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Merge branch 'main' into feat/use_takeData_in_external_cmd_converter
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‎build_depends.repos

-4
Original file line numberDiff line numberDiff line change
@@ -20,10 +20,6 @@ repositories:
2020
type: git
2121
url: https://github.com/autowarefoundation/autoware_internal_msgs.git
2222
version: main
23-
core/external/autoware_auto_msgs:
24-
type: git
25-
url: https://github.com/tier4/autoware_auto_msgs.git
26-
version: tier4/main
2723
# universe
2824
universe/external/tier4_autoware_msgs:
2925
type: git

‎common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CMakeLists.txt

+1-1
Original file line numberDiff line numberDiff line change
@@ -68,7 +68,7 @@ pluginlib_export_plugin_description_file(rviz_common plugins_description.xml)
6868
ament_target_dependencies(${PROJECT_NAME} PUBLIC
6969
rviz_common
7070
rviz_rendering
71-
autoware_auto_vehicle_msgs
71+
autoware_vehicle_msgs
7272
tier4_planning_msgs
7373
autoware_perception_msgs
7474
)

‎common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/README.md

+6-6
Original file line numberDiff line numberDiff line change
@@ -15,13 +15,13 @@ This plugin provides a visual and easy-to-understand display of vehicle speed, t
1515

1616
| Name | Type | Description |
1717
| ------------------------------------------------------- | ------------------------------------------------------- | ------------------------------------ |
18-
| `/vehicle/status/velocity_status` | `autoware_auto_vehicle_msgs::msg::VelocityReport` | The topic is vehicle velocity |
19-
| `/vehicle/status/turn_indicators_status` | `autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport` | The topic is status of turn signal |
20-
| `/vehicle/status/hazard_status` | `autoware_auto_vehicle_msgs::msg::HazardReport` | The topic is status of hazard |
21-
| `/vehicle/status/steering_status` | `autoware_auto_vehicle_msgs::msg::SteeringReport` | The topic is status of steering |
22-
| `/vehicle/status/gear_status` | `autoware_auto_vehicle_msgs::msg::GearReport` | The topic is status of gear |
18+
| `/vehicle/status/velocity_status` | `autoware_vehicle_msgs::msg::VelocityReport` | The topic is vehicle velocity |
19+
| `/vehicle/status/turn_indicators_status` | `autoware_vehicle_msgs::msg::TurnIndicatorsReport` | The topic is status of turn signal |
20+
| `/vehicle/status/hazard_status` | `autoware_vehicle_msgs::msg::HazardReport` | The topic is status of hazard |
21+
| `/vehicle/status/steering_status` | `autoware_vehicle_msgs::msg::SteeringReport` | The topic is status of steering |
22+
| `/vehicle/status/gear_status` | `autoware_vehicle_msgs::msg::GearReport` | The topic is status of gear |
2323
| `/planning/scenario_planning/current_max_velocity` | `tier4_planning_msgs::msg::VelocityLimit` | The topic is velocity limit |
24-
| `/perception/traffic_light_recognition/traffic_signals` | `autoware_perception_msgs::msg::TrafficSignalArray` | The topic is status of traffic light |
24+
| `/perception/traffic_light_recognition/traffic_signals` | `autoware_perception_msgs::msg::TrafficLightGroupArray` | The topic is status of traffic light |
2525

2626
## Parameter
2727

‎common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/gear_display.hpp

+2-2
Original file line numberDiff line numberDiff line change
@@ -23,7 +23,7 @@
2323
#include <rviz_common/properties/int_property.hpp>
2424
#include <rviz_common/ros_topic_display.hpp>
2525

26-
#include "autoware_auto_vehicle_msgs/msg/gear_report.hpp"
26+
#include "autoware_vehicle_msgs/msg/gear_report.hpp"
2727

2828
#include <OgreColourValue.h>
2929
#include <OgreMaterial.h>
@@ -37,7 +37,7 @@ class GearDisplay
3737
public:
3838
GearDisplay();
3939
void drawGearIndicator(QPainter & painter, const QRectF & backgroundRect);
40-
void updateGearData(const autoware_auto_vehicle_msgs::msg::GearReport::ConstSharedPtr & msg);
40+
void updateGearData(const autoware_vehicle_msgs::msg::GearReport::ConstSharedPtr & msg);
4141

