diff --git a/autoware_iv_internal_api_adaptor/package.xml b/autoware_iv_internal_api_adaptor/package.xml index e950fdc..df10b0a 100644 --- a/autoware_iv_internal_api_adaptor/package.xml +++ b/autoware_iv_internal_api_adaptor/package.xml @@ -11,7 +11,6 @@ autoware_cmake autoware_adapi_v1_msgs - autoware_auto_vehicle_msgs autoware_perception_msgs autoware_planning_msgs autoware_system_msgs diff --git a/autoware_iv_internal_api_adaptor/src/iv_msgs.cpp b/autoware_iv_internal_api_adaptor/src/iv_msgs.cpp index af53f5c..0c20ccd 100644 --- 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( "/system/fail_safe/mrm_state", rclcpp::QoS(1), std::bind(&IVMsgs::onEmergency, this, _1)); - pub_control_mode_ = - create_publisher("/api/iv_msgs/vehicle/status/control_mode", rclcpp::QoS(1)); - sub_control_mode_ = create_subscription( - "/vehicle/status/control_mode", rclcpp::QoS(1), std::bind(&IVMsgs::onControlMode, this, _1)); - pub_trajectory_ = create_publisher( "/api/iv_msgs/planning/scenario_planning/trajectory", rclcpp::QoS(1)); sub_trajectory_ = create_subscription( @@ -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 index ef5eb3c..449320b 100644 --- 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 #include -#include #include #include #include @@ -42,11 +41,6 @@ class IVMsgs : public rclcpp::Node rclcpp::Subscription::SharedPtr sub_state_; rclcpp::Publisher::SharedPtr pub_state_; - using ControlModeInput = autoware_vehicle_msgs::msg::ControlModeReport; - using ControlModeOutput = autoware_auto_vehicle_msgs::msg::ControlModeReport; - rclcpp::Subscription::SharedPtr sub_control_mode_; - rclcpp::Publisher::SharedPtr pub_control_mode_; - using TrajectoryInput = autoware_planning_msgs::msg::Trajectory; using TrajectoryOutput = tier4_planning_msgs::msg::Trajectory; rclcpp::Subscription::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 index 18a5525..dfc1807 100644 --- 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 index b920dec..3c2f791 100644 --- a/awapi_awiv_adapter/package.xml +++ b/awapi_awiv_adapter/package.xml @@ -32,7 +32,6 @@ tier4_v2x_msgs tier4_vehicle_msgs - autoware_auto_perception_msgs tier4_perception_msgs topic_tools diff --git a/build_depends.repos b/build_depends.repos index 2c6b4d3..0e10a2a 100644 --- 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