feat!: change from autoware_auto_msgs to autoware_msgs

autoware_iv_external_api_adaptor/package.xml

@@ -11,10 +11,10 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_ad_api_specs</depend>
-  <depend>autoware_auto_control_msgs</depend>
-  <depend>autoware_auto_system_msgs</depend>
-  <depend>autoware_auto_vehicle_msgs</depend>
+  <depend>autoware_control_msgs</depend>
   <depend>autoware_external_api_msgs</depend>
+  <depend>autoware_system_msgs</depend>
+  <depend>autoware_vehicle_msgs</depend>
   <depend>component_interface_specs</depend>
   <depend>component_interface_utils</depend>
   <depend>nlohmann-json-dev</depend>

autoware_iv_external_api_adaptor/src/engage.cpp

@@ -35,9 +35,9 @@ Engage::Engage(const rclcpp::NodeOptions & options) : Node("external_api_engage"
     "/api/autoware/set/operator", rmw_qos_profile_services_default);
   pub_engage_status_ = create_publisher<tier4_external_api_msgs::msg::EngageStatus>(
     "/api/external/get/engage", rclcpp::QoS(1));
-  sub_engage_status_ = create_subscription<autoware_auto_vehicle_msgs::msg::Engage>(
+  sub_engage_status_ = create_subscription<autoware_vehicle_msgs::msg::Engage>(
     "/api/autoware/get/engage", rclcpp::QoS(1), std::bind(&Engage::onEngageStatus, this, _1));
-  sub_autoware_state_ = create_subscription<autoware_auto_system_msgs::msg::AutowareState>(
+  sub_autoware_state_ = create_subscription<autoware_system_msgs::msg::AutowareState>(
     "/autoware/state", rclcpp::QoS(1), std::bind(&Engage::onAutowareState, this, _1));
 
   waiting_for_engage_ = false;
@@ -78,17 +78,17 @@ void Engage::setEngage(
   response->status = resp->status;
 }
 
-void Engage::onEngageStatus(const autoware_auto_vehicle_msgs::msg::Engage::SharedPtr message)
+void Engage::onEngageStatus(const autoware_vehicle_msgs::msg::Engage::SharedPtr message)
 {
   auto msg = tier4_external_api_msgs::build<tier4_external_api_msgs::msg::EngageStatus>()
                .stamp(message->stamp)
                .engage(message->engage);
   pub_engage_status_->publish(msg);
 }
 
-void Engage::onAutowareState(const autoware_auto_system_msgs::msg::AutowareState::SharedPtr message)
+void Engage::onAutowareState(const autoware_system_msgs::msg::AutowareState::SharedPtr message)
 {
-  using autoware_auto_system_msgs::msg::AutowareState;
+  using autoware_system_msgs::msg::AutowareState;
   waiting_for_engage_ = (message->state == AutowareState::WAITING_FOR_ENGAGE);
   driving_ = (message->state == AutowareState::DRIVING);
 }

autoware_iv_external_api_adaptor/src/engage.hpp

@@ -18,8 +18,8 @@
 #include "rclcpp/rclcpp.hpp"
 #include "tier4_api_utils/tier4_api_utils.hpp"
 
-#include "autoware_auto_system_msgs/msg/autoware_state.hpp"
-#include "autoware_auto_vehicle_msgs/msg/engage.hpp"
+#include "autoware_system_msgs/msg/autoware_state.hpp"
+#include "autoware_vehicle_msgs/msg/engage.hpp"
 #include "tier4_external_api_msgs/msg/engage_status.hpp"
 #include "tier4_external_api_msgs/srv/engage.hpp"
 #include "tier4_external_api_msgs/srv/set_operator.hpp"
@@ -36,8 +36,8 @@ class Engage : public rclcpp::Node
   using ExternalEngage = tier4_external_api_msgs::srv::Engage;
   using ExternalEngageStatus = tier4_external_api_msgs::msg::EngageStatus;
   using SetOperator = tier4_external_api_msgs::srv::SetOperator;
-  using VehicleEngageStatus = autoware_auto_vehicle_msgs::msg::Engage;
-  using AutowareState = autoware_auto_system_msgs::msg::AutowareState;
+  using VehicleEngageStatus = autoware_vehicle_msgs::msg::Engage;
+  using AutowareState = autoware_system_msgs::msg::AutowareState;
 
