From ac43ccea0f41651a0130c7d348436b4afda18cc0 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Thu, 6 Mar 2025 02:09:00 +0000 Subject: [PATCH] style(pre-commit): autofix --- .../autoware_obstacle_cruise_planner/package.xml | 2 +- .../autoware_obstacle_stop_planner/package.xml | 2 +- .../src/debug_marker.cpp | 5 +++-- .../planning_factor_interface.hpp | 10 +++++----- .../package.xml | 2 +- .../package.xml | 2 +- .../src/debug_marker.hpp | 4 ++-- .../interface/scene_module_interface.hpp | 4 ++-- .../utils/path_safety_checker/safety_check.hpp | 2 +- .../package.xml | 2 +- .../package.xml | 2 +- .../src/decisions.cpp | 12 ++++++------ .../package.xml | 2 +- .../src/scene_crosswalk.cpp | 4 ++-- .../src/scene.cpp | 5 +++-- .../package.xml | 2 +- .../src/scene_merge_from_private_road.cpp | 5 +++-- .../src/scene.cpp | 15 +++++++++------ .../package.xml | 2 +- .../src/scene.cpp | 9 +++++---- .../src/scene.cpp | 5 +++-- .../package.xml | 2 +- .../src/scene.cpp | 5 +++-- .../package.xml | 2 +- .../src/scene.cpp | 10 ++++++---- .../src/scene_walkway.cpp | 5 +++-- .../package.xml | 2 +- .../src/type_alias.hpp | 4 ++-- .../package.xml | 2 +- .../src/type_alias.hpp | 4 ++-- .../package.xml | 2 +- .../src/type_alias.hpp | 4 ++-- .../package.xml | 2 +- .../README.md | 6 +++--- system/autoware_default_adapi/package.xml | 2 +- .../dummy_infrastructure_node.hpp | 4 ++-- system/autoware_dummy_infrastructure/package.xml | 2 +- .../tier4_planning_factor_rviz_plugin/package.xml | 2 +- .../src/planning_factor_rviz_plugin.hpp | 3 ++- 39 files changed, 87 insertions(+), 74 deletions(-) diff --git a/planning/autoware_obstacle_cruise_planner/package.xml b/planning/autoware_obstacle_cruise_planner/package.xml index b3a54609a9a1d..fe914bdc5626e 100644 --- a/planning/autoware_obstacle_cruise_planner/package.xml +++ b/planning/autoware_obstacle_cruise_planner/package.xml @@ -19,6 +19,7 @@ autoware_cmake autoware_internal_debug_msgs + autoware_internal_planning_msgs autoware_interpolation autoware_lanelet2_extension autoware_motion_utils @@ -41,7 +42,6 @@ tf2_ros tier4_metric_msgs tier4_planning_msgs - autoware_internal_planning_msgs visualization_msgs ament_cmake_ros diff --git a/planning/autoware_obstacle_stop_planner/package.xml b/planning/autoware_obstacle_stop_planner/package.xml index 917eb0b7f1245..e0de7bca6de83 100644 --- a/planning/autoware_obstacle_stop_planner/package.xml +++ b/planning/autoware_obstacle_stop_planner/package.xml @@ -22,6 +22,7 @@ autoware_adapi_v1_msgs autoware_internal_debug_msgs + autoware_internal_planning_msgs autoware_motion_utils autoware_perception_msgs autoware_planning_factor_interface @@ -43,7 +44,6 @@ tf2_geometry_msgs tf2_ros tier4_planning_msgs - autoware_internal_planning_msgs visualization_msgs ament_cmake_ros diff --git a/planning/autoware_obstacle_stop_planner/src/debug_marker.cpp b/planning/autoware_obstacle_stop_planner/src/debug_marker.cpp index 1b2edaab63c13..1b43ac6bbae59 100644 --- a/planning/autoware_obstacle_stop_planner/src/debug_marker.cpp +++ b/planning/autoware_obstacle_stop_planner/src/debug_marker.cpp @@ -194,8 +194,9 @@ void ObstacleStopPlannerDebugNode::publish() if (stop_pose_ptr_) { planning_factor_interface_->add( std::numeric_limits::quiet_NaN(), *stop_pose_ptr_, - autoware_internal_planning_msgs::msg::PlanningFactor::STOP, autoware_internal_planning_msgs::msg::SafetyFactorArray{}, - true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, ""); + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, + 0.0 /*shift distance*/, ""); } planning_factor_interface_->publish(); diff --git a/planning/autoware_planning_factor_interface/include/autoware/planning_factor_interface/planning_factor_interface.hpp b/planning/autoware_planning_factor_interface/include/autoware/planning_factor_interface/planning_factor_interface.hpp index 89d3422408ca7..a88fdbb218cd4 100644 --- a/planning/autoware_planning_factor_interface/include/autoware/planning_factor_interface/planning_factor_interface.hpp +++ b/planning/autoware_planning_factor_interface/include/autoware/planning_factor_interface/planning_factor_interface.hpp @@ -18,14 +18,14 @@ #include #include -#include -#include -#include -#include #include +#include #include #include #include +#include +#include +#include #include #include @@ -33,11 +33,11 @@ namespace autoware::planning_factor_interface { -using geometry_msgs::msg::Pose; using autoware_internal_planning_msgs::msg::ControlPoint; using autoware_internal_planning_msgs::msg::PlanningFactor; using autoware_internal_planning_msgs::msg::PlanningFactorArray; using autoware_internal_planning_msgs::msg::SafetyFactorArray; +using geometry_msgs::msg::Pose; class PlanningFactorInterface { diff --git a/planning/autoware_planning_factor_interface/package.xml b/planning/autoware_planning_factor_interface/package.xml index 684b1cde4f143..286e465d12150 100644 --- a/planning/autoware_planning_factor_interface/package.xml +++ b/planning/autoware_planning_factor_interface/package.xml @@ -13,11 +13,11 @@ ament_cmake_auto autoware_cmake + autoware_internal_planning_msgs autoware_motion_utils autoware_planning_msgs autoware_utils rclcpp - autoware_internal_planning_msgs ament_cmake_ros ament_lint_auto diff --git a/planning/autoware_surround_obstacle_checker/package.xml b/planning/autoware_surround_obstacle_checker/package.xml index bc232e936fb57..e31e34cda81a3 100644 --- a/planning/autoware_surround_obstacle_checker/package.xml +++ b/planning/autoware_surround_obstacle_checker/package.xml @@ -14,6 +14,7 @@ autoware_cmake eigen3_cmake_module + autoware_internal_planning_msgs autoware_motion_utils autoware_perception_msgs autoware_planning_factor_interface @@ -35,7 +36,6 @@ tf2_geometry_msgs tf2_ros tier4_planning_msgs - autoware_internal_planning_msgs visualization_msgs ament_cmake_ros diff --git a/planning/autoware_surround_obstacle_checker/src/debug_marker.hpp b/planning/autoware_surround_obstacle_checker/src/debug_marker.hpp index 04c55c035c5b3..216bad212a648 100644 --- a/planning/autoware_surround_obstacle_checker/src/debug_marker.hpp +++ b/planning/autoware_surround_obstacle_checker/src/debug_marker.hpp @@ -19,9 +19,9 @@ #include #include +#include #include #include -#include #include #include @@ -34,10 +34,10 @@ namespace autoware::surround_obstacle_checker { using autoware::vehicle_info_utils::VehicleInfo; -using geometry_msgs::msg::PolygonStamped; using autoware_internal_planning_msgs::msg::ControlPoint; using autoware_internal_planning_msgs::msg::PlanningFactor; using autoware_internal_planning_msgs::msg::PlanningFactorArray; +using geometry_msgs::msg::PolygonStamped; using visualization_msgs::msg::Marker; using visualization_msgs::msg::MarkerArray; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp index 5ebdd4a5ffbc3..629acd344c569 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp @@ -57,11 +57,11 @@ using autoware::objects_of_interest_marker_interface::ObjectsOfInterestMarkerInt using autoware::planning_factor_interface::PlanningFactorInterface; using autoware::rtc_interface::RTCInterface; using autoware_internal_planning_msgs::msg::PathWithLaneId; +using autoware_internal_planning_msgs::msg::PlanningFactor; +using autoware_internal_planning_msgs::msg::SafetyFactorArray; using autoware_utils::calc_offset_pose; using autoware_utils::generate_uuid; using tier4_planning_msgs::msg::AvoidanceDebugMsgArray; -using autoware_internal_planning_msgs::msg::PlanningFactor; -using autoware_internal_planning_msgs::msg::SafetyFactorArray; using tier4_rtc_msgs::msg::State; using unique_identifier_msgs::msg::UUID; using visualization_msgs::msg::MarkerArray; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp index 5f56f70c0c6c2..d642a8528efc5 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp @@ -22,11 +22,11 @@ #include #include +#include #include #include #include #include -#include #include #include diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml b/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml index c94ee141bf643..1444b8e5e0ef8 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml @@ -45,6 +45,7 @@ autoware_adapi_v1_msgs autoware_freespace_planning_algorithms + autoware_internal_planning_msgs autoware_interpolation autoware_lane_departure_checker autoware_lanelet2_extension @@ -64,7 +65,6 @@ rclcpp tf2 tier4_planning_msgs - autoware_internal_planning_msgs visualization_msgs ament_cmake_ros diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml index 24b4963d7fb17..bb06fcb0b8f82 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml @@ -20,6 +20,7 @@ autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_rtc_interface + autoware_internal_planning_msgs autoware_lanelet2_extension autoware_motion_utils autoware_perception_msgs @@ -32,7 +33,6 @@ rclcpp tf2 tier4_planning_msgs - autoware_internal_planning_msgs visualization_msgs ament_cmake_ros diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/decisions.