feat: add tier4 api messages (autowarefoundation#20)

* Add autoware api (autowarefoundation#22)

* Add engage, emergency, door service (#4)

* Add external engage and emergency service

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix api utils

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Add external door messages

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix lint

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Add service and client for logging

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix cppcheck

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Add error level

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix maintainer

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix package.xml

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Add response build functions

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Remove unnecessary explicit

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Add service result type alias

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Rename proxy class

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Change type name

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Add service call timeout

* Add CI for develop branch

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix CI

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix lint

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Use default argument

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Rename package

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Move response message

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Move autoware_api_utils

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix package.xml format

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix package.xml format

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix package name

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Rename response type

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix enum type

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Add version service (#6)

* Add diagnostics message (#7)

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Add route service (#8)

* Add goal and route service

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix service name

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Add route message

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Add clear route service (#10)

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Add stop and velocity type (#9)

* Add velocity service and message

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Add stop service

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Rename velocity limit service

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Rename pause driving service

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Add engage status message (#11)

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Add map info message (#13)

* Add map info message

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Rename message

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Add driver type (#12)

* Add driver type

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Modify variable size

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Modify message type

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Remove driver mode from observer

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix observer none mode

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Add initial pose service (#14)

* Add initial pose service

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Rename service type name

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Remove use gnss flag

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Add service mode (autowarefoundation#15)

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Add control command messages (autowarefoundation#20)

* Add control command messages

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix control command messages

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Add self package namespace (autowarefoundation#21)

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Add emergency status API (autowarefoundation#37)

* Add package version API (autowarefoundation#36)

* Add package version API

* Fix message type

* Fix message name

Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

* Add lanelet XML API (autowarefoundation#39)

* develop -> main sync (autowarefoundation#41)

* Add vehicle status types (autowarefoundation#25)

* Add vehicle status types

* Trigger CI

* Add vehicle command types (autowarefoundation#30)

* Add fail safe state types

Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>
Co-authored-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* fix: remove TODO comment

* ci(pre-commit): autofix

Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>
Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
Co-authored-by: Takagi, Isamu <isamu.takagi@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>

messages/autoware_external_api_msgs/CMakeLists.txt

@@ -0,0 +1,72 @@
+cmake_minimum_required(VERSION 3.5)
+project(autoware_external_api_msgs)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+  set(CMAKE_CXX_EXTENSIONS OFF)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  msg/ClassifiedDiagnostics.msg
+  msg/ControlCommand.msg
+  msg/ControlCommandStamped.msg
+  msg/DoorStatus.msg
+  msg/Emergency.msg
+  msg/EngageStatus.msg
+  msg/FailSafeState.msg
+  msg/FailSafeStateStamped.msg
+  msg/GearShift.msg
+  msg/GearShiftStamped.msg
+  msg/Heartbeat.msg
+  msg/MapHash.msg
+  msg/MetadataPackages.msg
+  msg/Observer.msg
+  msg/Operator.msg
+  msg/ResponseStatus.msg
+  msg/Route.msg
+  msg/RouteSection.msg
+  msg/Service.msg
+  msg/TextFile.msg
+  msg/Steering.msg
+  msg/TurnSignal.msg
+  msg/TurnSignalStamped.msg
+  msg/VehicleCommand.msg
+  msg/VehicleCommandStamped.msg
+  msg/VehicleStatus.msg
+  msg/VehicleStatusStamped.msg
+  srv/ClearRoute.srv
+  srv/Engage.srv
+  srv/GetMetadataPackages.srv
+  srv/GetTextFile.srv
+  srv/GetVersion.srv
+  srv/InitializePose.srv
+  srv/InitializePoseAuto.srv
+  srv/PauseDriving.srv
+  srv/SetDoor.srv
+  srv/SetObserver.srv
+  srv/SetOperator.srv
+  srv/SetEmergency.srv
+  srv/SetPose.srv
+  srv/SetRoute.srv
+  srv/SetService.srv
+  srv/SetVelocityLimit.srv
+  DEPENDENCIES
+    builtin_interfaces
+    diagnostic_msgs
+    geometry_msgs
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package()

messages/autoware_external_api_msgs/msg/ClassifiedDiagnostics.msg

@@ -0,0 +1,2 @@
+builtin_interfaces/Time stamp
+diagnostic_msgs/DiagnosticStatus[] diagnostics_notice

messages/autoware_external_api_msgs/msg/ControlCommand.msg

@@ -0,0 +1,4 @@
+float64 steering_angle
+float64 steering_angle_velocity
+float64 throttle
+float64 brake

