Resolved: The timeline for the change from autoware_auto_msgs to autoware_msgs

[yukkysaito]

I believe the policy to change from autoware_auto_msgs to autoware_msgs has been decided, but not when.

If the change from autoware_auto_msgs to autoware_msgs is split over time and multiple times, rosbag, etc. and peripheral tools will not be compatible during the changeover period.
Therefore, if the change from autoware_auto_msgs to autoware_msgs will make them incompatible anyway, we would like to make the change all together.

In this discussion, we would like to discuss the changes and the timeline.

Proposal :

• work-branch : feature/autoware-msgs
• Implementation timeline : Nov. 30th, 2023 -> Apr. 12th, 2024
  • Test: planning simulator (tutorial), logging simulator (tutorial)
• period of transition (e.g. from old to new system) : Jan. 31st, 2024 (2 month) -> Jun. 1st, 2024
  • PullRequests to the main branch will be allowed during this period. If maintenance is too difficult, we will consider it again.
  • Synchronization between main and feature/autoware-msgs will be done once a week.
    Related link :
• https://github.com/orgs/autowarefoundation/discussions/3668

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This task has been completed.
https://github.com/orgs/autowarefoundation/discussions/3862#discussioncomment-9677029

[yukkysaito]

@mitsudome-r makes the request to a partner.

[mitsudome-r]

I have talked with AutoCore, and they said they can work on replacing autoware_auto_msgs with autoware_msgs.

[yukkysaito]

There is a delay of about two months. Updated schedule.

[yukkysaito]

@mitsudome-r cc @xmfcx
temporary memo 🙏

• more evidence against the transition.
  • add a test with AWSIM
• need the conversion tool of existing rosbags.
• The transition period will be postponed a little longer because of the delay in responding to some of the issues.

[xmfcx]

Why did the transition got postponed? What needs to be done to start the transition? What are the blockers? @mitsudome-r @yukkysaito ?

[yukkysaito]

I recognize that this is because some msgs have not been firmly specified and the discussion has come from the msg specs.

[felixf4xu]

maybe create a new branch first is a good starting point

[yukkysaito]

All the work is done. We are planning to make changes on June 1, but if you have any requests, please contact us as soon as possible.

[yukkysaito]

We are currently performing operation verification for merging.

[yukkysaito]

cc @mitsudome-r @xmfcx
Merge List

• autoware_common
• autoware.universe
• tier4_ad_api_adaptor
• tier4_autoware_msgs
• autoware_launch
• pacmod_interface
• autoware_tools

[mitsudome-r]

Since the change to autoware.universe includes some changes that can be split into different PRs, I have created smaller PRs that can be merged before the big PR.

• removing autoware_auto_geometry package
  • feat: remove autoware_auto_geometry package autoware.universe#7217
• removing autoware_auto_tf package
  • feat!: remove autoware_auto_tf2 package autoware.universe#7218
  • feat(driving_environment_analyzer): remove dependency to autoware_auto_tf2 autoware_tools#31
• removing rename autoware_auto_perception_rviz_plugin to autoware_perception_rviz_plugin
  • feat(autoware_auto_perception_rviz_plugin)!: rename package to autoware_perception_rviz_plugin autoware.universe#7221
  • feat: rename autoware_auto_perception_rviz_plugin to autoware_perception_rviz_plugin autoware_launch#1013
• moving autoware_auto_msgs_adapter outside autoware.universe (Issue)
  • feat: remove autoware_auto_msgs_adapter and make it a separate repository autoware.universe#7220
  • feat: add autoware_auto_msgs_adapter #4802

[mitsudome-r]

We might also want to split the PR to autoware.universe by modules to make it easier for review. There are too many file changes and https://github.com/autowarefoundation/autoware.universe/pull/6893/files hangs up while reviewing.

I will split them just for review after AutoCore syncs with the latest main branch.

[yukkysaito]

@mitsudome-r Can we discuss it a little tomorrow? We may want to make sure that during the merge process, irrelevant PRs are not merged.

