Merge pull request #1801 from tier4/beta-to-tier4-main-sync

chore: sync beta branch beta/v0.41 with tier4/main

Author: tier4-autoware-public-bot[bot]

build_depends.repos

@@ -32,7 +32,7 @@ repositories:
   core/autoware_internal_msgs:
     type: git
     url: https://github.com/autowarefoundation/autoware_internal_msgs.git
-    version: 1.3.0
+    version: 1.5.0
   # universe
   universe/external/tier4_autoware_msgs:
     type: git

common/autoware_motion_utils/README.md

@@ -47,7 +47,7 @@ The second function finds the nearest index in the lane whose id is `lane_id`.
 
 ```cpp
 size_t findNearestIndexFromLaneId(
-  const tier4_planning_msgs::msg::PathWithLaneId & path,
+  const autoware_internal_planning_msgs::msg::PathWithLaneId & path,
   const geometry_msgs::msg::Point & pos, const int64_t lane_id);
 ```
 

common/autoware_motion_utils/include/autoware/motion_utils/resample/resample.hpp

@@ -15,9 +15,9 @@
 #ifndef AUTOWARE__MOTION_UTILS__RESAMPLE__RESAMPLE_HPP_
 #define AUTOWARE__MOTION_UTILS__RESAMPLE__RESAMPLE_HPP_
 
+#include "autoware_internal_planning_msgs/msg/path_with_lane_id.hpp"
 #include "autoware_planning_msgs/msg/path.hpp"
 #include "autoware_planning_msgs/msg/trajectory.hpp"
-#include "tier4_planning_msgs/msg/path_with_lane_id.hpp"
 
 #include <vector>
 
@@ -113,8 +113,8 @@ std::vector<geometry_msgs::msg::Pose> resamplePoseVector(
  *        longitudinal and lateral velocity. Otherwise, it uses linear interpolation
  * @return resampled path
  */
-tier4_planning_msgs::msg::PathWithLaneId resamplePath(
-  const tier4_planning_msgs::msg::PathWithLaneId & input_path,
+autoware_internal_planning_msgs::msg::PathWithLaneId resamplePath(
+  const autoware_internal_planning_msgs::msg::PathWithLaneId & input_path,
   const std::vector<double> & resampled_arclength, const bool use_akima_spline_for_xy = false,
   const bool use_lerp_for_z = true, const bool use_zero_order_hold_for_v = true);
 
@@ -136,10 +136,11 @@ tier4_planning_msgs::msg::PathWithLaneId resamplePath(
  * @param resample_input_path_stop_point If true, resample closest stop point in input path
  * @return resampled path
  */
-tier4_planning_msgs::msg::PathWithLaneId resamplePath(
-  const tier4_planning_msgs::msg::PathWithLaneId & input_path, const double resample_interval,
-  const bool use_akima_spline_for_xy = false, const bool use_lerp_for_z = true,
-  const bool use_zero_order_hold_for_v = true, const bool resample_input_path_stop_point = true);
+autoware_internal_planning_msgs::msg::PathWithLaneId resamplePath(
+  const autoware_internal_planning_msgs::msg::PathWithLaneId & input_path,
+  const double resample_interval, const bool use_akima_spline_for_xy = false,
+  const bool use_lerp_for_z = true, const bool use_zero_order_hold_for_v = true,
+  const bool resample_input_path_stop_point = true);
 
 /**
  * @brief A resampling function for a path. Note that in a default setting, position xy are

common/autoware_motion_utils/include/autoware/motion_utils/trajectory/conversion.hpp

@@ -15,11 +15,11 @@
 #ifndef AUTOWARE__MOTION_UTILS__TRAJECTORY__CONVERSION_HPP_
 #define AUTOWARE__MOTION_UTILS__TRAJECTORY__CONVERSION_HPP_
 
+#include "autoware_internal_planning_msgs/msg/detail/path_with_lane_id__struct.hpp"
 #include "autoware_planning_msgs/msg/detail/path__struct.hpp"
 #include "autoware_planning_msgs/msg/detail/trajectory__struct.hpp"
 #include "autoware_planning_msgs/msg/detail/trajectory_point__struct.hpp"
 #include "std_msgs/msg/header.hpp"
-#include "tier4_planning_msgs/msg/detail/path_with_lane_id__struct.hpp"
 
 #include <vector>
 
@@ -58,7 +58,7 @@ autoware_planning_msgs::msg::Path convertToPath([[maybe_unused]] const T & input
 
 template <>
 inline autoware_planning_msgs::msg::Path convertToPath(
-  const tier4_planning_msgs::msg::PathWithLaneId & input)
+  const autoware_internal_planning_msgs::msg::PathWithLaneId & input)
 {
   autoware_planning_msgs::msg::Path output{};
   output.header = input.header;
@@ -80,7 +80,7 @@ TrajectoryPoints convertToTrajectoryPoints([[maybe_unused]] const T & input)
 
 template <>
 inline TrajectoryPoints convertToTrajectoryPoints(
-  const tier4_planning_msgs::msg::PathWithLaneId & input)
+  const autoware_internal_planning_msgs::msg::PathWithLaneId & input)
 {
   TrajectoryPoints output{};
   for (const auto & p : input.points) {
@@ -95,19 +95,20 @@ inline TrajectoryPoints convertToTrajectoryPoints(
 }
 
