Merge branch 'main' into gnss-poser-migration

.github/CODEOWNERS

@@ -7,9 +7,11 @@ common/autoware_node/** [email protected] @autowarefoundation/autoware-core-globa
 common/autoware_osqp_interface/** [email protected] [email protected] [email protected] [email protected] @autowarefoundation/autoware-core-global-codeowners
 common/autoware_point_types/** [email protected] [email protected] [email protected] @autowarefoundation/autoware-core-global-codeowners
 common/autoware_qp_interface/** [email protected] [email protected] [email protected] [email protected] @autowarefoundation/autoware-core-global-codeowners
+common/autoware_trajectory/** [email protected] [email protected] [email protected] @autowarefoundation/autoware-core-global-codeowners
 demos/autoware_test_node/** [email protected] @autowarefoundation/autoware-core-global-codeowners
 localization/autoware_ekf_localizer/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] @autowarefoundation/autoware-core-global-codeowners
 localization/autoware_localization_util/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] @autowarefoundation/autoware-core-global-codeowners
+testing/autoware_testing/** [email protected] [email protected] [email protected] [email protected] @autowarefoundation/autoware-core-global-codeowners
 
 ### Copied from .github/CODEOWNERS-manual ###
 .github/** @autowarefoundation/autoware-core-global-codeowners

.pages

@@ -0,0 +1,2 @@
+nav:
+  - ... |  regex=^(?!.*(README.md|CONTRIBUTING.md|CODE_OF_CONDUCT.md|DISCLAIMER.md)).*$

common/autoware_component_interface_specs/CMakeLists.txt

@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 3.14)
+project(autoware_component_interface_specs)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+if(BUILD_TESTING)
+  ament_auto_add_gtest(gtest_${PROJECT_NAME}
+    test/gtest_main.cpp
+    test/test_planning.cpp
+    test/test_control.cpp
+    test/test_localization.cpp
+    test/test_map.cpp
+    test/test_perception.cpp
+    test/test_vehicle.cpp
+  )
+endif()
+
+ament_auto_package()

common/autoware_component_interface_specs/README.md

@@ -0,0 +1,47 @@
+# autoware_component_interface_specs
+
+This package defines the standardized component interface specifications for Autoware Core, ensuring consistent communication and interaction between various components in the Autoware autonomous driving stack.
+
+## Purpose
+
+The purpose of this package is to:
+
+- Provide a single source of truth for component interface definitions
+- Ensure consistency across different implementations
+- Facilitate modular development and component interchangeability
+- Document the communication protocols between Autoware Core components
+
+## Structure
+
+The package contains interface specifications for various components, including:
+
+- Message definitions
+- Service interfaces
+- Action interfaces
+
+## Usage
+
+To use these interface specifications in your component:
+
+1. Add this package as a dependency in your package.xml:
+
+   ```xml
+   <depend>autoware_component_interface_specs</depend>
+   ```
+
+2. Use the provided interfaces in your component code.
+
+   ```cpp
+   #include <autoware/component_interface_specs/localization.hpp>
+   // Example: Creating a publisher using the interface specs
+   using KinematicState = autoware::component_interface_specs::localization::KinematicState;
+   rclcpp::Publisher<KinematicState::Message>::SharedPtr publisher_ =
+   create_publisher<KinematicState::Message>(
+   KinematicState::name,
+   autoware::component_interface_specs::get_qos(KinematicState));
+   // Example: Creating a subscription using the interface specs
+   auto subscriber_ = create_subscription<KinematicState::Message>(
+   KinematicState::name,
+   autoware::component_interface_specs::get_qos(KinematicState),
+   std::bind(&YourClass::callback, this, std::placeholders::1));
+   ```

common/autoware_component_interface_specs/include/autoware/component_interface_specs/control.hpp

@@ -0,0 +1,37 @@
+// Copyright 2022 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__CONTROL_HPP_
+#define AUTOWARE__COMPONENT_INTERFACE_SPECS__CONTROL_HPP_
+
+#include <autoware/component_interface_specs/utils.hpp>
+#include <rclcpp/qos.hpp>
+
+#include <autoware_control_msgs/msg/control.hpp>
+
+namespace autoware::component_interface_specs::control
+{
+
+struct ControlCommand
+{
+  using Message = autoware_control_msgs::msg::Control;
+  static constexpr char name[] = "/control/command/control_cmd";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+};
+
+}  // namespace autoware::component_interface_specs::control
+
+#endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__CONTROL_HPP_

common/autoware_component_interface_specs/include/autoware/component_interface_specs/localization.hpp

