feat(autoware_velocity_smoother): porting from universe to core

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::VelocityLimit             | velocity limit from api                       |
+| `~input/velocity_limit_from_internal`               | autoware_internal_planning_msgs::VelocityLimit             | velocity limit from autoware internal modules |
+| `~input/velocity_limit_clear_command_from_internal` | autoware_internal_planning_msgs::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::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/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/package.xml

@@ -19,6 +19,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_internal_debug_msgs</depend>
+  <depend>autoware_internal_planning_msgs</depend>
   <depend>autoware_interpolation</depend>
   <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_motion_utils</depend>

planning/autoware_obstacle_stop_planner/package.xml

@@ -22,6 +22,7 @@
 
   <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_internal_debug_msgs</depend>
+  <depend>autoware_internal_planning_msgs</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_factor_interface</depend>

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>
@@ -86,12 +86,12 @@ 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 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>

planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.cpp

@@ -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<tier4_planning_msgs::msg::Scenario>(

planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.hpp

@@ -20,13 +20,13 @@
 #include <remaining_distance_time_calculator_parameters.hpp>
 
 #include <autoware_internal_msgs/msg/mission_remaining_distance_time.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/scenario.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/package.xml

@@ -14,6 +14,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
+  <depend>autoware_internal_planning_msgs</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_factor_interface</depend>
@@ -34,7 +35,6 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>

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/README.ja.md

@@ -1,12 +1,12 @@
 # Velocity Smoother
 
-## Purpose
+## Overview
 
 `autoware_velocity_smoother`は目標軌道上の各点における望ましい車速を計画して出力するモジュールである。
 このモジュールは、速度の最大化と乗り心地の良さを両立するために、事前に指定された制限速度、制限加速度および制限躍度の範囲で車速を計画する。
 加速度や躍度の制限を与えることは車速の変化を滑らかにすることに対応するため、このモジュールを`autoware_velocity_smoother`と呼んでいる。
 
-## Inner-workings / Algorithms
+## Design
 
 ### Flow chart
 
@@ -237,14 +237,8 @@ Example:
 - 参照経路に設定されている制限速度を指定した減速度やジャークで達成不可能な場合、可能な範囲で速度、加速度、ジャークの逸脱量を抑えながら減速
 - 各逸脱量の重視の度合いはパラメータにより指定
 
-## (Optional) Error detection and handling
-
-## (Optional) Performance characterization
-
-## (Optional) References/External links
+## References/External links
 
 [1] B. Stellato, et al., "OSQP: an operator splitting solver for quadratic programs", Mathematical Programming Computation, 2020, [10.1007/s12532-020-00179-2](https://link.springer.com/article/10.1007/s12532-020-00179-2).
 
 [2] Y. Zhang, et al., "Toward a More Complete, Flexible, and Safer Speed Planning for Autonomous Driving via Convex Optimization", Sensors, vol. 18, no. 7, p. 2185, 2018, [10.3390/s18072185](https://doi.org/10.3390/s18072185)
-
-## (Optional) Future extensions / Unimplemented parts