Merge branch 'main' into refactor/autoware_map_msgs/modify_metadata_msg

autoware_v2x_msgs/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.14)
+project(autoware_v2x_msgs)
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/VirtualGateAreaCommand.msg"
+  "msg/VirtualGateAreaStatus.msg"
+  "msg/VirtualGateCommand.msg"
+  "msg/VirtualGateStatus.msg"
+  DEPENDENCIES
+    builtin_interfaces
+    geometry_msgs
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package()

autoware_v2x_msgs/README.md

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+# autoware_v2x_msgs
+
+## Virtual gate messages
+
+### Overview
+
+This message represents the status of the virtual gate for passing through the area managed by the facility.
+The virtual gate treats area entry permission as a shared resource and controls vehicles by acquiring and releasing locks.
+Each facility may support different protocols, but Autoware V2X component converts each protocol and this message.
+This allows Autoware to handle facilities with different protocols with a unified message.
+
+![virtual-gate-nodes](./doc/virtual-gate-nodes.drawio.svg)
+
+### Sequence
+
+Because there is a time lag before commands are reflected, the vehicle must wait until it receives the status of the same sequence as the command it sent.
+Until the vehicle receives the status, treat it as if it were unlocked.
+
+### Gates
+
+Specify the entrance and exit gate IDs. This is used to check if vehicles can pass simultaneously when multiple routes are possible within an area.
+If omitted, it is treated as a lock for the entire area.
+
+### Vehicle ID
+
+This message does not include the vehicle ID, so add it in the V2X component if required by the communication protocol.
+And if facilities publish multiple vehicle statuses, filter to only status for own vehicle.

autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg

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+# constants for command
+uint16 ACQUIRE = 1
+uint16 RELEASE = 2
+
+# variables for lock
+uint16   command
+uint16   sequence_id  # Used to check correspondence with status messages.
+string   area_id      # Target area ID.
+string[] gate_ids     # Entry and exit gate ID.
+
+# variables for scheduling
+builtin_interfaces/Time[<=1] expected_time_arrival

autoware_v2x_msgs/msg/VirtualGateAreaStatus.msg

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+# constants for status
+uint16 RESERVED = 1
+uint16 ACQUIRED = 2
+uint16 RELEASED = 3
+
+# variables for lock
+builtin_interfaces/Time stamp
+uint16   status
+uint16   sequence_id  # Used to check correspondence with commands.
+string   area_id      # Target area ID.
+string[] gate_ids     # Entry and exit gate ID.
+
+# variables for scheduling
+builtin_interfaces/Time[<=1] expected_time_arrival

autoware_v2x_msgs/msg/VirtualGateCommand.msg

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+builtin_interfaces/Time stamp
+autoware_v2x_msgs/VirtualGateAreaCommand[] areas

autoware_v2x_msgs/msg/VirtualGateStatus.msg

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+autoware_v2x_msgs/VirtualGateAreaStatus[] areas

autoware_v2x_msgs/package.xml

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+<?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_v2x_msgs</name>
+  <version>1.0.0</version>
+  <description>Autoware v2x messages package.</description>
+  <maintainer email="[email protected]">Takagi, Isamu</maintainer>
+  <maintainer email="[email protected]">Ryohsuke Mitsudome</maintainer>
+  <maintainer email="[email protected]">Yukihiro Saito</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <depend>builtin_interfaces</depend>
+  <depend>geometry_msgs</depend>
+
+  <exec_depend>rosidl_default_runtime</exec_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>