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feat(autoware_internal_debug_msgs): add MultiArray msgs #33

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feat(autoware_internal_debug_msgs): add MultiArray msgs #33

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feat(autoware_internal_debug_msgs): add MultiArray msgs
vish0012 Dec 20, 2024
839f759
Merge branch 'main' into feat/move-multi-array-msgs
youtalk Jan 15, 2025
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4 changes: 3 additions & 1 deletion autoware_internal_debug_msgs/CMakeLists.txt
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Expand Up @@ -14,9 +14,11 @@ set(msg_files
"msg/Int32MultiArrayStamped.msg"
"msg/Int64Stamped.msg"
"msg/Int64MultiArrayStamped.msg"
"msg/StringStamped.msg"
"msg/MultiArrayLayout.msg"
"msg/MultiArrayDimension.msg"
"msg/ProcessingTimeNode.msg"
"msg/ProcessingTimeTree.msg"
"msg/StringStamped.msg"
)

set(srv_files
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11 changes: 11 additions & 0 deletions autoware_internal_debug_msgs/msg/MultiArrayDimension.msg
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@@ -0,0 +1,11 @@
# This is from ros2 common_interfaces.
# https://github.com/ros2/common_interfaces/blob/master/std_msgs/msg/MultiArrayDimension.msg

# This was originally provided as an example message.
# It is deprecated as of Foxy
# It is recommended to create your own semantically meaningful message.
# However if you would like to continue using this please use the equivalent in example_msgs.
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Maybe these comments can be updated for Autoware

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# This is from ros2 common_interfaces.
# https://github.com/ros2/common_interfaces/blob/master/std_msgs/msg/MultiArrayDimension.msg
# This was originally provided as an example message.
# It is deprecated as of Foxy
# It is recommended to create your own semantically meaningful message.
# However if you would like to continue using this please use the equivalent in example_msgs.
# This is from ros2 common_interfaces.
# https://github.com/ros2/common_interfaces/blob/master/std_msgs/msg/MultiArrayDimension.msg
# The original message in ROS 2 was deprecated as of Foxy so we are defining it here for use in Autoware.


string label # label of given dimension
uint32 size # size of given dimension (in type units)
uint32 stride # stride of given dimension
34 changes: 34 additions & 0 deletions autoware_internal_debug_msgs/msg/MultiArrayLayout.msg
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# This is from ros2 common_interfaces.
# https://github.com/ros2/common_interfaces/blob/master/std_msgs/msg/MultiArrayLayout.msg

# This was originally provided as an example message.
# It is deprecated as of Foxy
# It is recommended to create your own semantically meaningful message.
# However if you would like to continue using this please use the equivalent in example_msgs.
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Same here:

Suggested change
# This is from ros2 common_interfaces.
# https://github.com/ros2/common_interfaces/blob/master/std_msgs/msg/MultiArrayLayout.msg
# This was originally provided as an example message.
# It is deprecated as of Foxy
# It is recommended to create your own semantically meaningful message.
# However if you would like to continue using this please use the equivalent in example_msgs.
# This is from ros2 common_interfaces.
# https://github.com/ros2/common_interfaces/blob/master/std_msgs/msg/MultiArrayLayout.msg
# The original message in ROS 2 was deprecated as of Foxy so we are defining it here for use in Autoware.


# The multiarray declares a generic multi-dimensional array of a
# particular data type. Dimensions are ordered from outer most
# to inner most.
#
# Accessors should ALWAYS be written in terms of dimension stride
# and specified outer-most dimension first.
#
# multiarray(i,j,k) = data[data_offset + dim_stride[1]*i + dim_stride[2]*j + k]
#
# A standard, 3-channel 640x480 image with interleaved color channels
# would be specified as:
#
# dim[0].label = "height"
# dim[0].size = 480
# dim[0].stride = 3*640*480 = 921600 (note dim[0] stride is just size of image)
# dim[1].label = "width"
# dim[1].size = 640
# dim[1].stride = 3*640 = 1920
# dim[2].label = "channel"
# dim[2].size = 3
# dim[2].stride = 3
#
# multiarray(i,j,k) refers to the ith row, jth column, and kth channel.

autoware_internal_debug_msgs/MultiArrayDimension[] dim # Array of dimension properties
uint32 data_offset # padding bytes at front of data