Moved configuration messages to autoware_config_msgs

autowarefoundation · Oct 23, 2018 · 8bf1c47 · 8bf1c47
1 parent f4ace2c
commit 8bf1c47
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Showing 96 changed files with 512 additions and 158 deletions.
diff --git a/ros/src/computing/perception/detection/lidar_tracker/packages/range_fusion/CMakeLists.txt b/ros/src/computing/perception/detection/lidar_tracker/packages/range_fusion/CMakeLists.txt
@@ -5,7 +5,7 @@ FIND_PACKAGE(catkin REQUIRED COMPONENTS
   autoware_build_flags
   roscpp
   std_msgs
-  autoware_msgs
+  autoware_config_msgs
   fusion
   )
 FIND_PACKAGE(CUDA)
@@ -15,7 +15,7 @@ catkin_package(
   CATKIN_DEPENDS 
   roscpp
   std_msgs
-  autoware_msgs
+  autoware_config_msgs
   fusion
   )
 

diff --git a/...ception/detection/lidar_tracker/packages/range_fusion/nodes/range_fusion/range_fusion.cpp b/...ception/detection/lidar_tracker/packages/range_fusion/nodes/range_fusion/range_fusion.cpp
@@ -32,7 +32,7 @@
 #include <std_msgs/Header.h>
 #include <fusion/fusion_func.h>
 #include "autoware_msgs/ImageObjRanged.h"
-#include "autoware_msgs/ConfigCarFusion.h"
+#include "autoware_config_msgs/ConfigCarFusion.h"
 
 static void publishTopic();
 static ros::Publisher fused_objects;
@@ -88,7 +88,7 @@ static void publishTopic()
 	fused_objects.publish(fused_objects_msg);
 }
 
-static void config_cb(const autoware_msgs::ConfigCarFusion::ConstPtr& param)
+static void config_cb(const autoware_config_msgs::ConfigCarFusion::ConstPtr& param)
 {
 	setParams(param->min_low_height,
 			param->max_low_height,

diff --git a/ros/src/computing/perception/detection/lidar_tracker/packages/range_fusion/package.xml b/ros/src/computing/perception/detection/lidar_tracker/packages/range_fusion/package.xml
@@ -12,12 +12,12 @@
 
     <build_depend>roscpp</build_depend>
     <build_depend>std_msgs</build_depend>
-    <build_depend>autoware_msgs</build_depend>
+    <build_depend>autoware_config_msgs</build_depend>
     <build_depend>fusion</build_depend>
 
     <run_depend>roscpp</run_depend>
     <run_depend>std_msgs</run_depend>
-    <run_depend>autoware_msgs</run_depend>
+    <run_depend>autoware_config_msgs</run_depend>
     <run_depend>fusion</run_depend>
 
 </package>
diff --git a/...puting/perception/detection/vision_detector/packages/vision_darknet_detect/CMakeLists.txt b/...puting/perception/detection/vision_detector/packages/vision_darknet_detect/CMakeLists.txt
@@ -9,6 +9,7 @@ find_package(catkin REQUIRED COMPONENTS
         sensor_msgs
         std_msgs
         autoware_msgs
+        autoware_config_msgs
         )
 
 find_package(CUDA)
@@ -22,6 +23,7 @@ catkin_package(CATKIN_DEPENDS
         sensor_msgs
         std_msgs
         autoware_msgs
+        autoware_config_msgs
         )
 
 set(CMAKE_CXX_FLAGS "-O3 -g -Wall ${CMAKE_CXX_FLAGS}")

diff --git a/...g/perception/detection/vision_detector/packages/vision_darknet_detect/README.md b/...g/perception/detection/vision_detector/packages/vision_darknet_detect/README.md
@@ -42,7 +42,7 @@ Launch file available parameters:
 |Topic|Type|Objective|
 ------|----|---------
 |`/image_raw`|`sensor_msgs/Image`|Source image stream to perform detection.|
-|`/config/Yolo3`|`autoware_msgs/ConfigSsd`|Configuration adjustment for threshold.|
+|`/config/Yolo3`|`autoware_config_msgs/ConfigSsd`|Configuration adjustment for threshold.|
 
