Remove driveblocks dependencies

Signed-off-by: Simon Eisenmann <simon.eisenmann@driveblocks.ai>

Author: simon-eisenmann-driveblocks

planning/mapless_architecture/autoware_hmi/include/hmi_node.hpp

@@ -3,7 +3,7 @@
 #ifndef HMI_NODE_HPP_
 #define HMI_NODE_HPP_
 
-#include "mission_planner_messages/msg/mission.hpp"
+#include "autoware_planning_msgs/msg/mission.hpp"
 #include "rclcpp/rclcpp.hpp"
 
 #include <string>
@@ -47,7 +47,7 @@ class HMINode : public rclcpp::Node
   // ###########################################################################
   // Declare ROS2 publisher and subscriber
 
-  rclcpp::Publisher<mission_planner_messages::msg::Mission>::SharedPtr mission_publisher_;
+  rclcpp::Publisher<autoware_planning_msgs::msg::Mission>::SharedPtr mission_publisher_;
 
   rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr param_callback_handle_;
 };

planning/mapless_architecture/autoware_hmi/package.xml

@@ -11,8 +11,8 @@
 
   <exec_depend>ros2launch</exec_depend>
 
-  <depend>mission_planner_messages</depend>
   <depend>rclcpp</depend>
+  <depend>autoware_planning_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

planning/mapless_architecture/autoware_hmi/src/hmi_node.cpp

@@ -3,7 +3,7 @@
 
 #include "hmi_node.hpp"
 
-#include "mission_planner_messages/msg/mission.hpp"
+#include "autoware_planning_msgs/msg/mission.hpp"
 #include "rclcpp/rclcpp.hpp"
 
 using std::placeholders::_1;
@@ -29,7 +29,7 @@ HMINode::HMINode() : Node("hmi_node")
 
   // Initialize publisher
   mission_publisher_ =
-    this->create_publisher<mission_planner_messages::msg::Mission>("hmi_node/output/mission", 1);
+    this->create_publisher<autoware_planning_msgs::msg::Mission>("hmi_node/output/mission", 1);
 
   // Initialize parameters callback handle
   param_callback_handle_ = this->add_on_set_parameters_callback(
@@ -64,17 +64,17 @@ rcl_interfaces::msg::SetParametersResult HMINode::ParamCallback_(
 
 void HMINode::PublishMission_(std::string mission)
 {
-  mission_planner_messages::msg::Mission missionMessage;
+  autoware_planning_msgs::msg::Mission missionMessage;
   if (mission == "LANE_KEEP") {
-    missionMessage.mission_type = mission_planner_messages::msg::Mission::LANE_KEEP;
+    missionMessage.mission_type = autoware_planning_msgs::msg::Mission::LANE_KEEP;
   } else if (mission == "LANE_CHANGE_LEFT") {
-    missionMessage.mission_type = mission_planner_messages::msg::Mission::LANE_CHANGE_LEFT;
+    missionMessage.mission_type = autoware_planning_msgs::msg::Mission::LANE_CHANGE_LEFT;
   } else if (mission == "LANE_CHANGE_RIGHT") {
-    missionMessage.mission_type = mission_planner_messages::msg::Mission::LANE_CHANGE_RIGHT;
+    missionMessage.mission_type = autoware_planning_msgs::msg::Mission::LANE_CHANGE_RIGHT;
   } else if (mission == "TAKE_NEXT_EXIT_LEFT") {
-    missionMessage.mission_type = mission_planner_messages::msg::Mission::TAKE_NEXT_EXIT_LEFT;
+    missionMessage.mission_type = autoware_planning_msgs::msg::Mission::TAKE_NEXT_EXIT_LEFT;
   } else if (mission == "TAKE_NEXT_EXIT_RIGHT") {
-    missionMessage.mission_type = mission_planner_messages::msg::Mission::TAKE_NEXT_EXIT_RIGHT;
+    missionMessage.mission_type = autoware_planning_msgs::msg::Mission::TAKE_NEXT_EXIT_RIGHT;
   }
 
   // TODO(simon.eisenmann@driveblocks.ai): Change deadline parameter

planning/mapless_architecture/autoware_local_map_provider/Readme.md

@@ -1,3 +1,3 @@
 # Local Map Provider Node
 
-This node converts the RoadSegments message into a LocalMap message right now. More functionality can be added later.
+This node converts the mission_planner_messages::msg::RoadSegments message into a mission_planner_messages::msg::LocalMap message right now. More functionality can be added later.

planning/mapless_architecture/autoware_local_map_provider/include/local_map_provider_node.hpp

