From f172a4ff58b80ffc4c64ddea8047c7f313248463 Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Fri, 17 May 2024 14:44:00 +0900 Subject: [PATCH 1/5] add InitializeLocalization.srv Signed-off-by: Yamato Ando --- tier4_localization_msgs/CMakeLists.txt | 2 ++ tier4_localization_msgs/package.xml | 1 + .../srv/InitializeLocalization.srv | 12 ++++++++++++ 3 files changed, 15 insertions(+) create mode 100644 tier4_localization_msgs/srv/InitializeLocalization.srv diff --git a/tier4_localization_msgs/CMakeLists.txt b/tier4_localization_msgs/CMakeLists.txt index 7c77d216..3eef98ce 100644 --- a/tier4_localization_msgs/CMakeLists.txt +++ b/tier4_localization_msgs/CMakeLists.txt @@ -15,8 +15,10 @@ find_package(ament_cmake_auto REQUIRED) ament_auto_find_build_dependencies() rosidl_generate_interfaces(${PROJECT_NAME} + "srv/InitializeLocalization.srv" "srv/PoseWithCovarianceStamped.srv" DEPENDENCIES + autoware_common_msgs builtin_interfaces geometry_msgs ) diff --git a/tier4_localization_msgs/package.xml b/tier4_localization_msgs/package.xml index 960d37f0..9a9511f0 100644 --- a/tier4_localization_msgs/package.xml +++ b/tier4_localization_msgs/package.xml @@ -11,6 +11,7 @@ rosidl_default_generators + autoware_common_msgs builtin_interfaces geometry_msgs diff --git a/tier4_localization_msgs/srv/InitializeLocalization.srv b/tier4_localization_msgs/srv/InitializeLocalization.srv new file mode 100644 index 00000000..65819947 --- /dev/null +++ b/tier4_localization_msgs/srv/InitializeLocalization.srv @@ -0,0 +1,12 @@ +uint8 AUTO = 0 +uint8 DIRECT = 1 + +geometry_msgs/PoseWithCovarianceStamped[<=1] pose_with_covariance +uint8 method +--- +uint16 ERROR_UNSAFE = 1 +uint16 ERROR_GNSS_SUPPORT = 2 +uint16 ERROR_GNSS = 3 +uint16 ERROR_ESTIMATION = 4 + +autoware_common_msgs/ResponseStatus status \ No newline at end of file From 281b633ee7346b0d4414dfefbfd5b0054bdb5aa1 Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Fri, 17 May 2024 14:49:13 +0900 Subject: [PATCH 2/5] add new line Signed-off-by: Yamato Ando --- tier4_localization_msgs/srv/InitializeLocalization.srv | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tier4_localization_msgs/srv/InitializeLocalization.srv b/tier4_localization_msgs/srv/InitializeLocalization.srv index 65819947..52bcfcb2 100644 --- a/tier4_localization_msgs/srv/InitializeLocalization.srv +++ b/tier4_localization_msgs/srv/InitializeLocalization.srv @@ -9,4 +9,4 @@ uint16 ERROR_GNSS_SUPPORT = 2 uint16 ERROR_GNSS = 3 uint16 ERROR_ESTIMATION = 4 -autoware_common_msgs/ResponseStatus status \ No newline at end of file +autoware_common_msgs/ResponseStatus status From 49ccda11e3199b02863ecc7d59309fd1e3a4a4a2 Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Fri, 17 May 2024 19:01:23 +0900 Subject: [PATCH 3/5] add description Signed-off-by: Yamato Ando --- tier4_localization_msgs/srv/InitializeLocalization.srv | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/tier4_localization_msgs/srv/InitializeLocalization.srv b/tier4_localization_msgs/srv/InitializeLocalization.srv index 52bcfcb2..9a32d271 100644 --- a/tier4_localization_msgs/srv/InitializeLocalization.srv +++ b/tier4_localization_msgs/srv/InitializeLocalization.srv @@ -1,9 +1,17 @@ +# constants for specifying initialization method uint8 AUTO = 0 uint8 DIRECT = 1 +# input pose for initialization geometry_msgs/PoseWithCovarianceStamped[<=1] pose_with_covariance + +# Variable to set initialization method +# AUTO: The initial position is automatically estimated with localization algorithm. +# The input pose will be used as an initial guess if provided. +# DIRECT: The initial position is set directly by the input pose without going through localization algorithm. uint8 method --- +# ERROR CODES used in response status in case of failure uint16 ERROR_UNSAFE = 1 uint16 ERROR_GNSS_SUPPORT = 2 uint16 ERROR_GNSS = 3 From f9f806764d5f023254e63c3dd3fb56fb89aa5a0a Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Fri, 17 May 2024 19:40:22 +0900 Subject: [PATCH 4/5] remove unnecessary space Signed-off-by: Yamato Ando --- tier4_localization_msgs/srv/InitializeLocalization.srv | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tier4_localization_msgs/srv/InitializeLocalization.srv b/tier4_localization_msgs/srv/InitializeLocalization.srv index 9a32d271..1607a218 100644 --- a/tier4_localization_msgs/srv/InitializeLocalization.srv +++ b/tier4_localization_msgs/srv/InitializeLocalization.srv @@ -7,7 +7,7 @@ geometry_msgs/PoseWithCovarianceStamped[<=1] pose_with_covariance # Variable to set initialization method # AUTO: The initial position is automatically estimated with localization algorithm. -# The input pose will be used as an initial guess if provided. +# The input pose will be used as an initial guess if provided. # DIRECT: The initial position is set directly by the input pose without going through localization algorithm. uint8 method --- From 669e92089c06c07963fe46cfb6943e453336ccbb Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Fri, 17 May 2024 10:41:55 +0000 Subject: [PATCH 5/5] ci(pre-commit): autofix --- tier4_localization_msgs/srv/InitializeLocalization.srv | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tier4_localization_msgs/srv/InitializeLocalization.srv b/tier4_localization_msgs/srv/InitializeLocalization.srv index 1607a218..658d709f 100644 --- a/tier4_localization_msgs/srv/InitializeLocalization.srv +++ b/tier4_localization_msgs/srv/InitializeLocalization.srv @@ -6,8 +6,8 @@ uint8 DIRECT = 1 geometry_msgs/PoseWithCovarianceStamped[<=1] pose_with_covariance # Variable to set initialization method -# AUTO: The initial position is automatically estimated with localization algorithm. -# The input pose will be used as an initial guess if provided. +# AUTO: The initial position is automatically estimated with localization algorithm. +# The input pose will be used as an initial guess if provided. # DIRECT: The initial position is set directly by the input pose without going through localization algorithm. uint8 method ---