   // ros interface
   rclcpp::CallbackGroup::SharedPtr group_;
@@ -57,8 +57,8 @@ class Engage : public rclcpp::Node
   void setEngage(
     const tier4_external_api_msgs::srv::Engage::Request::SharedPtr request,
     const tier4_external_api_msgs::srv::Engage::Response::SharedPtr response);
-  void onEngageStatus(const autoware_auto_vehicle_msgs::msg::Engage::SharedPtr message);
-  void onAutowareState(const autoware_auto_system_msgs::msg::AutowareState::SharedPtr message);
+  void onEngageStatus(const autoware_vehicle_msgs::msg::Engage::SharedPtr message);
+  void onAutowareState(const autoware_system_msgs::msg::AutowareState::SharedPtr message);
 };
 
 }  // namespace external_api

autoware_iv_external_api_adaptor/src/route.hpp

@@ -20,7 +20,7 @@
 #include "rclcpp/rclcpp.hpp"
 #include "tier4_api_utils/tier4_api_utils.hpp"
 
-#include "autoware_auto_system_msgs/msg/autoware_state.hpp"
+#include "autoware_system_msgs/msg/autoware_state.hpp"
 #include "tier4_external_api_msgs/msg/route.hpp"
 #include "tier4_external_api_msgs/srv/clear_route.hpp"
 #include "tier4_external_api_msgs/srv/set_route.hpp"
@@ -37,7 +37,7 @@ class Route : public rclcpp::Node
   using SetRoute = tier4_external_api_msgs::srv::SetRoute;
   using ClearRoute = tier4_external_api_msgs::srv::ClearRoute;
   using RouteMsg = tier4_external_api_msgs::msg::Route;
-  using AutowareState = autoware_auto_system_msgs::msg::AutowareState;
+  using AutowareState = autoware_system_msgs::msg::AutowareState;
 
   // ros interface
   rclcpp::CallbackGroup::SharedPtr group_;

autoware_iv_external_api_adaptor/src/vehicle_status.cpp

@@ -80,40 +80,40 @@ VehicleStatus::VehicleStatus(const rclcpp::NodeOptions & options)
     "/api/external/get/vehicle/status", rclcpp::QoS(1));
   timer_ = rclcpp::create_timer(this, get_clock(), 200ms, std::bind(&VehicleStatus::onTimer, this));
 
-  sub_velocity_ = create_subscription<autoware_auto_vehicle_msgs::msg::VelocityReport>(
+  sub_velocity_ = create_subscription<autoware_vehicle_msgs::msg::VelocityReport>(
     "/vehicle/status/velocity_status", rclcpp::QoS(1),
-    [this](const autoware_auto_vehicle_msgs::msg::VelocityReport::ConstSharedPtr msg) {
+    [this](const autoware_vehicle_msgs::msg::VelocityReport::ConstSharedPtr msg) {
       velocity_ = msg;
     });
-  sub_steering_ = create_subscription<autoware_auto_vehicle_msgs::msg::SteeringReport>(
+  sub_steering_ = create_subscription<autoware_vehicle_msgs::msg::SteeringReport>(
     "/vehicle/status/steering_status", rclcpp::QoS(1),
-    [this](const autoware_auto_vehicle_msgs::msg::SteeringReport::ConstSharedPtr msg) {
+    [this](const autoware_vehicle_msgs::msg::SteeringReport::ConstSharedPtr msg) {
       steering_ = msg;
     });
-  sub_turn_indicators_ = create_subscription<autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport>(
+  sub_turn_indicators_ = create_subscription<autoware_vehicle_msgs::msg::TurnIndicatorsReport>(
     "/vehicle/status/turn_indicators_status", rclcpp::QoS(1),
-    [this](const autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport::ConstSharedPtr msg) {
+    [this](const autoware_vehicle_msgs::msg::TurnIndicatorsReport::ConstSharedPtr msg) {
       turn_indicators_ = msg;
     });
-  sub_hazard_lights_ = create_subscription<autoware_auto_vehicle_msgs::msg::HazardLightsReport>(
+  sub_hazard_lights_ = create_subscription<autoware_vehicle_msgs::msg::HazardLightsReport>(
     "/vehicle/status/hazard_lights_status", rclcpp::QoS(1),
-    [this](const autoware_auto_vehicle_msgs::msg::HazardLightsReport::ConstSharedPtr msg) {
+    [this](const autoware_vehicle_msgs::msg::HazardLightsReport::ConstSharedPtr msg) {
       hazard_lights_ = msg;
     });
-  sub_gear_shift_ = create_subscription<autoware_auto_vehicle_msgs::msg::GearReport>(
+  sub_gear_shift_ = create_subscription<autoware_vehicle_msgs::msg::GearReport>(
     "/vehicle/status/gear_status", rclcpp::QoS(1),
-    [this](const autoware_auto_vehicle_msgs::msg::GearReport::ConstSharedPtr msg) {
+    [this](const autoware_vehicle_msgs::msg::GearReport::ConstSharedPtr msg) {
       gear_shift_ = msg;
     });
 
