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TetsuKawaTetsuKawa
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feat: change domain bridge config (autowarefoundation#1121)
* feat: change domain bridge (autowarefoundation#1068) * fix Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com> * feat: rename to_sub to to_main Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com> --------- Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com> * feat: update domain bridge config (autowarefoundation#1095) feat: fix domain bridge config Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com> * fix: add type (autowarefoundation#1100) Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com> * feat: chnage type and add topic Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com> --------- Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
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lines changed

‎autoware_launch/config/system/domain_bridge/domain_bridge.redundancy.main.mrm.param.yaml

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name: main_ecu_mrm_domain_bridge
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from_domain: 1
3+
to_domain: 3
4+
topics:
5+
# main -> mrm
6+
/to_mrm/planning/scenario_planning/trajectory:
7+
type: autoware_planning_msgs/msg/Trajectory
8+
remap: /main/planning/scenario_planning/trajectory
9+
/to_mrm/localization/pose_with_covariance:
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type: geometry_msgs/msg/PoseWithCovarianceStamped
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remap: /main/localization/pose_with_covariance
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/initialpose3d:
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type: geometry_msgs/msg/PoseWithCovarianceStamped
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remap: /main/initialpose3d
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/localization/twist_estimator/twist_with_covariance:
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type: geometry_msgs/msg/TwistWithCovarianceStamped
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remap: /main/localization/twist_estimator/twist_with_covariance
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/control/jerk_constant_deceleration_trigger:
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type: jerk_constant_deceleration_controller_msgs/msg/JerkConstantDecelerationTrigger
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remap: /main/control/jerk_constant_deceleration_trigger
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/control/command/control_cmd:
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type: autoware_control_msgs/msg/Control
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remap: /main/control/command/control_cmd
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/system/operation_mode/state:
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type: autoware_adapi_v1_msgs/msg/OperationModeState
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remap: /main/system/operation_mode/state
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/vehicle/status/steering_status:
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type: autoware_vehicle_msgs/msg/SteeringReport
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remap: /main/vehicle/status/steering_status
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# mrm -> main
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/control/control_command_gate/inputs/in_lane_stop/control:
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type: autoware_control_msgs/msg/Control
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reversed: True
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/control/control_command_gate/inputs/in_lane_stop/gear:
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type: autoware_vehicle_msgs/msg/GearCommand
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reversed: True
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/control/control_command_gate/inputs/in_lane_stop/hazard_lights:
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type: autoware_vehicle_msgs/msg/HazardLightsCommand
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reversed: True
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/control/control_command_gate/inputs/in_lane_stop/turn_indicators:
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type: autoware_vehicle_msgs/msg/TurnIndicatorsCommand
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reversed: True
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# mrm -> main for logging
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/localization/kinematic_state:
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type: nav_msgs/msg/Odometry
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reversed: True
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remap: /mrm/localization/kinematic_state
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/localization/acceleration:
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type: geometry_msgs/msg/AccelWithCovarianceStamped
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reversed: True
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remap: /mrm/localization/acceleration
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/localization/pose_twist_fusion_filter/kinematic_state:
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type: nav_msgs/msg/Odometry
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reversed: True
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remap: /mrm/localization/pose_twist_fusion_filter/kinematic_state
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/diagnostics:
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type: diagnostic_msgs/msg/DiagnosticArray
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reversed: True
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remap: /mrm/diagnostics
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/planning/topic_relay_controller/trajectory:
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type: autoware_planning_msgs/msg/Trajectory
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reversed: True
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remap: /mrm/planning/topic_relay_controller/trajectory
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/main/localization/pose_with_covariance:
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type: geometry_msgs/msg/PoseWithCovarianceStamped
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reversed: True
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remap: /mrm/main/localization/pose_with_covariance
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/control/trajectory_follower/lateral/diagnostic:
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type: autoware_internal_debug_msgs/msg/Float32MultiArrayStamped
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reversed: True
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remap: /mrm/control/trajectory_follower/lateral/diagnostic
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/control/trajectory_follower/longitudinal/diagnostic:
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type: autoware_internal_debug_msgs/msg/Float32MultiArrayStamped
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reversed: True
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remap: /mrm/control/trajectory_follower/longitudinal/diagnostic
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/control/trajectory_follower/control_cmd:
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type: autoware_control_msgs/msg/Control
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reversed: True
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remap: /mrm/control/trajectory_follower/control_cmd