messages/autoware_external_api_msgs/msg/ControlCommandStamped.msg

@@ -0,0 +1,2 @@
+builtin_interfaces/Time stamp
+autoware_external_api_msgs/ControlCommand control

messages/autoware_external_api_msgs/msg/DoorStatus.msg

@@ -0,0 +1,11 @@
+# constants
+int8 NOT_SUPPORTED = -1
+int8 UNKNOWN = 0
+int8 OPENED = 1
+int8 CLOSED = 2
+int8 OPENING = 3
+int8 CLOSING = 4
+
+# fields
+builtin_interfaces/Time stamp
+int8 status

messages/autoware_external_api_msgs/msg/Emergency.msg

@@ -0,0 +1,2 @@
+builtin_interfaces/Time stamp
+bool emergency

messages/autoware_external_api_msgs/msg/EngageStatus.msg

@@ -0,0 +1,2 @@
+builtin_interfaces/Time stamp
+bool engage

messages/autoware_external_api_msgs/msg/FailSafeState.msg

@@ -0,0 +1,9 @@
+# constants
+uint8 NORMAL = 1
+uint8 OVERRIDE_REQUESTING = 2
+uint8 MRM_OPERATING = 3
+uint8 MRM_SUCCEEDED = 4
+uint8 MRM_FAILED = 5
+
+# fields
+uint8 state

messages/autoware_external_api_msgs/msg/FailSafeStateStamped.msg

@@ -0,0 +1,2 @@
+builtin_interfaces/Time stamp
+autoware_external_api_msgs/FailSafeState state

messages/autoware_external_api_msgs/msg/GearShift.msg

@@ -0,0 +1,10 @@
+# constants
+uint8 NONE=0
+uint8 PARKING=1
+uint8 REVERSE=2
+uint8 NEUTRAL=3
+uint8 DRIVE=4
+uint8 LOW=5
+
+# fields
+uint8 data

messages/autoware_external_api_msgs/msg/GearShiftStamped.msg

@@ -0,0 +1,2 @@
+builtin_interfaces/Time stamp
+autoware_external_api_msgs/GearShift gear_shift

messages/autoware_external_api_msgs/msg/Heartbeat.msg

@@ -0,0 +1 @@
+builtin_interfaces/Time stamp

messages/autoware_external_api_msgs/msg/MapHash.msg

@@ -0,0 +1 @@
+string lanelet

messages/autoware_external_api_msgs/msg/MetadataPackages.msg

@@ -0,0 +1,2 @@
+string format
+string json

messages/autoware_external_api_msgs/msg/Observer.msg

@@ -0,0 +1,7 @@
+# constants
+# uint8 NONE=1 (reserved)
+uint8 LOCAL=2
+uint8 REMOTE=3
+
+# fields
+uint8 mode

messages/autoware_external_api_msgs/msg/Operator.msg

@@ -0,0 +1,7 @@
+# constants
+uint8 DRIVER=1
+uint8 AUTONOMOUS=2
+uint8 OBSERVER=3
+
+# fields
+uint8 mode

messages/autoware_external_api_msgs/msg/ResponseStatus.msg

@@ -0,0 +1,9 @@
+# constants
+uint32 SUCCESS=1
+uint32 IGNORED=2
+uint32 WARN=3
+uint32 ERROR=4
+
+# fields
+uint32 code
+string message

messages/autoware_external_api_msgs/msg/Route.msg

@@ -0,0 +1,2 @@
+geometry_msgs/PoseStamped goal_pose
+autoware_external_api_msgs/RouteSection[] route_sections

messages/autoware_external_api_msgs/msg/RouteSection.msg

@@ -0,0 +1,3 @@
+int64 preferred_lane_id
+int64[] lane_ids
+int64[] continued_lane_ids

messages/autoware_external_api_msgs/msg/Service.msg

@@ -0,0 +1,6 @@
+# constants
+uint8 NOT_IN_SERVICE=1
+uint8 IN_SERVICE=2
+
+# fields
+uint8 mode

messages/autoware_external_api_msgs/msg/Steering.msg

@@ -0,0 +1 @@
+float32 data

messages/autoware_external_api_msgs/msg/TextFile.msg

@@ -0,0 +1 @@
+string text

messages/autoware_external_api_msgs/msg/TurnSignal.msg

@@ -0,0 +1,8 @@
+# constants
+uint8 NONE = 0
+uint8 LEFT = 1
+uint8 RIGHT = 2
+uint8 HAZARD = 3
+
+# fields
+uint8 data

messages/autoware_external_api_msgs/msg/TurnSignalStamped.msg

@@ -0,0 +1,2 @@
+builtin_interfaces/Time stamp
+autoware_external_api_msgs/TurnSignal turn_signal