 ### Published topics
 

diff --git a/...computing/perception/detection/vision_detector/packages/vision_darknet_detect/package.xml b/...computing/perception/detection/vision_detector/packages/vision_darknet_detect/package.xml
@@ -11,13 +11,15 @@
     <build_depend>sensor_msgs</build_depend>
     <build_depend>std_msgs</build_depend>
     <build_depend>autoware_msgs</build_depend>
+    <build_depend>autoware_config_msgs</build_depend>
     <build_depend>cv_bridge</build_depend>
     <build_depend>image_transport</build_depend>
     <build_depend>roscpp</build_depend>
 
     <run_depend>sensor_msgs</run_depend>
     <run_depend>std_msgs</run_depend>
     <run_depend>autoware_msgs</run_depend>
+    <run_depend>autoware_config_msgs</run_depend>
     <run_depend>cv_bridge</run_depend>
     <run_depend>image_transport</run_depend>
     <run_depend>roscpp</run_depend>

diff --git a/...on/detection/vision_detector/packages/vision_darknet_detect/src/vision_darknet_detect.cpp b/...on/detection/vision_detector/packages/vision_darknet_detect/src/vision_darknet_detect.cpp
@@ -284,7 +284,7 @@ void Yolo3DetectorNode::image_callback(const sensor_msgs::ImageConstPtr& in_imag
     free(darknet_image_.data);
 }
 
-void Yolo3DetectorNode::config_cb(const autoware_msgs::ConfigSsd::ConstPtr& param)
+void Yolo3DetectorNode::config_cb(const autoware_config_msgs::ConfigSsd::ConstPtr& param)
 {
     score_threshold_ = param->score_threshold;
 }

diff --git a/...tion/detection/vision_detector/packages/vision_darknet_detect/src/vision_darknet_detect.h b/...tion/detection/vision_detector/packages/vision_darknet_detect/src/vision_darknet_detect.h
@@ -125,7 +125,7 @@ class Yolo3DetectorNode {
     void                            rgbgr_image(image& im);
     image                           convert_ipl_to_image(const sensor_msgs::ImageConstPtr& msg);
     void                            image_callback(const sensor_msgs::ImageConstPtr& in_image_message);
-    void                            config_cb(const autoware_msgs::ConfigSsd::ConstPtr& param);
+    void                            config_cb(const autoware_config_msgs::ConfigSsd::ConstPtr& param);
     std::vector<std::string>        read_custom_names_file(const std::string& in_path);
 public:
     void    Run();

diff --git a/...uting/perception/detection/vision_detector/packages/vision_dpm_ttic_detect/CMakeLists.txt b/...uting/perception/detection/vision_detector/packages/vision_dpm_ttic_detect/CMakeLists.txt
@@ -9,6 +9,7 @@ FIND_PACKAGE(catkin REQUIRED COMPONENTS
         roscpp
         sensor_msgs
         std_msgs
+        autoware_config_msgs
         autoware_msgs
         libdpm_ttic
         )
@@ -21,6 +22,7 @@ catkin_package(
         roscpp
         sensor_msgs
         std_msgs
+        autoware_config_msgs
         autoware_msgs
         libdpm_ttic
 )

diff --git a/...r/packages/vision_dpm_ttic_detect/nodes/vision_dpm_ttic_detect/vision_dpm_ttic_detect.cpp b/...r/packages/vision_dpm_ttic_detect/nodes/vision_dpm_ttic_detect/vision_dpm_ttic_detect.cpp
@@ -37,7 +37,7 @@
 #include <sensor_msgs/image_encodings.h>
 
 #include "autoware_msgs/ImageObj.h"
-#include "autoware_msgs/ConfigPedestrianDpm.h"
+#include "autoware_config_msgs/ConfigPedestrianDpm.h"
 
 #include <libdpm_ttic/dpm_ttic.hpp>
 
@@ -109,7 +109,7 @@ static void image_raw_cb(const sensor_msgs::Image& image_source)
 	counter++;
 }
 
-static void config_cb(const autoware_msgs::ConfigPedestrianDpm::ConstPtr& param)
+static void config_cb(const autoware_config_msgs::ConfigPedestrianDpm::ConstPtr& param)
 {
 	ttic_param.threshold = param->score_threshold;
 	ttic_param.overlap   = param->group_threshold;

