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Initial import of FaRui Campus ADS v3.2

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li-shihao-code
2026-06-05 14:20:30 +08:00
commit 2839d34fdb
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master/src/Api/autoware_ad_api_specs/CMakeLists.txt
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cmake_minimum_required(VERSION 3.14)
project(autoware_ad_api_specs)
find_package(autoware_cmake REQUIRED)
autoware_package()
ament_auto_package()
master/src/Api/autoware_ad_api_specs/README.md
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# autoware_adapi_specs
This package is a specification of Autoware AD API.
master/src/Api/autoware_ad_api_specs/include/autoware_ad_api_specs/fail_safe.hpp
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// 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_AD_API_SPECS__FAIL_SAFE_HPP_
#define AUTOWARE_AD_API_SPECS__FAIL_SAFE_HPP_
#include <rclcpp/qos.hpp>
#include <autoware_adapi_v1_msgs/msg/mrm_state.hpp>
namespace autoware_ad_api::fail_safe
{
struct MrmState
{
using Message = autoware_adapi_v1_msgs::msg::MrmState;
static constexpr char name[] = "/api/fail_safe/mrm_state";
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_ad_api::fail_safe
#endif // AUTOWARE_AD_API_SPECS__FAIL_SAFE_HPP_
master/src/Api/autoware_ad_api_specs/include/autoware_ad_api_specs/interface.hpp
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// 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_AD_API_SPECS__INTERFACE_HPP_
#define AUTOWARE_AD_API_SPECS__INTERFACE_HPP_
#include <autoware_adapi_version_msgs/srv/interface_version.hpp>
namespace autoware_ad_api::interface
{
struct Version
{
using Service = autoware_adapi_version_msgs::srv::InterfaceVersion;
static constexpr char name[] = "/api/interface/version";
};
} // namespace autoware_ad_api::interface
#endif // AUTOWARE_AD_API_SPECS__INTERFACE_HPP_
master/src/Api/autoware_ad_api_specs/include/autoware_ad_api_specs/localization.hpp
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// 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_AD_API_SPECS__LOCALIZATION_HPP_
#define AUTOWARE_AD_API_SPECS__LOCALIZATION_HPP_
#include <rclcpp/qos.hpp>
#include <autoware_adapi_v1_msgs/msg/localization_initialization_state.hpp>
#include <autoware_adapi_v1_msgs/srv/initialize_localization.hpp>
namespace autoware_ad_api::localization
{
struct Initialize
{
using Service = autoware_adapi_v1_msgs::srv::InitializeLocalization;
static constexpr char name[] = "/api/localization/initialize";
};
struct InitializationState
{
using Message = autoware_adapi_v1_msgs::msg::LocalizationInitializationState;
static constexpr char name[] = "/api/localization/initialization_state";
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_ad_api::localization
#endif // AUTOWARE_AD_API_SPECS__LOCALIZATION_HPP_
master/src/Api/autoware_ad_api_specs/include/autoware_ad_api_specs/motion.hpp
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// 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_AD_API_SPECS__MOTION_HPP_
#define AUTOWARE_AD_API_SPECS__MOTION_HPP_
#include <rclcpp/qos.hpp>
#include <autoware_adapi_v1_msgs/msg/motion_state.hpp>
#include <autoware_adapi_v1_msgs/srv/accept_start.hpp>
namespace autoware_ad_api::motion
{
struct AcceptStart
{
using Service = autoware_adapi_v1_msgs::srv::AcceptStart;
static constexpr char name[] = "/api/motion/accept_start";
};
struct State
{
using Message = autoware_adapi_v1_msgs::msg::MotionState;
static constexpr char name[] = "/api/motion/state";
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_ad_api::motion
#endif // AUTOWARE_AD_API_SPECS__MOTION_HPP_
master/src/Api/autoware_ad_api_specs/include/autoware_ad_api_specs/operation_mode.hpp
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// 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_AD_API_SPECS__OPERATION_MODE_HPP_
#define AUTOWARE_AD_API_SPECS__OPERATION_MODE_HPP_