‎autoware_launch/config/system/domain_bridge/domain_bridge.redundancy.main.mrm.psim.param.yaml

Lines changed: 58 additions & 0 deletions
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name: main_ecu_mrm_domain_bridge
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from_domain: 1
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to_domain: 3
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topics:
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# main -> mrm
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/to_mrm/planning/scenario_planning/trajectory:
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type: autoware_planning_msgs/msg/Trajectory
8+
remap: /main/planning/scenario_planning/trajectory
9+
/localization/kinematic_state:
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type: nav_msgs/msg/Odometry
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/localization/acceleration:
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type: geometry_msgs/msg/AccelWithCovarianceStamped
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/control/jerk_constant_deceleration_trigger:
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type: jerk_constant_deceleration_controller_msgs/msg/JerkConstantDecelerationTrigger
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remap: /main/control/jerk_constant_deceleration_trigger
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/control/command/control_cmd:
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type: autoware_control_msgs/msg/Control
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remap: /main/control/command/control_cmd
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/system/operation_mode/state:
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type: autoware_adapi_v1_msgs/msg/OperationModeState
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remap: /main/system/operation_mode/state
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/vehicle/status/steering_status:
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type: autoware_vehicle_msgs/msg/SteeringReport
24+
remap: /main/vehicle/status/steering_status
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# mrm -> main
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/control/control_command_gate/inputs/in_lane_stop/control:
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type: autoware_control_msgs/msg/Control
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reversed: True
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/control/control_command_gate/inputs/in_lane_stop/gear:
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type: autoware_vehicle_msgs/msg/GearCommand
31+
reversed: True
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/control/control_command_gate/inputs/in_lane_stop/hazard_lights:
33+
type: autoware_vehicle_msgs/msg/HazardLightsCommand
34+
reversed: True
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/control/control_command_gate/inputs/in_lane_stop/turn_indicators:
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type: autoware_vehicle_msgs/msg/TurnIndicatorsCommand
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reversed: True
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# mrm -> main for logging
39+
/diagnostics:
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type: diagnostic_msgs/msg/DiagnosticArray
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reversed: True
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remap: /mrm/diagnostics
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/planning/topic_relay_controller/trajectory:
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type: autoware_planning_msgs/msg/Trajectory
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reversed: True
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remap: /mrm/planning/topic_relay_controller/trajectory
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/control/trajectory_follower/lateral/diagnostic:
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type: autoware_internal_debug_msgs/msg/Float32MultiArrayStamped
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reversed: True
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remap: /mrm/control/trajectory_follower/lateral/diagnostic
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/control/trajectory_follower/longitudinal/diagnostic:
52+
type: autoware_internal_debug_msgs/msg/Float32MultiArrayStamped
53+
reversed: True
54+
remap: /mrm/control/trajectory_follower/longitudinal/diagnostic
55+
/control/trajectory_follower/control_cmd:
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type: autoware_control_msgs/msg/Control
57+
reversed: True
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remap: /mrm/control/trajectory_follower/control_cmd

‎autoware_launch/config/system/domain_bridge/domain_bridge.redundancy.sub.param.yaml

