feat: add get_qos() function

Signed-off-by: Ryohsuke Mitsudome <[email protected]>
autowarefoundation · Dec 12, 2024 · 8db28c0 · 8db28c0
1 parent 7dfb09a
commit 8db28c0
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Showing 7 changed files with 64 additions and 13 deletions.
diff --git a/...e_core_component_interface_specs/include/autoware/core_component_interface_specs/base.hpp b/...e_core_component_interface_specs/include/autoware/core_component_interface_specs/base.hpp
@@ -0,0 +1,43 @@
+// Copyright 2023 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__CORE_COMPONENT_INTERFACE_SPECS__BASE_HPP_
+#define AUTOWARE__CORE_COMPONENT_INTERFACE_SPECS__BASE_HPP_
+
+#include <rclcpp/qos.hpp>
+
+#include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
+#include <autoware_map_msgs/msg/map_projector_info.hpp>
+#include <sensor_msgs/msg/point_cloud2.hpp>
+
+namespace autoware::core_component_interface_specs
+{
+
+struct InterfaceBase
+{
+  static constexpr char name[] = "";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+
+  auto get_qos() const
+  {
+    return rclcpp::QoS{depth}.reliability(reliability).durability(durability);
+  }
+};
+
+
+}  // namespace autoware::core_component_interface_specs::map
+
+#endif  // AUTOWARE__CORE_COMPONENT_INTERFACE_SPECS__BASE_HPP_
diff --git a/...ore_component_interface_specs/include/autoware/core_component_interface_specs/control.hpp b/...ore_component_interface_specs/include/autoware/core_component_interface_specs/control.hpp
@@ -18,11 +18,12 @@
 #include <rclcpp/qos.hpp>
 
 #include <autoware_control_msgs/msg/control.hpp>
+#include <autoware/core_component_interface_specs/base.hpp>
 
 namespace autoware::core_component_interface_specs::control
 {
 
-struct ControlCommand
+struct ControlCommand : InterfaceBase
 {
   using Message = autoware_control_msgs::msg::Control;
   static constexpr char name[] = "/control/command/control_cmd";

diff --git a/...omponent_interface_specs/include/autoware/core_component_interface_specs/localization.hpp b/...omponent_interface_specs/include/autoware/core_component_interface_specs/localization.hpp
@@ -17,13 +17,14 @@
 
 #include <rclcpp/qos.hpp>
 
+#include <autoware/core_component_interface_specs/base.hpp>
 #include <geometry_msgs/msg/accel_with_covariance_stamped.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 
 namespace autoware::core_component_interface_specs::localization
 {
 
-struct KinematicState
+struct KinematicState : InterfaceBase
 {
   using Message = nav_msgs::msg::Odometry;
   static constexpr char name[] = "/localization/kinematic_state";
@@ -32,7 +33,7 @@ struct KinematicState
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
 };
 
-struct Acceleration
+struct Acceleration : InterfaceBase
 {
   using Message = geometry_msgs::msg::AccelWithCovarianceStamped;
   static constexpr char name[] = "/localization/acceleration";

diff --git a/...re_core_component_interface_specs/include/autoware/core_component_interface_specs/map.hpp b/...re_core_component_interface_specs/include/autoware/core_component_interface_specs/map.hpp
@@ -17,14 +17,15 @@
 
 #include <rclcpp/qos.hpp>
 
+#include <autoware/core_component_interface_specs/base.hpp>
 #include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 #include <autoware_map_msgs/msg/map_projector_info.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 
 namespace autoware::core_component_interface_specs::map
 {
 
-struct MapProjectorInfo
+struct MapProjectorInfo : InterfaceBase
 {
   using Message = autoware_map_msgs::msg::MapProjectorInfo;
   static constexpr char name[] = "/map/map_projector_info";
@@ -33,7 +34,7 @@ struct MapProjectorInfo
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
 };
 
-struct PointCloudMap
+struct PointCloudMap : InterfaceBase
 {
   using Message = sensor_msgs::msg::PointCloud2;
   static constexpr char name[] = "/map/point_cloud_map";
@@ -42,7 +43,7 @@ struct PointCloudMap
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
 };
 