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/decisions.cpp index 95faa3e57c2bb..0dac946353634 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/decisions.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/decisions.cpp @@ -103,9 +103,9 @@ void BlindSpotModule::reactRTCApprovalByDecision( const auto stop_pose = path->points.at(decision.stop_line_idx).point.pose; planning_factor_interface_->add( path->points, planner_data_->current_odometry->pose, stop_pose, stop_pose, - autoware_internal_planning_msgs::msg::PlanningFactor::STOP, autoware_internal_planning_msgs::msg::SafetyFactorArray{}, - true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, - "blind_spot(module is judging as UNSAFE)"); + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, + 0.0 /*shift distance*/, "blind_spot(module is judging as UNSAFE)"); } return; } @@ -137,9 +137,9 @@ void BlindSpotModule::reactRTCApprovalByDecision( const auto stop_pose = path->points.at(decision.stop_line_idx).point.pose; planning_factor_interface_->add( path->points, planner_data_->current_odometry->pose, stop_pose, stop_pose, - autoware_internal_planning_msgs::msg::PlanningFactor::STOP, autoware_internal_planning_msgs::msg::SafetyFactorArray{}, - true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, - "blind_spot(module is judging as SAFE and RTC is not approved)"); + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, + 0.0 /*shift distance*/, "blind_spot(module is judging as SAFE and RTC is not approved)"); } return; } diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml index f7fe653be5c4a..9cf31aae3cd88 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml @@ -26,6 +26,7 @@ autoware_behavior_velocity_rtc_interface autoware_grid_map_utils autoware_internal_debug_msgs + autoware_internal_planning_msgs autoware_interpolation autoware_lanelet2_extension autoware_motion_utils @@ -45,7 +46,6 @@ rclcpp sensor_msgs visualization_msgs - autoware_internal_planning_msgs ament_cmake_ros ament_lint_auto diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp index 6b7d397bed4d0..5face5aa6035a 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp @@ -1366,8 +1366,8 @@ void CrosswalkModule::planStop( planning_factor_interface_->add( ego_path.points, planner_data_->current_odometry->pose, stop_factor->stop_pose, stop_factor->stop_pose, autoware_internal_planning_msgs::msg::PlanningFactor::STOP, - autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0 /*velocity*/, - 0.0 /*shift distance*/, "crosswalk_stop"); + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, + 0.0 /*velocity*/, 0.0 /*shift distance*/, "crosswalk_stop"); } bool CrosswalkModule::checkRestartSuppression( diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp index 2b9875f863b09..14220d1b630af 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp @@ -182,8 +182,9 @@ bool DetectionAreaModule::modifyPathVelocity(PathWithLaneId * path) { planning_factor_interface_->add( path->points, planner_data_->current_odometry->pose, stop_pose, stop_pose, - autoware_internal_planning_msgs::msg::PlanningFactor::STOP, autoware_internal_planning_msgs::msg::SafetyFactorArray{}, - true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, ""); + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, + 0.0 /*shift distance*/, ""); } return true; diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml index ce6ae31ad6b60..64c327a570265 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml @@ -23,6 +23,7 @@ autoware_behavior_velocity_planner_common autoware_behavior_velocity_rtc_interface autoware_internal_debug_msgs + autoware_internal_planning_msgs autoware_interpolation autoware_lanelet2_extension autoware_motion_utils @@ -41,7 +42,6 @@ rclcpp tf2_geometry_msgs tier4_planning_msgs - autoware_internal_planning_msgs visualization_msgs ament_cmake_ros diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp index 21a78a777173e..22801295511d0 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp @@ -158,8 +158,9 @@ bool MergeFromPrivateRoadModule::modifyPathVelocity(PathWithLaneId * path) const auto & stop_pose = path->points.at(stopline_idx).point.pose; planning_factor_interface_->add( path->points, planner_data_->current_odometry->pose, stop_pose, stop_pose, - autoware_internal_planning_msgs::msg::PlanningFactor::STOP, autoware_internal_planning_msgs::msg::SafetyFactorArray{}, - true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, "merge_from_private"); + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, + 0.0 /*shift distance*/, "merge_from_private"); const double signed_arc_dist_to_stop_point = autoware::motion_utils::calcSignedArcLength( path->points, current_pose.position, path->points.at(stopline_idx).point.pose.position); diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/scene.cpp index d65ec43a89807..ac66f1d1a6b07 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/src/scene.cpp @@ -168,8 +168,9 @@ void NoDrivableLaneModule::handle_approaching_state(PathWithLaneId * path) const auto & stop_pose = op_stop_pose.value(); planning_factor_interface_->add( path->points, planner_data_->current_odometry->pose, stop_pose, stop_pose, - autoware_internal_planning_msgs::msg::PlanningFactor::STOP, autoware_internal_planning_msgs::msg::SafetyFactorArray{}, - true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, ""); + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, + 0.0 /*shift distance*/, ""); const auto virtual_wall_pose = autoware::motion_utils::calcLongitudinalOffsetPose( path->points, stop_pose.position, debug_data_.base_link2front); @@ -218,8 +219,9 @@ void NoDrivableLaneModule::handle_inside_no_drivable_lane_state(PathWithLaneId * const auto & stop_pose = autoware_utils::get_pose(path->points.at(0)); planning_factor_interface_->add( path->points, planner_data_->current_odometry->pose, stop_pose, stop_pose, - autoware_internal_planning_msgs::msg::PlanningFactor::STOP, autoware_internal_planning_msgs::msg::SafetyFactorArray{}, - true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, ""); + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, + 0.0 /*shift distance*/, ""); const auto & virtual_wall_pose = autoware::motion_utils::calcLongitudinalOffsetPose( path->points, stop_pose.position, debug_data_.base_link2front); @@ -258,8 +260,9 @@ void NoDrivableLaneModule::handle_stopped_state(PathWithLaneId * path) const auto & stop_pose = ego_pos_on_path.pose; planning_factor_interface_->add( path->points, planner_data_->current_odometry->pose, stop_pose, stop_pose, - autoware_internal_planning_msgs::msg::PlanningFactor::STOP, autoware_internal_planning_msgs::msg::SafetyFactorArray{}, - true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, ""); + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, + 0.0 /*shift distance*/, ""); const auto virtual_wall_pose = autoware::motion_utils::calcLongitudinalOffsetPose( path->points, stop_pose.position, debug_data_.base_link2front); diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml index 051000e10a3a6..875f57a2ad40d 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml @@ -20,6 +20,7 @@ autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_rtc_interface + autoware_internal_planning_msgs autoware_interpolation autoware_lanelet2_extension autoware_motion_utils @@ -32,7 +33,6 @@ pluginlib rclcpp tier4_planning_msgs - autoware_internal_planning_msgs visualization_msgs ament_cmake_ros diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp index c916282fe28f7..8aa0bd0cdea08 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp @@ -769,8 +769,9 @@ bool RunOutModule::insertStopPoint( planning_factor_interface_->add( path.points, planner_data_->current_odometry->pose, stop_point.value(), stop_point.value(), - autoware_internal_planning_msgs::msg::PlanningFactor::STOP, autoware_internal_planning_msgs::msg::SafetyFactorArray{}, - true /*is_driving_forward*/, 0.0 /*velocity*/, 0.0 /*shift_distance*/, "run_out_stop"); + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, + 0.0 /*velocity*/, 0.0 /*shift_distance*/, "run_out_stop"); return true; } @@ -884,8 +885,8 @@ void RunOutModule::insertApproachingVelocity( planning_factor_interface_->add( output_path.points, planner_data_->current_odometry->pose, stop_point.value(), stop_point.value(), autoware_internal_planning_msgs::msg::PlanningFactor::STOP, - autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0 /*velocity*/, - 0.0 /*shift_distance*/, "run_out_approaching_velocity"); + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, + 0.0 /*velocity*/, 0.0 /*shift_distance*/, "run_out_approaching_velocity"); // debug debug_ptr_->pushStopPose(autoware_utils::calc_offset_pose( diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp index c3d408d49dcda..a9b1175287266 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp @@ -68,8 +68,9 @@ bool StopLineModule::modifyPathVelocity(PathWithLaneId * path) planning_factor_interface_->add( path->points, trajectory->compute(*stop_point).point.pose, planner_data_->current_odometry->pose, planner_data_->current_odometry->pose, - autoware_internal_planning_msgs::msg::PlanningFactor::STOP, autoware_internal_planning_msgs::msg::SafetyFactorArray{}, - true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, "stopline"); + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, + 0.0 /*shift distance*/, "stopline"); updateStateAndStoppedTime( &state_, &stopped_time_, clock_->now(), *stop_point - ego_s, planner_data_->isVehicleStopped()); diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml index 25b04a9b63b72..2ece1b9506b9c 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml @@ -22,6 +22,7 @@ autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_rtc_interface + autoware_internal_planning_msgs autoware_lanelet2_extension autoware_motion_utils autoware_perception_msgs @@ -37,7 +38,6 @@ tf2_eigen tf2_geometry_msgs tier4_planning_msgs - autoware_internal_planning_msgs visualization_msgs ament_cmake_ros diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp index d6d481c0226dc..8e02c91afab69 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp @@ -297,8 +297,9 @@ autoware_internal_planning_msgs::msg::PathWithLaneId TrafficLightModule::insertS planning_factor_interface_->add( modified_path.points, planner_data_->current_odometry->pose, target_point_with_lane_id.point.pose, target_point_with_lane_id.point.pose, - autoware_internal_planning_msgs::msg::PlanningFactor::STOP, autoware_internal_planning_msgs::msg::SafetyFactorArray{}, - true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, ""); + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, + 0.0 /*shift distance*/, ""); return modified_path; } diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml index 34bf06038b66e..d7d59e2b056a3 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml @@ -20,6 +20,7 @@ autoware_adapi_v1_msgs autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common + autoware_internal_planning_msgs autoware_lanelet2_extension autoware_motion_utils autoware_planning_msgs @@ -31,7 +32,6 @@ pluginlib rclcpp tier4_planning_msgs - autoware_internal_planning_msgs tier4_v2x_msgs visualization_msgs diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.cpp index 7494823039afd..d2aad40b7a178 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.cpp @@ -421,8 +421,9 @@ void VirtualTrafficLightModule::insertStopVelocityAtStopLine( // Set StopReason planning_factor_interface_->add( path->points, planner_data_->current_odometry->pose, stop_pose, stop_pose, - autoware_internal_planning_msgs::msg::PlanningFactor::STOP, autoware_internal_planning_msgs::msg::SafetyFactorArray{}, - true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, ""); + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, + 0.0 /*shift distance*/, ""); // Set data for visualization module_data_.stop_head_pose_at_stop_line = @@ -455,8 +456,9 @@ void VirtualTrafficLightModule::insertStopVelocityAtEndLine( // Set StopReason planning_factor_interface_->add( path->points, planner_data_->current_odometry->pose, stop_pose, stop_pose, - autoware_internal_planning_msgs::msg::PlanningFactor::STOP, autoware_internal_planning_msgs::msg::SafetyFactorArray{}, - true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, ""); + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, + 0.0 /*shift distance*/, ""); // Set data for visualization module_data_.stop_head_pose_at_end_line = diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.cpp index 0e1953782f961..4d8651d05c330 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.cpp @@ -124,8 +124,9 @@ bool WalkwayModule::modifyPathVelocity(PathWithLaneId * path) /* get stop point and stop factor */ planning_factor_interface_->add( path->points, planner_data_->current_odometry->pose, stop_pose.value(), stop_pose.value(), - autoware_internal_planning_msgs::msg::PlanningFactor::STOP, autoware_internal_planning_msgs::msg::SafetyFactorArray{}, - true /*is_driving_forward*/, 0.0 /*velocity*/, 0.0 /*shift distance*/, "walkway_stop"); + autoware_internal_planning_msgs::msg::PlanningFactor::STOP, + autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, + 0.0 /*velocity*/, 0.0 /*shift distance*/, "walkway_stop"); // use arc length to identify if ego vehicle is in front of walkway stop or not. const double signed_arc_dist_to_stop_point = diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/package.xml index d1ab50c6fcb90..f66e1afc48dac 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/package.xml @@ -13,6 +13,7 @@ ament_cmake_auto autoware_cmake + autoware_internal_planning_msgs autoware_motion_utils autoware_motion_velocity_planner_common_universe autoware_osqp_interface @@ -29,7 +30,6 @@ tf2 tier4_metric_msgs tier4_planning_msgs - autoware_internal_planning_msgs visualization_msgs ament_cmake_ros diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/type_alias.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/type_alias.hpp index 3037118abf062..d69a33fd918de 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/type_alias.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/type_alias.hpp @@ -29,10 +29,10 @@ #include "tier4_planning_msgs/msg/velocity_limit.hpp" #include "tier4_planning_msgs/msg/velocity_limit_clear_command.hpp" #include "visualization_msgs/msg/marker_array.hpp" -#include -#include #include #include +#include +#include #include #include diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_slow_down_module/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_slow_down_module/package.xml index 9670d29602c50..2475101311ba6 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_slow_down_module/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_slow_down_module/package.xml @@ -13,6 +13,7 @@ ament_cmake_auto autoware_cmake + autoware_internal_planning_msgs autoware_motion_utils autoware_motion_velocity_planner_common_universe autoware_perception_msgs @@ -28,7 +29,6 @@ tf2 tier4_metric_msgs tier4_planning_msgs - autoware_internal_planning_msgs visualization_msgs ament_cmake_ros diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_slow_down_module/src/type_alias.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_slow_down_module/src/type_alias.hpp index 3037118abf062..d69a33fd918de 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_slow_down_module/src/type_alias.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_slow_down_module/src/type_alias.hpp @@ -29,10 +29,10 @@ #include "tier4_planning_msgs/msg/velocity_limit.hpp" #include "tier4_planning_msgs/msg/velocity_limit_clear_command.hpp" #include "visualization_msgs/msg/marker_array.hpp" -#include -#include #include #include +#include +#include #include #include diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/package.xml index 17a4617ae7a03..8092ce71290f5 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/package.xml @@ -14,6 +14,7 @@ ament_cmake_auto autoware_cmake + autoware_internal_planning_msgs autoware_motion_utils autoware_motion_velocity_planner_common_universe autoware_perception_msgs @@ -27,7 +28,6 @@ tf2 tier4_metric_msgs tier4_planning_msgs - autoware_internal_planning_msgs visualization_msgs ament_cmake_ros diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/src/type_alias.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/src/type_alias.hpp index 0dd7b2de6ed65..a8d9a4c8ea9ee 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/src/type_alias.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module/src/type_alias.hpp @@ -26,10 +26,10 @@ #include "nav_msgs/msg/odometry.hpp" #include "sensor_msgs/msg/point_cloud2.hpp" #include "visualization_msgs/msg/marker_array.hpp" -#include -#include #include #include +#include +#include #include #include diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/package.xml index 4e3950dcdeabb..731d443c28bc2 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/package.xml @@ -20,6 +20,7 @@ autoware_behavior_velocity_planner_common autoware_internal_debug_msgs + autoware_internal_planning_msgs autoware_motion_utils autoware_object_recognition_utils autoware_perception_msgs @@ -32,7 +33,6 @@ libboost-dev rclcpp