feat(autoware_ad_api_specs): define localization interface (autowaref…

…oundation#1560)

feat(autoware_ad_api_msgs): define localization interface

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

common/autoware_ad_api_msgs/CMakeLists.txt

@@ -7,6 +7,8 @@ autoware_package()
 rosidl_generate_interfaces(${PROJECT_NAME}
   common/msg/ResponseStatus.msg
   interface/srv/InterfaceVersion.srv
+  localization/msg/LocalizationInitializationState.msg
+  localization/srv/InitializeLocalization.srv
   routing/msg/RouteState.msg
   routing/msg/Route.msg
   routing/msg/RouteData.msg

common/autoware_ad_api_msgs/localization/msg/LocalizationInitializationState.msg

@@ -0,0 +1,7 @@
+uint16 UNKNOWN = 0
+uint16 UNINITIALIZED = 1
+uint16 INITIALIZING = 2
+uint16 INITIALIZED = 3
+
+builtin_interfaces/Time stamp
+uint16 state

common/autoware_ad_api_msgs/localization/srv/InitializeLocalization.srv

@@ -0,0 +1,7 @@
+geometry_msgs/PoseWithCovarianceStamped[<=1] pose
+---
+uint16 ERROR_UNSAFE = 1
+uint16 ERROR_GNSS_SUPPORT = 2
+uint16 ERROR_GNSS = 3
+uint16 ERROR_ESTIMATION = 4
+autoware_ad_api_msgs/ResponseStatus status

common/autoware_ad_api_specs/include/autoware_ad_api_specs/localization.hpp

@@ -0,0 +1,43 @@
+// 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_AD_API_SPECS__LOCALIZATION_HPP_
+#define AUTOWARE_AD_API_SPECS__LOCALIZATION_HPP_
+
+#include <rclcpp/qos.hpp>
+
+#include <autoware_ad_api_msgs/msg/localization_initialization_state.hpp>
+#include <autoware_ad_api_msgs/srv/initialize_localization.hpp>
+
+namespace autoware_ad_api::localization
+{
+
+struct Initialize
+{
+  using Service = autoware_ad_api_msgs::srv::InitializeLocalization;
+  static constexpr char name[] = "/api/localization/initialize";
+};
+
+struct InitializationState
+{
+  using Message = autoware_ad_api_msgs::msg::LocalizationInitializationState;
+  static constexpr char name[] = "/api/localization/initialization_state";
+  static constexpr size_t depth = 3;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+};
+
+}  // namespace autoware_ad_api::localization
+
+#endif  // AUTOWARE_AD_API_SPECS__LOCALIZATION_HPP_

common/component_interface_specs/include/component_interface_specs/localization.hpp

@@ -0,0 +1,43 @@
+// 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 COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_
+#define COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_
+
+#include <rclcpp/qos.hpp>
+
+#include <autoware_ad_api_msgs/msg/localization_initialization_state.hpp>
+#include <autoware_ad_api_msgs/srv/initialize_localization.hpp>
+
+namespace localization_interface
+{
+
+struct Initialize
+{
+  using Service = autoware_ad_api_msgs::srv::InitializeLocalization;
+  static constexpr char name[] = "/localization/initialize";
+};
+
+struct InitializationState
+{
+  using Message = autoware_ad_api_msgs::msg::LocalizationInitializationState;
+  static constexpr char name[] = "/localization/initialization_state";
+  static constexpr size_t depth = 3;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+};
+
+}  // namespace localization_interface
+
+#endif  // COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_