#include <rclcpp/qos.hpp>
#include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
#include <autoware_adapi_v1_msgs/srv/change_operation_mode.hpp>
namespace autoware_ad_api::operation_mode
{
struct ChangeToStop
{
using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode;
static constexpr char name[] = "/api/operation_mode/change_to_stop";
};
struct ChangeToAutonomous
{
using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode;
static constexpr char name[] = "/api/operation_mode/change_to_autonomous";
};
struct ChangeToLocal
{
using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode;
static constexpr char name[] = "/api/operation_mode/change_to_local";
};
struct ChangeToRemote
{
using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode;
static constexpr char name[] = "/api/operation_mode/change_to_remote";
};
struct EnableAutowareControl
{
using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode;
static constexpr char name[] = "/api/operation_mode/enable_autoware_control";
};
struct DisableAutowareControl
{
using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode;
static constexpr char name[] = "/api/operation_mode/disable_autoware_control";
};
struct OperationModeState
{
using Message = autoware_adapi_v1_msgs::msg::OperationModeState;
static constexpr char name[] = "/api/operation_mode/state";
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_ad_api::operation_mode
#endif // AUTOWARE_AD_API_SPECS__OPERATION_MODE_HPP_
master/src/Api/autoware_ad_api_specs/include/autoware_ad_api_specs/perception.hpp
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// 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_AD_API_SPECS__PERCEPTION_HPP_
#define AUTOWARE_AD_API_SPECS__PERCEPTION_HPP_
#include <rclcpp/qos.hpp>
#include <autoware_adapi_v1_msgs/msg/dynamic_object_array.hpp>
namespace autoware_ad_api::perception
{
struct DynamicObjectArray
{
using Message = autoware_adapi_v1_msgs::msg::DynamicObjectArray;
static constexpr char name[] = "/api/perception/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_ad_api::perception
#endif // AUTOWARE_AD_API_SPECS__PERCEPTION_HPP_
master/src/Api/autoware_ad_api_specs/include/autoware_ad_api_specs/planning.hpp
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// 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_AD_API_SPECS__PLANNING_HPP_
#define AUTOWARE_AD_API_SPECS__PLANNING_HPP_
#include <rclcpp/qos.hpp>
#include <autoware_adapi_v1_msgs/msg/steering_factor_array.hpp>
#include <autoware_adapi_v1_msgs/msg/velocity_factor_array.hpp>
namespace autoware_ad_api::planning
{
struct VelocityFactors
{
using Message = autoware_adapi_v1_msgs::msg::VelocityFactorArray;
static constexpr char name[] = "/api/planning/velocity_factors";
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 SteeringFactors
{
using Message = autoware_adapi_v1_msgs::msg::SteeringFactorArray;
static constexpr char name[] = "/api/planning/steering_factors";
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_ad_api::planning
#endif // AUTOWARE_AD_API_SPECS__PLANNING_HPP_
master/src/Api/autoware_ad_api_specs/include/autoware_ad_api_specs/routing.hpp
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// 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_AD_API_SPECS__ROUTING_HPP_
#define AUTOWARE_AD_API_SPECS__ROUTING_HPP_
#include <rclcpp/qos.hpp>
#include <autoware_adapi_v1_msgs/msg/route.hpp>
#include <autoware_adapi_v1_msgs/msg/route_state.hpp>
#include <autoware_adapi_v1_msgs/srv/clear_route.hpp>
#include <autoware_adapi_v1_msgs/srv/set_route.hpp>
#include <autoware_adapi_v1_msgs/srv/set_route_points.hpp>
namespace autoware_ad_api::routing
{
struct SetRoutePoints
{
using Service = autoware_adapi_v1_msgs::srv::SetRoutePoints;
static constexpr char name[] = "/api/routing/set_route_points";
};
struct SetRoute
{
using Service = autoware_adapi_v1_msgs::srv::SetRoute;
static constexpr char name[] = "/api/routing/set_route";