4242
private:
4343
int current_gear_; // Internal variable to store current gear

‎common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp

+13-13
Original file line numberDiff line numberDiff line change
@@ -95,29 +95,29 @@ private Q_SLOTS:
9595
std::unique_ptr<TrafficDisplay> traffic_display_;
9696
std::unique_ptr<SpeedLimitDisplay> speed_limit_display_;
9797

98-
rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::GearReport>::SharedPtr gear_sub_;
99-
rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::SteeringReport>::SharedPtr steering_sub_;
100-
rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::VelocityReport>::SharedPtr speed_sub_;
101-
rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport>::SharedPtr
98+
rclcpp::Subscription<autoware_vehicle_msgs::msg::GearReport>::SharedPtr gear_sub_;
99+
rclcpp::Subscription<autoware_vehicle_msgs::msg::SteeringReport>::SharedPtr steering_sub_;
100+
rclcpp::Subscription<autoware_vehicle_msgs::msg::VelocityReport>::SharedPtr speed_sub_;
101+
rclcpp::Subscription<autoware_vehicle_msgs::msg::TurnIndicatorsReport>::SharedPtr
102102
turn_signals_sub_;
103-
rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::HazardLightsReport>::SharedPtr
103+
rclcpp::Subscription<autoware_vehicle_msgs::msg::HazardLightsReport>::SharedPtr
104104
hazard_lights_sub_;
105-
rclcpp::Subscription<autoware_perception_msgs::msg::TrafficSignal>::SharedPtr traffic_sub_;
105+
rclcpp::Subscription<autoware_perception_msgs::msg::TrafficLightGroupArray>::SharedPtr
106+
traffic_sub_;
106107
rclcpp::Subscription<tier4_planning_msgs::msg::VelocityLimit>::SharedPtr speed_limit_sub_;
107108

108109
std::mutex property_mutex_;
109110

110-
void updateGearData(const autoware_auto_vehicle_msgs::msg::GearReport::ConstSharedPtr & msg);
111-
void updateSteeringData(
112-
const autoware_auto_vehicle_msgs::msg::SteeringReport::ConstSharedPtr & msg);
113-
void updateSpeedData(const autoware_auto_vehicle_msgs::msg::VelocityReport::ConstSharedPtr & msg);
111+
void updateGearData(const autoware_vehicle_msgs::msg::GearReport::ConstSharedPtr & msg);
112+
void updateSteeringData(const autoware_vehicle_msgs::msg::SteeringReport::ConstSharedPtr & msg);
113+
void updateSpeedData(const autoware_vehicle_msgs::msg::VelocityReport::ConstSharedPtr & msg);
114114
void updateTurnSignalsData(
115-
const autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport::ConstSharedPtr & msg);
115+
const autoware_vehicle_msgs::msg::TurnIndicatorsReport::ConstSharedPtr & msg);
116116
void updateHazardLightsData(
117-
const autoware_auto_vehicle_msgs::msg::HazardLightsReport::ConstSharedPtr & msg);
117+
const autoware_vehicle_msgs::msg::HazardLightsReport::ConstSharedPtr & msg);
118118
void updateSpeedLimitData(const tier4_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg);
119119
void updateTrafficLightData(
120-
const autoware_perception_msgs::msg::TrafficSignal::ConstSharedPtr msg);
120+
const autoware_perception_msgs::msg::TrafficLightGroupArray::ConstSharedPtr msg);
121121
void drawWidget(QImage & hud);
122122
};
123123
} // namespace autoware_overlay_rviz_plugin

‎common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_display.hpp

+2-2
Original file line numberDiff line numberDiff line change
@@ -23,7 +23,7 @@
2323
#include <rviz_common/properties/int_property.hpp>
2424
#include <rviz_common/ros_topic_display.hpp>
2525

26-
#include "autoware_auto_vehicle_msgs/msg/velocity_report.hpp"
26+
#include "autoware_vehicle_msgs/msg/velocity_report.hpp"
2727