@@ -3,8 +3,8 @@
 #ifndef LOCAL_MAP_PROVIDER_NODE_HPP_
 #define LOCAL_MAP_PROVIDER_NODE_HPP_
 
-#include "mission_planner_messages/msg/local_map.hpp"
-#include "mission_planner_messages/msg/road_segments.hpp"
+#include "autoware_planning_msgs/msg/local_map.hpp"
+#include "autoware_planning_msgs/msg/road_segments.hpp"
 #include "rclcpp/rclcpp.hpp"
 
 /**
@@ -29,18 +29,18 @@ class LocalMapProviderNode : public rclcpp::Node
   /**
    * @brief The callback for the RoadSegments messages.
    *
-   * @param msg The mission_planner_messages::msg::RoadSegments message.
+   * @param msg The autoware_planning_msgs::msg::RoadSegments message.
    */
-  void CallbackRoadSegmentsMessages_(const mission_planner_messages::msg::RoadSegments & msg);
+  void CallbackRoadSegmentsMessages_(const autoware_planning_msgs::msg::RoadSegments & msg);
 
   // ###########################################################################
   // #  PRIVATE VARIABLES
   // ###########################################################################
   // Declare ROS2 publisher and subscriber
 
-  rclcpp::Publisher<mission_planner_messages::msg::LocalMap>::SharedPtr map_publisher_;
+  rclcpp::Publisher<autoware_planning_msgs::msg::LocalMap>::SharedPtr map_publisher_;
 
-  rclcpp::Subscription<mission_planner_messages::msg::RoadSegments>::SharedPtr road_subscriber_;
+  rclcpp::Subscription<autoware_planning_msgs::msg::RoadSegments>::SharedPtr road_subscriber_;
 };
 
 #endif  // LOCAL_MAP_PROVIDER_NODE_HPP_

planning/mapless_architecture/autoware_local_map_provider/package.xml

@@ -13,8 +13,8 @@
 
   <depend>db_msgs</depend>
   <depend>lib_mission_planner</depend>
-  <depend>mission_planner_messages</depend>
   <depend>rclcpp</depend>
+  <depend>autoware_planning_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

planning/mapless_architecture/autoware_local_map_provider/src/local_map_provider_node.cpp

@@ -16,19 +16,19 @@ LocalMapProviderNode::LocalMapProviderNode() : Node("local_map_provider_node")
   qos.best_effort();
 
   // Initialize publisher for local map
-  map_publisher_ = this->create_publisher<mission_planner_messages::msg::LocalMap>(
+  map_publisher_ = this->create_publisher<autoware_planning_msgs::msg::LocalMap>(
     "local_map_provider_node/output/local_map", 1);
 
   // Initialize subscriber to road segments messages
-  road_subscriber_ = this->create_subscription<mission_planner_messages::msg::RoadSegments>(
+  road_subscriber_ = this->create_subscription<autoware_planning_msgs::msg::RoadSegments>(
     "local_map_provider_node/input/road_segments", qos,
     std::bind(&LocalMapProviderNode::CallbackRoadSegmentsMessages_, this, _1));
 }
 
 void LocalMapProviderNode::CallbackRoadSegmentsMessages_(
-  const mission_planner_messages::msg::RoadSegments & msg)
+  const autoware_planning_msgs::msg::RoadSegments & msg)
 {
-  mission_planner_messages::msg::LocalMap local_map;
+  autoware_planning_msgs::msg::LocalMap local_map;
 
   // Save road segments in the local map message
   local_map.road_segments = msg;

planning/mapless_architecture/autoware_local_mission_planner/CMakeLists.txt

@@ -39,7 +39,6 @@ set(ament_cmake_clang_format_CONFIG_FILE ../../.clang-format)
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
   find_package(ament_lint_auto REQUIRED)
-  find_package(mission_planner_messages REQUIRED)
 
   ament_auto_add_gtest(${PROJECT_NAME}_tests test/gtest_main.cpp
     test/src/test_mission_planner_core.cpp

planning/mapless_architecture/autoware_local_mission_planner/include/mission_planner_node.hpp