Lines changed: 46 additions & 66 deletions
Original file line numberDiff line numberDiff line change
@@ -3,20 +3,24 @@ from_domain: 1
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to_domain: 2
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topics:
55
# main
6-
/to_sub/planning/scenario_planning/trajectory:
6+
/to_mrm/planning/scenario_planning/trajectory:
77
type: autoware_planning_msgs/msg/Trajectory
88
remap: /main/planning/scenario_planning/trajectory
9-
/to_sub/localization/pose_with_covariance:
9+
/to_mrm/localization/pose_with_covariance:
1010
type: geometry_msgs/msg/PoseWithCovarianceStamped
1111
remap: /main/localization/pose_with_covariance
1212
/initialpose3d:
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type: geometry_msgs/msg/PoseWithCovarianceStamped
1414
remap: /main/initialpose3d
15+
/system/command_mode/status:
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type: tier4_system_msgs/msg/CommandModeStatus
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remap: /sub/system/command_mode/status
18+
# to pass availability to the domain 1
19+
/sub/system/command_mode/status:
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type: tier4_system_msgs/msg/CommandModeStatus
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reversed: True
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remap: /system/command_mode/status
1523
# for logging at domain 1
16-
/control/command/control_cmd:
17-
type: autoware_control_msgs/msg/Control
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reversed: True
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remap: /sub/control/command/control_cmd
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/localization/kinematic_state:
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type: nav_msgs/msg/Odometry
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reversed: True
@@ -25,10 +29,6 @@ topics:
2529
type: geometry_msgs/msg/AccelWithCovarianceStamped
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reversed: True
2731
remap: /sub/localization/acceleration
28-
/planning/scenario_planning/trajectory:
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type: autoware_planning_msgs/msg/Trajectory
30-
reversed: True
31-
remap: /sub/planning/scenario_planning/trajectory
3232
/localization/twist_estimator/twist_with_covariance:
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type: geometry_msgs/msg/TwistWithCovarianceStamped
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reversed: True
@@ -41,18 +41,6 @@ topics:
4141
type: redundancy_msgs/msg/ElectionStatus
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reversed: True
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remap: /sub/system/election/status
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/system/election/communication:
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type: redundancy_msgs/msg/ElectionCommunication
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reversed: True
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remap: /sub/system/election/communication
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/system/mrm_request:
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type: redundancy_msgs/msg/MrmBehavior
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reversed: True
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remap: /sub/system/mrm_request
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/system/fail_safe/over_all/mrm_state:
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type: autoware_adapi_v1_msgs/msg/MrmState
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reversed: True
55-
remap: /sub/system/fail_safe/over_all/mrm_state
5644
/system/fail_safe/mrm_state:
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type: autoware_adapi_v1_msgs/msg/MrmState
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reversed: True
@@ -65,54 +53,22 @@ topics:
6553
type: tier4_system_msgs/msg/OperationModeAvailability
6654
reversed: True
6755
remap: /sub/system/operation_mode/availability
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/can/command/m0_command:
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type: j6_interface_msgs/msg/M0Command
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reversed: True
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remap: /sub/can/command/m0_command
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/planning/scenario_planning/max_velocity:
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type: tier4_planning_msgs/msg/VelocityLimit
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reversed: True
