feat: add tier4 api messages (#20)

1222-takeshi · isamu-takagi · kenji-miyake · web-flow · commit d1ad967641c1 · 2021-12-01T03:29:23.000Z
* Add autoware api (#22) * Add engage, emergency, door service (#4) * Add external engage and emergency service Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix api utils Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Add external door messages Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix lint Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Add service and client for logging Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix cppcheck Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Add error level Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix maintainer Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix package.xml Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Add response build functions Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Remove unnecessary explicit Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Add service result type alias Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Rename proxy class Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Change type name Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Add service call timeout * Add CI for develop branch Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix CI Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix lint Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Use default argument Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Rename package Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Move response message Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Move autoware_api_utils Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix package.xml format Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix package.xml format Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix package name Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Rename response type Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix enum type Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Add version service (#6) * Add diagnostics message (#7) Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Add route service (#8) * Add goal and route service Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix service name Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Add route message Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Add clear route service (#10) Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Add stop and velocity type (#9) * Add velocity service and message Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Add stop service Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Rename velocity limit service Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Rename pause driving service Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Add engage status message (#11) Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Add map info message (#13) * Add map info message Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Rename message Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Add driver type (#12) * Add driver type Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Modify variable size Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Modify message type Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Remove driver mode from observer Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix observer none mode Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Add initial pose service (#14) * Add initial pose service Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Rename service type name Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Remove use gnss flag Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Add service mode (#15) Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Add control command messages (#20) * Add control command messages Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix control command messages Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Add self package namespace (#21) Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Add emergency status API (#37) * Add package version API (#36) * Add package version API * Fix message type * Fix message name Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * Add lanelet XML API (#39) * develop -> main sync (#41) * Add vehicle status types (#25) * Add vehicle status types * Trigger CI * Add vehicle command types (#30) * Add fail safe state types Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Co-authored-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix: remove TODO comment * ci(pre-commit): autofix Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> Co-authored-by: Takagi, Isamu <isamu.takagi@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>
diff --git a/messages/autoware_external_api_msgs/CMakeLists.txt b/messages/autoware_external_api_msgs/CMakeLists.txt
@@ -0,0 +1,72 @@
+cmake_minimum_required(VERSION 3.5)
+project(autoware_external_api_msgs)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+  set(CMAKE_CXX_EXTENSIONS OFF)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  msg/ClassifiedDiagnostics.msg
+  msg/ControlCommand.msg
+  msg/ControlCommandStamped.msg
+  msg/DoorStatus.msg
+  msg/Emergency.msg
+  msg/EngageStatus.msg
+  msg/FailSafeState.msg
+  msg/FailSafeStateStamped.msg
+  msg/GearShift.msg
+  msg/GearShiftStamped.msg
+  msg/Heartbeat.msg
+  msg/MapHash.msg
+  msg/MetadataPackages.msg
+  msg/Observer.msg
+  msg/Operator.msg
+  msg/ResponseStatus.msg
+  msg/Route.msg
+  msg/RouteSection.msg
+  msg/Service.msg
+  msg/TextFile.msg
+  msg/Steering.msg
+  msg/TurnSignal.msg
+  msg/TurnSignalStamped.msg
+  msg/VehicleCommand.msg
+  msg/VehicleCommandStamped.msg
+  msg/VehicleStatus.msg
+  msg/VehicleStatusStamped.msg
+  srv/ClearRoute.srv
+  srv/Engage.srv
+  srv/GetMetadataPackages.srv
+  srv/GetTextFile.srv
+  srv/GetVersion.srv
+  srv/InitializePose.srv
+  srv/InitializePoseAuto.srv
+  srv/PauseDriving.srv
+  srv/SetDoor.srv
+  srv/SetObserver.srv
+  srv/SetOperator.srv
+  srv/SetEmergency.srv
+  srv/SetPose.srv
+  srv/SetRoute.srv
+  srv/SetService.srv
+  srv/SetVelocityLimit.srv
+  DEPENDENCIES
+    builtin_interfaces
+    diagnostic_msgs
+    geometry_msgs
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package()
diff --git a/messages/autoware_external_api_msgs/msg/ClassifiedDiagnostics.msg b/messages/autoware_external_api_msgs/msg/ClassifiedDiagnostics.msg
@@ -0,0 +1,2 @@
+builtin_interfaces/Time stamp
+diagnostic_msgs/DiagnosticStatus[] diagnostics_notice
diff --git a/messages/autoware_external_api_msgs/msg/ControlCommand.msg b/messages/autoware_external_api_msgs/msg/ControlCommand.msg
@@ -0,0 +1,4 @@
+float64 steering_angle
+float64 steering_angle_velocity
+float64 throttle
+float64 brake
diff --git a/messages/autoware_external_api_msgs/msg/ControlCommandStamped.msg b/messages/autoware_external_api_msgs/msg/ControlCommandStamped.msg
@@ -0,0 +1,2 @@
+builtin_interfaces/Time stamp
+autoware_external_api_msgs/ControlCommand control
diff --git a/messages/autoware_external_api_msgs/msg/DoorStatus.msg b/messages/autoware_external_api_msgs/msg/DoorStatus.msg
@@ -0,0 +1,11 @@
+# constants
+int8 NOT_SUPPORTED = -1
+int8 UNKNOWN = 0
+int8 OPENED = 1
+int8 CLOSED = 2
+int8 OPENING = 3
+int8 CLOSING = 4
