From d00a8d6637423cae6a335a9248305a8f370a37bc Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Wed, 14 Dec 2022 12:07:58 +0900 Subject: [PATCH 1/5] feat(component-interface): add component interface list Signed-off-by: Takagi, Isamu --- .../autoware-interfaces/components/.pages | 1 + .../components/interfaces.md | 65 +++++++++++++++++++ 2 files changed, 66 insertions(+) create mode 100644 docs/design/autoware-interfaces/components/interfaces.md diff --git a/docs/design/autoware-interfaces/components/.pages b/docs/design/autoware-interfaces/components/.pages index e1830c8e4d6..bdb2539d24c 100644 --- a/docs/design/autoware-interfaces/components/.pages +++ b/docs/design/autoware-interfaces/components/.pages @@ -1,5 +1,6 @@ nav: - index.md + - Interfaces: interfaces.md - planning.md - control.md - vehicle-interface.md diff --git a/docs/design/autoware-interfaces/components/interfaces.md b/docs/design/autoware-interfaces/components/interfaces.md new file mode 100644 index 00000000000..d873e1dea57 --- /dev/null +++ b/docs/design/autoware-interfaces/components/interfaces.md @@ -0,0 +1,65 @@ +--- +components: + - adapi + - control + - localization + - perception + - planning + - sensing + - simulator + - system + - vehicle + +interfaces: + - name: /localization/initialization_state + type: autoware_adapi_v1_msgs/msg/LocalizationInitializationState + used: { localization: pub, adapi: sub } + + - name: /localization/initialize + type: autoware_adapi_v1_msgs/srv/InitializeLocalization + used: { localization: srv, adapi: cli } + + - name: /planning/mission_planning/set_route_points + type: autoware_adapi_v1_msgs/srv/SetRoutePoints + used: { planning: srv, adapi: cli } + + - name: /planning/mission_planning/set_route + type: autoware_planning_msgs/srv/SetRoute + used: { planning: srv, adapi: cli } + + - name: /planning/mission_planning/clear_route + type: autoware_adapi_v1_msgs/msg/ClearRoute + used: { planning: srv, adapi: cli } + + - name: /planning/mission_planning/route + type: autoware_planning_msgs/msg/LaneletRoute + used: { planning: pub, adapi: sub } + + - name: /planning/mission_planning/route_state + type: autoware_adapi_v1_msgs/msg/RouteState + used: { planning: pub, adapi: sub } + + - name: /vehicle/control_mode_report + type: autoware_auto_vehicle_msgs/msg/ControlModeReport + used: { vehicle: pub, control: sub, simulation: sub } + + - name: /vehicle/control_mode_request + type: autoware_auto_vehicle_msgs/srv/ControlModeCommand + used: { vehicle: srv, control: cli } +--- + +# List of component interfaces + +{%- for component in components %} + +## {{ component }} + +| interface type | interface name | data type | +| -------------- | -------------- | --------- | + +{%- for interface in interfaces %} +{%- if component in interface.used %} +| {{ interface.used[component] }} | {{ interface.name }} | {{ interface.type }} | +{%- endif %} +{%- endfor %} +{%- endfor %} From be5d7f24f9ff867b49efe56859af6039eb77ae47 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Wed, 14 Dec 2022 17:30:58 +0900 Subject: [PATCH 2/5] feat: split future design and current implementation Signed-off-by: Takagi, Isamu --- .../autoware-interfaces/components/.pages | 3 +- .../components/interfaces-current.md | 38 +++++++++++++++++++ .../{interfaces.md => interfaces-future.md} | 3 +- 3 files changed, 42 insertions(+), 2 deletions(-) create mode 100644 docs/design/autoware-interfaces/components/interfaces-current.md rename docs/design/autoware-interfaces/components/{interfaces.md => interfaces-future.md} (97%) diff --git a/docs/design/autoware-interfaces/components/.pages b/docs/design/autoware-interfaces/components/.pages index bdb2539d24c..75d05ff0516 100644 --- a/docs/design/autoware-interfaces/components/.pages +++ b/docs/design/autoware-interfaces/components/.pages @@ -1,6 +1,7 @@ nav: - index.md - - Interfaces: interfaces.md + - Interfaces (current): interfaces-current.md + - Interfaces (future): interfaces-future.md - planning.md - control.md - vehicle-interface.md diff --git a/docs/design/autoware-interfaces/components/interfaces-current.md b/docs/design/autoware-interfaces/components/interfaces-current.md new file mode 100644 index 00000000000..71da61e7402 --- /dev/null +++ b/docs/design/autoware-interfaces/components/interfaces-current.md @@ -0,0 +1,38 @@ +--- +components: + - adapi + - control + - localization + - map + - perception + - planning + - sensing + - simulator + - system + - vehicle + +interfaces: + - name: /vehicle/status/control_mode + type: autoware_auto_vehicle_msgs/msg/ControlModeReport + used: { vehicle: pub, control: sub, simulation: sub } + + - name: /control/control_mode_request + type: autoware_auto_vehicle_msgs/srv/ControlModeCommand + used: { vehicle: srv, control: cli } +--- + +# List of component interfaces (future design) + +{%- for component in components %} + +## {{ component }} + +| interface type | interface name | data type | +| -------------- | -------------- | --------- | + +{%- for interface in interfaces %} +{%- if component in interface.used %} +| {{ interface.used[component] }} | {{ interface.name }} | {{ interface.type }} | +{%- endif %} +{%- endfor %} +{%- endfor %} diff --git a/docs/design/autoware-interfaces/components/interfaces.md b/docs/design/autoware-interfaces/components/interfaces-future.md similarity index 97% rename from docs/design/autoware-interfaces/components/interfaces.md rename to docs/design/autoware-interfaces/components/interfaces-future.md index d873e1dea57..d0c97d7f1bd 100644 --- a/docs/design/autoware-interfaces/components/interfaces.md +++ b/docs/design/autoware-interfaces/components/interfaces-future.md @@ -3,6 +3,7 @@ components: - adapi - control - localization + - map - perception - planning - sensing @@ -48,7 +49,7 @@ interfaces: used: { vehicle: srv, control: cli } --- -# List of component interfaces +# List of component interfaces (future design) {%- for component in components %} From 83ad3b6ed67c26a2016a868adaef7da6c5aa53ab Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Mon, 16 Jan 2023 09:59:15 +0900 Subject: [PATCH 3/5] WIP Signed-off-by: Takagi, Isamu --- .../components/interfaces-current.md | 34 ++++++++++++++----- .../components/interfaces-future.md | 16 ++++----- 2 files changed, 33 insertions(+), 17 deletions(-) diff --git a/docs/design/autoware-interfaces/components/interfaces-current.md b/docs/design/autoware-interfaces/components/interfaces-current.md index 71da61e7402..1d39d1e2c3f 100644 --- a/docs/design/autoware-interfaces/components/interfaces-current.md +++ b/docs/design/autoware-interfaces/components/interfaces-current.md @@ -1,17 +1,33 @@ --- components: - adapi - - control - - localization + - system - map - - perception + - localization - planning + - control - sensing - - simulator - - system + - perception - vehicle + - simulator interfaces: + - name: /autoware/engage + type: autoware_auto_vehicle_msgs/msg/Engage + used: { system: pub } + + - name: /autoware/state + type: autoware_auto_system_msgs/msg/AutowareState + used: { system: pub } + + - name: /map/pointcloud_map + type: sensor_msgs/msg/PointCloud2 + used: { map: pub } + + - name: /map/vector_map + type: autoware_auto_mapping_msgs/msg/HADMapBin + used: { map: pub } + - name: /vehicle/status/control_mode type: autoware_auto_vehicle_msgs/msg/ControlModeReport used: { vehicle: pub, control: sub, simulation: sub } @@ -21,18 +37,18 @@ interfaces: used: { vehicle: srv, control: cli } --- -# List of component interfaces (future design) +# List of component interfaces (current implementation) {%- for component in components %} ## {{ component }} -| interface type | interface name | data type | -| -------------- | -------------- | --------- | +| interface type | interface name | data type | comments | +| -------------- | -------------- | --------- | -------- | {%- for interface in interfaces %} {%- if component in interface.used %} -| {{ interface.used[component] }} | {{ interface.name }} | {{ interface.type }} | +| {{ interface.used[component] }} | {{ interface.name }} | {{ interface.type }} | {{ interface.get('note', '-') }} | {%- endif %} {%- endfor %} {%- endfor %} diff --git a/docs/design/autoware-interfaces/components/interfaces-future.md b/docs/design/autoware-interfaces/components/interfaces-future.md index d0c97d7f1bd..c04eb7dd6ec 100644 --- a/docs/design/autoware-interfaces/components/interfaces-future.md +++ b/docs/design/autoware-interfaces/components/interfaces-future.md @@ -1,15 +1,15 @@ --- components: - adapi - - control - - localization + - system - map - - perception + - localization - planning + - control - sensing - - simulator - - system + - perception - vehicle + - simulator interfaces: - name: /localization/initialization_state @@ -55,12 +55,12 @@ interfaces: ## {{ component }} -| interface type | interface name | data type | -| -------------- | -------------- | --------- | +| interface type | interface name | data type | comments | +| -------------- | -------------- | --------- | -------- | {%- for interface in interfaces %} {%- if component in interface.used %} -| {{ interface.used[component] }} | {{ interface.name }} | {{ interface.type }} | +| {{ interface.used[component] }} | {{ interface.name }} | {{ interface.type }} | {{ interface.get('note', '-') }} | {%- endif %} {%- endfor %} {%- endfor %} From 28573b7130d26905d9bc7bf0c71b58b6ee80b911 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Mon, 26 Jun 2023 18:26:31 +0900 Subject: [PATCH 4/5] merge pages Signed-off-by: Takagi, Isamu --- .../autoware-interfaces/components/.pages | 3 +- .../components/interfaces-current.md | 54 ------------------- .../{interfaces-future.md => interfaces.md} | 24 +++++++-- 3 files changed, 22 insertions(+), 59 deletions(-) delete mode 100644 docs/design/autoware-interfaces/components/interfaces-current.md rename docs/design/autoware-interfaces/components/{interfaces-future.md => interfaces.md} (75%) diff --git a/docs/design/autoware-interfaces/components/.pages b/docs/design/autoware-interfaces/components/.pages index 51f470346d1..751990941c6 100644 --- a/docs/design/autoware-interfaces/components/.pages +++ b/docs/design/autoware-interfaces/components/.pages @@ -1,7 +1,6 @@ nav: - index.md - - Interfaces (current): interfaces-current.md - - Interfaces (future): interfaces-future.md + - interfaces.md - planning.md - control.md - localization.md diff --git a/docs/design/autoware-interfaces/components/interfaces-current.md b/docs/design/autoware-interfaces/components/interfaces-current.md deleted file mode 100644 index 1d39d1e2c3f..00000000000 --- a/docs/design/autoware-interfaces/components/interfaces-current.md +++ /dev/null @@ -1,54 +0,0 @@ ---- -components: - - adapi - - system - - map - - localization - - planning - - control - - sensing - - perception - - vehicle - - simulator - -interfaces: - - name: /autoware/engage - type: autoware_auto_vehicle_msgs/msg/Engage - used: { system: pub } - - - name: /autoware/state - type: autoware_auto_system_msgs/msg/AutowareState - used: { system: pub } - - - name: /map/pointcloud_map - type: sensor_msgs/msg/PointCloud2 - used: { map: pub } - - - name: /map/vector_map - type: autoware_auto_mapping_msgs/msg/HADMapBin - used: { map: pub } - - - name: /vehicle/status/control_mode - type: autoware_auto_vehicle_msgs/msg/ControlModeReport - used: { vehicle: pub, control: sub, simulation: sub } - - - name: /control/control_mode_request - type: autoware_auto_vehicle_msgs/srv/ControlModeCommand - used: { vehicle: srv, control: cli } ---- - -# List of component interfaces (current implementation) - -{%- for component in components %} - -## {{ component }} - -| interface type | interface name | data type | comments | -| -------------- | -------------- | --------- | -------- | - -{%- for interface in interfaces %} -{%- if component in interface.used %} -| {{ interface.used[component] }} | {{ interface.name }} | {{ interface.type }} | {{ interface.get('note', '-') }} | -{%- endif %} -{%- endfor %} -{%- endfor %} diff --git a/docs/design/autoware-interfaces/components/interfaces-future.md b/docs/design/autoware-interfaces/components/interfaces.md similarity index 75% rename from docs/design/autoware-interfaces/components/interfaces-future.md rename to docs/design/autoware-interfaces/components/interfaces.md index c04eb7dd6ec..5890cf70086 100644 --- a/docs/design/autoware-interfaces/components/interfaces-future.md +++ b/docs/design/autoware-interfaces/components/interfaces.md @@ -12,6 +12,22 @@ components: - simulator interfaces: + - name: /autoware/engage + type: autoware_auto_vehicle_msgs/msg/Engage + used: { system: pub } + + - name: /autoware/state + type: autoware_auto_system_msgs/msg/AutowareState + used: { system: pub } + + - name: /map/pointcloud_map + type: sensor_msgs/msg/PointCloud2 + used: { map: pub } + + - name: /map/vector_map + type: autoware_auto_mapping_msgs/msg/HADMapBin + used: { map: pub } + - name: /localization/initialization_state type: autoware_adapi_v1_msgs/msg/LocalizationInitializationState used: { localization: pub, adapi: sub } @@ -40,16 +56,18 @@ interfaces: type: autoware_adapi_v1_msgs/msg/RouteState used: { planning: pub, adapi: sub } - - name: /vehicle/control_mode_report + - name: /vehicle/status/control_mode + temp: /vehicle/control_mode/report type: autoware_auto_vehicle_msgs/msg/ControlModeReport used: { vehicle: pub, control: sub, simulation: sub } - - name: /vehicle/control_mode_request + - name: /control/control_mode_request + temp: /vehicle/control_mode/request type: autoware_auto_vehicle_msgs/srv/ControlModeCommand used: { vehicle: srv, control: cli } --- -# List of component interfaces (future design) +# Interfaces {%- for component in components %} From 587c7a465e0bd3f1673fbb82c86e37a27abf8dca Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Wed, 23 Aug 2023 14:30:38 +0900 Subject: [PATCH 5/5] update interfaces Signed-off-by: Takagi, Isamu --- .../components/interfaces.md | 162 +++++++++++------- 1 file changed, 98 insertions(+), 64 deletions(-) diff --git a/docs/design/autoware-interfaces/components/interfaces.md b/docs/design/autoware-interfaces/components/interfaces.md index 5890cf70086..dcdb1adbfd5 100644 --- a/docs/design/autoware-interfaces/components/interfaces.md +++ b/docs/design/autoware-interfaces/components/interfaces.md @@ -1,84 +1,118 @@ --- -components: - - adapi - - system - - map - - localization - - planning - - control - - sensing - - perception - - vehicle - - simulator - interfaces: - - name: /autoware/engage - type: autoware_auto_vehicle_msgs/msg/Engage - used: { system: pub } - - - name: /autoware/state - type: autoware_auto_system_msgs/msg/AutowareState - used: { system: pub } - - - name: /map/pointcloud_map - type: sensor_msgs/msg/PointCloud2 - used: { map: pub } - - - name: /map/vector_map - type: autoware_auto_mapping_msgs/msg/HADMapBin - used: { map: pub } - + - name: /control/command/control_cmd + type: autoware_auto_control_msgs/msg/AckermannControlCommand + - name: /control/command/gear_cmd + type: autoware_auto_vehicle_msgs/msg/GearCommand + - name: /control/command/hazard_lights_cmd + type: autoware_auto_vehicle_msgs/msg/HazardLightsCommand + - name: /control/command/turn_indicators_cmd + type: autoware_auto_vehicle_msgs/msg/TurnIndicatorsCommand + - name: /control/control_mode_request + type: autoware_auto_vehicle_msgs/srv/ControlModeCommand + - name: /control/current_gate_mode + type: tier4_control_msgs/msg/GateMode + - name: /control/vehicle_cmd_gate/is_paused + type: tier4_control_msgs/msg/IsPaused + - name: /control/vehicle_cmd_gate/is_start_requested + type: tier4_control_msgs/msg/IsStartRequested + - name: /control/vehicle_cmd_gate/set_pause + type: tier4_control_msgs/srv/SetPause + - name: /localization/acceleration + type: geometry_msgs/msg/AccelWithCovarianceStamped - name: /localization/initialization_state type: autoware_adapi_v1_msgs/msg/LocalizationInitializationState - used: { localization: pub, adapi: sub } - - name: /localization/initialize - type: autoware_adapi_v1_msgs/srv/InitializeLocalization - used: { localization: srv, adapi: cli } - - - name: /planning/mission_planning/set_route_points + type: tier4_localization_msgs/srv/PoseWithCovarianceStamped + - name: /localization/kinematic_state + type: nav_msgs/msg/Odometry + - name: /localization/pose_estimator/pose_with_covariance + type: geometry_msgs/msg/PoseWithCovarianceStamped + - name: /map/get_differential_pointcloud_map + type: autoware_map_msgs/srv/GetDifferentialPointCloudMap + - name: /map/get_partial_pointcloud_map + type: autoware_map_msgs/srv/GetPartialPointCloudMap + - name: /map/map_projector_type + type: tier4_map_msgs/msg/MapProjectorInfo + - name: /map/vector_map + type: autoware_auto_mapping_msgs/msg/HADMapBin + - name: /perception/object_recognition/detection/objects + type: autoware_auto_perception_msgs/msg/DetectedObjects + - name: /perception/object_recognition/objects + type: autoware_auto_perception_msgs/msg/PredictedObjects + - name: /perception/obstacle_segmentation/pointcloud + type: sensor_msgs/msg/PointCloud2 + - name: /perception/occupancy_grid_map/map + type: nav_msgs/msg/OccupancyGrid + - name: /perception/traffic_light_recognition/traffic_signals + type: autoware_perception_msgs/msg/TrafficSignalArray + - name: /planning/hazard_lights_cmd + type: autoware_auto_vehicle_msgs/msg/HazardLightsCommand + - name: /planning/mission_planning/change_route + type: autoware_adapi_v1_msgs/srv/SetRoute + - name: /planning/mission_planning/change_route_points type: autoware_adapi_v1_msgs/srv/SetRoutePoints - used: { planning: srv, adapi: cli } - - - name: /planning/mission_planning/set_route - type: autoware_planning_msgs/srv/SetRoute - used: { planning: srv, adapi: cli } - - name: /planning/mission_planning/clear_route - type: autoware_adapi_v1_msgs/msg/ClearRoute - used: { planning: srv, adapi: cli } - + type: autoware_adapi_v1_msgs/srv/ClearRoute - name: /planning/mission_planning/route type: autoware_planning_msgs/msg/LaneletRoute - used: { planning: pub, adapi: sub } - - name: /planning/mission_planning/route_state type: autoware_adapi_v1_msgs/msg/RouteState - used: { planning: pub, adapi: sub } - + - name: /planning/mission_planning/set_route + type: autoware_adapi_v1_msgs/srv/SetRoute + - name: /planning/mission_planning/set_route_points + type: autoware_adapi_v1_msgs/srv/SetRoutePoints + - name: /planning/scenario_planning/clear_velocity_limit + type: tier4_planning_msgs/msg/VelocityLimitClearCommand + - name: /planning/scenario_planning/max_velocity_candidates + type: tier4_planning_msgs/msg/VelocityLimit + - name: /planning/scenario_planning/trajectory + type: autoware_auto_planning_msgs/msg/Trajectory + - name: /planning/turn_indicators_cmd + type: autoware_auto_vehicle_msgs/msg/TurnIndicatorsCommand + - name: /sensing/gnss/pose_with_covariance + type: geometry_msgs/msg/PoseWithCovarianceStamped + - name: /sensing/imu/imu_data + type: sensor_msgs/msg/Imu + - name: /sensing/lidar/concatenated/pointcloud + type: sensor_msgs/msg/PointCloud2 + - name: /sensing/lidar/top/outlier_filtered/pointcloud + type: sensor_msgs/msg/PointCloud2 + - name: /sensing/vehicle_velocity_converter/twist_with_covariance + type: geometry_msgs/msg/TwistWithCovarianceStamped + - name: /system/emergency/control_cmd + type: autoware_auto_control_msgs/msg/AckermannControlCommand + - name: /system/emergency/gear_cmd + type: autoware_auto_vehicle_msgs/msg/GearCommand + - name: /system/emergency/hazard_lights_cmd + type: autoware_auto_vehicle_msgs/msg/HazardLightsCommand + - name: /system/fail_safe/mrm_state + type: autoware_adapi_v1_msgs/msg/MrmState + - name: /system/operation_mode/change_autoware_control + type: tier4_system_msgs/srv/ChangeAutowareControl + - name: /system/operation_mode/change_operation_mode + type: tier4_system_msgs/srv/ChangeOperationMode + - name: /system/operation_mode/state + type: autoware_adapi_v1_msgs/msg/OperationModeState - name: /vehicle/status/control_mode - temp: /vehicle/control_mode/report type: autoware_auto_vehicle_msgs/msg/ControlModeReport - used: { vehicle: pub, control: sub, simulation: sub } - - - name: /control/control_mode_request - temp: /vehicle/control_mode/request - type: autoware_auto_vehicle_msgs/srv/ControlModeCommand - used: { vehicle: srv, control: cli } + - name: /vehicle/status/gear_status + type: autoware_auto_vehicle_msgs/msg/GearReport + - name: /vehicle/status/hazard_lights_status + type: autoware_auto_vehicle_msgs/msg/HazardLightsReport + - name: /vehicle/status/steering_status + type: autoware_auto_vehicle_msgs/msg/SteeringReport + - name: /vehicle/status/turn_indicators_status + type: autoware_auto_vehicle_msgs/msg/TurnIndicatorsReport + - name: /vehicle/status/velocity_status + type: autoware_auto_vehicle_msgs/msg/VelocityReport --- # Interfaces -{%- for component in components %} - -## {{ component }} - -| interface type | interface name | data type | comments | -| -------------- | -------------- | --------- | -------- | +| interface name | data type | +| -------------- | --------- | {%- for interface in interfaces %} -{%- if component in interface.used %} -| {{ interface.used[component] }} | {{ interface.name }} | {{ interface.type }} | {{ interface.get('note', '-') }} | -{%- endif %} -{%- endfor %} +| {{ interface.name }} | {{ interface.type }} | {%- endfor %}