feat!: replace VelocityLimit messages with autoware_internal_planning_msgs (#10273)

Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>

Author: mitsudome-r

planning/autoware_external_velocity_limit_selector/README.md

@@ -37,17 +37,17 @@ Example:
 
 ## Inputs
 
-| Name                                                | Type                                           | Description                                   |
-| --------------------------------------------------- | ---------------------------------------------- | --------------------------------------------- |
-| `~input/velocity_limit_from_api`                    | tier4_planning_msgs::VelocityLimit             | velocity limit from api                       |
-| `~input/velocity_limit_from_internal`               | tier4_planning_msgs::VelocityLimit             | velocity limit from autoware internal modules |
-| `~input/velocity_limit_clear_command_from_internal` | tier4_planning_msgs::VelocityLimitClearCommand | velocity limit clear command                  |
+| Name                                                | Type                                                            | Description                                   |
+| --------------------------------------------------- | --------------------------------------------------------------- | --------------------------------------------- |
+| `~input/velocity_limit_from_api`                    | autoware_internal_planning_msgs::msg::VelocityLimit             | velocity limit from api                       |
+| `~input/velocity_limit_from_internal`               | autoware_internal_planning_msgs::msg::VelocityLimit             | velocity limit from autoware internal modules |
+| `~input/velocity_limit_clear_command_from_internal` | autoware_internal_planning_msgs::msg::VelocityLimitClearCommand | velocity limit clear command                  |
 
 ## Outputs
 
-| Name                   | Type                               | Description                                       |
-| ---------------------- | ---------------------------------- | ------------------------------------------------- |
-| `~output/max_velocity` | tier4_planning_msgs::VelocityLimit | current information of the hardest velocity limit |
+| Name                   | Type                                                | Description                                       |
+| ---------------------- | --------------------------------------------------- | ------------------------------------------------- |
+| `~output/max_velocity` | autoware_internal_planning_msgs::msg::VelocityLimit | current information of the hardest velocity limit |
 
 ## Parameters
 

planning/autoware_external_velocity_limit_selector/include/autoware/external_velocity_limit_selector/external_velocity_limit_selector_node.hpp

@@ -19,8 +19,8 @@
 #include <rclcpp/rclcpp.hpp>
 
 #include <autoware_internal_debug_msgs/msg/string_stamped.hpp>
-#include <tier4_planning_msgs/msg/velocity_limit.hpp>
-#include <tier4_planning_msgs/msg/velocity_limit_clear_command.hpp>
+#include <autoware_internal_planning_msgs/msg/velocity_limit.hpp>
+#include <autoware_internal_planning_msgs/msg/velocity_limit_clear_command.hpp>
 
 #include <memory>
 #include <string>
@@ -30,9 +30,9 @@ namespace autoware::external_velocity_limit_selector
 {
 
 using autoware_internal_debug_msgs::msg::StringStamped;
-using tier4_planning_msgs::msg::VelocityLimit;
-using tier4_planning_msgs::msg::VelocityLimitClearCommand;
-using tier4_planning_msgs::msg::VelocityLimitConstraints;
+using autoware_internal_planning_msgs::msg::VelocityLimit;
+using autoware_internal_planning_msgs::msg::VelocityLimitClearCommand;
+using autoware_internal_planning_msgs::msg::VelocityLimitConstraints;
 
 using VelocityLimitTable = std::unordered_map<std::string, VelocityLimit>;
 

planning/autoware_external_velocity_limit_selector/package.xml

@@ -18,10 +18,10 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_internal_debug_msgs</depend>
+  <depend>autoware_internal_planning_msgs</depend>
   <depend>generate_parameter_library</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
-  <depend>tier4_planning_msgs</depend>
 
   <exec_depend>ros2cli</exec_depend>
   <exec_depend>topic_tools</exec_depend>

planning/autoware_external_velocity_limit_selector/test/test_external_velocity_limit_selector_node_launch.py

@@ -18,6 +18,8 @@
 import unittest
 
 from ament_index_python import get_package_share_directory
+from autoware_internal_planning_msgs.msg import VelocityLimit
+from autoware_internal_planning_msgs.msg import VelocityLimitClearCommand
 import launch
 from launch.actions import IncludeLaunchDescription
 from launch.launch_description_sources import AnyLaunchDescriptionSource
@@ -30,8 +32,6 @@
 from rcl_interfaces.srv import SetParameters
 import rclpy
 import rclpy.qos
-from tier4_planning_msgs.msg import VelocityLimit
-from tier4_planning_msgs.msg import VelocityLimitClearCommand
 
 logger = get_logger(__name__)
 

planning/autoware_obstacle_cruise_planner/README.md

@@ -23,11 +23,11 @@ The `autoware_obstacle_cruise_planner` package has following modules.
 
