From d9e917743f635e34c17a87dac89ef71732643f1c Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Tue, 7 Jan 2025 09:58:05 +0900 Subject: [PATCH 1/2] feat(planning): add planning factor msgs Signed-off-by: satoshi-ota --- autoware_adapi_v1_msgs/CMakeLists.txt | 3 ++ .../planning/msg/ControlPoint.msg | 2 + .../planning/msg/PlanningFactor.msg | 41 +++++++++++++++++++ .../planning/msg/PlanningFactorArray.msg | 2 + 4 files changed, 48 insertions(+) create mode 100644 autoware_adapi_v1_msgs/planning/msg/ControlPoint.msg create mode 100644 autoware_adapi_v1_msgs/planning/msg/PlanningFactor.msg create mode 100644 autoware_adapi_v1_msgs/planning/msg/PlanningFactorArray.msg diff --git a/autoware_adapi_v1_msgs/CMakeLists.txt b/autoware_adapi_v1_msgs/CMakeLists.txt index 91ffe11..d7797f4 100644 --- a/autoware_adapi_v1_msgs/CMakeLists.txt +++ b/autoware_adapi_v1_msgs/CMakeLists.txt @@ -26,11 +26,14 @@ rosidl_generate_interfaces(${PROJECT_NAME} perception/msg/DynamicObjectKinematics.msg perception/msg/DynamicObjectPath.msg perception/msg/ObjectClassification.msg + planning/msg/ControlPoint.msg planning/msg/SteeringFactor.msg planning/msg/SteeringFactorArray.msg planning/msg/VelocityFactor.msg planning/msg/VelocityFactorArray.msg planning/msg/PlanningBehavior.msg + planning/msg/PlanningFactor.msg + planning/msg/PlanningFactorArray.msg planning/msg/PlanningSequence.msg planning/msg/CooperationCommand.msg planning/msg/CooperationDecision.msg diff --git a/autoware_adapi_v1_msgs/planning/msg/ControlPoint.msg b/autoware_adapi_v1_msgs/planning/msg/ControlPoint.msg new file mode 100644 index 0000000..5c71444 --- /dev/null +++ b/autoware_adapi_v1_msgs/planning/msg/ControlPoint.msg @@ -0,0 +1,2 @@ +geometry_msgs/Pose pose +float32 distance diff --git a/autoware_adapi_v1_msgs/planning/msg/PlanningFactor.msg b/autoware_adapi_v1_msgs/planning/msg/PlanningFactor.msg new file mode 100644 index 0000000..78bd8cb --- /dev/null +++ b/autoware_adapi_v1_msgs/planning/msg/PlanningFactor.msg @@ -0,0 +1,41 @@ +## constants for common use +uint16 UNKNOWN = 0 + +# These constants are used in the module field. +uint16 ADAPTIVE_CRUISE = 1 +uint16 AVOIDANCE = 2 +uint16 CROSSWALK = 3 +uint16 GOAL_PLANNER = 4 +uint16 INTERSECTION = 5 +uint16 LANE_CHANGE = 6 +uint16 MERGE = 7 +uint16 NO_DRIVABLE_LANE = 8 +uint16 NO_STOPPING_AREA = 9 +uint16 REAR_CHECK = 10 +uint16 ROUTE_OBSTACLE = 11 +uint16 RUN_OUT = 12 +uint16 SIDEWALK = 13 +uint16 START_PLANNER = 14 +uint16 STOP_SIGN = 15 +uint16 SURROUNDING_OBSTACLE = 16 +uint16 TRAFFIC_SIGNAL = 17 +uint16 USER_DEFINED_DETECTION_AREA = 18 +uint16 VIRTUAL_TRAFFIC_LIGHT = 19 + +# constants for behavior +uint16 NONE = 1 +uint16 SLOW_DOWN = 2 +uint16 STOP = 3 +uint16 SHIFT_LEFT = 4 +uint16 SHIFT_RIGHT = 5 +uint16 TURN_LEFT = 6 +uint16 TURN_RIGHT = 7 + +# variables +uint16 module + +autoware_adapi_v1_msgs/ControlPoint[] control_points + +uint16 behavior + +string detail diff --git a/autoware_adapi_v1_msgs/planning/msg/PlanningFactorArray.msg b/autoware_adapi_v1_msgs/planning/msg/PlanningFactorArray.msg new file mode 100644 index 0000000..4f1c9e3 --- /dev/null +++ b/autoware_adapi_v1_msgs/planning/msg/PlanningFactorArray.