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feat(planning): add planning factor msgs #77

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d9e9177
feat(planning): add planning factor msgs
satoshi-ota Jan 7, 2025
cfcc520
Merge branch 'main' into feat/planning-factor
isamu-takagi Apr 9, 2025
528ddd4
use string module name
isamu-takagi Apr 9, 2025
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3 changes: 3 additions & 0 deletions autoware_adapi_v1_msgs/CMakeLists.txt
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Expand Up @@ -38,11 +38,14 @@ 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
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2 changes: 2 additions & 0 deletions autoware_adapi_v1_msgs/planning/msg/ControlPoint.msg
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geometry_msgs/Pose pose
float32 distance
38 changes: 38 additions & 0 deletions autoware_adapi_v1_msgs/planning/msg/PlanningFactor.msg
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## constants for common use
uint16 UNKNOWN = 0

# constants for behavior_type
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

# 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
2 changes: 2 additions & 0 deletions autoware_adapi_v1_msgs/planning/msg/PlanningFactorArray.msg
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std_msgs/Header header
autoware_adapi_v1_msgs/PlanningFactor[] factors