@@ -4,15 +4,12 @@
 #define MISSION_PLANNER_NODE_HPP_
 
 #include "lanelet2_core/geometry/LineString.h"
-#include "lanelet_helper/lanelet_converter.hpp"
-#include "lanelet_helper/lanelet_geometry.hpp"
-#include "lanelet_helper/lanelet_tools.hpp"
 #include "lib_mission_planner/helper_functions.hpp"
-#include "mission_planner_messages/msg/driving_corridor.hpp"
-#include "mission_planner_messages/msg/local_map.hpp"
-#include "mission_planner_messages/msg/mission.hpp"
-#include "mission_planner_messages/msg/mission_lanes_stamped.hpp"
-#include "mission_planner_messages/msg/visualization_distance.hpp"
+#include "autoware_planning_msgs/msg/driving_corridor.hpp"
+#include "autoware_planning_msgs/msg/local_map.hpp"
+#include "autoware_planning_msgs/msg/mission.hpp"
+#include "autoware_planning_msgs/msg/mission_lanes_stamped.hpp"
+#include "autoware_planning_msgs/msg/visualization_distance.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "tf2_ros/buffer.h"
 #include "tf2_ros/transform_listener.h"
@@ -103,13 +100,13 @@ class MissionPlannerNode : public rclcpp::Node
     * @param converted_lanelets The lanelets from the road model
     (std::vector<lanelet::Lanelet>).
     * @param lanelet_connections The lanelet connections from the road model
-    (std::vector<lanelet_types::LaneletConnection>).
+    (std::vector<LaneletConnection>).
     * @return bool (is on goal lane or not).
     */
   bool IsOnGoalLane_(
     const int ego_lanelet_index, const lanelet::BasicPoint2d & goal_point,
     const std::vector<lanelet::Lanelet> & converted_lanelets,
-    const std::vector<lanelet_types::LaneletConnection> & lanelet_connections);
+    const std::vector<LaneletConnection> & lanelet_connections);
 
   /**
    * @brief Function which checks if the goal point has a negative x value und
@@ -119,11 +116,11 @@ class MissionPlannerNode : public rclcpp::Node
    * @param converted_lanelets The lanelets from the road model
     (std::vector<lanelet::Lanelet>).
    * @param lanelet_connections The lanelet connections from the road model
-    (std::vector<lanelet_types::LaneletConnection>).
+    (std::vector<LaneletConnection>).
    */
   void CheckIfGoalPointShouldBeReset_(
     const lanelet::Lanelets & converted_lanelets,
-    const std::vector<lanelet_types::LaneletConnection> & lanelet_connections);
+    const std::vector<LaneletConnection> & lanelet_connections);
 
   /**
    * @brief Function for calculating lanes
@@ -135,7 +132,7 @@ class MissionPlannerNode : public rclcpp::Node
    */
   Lanes CalculateLanes_(
     const std::vector<lanelet::Lanelet> & converted_lanelets,
-    std::vector<lanelet_types::LaneletConnection> & lanelet_connections);
+    std::vector<LaneletConnection> & lanelet_connections);
 
   /**
     * @brief Function for creating a marker array.
@@ -152,7 +149,7 @@ class MissionPlannerNode : public rclcpp::Node
     const std::vector<lanelet::ConstLineString3d> & centerline,
     const std::vector<lanelet::ConstLineString3d> & left,
     const std::vector<lanelet::ConstLineString3d> & right,
-    const mission_planner_messages::msg::RoadSegments & msg);
+    const autoware_planning_msgs::msg::RoadSegments & msg);
 
   /**
    * @brief Getter for goal_point_
@@ -174,36 +171,36 @@ class MissionPlannerNode : public rclcpp::Node
    * @param lane The lane which is a std::vector<int> containing all the indices
    * of the lane.
    * @param converted_lanelets The lanelets (std::vector<lanelet::Lanelet>).
-   * @return mission_planner_messages::msg::DrivingCorridor
+   * @return autoware_planning_msgs::msg::DrivingCorridor
    */
-  mission_planner_messages::msg::DrivingCorridor CreateDrivingCorridor_(
+  autoware_planning_msgs::msg::DrivingCorridor CreateDrivingCorridor_(
     const std::vector<int> & lane, const std::vector<lanelet::Lanelet> & converted_lanelets);
 
   /**
    * @brief The callback for the Mission messages.
    *
-   * @param msg The mission_planner_messages::msg::Mission message.
+   * @param msg The autoware_planning_msgs::msg::Mission message.
    */
-  void CallbackMissionMessages_(const mission_planner_messages::msg::Mission & msg);
+  void CallbackMissionMessages_(const autoware_planning_msgs::msg::Mission & msg);
 
   /**
    * @brief The callback for the LocalMap messages.
    *
-   * @param msg The mission_planner_messages::msg::LocalMap message.
+   * @param msg The autoware_planning_msgs::msg::LocalMap message.
    */
-  void CallbackLocalMapMessages_(const mission_planner_messages::msg::LocalMap & msg);
+  void CallbackLocalMapMessages_(const autoware_planning_msgs::msg::LocalMap & msg);
 
