refactor(autoware_auto_control_msgs): replace autoware_auto_control_m…

…sgs with autoware_control_msgs Signed-off-by: M. Fatih Cırıt <mfc@leodrive.ai>
tier4 · Jul 6, 2023 · b14e099 · b14e099
1 parent 689f93c
commit b14e099
Show file tree

Hide file tree

Showing 6 changed files with 22 additions and 25 deletions.
diff --git a/pacmod_interface/README.md b/pacmod_interface/README.md
@@ -8,15 +8,15 @@
 
 - From Autoware
 
-  | Name                                   | Type                                                     | Description                                           |
-  | -------------------------------------- | -------------------------------------------------------- | ----------------------------------------------------- |
-  | `/control/command/control_cmd`         | autoware_auto_control_msgs::msg::AckermannControlCommand | lateral and longitudinal control command              |
-  | `/control/command/gear_cmd`            | autoware_auto_vehicle_msgs::msg::GearCommand             | gear command                                          |
-  | `/control/command/turn_indicators_cmd` | autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand   | turn indicators command                               |
-  | `/control/command/hazard_lights_cmd`   | autoware_auto_vehicle_msgs::msg::HazardLightsCommand     | hazard lights command                                 |
-  | `/vehicle/engage`                      | autoware_auto_vehicle_msgs::msg::Engage                  | engage command                                        |
-  | `/vehicle/command/actuation_cmd`       | tier4_vehicle_msgs::msg::ActuationCommandStamped         | actuation (accel/brake pedal, steering wheel) command |
-  | `/control/command/emergency_cmd`       | tier4_vehicle_msgs::msg::VehicleEmergencyStamped         | emergency command                                     |
+  | Name                                   | Type                                                   | Description                                           |
+  | -------------------------------------- | ------------------------------------------------------ | ----------------------------------------------------- |
+  | `/control/command/control_cmd`         | autoware_control_msgs::msg::Control                    | lateral and longitudinal control command              |
+  | `/control/command/gear_cmd`            | autoware_auto_vehicle_msgs::msg::GearCommand           | gear command                                          |
+  | `/control/command/turn_indicators_cmd` | autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand | turn indicators command                               |
+  | `/control/command/hazard_lights_cmd`   | autoware_auto_vehicle_msgs::msg::HazardLightsCommand   | hazard lights command                                 |
+  | `/vehicle/engage`                      | autoware_auto_vehicle_msgs::msg::Engage                | engage command                                        |
+  | `/vehicle/command/actuation_cmd`       | tier4_vehicle_msgs::msg::ActuationCommandStamped       | actuation (accel/brake pedal, steering wheel) command |
+  | `/control/command/emergency_cmd`       | tier4_vehicle_msgs::msg::VehicleEmergencyStamped       | emergency command                                     |
 
 - From Pacmod
 

diff --git a/pacmod_interface/include/pacmod_interface/pacmod_diag_publisher.hpp b/pacmod_interface/include/pacmod_interface/pacmod_diag_publisher.hpp
@@ -18,7 +18,7 @@
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <rclcpp/rclcpp.hpp>
 
-#include <autoware_auto_control_msgs/msg/ackermann_control_command.hpp>
+#include <autoware_control_msgs/msg/control.hpp>
 #include <can_msgs/msg/frame.hpp>
 #include <geometry_msgs/msg/accel_with_covariance_stamped.hpp>
 #include <nav_msgs/msg/odometry.hpp>
@@ -42,7 +42,7 @@
 #include <utility>
 #include <vector>
 
-using autoware_auto_control_msgs::msg::AckermannControlCommand;
+using autoware_control_msgs::msg::Control;
 using geometry_msgs::msg::AccelWithCovarianceStamped;
 using nav_msgs::msg::Odometry;
 
@@ -76,7 +76,7 @@ class PacmodDiagPublisher : public rclcpp::Node
 
   // Acceleration-related Topics
   rclcpp::Subscription<AccelWithCovarianceStamped>::SharedPtr current_acc_sub_;
-  rclcpp::Subscription<AckermannControlCommand>::SharedPtr control_cmd_sub_;
+  rclcpp::Subscription<Control>::SharedPtr control_cmd_sub_;
   rclcpp::Subscription<Odometry>::SharedPtr odom_sub_;
 
   /* ros parameters */
@@ -122,7 +122,7 @@ class PacmodDiagPublisher : public rclcpp::Node
 
   void callbackAccel(const AccelWithCovarianceStamped::ConstSharedPtr accel);
   void callbackOdometry(const Odometry::SharedPtr odom);
-  void callbackControlCmd(const AckermannControlCommand::ConstSharedPtr control_cmd);
+  void callbackControlCmd(const Control::ConstSharedPtr control_cmd);
 
   /* functions */
   void checkPacmodMsgs(diagnostic_updater::DiagnosticStatusWrapper & stat);

diff --git a/pacmod_interface/include/pacmod_interface/pacmod_interface.hpp b/pacmod_interface/include/pacmod_interface/pacmod_interface.hpp
@@ -19,7 +19,6 @@
 #include <tier4_api_utils/tier4_api_utils.hpp>
 #include <vehicle_info_util/vehicle_info_util.hpp>
 
