feat: remove autoware_auto messages (#124)

Signed-off-by: Takagi, Isamu <[email protected]>
tier4 · Aug 7, 2024 · d409b66 · d409b66
1 parent d800841
commit d409b66
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Showing 6 changed files with 19 additions and 45 deletions.
diff --git a/autoware_iv_internal_api_adaptor/package.xml b/autoware_iv_internal_api_adaptor/package.xml
@@ -11,7 +11,6 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_adapi_v1_msgs</depend>
-  <depend>autoware_auto_vehicle_msgs</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_system_msgs</depend>

diff --git a/autoware_iv_internal_api_adaptor/src/iv_msgs.cpp b/autoware_iv_internal_api_adaptor/src/iv_msgs.cpp
@@ -28,11 +28,6 @@ IVMsgs::IVMsgs(const rclcpp::NodeOptions & options) : Node("external_api_iv_msgs
   sub_emergency_ = create_subscription<EmergencyStateInput>(
     "/system/fail_safe/mrm_state", rclcpp::QoS(1), std::bind(&IVMsgs::onEmergency, this, _1));
 
-  pub_control_mode_ =
-    create_publisher<ControlModeOutput>("/api/iv_msgs/vehicle/status/control_mode", rclcpp::QoS(1));
-  sub_control_mode_ = create_subscription<ControlModeInput>(
-    "/vehicle/status/control_mode", rclcpp::QoS(1), std::bind(&IVMsgs::onControlMode, this, _1));
-
   pub_trajectory_ = create_publisher<TrajectoryOutput>(
     "/api/iv_msgs/planning/scenario_planning/trajectory", rclcpp::QoS(1));
   sub_trajectory_ = create_subscription<TrajectoryInput>(
@@ -62,14 +57,6 @@ void IVMsgs::onEmergency(const EmergencyStateInput::ConstSharedPtr message)
   is_emergency_ = message->state != EmergencyStateInput::NORMAL;
 }
 
-void IVMsgs::onControlMode(const ControlModeInput::ConstSharedPtr message)
-{
-  ControlModeOutput control_mode;
-  control_mode.stamp = message->stamp;
-  control_mode.mode = message->mode;
-  pub_control_mode_->publish(control_mode);
-}
-
 void IVMsgs::onTrajectory(const TrajectoryInput::ConstSharedPtr message)
 {
   pub_trajectory_->publish(tier4_auto_msgs_converter::convert(*message));

diff --git a/autoware_iv_internal_api_adaptor/src/iv_msgs.hpp b/autoware_iv_internal_api_adaptor/src/iv_msgs.hpp
@@ -18,7 +18,6 @@
 #include <rclcpp/rclcpp.hpp>
 
 #include <autoware_adapi_v1_msgs/msg/mrm_state.hpp>
-#include <autoware_auto_vehicle_msgs/msg/control_mode_report.hpp>
 #include <autoware_perception_msgs/msg/tracked_objects.hpp>
 #include <autoware_planning_msgs/msg/trajectory.hpp>
 #include <autoware_system_msgs/msg/autoware_state.hpp>
@@ -42,11 +41,6 @@ class IVMsgs : public rclcpp::Node
   rclcpp::Subscription<AutowareStateInput>::SharedPtr sub_state_;
   rclcpp::Publisher<AutowareStateOutput>::SharedPtr pub_state_;
 
-  using ControlModeInput = autoware_vehicle_msgs::msg::ControlModeReport;
-  using ControlModeOutput = autoware_auto_vehicle_msgs::msg::ControlModeReport;
-  rclcpp::Subscription<ControlModeInput>::SharedPtr sub_control_mode_;
-  rclcpp::Publisher<ControlModeOutput>::SharedPtr pub_control_mode_;
-
   using TrajectoryInput = autoware_planning_msgs::msg::Trajectory;
   using TrajectoryOutput = tier4_planning_msgs::msg::Trajectory;
   rclcpp::Subscription<TrajectoryInput>::SharedPtr sub_trajectory_;
@@ -59,7 +53,6 @@ class IVMsgs : public rclcpp::Node
 
   void onState(const AutowareStateInput::ConstSharedPtr message);
   void onEmergency(const EmergencyStateInput::ConstSharedPtr message);
-  void onControlMode(const ControlModeInput::ConstSharedPtr message);
   void onTrajectory(const TrajectoryInput::ConstSharedPtr message);
   void onTrackedObjects(const TrackedObjectsInput::ConstSharedPtr message);
 

diff --git a/awapi_awiv_adapter/Readme.md b/awapi_awiv_adapter/Readme.md
@@ -107,30 +107,30 @@
 ### /awapi/traffic_light/get/traffic_signals
 
