feat(autoware_ad_api_specs): define routing interface

common/autoware_ad_api_msgs/CMakeLists.txt

@@ -7,6 +7,14 @@ autoware_package()
 rosidl_generate_interfaces(${PROJECT_NAME}
   common/msg/ResponseStatus.msg
   interface/srv/InterfaceVersion.srv
+  routing/msg/RouteState.msg
+  routing/msg/Route.msg
+  routing/msg/RouteData.msg
+  routing/msg/RoutePrimitive.msg
+  routing/msg/RouteSegment.msg
+  routing/srv/ClearRoute.srv
+  routing/srv/SetRoute.srv
+  routing/srv/SetRoutePoints.srv
   DEPENDENCIES
     builtin_interfaces
     std_msgs

common/autoware_ad_api_msgs/README.md

@@ -21,6 +21,11 @@ Considering the product life cycle, there may be multiple vehicles using differe
 In that situation, the AD API users such as developers of a web service have to switch the application behavior based on the version that each vehicle uses.
 The version of AD API follows [Semantic Versioning][semver] in order to provide an intuitive understanding of the changes between versions.
 
+## Routing
+
+The routing service support two formats. One uses pose and the other uses map dependent data directly.
+The body part of the route message is optional, since the route does not exist when it is cleared by the service.
+
 <!-- link -->
 
 [semver]: https://semver.org/

common/autoware_ad_api_msgs/routing/msg/Route.msg

@@ -0,0 +1,2 @@
+std_msgs/Header header
+autoware_ad_api_msgs/RouteData[<=1] data

common/autoware_ad_api_msgs/routing/msg/RouteData.msg

@@ -0,0 +1,3 @@
+geometry_msgs/Pose start
+geometry_msgs/Pose goal
+autoware_ad_api_msgs/RouteSegment[] segments

common/autoware_ad_api_msgs/routing/msg/RoutePrimitive.msg

@@ -0,0 +1,2 @@
+int64 id
+string type  # The same id may be used for each type.

common/autoware_ad_api_msgs/routing/msg/RouteSegment.msg

@@ -0,0 +1,2 @@
+autoware_ad_api_msgs/RoutePrimitive   preferred
+autoware_ad_api_msgs/RoutePrimitive[] alternatives  # Does not include the preferred primitive.

common/autoware_ad_api_msgs/routing/msg/RouteState.msg

@@ -0,0 +1,8 @@
+uint16 UNKNOWN = 0
+uint16 UNSET = 1
+uint16 SET = 2
+uint16 ARRIVED = 3
+uint16 CHANGING = 4
+
+builtin_interfaces/Time stamp
+uint16 state

common/autoware_ad_api_msgs/routing/srv/ClearRoute.srv

@@ -0,0 +1,2 @@
+---
+autoware_ad_api_msgs/ResponseStatus status

common/autoware_ad_api_msgs/routing/srv/SetRoute.srv

@@ -0,0 +1,6 @@
+std_msgs/Header header
+geometry_msgs/Pose goal
+autoware_ad_api_msgs/RouteSegment[] segments
+---
+uint16 ERROR_ROUTE_EXISTS = 1
+autoware_ad_api_msgs/ResponseStatus status

common/autoware_ad_api_msgs/routing/srv/SetRoutePoints.srv

@@ -0,0 +1,8 @@
+std_msgs/Header header
+geometry_msgs/Pose goal
+geometry_msgs/Pose[] waypoints
+---
+uint16 ERROR_ROUTE_EXISTS = 1
+uint16 ERROR_PLANNER_UNREADY = 2
+uint16 ERROR_PLANNER_FAILED = 3
+autoware_ad_api_msgs/ResponseStatus status