 ### Output topics
 
-| Name                            | Type                                           | Description                      |
-| ------------------------------- | ---------------------------------------------- | -------------------------------- |
-| `~/output/trajectory`           | autoware_planning_msgs::Trajectory             | output trajectory                |
-| `~/output/velocity_limit`       | tier4_planning_msgs::VelocityLimit             | velocity limit for cruising      |
-| `~/output/clear_velocity_limit` | tier4_planning_msgs::VelocityLimitClearCommand | clear command for velocity limit |
+| Name                            | Type                                                            | Description                      |
+| ------------------------------- | --------------------------------------------------------------- | -------------------------------- |
+| `~/output/trajectory`           | autoware_planning_msgs::Trajectory                              | output trajectory                |
+| `~/output/velocity_limit`       | autoware_internal_planning_msgs::msg::VelocityLimit             | velocity limit for cruising      |
+| `~/output/clear_velocity_limit` | autoware_internal_planning_msgs::msg::VelocityLimitClearCommand | clear command for velocity limit |
 
 ## Design
 

planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/type_alias.hpp

@@ -21,6 +21,8 @@
 
 #include "autoware_internal_debug_msgs/msg/float32_stamped.hpp"
 #include "autoware_internal_debug_msgs/msg/float64_stamped.hpp"
+#include "autoware_internal_planning_msgs/msg/velocity_limit.hpp"
+#include "autoware_internal_planning_msgs/msg/velocity_limit_clear_command.hpp"
 #include "autoware_perception_msgs/msg/predicted_object.hpp"
 #include "autoware_perception_msgs/msg/predicted_objects.hpp"
 #include "autoware_planning_msgs/msg/trajectory.hpp"
@@ -31,8 +33,6 @@
 #include "nav_msgs/msg/odometry.hpp"
 #include "sensor_msgs/msg/point_cloud2.hpp"
 #include "tier4_planning_msgs/msg/stop_speed_exceeded.hpp"
-#include "tier4_planning_msgs/msg/velocity_limit.hpp"
-#include "tier4_planning_msgs/msg/velocity_limit_clear_command.hpp"
 #include "visualization_msgs/msg/marker_array.hpp"
 
 #include <pcl/point_cloud.h>
@@ -41,6 +41,8 @@
 using autoware::vehicle_info_utils::VehicleInfo;
 using autoware_internal_debug_msgs::msg::Float32Stamped;
 using autoware_internal_debug_msgs::msg::Float64Stamped;
+using autoware_internal_planning_msgs::msg::VelocityLimit;
+using autoware_internal_planning_msgs::msg::VelocityLimitClearCommand;
 using autoware_perception_msgs::msg::ObjectClassification;
 using autoware_perception_msgs::msg::PredictedObject;
 using autoware_perception_msgs::msg::PredictedObjects;
@@ -54,8 +56,6 @@ using geometry_msgs::msg::Twist;
 using nav_msgs::msg::Odometry;
 using sensor_msgs::msg::PointCloud2;
 using tier4_planning_msgs::msg::StopSpeedExceeded;
-using tier4_planning_msgs::msg::VelocityLimit;
-using tier4_planning_msgs::msg::VelocityLimitClearCommand;
 using visualization_msgs::msg::Marker;
 using visualization_msgs::msg::MarkerArray;
 namespace bg = boost::geometry;

planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp

@@ -21,7 +21,7 @@
 #include "autoware_utils/ros/marker_helper.hpp"
 #include "autoware_utils/ros/update_param.hpp"
 
-#include "tier4_planning_msgs/msg/velocity_limit.hpp"
+#include "autoware_internal_planning_msgs/msg/velocity_limit.hpp"
 
