feat(autoware_planning_msgs): move tier4_planning_msgs to autoware_planning_msgs

autoware_planning_msgs/CMakeLists.txt

@@ -13,7 +13,33 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/TrajectoryPoint.msg"
   "msg/Path.msg"
   "msg/PathPoint.msg"
+  "msg/AvoidanceDebugMsg.msg"
+	"msg/AvoidanceDebugMsgArray.msg"
+	"msg/ControlPoint.msg"
+	"msg/ExpandStopRange.msg"
+	"msg/LateralOffset.msg"
+	"msg/PathChangeModule.msg"
+	"msg/PathChangeModuleId.msg"
+	"msg/PathPointWithLaneId.msg"
+	"msg/PathWithLaneId.msg"
+	"msg/PlanningFactor.msg"
+	"msg/PlanningFactorArray.msg"
+	"msg/RerouteAvailability.msg"
+	"msg/RouteState.msg"
+	"msg/SafetyFactor.msg"
+	"msg/SafetyFactorArray.msg"
+	"msg/Scenario.msg"
+	"msg/StopFactor.msg"
+	"msg/StopSpeedExceeded.msg"
+	"msg/VelocityLimit.msg"
+	"msg/VelocityLimitClearCommand.msg"
+	"msg/VelocityLimitConstraints.msg"
+  "srv/ClearRoute.srv"
+  "srv/SetLaneletRoute.srv"
+  "srv/SetWaypointRoute.srv"
   DEPENDENCIES
+    autoware_common_msgs
+    autoware_perception_msgs
     geometry_msgs
     std_msgs
     unique_identifier_msgs

autoware_planning_msgs/msg/AvoidanceDebugMsg.msg

@@ -0,0 +1,9 @@
+string object_id
+bool allow_avoidance
+float64 longitudinal_distance
+float64 lateral_distance_from_centerline
+float64 to_furthest_linestring_distance
+float64 max_shift_length
+float64 required_jerk
+float64 maximum_jerk
+string failed_reason

autoware_planning_msgs/msg/AvoidanceDebugMsgArray.msg

@@ -0,0 +1,2 @@
+std_msgs/Header header
+autoware_planning_msgs/AvoidanceDebugMsg[] avoidance_info

autoware_planning_msgs/msg/ControlPoint.msg

@@ -0,0 +1,4 @@
+geometry_msgs/Pose pose
+float32 velocity
+float32 shift_length
+float32 distance

autoware_planning_msgs/msg/ExpandStopRange.msg

@@ -0,0 +1,2 @@
+builtin_interfaces/Time stamp
+float32 expand_stop_range

autoware_planning_msgs/msg/LateralOffset.msg

@@ -0,0 +1,2 @@
+builtin_interfaces/Time stamp
+float32 lateral_offset

autoware_planning_msgs/msg/PathChangeModule.msg

@@ -0,0 +1,2 @@
+std_msgs/Header header
+autoware_planning_msgs/PathChangeModuleId module

autoware_planning_msgs/msg/PathChangeModuleId.msg

@@ -0,0 +1,8 @@
+int32 type
+
+int32 NONE = 0
+int32 AVOIDANCE = 1
+int32 LANE_CHANGE = 2
+int32 FORCE_LANE_CHANGE = 3
+int32 GOAL_PLANNER = 4
+int32 START_PLANNER = 5

autoware_planning_msgs/msg/PathPointWithLaneId.msg

@@ -0,0 +1,2 @@
+autoware_planning_msgs/PathPoint point
+int64[] lane_ids

autoware_planning_msgs/msg/PathWithLaneId.msg

@@ -0,0 +1,4 @@
+std_msgs/Header header
+autoware_planning_msgs/PathPointWithLaneId[] points
+geometry_msgs/Point[] left_bound
+geometry_msgs/Point[] right_bound

autoware_planning_msgs/msg/PlanningFactor.msg

@@ -0,0 +1,20 @@
+# constants for behavior
+uint16 UNKNOWN = 0
+uint16 NONE = 1
+uint16 SLOW_DOWN = 2
+uint16 STOP = 3
+uint16 LEFT_SHIFT = 4
+uint16 RIGHT_SHIFT = 5
+
+# variables
+string module
+
+bool is_driving_forward
+
+autoware_planning_msgs/ControlPoint[] control_points
+
+uint16 behavior
+
+string detail
+
+autoware_planning_msgs/SafetyFactorArray safety_factors

