fix: add message

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
autowarefoundation · Aug 10, 2022 · 3772e2c · 3772e2c
1 parent 23982c2
commit 3772e2c
Show file tree

Hide file tree

Showing 5 changed files with 28 additions and 0 deletions.
diff --git a/common/autoware_ad_api_msgs/CMakeLists.txt b/common/autoware_ad_api_msgs/CMakeLists.txt
@@ -7,6 +7,9 @@ autoware_package()
 rosidl_generate_interfaces(${PROJECT_NAME}
   common/msg/ResponseStatus.msg
   interface/srv/InterfaceVersion.srv
+  operation_mode/srv/ChangeOperationMode.srv
+  operation_mode/msg/OperationMode.msg
+  operation_mode/msg/OperationModeState.msg
   DEPENDENCIES
     builtin_interfaces
     std_msgs

diff --git a/common/autoware_ad_api_msgs/common/msg/ResponseStatus.msg b/common/autoware_ad_api_msgs/common/msg/ResponseStatus.msg
@@ -3,6 +3,10 @@ uint16 DEPRECATED = 50000
 uint16 SERVICE_UNREADY = 50001
 uint16 SERVICE_TIMEOUT = 50002
 uint16 TRANSFORM_ERROR = 50003
+uint16 PARAMETER_ERROR = 50004
+
+# constants for code
+uint16 NO_EFFECT = 60001
 
 # variables
 bool   success

diff --git a/common/autoware_ad_api_msgs/operation_mode/msg/OperationMode.msg b/common/autoware_ad_api_msgs/operation_mode/msg/OperationMode.msg
@@ -0,0 +1,9 @@
+# constants for mode
+uint16 UNKNOWN = 0
+uint16 STOP = 1
+uint16 AUTONOMOUS = 2
+uint16 LOCAL = 3
+uint16 REMOTE = 4
+
+# variables
+uint16 mode
diff --git a/common/autoware_ad_api_msgs/operation_mode/msg/OperationModeState.msg b/common/autoware_ad_api_msgs/operation_mode/msg/OperationModeState.msg
@@ -0,0 +1,8 @@
+builtin_interfaces/Time stamp
+autoware_ad_api_msgs/OperationMode operation
+bool is_autoware_control_enabled
+bool is_in_transition
+bool change_to_stop
+bool change_to_autonomous
+bool change_to_local
+bool change_to_remote
diff --git a/common/autoware_ad_api_msgs/operation_mode/srv/ChangeOperationMode.srv b/common/autoware_ad_api_msgs/operation_mode/srv/ChangeOperationMode.srv
@@ -0,0 +1,4 @@
+---
+uint16 ERROR_NOT_AVAILABLE = 1
+uint16 ERROR_IN_TRANSITION = 2
+autoware_ad_api_msgs/ResponseStatus status