common/autoware_ad_api_specs/include/autoware_ad_api_specs/routing.hpp

@@ -0,0 +1,67 @@
+// 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_ad_api_msgs/msg/route.hpp>
+#include <autoware_ad_api_msgs/msg/route_state.hpp>
+#include <autoware_ad_api_msgs/srv/clear_route.hpp>
+#include <autoware_ad_api_msgs/srv/set_route.hpp>
+#include <autoware_ad_api_msgs/srv/set_route_points.hpp>
+
+namespace autoware_ad_api::routing
+{
+
+struct SetRoutePoints
+{
+  using Service = autoware_ad_api_msgs::srv::SetRoutePoints;
+  static constexpr char name[] = "/api/routing/set_route_points";
+};
+
+struct SetRoute
+{
+  using Service = autoware_ad_api_msgs::srv::SetRoute;
+  static constexpr char name[] = "/api/routing/set_route";
+};
+
+struct ClearRoute
+{
+  using Service = autoware_ad_api_msgs::srv::ClearRoute;
+  static constexpr char name[] = "/api/routing/clear_route";
+};
+
+struct RouteState
+{
+  using Message = autoware_ad_api_msgs::msg::RouteState;
+  static constexpr char name[] = "/api/routing/state";
+  static constexpr size_t depth = 3;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+};
+
+struct Route
+{
+  using Message = autoware_ad_api_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_

common/component_interface_specs/CMakeLists.txt

@@ -0,0 +1,7 @@
+cmake_minimum_required(VERSION 3.14)
+project(component_interface_specs)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+ament_auto_package()

common/component_interface_specs/include/component_interface_specs/planning.hpp

@@ -0,0 +1,67 @@
+// 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 COMPONENT_INTERFACE_SPECS__PLANNING_HPP_
+#define COMPONENT_INTERFACE_SPECS__PLANNING_HPP_
+
+#include <rclcpp/qos.hpp>
+
+#include <autoware_ad_api_msgs/msg/route.hpp>
+#include <autoware_ad_api_msgs/msg/route_state.hpp>
+#include <autoware_ad_api_msgs/srv/clear_route.hpp>
+#include <autoware_ad_api_msgs/srv/set_route.hpp>
+#include <autoware_ad_api_msgs/srv/set_route_points.hpp>
+
+namespace planning_interface
+{
+
+struct SetRoutePoints
+{
+  using Service = autoware_ad_api_msgs::srv::SetRoutePoints;
+  static constexpr char name[] = "/planning/mission_planning/set_route_points";
+};
+
+struct SetRoute
+{
+  using Service = autoware_ad_api_msgs::srv::SetRoute;
+  static constexpr char name[] = "/planning/mission_planning/set_route";
+};
+
+struct ClearRoute
+{
+  using Service = autoware_ad_api_msgs::srv::ClearRoute;
+  static constexpr char name[] = "/planning/mission_planning/clear_route";
+};
+
+struct RouteState
+{
+  using Message = autoware_ad_api_msgs::msg::RouteState;
+  static constexpr char name[] = "/planning/mission_planning/state";
+  static constexpr size_t depth = 3;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+};
+
+struct Route
+{
+  using Message = autoware_ad_api_msgs::msg::Route;
+  static constexpr char name[] = "/planning/mission_planning/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 planning_interface
+
+#endif  // COMPONENT_INTERFACE_SPECS__PLANNING_HPP_

common/component_interface_specs/package.xml

@@ -0,0 +1,20 @@
+<?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>component_interface_specs</name>
+  <version>0.0.0</version>
+  <description>The component_interface_specs package</description>
+  <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <build_depend>autoware_cmake</build_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

common/component_interface_utils/include/component_interface_utils/rclcpp.hpp

@@ -87,11 +87,9 @@ class NodeAdaptor
   void relay_service(
     C & cli, S & srv, CallbackGroup group, std::optional<double> timeout = std::nullopt) const
   {
-    using ReqT = typename C::element_type::SpecType::Service::Request::SharedPtr;
-    using ResT = typename C::element_type::SpecType::Service::Response::SharedPtr;
     init_cli(cli);
     init_srv(
-      srv, [cli, timeout](ReqT req, ResT res) { *res = *cli->call(req, timeout); }, group);
+      srv, [cli, timeout](auto req, auto res) { *res = *cli->call(req, timeout); }, group);
   }
 
   /// Create a service wrapper for logging.