autoware_planning_msgs/msg/PlanningFactorArray.msg

@@ -0,0 +1,2 @@
+std_msgs/Header header
+autoware_planning_msgs/PlanningFactor[] factors

autoware_planning_msgs/msg/RerouteAvailability.msg

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

autoware_planning_msgs/msg/RouteState.msg

@@ -0,0 +1,12 @@
+uint8 UNKNOWN = 0
+uint8 INITIALIZING = 1
+uint8 UNSET = 2
+uint8 ROUTING = 3
+uint8 SET = 4
+uint8 REROUTING = 5
+uint8 ARRIVED = 6
+uint8 ABORTED = 7
+uint8 INTERRUPTED = 8
+
+builtin_interfaces/Time stamp
+uint8 state

autoware_planning_msgs/msg/SafetyFactor.msg

@@ -0,0 +1,27 @@
+# constants for common use
+uint16 UNKNOWN = 0
+
+# constants for factor type
+uint16 POINTCLOUD = 1
+uint16 OBJECT = 2
+
+# variables
+uint16 type
+
+# use only for predicted objects
+unique_identifier_msgs/UUID object_id
+
+# use only for predicted objects
+autoware_perception_msgs/PredictedPath predicted_path
+
+# time to collision in relative to the header time
+float32 ttc_begin
+
+float32 ttc_end
+
+# type == POINTCLOUD: the position of the each points
+# type == OBJECT: the object position
+geometry_msgs/Point[] points
+
+# module's primitive judgement of the safety for its decision
+bool is_safe

autoware_planning_msgs/msg/SafetyFactorArray.msg

@@ -0,0 +1,4 @@
+std_msgs/Header header
+autoware_planning_msgs/SafetyFactor[] factors
+bool is_safe
+string detail

autoware_planning_msgs/msg/Scenario.msg

@@ -0,0 +1,6 @@
+string EMPTY=Empty
+string LANEDRIVING=LaneDriving
+string PARKING=Parking
+
+string current_scenario
+string[] activating_scenarios

autoware_planning_msgs/msg/StopFactor.msg

@@ -0,0 +1,3 @@
+geometry_msgs/Pose stop_pose
+float64 dist_to_stop_pose
+geometry_msgs/Point[] stop_factor_points

autoware_planning_msgs/msg/StopSpeedExceeded.msg

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

autoware_planning_msgs/msg/VelocityLimit.msg

@@ -0,0 +1,7 @@
+builtin_interfaces/Time stamp
+float32 max_velocity
+
+bool use_constraints false
+autoware_planning_msgs/VelocityLimitConstraints constraints
+
+string sender

autoware_planning_msgs/msg/VelocityLimitClearCommand.msg

@@ -0,0 +1,3 @@
+builtin_interfaces/Time stamp
+bool command false
+string sender

autoware_planning_msgs/msg/VelocityLimitConstraints.msg

@@ -0,0 +1,11 @@
+# maximum signed acceleration
+float32 max_acceleration
+
+# minimum signed acceleration
+float32 min_acceleration
+
+# maximum signed jerk
+float32 max_jerk
+
+# minimum signed jerk
+float32 min_jerk

autoware_planning_msgs/package.xml

@@ -12,6 +12,8 @@
 
   <build_depend>rosidl_default_generators</build_depend>
 
+  <depend>autoware_common_msgs</depend>
+  <depend>autoware_perception_msgs</depend>
   <depend>builtin_interfaces</depend>
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>

autoware_planning_msgs/srv/ClearRoute.srv

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

autoware_planning_msgs/srv/SetLaneletRoute.srv

@@ -0,0 +1,7 @@
+std_msgs/Header header
+geometry_msgs/Pose goal_pose
+autoware_planning_msgs/LaneletSegment[] segments
+unique_identifier_msgs/UUID uuid
+bool allow_modification
+---
+autoware_common_msgs/ResponseStatus status

autoware_planning_msgs/srv/SetWaypointRoute.srv

@@ -0,0 +1,7 @@
+std_msgs/Header header
+geometry_msgs/Pose goal_pose
+geometry_msgs/Pose[] waypoints
+unique_identifier_msgs/UUID uuid
+bool allow_modification
+---
+autoware_common_msgs/ResponseStatus status