diff --git a/...omputing/perception/detection/vision_detector/packages/vision_dpm_ttic_detect/package.xml b/...omputing/perception/detection/vision_detector/packages/vision_dpm_ttic_detect/package.xml
@@ -13,6 +13,7 @@
     <build_depend>roscpp</build_depend>
     <build_depend>sensor_msgs</build_depend>
     <build_depend>std_msgs</build_depend>
+    <build_depend>autoware_config_msgs</build_depend>
     <build_depend>autoware_msgs</build_depend>
     <build_depend>libdpm_ttic</build_depend>
     <build_depend>libopencv-dev</build_depend>
@@ -21,6 +22,7 @@
     <run_depend>roscpp</run_depend>
     <run_depend>sensor_msgs</run_depend>
     <run_depend>std_msgs</run_depend>
+    <run_depend>autoware_config_msgs</run_depend>
     <run_depend>autoware_msgs</run_depend>
     <run_depend>libdpm_ttic</run_depend>
     <run_depend>libopencv-dev</run_depend>

diff --git a/...ption/detection/vision_detector/packages/vision_ssd_detect/src/vision_ssd_detect_node.cpp b/...ption/detection/vision_detector/packages/vision_ssd_detect/src/vision_ssd_detect_node.cpp
@@ -32,7 +32,7 @@
 #include <cv_bridge/cv_bridge.h>
 #include <sensor_msgs/Image.h>
 #include <sensor_msgs/image_encodings.h>
-#include "autoware_msgs/ConfigSsd.h"
+#include "autoware_config_msgs/ConfigSsd.h"
 #include "autoware_msgs/DetectedObject.h"
 #include "autoware_msgs/DetectedObjectArray.h"
 
@@ -130,7 +130,7 @@ class RosSsdApp
 	}
 
 
-	void config_cb(const autoware_msgs::ConfigSsd::ConstPtr& param)
+	void config_cb(const autoware_config_msgs::ConfigSsd::ConstPtr& param)
 	{
 		score_threshold_ 	= param->score_threshold;
 	}

diff --git a/ros/src/computing/perception/detection/vision_tracker/libs/kf/src/kf_lib.cpp b/ros/src/computing/perception/detection/vision_tracker/libs/kf/src/kf_lib.cpp
@@ -37,7 +37,7 @@
 #include <cv_bridge/cv_bridge.h>
 #include <sensor_msgs/Image.h>
 #include <sensor_msgs/image_encodings.h>
-#include <autoware_msgs/ConfigCarKf.h>
+#include <autoware_config_msgs/ConfigCarKf.h>
 #include <autoware_msgs/ImageObjRanged.h>
 
 #include <autoware_msgs/ImageObjTracked.h>
@@ -918,7 +918,7 @@ void detections_callback(autoware_msgs::ImageObjRanged image_objects_msg)
 	publish_if_possible();
 }
 
-static void kf_config_cb(const autoware_msgs::ConfigCarKf::ConstPtr& param)
+static void kf_config_cb(const autoware_config_msgs::ConfigCarKf::ConstPtr& param)
 {
 	if (param->initial_lifespan > 0)
 		INITIAL_LIFESPAN	= param->initial_lifespan;

diff --git a/ros/src/computing/perception/localization/packages/lidar_localizer/CMakeLists.txt b/ros/src/computing/perception/localization/packages/lidar_localizer/CMakeLists.txt
@@ -42,6 +42,7 @@ find_package(catkin REQUIRED COMPONENTS
         pcl_ros
         sensor_msgs
         autoware_msgs
+        autoware_config_msgs
         pcl_conversions
         velodyne_pointcloud
         ndt_tku
@@ -53,7 +54,7 @@ find_package(catkin REQUIRED COMPONENTS
 ## catkin specific configuration ##
 ###################################
 catkin_package(
-        CATKIN_DEPENDS std_msgs velodyne_pointcloud autoware_msgs ndt_tku ndt_cpu ${PCL_OPENMP_PACKAGES}
+        CATKIN_DEPENDS std_msgs velodyne_pointcloud autoware_msgs autoware_config_msgs ndt_tku ndt_cpu ${PCL_OPENMP_PACKAGES}
         DEPENDS PCL
 )
 

diff --git a/...zation/packages/lidar_localizer/nodes/approximate_ndt_mapping/approximate_ndt_mapping.cpp b/...zation/packages/lidar_localizer/nodes/approximate_ndt_mapping/approximate_ndt_mapping.cpp
@@ -66,8 +66,8 @@
 #include <pcl/registration/ndt.h>
 #endif
 
