feat(autoware_component_interface_specs): add InitializationSpecs (#508)

* feat(autoware_component_interface_specs): add InitializationSpecs

Signed-off-by: Ryohsuke Mitsudome <[email protected]>

* feat: add test

Signed-off-by: Ryohsuke Mitsudome <[email protected]>

* style(pre-commit): autofix

* fix: build error

Signed-off-by: Ryohsuke Mitsudome <[email protected]>

* style(pre-commit): autofix

---------

Signed-off-by: Ryohsuke Mitsudome <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Yutaka Kondo <[email protected]>

Author: 3 people

common/autoware_component_interface_specs/include/autoware/component_interface_specs/localization.hpp

@@ -18,12 +18,29 @@
 #include <autoware/component_interface_specs/utils.hpp>
 #include <rclcpp/qos.hpp>
 
+#include <autoware_adapi_v1_msgs/msg/localization_initialization_state.hpp>
+#include <autoware_internal_localization_msgs/srv/initialize_localization.hpp>
 #include <geometry_msgs/msg/accel_with_covariance_stamped.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 
 namespace autoware::component_interface_specs::localization
 {
 
+struct Initialize
+{
+  using Service = autoware_internal_localization_msgs::srv::InitializeLocalization;
+  static constexpr char name[] = "/localization/initialize";
+};
+
+struct InitializationState
+{
+  using Message = autoware_adapi_v1_msgs::msg::LocalizationInitializationState;
+  static constexpr char name[] = "/localization/initialization_state";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+};
+
 struct KinematicState
 {
   using Message = nav_msgs::msg::Odometry;

common/autoware_component_interface_specs/package.xml

@@ -12,7 +12,9 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_control_msgs</depend>
+  <depend>autoware_internal_localization_msgs</depend>
   <depend>autoware_localization_msgs</depend>
   <depend>autoware_map_msgs</depend>
   <depend>autoware_perception_msgs</depend>

common/autoware_component_interface_specs/test/test_localization.cpp

@@ -42,4 +42,17 @@ TEST(localization, interface)
     EXPECT_EQ(qos.reliability(), rclcpp::ReliabilityPolicy::Reliable);
     EXPECT_EQ(qos.durability(), rclcpp::DurabilityPolicy::Volatile);
   }
+
+  {
+    using autoware::component_interface_specs::localization::InitializationState;
+    size_t depth = 1;
+    EXPECT_EQ(InitializationState::depth, depth);
+    EXPECT_EQ(InitializationState::reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
+    EXPECT_EQ(InitializationState::durability, RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL);
+
+    const auto qos = autoware::component_interface_specs::get_qos<InitializationState>();
+    EXPECT_EQ(qos.depth(), depth);
+    EXPECT_EQ(qos.reliability(), rclcpp::ReliabilityPolicy::Reliable);
+    EXPECT_EQ(qos.durability(), rclcpp::DurabilityPolicy::TransientLocal);
+  }
 }