 #include <algorithm>
 #include <memory>

planning/autoware_obstacle_stop_planner/src/node.hpp

@@ -34,6 +34,8 @@
 #include <autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp>
 #include <autoware_internal_debug_msgs/msg/float32_stamped.hpp>
 #include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
+#include <autoware_internal_planning_msgs/msg/velocity_limit.hpp>
+#include <autoware_internal_planning_msgs/msg/velocity_limit_clear_command.hpp>
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
 #include <autoware_planning_msgs/msg/trajectory.hpp>
 #include <diagnostic_msgs/msg/diagnostic_status.hpp>
@@ -42,8 +44,6 @@
 #include <geometry_msgs/msg/twist_stamped.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <tier4_planning_msgs/msg/expand_stop_range.hpp>
-#include <tier4_planning_msgs/msg/velocity_limit.hpp>
-#include <tier4_planning_msgs/msg/velocity_limit_clear_command.hpp>
 
 #include <boost/assert.hpp>
 #include <boost/assign/list_of.hpp>
@@ -83,15 +83,15 @@ using autoware_internal_debug_msgs::msg::BoolStamped;
 using autoware_internal_debug_msgs::msg::Float32MultiArrayStamped;
 using autoware_internal_debug_msgs::msg::Float32Stamped;
 using autoware_internal_debug_msgs::msg::Float64Stamped;
+using autoware_internal_planning_msgs::msg::VelocityLimit;
+using autoware_internal_planning_msgs::msg::VelocityLimitClearCommand;
 using autoware_perception_msgs::msg::PredictedObjects;
 using autoware_planning_msgs::msg::Trajectory;
 using autoware_planning_msgs::msg::TrajectoryPoint;
 using autoware_utils::Point2d;
 using autoware_utils::Polygon2d;
 using autoware_utils::StopWatch;
 using tier4_planning_msgs::msg::ExpandStopRange;
-using tier4_planning_msgs::msg::VelocityLimit;
-using tier4_planning_msgs::msg::VelocityLimitClearCommand;
 
 using TrajectoryPoints = std::vector<TrajectoryPoint>;
 using PointCloud = pcl::PointCloud<pcl::PointXYZ>;

planning/autoware_remaining_distance_time_calculator/package.xml

@@ -12,6 +12,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_internal_msgs</depend>
+  <depend>autoware_internal_planning_msgs</depend>
   <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_planning_msgs</depend>
@@ -24,7 +25,6 @@
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>std_msgs</depend>
-  <depend>tier4_planning_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>

planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.cpp

@@ -21,7 +21,7 @@
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp/timer.hpp>
 
-#include <tier4_planning_msgs/msg/velocity_limit.hpp>
+#include <autoware_internal_planning_msgs/msg/velocity_limit.hpp>
 
 #include <chrono>
 #include <functional>
@@ -55,7 +55,7 @@ RemainingDistanceTimeCalculatorNode::RemainingDistanceTimeCalculatorNode(
   sub_route_ = create_subscription<LaneletRoute>(
     "~/input/route", qos_transient_local,
     std::bind(&RemainingDistanceTimeCalculatorNode::on_route, this, _1));
-  sub_planning_velocity_ = create_subscription<tier4_planning_msgs::msg::VelocityLimit>(
+  sub_planning_velocity_ = create_subscription<autoware_internal_planning_msgs::msg::VelocityLimit>(
     "/planning/scenario_planning/current_max_velocity", qos_transient_local,
     std::bind(&RemainingDistanceTimeCalculatorNode::on_velocity_limit, this, _1));
   sub_scenario_ = this->create_subscription<autoware_internal_planning_msgs::msg::Scenario>(

planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.hpp

@@ -21,12 +21,12 @@
 
 #include <autoware_internal_msgs/msg/mission_remaining_distance_time.hpp>
 #include <autoware_internal_planning_msgs/msg/scenario.hpp>
+#include <autoware_internal_planning_msgs/msg/velocity_limit.hpp>
 #include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 #include <autoware_planning_msgs/msg/lanelet_route.hpp>
 #include <geometry_msgs/msg/pose.hpp>
 #include <geometry_msgs/msg/vector3.hpp>
 #include <nav_msgs/msg/odometry.hpp>
-#include <tier4_planning_msgs/msg/velocity_limit.hpp>
 
