Merge branch 'main' into feat/add_dynamic_lanelet_loading

Author: StepTurtle

autoware_map_msgs/CMakeLists.txt

@@ -9,9 +9,8 @@ set(msg_files
   "msg/LaneletMapBin.msg"
   "msg/LaneletMapMetaData.msg"
   "msg/LaneletMapCellMetaData.msg"
-  "msg/PointCloudMapCellWithID.msg"
   "msg/PointCloudMapCellMetaData.msg"
-  "msg/PointCloudMapCellMetaDataWithID.msg"
+  "msg/PointCloudMapCellWithMetaData.msg"
   "msg/PointCloudMapMetaData.msg"
   "srv/GetPartialPointCloudMap.srv"
   "srv/GetDifferentialPointCloudMap.srv"

autoware_map_msgs/README.md

@@ -4,13 +4,13 @@
 
 The message represents an area information. This is intended to be used as a query for partial / differential map loading (see `GetPartialPointCloudMap.srv` and `GetDifferentialPointCloudMap.srv` section).
 
-## PointCloudMapCellWithID.msg
+## PointCloudMapCellMetaData.msg
 
-The message contains a pointcloud data attached with an ID.
+The message contains a pointcloud meta data. These IDs are intended to be used as a query for selected PCD map loading (see `GetSelectedPointCloudMap.srv` section).
 
-## PointCloudMapCellMetaDataWithID.msg
+## PointCloudMapCellWithMetaData.msg
 
-The message contains a pointcloud meta data attached with an ID. These IDs are intended to be used as a query for selected PCD map loading (see `GetSelectedPointCloudMap.srv` section).
+The message contains a pointcloud data attached with a metadata.
 
 ## GetPartialPointCloudMap.srv
 
@@ -36,4 +36,4 @@ Let $X_0$ be a set of PCD map ID that the client node has, $X_1$ be a set of PCD
 
 ## GetSelectedPointCloudMap.srv
 
-Given IDs query, the response is expected to contain the PCD maps (each of which attached with unique ID) specified by query. Before using this interface, the client is expected to receive the `PointCloudMapCellMetaDataWithID.msg` metadata to retrieve information about IDs.
+Given IDs query, the response is expected to contain the PCD maps (each of which attached with unique ID) specified by query. Before using this interface, the client is expected to receive the `PointCloudMapCellMetaData.msg` metadata to retrieve information about IDs.

autoware_map_msgs/msg/PointCloudMapCellMetaData.msg

@@ -1,5 +1,6 @@
 # Metadata of pointcloud map cell
 
+string cell_id
 float32 min_x
 float32 min_y
 float32 max_x

autoware_map_msgs/msg/PointCloudMapCellMetaDataWithID.msg

@@ -1,5 +1,4 @@
-# Pointcloud data with ID
+# Pointcloud with metadata
 
-string cell_id
 sensor_msgs/PointCloud2 pointcloud
 PointCloudMapCellMetaData metadata

autoware_map_msgs/msg/PointCloudMapCellWithID.msg autoware_map_msgs/msg/PointCloudMapCellWithMetaData.msg

@@ -1,4 +1,4 @@
 # Header
 std_msgs/Header header
 
-PointCloudMapCellMetaDataWithID[] metadata_list
+PointCloudMapCellMetaData[] metadata_list

autoware_map_msgs/msg/PointCloudMapMetaData.msg

@@ -10,7 +10,7 @@ string[] cached_ids
 std_msgs/Header header
 
 # Newly loaded PCD maps with ID
-PointCloudMapCellWithID[] new_pointcloud_with_ids
+PointCloudMapCellWithMetaData[] new_pointcloud_cells
 
 # Map IDs that the client side should remove
 string[] ids_to_remove

autoware_map_msgs/srv/GetDifferentialPointCloudMap.srv

@@ -7,4 +7,4 @@ AreaInfo area
 std_msgs/Header header
 
 # Newly loaded PCD maps with ID
-PointCloudMapCellWithID[] new_pointcloud_with_ids
+PointCloudMapCellWithMetaData[] new_pointcloud_cells

autoware_map_msgs/srv/GetPartialPointCloudMap.srv

@@ -6,4 +6,4 @@ string[] cell_ids
 std_msgs/Header header
 
 # Newly loaded PCD maps with ID
-PointCloudMapCellWithID[] new_pointcloud_with_ids
+PointCloudMapCellWithMetaData[] new_pointcloud_cells

autoware_map_msgs/srv/GetSelectedPointCloudMap.srv

@@ -0,0 +1,22 @@
+cmake_minimum_required(VERSION 3.14)
+project(autoware_v2x_msgs)
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/VirtualGateAreaCommand.msg"
+  "msg/VirtualGateAreaStatus.msg"
+  "msg/VirtualGateCommand.msg"
+  "msg/VirtualGateStatus.msg"
+  DEPENDENCIES
+    builtin_interfaces
+    geometry_msgs
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package()

autoware_v2x_msgs/CMakeLists.txt

@@ -0,0 +1,27 @@
+# autoware_v2x_msgs
+
+## Virtual gate messages
+
+### Overview
+
+This message represents the status of the virtual gate for passing through the area managed by the facility.
+The virtual gate treats area entry permission as a shared resource and controls vehicles by acquiring and releasing locks.
+Each facility may support different protocols, but Autoware V2X component converts each protocol and this message.
+This allows Autoware to handle facilities with different protocols with a unified message.
+
+![virtual-gate-nodes](./doc/virtual-gate-nodes.drawio.svg)
+
+### Sequence
+
+Because there is a time lag before commands are reflected, the vehicle must wait until it receives the status of the same sequence as the command it sent.
+Until the vehicle receives the status, treat it as if it were unlocked.
+
+### Gates
+
+Specify the entrance and exit gate IDs. This is used to check if vehicles can pass simultaneously when multiple routes are possible within an area.
+If omitted, it is treated as a lock for the entire area.
+
+### Vehicle ID
+
+This message does not include the vehicle ID, so add it in the V2X component if required by the communication protocol.
+And if facilities publish multiple vehicle statuses, filter to only status for own vehicle.