   pub_cmd_ = create_publisher<tier4_external_api_msgs::msg::VehicleCommandStamped>(
     "/api/external/get/command/selected/vehicle", rclcpp::QoS(1));
-  sub_cmd_ = create_subscription<autoware_auto_control_msgs::msg::AckermannControlCommand>(
+  sub_cmd_ = create_subscription<autoware_control_msgs::msg::Control>(
     "/control/command/control_cmd", rclcpp::QoS(1),
-    [this](const autoware_auto_control_msgs::msg::AckermannControlCommand::ConstSharedPtr msg) {
+    [this](const autoware_control_msgs::msg::Control::ConstSharedPtr msg) {
       tier4_external_api_msgs::msg::VehicleCommandStamped cmd;
       cmd.stamp = msg->stamp;
-      cmd.command.velocity = msg->longitudinal.speed;
+      cmd.command.velocity = msg->longitudinal.velocity;
       cmd.command.acceleration = msg->longitudinal.acceleration;
       pub_cmd_->publish(cmd);
     });

autoware_iv_external_api_adaptor/src/vehicle_status.hpp

@@ -18,12 +18,12 @@
 #include "rclcpp/rclcpp.hpp"
 #include "tier4_api_utils/tier4_api_utils.hpp"
 
-#include "autoware_auto_control_msgs/msg/ackermann_control_command.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_control_msgs/msg/control.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 "tier4_external_api_msgs/msg/vehicle_command_stamped.hpp"
 #include "tier4_external_api_msgs/msg/vehicle_status_stamped.hpp"
 
@@ -39,28 +39,27 @@ class VehicleStatus : public rclcpp::Node
   // ros interface for vehicle status
   rclcpp::Publisher<tier4_external_api_msgs::msg::VehicleStatusStamped>::SharedPtr pub_status_;
   rclcpp::TimerBase::SharedPtr timer_;
-  rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::VelocityReport>::SharedPtr sub_velocity_;
-  rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::SteeringReport>::SharedPtr sub_steering_;
-  rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport>::SharedPtr
+  rclcpp::Subscription<autoware_vehicle_msgs::msg::VelocityReport>::SharedPtr sub_velocity_;
+  rclcpp::Subscription<autoware_vehicle_msgs::msg::SteeringReport>::SharedPtr sub_steering_;
+  rclcpp::Subscription<autoware_vehicle_msgs::msg::TurnIndicatorsReport>::SharedPtr
     sub_turn_indicators_;
-  rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::HazardLightsReport>::SharedPtr
+  rclcpp::Subscription<autoware_vehicle_msgs::msg::HazardLightsReport>::SharedPtr
     sub_hazard_lights_;
-  rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::GearReport>::SharedPtr sub_gear_shift_;
+  rclcpp::Subscription<autoware_vehicle_msgs::msg::GearReport>::SharedPtr sub_gear_shift_;
 
   // ros interface for vehicle command
   rclcpp::Publisher<tier4_external_api_msgs::msg::VehicleCommandStamped>::SharedPtr pub_cmd_;
-  rclcpp::Subscription<autoware_auto_control_msgs::msg::AckermannControlCommand>::SharedPtr
-    sub_cmd_;
+  rclcpp::Subscription<autoware_control_msgs::msg::Control>::SharedPtr sub_cmd_;
 
   // ros callback
   void onTimer();
 
   // vehicle status
-  autoware_auto_vehicle_msgs::msg::VelocityReport::ConstSharedPtr velocity_;
-  autoware_auto_vehicle_msgs::msg::SteeringReport::ConstSharedPtr steering_;
-  autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport::ConstSharedPtr turn_indicators_;
-  autoware_auto_vehicle_msgs::msg::HazardLightsReport::ConstSharedPtr hazard_lights_;
-  autoware_auto_vehicle_msgs::msg::GearReport::ConstSharedPtr gear_shift_;
+  autoware_vehicle_msgs::msg::VelocityReport::ConstSharedPtr velocity_;
+  autoware_vehicle_msgs::msg::SteeringReport::ConstSharedPtr steering_;
+  autoware_vehicle_msgs::msg::TurnIndicatorsReport::ConstSharedPtr turn_indicators_;
+  autoware_vehicle_msgs::msg::HazardLightsReport::ConstSharedPtr hazard_lights_;
+  autoware_vehicle_msgs::msg::GearReport::ConstSharedPtr gear_shift_;
 };
 