+
+# fields
+builtin_interfaces/Time stamp
+int8 status
diff --git a/messages/autoware_external_api_msgs/msg/Emergency.msg b/messages/autoware_external_api_msgs/msg/Emergency.msg
@@ -0,0 +1,2 @@
+builtin_interfaces/Time stamp
+bool emergency
diff --git a/messages/autoware_external_api_msgs/msg/EngageStatus.msg b/messages/autoware_external_api_msgs/msg/EngageStatus.msg
@@ -0,0 +1,2 @@
+builtin_interfaces/Time stamp
+bool engage
diff --git a/messages/autoware_external_api_msgs/msg/FailSafeState.msg b/messages/autoware_external_api_msgs/msg/FailSafeState.msg
@@ -0,0 +1,9 @@
+# constants
+uint8 NORMAL = 1
+uint8 OVERRIDE_REQUESTING = 2
+uint8 MRM_OPERATING = 3
+uint8 MRM_SUCCEEDED = 4
+uint8 MRM_FAILED = 5
+
+# fields
+uint8 state
diff --git a/messages/autoware_external_api_msgs/msg/FailSafeStateStamped.msg b/messages/autoware_external_api_msgs/msg/FailSafeStateStamped.msg
@@ -0,0 +1,2 @@
+builtin_interfaces/Time stamp
+autoware_external_api_msgs/FailSafeState state
diff --git a/messages/autoware_external_api_msgs/msg/GearShift.msg b/messages/autoware_external_api_msgs/msg/GearShift.msg
@@ -0,0 +1,10 @@
+# constants
+uint8 NONE=0
+uint8 PARKING=1
+uint8 REVERSE=2
+uint8 NEUTRAL=3
+uint8 DRIVE=4
+uint8 LOW=5
+
+# fields
+uint8 data
diff --git a/messages/autoware_external_api_msgs/msg/GearShiftStamped.msg b/messages/autoware_external_api_msgs/msg/GearShiftStamped.msg
@@ -0,0 +1,2 @@
+builtin_interfaces/Time stamp
+autoware_external_api_msgs/GearShift gear_shift
diff --git a/messages/autoware_external_api_msgs/msg/Heartbeat.msg b/messages/autoware_external_api_msgs/msg/Heartbeat.msg
@@ -0,0 +1 @@
+builtin_interfaces/Time stamp
diff --git a/messages/autoware_external_api_msgs/msg/MapHash.msg b/messages/autoware_external_api_msgs/msg/MapHash.msg
@@ -0,0 +1 @@
+string lanelet
diff --git a/messages/autoware_external_api_msgs/msg/MetadataPackages.msg b/messages/autoware_external_api_msgs/msg/MetadataPackages.msg
@@ -0,0 +1,2 @@
+string format
+string json
diff --git a/messages/autoware_external_api_msgs/msg/Observer.msg b/messages/autoware_external_api_msgs/msg/Observer.msg
@@ -0,0 +1,7 @@
+# constants
+# uint8 NONE=1 (reserved)
+uint8 LOCAL=2
+uint8 REMOTE=3
+
+# fields
+uint8 mode
diff --git a/messages/autoware_external_api_msgs/msg/Operator.msg b/messages/autoware_external_api_msgs/msg/Operator.msg
@@ -0,0 +1,7 @@
+# constants
+uint8 DRIVER=1
+uint8 AUTONOMOUS=2
+uint8 OBSERVER=3
+
+# fields
+uint8 mode
diff --git a/messages/autoware_external_api_msgs/msg/ResponseStatus.msg b/messages/autoware_external_api_msgs/msg/ResponseStatus.msg
@@ -0,0 +1,9 @@
+# constants
+uint32 SUCCESS=1
+uint32 IGNORED=2
+uint32 WARN=3
+uint32 ERROR=4
+
+# fields
+uint32 code
+string message
diff --git a/messages/autoware_external_api_msgs/msg/Route.msg b/messages/autoware_external_api_msgs/msg/Route.msg
@@ -0,0 +1,2 @@
+geometry_msgs/PoseStamped goal_pose
+autoware_external_api_msgs/RouteSection[] route_sections
diff --git a/messages/autoware_external_api_msgs/msg/RouteSection.msg b/messages/autoware_external_api_msgs/msg/RouteSection.msg
@@ -0,0 +1,3 @@
+int64 preferred_lane_id
+int64[] lane_ids
+int64[] continued_lane_ids
diff --git a/messages/autoware_external_api_msgs/msg/Service.msg b/messages/autoware_external_api_msgs/msg/Service.msg
@@ -0,0 +1,6 @@
+# constants
+uint8 NOT_IN_SERVICE=1
+uint8 IN_SERVICE=2
+
+# fields
+uint8 mode
diff --git a/messages/autoware_external_api_msgs/msg/Steering.msg b/messages/autoware_external_api_msgs/msg/Steering.msg
@@ -0,0 +1 @@
+float32 data
diff --git a/messages/autoware_external_api_msgs/msg/TextFile.msg b/messages/autoware_external_api_msgs/msg/TextFile.msg
@@ -0,0 +1 @@
+string text