 #include <lanelet2_core/Forward.h>
 #include <lanelet2_core/utility/Optional.h>
@@ -49,7 +49,7 @@ class RemainingDistanceTimeCalculatorNode : public rclcpp::Node
   using LaneletRoute = autoware_planning_msgs::msg::LaneletRoute;
   using HADMapBin = autoware_map_msgs::msg::LaneletMapBin;
   using Odometry = nav_msgs::msg::Odometry;
-  using VelocityLimit = tier4_planning_msgs::msg::VelocityLimit;
+  using VelocityLimit = autoware_internal_planning_msgs::msg::VelocityLimit;
   using MissionRemainingDistanceTime = autoware_internal_msgs::msg::MissionRemainingDistanceTime;
 
   rclcpp::Subscription<LaneletRoute>::SharedPtr sub_route_;

planning/autoware_surround_obstacle_checker/README.md

@@ -86,15 +86,15 @@ As mentioned in stop condition section, it prevents chattering by changing thres
 
 ### Output
 
-| Name                                    | Type                                                  | Description                                                                           |
-| --------------------------------------- | ----------------------------------------------------- | ------------------------------------------------------------------------------------- |
-| `~/output/velocity_limit_clear_command` | `tier4_planning_msgs::msg::VelocityLimitClearCommand` | Velocity limit clear command                                                          |
-| `~/output/max_velocity`                 | `tier4_planning_msgs::msg::VelocityLimit`             | Velocity limit command                                                                |
-| `~/output/no_start_reason`              | `diagnostic_msgs::msg::DiagnosticStatus`              | No start reason                                                                       |
-| `~/debug/marker`                        | `visualization_msgs::msg::MarkerArray`                | Marker for visualization                                                              |
-| `~/debug/footprint`                     | `geometry_msgs::msg::PolygonStamped`                  | Ego vehicle base footprint for visualization                                          |
-| `~/debug/footprint_offset`              | `geometry_msgs::msg::PolygonStamped`                  | Ego vehicle footprint with `surround_check_distance` offset for visualization         |
-| `~/debug/footprint_recover_offset`      | `geometry_msgs::msg::PolygonStamped`                  | Ego vehicle footprint with `surround_check_recover_distance` offset for visualization |
+| Name                                    | Type                                                              | Description                                                                           |
+| --------------------------------------- | ----------------------------------------------------------------- | ------------------------------------------------------------------------------------- |
+| `~/output/velocity_limit_clear_command` | `autoware_internal_planning_msgs::msg::VelocityLimitClearCommand` | Velocity limit clear command                                                          |
+| `~/output/max_velocity`                 | `autoware_internal_planning_msgs::msg::VelocityLimit`             | Velocity limit command                                                                |
+| `~/output/no_start_reason`              | `diagnostic_msgs::msg::DiagnosticStatus`                          | No start reason                                                                       |
+| `~/debug/marker`                        | `visualization_msgs::msg::MarkerArray`                            | Marker for visualization                                                              |
+| `~/debug/footprint`                     | `geometry_msgs::msg::PolygonStamped`                              | Ego vehicle base footprint for visualization                                          |
+| `~/debug/footprint_offset`              | `geometry_msgs::msg::PolygonStamped`                              | Ego vehicle footprint with `surround_check_distance` offset for visualization         |
+| `~/debug/footprint_recover_offset`      | `geometry_msgs::msg::PolygonStamped`                              | Ego vehicle footprint with `surround_check_recover_distance` offset for visualization |
 
 ## Parameters
 

planning/autoware_surround_obstacle_checker/src/node.hpp

@@ -25,13 +25,13 @@
 #include <rclcpp/rclcpp.hpp>
 
 #include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
+#include <autoware_internal_planning_msgs/msg/velocity_limit.hpp>
+#include <autoware_internal_planning_msgs/msg/velocity_limit_clear_command.hpp>
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
 #include <diagnostic_msgs/msg/diagnostic_status.hpp>
 #include <diagnostic_msgs/msg/key_value.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
-#include <tier4_planning_msgs/msg/velocity_limit.hpp>
-#include <tier4_planning_msgs/msg/velocity_limit_clear_command.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
 