@@ -0,0 +1,47 @@
+// Copyright 2022 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_
+#define AUTOWARE__COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_
+
+#include <autoware/component_interface_specs/utils.hpp>
+#include <rclcpp/qos.hpp>
+
+#include <geometry_msgs/msg/accel_with_covariance_stamped.hpp>
+#include <nav_msgs/msg/odometry.hpp>
+
+namespace autoware::component_interface_specs::localization
+{
+
+struct KinematicState
+{
+  using Message = nav_msgs::msg::Odometry;
+  static constexpr char name[] = "/localization/kinematic_state";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+};
+
+struct Acceleration
+{
+  using Message = geometry_msgs::msg::AccelWithCovarianceStamped;
+  static constexpr char name[] = "/localization/acceleration";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+};
+
+}  // namespace autoware::component_interface_specs::localization
+
+#endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_

common/autoware_component_interface_specs/include/autoware/component_interface_specs/map.hpp

@@ -0,0 +1,57 @@
+// Copyright 2023 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__MAP_HPP_
+#define AUTOWARE__COMPONENT_INTERFACE_SPECS__MAP_HPP_
+
+#include <autoware/component_interface_specs/utils.hpp>
+#include <rclcpp/qos.hpp>
+
+#include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
+#include <autoware_map_msgs/msg/map_projector_info.hpp>
+#include <sensor_msgs/msg/point_cloud2.hpp>
+
+namespace autoware::component_interface_specs::map
+{
+
+struct MapProjectorInfo
+{
+  using Message = autoware_map_msgs::msg::MapProjectorInfo;
+  static constexpr char name[] = "/map/map_projector_info";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+};
+
+struct PointCloudMap
+{
+  using Message = sensor_msgs::msg::PointCloud2;
+  static constexpr char name[] = "/map/point_cloud_map";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+};
+
+struct VectorMap
+{
+  using Message = autoware_map_msgs::msg::LaneletMapBin;
+  static constexpr char name[] = "/map/vector_map";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+};
+
+}  // namespace autoware::component_interface_specs::map
+
+#endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__MAP_HPP_

common/autoware_component_interface_specs/include/autoware/component_interface_specs/perception.hpp

@@ -0,0 +1,37 @@
+// Copyright 2022 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_
+#define AUTOWARE__COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_
+
+#include <autoware/component_interface_specs/utils.hpp>
+#include <rclcpp/qos.hpp>
+
+#include <autoware_perception_msgs/msg/predicted_objects.hpp>
+
+namespace autoware::component_interface_specs::perception
+{
+
+struct ObjectRecognition
+{
+  using Message = autoware_perception_msgs::msg::PredictedObjects;
+  static constexpr char name[] = "/perception/object_recognition/objects";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+};
+
+}  // namespace autoware::component_interface_specs::perception
+
+#endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_

common/autoware_component_interface_specs/include/autoware/component_interface_specs/planning.hpp

@@ -0,0 +1,47 @@
+// Copyright 2022 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__PLANNING_HPP_
+#define AUTOWARE__COMPONENT_INTERFACE_SPECS__PLANNING_HPP_
+
+#include <autoware/component_interface_specs/utils.hpp>
+#include <rclcpp/qos.hpp>
+
+#include <autoware_planning_msgs/msg/lanelet_route.hpp>
+#include <autoware_planning_msgs/msg/trajectory.hpp>
+
+namespace autoware::component_interface_specs::planning
+{
+
+struct LaneletRoute
+{
+  using Message = autoware_planning_msgs::msg::LaneletRoute;
+  static constexpr char name[] = "/planning/mission_planning/route_selector/main/route";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+};
+
+struct Trajectory
+{
+  using Message = autoware_planning_msgs::msg::Trajectory;
+  static constexpr char name[] = "/planning/scenario_planning/trajectory";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+};
+
+}  // namespace autoware::component_interface_specs::planning
+
+#endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__PLANNING_HPP_

common/autoware_component_interface_specs/include/autoware/component_interface_specs/utils.hpp

@@ -0,0 +1,37 @@
+// Copyright 2023 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__UTILS_HPP_
+#define AUTOWARE__COMPONENT_INTERFACE_SPECS__UTILS_HPP_
+
+#include <rclcpp/qos.hpp>
+
+#include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
+#include <autoware_map_msgs/msg/map_projector_info.hpp>
+#include <sensor_msgs/msg/point_cloud2.hpp>
+
+namespace autoware::component_interface_specs
+{
+
+template <typename T>
+rclcpp::QoS get_qos(T interface)
+{
+  return rclcpp::QoS{interface.depth}
+    .reliability(interface.reliability)
+    .durability(interface.durability);
+}
+
+}  // namespace autoware::component_interface_specs
+
+#endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__UTILS_HPP_