diff --git a/messages/autoware_external_api_msgs/msg/TurnSignal.msg b/messages/autoware_external_api_msgs/msg/TurnSignal.msg
@@ -0,0 +1,8 @@
+# constants
+uint8 NONE = 0
+uint8 LEFT = 1
+uint8 RIGHT = 2
+uint8 HAZARD = 3
+
+# fields
+uint8 data
diff --git a/messages/autoware_external_api_msgs/msg/TurnSignalStamped.msg b/messages/autoware_external_api_msgs/msg/TurnSignalStamped.msg
@@ -0,0 +1,2 @@
+builtin_interfaces/Time stamp
+autoware_external_api_msgs/TurnSignal turn_signal
diff --git a/messages/autoware_external_api_msgs/msg/VehicleCommand.msg b/messages/autoware_external_api_msgs/msg/VehicleCommand.msg
@@ -0,0 +1,2 @@
+float64 velocity
+float64 acceleration
diff --git a/messages/autoware_external_api_msgs/msg/VehicleCommandStamped.msg b/messages/autoware_external_api_msgs/msg/VehicleCommandStamped.msg
@@ -0,0 +1,2 @@
+builtin_interfaces/Time stamp
+autoware_external_api_msgs/VehicleCommand command
diff --git a/messages/autoware_external_api_msgs/msg/VehicleStatus.msg b/messages/autoware_external_api_msgs/msg/VehicleStatus.msg
@@ -0,0 +1,4 @@
+geometry_msgs/Twist twist
+autoware_external_api_msgs/Steering steering
+autoware_external_api_msgs/TurnSignal turn_signal
+autoware_external_api_msgs/GearShift gear_shift
diff --git a/messages/autoware_external_api_msgs/msg/VehicleStatusStamped.msg b/messages/autoware_external_api_msgs/msg/VehicleStatusStamped.msg
@@ -0,0 +1,2 @@
+builtin_interfaces/Time stamp
+autoware_external_api_msgs/VehicleStatus status
diff --git a/messages/autoware_external_api_msgs/package.xml b/messages/autoware_external_api_msgs/package.xml
@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+
+  <name>autoware_external_api_msgs</name>
+  <version>0.0.0</version>
+  <description>The autoware_external_api_msgs package</description>
+  <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <build_depend>builtin_interfaces</build_depend>
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <exec_depend>builtin_interfaces</exec_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <depend>diagnostic_msgs</depend>
+  <depend>geometry_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+
+</package>
diff --git a/messages/autoware_external_api_msgs/srv/ClearRoute.srv b/messages/autoware_external_api_msgs/srv/ClearRoute.srv
@@ -0,0 +1,2 @@
+---
+autoware_external_api_msgs/ResponseStatus status
diff --git a/messages/autoware_external_api_msgs/srv/Engage.srv b/messages/autoware_external_api_msgs/srv/Engage.srv
@@ -0,0 +1,3 @@
+bool engage
+---
+autoware_external_api_msgs/ResponseStatus status
diff --git a/messages/autoware_external_api_msgs/srv/GetMetadataPackages.srv b/messages/autoware_external_api_msgs/srv/GetMetadataPackages.srv
@@ -0,0 +1,3 @@
+---
+autoware_external_api_msgs/ResponseStatus status
+autoware_external_api_msgs/MetadataPackages metadata
diff --git a/messages/autoware_external_api_msgs/srv/GetTextFile.srv b/messages/autoware_external_api_msgs/srv/GetTextFile.srv
@@ -0,0 +1,3 @@
+---
+autoware_external_api_msgs/ResponseStatus status
+autoware_external_api_msgs/TextFile file
diff --git a/messages/autoware_external_api_msgs/srv/GetVersion.srv b/messages/autoware_external_api_msgs/srv/GetVersion.srv
@@ -0,0 +1,3 @@
+---
+autoware_external_api_msgs/ResponseStatus status
+string version
diff --git a/messages/autoware_external_api_msgs/srv/InitializePose.srv b/messages/autoware_external_api_msgs/srv/InitializePose.srv
@@ -0,0 +1,3 @@
+geometry_msgs/PoseWithCovarianceStamped pose
+---
+autoware_external_api_msgs/ResponseStatus status
diff --git a/messages/autoware_external_api_msgs/srv/InitializePoseAuto.srv b/messages/autoware_external_api_msgs/srv/InitializePoseAuto.srv
@@ -0,0 +1,2 @@
+---