 #include <tf2/utils.h>
@@ -50,10 +50,10 @@ namespace autoware::surround_obstacle_checker
 
 using autoware::motion_utils::VehicleStopChecker;
 using autoware::vehicle_info_utils::VehicleInfo;
+using autoware_internal_planning_msgs::msg::VelocityLimit;
+using autoware_internal_planning_msgs::msg::VelocityLimitClearCommand;
 using autoware_perception_msgs::msg::PredictedObjects;
 using autoware_perception_msgs::msg::Shape;
-using tier4_planning_msgs::msg::VelocityLimit;
-using tier4_planning_msgs::msg::VelocityLimitClearCommand;
 
 using Obstacle = std::pair<double /* distance */, geometry_msgs::msg::Point>;
 

planning/autoware_surround_obstacle_checker/surround_obstacle_checker-design.ja.md

@@ -86,12 +86,12 @@ Stop condition の項で述べたように、状態によって障害物判定
 
 ### Output
 
-| Name                                    | Type                                                  | Description                  |
-| --------------------------------------- | ----------------------------------------------------- | ---------------------------- |
-| `~/output/velocity_limit_clear_command` | `tier4_planning_msgs::msg::VelocityLimitClearCommand` | Velocity limit clear command |
-| `~/output/max_velocity`                 | `tier4_planning_msgs::msg::VelocityLimit`             | Velocity limit command       |
-| `~/output/no_start_reason`              | `diagnostic_msgs::msg::DiagnosticStatus`              | No start reason              |
-| `~/debug/marker`                        | `visualization_msgs::msg::MarkerArray`                | Marker for visualization     |
+| Name                                    | Type                                                              | Description                  |
+| --------------------------------------- | ----------------------------------------------------------------- | ---------------------------- |
+| `~/output/velocity_limit_clear_command` | `autoware_internal_planning_msgs::msg::VelocityLimitClearCommand` | Velocity limit clear command |
+| `~/output/max_velocity`                 | `autoware_internal_planning_msgs::msg::VelocityLimit`             | Velocity limit command       |
+| `~/output/no_start_reason`              | `diagnostic_msgs::msg::DiagnosticStatus`                          | No start reason              |
+| `~/debug/marker`                        | `visualization_msgs::msg::MarkerArray`                            | Marker for visualization     |
 
 ## Parameters
 

planning/autoware_velocity_smoother/include/autoware/velocity_smoother/node.hpp

@@ -42,11 +42,11 @@
 #include "autoware_adapi_v1_msgs/msg/operation_mode_state.hpp"
 #include "autoware_internal_debug_msgs/msg/float32_stamped.hpp"
 #include "autoware_internal_debug_msgs/msg/float64_stamped.hpp"
+#include "autoware_internal_planning_msgs/msg/velocity_limit.hpp"  // temporary
 #include "autoware_planning_msgs/msg/trajectory.hpp"
 #include "autoware_planning_msgs/msg/trajectory_point.hpp"
 #include "geometry_msgs/msg/accel_with_covariance_stamped.hpp"
 #include "nav_msgs/msg/odometry.hpp"
-#include "tier4_planning_msgs/msg/velocity_limit.hpp"  // temporary
 #include "visualization_msgs/msg/marker_array.hpp"
 
 #include <iostream>
@@ -64,12 +64,12 @@ using TrajectoryPoints = std::vector<TrajectoryPoint>;
 using autoware_adapi_v1_msgs::msg::OperationModeState;
 using autoware_internal_debug_msgs::msg::Float32Stamped;
 using autoware_internal_debug_msgs::msg::Float64Stamped;
+using autoware_internal_planning_msgs::msg::VelocityLimit;  // temporary
 using autoware_utils::DiagnosticsInterface;
 using geometry_msgs::msg::AccelWithCovarianceStamped;
 using geometry_msgs::msg::Pose;
 using geometry_msgs::msg::PoseStamped;
 using nav_msgs::msg::Odometry;
-using tier4_planning_msgs::msg::VelocityLimit;  // temporary
 using visualization_msgs::msg::MarkerArray;
 
 struct Motion