From ae63d7a793216e2555ac7a62c9a21abbb9f3efd9 Mon Sep 17 00:00:00 2001
From: "Takagi, Isamu" <isamu.takagi@tier4.jp>
Date: Tue, 23 Jan 2024 23:26:41 +0900
Subject: [PATCH] feat(autoware_planning_msgs): add route services

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
---
 autoware_planning_msgs/CMakeLists.txt           | 16 ++++++++++------
 autoware_planning_msgs/msg/RouteState.msg       | 11 +++++++++++
 autoware_planning_msgs/package.xml              |  2 +-
 autoware_planning_msgs/srv/ClearRoute.srv       |  2 ++
 autoware_planning_msgs/srv/SetLaneletRoute.srv  | 11 +++++++++++
 autoware_planning_msgs/srv/SetWaypointRoute.srv | 11 +++++++++++
 6 files changed, 46 insertions(+), 7 deletions(-)
 create mode 100644 autoware_planning_msgs/msg/RouteState.msg
 create mode 100644 autoware_planning_msgs/srv/ClearRoute.srv
 create mode 100644 autoware_planning_msgs/srv/SetLaneletRoute.srv
 create mode 100644 autoware_planning_msgs/srv/SetWaypointRoute.srv

diff --git a/autoware_planning_msgs/CMakeLists.txt b/autoware_planning_msgs/CMakeLists.txt
index 156dd80..d9634eb 100644
--- a/autoware_planning_msgs/CMakeLists.txt
+++ b/autoware_planning_msgs/CMakeLists.txt
@@ -8,19 +8,23 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/LaneletPrimitive.msg"
   "msg/LaneletRoute.msg"
   "msg/LaneletSegment.msg"
-  "msg/PoseWithUuidStamped.msg"
-  "msg/Trajectory.msg"
-  "msg/TrajectoryPoint.msg"
   "msg/Path.msg"
   "msg/PathPoint.msg"
-  "msg/PathWithLaneId.msg"
   "msg/PathPointWithLaneId.msg"
+  "msg/PathWithLaneId.msg"
+  "msg/PoseWithUuidStamped.msg"
+  "msg/RouteState.msg"
+  "msg/Trajectory.msg"
+  "msg/TrajectoryPoint.msg"
+  "srv/ClearRoute.srv"
+  "srv/SetLaneletRoute.srv"
+  "srv/SetWaypointRoute.srv"
   DEPENDENCIES
+    autoware_common_msgs
+    builtin_interfaces
     geometry_msgs
     std_msgs
     unique_identifier_msgs
-    nav_msgs
-    builtin_interfaces
   ADD_LINTER_TESTS
 )
 
diff --git a/autoware_planning_msgs/msg/RouteState.msg b/autoware_planning_msgs/msg/RouteState.msg
new file mode 100644
index 0000000..b3d4ed6
--- /dev/null
+++ b/autoware_planning_msgs/msg/RouteState.msg
@@ -0,0 +1,11 @@
+uint8 UNKNOWN = 0
+uint8 INITIALIZING = 1
+uint8 UNSET = 2
+uint8 PLANNING = 3
+uint8 SET = 4
+uint8 REROUTING = 5
+uint8 ARRIVED = 6
+uint8 ABORTED = 7
+
+builtin_interfaces/Time stamp
+uint8 state
diff --git a/autoware_planning_msgs/package.xml b/autoware_planning_msgs/package.xml
index e0ad5fd..56c623e 100644
--- a/autoware_planning_msgs/package.xml
+++ b/autoware_planning_msgs/package.xml
@@ -11,9 +11,9 @@
 
   <build_depend>rosidl_default_generators</build_depend>
 
+  <depend>autoware_common_msgs</depend>
   <depend>builtin_interfaces</depend>
   <depend>geometry_msgs</depend>
-  <depend>nav_msgs</depend>
   <depend>std_msgs</depend>
   <depend>unique_identifier_msgs</depend>
 
diff --git a/autoware_planning_msgs/srv/ClearRoute.srv b/autoware_planning_msgs/srv/ClearRoute.srv
new file mode 100644
index 0000000..c6c8fc6
--- /dev/null
+++ b/autoware_planning_msgs/srv/ClearRoute.srv
@@ -0,0 +1,2 @@
+---
+autoware_common_msgs/ResponseStatus status
diff --git a/autoware_planning_msgs/srv/SetLaneletRoute.srv b/autoware_planning_msgs/srv/SetLaneletRoute.srv
new file mode 100644
index 0000000..5c456cd
--- /dev/null
+++ b/autoware_planning_msgs/srv/SetLaneletRoute.srv
@@ -0,0 +1,11 @@
+std_msgs/Header header
+geometry_msgs/Pose goal_pose
+autoware_planning_msgs/LaneletSegment[] segments
+unique_identifier_msgs/UUID uuid
+bool allow_modification
+---
+uint16 ERROR_INVALID_STATE = 1
+uint16 ERROR_PLANNER_UNREADY = 2
+uint16 ERROR_PLANNER_FAILED = 3
+uint16 ERROR_REROUTE_FAILED = 4
+autoware_common_msgs/ResponseStatus status
diff --git a/autoware_planning_msgs/srv/SetWaypointRoute.srv b/autoware_planning_msgs/srv/SetWaypointRoute.srv
new file mode 100644
index 0000000..23c5b4c
--- /dev/null
+++ b/autoware_planning_msgs/srv/SetWaypointRoute.srv
@@ -0,0 +1,11 @@
+std_msgs/Header header
+geometry_msgs/Pose goal_pose
+geometry_msgs/Pose[] waypoints
+unique_identifier_msgs/UUID uuid
+bool allow_modification
+---
+uint16 ERROR_INVALID_STATE = 1
+uint16 ERROR_PLANNER_UNREADY = 2
+uint16 ERROR_PLANNER_FAILED = 3
+uint16 ERROR_REROUTE_FAILED = 4
+autoware_common_msgs/ResponseStatus status