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feat(autoware_planning_msgs): add route services #82

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feat(autoware_planning_msgs): add route services #82

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16 changes: 10 additions & 6 deletions autoware_planning_msgs/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -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
)

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11 changes: 11 additions & 0 deletions autoware_planning_msgs/msg/RouteState.msg
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Original file line number Diff line number Diff line change
@@ -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
2 changes: 1 addition & 1 deletion autoware_planning_msgs/package.xml
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Expand Up @@ -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>

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2 changes: 2 additions & 0 deletions autoware_planning_msgs/srv/ClearRoute.srv
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@@ -0,0 +1,2 @@
---
autoware_common_msgs/ResponseStatus status
11 changes: 11 additions & 0 deletions autoware_planning_msgs/srv/SetLaneletRoute.srv
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@@ -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
11 changes: 11 additions & 0 deletions autoware_planning_msgs/srv/SetWaypointRoute.srv
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@@ -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
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