From 7ee65a66a716d3cb3b32e582e2fc3497e036f31e Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Tue, 28 May 2024 17:11:05 +0900 Subject: [PATCH 1/3] chore(deps): add autoware_internal_msgs (#113) Signed-off-by: Yamato Ando --- build_depends.repos | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/build_depends.repos b/build_depends.repos index 804637b..2c6b4d3 100644 --- a/build_depends.repos +++ b/build_depends.repos @@ -15,6 +15,10 @@ repositories: type: git url: https://github.com/autowarefoundation/autoware_adapi_msgs.git version: main + msg/autoware_internal_msgs: + type: git + url: https://github.com/autowarefoundation/autoware_internal_msgs.git + version: main universe/tier4_autoware_msgs: type: git url: https://github.com/tier4/tier4_autoware_msgs.git From 81ec73312ffe8bae92b46f146ece85da401f2f9a Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Tue, 28 May 2024 18:27:54 +0900 Subject: [PATCH 2/3] feat: localization initialization method (#112) Signed-off-by: Takagi, Isamu --- .../src/converter/response_status.hpp | 11 +++++++++++ autoware_iv_external_api_adaptor/src/initial_pose.cpp | 6 ++++-- 2 files changed, 15 insertions(+), 2 deletions(-) diff --git a/autoware_iv_external_api_adaptor/src/converter/response_status.hpp b/autoware_iv_external_api_adaptor/src/converter/response_status.hpp index 4ec9672..d3531a6 100644 --- a/autoware_iv_external_api_adaptor/src/converter/response_status.hpp +++ b/autoware_iv_external_api_adaptor/src/converter/response_status.hpp @@ -18,6 +18,7 @@ #include #include +#include #include namespace external_api::converter @@ -25,6 +26,7 @@ namespace external_api::converter using AdResponseStatus = autoware_adapi_v1_msgs::msg::ResponseStatus; using T4ResponseStatus = tier4_external_api_msgs::msg::ResponseStatus; +using CommonResponseStatus = autoware_common_msgs::msg::ResponseStatus; inline T4ResponseStatus convert(const AdResponseStatus & ad) { @@ -35,6 +37,15 @@ inline T4ResponseStatus convert(const AdResponseStatus & ad) } } +inline T4ResponseStatus convert(const CommonResponseStatus & common) +{ + if (common.success) { + return tier4_api_utils::response_success(common.message); + } else { + return tier4_api_utils::response_error(common.message); + } +} + } // namespace external_api::converter #endif // CONVERTER__RESPONSE_STATUS_HPP_ diff --git a/autoware_iv_external_api_adaptor/src/initial_pose.cpp b/autoware_iv_external_api_adaptor/src/initial_pose.cpp index 8663ba8..abf0ebe 100644 --- a/autoware_iv_external_api_adaptor/src/initial_pose.cpp +++ b/autoware_iv_external_api_adaptor/src/initial_pose.cpp @@ -61,8 +61,9 @@ void InitialPose::setInitializePose( const tier4_external_api_msgs::srv::InitializePose::Response::SharedPtr response) { const auto req = std::make_shared(); - req->pose.push_back(request->pose); - req->pose.back().pose.covariance = particle_covariance; + req->method = localization_interface::Initialize::Service::Request::AUTO; + req->pose_with_covariance.push_back(request->pose); + req->pose_with_covariance.back().pose.covariance = particle_covariance; try { const auto res = cli_localization_initialize_->call(req, initial_pose_timeout); @@ -77,6 +78,7 @@ void InitialPose::setInitializePoseAuto( const tier4_external_api_msgs::srv::InitializePoseAuto::Response::SharedPtr response) { const auto req = std::make_shared(); + req->method = localization_interface::Initialize::Service::Request::AUTO; try { const auto res = cli_localization_initialize_->call(req, initial_pose_timeout); From 6c7980fb45e2a1b84e9e767bfc3f861de484d66b Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 31 May 2024 12:39:37 +0900 Subject: [PATCH 3/3] chore(rtc_controller): update module name (#114) Signed-off-by: satoshi-ota --- autoware_iv_external_api_adaptor/src/rtc_controller.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_iv_external_api_adaptor/src/rtc_controller.cpp b/autoware_iv_external_api_adaptor/src/rtc_controller.cpp index 7934aa3..9f82fbc 100644 --- a/autoware_iv_external_api_adaptor/src/rtc_controller.cpp +++ b/autoware_iv_external_api_adaptor/src/rtc_controller.cpp @@ -107,8 +107,8 @@ RTCController::RTCController(const rclcpp::NodeOptions & options) std::make_unique(this, "external_request_lane_change_left"); ext_request_lane_change_right_ = std::make_unique(this, "external_request_lane_change_right"); - avoidance_left_ = std::make_unique(this, "avoidance_left"); - avoidance_right_ = std::make_unique(this, "avoidance_right"); + avoidance_left_ = std::make_unique(this, "static_obstacle_avoidance_left"); + avoidance_right_ = std::make_unique(this, "static_obstacle_avoidance_right"); avoidance_by_lc_left_ = std::make_unique(this, "avoidance_by_lane_change_left"); avoidance_by_lc_right_ = std::make_unique(this, "avoidance_by_lane_change_right"); goal_planner_ = std::make_unique(this, "goal_planner");