2828
#include <OgreColourValue.h>
2929
#include <OgreMaterial.h>
@@ -37,7 +37,7 @@ class SpeedDisplay
3737
public:
3838
SpeedDisplay();
3939
void drawSpeedDisplay(QPainter & painter, const QRectF & backgroundRect);
40-
void updateSpeedData(const autoware_auto_vehicle_msgs::msg::VelocityReport::ConstSharedPtr & msg);
40+
void updateSpeedData(const autoware_vehicle_msgs::msg::VelocityReport::ConstSharedPtr & msg);
4141

4242
private:
4343
float current_speed_; // Internal variable to store current speed

‎common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_limit_display.hpp

+2-2
Original file line numberDiff line numberDiff line change
@@ -23,7 +23,7 @@
2323
#include <rviz_common/properties/int_property.hpp>
2424
#include <rviz_common/ros_topic_display.hpp>
2525

26-
#include "autoware_auto_vehicle_msgs/msg/velocity_report.hpp"
26+
#include "autoware_vehicle_msgs/msg/velocity_report.hpp"
2727
#include <tier4_planning_msgs/msg/velocity_limit.hpp>
2828

2929
#include <OgreColourValue.h>
@@ -39,7 +39,7 @@ class SpeedLimitDisplay
3939
SpeedLimitDisplay();
4040
void drawSpeedLimitIndicator(QPainter & painter, const QRectF & backgroundRect);
4141
void updateSpeedLimitData(const tier4_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg);
42-
void updateSpeedData(const autoware_auto_vehicle_msgs::msg::VelocityReport::ConstSharedPtr & msg);
42+
void updateSpeedData(const autoware_vehicle_msgs::msg::VelocityReport::ConstSharedPtr & msg);
4343

4444
private:
4545
float current_limit; // Internal variable to store current gear

‎common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/steering_wheel_display.hpp

+2-3
Original file line numberDiff line numberDiff line change
@@ -23,7 +23,7 @@
2323
#include <rviz_common/properties/int_property.hpp>
2424
#include <rviz_common/ros_topic_display.hpp>
2525

26-
#include "autoware_auto_vehicle_msgs/msg/steering_report.hpp"
26+
#include "autoware_vehicle_msgs/msg/steering_report.hpp"
2727

2828
#include <OgreColourValue.h>
2929
#include <OgreMaterial.h>
@@ -37,8 +37,7 @@ class SteeringWheelDisplay
3737
public:
3838
SteeringWheelDisplay();
3939
void drawSteeringWheel(QPainter & painter, const QRectF & backgroundRect);
40-
void updateSteeringData(
41-
const autoware_auto_vehicle_msgs::msg::SteeringReport::ConstSharedPtr & msg);
40+
void updateSteeringData(const autoware_vehicle_msgs::msg::SteeringReport::ConstSharedPtr & msg);
4241

4342
private:
4443
float steering_angle_ = 0.0f;

‎common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/traffic_display.hpp

+5-4
Original file line numberDiff line numberDiff line change
@@ -23,8 +23,9 @@
2323
#include <rviz_common/properties/int_property.hpp>
2424
#include <rviz_common/ros_topic_display.hpp>
2525

26-
#include <autoware_perception_msgs/msg/traffic_signal.hpp>
27-
#include <autoware_perception_msgs/msg/traffic_signal_element.hpp>
26+
#include <autoware_perception_msgs/msg/traffic_light_element.hpp>
27+
#include <autoware_perception_msgs/msg/traffic_light_group.hpp>
28+
#include <autoware_perception_msgs/msg/traffic_light_group_array.hpp>
2829

2930
#include <OgreColourValue.h>
3031
#include <OgreMaterial.h>
@@ -39,8 +40,8 @@ class TrafficDisplay
3940
TrafficDisplay();
4041
void drawTrafficLightIndicator(QPainter & painter, const QRectF & backgroundRect);
4142
void updateTrafficLightData(
42-
const autoware_perception_msgs::msg::TrafficSignal::ConstSharedPtr & msg);
43-
autoware_perception_msgs::msg::TrafficSignal current_traffic_;
43+
const autoware_perception_msgs::msg::TrafficLightGroupArray::ConstSharedPtr & msg);
44+
autoware_perception_msgs::msg::TrafficLightGroupArray current_traffic_;
4445

4546
private:
4647
QImage traffic_light_image_;