[mitsudome-r]

Here's the table that shows modified messages.

autoware_auto_msgs	Migration Target	Remarks
autoware_auto_control_msgs/AckermannControlCommand	autoware_control_msgs/Control
autoware_auto_control_msgs/AckermannLateralCommand	autoware_control_msgs/Lateral
autoware_auto_control_msgs/HighLevelControlCommand	-	(not used)
autoware_auto_control_msgs/LongitudinalCommand	autoware_control_msgs/Longitudinal
autoware_auto_geometry_msgs/Complex32	-	(not used)
autoware_auto_mapping_msgs/HADMapBin	autoware_map_msgs/LaneletMapBin
autoware_auto_mapping_msgs/HADMapSegment	autoware_planning_msgs/LaneletSegment
autoware_auto_mapping_msgs/MapPrimitive	-	(not used)
autoware_auto_perception_msgs/BoundingBox	-	(not used)
autoware_auto_perception_msgs/BoundingBoxArray	-	(not used)
autoware_auto_perception_msgs/ClassifiedRoi	-	(not used)
autoware_auto_perception_msgs/ClassifiedRoiArray	-	(not used)
autoware_auto_perception_msgs/DetectedObject	autoware_perception_msgs/DetectedObject
autoware_auto_perception_msgs/DetectedObjectKinematics	autoware_perception_msgs/DetectedObjectKinematics
autoware_auto_perception_msgs/DetectedObjects	autoware_perception_msgs/DetectedObjects
autoware_auto_perception_msgs/LookingTrafficSignal		(not used)
autoware_auto_perception_msgs/ObjectClassification	autoware_perception_msgs/ObjectClassification
autoware_auto_perception_msgs/PointClusters	-	(not used)
autoware_auto_perception_msgs/PointXYZIF	-	(not used)
autoware_auto_perception_msgs/PredictedObject	autoware_perception_msgs/PredictedObject
autoware_auto_perception_msgs/PredictedObjectKinematics	autoware_perception_msgs/PredictedObjectKinematics
autoware_auto_perception_msgs/PredictedObjects	autoware_perception_msgs/PredictedObjects
autoware_auto_perception_msgs/PredictedPath	autoware_perception_msgs/PredictedPath
autoware_auto_perception_msgs/Shape	autoware_perception_msgs/Shape
autoware_auto_perception_msgs/TrackedObject	autoware_perception_msgs/TrackedObject
autoware_auto_perception_msgs/TrackedObjectKinematics	autoware_perception_msgs/TrackedObjectKinematics
autoware_auto_perception_msgs/TrackedObjects	autoware_perception_msgs/TrackedObjects
autoware_auto_perception_msgs/TrafficLight	-	(not used)
autoware_auto_perception_msgs/TrafficLightRoi	-	(not used)
autoware_auto_perception_msgs/TrafficLightRoiArray	-	(not used)
autoware_auto_perception_msgs/TrafficSignal	autoware_perception_msgs/TrafficLightGroup
autoware_auto_perception_msgs/TrafficSignalArray	autoware_perception_msgs/TrafficLightGroupArray
autoware_auto_perception_msgs/TrafficSignalStamped	-	(not used)
autoware_auto_planning_msgs/HADMapRoute (not_used)	-	(not used)
autoware_auto_planning_msgs/OrderMovement (not_used)	-	(not used)
autoware_auto_planning_msgs/Path	autoware_planning_msgs/Path
autoware_auto_planning_msgs/PathPoint	autoware_planning_msgs/PathPoint
autoware_auto_planning_msgs/PathWithLaneId	tier4_planning_msgs/PathWithLaneId
autoware_auto_planning_msgs/PathPointWithLaneId	tier4_planning_msgs/PathPointWithLaneId
autoware_auto_planning_msgs/Route	autoware_planning_msgs/LaneletRoute
autoware_auto_planning_msgs/Trajectory	autoware_planning_msgs/Trajectory
autoware_auto_planning_msgs/TrajectoryPoint	autoware_planning_msgs/TrajectoryPoint
autoware_auto_system_msgs/AutowareState	autoware_system_msgs/AutowareState
autoware_auto_system_msgs/ControlDiagnostic	-	(not used)
autoware_auto_system_msgs/DiagnosticHeader	-	(not used)
autoware_auto_system_msgs/DrivingCapability	-	(not used)
autoware_auto_system_msgs/EmergencyState	-	(not used)
autoware_auto_system_msgs/HazardStatus	autoware_system_msgs/HazardStatus
autoware_auto_system_msgs/HazardStatusStamped	autoware_system_msgs/HazardStatusStamped
autoware_auto_vehicle_msgs/ControlModeCommand	autoware_vehicle_msgs/ControlModeCommand	switched to service
autoware_auto_vehicle_msgs/ControlModeReport	autoware_vehicle_msgs/ControlModeReport
autoware_auto_vehicle_msgs/Engage	autoware_vehicle_msgs/Engage
autoware_auto_vehicle_msgs/GearCommand	autoware_vehicle_msgs/GearCommand
autoware_auto_vehicle_msgs/GearReport	autoware_vehicle_msgs/GearReport
autoware_auto_vehicle_msgs/HandBrakeCommand	-	(not used)
autoware_auto_vehicle_msgs/HandBrakeReport	-	(not used)
autoware_auto_vehicle_msgs/HazardLightsCommand	autoware_vehicle_msgs/HazardLightsCommand
autoware_auto_vehicle_msgs/HazardLightsReport	autoware_vehicle_msgs/HazardLightsReport
autoware_auto_vehicle_msgs/HeadLightsCommand	-	(not used)
autoware_auto_vehicle_msgs/HeadLightsReport	-	(not used)
autoware_auto_vehicle_msgs/HornCommand	-	(not used)
autoware_auto_vehicle_msgs/HornReport	-	(not used)
autoware_auto_vehicle_msgs/RawControlCommand	-	(not used)
autoware_auto_vehicle_msgs/StationaryLockingCommand	-	(not used)
autoware_auto_vehicle_msgs/SteeringReport	autoware_vehicle_msgs/SteeringReport
autoware_auto_vehicle_msgs/TurnIndicatorsCommand	autoware_vehicle_msgs/TurnIndicatorsCommand
autoware_auto_vehicle_msgs/TurnIndicatorsReport	autoware_vehicle_msgs/TurnIndicatorsReport
autoware_auto_vehicle_msgs/VehicleControlCommand	-	(not used)
autoware_auto_vehicle_msgs/VehicleKinematicState	-	(not used)
autoware_auto_vehicle_msgs/VehicleOdometry	-	(not used)
autoware_auto_vehicle_msgs/VehicleStateCommand	-	(not used)
autoware_auto_vehicle_msgs/VehicleStateReport	-	(not used)
autoware_auto_vehicle_msgs/VelocityReport	autoware_vehicle_msgs/VelocityReport
autoware_auto_vehicle_msgs/WheelEncoder	-	(not used)
autoware_auto_vehicle_msgs/WipersCommand	-	(not used)

