feat: add autoware_core_component_interface_specs package

Signed-off-by: Ryohsuke Mitsudome <[email protected]>

common/autoware_core_component_interface_specs/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.14)
+project(autoware_core_component_interface_specs)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+if(BUILD_TESTING)
+  ament_auto_add_gtest(gtest_${PROJECT_NAME}
+    test/gtest_main.cpp
+    test/test_planning.cpp
+    test/test_control.cpp
+    test/test_localization.cpp
+    test/test_map.cpp
+    test/test_perception.cpp
+    test/test_vehicle.cpp
+  )
+endif()
+
+ament_auto_package()

common/autoware_core_component_interface_specs/README.md

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+# autoware_core_component_interface_specs
+
+This package defines the standardized component interface specifications for Autoware Core, ensuring consistent communication and interaction between various components in the Autoware autonomous driving stack.
+
+## Purpose
+
+The purpose of this package is to:
+- Provide a single source of truth for component interface definitions
+- Ensure consistency across different implementations
+- Facilitate modular development and component interchangeability
+- Document the communication protocols between Autoware Core components
+
+## Structure
+
+The package contains interface specifications for various components, including:
+- Message definitions
+- Service interfaces
+- Action interfaces

common/autoware_core_component_interface_specs/include/autoware/core_component_interface_specs/control.hpp

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+// Copyright 2022 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE__CORE_COMPONENT_INTERFACE_SPECS__CONTROL_HPP_
+#define AUTOWARE__CORE_COMPONENT_INTERFACE_SPECS__CONTROL_HPP_
+
+#include <rclcpp/qos.hpp>
+
+#include <autoware_control_msgs/msg/Control.hpp>
+
+namespace autoware::core_component_interface_specs::control
+{
+
+struct ControlCommand
+{
+  using Message = autoware_control_msgs::msg::Control;
+  static constexpr char name[] = "/control/command/control_cmd";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+};
+
+}  // namespace autoware::core_component_interface_specs::control
+
+#endif  // AUTOWARE__CORE_COMPONENT_INTERFACE_SPECS__CONTROL_HPP_

common/autoware_core_component_interface_specs/include/autoware/core_component_interface_specs/localization.hpp

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+// Copyright 2022 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE__CORE_COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_
+#define AUTOWARE__CORE_COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_
+
+#include <rclcpp/qos.hpp>
+
+#include <geometry_msgs/msg/accel_with_covariance_stamped.hpp>
+#include <nav_msgs/msg/odometry.hpp>
+
+namespace autoware::core_component_interface_specs::localization
+{
+
+struct KinematicState
+{
+  using Message = nav_msgs::msg::Odometry;
+  static constexpr char name[] = "/localization/kinematic_state";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+};
+
+struct Acceleration
+{
+  using Message = geometry_msgs::msg::AccelWithCovarianceStamped;
+  static constexpr char name[] = "/localization/acceleration";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+};
+
+}  // namespace autoware::core_component_interface_specs::localization
+
+#endif  // AUTOWARE__CORE_COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_

common/autoware_core_component_interface_specs/include/autoware/core_component_interface_specs/map.hpp

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+// Copyright 2023 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE__CORE_COMPONENT_INTERFACE_SPECS__MAP_HPP_
+#define AUTOWARE__CORE_COMPONENT_INTERFACE_SPECS__MAP_HPP_
+
+#include <rclcpp/qos.hpp>
+
+#include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
+#include <autoware_map_msgs/msg/map_projector_info.hpp>
+#include <sensor_msgs/msg/point_cloud2.hpp>
+
+namespace autoware::core_component_interface_specs::map
+{
+
+struct MapProjectorInfo
+{
+  using Message = autoware_map_msgs::msg::MapProjectorInfo;
+  static constexpr char name[] = "/map/map_projector_info";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+};
+
+struct PointCloudMap
+{
+  using Message = sensor_msgs::msg::PointCloud2;
+  static constexpr char name[] = "/map/point_cloud_map";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+};
+
+struct VectorMap
+{
+  using Message = autoware_map_msgs::msg::LaneletMapBin;
+  static constexpr char name[] = "/map/vector_map";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+};
+
+}  // namespace autoware::core_component_interface_specs::map
+
+#endif  // AUTOWARE__CORE_COMPONENT_INTERFACE_SPECS__MAP_HPP_

common/autoware_core_component_interface_specs/include/autoware/core_component_interface_specs/perception.hpp

