Messages Migration from "autoware_auto_msgs" to "autoware_msgs"

[cyn-liu]

As the AWF community has begun the migration from Universe to the Core version, I am currently responsible for the migration of the “autoware_auto_msgs into autoware_msgs”, I am preparing to migrate the rest messages related to localization, such as migrate autoware_auto_mapping_msgs to autoware_map_msgs and autoware_auto_geometry_msgs to autoware_common_msgs.

I would like to remind everyone of the following:
In the first phase of the migration, the nodes of various algorithm modules in Universe will be migrated to the Core version without any changes.
On the premise of 1, the message interface between the localization module and other major modules will be retained.

If you have any objections to the above content, please raise them within one week. If no objections are raised after one week (15th may), I will proceed with 1 and 2.

[mitsudome-r]

cc. @xmfcx

[cyn-liu]

Hi @mitsudome-r @xmfcx :
I found that Universe repos not only uses messages from autoware-auto-msg , but also uses the messages from tier4_autoware_msgs, Do I also need to migrate tier4_autoware_msgs into autoware_msg?

[mitsudome-r]

@cyn-liu I think we an focus on autoware_auto_msgs, tier4_autoware_msgs only contains the TIRE IV's original message type.

[xmfcx]

@cyn-liu thanks for taking on this task.

In the first phase of the migration, the nodes of various algorithm modules in Universe will be migrated to the Core version without any changes.

Right now we are not ready for putting anything to Autoware Core just yet.
Our first goal is to transition from autoware_auto_msgs to autoware_msgs.

I am preparing to migrate the rest messages related to localization, such as migrate autoware_auto_mapping_msgs to autoware_map_msgs and autoware_auto_geometry_msgs to autoware_common_msgs.

• https://github.com/tier4/autoware_auto_msgs/tree/tier4/main/autoware_auto_geometry_msgs
  • It has 3 messages inside and none of them have any use in the code base. We can just remove the references to these messages and that should be it. We don't need to migrate.
  • You don't need to migrate them to https://github.com/autowarefoundation/autoware_msgs/tree/main/autoware_common_msgs for now.
• https://github.com/tier4/autoware_auto_msgs/tree/tier4/main/autoware_auto_mapping_msgs
  • This is migrated to https://github.com/autowarefoundation/autoware_msgs/tree/main/autoware_map_msgs
  • Autoware Universe and the rest of the repository needs to be refactored to use this message.

I would appreciate it if you could generate an issue similar to mine, as illustrated in here:

• refactor(autoware_auto_control_msgs): replace autoware_auto_control_msgs with autoware_control_msgs autoware.universe#3674.

You can outline the work you intend to carry out, and we can proceed with our discussions in the issue.

[cyn-liu]

@xmfcx Hi, thanks for your sincere reply.
Before starting the message migration task, I will create an issue.

• https://github.com/tier4/autoware_auto_msgs/tree/tier4/main/autoware_auto_geometry_msgs

  • It has 3 messages inside and none of them have any use in the code base. We can just remove the references to these messages and that should be it. We don't need to migrate.
  • You don't need to migrate them to https://github.com/autowarefoundation/autoware_msgs/tree/main/autoware_common_msgs for now.

I found that the messages from autoware_auto_geometry_msgs was used in the Universe repos, as follows:

• https://github.com/autowarefoundation/autoware.universe/blob/cf4e9ba411ce35886df81de7ca1c5bde534d04e4/common/autoware_auto_tf2/include/autoware_auto_tf2/tf2_autoware_auto_msgs.hpp#L23

• https://github.com/autowarefoundation/autoware.universe/blob/cf4e9ba411ce35886df81de7ca1c5bde534d04e4/simulator/simple_planning_simulator/include/simple_planning_simulator/simple_planning_simulator_core.hpp#LL24C11-L24C38

[xmfcx]

• https://github.com/autowarefoundation/autoware.universe/blob/cf4e9ba411ce35886df81de7ca1c5bde534d04e4/simulator/simple_planning_simulator/include/simple_planning_simulator/simple_planning_simulator_core.hpp#LL24C11-L24C38
  • This has no usage, it is just a header declaration and namespace declaration.
  • There is no Complex32 object instance in the codebase.
• https://github.com/autowarefoundation/autoware.universe/blob/cf4e9ba411ce35886df81de7ca1c5bde534d04e4/common/autoware_auto_tf2/include/autoware_auto_tf2/tf2_autoware_auto_msgs.hpp#L23
  • autoware_auto_tf2 package is only used in:
    • behavior_velocity_planner just for polygon transformation (message or quaternion32 is not used)
    • surround_obstacle_checker just for polygon transformation (message or quaternion32 is not used)
    • behavior_velocity_planner just for polygon transformation (message or quaternion32 is not used)
    • simple_planning_simulator doesn't use it at all.

I am on the side of removing unused code from the code base, especially if we don't have strong opinions to keep them.

We can still create a Quaternion32.msg but we should agree on if we really need it.

@cyn-liu @mitsudome-r @wep21 @yukkysaito @miursh What do you think?

[cyn-liu]

@xmfcx
I agree to remove unused code from code base.
If this part of the code is removed, we don't need to migrate the messages in autoware_auto_geometry_msgs.

Who will remove this part of the code?

[mitsudome-r]

I'm okay with removing the autoware_auto_geometry_msgs and other unused messages.
For the polygon transformation, we can move it to other util library packages or rename the current package name.