};
struct ChangeRoutePoints
{
using Service = autoware_adapi_v1_msgs::srv::SetRoutePoints;
static constexpr char name[] = "/api/routing/change_route_points";
};
struct ChangeRoute
{
using Service = autoware_adapi_v1_msgs::srv::SetRoute;
static constexpr char name[] = "/api/routing/change_route";
};
struct ClearRoute
{
using Service = autoware_adapi_v1_msgs::srv::ClearRoute;
static constexpr char name[] = "/api/routing/clear_route";
};
struct RouteState
{
using Message = autoware_adapi_v1_msgs::msg::RouteState;
static constexpr char name[] = "/api/routing/state";
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 Route
{
using Message = autoware_adapi_v1_msgs::msg::Route;
static constexpr char name[] = "/api/routing/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;
};
} // namespace autoware_ad_api::routing
#endif // AUTOWARE_AD_API_SPECS__ROUTING_HPP_
master/src/Api/autoware_ad_api_specs/include/autoware_ad_api_specs/system.hpp
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// Copyright 2024 The Autoware Contributors
//
// 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_AD_API_SPECS__SYSTEM_HPP_
#define AUTOWARE_AD_API_SPECS__SYSTEM_HPP_
#include <rclcpp/qos.hpp>
#include <autoware_adapi_v1_msgs/msg/heartbeat.hpp>
namespace autoware_ad_api::system
{
struct Heartbeat
{
using Message = autoware_adapi_v1_msgs::msg::Heartbeat;
static constexpr char name[] = "/api/system/heartbeat";
static constexpr size_t depth = 10;
static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
};
} // namespace autoware_ad_api::system
#endif // AUTOWARE_AD_API_SPECS__SYSTEM_HPP_
master/src/Api/autoware_ad_api_specs/include/autoware_ad_api_specs/vehicle.hpp
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// 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_AD_API_SPECS__VEHICLE_HPP_
#define AUTOWARE_AD_API_SPECS__VEHICLE_HPP_
#include <rclcpp/qos.hpp>
#include <autoware_adapi_v1_msgs/msg/door_status_array.hpp>
#include <autoware_adapi_v1_msgs/msg/vehicle_kinematics.hpp>
#include <autoware_adapi_v1_msgs/msg/vehicle_status.hpp>
#include <autoware_adapi_v1_msgs/srv/get_door_layout.hpp>
#include <autoware_adapi_v1_msgs/srv/get_vehicle_dimensions.hpp>
#include <autoware_adapi_v1_msgs/srv/set_door_command.hpp>
namespace autoware_ad_api::vehicle
{
struct VehicleKinematics
{
using Message = autoware_adapi_v1_msgs::msg::VehicleKinematics;
static constexpr char name[] = "/api/vehicle/kinematics";
static constexpr size_t depth = 1;
static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
};
struct VehicleStatus
{
using Message = autoware_adapi_v1_msgs::msg::VehicleStatus;
static constexpr char name[] = "/api/vehicle/status";
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 Dimensions
{
using Service = autoware_adapi_v1_msgs::srv::GetVehicleDimensions;
static constexpr char name[] = "/api/vehicle/dimensions";
};
struct DoorCommand
{
using Service = autoware_adapi_v1_msgs::srv::SetDoorCommand;
static constexpr char name[] = "/api/vehicle/doors/command";
};
struct DoorLayout
{
using Service = autoware_adapi_v1_msgs::srv::GetDoorLayout;
static constexpr char name[] = "/api/vehicle/doors/layout";
};
struct DoorStatus
{
using Message = autoware_adapi_v1_msgs::msg::DoorStatusArray;
static constexpr char name[] = "/api/vehicle/doors/status";
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_ad_api::vehicle
#endif // AUTOWARE_AD_API_SPECS__VEHICLE_HPP_
master/src/Api/autoware_ad_api_specs/package.xml
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>autoware_ad_api_specs</name>
<version>0.0.0</version>
<description>The autoware_ad_api_specs package</description>
<maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
<maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
<license>Apache License 2.0</license>
<buildtool_depend>ament_cmake_auto</buildtool_depend>
<buildtool_depend>autoware_cmake</buildtool_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>