Update Autoware.Auto to Use New Messages from #789
Description
#789 describes the modifications to new and existing messages in autoware_auto_msgs
. This issue tracks the modifications to the Autoware.Auto stack to reflect the message changes.
Purpose
Autoware.Auto needs an architecture update and new messaging APIs are the first step.
Desired Behavior
Use the newly-defined or updated messages.
Definition of Done
-
Replace BoundingBox and BoundingBoxArray with the appropriate Object messages - !1070 (closed) -
Replace Route with HADMapRoute - !934 (merged) -
Replace VehicleStateCommand/VehicleStateReport with individual Command messages -
HeadlightsCommand/HeadlightsReport !933 (merged) -
WipersCommand/WipersReport !942 (merged) -
GearCommand/GearReport !1027 (merged) -
HazardLightsCommand/HazardLightReport !1042 (merged) -
HornCommand/HornReport !1044 (merged) -
HandbrakeCommand/HandbrakeReport !1059 (merged)
-
-
Replace VehicleKinematicState with a nav_msgs/msg/Odometry
produced from various sources -
Remove HighLevelCommand and RawControlCommand !1081 -
Replace VehicleControlCommand with AckermannControlCommand (message will be merged with autoware_auto_msgs!31 (merged)) -
Replace VehicleOdometry with AckermannControlReport
Edited by Esteve Fernandez