+autoware_external_api_msgs/ResponseStatus status
diff --git a/messages/autoware_external_api_msgs/srv/PauseDriving.srv b/messages/autoware_external_api_msgs/srv/PauseDriving.srv
@@ -0,0 +1,3 @@
+bool pause
+---
+autoware_external_api_msgs/ResponseStatus status
diff --git a/messages/autoware_external_api_msgs/srv/SetDoor.srv b/messages/autoware_external_api_msgs/srv/SetDoor.srv
@@ -0,0 +1,3 @@
+bool open
+---
+autoware_external_api_msgs/ResponseStatus status
diff --git a/messages/autoware_external_api_msgs/srv/SetEmergency.srv b/messages/autoware_external_api_msgs/srv/SetEmergency.srv
@@ -0,0 +1,3 @@
+bool emergency
+---
+autoware_external_api_msgs/ResponseStatus status
diff --git a/messages/autoware_external_api_msgs/srv/SetObserver.srv b/messages/autoware_external_api_msgs/srv/SetObserver.srv
@@ -0,0 +1,3 @@
+autoware_external_api_msgs/Observer mode
+---
+autoware_external_api_msgs/ResponseStatus status
diff --git a/messages/autoware_external_api_msgs/srv/SetOperator.srv b/messages/autoware_external_api_msgs/srv/SetOperator.srv
@@ -0,0 +1,3 @@
+autoware_external_api_msgs/Operator mode
+---
+autoware_external_api_msgs/ResponseStatus status
diff --git a/messages/autoware_external_api_msgs/srv/SetPose.srv b/messages/autoware_external_api_msgs/srv/SetPose.srv
@@ -0,0 +1,3 @@
+geometry_msgs/PoseStamped pose
+---
+autoware_external_api_msgs/ResponseStatus status
diff --git a/messages/autoware_external_api_msgs/srv/SetRoute.srv b/messages/autoware_external_api_msgs/srv/SetRoute.srv
@@ -0,0 +1,3 @@
+autoware_external_api_msgs/Route route
+---
+autoware_external_api_msgs/ResponseStatus status
diff --git a/messages/autoware_external_api_msgs/srv/SetService.srv b/messages/autoware_external_api_msgs/srv/SetService.srv
@@ -0,0 +1,3 @@
+autoware_external_api_msgs/Service mode
+---
+autoware_external_api_msgs/ResponseStatus status
diff --git a/messages/autoware_external_api_msgs/srv/SetVelocityLimit.srv b/messages/autoware_external_api_msgs/srv/SetVelocityLimit.srv
@@ -0,0 +1,3 @@
+float32 velocity
+---
+autoware_external_api_msgs/ResponseStatus status

Original file line number	Diff line number	Diff line change
`@@ -0,0 +1,2 @@`
	`1`	`+builtin_interfaces/Time stamp`
	`2`	`+diagnostic_msgs/DiagnosticStatus[] diagnostics_notice`
Original file line number	Diff line number	Diff line change
`@@ -0,0 +1,2 @@`
	`1`	`+builtin_interfaces/Time stamp`
	`2`	`+autoware_external_api_msgs/ControlCommand control`
Original file line number	Diff line number	Diff line change
`@@ -0,0 +1,2 @@`
	`1`	`+builtin_interfaces/Time stamp`
	`2`	`+bool emergency`
Original file line number	Diff line number	Diff line change
`@@ -0,0 +1,2 @@`
	`1`	`+builtin_interfaces/Time stamp`
	`2`	`+bool engage`
Original file line number	Diff line number	Diff line change
`@@ -0,0 +1,2 @@`
	`1`	`+builtin_interfaces/Time stamp`
	`2`	`+autoware_external_api_msgs/FailSafeState state`
Original file line number	Diff line number	Diff line change
`@@ -0,0 +1,2 @@`
	`1`	`+builtin_interfaces/Time stamp`
	`2`	`+autoware_external_api_msgs/GearShift gear_shift`
Original file line number	Diff line number	Diff line change
`@@ -0,0 +1,2 @@`
	`1`	`+geometry_msgs/PoseStamped goal_pose`
	`2`	`+autoware_external_api_msgs/RouteSection[] route_sections`
Original file line number	Diff line number	Diff line change
`@@ -0,0 +1,3 @@`
	`1`	`+int64 preferred_lane_id`
	`2`	`+int64[] lane_ids`
	`3`	`+int64[] continued_lane_ids`
Original file line number	Diff line number	Diff line change
`@@ -0,0 +1,2 @@`
	`1`	`+builtin_interfaces/Time stamp`
	`2`	`+autoware_external_api_msgs/TurnSignal turn_signal`
Original file line number	Diff line number	Diff line change
`@@ -0,0 +1,2 @@`
	`1`	`+float64 velocity`
	`2`	`+float64 acceleration`