-#include <autoware_auto_control_msgs/msg/ackermann_control_command.hpp>
 #include <autoware_auto_vehicle_msgs/msg/control_mode_report.hpp>
 #include <autoware_auto_vehicle_msgs/msg/engage.hpp>
 #include <autoware_auto_vehicle_msgs/msg/gear_command.hpp>
@@ -31,6 +30,7 @@
 #include <autoware_auto_vehicle_msgs/msg/turn_indicators_report.hpp>
 #include <autoware_auto_vehicle_msgs/msg/velocity_report.hpp>
 #include <autoware_auto_vehicle_msgs/srv/control_mode_command.hpp>
+#include <autoware_control_msgs/msg/control.hpp>
 #include <pacmod3_msgs/msg/global_rpt.hpp>
 #include <pacmod3_msgs/msg/steering_cmd.hpp>
 #include <pacmod3_msgs/msg/system_cmd_float.hpp>
@@ -74,8 +74,7 @@ class PacmodInterface : public rclcpp::Node
 
   /* subscribers */
   // From Autoware
-  rclcpp::Subscription<autoware_auto_control_msgs::msg::AckermannControlCommand>::SharedPtr
-    control_cmd_sub_;
+  rclcpp::Subscription<autoware_control_msgs::msg::Control>::SharedPtr control_cmd_sub_;
   rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::GearCommand>::SharedPtr gear_cmd_sub_;
   rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand>::SharedPtr
     turn_indicators_cmd_sub_;
@@ -169,7 +168,7 @@ class PacmodInterface : public rclcpp::Node
 
   /* input values */
   ActuationCommandStamped::ConstSharedPtr actuation_cmd_ptr_;
-  autoware_auto_control_msgs::msg::AckermannControlCommand::ConstSharedPtr control_cmd_ptr_;
+  autoware_control_msgs::msg::Control::ConstSharedPtr control_cmd_ptr_;
   autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand::ConstSharedPtr turn_indicators_cmd_ptr_;
   autoware_auto_vehicle_msgs::msg::HazardLightsCommand::ConstSharedPtr hazard_lights_cmd_ptr_;
   autoware_auto_vehicle_msgs::msg::GearCommand::ConstSharedPtr gear_cmd_ptr_;
@@ -191,8 +190,7 @@ class PacmodInterface : public rclcpp::Node
 
   /* callbacks */
   void callbackActuationCmd(const ActuationCommandStamped::ConstSharedPtr msg);
-  void callbackControlCmd(
-    const autoware_auto_control_msgs::msg::AckermannControlCommand::ConstSharedPtr msg);
+  void callbackControlCmd(const autoware_control_msgs::msg::Control::ConstSharedPtr msg);
 
   void callbackEmergencyCmd(
     const tier4_vehicle_msgs::msg::VehicleEmergencyStamped::ConstSharedPtr msg);

diff --git a/pacmod_interface/package.xml b/pacmod_interface/package.xml
@@ -13,8 +13,8 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
-  <depend>autoware_auto_control_msgs</depend>
   <depend>autoware_auto_vehicle_msgs</depend>
+  <depend>autoware_control_msgs</depend>
   <depend>can_msgs</depend>
   <depend>diagnostic_updater</depend>
   <depend>geometry_msgs</depend>

diff --git a/pacmod_interface/src/pacmod_interface/pacmod_diag_publisher.cpp b/pacmod_interface/src/pacmod_interface/pacmod_diag_publisher.cpp
@@ -80,7 +80,7 @@ PacmodDiagPublisher::PacmodDiagPublisher()
   current_acc_sub_ = create_subscription<AccelWithCovarianceStamped>(
     "/localization/acceleration", 1,
     std::bind(&PacmodDiagPublisher::callbackAccel, this, std::placeholders::_1));
-  control_cmd_sub_ = create_subscription<AckermannControlCommand>(
+  control_cmd_sub_ = create_subscription<Control>(
     "/control/command/control_cmd", 1,
     std::bind(&PacmodDiagPublisher::callbackControlCmd, this, std::placeholders::_1));
   odom_sub_ = create_subscription<Odometry>(
@@ -119,8 +119,7 @@ void PacmodDiagPublisher::callbackAccel(const AccelWithCovarianceStamped::ConstS
   addValueToQue(acc_que_, accel->accel.accel.linear.x, accel->header.stamp, accel_store_time_);
 }
 
-void PacmodDiagPublisher::callbackControlCmd(
-  const AckermannControlCommand::ConstSharedPtr control_cmd)
+void PacmodDiagPublisher::callbackControlCmd(const Control::ConstSharedPtr control_cmd)
 {
   addValueToQue(
     acc_cmd_que_, control_cmd->longitudinal.acceleration, control_cmd->stamp, accel_store_time_);

diff --git a/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp b/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp
@@ -70,7 +70,7 @@ PacmodInterface::PacmodInterface()
   using std::placeholders::_2;
 
   // From autoware
-  control_cmd_sub_ = create_subscription<autoware_auto_control_msgs::msg::AckermannControlCommand>(
+  control_cmd_sub_ = create_subscription<autoware_control_msgs::msg::Control>(
     "/control/command/control_cmd", 1, std::bind(&PacmodInterface::callbackControlCmd, this, _1));
   gear_cmd_sub_ = create_subscription<autoware_auto_vehicle_msgs::msg::GearCommand>(
     "/control/command/gear_cmd", 1, std::bind(&PacmodInterface::callbackGearCmd, this, _1));
@@ -187,7 +187,7 @@ void PacmodInterface::callbackEmergencyCmd(
 }
 
 void PacmodInterface::callbackControlCmd(
-  const autoware_auto_control_msgs::msg::AckermannControlCommand::ConstSharedPtr msg)
+  const autoware_control_msgs::msg::Control::ConstSharedPtr msg)
 {
   control_command_received_time_ = this->now();
   control_cmd_ptr_ = msg;