‎common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/turn_signals_display.hpp

+4-4
Original file line numberDiff line numberDiff line change
@@ -23,8 +23,8 @@
2323
#include <rviz_common/properties/int_property.hpp>
2424
#include <rviz_common/ros_topic_display.hpp>
2525

26-
#include <autoware_auto_vehicle_msgs/msg/hazard_lights_report.hpp>
27-
#include <autoware_auto_vehicle_msgs/msg/turn_indicators_report.hpp>
26+
#include <autoware_vehicle_msgs/msg/hazard_lights_report.hpp>
27+
#include <autoware_vehicle_msgs/msg/turn_indicators_report.hpp>
2828

2929
#include <OgreColourValue.h>
3030
#include <OgreMaterial.h>
@@ -41,9 +41,9 @@ class TurnSignalsDisplay
4141
TurnSignalsDisplay();
4242
void drawArrows(QPainter & painter, const QRectF & backgroundRect, const QColor & color);
4343
void updateTurnSignalsData(
44-
const autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport::ConstSharedPtr & msg);
44+
const autoware_vehicle_msgs::msg::TurnIndicatorsReport::ConstSharedPtr & msg);
4545
void updateHazardLightsData(
46-
const autoware_auto_vehicle_msgs::msg::HazardLightsReport::ConstSharedPtr & msg);
46+
const autoware_vehicle_msgs::msg::HazardLightsReport::ConstSharedPtr & msg);
4747

4848
private:
4949
QImage arrowImage;

‎common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml

+1-1
Original file line numberDiff line numberDiff line change
@@ -11,8 +11,8 @@
1111

1212
<license>BSD-3-Clause</license>
1313

14-
<depend>autoware_auto_vehicle_msgs</depend>
1514
<depend>autoware_perception_msgs</depend>
15+
<depend>autoware_vehicle_msgs</depend>
1616
<depend>boost</depend>
1717
<depend>rviz_common</depend>
1818
<depend>rviz_ogre_vendor</depend>

‎common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/gear_display.cpp

+8-9
Original file line numberDiff line numberDiff line change
@@ -49,8 +49,7 @@ GearDisplay::GearDisplay() : current_gear_(0)
4949
}
5050
}
5151

52-
void GearDisplay::updateGearData(
53-
const autoware_auto_vehicle_msgs::msg::GearReport::ConstSharedPtr & msg)
52+
void GearDisplay::updateGearData(const autoware_vehicle_msgs::msg::GearReport::ConstSharedPtr & msg)
5453
{
5554
current_gear_ = msg->report; // Assuming msg->report contains the gear information
5655
}
@@ -60,19 +59,19 @@ void GearDisplay::drawGearIndicator(QPainter & painter, const QRectF & backgroun
6059
// we deal with the different gears here
6160
std::string gearString;
6261
switch (current_gear_) {
63-
case autoware_auto_vehicle_msgs::msg::GearReport::NEUTRAL:
62+
case autoware_vehicle_msgs::msg::GearReport::NEUTRAL:
6463
gearString = "N";
6564
break;
66-
case autoware_auto_vehicle_msgs::msg::GearReport::LOW:
67-
case autoware_auto_vehicle_msgs::msg::GearReport::LOW_2:
65+
case autoware_vehicle_msgs::msg::GearReport::LOW:
66+
case autoware_vehicle_msgs::msg::GearReport::LOW_2:
6867
gearString = "L";
6968
break;
70-
case autoware_auto_vehicle_msgs::msg::GearReport::NONE:
71-
case autoware_auto_vehicle_msgs::msg::GearReport::PARK:
69+
case autoware_vehicle_msgs::msg::GearReport::NONE:
70+
case autoware_vehicle_msgs::msg::GearReport::PARK:
7271
gearString = "P";
7372
break;
74-
case autoware_auto_vehicle_msgs::msg::GearReport::REVERSE:
75-
case autoware_auto_vehicle_msgs::msg::GearReport::REVERSE_2:
73+
case autoware_vehicle_msgs::msg::GearReport::REVERSE:
74+
case autoware_vehicle_msgs::msg::GearReport::REVERSE_2:
7675
gearString = "R";
7776
break;
7877
// all the drive gears from DRIVE to DRIVE_16

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