-#include <autoware_msgs/ConfigApproximateNdtMapping.h>
-#include <autoware_msgs/ConfigNdtMappingOutput.h>
+#include <autoware_config_msgs/ConfigApproximateNdtMapping.h>
+#include <autoware_config_msgs/ConfigNdtMappingOutput.h>
 
 struct pose
 {
@@ -157,7 +157,7 @@ static nav_msgs::Odometry odom;
 static std::ofstream ofs;
 static std::string filename;
 
-static void param_callback(const autoware_msgs::ConfigApproximateNdtMapping::ConstPtr& input)
+static void param_callback(const autoware_config_msgs::ConfigApproximateNdtMapping::ConstPtr& input)
 {
   ndt_res = input->resolution;
   step_size = input->step_size;
@@ -181,7 +181,7 @@ static void param_callback(const autoware_msgs::ConfigApproximateNdtMapping::Con
   std::cout << "max_submap_size: " << max_submap_size << std::endl;
 }
 
-static void output_callback(const autoware_msgs::ConfigNdtMappingOutput::ConstPtr& input)
+static void output_callback(const autoware_config_msgs::ConfigNdtMappingOutput::ConstPtr& input)
 {
   double filter_res = input->filter_res;
   std::string filename = input->filename;

diff --git a/...ting/perception/localization/packages/lidar_localizer/nodes/icp_matching/icp_matching.cpp b/...ting/perception/localization/packages/lidar_localizer/nodes/icp_matching/icp_matching.cpp
@@ -63,7 +63,7 @@
 #include <pcl/registration/icp.h>
 #include <pcl/filters/voxel_grid.h>
 
-#include "autoware_msgs/ConfigICP.h"
+#include "autoware_config_msgs/ConfigICP.h"
 
 #include "autoware_msgs/ICPStat.h"
 
@@ -169,7 +169,7 @@ static std::string _offset = "linear";  // linear, zero, quadratic
 static std::ofstream ofs;
 static std::string filename;
 
-static void param_callback(const autoware_msgs::ConfigICP::ConstPtr& input)
+static void param_callback(const autoware_config_msgs::ConfigICP::ConstPtr& input)
 {
   if (_use_gnss != input->init_pos_gnss)
   {

diff --git a/...ception/localization/packages/lidar_localizer/nodes/lazy_ndt_mapping/lazy_ndt_mapping.cpp b/...ception/localization/packages/lidar_localizer/nodes/lazy_ndt_mapping/lazy_ndt_mapping.cpp
@@ -65,8 +65,8 @@
 #include <pcl/filters/voxel_grid.h>
 #endif
 
-#include "autoware_msgs/ConfigNdtMapping.h"
-#include "autoware_msgs/ConfigNdtMappingOutput.h"
+#include "autoware_config_msgs/ConfigNdtMapping.h"
+#include "autoware_config_msgs/ConfigNdtMappingOutput.h"
 
 struct pose {
     double x;
@@ -125,7 +125,7 @@ static bool _use_openmp = false;
 
 static double fitness_score;
 
-static void param_callback(const autoware_msgs::ConfigNdtMapping::ConstPtr& input)
+static void param_callback(const autoware_config_msgs::ConfigNdtMapping::ConstPtr& input)
 {
   ndt_res = input->resolution;
   step_size = input->step_size;
@@ -145,7 +145,7 @@ static void param_callback(const autoware_msgs::ConfigNdtMapping::ConstPtr& inpu
   std::cout << "min_add_scan_shift: " << min_add_scan_shift << std::endl;
 }
 
-static void output_callback(const autoware_msgs::ConfigNdtMappingOutput::ConstPtr& input)
+static void output_callback(const autoware_config_msgs::ConfigNdtMappingOutput::ConstPtr& input)
 {
   double filter_res = input->filter_res;
   std::string filename = input->filename;

diff --git a/...puting/perception/localization/packages/lidar_localizer/nodes/ndt_mapping/ndt_mapping.cpp b/...puting/perception/localization/packages/lidar_localizer/nodes/ndt_mapping/ndt_mapping.cpp
@@ -67,8 +67,8 @@
 #include <pcl_omp_registration/ndt.h>
 #endif
 
-#include <autoware_msgs/ConfigNdtMapping.h>
-#include <autoware_msgs/ConfigNdtMappingOutput.h>
+#include <autoware_config_msgs/ConfigNdtMapping.h>
+#include <autoware_config_msgs/ConfigNdtMappingOutput.h>
 
 #include <time.h>
 
@@ -176,7 +176,7 @@ static nav_msgs::Odometry odom;
 static std::ofstream ofs;
 static std::string filename;
 
