Merge branch 'feat/mrm-v0.6-integ-for-psim-test-based-on-x2-v3.0.0' i…

…nto feat/mrm-v0.6-add-mrm-stop-operator-based-on-x2-v3.0.0

dummy/dummy_operation_mode_publisher/CMakeLists.txt

@@ -0,0 +1,21 @@
+cmake_minimum_required(VERSION 3.14)
+project(dummy_operation_mode_publisher)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+ament_auto_add_library(dummy_operation_mode_publisher SHARED
+  src/dummy_operation_mode_publisher.cpp
+)
+ament_target_dependencies(dummy_operation_mode_publisher)
+
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "dummy_operation_mode_publisher::DummyOperationModePublisher"
+  EXECUTABLE ${PROJECT_NAME}_node
+)
+
+ament_auto_package(
+  INSTALL_TO_SHARE
+  launch
+  config
+)

dummy/dummy_operation_mode_publisher/README.md

@@ -0,0 +1,23 @@
+# Dummy Operation Mode Publisher
+
+## Purpose
+
+## Inner-workings / Algorithms
+
+## Inputs / Outputs
+
+### Input
+
+### Output
+
+## Parameters
+
+## Assumptions / Known limits
+
+## (Optional) Error detection and handling
+
+## (Optional) Performance characterization
+
+## (Optional) References/External links
+
+## (Optional) Future extensions / Unimplemented parts

dummy/dummy_operation_mode_publisher/config/dummy_operation_mode_publisher.param.yaml

@@ -0,0 +1,2 @@
+/**:
+  ros__parameters:

dummy/dummy_operation_mode_publisher/launch/dummy_operation_mode_publisher.launch.xml

@@ -0,0 +1,7 @@
+<launch>
+  <arg name="dummy_operation_mode_publisher_param_path" default="$(find-pkg-share dummy_operation_mode_publisher)/config/dummy_operation_mode_publisher.param.yaml"/>
+
+  <node pkg="dummy_operation_mode_publisher" exec="dummy_operation_mode_publisher_node" name="dummy_operation_mode_publisher" output="screen">
+    <remap from="~/output/operation_mode_state" to="/system/operation_mode/state"/>
+  </node>
+</launch>

dummy/dummy_operation_mode_publisher/package.xml

@@ -0,0 +1,25 @@
+<?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>dummy_operation_mode_publisher</name>
+  <version>0.1.0</version>
+  <description>The dummy_operation_mode_publisher package</description>
+  <maintainer email="[email protected]">Makoto Kurihara</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <build_depend>autoware_cmake</build_depend>
+
+  <!-- depend -->
+  <depend>autoware_adapi_v1_msgs</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

dummy/dummy_operation_mode_publisher/src/dummy_operation_mode_publisher.cpp

@@ -0,0 +1,63 @@
+// Copyright 2024 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.
+
+#include "dummy_operation_mode_publisher.hpp"
+
+namespace dummy_operation_mode_publisher
+{
+
+DummyOperationModePublisher::DummyOperationModePublisher(const rclcpp::NodeOptions & node_options)
+: Node("dummy_operation_mode_publisher", node_options)
+{
+  // Parameter
+
+  // Subscriber
+
+  // Publisher
+  pub_operation_mode_state_ = create_publisher<autoware_adapi_v1_msgs::msg::OperationModeState>(
+    "~/output/operation_mode_state", 10);
+
+  // Service
+
+  // Client
+
+  // Timer
+  using namespace std::literals::chrono_literals;
+  timer_ = rclcpp::create_timer(
+    this, get_clock(), 1s, std::bind(&DummyOperationModePublisher::onTimer, this));
+
+  // State
+
+  // Diagnostics
+}
+
+void DummyOperationModePublisher::onTimer()
+{
+  autoware_adapi_v1_msgs::msg::OperationModeState msg;
+  msg.stamp = this->now();
+  msg.mode = autoware_adapi_v1_msgs::msg::OperationModeState::AUTONOMOUS;
+  msg.is_autonomous_mode_available = true;
+  msg.is_in_transition = false;
+  msg.is_stop_mode_available = true;
+  msg.is_autonomous_mode_available = true;
+  msg.is_local_mode_available = true;
+  msg.is_remote_mode_available = true;
+
+  pub_operation_mode_state_->publish(msg);
+}
+
+}  // namespace dummy_operation_mode_publisher
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(dummy_operation_mode_publisher::DummyOperationModePublisher)

