move perception msg type from planning-interface to perception-interface

Signed-off-by: guiping meng <[email protected]>
autowarefoundation · May 23, 2023 · 13aa803 · 13aa803
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diff --git a/docs/design/autoware-interfaces/components/perception-interface.md b/docs/design/autoware-interfaces/components/perception-interface.md
@@ -28,10 +28,46 @@ map of the environment. See Iutputs of Planning.
 
 ### 3D Object Predictions
 
-3D Object detected, tracked and predicted by sensor fusing. See Iutputs of Planning.
+3D Objects detected, tracked and predicted by sensor fusing.
+
+- [autoware_auto_perception_msgs/msg/PredictedObjects](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/PredictedObjects.idl)
+  - [std_msgs/Header](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Header.html) header
+  - sequence<[autoware_auto_perception_msgs::msg::PredictedObject](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/PredictedObject.idl)> objects
+    - unique_identifier_msgs::msg::UUID uuid
+    - float existence_probability
+    - sequence<[autoware_auto_perception_msgs::msg::ObjectClassification](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/ObjectClassification.idl)> classification
+      - uint8 classification
+      - float probability
+    - [autoware_auto_perception_msgs::msg::PredictedObjectKinematics](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/PredictedObjectKinematics.idl) kinematics
+      - [geometry_msgs::msg::PoseWithCovariance](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseWithCovariance.html) initial_pose
+      - [geometry_msgs::msg::TwistWithCovariance](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/TwistWithCovariance.html)
+      - [geometry_msgs::msg::AccelWithCovariance](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/AccelWithCovariance.html) initial_acceleration
+      - sequence<[autoware_auto_perception_msgs::msg::PredictedPath](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/PredictedPath.idl), 10> predicted_paths
+        - sequence<[geometry_msgs::msg::Pose](https://docs.ros.org/en/lunar/api/geometry_msgs/html/msg/Pose.html), 100> path
+        - builtin_interfaces::msg::Duration time_step
+        - float confidence
+    - sequence<[autoware_auto_perception_msgs::msg::Shape](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/Shape.idl), 5> shape
+      - [geometry_msgs::msg::Polygon](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/Polygon.html) polygon
+      - float height
+
 
 ### Traffic Light Response
 
-traffic light signals recognized by object detection model. See Iutputs of Planning.
+traffic light signals recognized by object detection model.**The message definition is under discussion.**
+
+- TrafficLightResponse
+  - uint64 traffic_light_id
+  - uint8 traffic_light_state
+
+With the traffic_light_state being one of the following
+
+- GREEN = 1
+- GREEN_BLINKING = 2
+- YELLOW = 3
+- YELLOW_BLINKING = 4
+- RED = 5
+- RED_BLINKING = 6
+- OFF = 7
+- UNKNOWN = 8
 
 
diff --git a/docs/design/autoware-interfaces/components/planning.md b/docs/design/autoware-interfaces/components/planning.md
@@ -7,45 +7,11 @@
 ### 3D Object Predictions
 
 set of perceived objects around ego that need to be avoided when planning a trajectory. Published by the Perception module.
-
-- [autoware_auto_perception_msgs/msg/PredictedObjects](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/PredictedObjects.idl)
-  - [std_msgs/Header](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Header.html) header
-  - sequence<[autoware_auto_perception_msgs::msg::PredictedObject](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/PredictedObject.idl)> objects
-    - unique_identifier_msgs::msg::UUID uuid
-    - float existence_probability
-    - sequence<[autoware_auto_perception_msgs::msg::ObjectClassification](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/ObjectClassification.idl)> classification
-      - uint8 classification
-      - float probability
-    - [autoware_auto_perception_msgs::msg::PredictedObjectKinematics](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/PredictedObjectKinematics.idl) kinematics
-      - [geometry_msgs::msg::PoseWithCovariance](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseWithCovariance.html) initial_pose
-      - [geometry_msgs::msg::TwistWithCovariance](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/TwistWithCovariance.html)
-      - [geometry_msgs::msg::AccelWithCovariance](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/AccelWithCovariance.html) initial_acceleration
-      - sequence<[autoware_auto_perception_msgs::msg::PredictedPath](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/PredictedPath.idl), 10> predicted_paths
-        - sequence<[geometry_msgs::msg::Pose](https://docs.ros.org/en/lunar/api/geometry_msgs/html/msg/Pose.html), 100> path
-        - builtin_interfaces::msg::Duration time_step
-        - float confidence
-    - sequence<[autoware_auto_perception_msgs::msg::Shape](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/Shape.idl), 5> shape
-      - [geometry_msgs::msg::Polygon](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/Polygon.html) polygon
-      - float height
+(See Output of Perception.)
 
 ### Traffic Light Response
 
-Service response with traffic light information. **The message definition is under discussion.**
-
-- TrafficLightResponse
-  - uint64 traffic_light_id
-  - uint8 traffic_light_state
-
-With the traffic_light_state being one of the following
-
-- GREEN = 1
-- GREEN_BLINKING = 2
-- YELLOW = 3
-- YELLOW_BLINKING = 4
-- RED = 5
-- RED_BLINKING = 6
-- OFF = 7
-- UNKNOWN = 8
+(See Output of Perception.)
 
 ### Vehicle kinematic state