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remap: /sub/planning/scenario_planning/max_velocity
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/velocity_smoother/debug/trajectory_external_velocity_limited:
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type: autoware_planning_msgs/msg/Trajectory
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reversed: True
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remap: /sub/planning/scenario_planning/velocity_smoother/debug/trajectory_external_velocity_limited
80-
/velocity_smoother/debug/trajectory_lateral_acc_filtered:
81-
type: autoware_planning_msgs/msg/Trajectory
82-
reversed: True
83-
remap: /sub/planning/scenario_planning/velocity_smoother/debug/trajectory_lateral_acc_filtered
84-
/velocity_smoother/debug/trajectory_raw:
85-
type: autoware_planning_msgs/msg/Trajectory
86-
reversed: True
87-
remap: /sub/planning/scenario_planning/velocity_smoother/debug/trajectory_raw
88-
/velocity_smoother/debug/trajectory_steering_rate_limited:
89-
type: autoware_planning_msgs/msg/Trajectory
56+
/system/command_mode/availability:
57+
type: tier4_system_msgs/msg/CommandModeAvailability
9058
reversed: True
91-
remap: /sub/planning/scenario_planning/velocity_smoother/debug/trajectory_steering_rate_limited
92-
/velocity_smoother/debug/trajectory_time_resampled:
93-
type: autoware_planning_msgs/msg/Trajectory
94-
reversed: True
95-
remap: /sub/planning/scenario_planning/velocity_smoother/debug/trajectory_time_resampled
96-
/velocity_smoother/distance_to_stopline:
97-
type: tier4_debug_msgs/msg/Float32Stamped
98-
reversed: True
99-
remap: /sub/planning/scenario_planning/velocity_smoother/distance_to_stopline
100-
/planning/trajectory_repeater/trajectory:
101-
type: autoware_planning_msgs/msg/Trajectory
102-
reversed: True
103-
remap: /sub/planning/trajectory_repeater/trajectory
104-
/planning/scenario_planning/max_velocity_candidates:
105-
type: tier4_planning_msgs/msg/VelocityLimit
106-
reversed: True
107-
remap: /sub/planning/scenario_planning/max_velocity_candidates
108-
/planning/scenario_planning/current_max_velocity:
109-
type: tier4_planning_msgs/msg/VelocityLimit
59+
remap: /sub/system/command_mode/availability
60+
/system/command_mode/request:
61+
type: tier4_system_msgs/msg/CommandModeRequest
11062
reversed: True
111-
remap: /sub/planning/scenario_planning/current_max_velocity
63+
remap: /sub/system/command_mode/request
11264
/system/operation_mode/state:
11365
type: autoware_adapi_v1_msgs/msg/OperationModeState
11466
reversed: True
11567
remap: /sub/system/operation_mode/state
68+
/can/command/m0_command:
69+
type: j6_interface_msgs/msg/M0Command
70+
reversed: True
71+
remap: /sub/can/command/m0_command
11672
/can/command/m1_command:
11773
type: j6_interface_msgs/msg/M1Command
11874
reversed: True
@@ -121,15 +77,39 @@ topics:
12177
type: j6_interface_msgs/msg/B0Command
12278
reversed: True
12379
remap: /sub/can/command/b0_command
80+
/planning/topic_relay_controller/trajectory:
81+
type: autoware_planning_msgs/msg/Trajectory
82+
reversed: True
83+
remap: /sub/planning/topic_relay_controller/trajectory
12484
/main/localization/pose_with_covariance:
12585
type: geometry_msgs/msg/PoseWithCovarianceStamped
12686
reversed: True
12787
remap: /sub/main/localization/pose_with_covariance
12888
/control/trajectory_follower/lateral/diagnostic:
129-
type: tier4_debug_msgs/msg/Float32MultiArrayStamped
89+
type: autoware_internal_debug_msgs/msg/Float32MultiArrayStamped
13090
reversed: True
13191
remap: /sub/control/trajectory_follower/lateral/diagnostic
13292
/control/trajectory_follower/longitudinal/diagnostic:
133-
type: tier4_debug_msgs/msg/Float32MultiArrayStamped
93+
type: autoware_internal_debug_msgs/msg/Float32MultiArrayStamped
13494
reversed: True
13595
remap: /sub/control/trajectory_follower/longitudinal/diagnostic
96+
/control/trajectory_follower/control_cmd:
97+
type: autoware_control_msgs/msg/Control
98+
reversed: True
99+
remap: /sub/control/trajectory_follower/control_cmd
100+
/control/control_command_gate/inputs/in_lane_stop/control:
101+
type: autoware_control_msgs/msg/Control
102+
reversed: True
103+
remap: /sub/control/control_command_gate/inputs/in_lane_stop/control
104+
/control/control_command_gate/source/status:
105+
type: tier4_system_msgs/msg/CommandSourceStatus
106+
reversed: True
107+
remap: /sub/control/control_command_gate/source/status
108+
/control/command/control_cmd:
109+
type: autoware_control_msgs/msg/Control
110+
reversed: True
111+
remap: /sub/control/command/control_cmd
112+
/vehicle/status/control_mode:
113+
type: autoware_vehicle_msgs/msg/ControlModeReport
114+
reversed: True
115+
remap: /sub/vehicle/status/control_mode

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