Merge pull request #132 from tier4/sync-upstream

chore: sync upstream

.github/PULL_REQUEST_TEMPLATE/standard-change.md

@@ -4,7 +4,7 @@
 
 ## Related links
 
-<!-- Write the links related to this PR. -->
+<!-- Write the links related to this PR. Private links should be clearly marked as private, for example, '[FOO COMPANY INTERNAL LINK](https://example.com)'. -->
 
 ## Tests performed
 

.github/workflows/build-and-test-differential.yaml

@@ -80,7 +80,7 @@ jobs:
 
       - name: Get modified files
         id: get-modified-files
-        uses: tj-actions/changed-files@v28
+        uses: tj-actions/changed-files@v29
         with:
           files: |
             **/*.cpp

build_depends.humble.repos

@@ -12,6 +12,10 @@ repositories:
     type: git
     url: https://github.com/autowarefoundation/autoware_msgs.git
     version: main
+  core/autoware_adapi_msgs:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_adapi_msgs.git
+    version: main
   core/external/autoware_auto_msgs:
     type: git
     url: https://github.com/tier4/autoware_auto_msgs.git

build_depends.repos

@@ -12,6 +12,10 @@ repositories:
     type: git
     url: https://github.com/autowarefoundation/autoware_msgs.git
     version: main
+  core/autoware_adapi_msgs:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_adapi_msgs.git
+    version: main
   core/external/autoware_auto_msgs:
     type: git
     url: https://github.com/tier4/autoware_auto_msgs.git

common/autoware_ad_api_specs/include/autoware_ad_api_specs/interface.hpp

@@ -15,14 +15,14 @@
 #ifndef AUTOWARE_AD_API_SPECS__INTERFACE_HPP_
 #define AUTOWARE_AD_API_SPECS__INTERFACE_HPP_
 
-#include <autoware_ad_api_msgs/srv/interface_version.hpp>
+#include <autoware_adapi_version_msgs/srv/interface_version.hpp>
 
 namespace autoware_ad_api::interface
 {
 
 struct Version
 {
-  using Service = autoware_ad_api_msgs::srv::InterfaceVersion;
+  using Service = autoware_adapi_version_msgs::srv::InterfaceVersion;
   static constexpr char name[] = "/api/interface/version";
 };
 

common/autoware_ad_api_specs/include/autoware_ad_api_specs/localization.hpp

@@ -17,21 +17,21 @@
 
 #include <rclcpp/qos.hpp>
 
-#include <autoware_ad_api_msgs/msg/localization_initialization_state.hpp>
-#include <autoware_ad_api_msgs/srv/initialize_localization.hpp>
+#include <autoware_adapi_v1_msgs/msg/localization_initialization_state.hpp>
+#include <autoware_adapi_v1_msgs/srv/initialize_localization.hpp>
 
 namespace autoware_ad_api::localization
 {
 
 struct Initialize
 {
-  using Service = autoware_ad_api_msgs::srv::InitializeLocalization;
+  using Service = autoware_adapi_v1_msgs::srv::InitializeLocalization;
   static constexpr char name[] = "/api/localization/initialize";
 };
 
 struct InitializationState
 {
-  using Message = autoware_ad_api_msgs::msg::LocalizationInitializationState;
+  using Message = autoware_adapi_v1_msgs::msg::LocalizationInitializationState;
   static constexpr char name[] = "/api/localization/initialization_state";
   static constexpr size_t depth = 3;
   static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;

common/autoware_ad_api_specs/include/autoware_ad_api_specs/motion.hpp

@@ -0,0 +1,43 @@
+// Copyright 2022 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE_AD_API_SPECS__MOTION_HPP_
+#define AUTOWARE_AD_API_SPECS__MOTION_HPP_
+
+#include <rclcpp/qos.hpp>
+
+#include <autoware_ad_api_msgs/msg/motion_state.hpp>
+#include <autoware_ad_api_msgs/srv/accept_start.hpp>
+
+namespace autoware_ad_api::motion
+{
+
+struct AcceptStart
+{
+  using Service = autoware_ad_api_msgs::srv::AcceptStart;
+  static constexpr char name[] = "/api/motion/accept_start";
+};
+
+struct State
+{
+  using Message = autoware_ad_api_msgs::msg::MotionState;
+  static constexpr char name[] = "/api/motion/state";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+};
+
+}  // namespace autoware_ad_api::motion
+
+#endif  // AUTOWARE_AD_API_SPECS__MOTION_HPP_

common/autoware_ad_api_specs/include/autoware_ad_api_specs/routing.hpp

@@ -17,36 +17,36 @@
 
 #include <rclcpp/qos.hpp>
 
-#include <autoware_ad_api_msgs/msg/route.hpp>
-#include <autoware_ad_api_msgs/msg/route_state.hpp>
-#include <autoware_ad_api_msgs/srv/clear_route.hpp>
-#include <autoware_ad_api_msgs/srv/set_route.hpp>
-#include <autoware_ad_api_msgs/srv/set_route_points.hpp>
+#include <autoware_adapi_v1_msgs/msg/route.hpp>
+#include <autoware_adapi_v1_msgs/msg/route_state.hpp>
+#include <autoware_adapi_v1_msgs/srv/clear_route.hpp>
+#include <autoware_adapi_v1_msgs/srv/set_route.hpp>
+#include <autoware_adapi_v1_msgs/srv/set_route_points.hpp>
 
 namespace autoware_ad_api::routing
 {
 
 struct SetRoutePoints
 {
-  using Service = autoware_ad_api_msgs::srv::SetRoutePoints;
+  using Service = autoware_adapi_v1_msgs::srv::SetRoutePoints;
   static constexpr char name[] = "/api/routing/set_route_points";
 };
 
 struct SetRoute
 {
-  using Service = autoware_ad_api_msgs::srv::SetRoute;
+  using Service = autoware_adapi_v1_msgs::srv::SetRoute;
   static constexpr char name[] = "/api/routing/set_route";
 };
 
 struct ClearRoute
 {
-  using Service = autoware_ad_api_msgs::srv::ClearRoute;
+  using Service = autoware_adapi_v1_msgs::srv::ClearRoute;
   static constexpr char name[] = "/api/routing/clear_route";
 };
 
 struct RouteState
 {
-  using Message = autoware_ad_api_msgs::msg::RouteState;
+  using Message = autoware_adapi_v1_msgs::msg::RouteState;
   static constexpr char name[] = "/api/routing/state";
   static constexpr size_t depth = 3;
   static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
@@ -55,7 +55,7 @@ struct RouteState
 
 struct Route
 {
-  using Message = autoware_ad_api_msgs::msg::Route;
+  using Message = autoware_adapi_v1_msgs::msg::Route;
   static constexpr char name[] = "/api/routing/route";
   static constexpr size_t depth = 1;
   static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;