoware_perception_msgs::msg::PredictedObjects;
+using autoware_perception_msgs::msg::TrackedObject;
+using autoware_perception_msgs::msg::TrackedObjects;
+using autoware_planning_msgs::msg::Trajectory;
+using autoware_planning_msgs::msg::TrajectoryPoint;
 using sensor_msgs::msg::PointCloud2;
 
 /**
@@ -111,7 +111,7 @@ enum class PublisherMessageType {
  */
 enum class SubscriberMessageType {
   UNKNOWN = 0,
-  ACKERMANN_CONTROL_COMMAND = 1,
+  CONTROL = 1,
   TRAJECTORY = 2,
   POINTCLOUD2 = 3,
   DETECTED_OBJECTS = 4,
diff --git a/tools/reaction_analyzer/package.xml b/tools/reaction_analyzer/package.xml
@@ -15,12 +15,12 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_adapi_v1_msgs</depend>
-  <depend>autoware_auto_control_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_internal_msgs</depend>
+  <depend>autoware_perception_msgs</depend>
+  <depend>autoware_planning_msgs</depend>
+  <depend>autoware_system_msgs</depend>
+  <depend>autoware_vehicle_msgs</depend>
   <depend>eigen</depend>
   <depend>libpcl-all-dev</depend>
   <depend>message_filters</depend>
diff --git a/tools/reaction_analyzer/param/reaction_analyzer.param.yaml b/tools/reaction_analyzer/param/reaction_analyzer.param.yaml
@@ -54,27 +54,27 @@
         obstacle_cruise_planner:
           topic_name: /planning/scenario_planning/lane_driving/trajectory
           time_debug_topic_name: /planning/scenario_planning/lane_driving/trajectory/debug/published_time
-          message_type: autoware_auto_planning_msgs/msg/Trajectory
+          message_type: autoware_planning_msgs/msg/Trajectory
         scenario_selector:
           topic_name: /planning/scenario_planning/scenario_selector/trajectory
           time_debug_topic_name: /planning/scenario_planning/scenario_selector/trajectory/debug/published_time
-          message_type: autoware_auto_planning_msgs/msg/Trajectory
+          message_type: autoware_planning_msgs/msg/Trajectory
         motion_velocity_smoother:
           topic_name: /planning/scenario_planning/motion_velocity_smoother/trajectory
           time_debug_topic_name: /planning/scenario_planning/motion_velocity_smoother/trajectory/debug/published_time
-          message_type: autoware_auto_planning_msgs/msg/Trajectory
+          message_type: autoware_planning_msgs/msg/Trajectory
         planning_validator:
           topic_name: /planning/scenario_planning/trajectory
           time_debug_topic_name: /planning/scenario_planning/trajectory/debug/published_time
-          message_type: autoware_auto_planning_msgs/msg/Trajectory
+          message_type: autoware_planning_msgs/msg/Trajectory
         trajectory_follower:
           topic_name: /control/trajectory_follower/control_cmd
           time_debug_topic_name: /control/trajectory_follower/control_cmd/debug/published_time
-          message_type: autoware_auto_control_msgs/msg/AckermannControlCommand
+          message_type: autoware_control_msgs/msg/Control
         vehicle_cmd_gate:
           topic_name: /control/command/control_cmd
           time_debug_topic_name: /control/command/control_cmd/debug/published_time
-          message_type: autoware_auto_control_msgs/msg/AckermannControlCommand
+          message_type: autoware_control_msgs/msg/Control
         common_ground_filter:
           topic_name: /perception/obstacle_segmentation/single_frame/pointcloud
           time_debug_topic_name: /perception/obstacle_segmentation/single_frame/pointcloud/debug/published_time
@@ -86,32 +86,32 @@
         multi_object_tracker:
           topic_name: /perception/object_recognition/tracking/near_objects
           time_debug_topic_name: /perception/object_recognition/tracking/near_objects/debug/published_time
-          message_type: autoware_auto_perception_msgs/msg/TrackedObjects
+          message_type: autoware_perception_msgs/msg/TrackedObjects
         lidar_centerpoint:
           topic_name: /perception/object_recognition/detection/centerpoint/objects
           time_debug_topic_name: /perception/object_recognition/detection/centerpoint/objects/debug/published_time
-          message_type: autoware_auto_perception_msgs/msg/DetectedObjects
+          message_type: autoware_perception_msgs/msg/DetectedObjects
         obstacle_pointcloud_based_validator:
           topic_name: /perception/object_recognition/detection/centerpoint/validation/objects
           time_debug_topic_name: /perception/object_recognition/detection/centerpoint/validation/objects/debug/published_time
-          message_type: autoware_auto_perception_msgs/msg/DetectedObjects
+          message_type: autoware_perception_msgs/msg/DetectedObjects
         decorative_tracker_merger:
           topic_name: /perception/object_recognition/tracking/objects
           time_debug_topic_name: /perception/object_recognition/tracking/objects/debug/published_time
-          message_type: autoware_auto_perception_msgs/msg/TrackedObjects
+          message_type: autoware_perception_msgs/msg/TrackedObjects
         detected_object_feature_remover:
           topic_name: /perception/object_recognition/detection/clustering/objects
           time_debug_topic_name: /perception/object_recognition/detection/clustering/objects/debug/published_time
-          message_type: autoware_auto_perception_msgs/msg/DetectedObjects
+          message_type: autoware_perception_msgs/msg/DetectedObjects
         detection_by_tracker:
           topic_name: /perception/object_recognition/detection/detection_by_tracker/objects
           time_debug_topic_name: /perception/object_recognition/detection/detection_by_tracker/objects/debug/published_time
-          message_type: autoware_auto_perception_msgs/msg/DetectedObjects
+          message_type: autoware_perception_msgs/msg/DetectedObjects
         object_lanelet_filter:
           topic_name: /perception/object_recognition/detection/objects
           time_debug_topic_name: /perception/object_recognition/detection/objects/debug/published_time
-          message_type: autoware_auto_perception_msgs/msg/DetectedObjects
+          message_type: autoware_perception_msgs/msg/DetectedObjects
         map_based_prediction:
           topic_name: /perception/object_recognition/objects
           time_debug_topic_name: /perception/object_recognition/objects/debug/published_time
-          message_type: autoware_auto_perception_msgs/msg/PredictedObjects
+          message_type: autoware_perception_msgs/msg/PredictedObjects
diff --git a/tools/reaction_analyzer/src/subscriber.cpp b/tools/reaction_analyzer/src/subscriber.cpp
diff --git a/tools/reaction_analyzer/src/topic_publisher.cpp b/tools/reaction_analyzer/src/topic_publisher.cpp
diff --git a/tools/reaction_analyzer/src/utils.cpp b/tools/reaction_analyzer/src/utils.cpp