visualization_msgs - autoware_internal_planning_msgs ament_cmake_ros ament_lint_auto diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/README.md b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/README.md index eca2ebe7b0475..cfa9c593fba20 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/README.md +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/README.md @@ -30,9 +30,9 @@ This means that to stop before a wall, a stop point is inserted in the trajector ## Output topics -| Name | Type | Description | -| ----------------------------------------- | ---------------------------------------------- | -------------------------------------------------- | -| `~/output/trajectory` | autoware_planning_msgs::msg::Trajectory | Ego trajectory with updated velocity profile | +| Name | Type | Description | +| ----------------------------------------- | ---------------------------------------------------------- | -------------------------------------------------- | +| `~/output/trajectory` | autoware_planning_msgs::msg::Trajectory | Ego trajectory with updated velocity profile | | `~/output/planning_factors/` | autoware_internal_planning_msgs::msg::PlanningFactorsArray | factors causing change in the ego velocity profile | ## Services diff --git a/system/autoware_default_adapi/package.xml b/system/autoware_default_adapi/package.xml index 0e7e158fa655e..af210f2b6c4c8 100644 --- a/system/autoware_default_adapi/package.xml +++ b/system/autoware_default_adapi/package.xml @@ -19,6 +19,7 @@ autoware_component_interface_utils autoware_diagnostic_graph_utils autoware_geography_utils + autoware_internal_planning_msgs autoware_motion_utils autoware_planning_msgs autoware_system_msgs @@ -33,7 +34,6 @@ tier4_api_msgs tier4_control_msgs tier4_planning_msgs - autoware_internal_planning_msgs tier4_system_msgs python3-flask diff --git a/system/autoware_dummy_infrastructure/include/autoware/dummy_infrastructure/dummy_infrastructure_node.hpp b/system/autoware_dummy_infrastructure/include/autoware/dummy_infrastructure/dummy_infrastructure_node.hpp index 07c0ffa650038..7d44247e58cce 100644 --- a/system/autoware_dummy_infrastructure/include/autoware/dummy_infrastructure/dummy_infrastructure_node.hpp +++ b/system/autoware_dummy_infrastructure/include/autoware/dummy_infrastructure/dummy_infrastructure_node.hpp @@ -19,8 +19,8 @@ #include -#include #include +#include #include #include @@ -34,8 +34,8 @@ namespace autoware::dummy_infrastructure { -using nav_msgs::msg::Odometry; using autoware_internal_planning_msgs::msg::PlanningFactorArray; +using nav_msgs::msg::Odometry; using tier4_v2x_msgs::msg::InfrastructureCommand; using tier4_v2x_msgs::msg::InfrastructureCommandArray; using tier4_v2x_msgs::msg::VirtualTrafficLightState; diff --git a/system/autoware_dummy_infrastructure/package.xml b/system/autoware_dummy_infrastructure/package.xml index 27166d5e5934c..705e2bb77f8b3 100644 --- a/system/autoware_dummy_infrastructure/package.xml +++ b/system/autoware_dummy_infrastructure/package.xml @@ -17,10 +17,10 @@ libboost-dev + autoware_internal_planning_msgs autoware_utils rclcpp rclcpp_components - autoware_internal_planning_msgs tier4_v2x_msgs ament_lint_auto diff --git a/visualization/tier4_planning_factor_rviz_plugin/package.xml b/visualization/tier4_planning_factor_rviz_plugin/package.xml index 512d7fe68c29d..264d7c632410c 100644 --- a/visualization/tier4_planning_factor_rviz_plugin/package.xml +++ b/visualization/tier4_planning_factor_rviz_plugin/package.xml @@ -14,12 +14,12 @@ qtbase5-dev + autoware_internal_planning_msgs autoware_motion_utils autoware_utils autoware_vehicle_info_utils rviz_common rviz_default_plugins - autoware_internal_planning_msgs libqt5-widgets rviz2 diff --git a/visualization/tier4_planning_factor_rviz_plugin/src/planning_factor_rviz_plugin.hpp b/visualization/tier4_planning_factor_rviz_plugin/src/planning_factor_rviz_plugin.hpp index 21c4477071975..2d0c78042c07e 100644 --- a/visualization/tier4_planning_factor_rviz_plugin/src/planning_factor_rviz_plugin.hpp +++ b/visualization/tier4_planning_factor_rviz_plugin/src/planning_factor_rviz_plugin.hpp @@ -28,7 +28,8 @@ namespace autoware::rviz_plugins { -using RosTopicDisplay = rviz_common::RosTopicDisplay; +using RosTopicDisplay = + rviz_common::RosTopicDisplay; class PlanningFactorRvizPlugin : public rviz_common::RosTopicDisplay