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refactor(autoware_auto_control_msgs): replace autoware_auto_control_msgs with autoware_control_msgs #61

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refactor(autoware_auto_control_msgs): replace autoware_auto_control_msgs with autoware_control_msgs #61

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18 changes: 9 additions & 9 deletions pacmod_interface/README.md
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Expand Up @@ -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

Expand Down
8 changes: 4 additions & 4 deletions pacmod_interface/include/pacmod_interface/pacmod_diag_publisher.hpp
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Expand Up @@ -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>
Expand All @@ -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;

Expand Down Expand Up @@ -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 */
Expand Down Expand Up @@ -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);
Expand Down
10 changes: 4 additions & 6 deletions pacmod_interface/include/pacmod_interface/pacmod_interface.hpp
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Expand Up @@ -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>
Expand All @@ -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>
Expand Down Expand Up @@ -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_;
Expand Down Expand Up @@ -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_;
Expand All @@ -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);
Expand Down
2 changes: 1 addition & 1 deletion pacmod_interface/package.xml
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Expand Up @@ -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>
Expand Down
5 changes: 2 additions & 3 deletions pacmod_interface/src/pacmod_interface/pacmod_diag_publisher.cpp
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Expand Up @@ -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>(
Expand Down Expand Up @@ -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_);
Expand Down
4 changes: 2 additions & 2 deletions pacmod_interface/src/pacmod_interface/pacmod_interface.cpp
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Expand Up @@ -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));
Expand Down Expand Up @@ -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;
Expand Down