From c15cc1e3c6f224ba0f8cfcef3f66dbb6e5f3ada9 Mon Sep 17 00:00:00 2001
From: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com>
Date: Mon, 10 Jun 2024 15:21:46 +0900
Subject: [PATCH] fix: change the output of ControlMode to autoware_auto_msgs
 (#116)

Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
---
 autoware_iv_internal_api_adaptor/package.xml     | 1 +
 autoware_iv_internal_api_adaptor/src/iv_msgs.cpp | 9 ++++++---
 autoware_iv_internal_api_adaptor/src/iv_msgs.hpp | 6 ++++--
 3 files changed, 11 insertions(+), 5 deletions(-)

diff --git a/autoware_iv_internal_api_adaptor/package.xml b/autoware_iv_internal_api_adaptor/package.xml
index df10b0a..e950fdc 100644
--- a/autoware_iv_internal_api_adaptor/package.xml
+++ b/autoware_iv_internal_api_adaptor/package.xml
@@ -11,6 +11,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_adapi_v1_msgs</depend>
+  <depend>autoware_auto_vehicle_msgs</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_system_msgs</depend>
diff --git a/autoware_iv_internal_api_adaptor/src/iv_msgs.cpp b/autoware_iv_internal_api_adaptor/src/iv_msgs.cpp
index 5e17e56..356c17f 100644
--- a/autoware_iv_internal_api_adaptor/src/iv_msgs.cpp
+++ b/autoware_iv_internal_api_adaptor/src/iv_msgs.cpp
@@ -30,7 +30,7 @@ IVMsgs::IVMsgs(const rclcpp::NodeOptions & options) : Node("external_api_iv_msgs
 
   pub_control_mode_ =
     create_publisher<ControlModeAuto>("/api/iv_msgs/vehicle/status/control_mode", rclcpp::QoS(1));
-  sub_control_mode_ = create_subscription<ControlModeAuto>(
+  sub_control_mode_ = create_subscription<ControlMode>(
     "/vehicle/status/control_mode", rclcpp::QoS(1), std::bind(&IVMsgs::onControlMode, this, _1));
 
   pub_trajectory_ = create_publisher<TrajectoryIV>(
@@ -62,9 +62,12 @@ void IVMsgs::onEmergency(const EmergencyStateAuto::ConstSharedPtr message)
   is_emergency_ = message->state != EmergencyStateAuto::NORMAL;
 }
 
-void IVMsgs::onControlMode(const ControlModeAuto::ConstSharedPtr message)
+void IVMsgs::onControlMode(const ControlMode::ConstSharedPtr message)
 {
-  pub_control_mode_->publish(*message);
+  ControlModeAuto control_mode_auto;
+  control_mode_auto.stamp = message->stamp;
+  control_mode_auto.mode = message->mode;
+  pub_control_mode_->publish(control_mode_auto);
 }
 
 void IVMsgs::onTrajectory(const TrajectoryAuto::ConstSharedPtr message)
diff --git a/autoware_iv_internal_api_adaptor/src/iv_msgs.hpp b/autoware_iv_internal_api_adaptor/src/iv_msgs.hpp
index 5d41135..37a6cc7 100644
--- a/autoware_iv_internal_api_adaptor/src/iv_msgs.hpp
+++ b/autoware_iv_internal_api_adaptor/src/iv_msgs.hpp
@@ -18,6 +18,7 @@
 #include <rclcpp/rclcpp.hpp>
 
 #include <autoware_adapi_v1_msgs/msg/mrm_state.hpp>
+#include <autoware_auto_vehicle_msgs/msg/control_mode_report.hpp>
 #include <autoware_perception_msgs/msg/tracked_objects.hpp>
 #include <autoware_planning_msgs/msg/trajectory.hpp>
 #include <autoware_system_msgs/msg/autoware_state.hpp>
@@ -42,7 +43,8 @@ class IVMsgs : public rclcpp::Node
   rclcpp::Publisher<AutowareStateIV>::SharedPtr pub_state_;
 
   using ControlModeAuto = autoware_vehicle_msgs::msg::ControlModeReport;
-  rclcpp::Subscription<ControlModeAuto>::SharedPtr sub_control_mode_;
+  using ControlMode = autoware_auto_vehicle_msgs::msg::ControlModeReport;
+  rclcpp::Subscription<ControlMode>::SharedPtr sub_control_mode_;
   rclcpp::Publisher<ControlModeAuto>::SharedPtr pub_control_mode_;
 
   using TrajectoryAuto = autoware_planning_msgs::msg::Trajectory;
@@ -57,7 +59,7 @@ class IVMsgs : public rclcpp::Node
 
   void onState(const AutowareStateAuto::ConstSharedPtr message);
   void onEmergency(const EmergencyStateAuto::ConstSharedPtr message);
-  void onControlMode(const ControlModeAuto::ConstSharedPtr message);
+  void onControlMode(const ControlMode::ConstSharedPtr message);
   void onTrajectory(const TrajectoryAuto::ConstSharedPtr message);
   void onTrackedObjects(const TrackedObjectsAuto::ConstSharedPtr message);