-static void param_callback(const autoware_msgs::ConfigNdtMapping::ConstPtr& input)
+static void param_callback(const autoware_config_msgs::ConfigNdtMapping::ConstPtr& input)
 {
   ndt_res = input->resolution;
   step_size = input->step_size;
@@ -198,7 +198,7 @@ static void param_callback(const autoware_msgs::ConfigNdtMapping::ConstPtr& inpu
   std::cout << "min_add_scan_shift: " << min_add_scan_shift << std::endl;
 }
 
-static void output_callback(const autoware_msgs::ConfigNdtMappingOutput::ConstPtr& input)
+static void output_callback(const autoware_config_msgs::ConfigNdtMappingOutput::ConstPtr& input)
 {
   double filter_res = input->filter_res;
   std::string filename = input->filename;

diff --git a/...ting/perception/localization/packages/lidar_localizer/nodes/ndt_matching/ndt_matching.cpp b/...ting/perception/localization/packages/lidar_localizer/nodes/ndt_matching/ndt_matching.cpp
@@ -77,7 +77,7 @@
 #include <pcl_ros/point_cloud.h>
 #include <pcl_ros/transforms.h>
 
-#include <autoware_msgs/ConfigNdt.h>
+#include <autoware_config_msgs/ConfigNdt.h>
 
 #include <autoware_msgs/NDTStat.h>
 
@@ -243,7 +243,7 @@ static unsigned int points_map_num = 0;
 
 pthread_mutex_t mutex;
 
-static void param_callback(const autoware_msgs::ConfigNdt::ConstPtr& input)
+static void param_callback(const autoware_config_msgs::ConfigNdt::ConstPtr& input)
 {
   if (_use_gnss != input->init_pos_gnss)
   {

diff --git a/ros/src/computing/perception/localization/packages/lidar_localizer/package.xml b/ros/src/computing/perception/localization/packages/lidar_localizer/package.xml
@@ -15,6 +15,7 @@
     <build_depend>pcl_ros</build_depend>
     <build_depend>sensor_msgs</build_depend>
     <build_depend>autoware_msgs</build_depend>
+    <build_depend>autoware_config_msgs</build_depend>
     <build_depend>pcl_conversions</build_depend>
     <build_depend>message_filters</build_depend>
     <build_depend>velodyne_pointcloud</build_depend>
@@ -32,6 +33,7 @@
     <run_depend>pcl_ros</run_depend>
     <run_depend>sensor_msgs</run_depend>
     <run_depend>autoware_msgs</run_depend>
+    <run_depend>autoware_config_msgs</run_depend>
     <run_depend>pcl_conversions</run_depend>
     <run_depend>message_filters</run_depend>
     <run_depend>velodyne_pointcloud</run_depend>

diff --git a/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt b/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt
@@ -13,6 +13,7 @@ find_package(catkin REQUIRED COMPONENTS
         roscpp
         std_msgs
         tf
+        autoware_config_msgs
         autoware_msgs
         geometry_msgs
         vector_map_msgs
@@ -27,6 +28,7 @@ catkin_package(
         CATKIN_DEPENDS roscpp
         tf
         std_msgs
+        autoware_config_msgs
         autoware_msgs
         geometry_msgs
         vector_map_msgs

diff --git a/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp b/ros/src/computing/planning/decision/packages/decision_maker/include/decision_maker_node.hpp
@@ -4,7 +4,7 @@
 #include <mutex>
 #include <unordered_map>
 
-#include <autoware_msgs/ConfigDecisionMaker.h>
+#include <autoware_config_msgs/ConfigDecisionMaker.h>
 #include <autoware_msgs/CloudClusterArray.h>
 #include <autoware_msgs/LaneArray.h>
 #include <autoware_msgs/Waypoint.h>
@@ -231,7 +231,7 @@ class DecisionMakerNode
   void callbackFromTwistCmd(const geometry_msgs::TwistStamped &msg);
   void callbackFromSimPose(const geometry_msgs::PoseStamped &msg);
   void callbackFromStateCmd(const std_msgs::Int32 &msg);
-  void callbackFromConfig(const autoware_msgs::ConfigDecisionMaker &msg);
+  void callbackFromConfig(const autoware_config_msgs::ConfigDecisionMaker &msg);
   void callbackFromObjectDetector(const autoware_msgs::CloudClusterArray &msg);
 
   void callbackFromVectorMapArea(const vector_map_msgs::AreaArray &msg);