messages/autoware_external_api_msgs/msg/VehicleCommand.msg

@@ -0,0 +1,2 @@
+float64 velocity
+float64 acceleration

messages/autoware_external_api_msgs/msg/VehicleCommandStamped.msg

@@ -0,0 +1,2 @@
+builtin_interfaces/Time stamp
+autoware_external_api_msgs/VehicleCommand command

messages/autoware_external_api_msgs/msg/VehicleStatus.msg

@@ -0,0 +1,4 @@
+geometry_msgs/Twist twist
+autoware_external_api_msgs/Steering steering
+autoware_external_api_msgs/TurnSignal turn_signal
+autoware_external_api_msgs/GearShift gear_shift

messages/autoware_external_api_msgs/msg/VehicleStatusStamped.msg

@@ -0,0 +1,2 @@
+builtin_interfaces/Time stamp
+autoware_external_api_msgs/VehicleStatus status

messages/autoware_external_api_msgs/package.xml

@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+
+  <name>autoware_external_api_msgs</name>
+  <version>0.0.0</version>
+  <description>The autoware_external_api_msgs package</description>
+  <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <build_depend>builtin_interfaces</build_depend>
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <exec_depend>builtin_interfaces</exec_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <depend>diagnostic_msgs</depend>
+  <depend>geometry_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+
+</package>

messages/autoware_external_api_msgs/srv/ClearRoute.srv

@@ -0,0 +1,2 @@
+---
+autoware_external_api_msgs/ResponseStatus status

messages/autoware_external_api_msgs/srv/Engage.srv

@@ -0,0 +1,3 @@
+bool engage
+---
+autoware_external_api_msgs/ResponseStatus status

messages/autoware_external_api_msgs/srv/GetMetadataPackages.srv

@@ -0,0 +1,3 @@
+---
+autoware_external_api_msgs/ResponseStatus status
+autoware_external_api_msgs/MetadataPackages metadata

messages/autoware_external_api_msgs/srv/GetTextFile.srv

@@ -0,0 +1,3 @@
+---
+autoware_external_api_msgs/ResponseStatus status
+autoware_external_api_msgs/TextFile file

messages/autoware_external_api_msgs/srv/GetVersion.srv

@@ -0,0 +1,3 @@
+---
+autoware_external_api_msgs/ResponseStatus status
+string version

messages/autoware_external_api_msgs/srv/InitializePose.srv

@@ -0,0 +1,3 @@
+geometry_msgs/PoseWithCovarianceStamped pose
+---
+autoware_external_api_msgs/ResponseStatus status

messages/autoware_external_api_msgs/srv/InitializePoseAuto.srv

@@ -0,0 +1,2 @@
+---
+autoware_external_api_msgs/ResponseStatus status

messages/autoware_external_api_msgs/srv/PauseDriving.srv

@@ -0,0 +1,3 @@
+bool pause
+---
+autoware_external_api_msgs/ResponseStatus status

messages/autoware_external_api_msgs/srv/SetDoor.srv

@@ -0,0 +1,3 @@
+bool open
+---
+autoware_external_api_msgs/ResponseStatus status

messages/autoware_external_api_msgs/srv/SetEmergency.srv

@@ -0,0 +1,3 @@
+bool emergency
+---
+autoware_external_api_msgs/ResponseStatus status

messages/autoware_external_api_msgs/srv/SetObserver.srv

@@ -0,0 +1,3 @@
+autoware_external_api_msgs/Observer mode
+---
+autoware_external_api_msgs/ResponseStatus status

messages/autoware_external_api_msgs/srv/SetOperator.srv

@@ -0,0 +1,3 @@
+autoware_external_api_msgs/Operator mode
+---
+autoware_external_api_msgs/ResponseStatus status

messages/autoware_external_api_msgs/srv/SetPose.srv

@@ -0,0 +1,3 @@
+geometry_msgs/PoseStamped pose
+---
+autoware_external_api_msgs/ResponseStatus status

messages/autoware_external_api_msgs/srv/SetRoute.srv

@@ -0,0 +1,3 @@
+autoware_external_api_msgs/Route route
+---
+autoware_external_api_msgs/ResponseStatus status

messages/autoware_external_api_msgs/srv/SetService.srv

@@ -0,0 +1,3 @@
+autoware_external_api_msgs/Service mode
+---
+autoware_external_api_msgs/ResponseStatus status

messages/autoware_external_api_msgs/srv/SetVelocityLimit.srv

@@ -0,0 +1,3 @@
+float32 velocity
+---
+autoware_external_api_msgs/ResponseStatus status