[aemilio-Developer]

In addition to the names of the messages, has the content also changed? If so, can we know what the content of the new messages is?

[mitsudome-r]

@aemilio-Developer
There could be some changes in the variable names.
Most of them are pretty much the same, but some might have minor modification.

For example, Longitudinal Command had speed as a field, but it was changed to velocity. https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_control_msgs/msg/LongitudinalCommand.idl#L16 https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_control_msgs/msg/Longitudinal.msg#L15

I don't have the details about all the changes in the content, but they should be generally straight forward. If you look at autoware_msgs and if you still cannot understand how they are changed, fell free to ask here.

[mitsudome-r]

I am writing tasks for merging autoware_msgs in this comment. https://github.com/orgs/autowarefoundation/discussions/4803#discussioncomment-9645234

[yukkysaito]

Test Status:

• Evaluator :
  • Before (442/617 passing): https://evaluation.tier4.jp/evaluation/reports/95a837bd-c785-55d6-90e7-1eeed9376ed4?project_id=awf
  • After (443/617 passing): https://evaluation.tier4.jp/evaluation/reports/4187dcf0-f1a6-561a-9e1d-98c361cce3d0?project_id=awf
• Planning Simulator : Screencast from 2024年06月05日 02時28分44秒.webm
• Logging Simulator : Screencast from 2024年06月05日 02時43分23秒.webm

[xmfcx]

• AWSIM-Labs: Migrate to autoware_msgs and release AWSIM-Labs#88

[yukkysaito]

The migration work from autoware_auto_msgs to autoware_msgs around the OSS has been completed. PRs can now be merged as usual.
The tested states are as follows:

• Confirmed that the CI passes as usual after the merge
  • https://github.com/autowarefoundation/autoware.universe/actions/runs/9378955645/job/25823049222
  • https://github.com/autowarefoundation/autoware.universe/actions/runs/9378955645/job/25823049341
• Verified the operation of the tutorial
  • Planning Simulator : Screencast from 2024年06月05日 02時28分44秒.webm
  • Logging Simulator : Screencast from 2024年06月05日 02時43分23秒.webm
• Checked for any CI regressions before and after the migration
  • Before (442/617 passing): https://evaluation.tier4.jp/evaluation/reports/95a837bd-c785-55d6-90e7-1eeed9376ed4?project_id=awf
  • After (443/617 passing): https://evaluation.tier4.jp/evaluation/reports/4187dcf0-f1a6-561a-9e1d-98c361cce3d0?project_id=awf
• PR check list

Thank for autoware contributors
Thanks for @xmfcx @mitsudome-r