 template <class T>
-tier4_planning_msgs::msg::PathWithLaneId convertToPathWithLaneId([[maybe_unused]] const T & input)
+autoware_internal_planning_msgs::msg::PathWithLaneId convertToPathWithLaneId(
+  [[maybe_unused]] const T & input)
 {
   static_assert(sizeof(T) == 0, "Only specializations of convertToPathWithLaneId can be used.");
   throw std::logic_error("Only specializations of convertToPathWithLaneId can be used.");
 }
 
 template <>
-inline tier4_planning_msgs::msg::PathWithLaneId convertToPathWithLaneId(
+inline autoware_internal_planning_msgs::msg::PathWithLaneId convertToPathWithLaneId(
   const TrajectoryPoints & input)
 {
-  tier4_planning_msgs::msg::PathWithLaneId output{};
+  autoware_internal_planning_msgs::msg::PathWithLaneId output{};
   for (const auto & p : input) {
-    tier4_planning_msgs::msg::PathPointWithLaneId pp;
+    autoware_internal_planning_msgs::msg::PathPointWithLaneId pp;
     pp.point.pose = p.pose;
     pp.point.longitudinal_velocity_mps = p.longitudinal_velocity_mps;
     output.points.emplace_back(pp);

common/autoware_motion_utils/include/autoware/motion_utils/trajectory/interpolation.hpp

@@ -17,8 +17,8 @@
 
 #include "autoware/universe_utils/geometry/geometry.hpp"
 
+#include "autoware_internal_planning_msgs/msg/path_with_lane_id.hpp"
 #include "autoware_planning_msgs/msg/trajectory.hpp"
-#include "tier4_planning_msgs/msg/path_with_lane_id.hpp"
 
 #include <boost/optional.hpp>
 
@@ -51,8 +51,8 @@ autoware_planning_msgs::msg::TrajectoryPoint calcInterpolatedPoint(
  * twist information
  * @return resampled path(poses)
  */
-tier4_planning_msgs::msg::PathPointWithLaneId calcInterpolatedPoint(
-  const tier4_planning_msgs::msg::PathWithLaneId & path,
+autoware_internal_planning_msgs::msg::PathPointWithLaneId calcInterpolatedPoint(
+  const autoware_internal_planning_msgs::msg::PathWithLaneId & path,
   const geometry_msgs::msg::Pose & target_pose, const bool use_zero_order_hold_for_twist = false,
   const double dist_threshold = std::numeric_limits<double>::max(),
   const double yaw_threshold = std::numeric_limits<double>::max());

common/autoware_motion_utils/include/autoware/motion_utils/trajectory/path_with_lane_id.hpp

@@ -15,31 +15,31 @@
 #ifndef AUTOWARE__MOTION_UTILS__TRAJECTORY__PATH_WITH_LANE_ID_HPP_
 #define AUTOWARE__MOTION_UTILS__TRAJECTORY__PATH_WITH_LANE_ID_HPP_
 
-#include "tier4_planning_msgs/msg/path_with_lane_id.hpp"
+#include "autoware_internal_planning_msgs/msg/path_with_lane_id.hpp"
 #include <geometry_msgs/msg/point.hpp>
 
 #include <optional>
 #include <utility>
 namespace autoware::motion_utils
 {
 std::optional<std::pair<size_t, size_t>> getPathIndexRangeWithLaneId(
-  const tier4_planning_msgs::msg::PathWithLaneId & path, const int64_t target_lane_id);
+  const autoware_internal_planning_msgs::msg::PathWithLaneId & path, const int64_t target_lane_id);
 
 size_t findNearestIndexFromLaneId(
-  const tier4_planning_msgs::msg::PathWithLaneId & path, const geometry_msgs::msg::Point & pos,
-  const int64_t lane_id);
+  const autoware_internal_planning_msgs::msg::PathWithLaneId & path,
+  const geometry_msgs::msg::Point & pos, const int64_t lane_id);
 
 size_t findNearestSegmentIndexFromLaneId(
-  const tier4_planning_msgs::msg::PathWithLaneId & path, const geometry_msgs::msg::Point & pos,
-  const int64_t lane_id);
+  const autoware_internal_planning_msgs::msg::PathWithLaneId & path,
+  const geometry_msgs::msg::Point & pos, const int64_t lane_id);
 
 // @brief Calculates the path to be followed by the rear wheel center in order to make the vehicle
 // center follow the input path
 // @param [in] path with position to be followed by the center of the vehicle
 // @param [out] PathWithLaneId to be followed by the rear wheel center follow to make the vehicle
 // center follow the input path NOTE: rear_to_cog is supposed to be positive
-tier4_planning_msgs::msg::PathWithLaneId convertToRearWheelCenter(
-  const tier4_planning_msgs::msg::PathWithLaneId & path, const double rear_to_cog,
+autoware_internal_planning_msgs::msg::PathWithLaneId convertToRearWheelCenter(
+  const autoware_internal_planning_msgs::msg::PathWithLaneId & path, const double rear_to_cog,
   const bool enable_last_point_compensation = true);
 }  // namespace autoware::motion_utils