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+// Copyright 2022 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE__CORE_COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_
+#define AUTOWARE__CORE_COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_
+
+#include <rclcpp/qos.hpp>
+
+#include <autoware_perception_msgs/msg/predicted_objects.hpp>
+
+namespace autoware::core_component_interface_specs::perception
+{
+
+struct ObjectRecognition
+{
+  using Message = autoware_perception_msgs::msg::PredictedObjects;
+  static constexpr char name[] = "/perception/object_recognition/objects";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+};
+
+}  // namespace autoware::core_component_interface_specs::perception
+
+#endif  // AUTOWARE__CORE_COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_

common/autoware_core_component_interface_specs/include/autoware/core_component_interface_specs/planning.hpp

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+// Copyright 2022 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE__CORE_COMPONENT_INTERFACE_SPECS__PLANNING_HPP_
+#define AUTOWARE__CORE_COMPONENT_INTERFACE_SPECS__PLANNING_HPP_
+
+#include <rclcpp/qos.hpp>
+
+#include <autoware_planning_msgs/msg/lanelet_route.hpp>
+#include <autoware_planning_msgs/msg/trajectory.hpp>
+
+namespace autoware::core_component_interface_specs::planning
+{
+
+struct LaneletRoute
+{
+  using Message = autoware_planning_msgs::msg::LaneletRoute;
+  static constexpr char name[] = "/planning/mission_planning/route_selector/main/route";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+};
+
+struct Trajectory
+{
+  using Message = autoware_planning_msgs::msg::Trajectory;
+  static constexpr char name[] = "/planning/scenario_planning/trajectory";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+};
+
+}  // namespace autoware::core_component_interface_specs::planning
+
+#endif  // AUTOWARE__CORE_COMPONENT_INTERFACE_SPECS__PLANNING_HPP_

common/autoware_core_component_interface_specs/include/autoware/core_component_interface_specs/vehicle.hpp

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+// Copyright 2023 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE__CORE_COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_
+#define AUTOWARE__CORE_COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_
+
+#include <rclcpp/qos.hpp>
+
+#include <autoware_vehicle_msgs/msg/gear_report.hpp>
+#include <autoware_vehicle_msgs/msg/hazard_lights_report.hpp>
+#include <autoware_vehicle_msgs/msg/steering_report.hpp>
+#include <autoware_vehicle_msgs/msg/turn_indicators_report.hpp>
+
+namespace autoware::core_component_interface_specs::vehicle
+{
+
+struct SteeringStatus
+{
+  using Message = autoware_vehicle_msgs::msg::SteeringReport;
+  static constexpr char name[] = "/vehicle/status/steering_status";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+};
+
+struct GearStatus
+{
+  using Message = autoware_vehicle_msgs::msg::GearReport;
+  static constexpr char name[] = "/vehicle/status/gear_status";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+};
+
+struct TurnIndicatorStatus
+{
+  using Message = autoware_vehicle_msgs::msg::TurnIndicatorsReport;
+  static constexpr char name[] = "/vehicle/status/turn_indicators_status";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+};
+
+struct HazardLightStatus
+{
+  using Message = autoware_vehicle_msgs::msg::HazardLightsReport;
+  static constexpr char name[] = "/vehicle/status/hazard_lights_status";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+};
+
+}  // namespace autoware::core_component_interface_specs::vehicle
+
+#endif  // AUTOWARE__CORE_COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_

common/autoware_core_component_interface_specs/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>autoware_core_component_interface_specs</name>
+  <version>0.0.0</version>
+  <description>The autoware_core_component_interface_specs package</description>
+  <maintainer email="[email protected]">Takagi, Isamu</maintainer>
+  <maintainer email="[email protected]">Yukihiro Saito</maintainer>
+  <maintainer email="[email protected]">Ryohsuke Mitsudome</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>autoware_cmake</buildtool_depend>
+
+  <depend>autoware_control_msgs</depend>
+  <depend>autoware_localization_msgs</depend>
+  <depend>autoware_map_msgs</depend>
+  <depend>autoware_perception_msgs</depend>
+  <depend>autoware_planning_msgs</depend>
+  <depend>autoware_vehicle_msgs</depend>
+  <depend>nav_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>rcl</depend>
+  <depend>rclcpp</depend>
+  <depend>rosidl_runtime_cpp</depend>
+
+  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

common/autoware_core_component_interface_specs/test/gtest_main.cpp

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+// Copyright 2023 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "gtest/gtest.h"
+
+int main(int argc, char * argv[])
+{
+  ::testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}