-struct VectorMap
+struct VectorMap : InterfaceBase
 {
   using Message = autoware_map_msgs::msg::LaneletMapBin;
   static constexpr char name[] = "/map/vector_map";

diff --git a/..._component_interface_specs/include/autoware/core_component_interface_specs/perception.hpp b/..._component_interface_specs/include/autoware/core_component_interface_specs/perception.hpp
@@ -17,12 +17,13 @@
 
 #include <rclcpp/qos.hpp>
 
+#include <autoware/core_component_interface_specs/base.hpp>
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
 
 namespace autoware::core_component_interface_specs::perception
 {
 
-struct ObjectRecognition
+struct ObjectRecognition : InterfaceBase
 {
   using Message = autoware_perception_msgs::msg::PredictedObjects;
   static constexpr char name[] = "/perception/object_recognition/objects";

diff --git a/...re_component_interface_specs/include/autoware/core_component_interface_specs/planning.hpp b/...re_component_interface_specs/include/autoware/core_component_interface_specs/planning.hpp
@@ -20,10 +20,12 @@
 #include <autoware_planning_msgs/msg/lanelet_route.hpp>
 #include <autoware_planning_msgs/msg/trajectory.hpp>
 
+#include <autoware/core_component_interface_specs/base.hpp>
+
 namespace autoware::core_component_interface_specs::planning
 {
 
-struct LaneletRoute
+struct LaneletRoute : InterfaceBase
 {
   using Message = autoware_planning_msgs::msg::LaneletRoute;
   static constexpr char name[] = "/planning/mission_planning/route_selector/main/route";
@@ -32,7 +34,7 @@ struct LaneletRoute
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
 };
 
-struct Trajectory
+struct Trajectory : InterfaceBase
 {
   using Message = autoware_planning_msgs::msg::Trajectory;
   static constexpr char name[] = "/planning/scenario_planning/trajectory";

diff --git a/...ore_component_interface_specs/include/autoware/core_component_interface_specs/vehicle.hpp b/...ore_component_interface_specs/include/autoware/core_component_interface_specs/vehicle.hpp
@@ -15,8 +15,10 @@
 #ifndef AUTOWARE__CORE_COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_
 #define AUTOWARE__CORE_COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_
 
+#include "base.hpp"
 #include <rclcpp/qos.hpp>
 
+#include <autoware/core_component_interface_specs/base.hpp>
 #include <autoware_vehicle_msgs/msg/gear_report.hpp>
 #include <autoware_vehicle_msgs/msg/hazard_lights_report.hpp>
 #include <autoware_vehicle_msgs/msg/steering_report.hpp>
@@ -25,7 +27,7 @@
 namespace autoware::core_component_interface_specs::vehicle
 {
 
-struct SteeringStatus
+struct SteeringStatus : InterfaceBase
 {
   using Message = autoware_vehicle_msgs::msg::SteeringReport;
   static constexpr char name[] = "/vehicle/status/steering_status";
@@ -34,7 +36,7 @@ struct SteeringStatus
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
 };
 
-struct GearStatus
+struct GearStatus : InterfaceBase
 {
   using Message = autoware_vehicle_msgs::msg::GearReport;
   static constexpr char name[] = "/vehicle/status/gear_status";
@@ -43,7 +45,7 @@ struct GearStatus
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
 };
 
-struct TurnIndicatorStatus
+struct TurnIndicatorStatus : InterfaceBase
 {
   using Message = autoware_vehicle_msgs::msg::TurnIndicatorsReport;
   static constexpr char name[] = "/vehicle/status/turn_indicators_status";
@@ -52,7 +54,7 @@ struct TurnIndicatorStatus
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
 };
 
-struct HazardLightStatus
+struct HazardLightStatus : InterfaceBase
 {
   using Message = autoware_vehicle_msgs::msg::HazardLightsReport;
   static constexpr char name[] = "/vehicle/status/hazard_lights_status";