dummy/dummy_operation_mode_publisher/src/dummy_operation_mode_publisher.hpp

@@ -0,0 +1,56 @@
+// Copyright 2024 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 DUMMY_OPERATION_MODE_PUBLISHER_HPP_
+#define DUMMY_OPERATION_MODE_PUBLISHER_HPP_
+
+// include
+#include <rclcpp/rclcpp.hpp>
+
+#include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
+
+namespace dummy_operation_mode_publisher
+{
+
+class DummyOperationModePublisher : public rclcpp::Node
+{
+public:
+  explicit DummyOperationModePublisher(const rclcpp::NodeOptions & node_options);
+  ~DummyOperationModePublisher() = default;
+
+private:
+  // Parameter
+
+  // Subscriber
+
+  // Publisher
+  rclcpp::Publisher<autoware_adapi_v1_msgs::msg::OperationModeState>::SharedPtr
+    pub_operation_mode_state_;
+
+  // Service
+
+  // Client
+
+  // Timer
+  rclcpp::TimerBase::SharedPtr timer_;
+
+  void onTimer();
+
+  // State
+
+  // Diagnostics
+};
+}  // namespace dummy_operation_mode_publisher
+
+#endif  // DUMMY_OPERATION_MODE_PUBLISHER_HPP_

planning/trajectory_repeater/CMakeLists.txt

@@ -0,0 +1,21 @@
+cmake_minimum_required(VERSION 3.14)
+project(trajectory_repeater)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+ament_auto_add_library(trajectory_repeater SHARED
+  src/trajectory_repeater.cpp
+)
+ament_target_dependencies(trajectory_repeater)
+
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "trajectory_repeater::TrajectoryRepeater"
+  EXECUTABLE ${PROJECT_NAME}_node
+)
+
+ament_auto_package(
+  INSTALL_TO_SHARE
+  launch
+  config
+)

planning/trajectory_repeater/README.md

@@ -0,0 +1,23 @@
+# Trajectory Repeater
+
+## Purpose
+
+## Inner-workings / Algorithms
+
+## Inputs / Outputs
+
+### Input
+
+### Output
+
+## Parameters
+
+## Assumptions / Known limits
+
+## (Optional) Error detection and handling
+
+## (Optional) Performance characterization
+
+## (Optional) References/External links
+
+## (Optional) Future extensions / Unimplemented parts

planning/trajectory_repeater/config/trajectory_repeater.param.yaml

@@ -0,0 +1,2 @@
+/**:
+  ros__parameters:

planning/trajectory_repeater/launch/trajectory_repeater.launch.xml

@@ -0,0 +1,8 @@
+<launch>
+  <arg name="trajectory_repeater_param_path" default="$(find-pkg-share trajectory_repeater)/config/trajectory_repeater.param.yaml"/>
+
+  <node pkg="trajectory_repeater" exec="trajectory_repeater_node" name="trajectory_repeater" output="screen">
+    <remap from="~/input/trajectory" to="/main/planning/scenario_planning/trajectory"/>
+    <remap from="~/output/trajectory" to="/planning/trajectory_repeater/trajectory"/>
+  </node>
+</launch>

planning/trajectory_repeater/package.xml

@@ -0,0 +1,25 @@
+<?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>trajectory_repeater</name>
+  <version>0.1.0</version>
+  <description>The trajectory_repeater package</description>
+  <maintainer email="[email protected]">Makoto Kurihara</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <build_depend>autoware_cmake</build_depend>
+
+  <!-- depend -->
+  <depend>autoware_auto_planning_msgs</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

planning/trajectory_repeater/src/trajectory_repeater.cpp

@@ -0,0 +1,64 @@
+// Copyright 2024 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.
+
+#include "trajectory_repeater.hpp"
+
+namespace trajectory_repeater
+{
+
+TrajectoryRepeater::TrajectoryRepeater(const rclcpp::NodeOptions & node_options)
+: Node("trajectory_repeater", node_options)
+{
+  // Parameter
+
+  // Subscriber
+  sub_trajectory_ = create_subscription<autoware_auto_planning_msgs::msg::Trajectory>(
+    "~/input/trajectory", 10, std::bind(&TrajectoryRepeater::onTrajectory, this, std::placeholders::_1));
+
+  // Publisher
+  pub_trajectory_ = create_publisher<autoware_auto_planning_msgs::msg::Trajectory>("~/output/trajectory", 10);
+
+  // Service
+
+  // Client
+
+  // Timer
+  using namespace std::literals::chrono_literals;
+  timer_ = rclcpp::create_timer(this, get_clock(), 100ms, std::bind(&TrajectoryRepeater::onTimer, this));
+
+  // State
+
+  // Diagnostics
+
+}
+
+void TrajectoryRepeater::onTrajectory(const autoware_auto_planning_msgs::msg::Trajectory::ConstSharedPtr msg)
+{
+  last_trajectory_ = msg;
+}
+
+void TrajectoryRepeater::onTimer()
+{
+  if (!last_trajectory_) {
+    RCLCPP_DEBUG(get_logger(), "No trajectory received");
+    return;
+  }
+
+  pub_trajectory_->publish(*last_trajectory_);
+}
+
+}  // namespace trajectory_repeater
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(trajectory_repeater::TrajectoryRepeater)