feat(autoware_internal_planning_msgs): add msg required by autoware_m…

…otion_utils Signed-off-by: NorahXiong <[email protected]>
autowarefoundation · Jan 17, 2025 · 4595e77 · 4595e77
1 parent 58312fb
commit 4595e77
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diff --git a/autoware_internal_planning_msgs/CMakeLists.txt b/autoware_internal_planning_msgs/CMakeLists.txt
@@ -19,10 +19,18 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/PathPointWithLaneId.msg"
   "msg/PathWithLaneId.msg"
   "msg/Scenario.msg"
+  "msg/ControlPoint.msg"
+  "msg/SafetyFactor.msg"
+  "msg/SafetyFactorArray.msg"
+  "msg/PlanningFactor.msg"
+  "msg/PlanningFactorArray.msg"
   DEPENDENCIES
     builtin_interfaces
     geometry_msgs
     std_msgs
+    unique_identifier_msgs
+    autoware_perception_msgs
+    autoware_planning_msgs
 )
 
 if(BUILD_TESTING)

diff --git a/autoware_internal_planning_msgs/msg/ControlPoint.msg b/autoware_internal_planning_msgs/msg/ControlPoint.msg
@@ -0,0 +1,4 @@
+geometry_msgs/Pose pose
+float32 velocity
+float32 shift_length
+float32 distance
diff --git a/autoware_internal_planning_msgs/msg/PlanningFactor.msg b/autoware_internal_planning_msgs/msg/PlanningFactor.msg
@@ -0,0 +1,22 @@
+# constants for behavior
+uint16 UNKNOWN = 0
+uint16 NONE = 1
+uint16 SLOW_DOWN = 2
+uint16 STOP = 3
+uint16 SHIFT_LEFT = 4
+uint16 SHIFT_RIGHT = 5
+uint16 TURN_LEFT = 6
+uint16 TURN_RIGHT = 7
+
+# variables
+string module
+
+bool is_driving_forward
+
+autoware_internal_planning_msgs/ControlPoint[] control_points
+
+uint16 behavior
+
+string detail
+
+autoware_internal_planning_msgs/SafetyFactorArray safety_factors
diff --git a/autoware_internal_planning_msgs/msg/PlanningFactorArray.msg b/autoware_internal_planning_msgs/msg/PlanningFactorArray.msg
@@ -0,0 +1,2 @@
+std_msgs/Header header
+autoware_internal_planning_msgs/PlanningFactor[] factors
diff --git a/autoware_internal_planning_msgs/msg/SafetyFactor.msg b/autoware_internal_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
diff --git a/autoware_internal_planning_msgs/msg/SafetyFactorArray.msg b/autoware_internal_planning_msgs/msg/SafetyFactorArray.msg
@@ -0,0 +1,4 @@
+std_msgs/Header header
+autoware_internal_planning_msgs/SafetyFactor[] factors
+bool is_safe
+string detail
diff --git a/autoware_internal_planning_msgs/package.xml b/autoware_internal_planning_msgs/package.xml
@@ -16,6 +16,9 @@
   <depend>builtin_interfaces</depend>
   <depend>geometry_msgs</depend>
   <depend>std_msgs</depend>
+  <depend>unique_identifier_msgs</depend>
+  <depend>autoware_perception_msgs</depend>
+  <depend>autoware_planning_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
		std_msgs/Header header
		autoware_internal_planning_msgs/PlanningFactor[] factors