 }  // namespace external_api

autoware_iv_internal_api_adaptor/launch/internal_api_relay.launch.xml

@@ -4,7 +4,7 @@
     <node pkg="topic_tools" exec="relay" name="traffic_signals">
       <param name="input_topic" value="/api/autoware/set/traffic_signals"/>
       <param name="output_topic" value="/external/traffic_light_recognition/traffic_signals"/>
-      <param name="type" value="autoware_auto_perception_msgs/msg/TrafficSignalArray"/>
+      <param name="type" value="autoware_perception_msgs/msg/TrafficSignalArray"/>
     </node>
     <node pkg="topic_tools" exec="relay" name="intersection_states">
       <param name="input_topic" value="/api/autoware/set/intersection_states"/>

autoware_iv_internal_api_adaptor/package.xml

@@ -11,10 +11,10 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_adapi_v1_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_perception_msgs</depend>
+  <depend>autoware_planning_msgs</depend>
+  <depend>autoware_system_msgs</depend>
+  <depend>autoware_vehicle_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>

autoware_iv_internal_api_adaptor/src/iv_msgs.hpp

@@ -18,10 +18,10 @@
 #include <rclcpp/rclcpp.hpp>
 
 #include <autoware_adapi_v1_msgs/msg/mrm_state.hpp>
-#include <autoware_auto_perception_msgs/msg/tracked_objects.hpp>
-#include <autoware_auto_planning_msgs/msg/trajectory.hpp>
-#include <autoware_auto_system_msgs/msg/autoware_state.hpp>
-#include <autoware_auto_vehicle_msgs/msg/control_mode_report.hpp>
+#include <autoware_perception_msgs/msg/tracked_objects.hpp>
+#include <autoware_planning_msgs/msg/trajectory.hpp>
+#include <autoware_system_msgs/msg/autoware_state.hpp>
+#include <autoware_vehicle_msgs/msg/control_mode_report.hpp>
 #include <tier4_perception_msgs/msg/dynamic_object_array.hpp>
 #include <tier4_planning_msgs/msg/trajectory.hpp>
 #include <tier4_system_msgs/msg/autoware_state.hpp>
@@ -35,22 +35,22 @@ class IVMsgs : public rclcpp::Node
 
 private:
   using EmergencyStateAuto = autoware_adapi_v1_msgs::msg::MrmState;
-  using AutowareStateAuto = autoware_auto_system_msgs::msg::AutowareState;
+  using AutowareStateAuto = autoware_system_msgs::msg::AutowareState;
   using AutowareStateIV = tier4_system_msgs::msg::AutowareState;
   rclcpp::Subscription<EmergencyStateAuto>::SharedPtr sub_emergency_;
   rclcpp::Subscription<AutowareStateAuto>::SharedPtr sub_state_;
   rclcpp::Publisher<AutowareStateIV>::SharedPtr pub_state_;
 
-  using ControlModeAuto = autoware_auto_vehicle_msgs::msg::ControlModeReport;
+  using ControlModeAuto = autoware_vehicle_msgs::msg::ControlModeReport;
   rclcpp::Subscription<ControlModeAuto>::SharedPtr sub_control_mode_;
   rclcpp::Publisher<ControlModeAuto>::SharedPtr pub_control_mode_;
 
-  using TrajectoryAuto = autoware_auto_planning_msgs::msg::Trajectory;
+  using TrajectoryAuto = autoware_planning_msgs::msg::Trajectory;
   using TrajectoryIV = tier4_planning_msgs::msg::Trajectory;
   rclcpp::Subscription<TrajectoryAuto>::SharedPtr sub_trajectory_;
   rclcpp::Publisher<TrajectoryIV>::SharedPtr pub_trajectory_;
 
-  using TrackedObjectsAuto = autoware_auto_perception_msgs::msg::TrackedObjects;
+  using TrackedObjectsAuto = autoware_perception_msgs::msg::TrackedObjects;
   using DynamicObjectsIV = tier4_perception_msgs::msg::DynamicObjectArray;
   rclcpp::Subscription<TrackedObjectsAuto>::SharedPtr sub_tracked_objects_;
   rclcpp::Publisher<DynamicObjectsIV>::SharedPtr pub_dynamic_objects_;