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +autoware_adapi_v1_msgs/PlanningFactor[] factors From 528ddd40122ac5656d6f1d9167d8078871cd348b Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Wed, 9 Apr 2025 16:10:34 +0900 Subject: [PATCH 2/2] use string module name Signed-off-by: Takagi, Isamu --- .../planning/msg/PlanningFactor.msg | 53 +++++++++---------- 1 file changed, 25 insertions(+), 28 deletions(-) diff --git a/autoware_adapi_v1_msgs/planning/msg/PlanningFactor.msg b/autoware_adapi_v1_msgs/planning/msg/PlanningFactor.msg index 78bd8cb..45c4eda 100644 --- a/autoware_adapi_v1_msgs/planning/msg/PlanningFactor.msg +++ b/autoware_adapi_v1_msgs/planning/msg/PlanningFactor.msg @@ -1,28 +1,7 @@ ## constants for common use uint16 UNKNOWN = 0 -# These constants are used in the module field. -uint16 ADAPTIVE_CRUISE = 1 -uint16 AVOIDANCE = 2 -uint16 CROSSWALK = 3 -uint16 GOAL_PLANNER = 4 -uint16 INTERSECTION = 5 -uint16 LANE_CHANGE = 6 -uint16 MERGE = 7 -uint16 NO_DRIVABLE_LANE = 8 -uint16 NO_STOPPING_AREA = 9 -uint16 REAR_CHECK = 10 -uint16 ROUTE_OBSTACLE = 11 -uint16 RUN_OUT = 12 -uint16 SIDEWALK = 13 -uint16 START_PLANNER = 14 -uint16 STOP_SIGN = 15 -uint16 SURROUNDING_OBSTACLE = 16 -uint16 TRAFFIC_SIGNAL = 17 -uint16 USER_DEFINED_DETECTION_AREA = 18 -uint16 VIRTUAL_TRAFFIC_LIGHT = 19 - -# constants for behavior +# constants for behavior_type uint16 NONE = 1 uint16 SLOW_DOWN = 2 uint16 STOP = 3 @@ -31,11 +10,29 @@ uint16 SHIFT_RIGHT = 5 uint16 TURN_LEFT = 6 uint16 TURN_RIGHT = 7 -# variables -uint16 module - -autoware_adapi_v1_msgs/ControlPoint[] control_points - -uint16 behavior +# constants for behavior_name +string ADAPTIVE_CRUISE = "adaptive_cruise" +string AVOIDANCE = "avoidance" +string CROSSWALK = "crosswalk" +string GOAL_PLANNER = "goal_planner" +string INTERSECTION = "intersection" +string LANE_CHANGE = "lane_change" +string MERGE = "merge" +string NO_DRIVABLE_LANE = "no_drivable_lane" +string NO_STOPPING_AREA = "no_stopping_area" +string REAR_CHECK = "rear_check" +string ROUTE_OBSTACLE = "route_obstacle" +string RUN_OUT = "run_out" +string SIDEWALK = "sidewalk" +string START_PLANNER = "start_planner" +string STOP_SIGN = "stop_sign" +string SURROUNDING_OBSTACLE = "surrounding_obstacle" +string TRAFFIC_SIGNAL = "traffic_signal" +string USER_DEFINED_DETECTION_AREA = "user_defined_detection_area" +string VIRTUAL_TRAFFIC_LIGHT = "virtual_traffic_light" +# variables +uint16 behavior_type +string behavior_name string detail +autoware_adapi_v1_msgs/ControlPoint[] control_points