 - get recognition result of traffic light
-- MessageType: autoware_auto_perception_msgs/msg/TrafficSignalArray
+- MessageType: autoware_perception_msgs/msg/TrafficSignalArray
 
-| ✓   | type                                                 | name | unit | note |
-| --- | :--------------------------------------------------- | :--- | :--- | :--- |
-|     | autoware_auto_perception_msgs/msg/TrafficSignalArray |      |      |      |
+| ✓   | type                                            | name | unit | note |
+| --- | :---------------------------------------------- | :--- | :--- | :--- |
+|     | autoware_perception_msgs/msg/TrafficSignalArray |      |      |      |
 
 ### /awapi/traffic_light/get/nearest_traffic_signal
 
 - get recognition result of nearest traffic light
-- MessageType: autoware_auto_perception_msgs/LookingTrafficSignal
+- MessageType: autoware_perception_msgs/LookingTrafficSignal
 
-|     | type                                                 | name       | unit | note                                                          |
-| --- | :--------------------------------------------------- | :--------- | :--- | :------------------------------------------------------------ |
-|     | std_msgs/Header                                      | header     |      |                                                               |
-|     | autoware_auto_perception_msgs/TrafficSignalWithJudge | perception |      | traffic light information from autoware perception module     |
-|     | autoware_auto_perception_msgs/TrafficSignalWithJudge | external   |      | traffic light information from external tool/module           |
-|     | autoware_auto_perception_msgs/TrafficSignalWithJudge | final      |      | traffic light information used by the planning module finally |
+|     | type                                            | name       | unit | note                                                          |
+| --- | :---------------------------------------------- | :--------- | :--- | :------------------------------------------------------------ |
+|     | std_msgs/Header                                 | header     |      |                                                               |
+|     | autoware_perception_msgs/TrafficSignalWithJudge | perception |      | traffic light information from autoware perception module     |
+|     | autoware_perception_msgs/TrafficSignalWithJudge | external   |      | traffic light information from external tool/module           |
+|     | autoware_perception_msgs/TrafficSignalWithJudge | final      |      | traffic light information used by the planning module finally |
 
 - The contents of TrafficSignalWithJudge.msg is following.
 
-|     | type                                        | name   | unit                 | note                                                           |
-| --- | :------------------------------------------ | :----- | :------------------- | :------------------------------------------------------------- |
-|     | autoware_auto_perception_msgs/TrafficSignal | signal |                      | traffic light color/arrow                                      |
-|     | uint8                                       | judge  | 0:NONE, 1:STOP, 2:GO | go/stop judgment based on the color/arrow of the traffic light |
+|     | type                                   | name   | unit                 | note                                                           |
+| --- | :------------------------------------- | :----- | :------------------- | :------------------------------------------------------------- |
+|     | autoware_perception_msgs/TrafficSignal | signal |                      | traffic light color/arrow                                      |
+|     | uint8                                  | judge  | 0:NONE, 1:STOP, 2:GO | go/stop judgment based on the color/arrow of the traffic light |
 
 ## put topic
 
@@ -234,11 +234,11 @@
 ### /awapi/traffic_light/put/traffic_signals
 
 - Overwrite the recognition result of traffic light
-- MessageType: autoware_auto_perception_msgs/TrafficSignalArray
+- MessageType: autoware_perception_msgs/TrafficSignalArray
 
-| ✓   | type                                             | name | unit | note |
-| --- | :----------------------------------------------- | :--- | :--- | :--- |
-|     | autoware_auto_perception_msgs/TrafficSignalArray |      |      |      |
+| ✓   | type                                        | name | unit | note |
+| --- | :------------------------------------------ | :--- | :--- | :--- |
+|     | autoware_perception_msgs/TrafficSignalArray |      |      |      |
 
 ### /awapi/autoware/put/crosswalk_states
 

diff --git a/awapi_awiv_adapter/package.xml b/awapi_awiv_adapter/package.xml
@@ -32,7 +32,6 @@
   <depend>tier4_v2x_msgs</depend>
   <depend>tier4_vehicle_msgs</depend>
 
-  <exec_depend>autoware_auto_perception_msgs</exec_depend>
   <exec_depend>tier4_perception_msgs</exec_depend>
   <exec_depend>topic_tools</exec_depend>
 

diff --git a/build_depends.repos b/build_depends.repos
@@ -1,8 +1,4 @@
 repositories:
-  core/autoware_msgs:
-    type: git
-    url: https://github.com/tier4/autoware_auto_msgs.git # TODO(TIER IV): Move to autowarefoundation/autoware_msgs
-    version: tier4/main
   core/common:
     type: git
     url: https://github.com/autowarefoundation/autoware_common.git