autoware_iv_internal_api_adaptor/src/operator.cpp

@@ -52,10 +52,9 @@ Operator::Operator(const rclcpp::NodeOptions & options) : Node("external_api_ope
     std::bind(&Operator::onExternalSelect, this, _1));
   sub_gate_mode_ = create_subscription<tier4_control_msgs::msg::GateMode>(
     "/control/current_gate_mode", rclcpp::QoS(1), std::bind(&Operator::onGateMode, this, _1));
-  sub_vehicle_control_mode_ =
-    create_subscription<autoware_auto_vehicle_msgs::msg::ControlModeReport>(
-      "/vehicle/status/control_mode", rclcpp::QoS(1),
-      std::bind(&Operator::onVehicleControlMode, this, _1));
+  sub_vehicle_control_mode_ = create_subscription<autoware_vehicle_msgs::msg::ControlModeReport>(
+    "/vehicle/status/control_mode", rclcpp::QoS(1),
+    std::bind(&Operator::onVehicleControlMode, this, _1));
   sub_emergency_ = create_subscription<tier4_external_api_msgs::msg::Emergency>(
     "/api/autoware/get/emergency", 10, std::bind(&Operator::onEmergencyStatus, this, _1));
 
@@ -126,7 +125,7 @@ void Operator::onGateMode(const tier4_control_msgs::msg::GateMode::ConstSharedPt
 }
 
 void Operator::onVehicleControlMode(
-  const autoware_auto_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr message)
+  const autoware_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr message)
 {
   vehicle_control_mode_ = message;
 }
@@ -151,7 +150,7 @@ void Operator::publishOperator()
     return;
   }
 
-  if (vehicle_control_mode_->mode == autoware_auto_vehicle_msgs::msg::ControlModeReport::MANUAL) {
+  if (vehicle_control_mode_->mode == autoware_vehicle_msgs::msg::ControlModeReport::MANUAL) {
     pub_operator_->publish(build<OperatorMsg>().mode(OperatorMsg::DRIVER));
     return;
   }

autoware_iv_internal_api_adaptor/src/operator.hpp

@@ -18,7 +18,7 @@
 #include <rclcpp/rclcpp.hpp>
 #include <tier4_api_utils/tier4_api_utils.hpp>
 
-#include <autoware_auto_vehicle_msgs/msg/control_mode_report.hpp>
+#include <autoware_vehicle_msgs/msg/control_mode_report.hpp>
 #include <tier4_control_msgs/msg/external_command_selector_mode.hpp>
 #include <tier4_control_msgs/msg/gate_mode.hpp>
 #include <tier4_control_msgs/srv/external_command_select.hpp>
@@ -44,7 +44,7 @@ class Operator : public rclcpp::Node
   using ExternalCommandSelect = tier4_control_msgs::srv::ExternalCommandSelect;
   using ExternalCommandSelectorMode = tier4_control_msgs::msg::ExternalCommandSelectorMode;
   using GateMode = tier4_control_msgs::msg::GateMode;
-  using ControlModeReport = autoware_auto_vehicle_msgs::msg::ControlModeReport;
+  using ControlModeReport = autoware_vehicle_msgs::msg::ControlModeReport;
   using ChangeAutowareControl = tier4_system_msgs::srv::ChangeAutowareControl;
   using ResponseStatus = tier4_external_api_msgs::msg::ResponseStatus;
 
@@ -74,14 +74,14 @@ class Operator : public rclcpp::Node
     const tier4_control_msgs::msg::ExternalCommandSelectorMode::ConstSharedPtr message);
   void onGateMode(const tier4_control_msgs::msg::GateMode::ConstSharedPtr message);
   void onVehicleControlMode(
-    const autoware_auto_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr message);
+    const autoware_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr message);
   void onEmergencyStatus(const tier4_external_api_msgs::msg::Emergency::ConstSharedPtr msg);
   void onTimer();
 
   // class field
   tier4_control_msgs::msg::ExternalCommandSelectorMode::ConstSharedPtr external_select_;
   tier4_control_msgs::msg::GateMode::ConstSharedPtr gate_mode_;
-  autoware_auto_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr vehicle_control_mode_;
+  autoware_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr vehicle_control_mode_;
   tier4_external_api_msgs::msg::Emergency::ConstSharedPtr emergency_status_;
   bool send_engage_in_emergency_;
 

awapi_awiv_adapter/include/awapi_awiv_adapter/awapi_autoware_state_publisher.hpp

@@ -49,7 +49,7 @@ class AutowareIvAutowareStatePublisher
     const tier4_system_msgs::msg::AutowareState::ConstSharedPtr & autoware_state_ptr,
     tier4_api_msgs::msg::AwapiAutowareStatus * status);
   void getControlModeInfo(
-    const autoware_auto_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr & control_mode_ptr,
+    const autoware_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr & control_mode_ptr,
     tier4_api_msgs::msg::AwapiAutowareStatus * status);
   void getGateModeInfo(
     const tier4_control_msgs::msg::GateMode::ConstSharedPtr & gate_mode_ptr,