feat(autoware_internal_planning_msgs): adaption to autoware_motion_utils

autoware_internal_planning_msgs/CMakeLists.txt

@@ -18,10 +18,17 @@ 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
 )
 

autoware_internal_planning_msgs/msg/ControlPoint.msg

@@ -0,0 +1,4 @@
+geometry_msgs/Pose pose
+float32 velocity
+float32 shift_length
+float32 distance

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

autoware_internal_planning_msgs/msg/PlanningFactorArray.msg

@@ -0,0 +1,2 @@
+std_msgs/Header header
+autoware_internal_planning_msgs/PlanningFactor[] factors

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

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

autoware_internal_planning_msgs/package.xml

@@ -13,10 +13,12 @@
 
   <exec_depend>rosidl_default_runtime</exec_depend>
 
+  <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>builtin_interfaces</depend>
   <depend>geometry_msgs</depend>
   <depend>std_msgs</depend>
+  <depend>unique_identifier_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>