From 7ea777b2b0a374d0e8f701a913b2dbde17c33ccb Mon Sep 17 00:00:00 2001 From: tkhmy Date: Mon, 6 Mar 2023 23:56:52 +0900 Subject: [PATCH 1/2] add detect area Signed-off-by: tkhmy --- autoware_adapi_v1_msgs/CMakeLists.txt | 3 +++ autoware_adapi_v1_msgs/common/msg/Shape2D.msg | 9 +++++++++ autoware_adapi_v1_msgs/planning/msg/DetectArea.msg | 12 ++++++++++++ .../planning/msg/DetectAreaArray.msg | 2 ++ 4 files changed, 26 insertions(+) create mode 100644 autoware_adapi_v1_msgs/common/msg/Shape2D.msg create mode 100644 autoware_adapi_v1_msgs/planning/msg/DetectArea.msg create mode 100644 autoware_adapi_v1_msgs/planning/msg/DetectAreaArray.msg diff --git a/autoware_adapi_v1_msgs/CMakeLists.txt b/autoware_adapi_v1_msgs/CMakeLists.txt index 332bf34..cc7bd3c 100644 --- a/autoware_adapi_v1_msgs/CMakeLists.txt +++ b/autoware_adapi_v1_msgs/CMakeLists.txt @@ -6,6 +6,7 @@ ament_auto_find_build_dependencies() rosidl_generate_interfaces(${PROJECT_NAME} common/msg/ResponseStatus.msg + common/msg/Shape2D.msg localization/msg/LocalizationInitializationState.msg localization/srv/InitializeLocalization.srv routing/msg/RouteState.msg @@ -20,6 +21,8 @@ rosidl_generate_interfaces(${PROJECT_NAME} operation_mode/srv/ChangeOperationMode.srv motion/msg/MotionState.msg motion/srv/AcceptStart.srv + planning/msg/DetectArea.msg + planning/msg/DetectAreaArray.msg planning/msg/SteeringFactor.msg planning/msg/SteeringFactorArray.msg planning/msg/VelocityFactor.msg diff --git a/autoware_adapi_v1_msgs/common/msg/Shape2D.msg b/autoware_adapi_v1_msgs/common/msg/Shape2D.msg new file mode 100644 index 0000000..fd35185 --- /dev/null +++ b/autoware_adapi_v1_msgs/common/msg/Shape2D.msg @@ -0,0 +1,9 @@ +# constants +uint8 UNKNOWN = 0 +uint8 POLYGON = 1 +uint8 CIRCLE = 2 + +# variables +uint8 shape +geometry_msgs/Point[] points +float64 radius diff --git a/autoware_adapi_v1_msgs/planning/msg/DetectArea.msg b/autoware_adapi_v1_msgs/planning/msg/DetectArea.msg new file mode 100644 index 0000000..5f917b8 --- /dev/null +++ b/autoware_adapi_v1_msgs/planning/msg/DetectArea.msg @@ -0,0 +1,12 @@ +# constants +uint16 BLIND_SPOT=1 +uint16 CROSSWALK=2 +uint16 DETECTION_AREA=3 +uint16 INTERSECTION=4 +uint16 MERGE_FROM_PRIVATE=5 +uint16 NO_STOPPING_AREA=6 +uint16 WALKWAY=7 + +# variables +uint16 type +autoware_adapi_v1_msgs/Shape2D shape diff --git a/autoware_adapi_v1_msgs/planning/msg/DetectAreaArray.msg b/autoware_adapi_v1_msgs/planning/msg/DetectAreaArray.msg new file mode 100644 index 0000000..d0ddc86 --- /dev/null +++ b/autoware_adapi_v1_msgs/planning/msg/DetectAreaArray.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +autoware_adapi_v1_msgs/DetectArea[] areas From b0dabf7dcfe3b5340438115f3331cfb8b55cc246 Mon Sep 17 00:00:00 2001 From: tkhmy Date: Thu, 23 Mar 2023 17:50:23 +0900 Subject: [PATCH 2/2] change naming Signed-off-by: tkhmy --- autoware_adapi_v1_msgs/CMakeLists.txt | 6 +++--- .../common/msg/{Shape2D.msg => Shape.msg} | 3 +++ autoware_adapi_v1_msgs/planning/msg/DetectAreaArray.msg | 2 -- .../planning/msg/{DetectArea.msg => PlanningArea.msg} | 2 +- autoware_adapi_v1_msgs/planning/msg/PlanningAreaArray.msg | 2 ++ 5 files changed, 9 insertions(+), 6 deletions(-) rename autoware_adapi_v1_msgs/common/msg/{Shape2D.msg => Shape.msg} (62%) delete mode 100644 autoware_adapi_v1_msgs/planning/msg/DetectAreaArray.msg rename autoware_adapi_v1_msgs/planning/msg/{DetectArea.msg => PlanningArea.msg} (83%) create mode 100644 autoware_adapi_v1_msgs/planning/msg/PlanningAreaArray.msg diff --git a/autoware_adapi_v1_msgs/CMakeLists.txt b/autoware_adapi_v1_msgs/CMakeLists.txt index cc7bd3c..9e6ddcd 100644 --- a/autoware_adapi_v1_msgs/CMakeLists.txt +++ b/autoware_adapi_v1_msgs/CMakeLists.txt @@ -6,7 +6,7 @@ ament_auto_find_build_dependencies() rosidl_generate_interfaces(${PROJECT_NAME} common/msg/ResponseStatus.msg - common/msg/Shape2D.msg + common/msg/Shape.msg localization/msg/LocalizationInitializationState.msg localization/srv/InitializeLocalization.srv routing/msg/RouteState.msg @@ -21,8 +21,8 @@ rosidl_generate_interfaces(${PROJECT_NAME} operation_mode/srv/ChangeOperationMode.srv motion/msg/MotionState.msg motion/srv/AcceptStart.srv - planning/msg/DetectArea.msg - planning/msg/DetectAreaArray.msg + planning/msg/PlanningArea.msg + planning/msg/PlanningAreaArray.msg planning/msg/SteeringFactor.msg planning/msg/SteeringFactorArray.msg planning/msg/VelocityFactor.msg diff --git a/autoware_adapi_v1_msgs/common/msg/Shape2D.msg b/autoware_adapi_v1_msgs/common/msg/Shape.msg similarity index 62% rename from autoware_adapi_v1_msgs/common/msg/Shape2D.msg rename to autoware_adapi_v1_msgs/common/msg/Shape.msg index fd35185..7a2b392 100644 --- a/autoware_adapi_v1_msgs/common/msg/Shape2D.msg +++ b/autoware_adapi_v1_msgs/common/msg/Shape.msg @@ -2,8 +2,11 @@ uint8 UNKNOWN = 0 uint8 POLYGON = 1 uint8 CIRCLE = 2 +uint8 PRISM = 3 +uint8 CYLINDER = 4 # variables uint8 shape +geometry_msgs/Pose pose # Pose of the object geometry_msgs/Point[] points float64 radius diff --git a/autoware_adapi_v1_msgs/planning/msg/DetectAreaArray.msg b/autoware_adapi_v1_msgs/planning/msg/DetectAreaArray.msg deleted file mode 100644 index d0ddc86..0000000 --- a/autoware_adapi_v1_msgs/planning/msg/DetectAreaArray.msg +++ /dev/null @@ -1,2 +0,0 @@ -std_msgs/Header header -autoware_adapi_v1_msgs/DetectArea[] areas diff --git a/autoware_adapi_v1_msgs/planning/msg/DetectArea.msg b/autoware_adapi_v1_msgs/planning/msg/PlanningArea.msg similarity index 83% rename from autoware_adapi_v1_msgs/planning/msg/DetectArea.msg rename to autoware_adapi_v1_msgs/planning/msg/PlanningArea.msg index 5f917b8..15e1c1f 100644 --- a/autoware_adapi_v1_msgs/planning/msg/DetectArea.msg +++ b/autoware_adapi_v1_msgs/planning/msg/PlanningArea.msg @@ -9,4 +9,4 @@ uint16 WALKWAY=7 # variables uint16 type -autoware_adapi_v1_msgs/Shape2D shape +autoware_adapi_v1_msgs/Shape shape diff --git a/autoware_adapi_v1_msgs/planning/msg/PlanningAreaArray.msg b/autoware_adapi_v1_msgs/planning/msg/PlanningAreaArray.msg new file mode 100644 index 0000000..64190d9 --- /dev/null +++ b/autoware_adapi_v1_msgs/planning/msg/PlanningAreaArray.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +autoware_adapi_v1_msgs/PlanningArea[] areas