   /**
    * @brief Convert RoadSegments into lanelets.
    *
-   * @param msg The message (mission_planner_messages::msg::RoadSegments).
+   * @param msg The message (autoware_planning_msgs::msg::RoadSegments).
    * @param out_lanelets The lanelets (output).
    * @param out_lanelet_connections The lanelet connections (output).
    */
   void ConvertInput2LaneletFormat(
-    const mission_planner_messages::msg::RoadSegments & msg,
+    const autoware_planning_msgs::msg::RoadSegments & msg,
     std::vector<lanelet::Lanelet> & out_lanelets,
-    std::vector<lanelet_types::LaneletConnection> & out_lanelet_connections);
+    std::vector<LaneletConnection> & out_lanelet_connections);
 
 private:
   // ###########################################################################
@@ -217,7 +214,7 @@ class MissionPlannerNode : public rclcpp::Node
    * @param converted_lanelets The lanelets (std::vector<lanelet::Lanelet>).
    */
   void VisualizeLanes_(
-    const mission_planner_messages::msg::RoadSegments & msg,
+    const autoware_planning_msgs::msg::RoadSegments & msg,
     const std::vector<lanelet::Lanelet> & converted_lanelets);
 
   /**
@@ -227,8 +224,8 @@ class MissionPlannerNode : public rclcpp::Node
    * @param driving_corridor The considered driving corridor for which the centerline is visualized.
    */
   void VisualizeCenterlineOfDrivingCorridor_(
-    const mission_planner_messages::msg::RoadSegments & msg,
-    const mission_planner_messages::msg::DrivingCorridor & driving_corridor);
+    const autoware_planning_msgs::msg::RoadSegments & msg,
+    const autoware_planning_msgs::msg::DrivingCorridor & driving_corridor);
 
   /**
    * @brief Function for creating a lanelet::LineString2d.
@@ -264,8 +261,7 @@ class MissionPlannerNode : public rclcpp::Node
    * @return std::vector<int>
    */
   std::vector<int> GetAllNeighborsOfLane(
-    const std::vector<int> & lane,
-    const std::vector<lanelet_types::LaneletConnection> & lanelet_connections,
+    const std::vector<int> & lane, const std::vector<LaneletConnection> & lanelet_connections,
     const int vehicle_side);
 
   /**
@@ -277,35 +273,34 @@ class MissionPlannerNode : public rclcpp::Node
    *
    */
   void InsertPredecessorLanelet(
-    std::vector<int> & lane_idx,
-    const std::vector<lanelet_types::LaneletConnection> & lanelet_connections);
+    std::vector<int> & lane_idx, const std::vector<LaneletConnection> & lanelet_connections);
 
   /**
    * @brief Calculate the predecessors.
    *
    * @param lanelet_connections The lanelet connections.
    */
-  void CalculatePredecessors(std::vector<lanelet_types::LaneletConnection> & lanelet_connections);
+  void CalculatePredecessors(std::vector<LaneletConnection> & lanelet_connections);
 
   // ###########################################################################
   // #  PRIVATE VARIABLES
   // ###########################################################################
   //  Declare ROS2 publisher and subscriber
-  rclcpp::Subscription<mission_planner_messages::msg::LocalMap>::SharedPtr mapSubscriber_;
+  rclcpp::Subscription<autoware_planning_msgs::msg::LocalMap>::SharedPtr mapSubscriber_;
 
-  rclcpp::Subscription<mission_planner_messages::msg::Mission>::SharedPtr missionSubscriber_;
+  rclcpp::Subscription<autoware_planning_msgs::msg::Mission>::SharedPtr missionSubscriber_;
 
   rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr visualizationPublisher_;
 
   rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr
     visualization_publisher_centerline_;
 
-  rclcpp::Publisher<mission_planner_messages::msg::VisualizationDistance>::SharedPtr
+  rclcpp::Publisher<autoware_planning_msgs::msg::VisualizationDistance>::SharedPtr
     visualizationDistancePublisher_;
 
   rclcpp::Publisher<visualization_msgs::msg::Marker>::SharedPtr visualizationGoalPointPublisher_;
 
-  rclcpp::Publisher<mission_planner_messages::msg::MissionLanesStamped>::SharedPtr
+  rclcpp::Publisher<autoware_planning_msgs::msg::MissionLanesStamped>::SharedPtr
     missionLanesStampedPublisher_;
 
   rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr OdometrySubscriber_;

planning/mapless_architecture/autoware_local_mission_planner/package.xml

@@ -15,14 +15,13 @@
   <depend>db_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_core</depend>
-  <depend>lanelet_helper</depend>
   <depend>lib_mission_planner</depend>
-  <depend>mission_planner_messages</depend>
   <depend>rclcpp</depend>
   <depend>tf2</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
   <depend>visualization_msgs</depend>
+  <depend>autoware_planning_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>