feat: localization initialization method (#112)

Signed-off-by: Takagi, Isamu <[email protected]>
tier4 · May 28, 2024 · 81ec733 · 81ec733
1 parent 7ee65a6
commit 81ec733
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Showing 2 changed files with 15 additions and 2 deletions.
diff --git a/autoware_iv_external_api_adaptor/src/converter/response_status.hpp b/autoware_iv_external_api_adaptor/src/converter/response_status.hpp
@@ -18,13 +18,15 @@
 #include <tier4_api_utils/tier4_api_utils.hpp>
 
 #include <autoware_adapi_v1_msgs/msg/response_status.hpp>
+#include <autoware_common_msgs/msg/response_status.hpp>
 #include <tier4_external_api_msgs/msg/response_status.hpp>
 
 namespace external_api::converter
 {
 
 using AdResponseStatus = autoware_adapi_v1_msgs::msg::ResponseStatus;
 using T4ResponseStatus = tier4_external_api_msgs::msg::ResponseStatus;
+using CommonResponseStatus = autoware_common_msgs::msg::ResponseStatus;
 
 inline T4ResponseStatus convert(const AdResponseStatus & ad)
 {
@@ -35,6 +37,15 @@ inline T4ResponseStatus convert(const AdResponseStatus & ad)
   }
 }
 
+inline T4ResponseStatus convert(const CommonResponseStatus & common)
+{
+  if (common.success) {
+    return tier4_api_utils::response_success(common.message);
+  } else {
+    return tier4_api_utils::response_error(common.message);
+  }
+}
+
 }  // namespace external_api::converter
 
 #endif  // CONVERTER__RESPONSE_STATUS_HPP_
diff --git a/autoware_iv_external_api_adaptor/src/initial_pose.cpp b/autoware_iv_external_api_adaptor/src/initial_pose.cpp
@@ -61,8 +61,9 @@ void InitialPose::setInitializePose(
   const tier4_external_api_msgs::srv::InitializePose::Response::SharedPtr response)
 {
   const auto req = std::make_shared<localization_interface::Initialize::Service::Request>();
-  req->pose.push_back(request->pose);
-  req->pose.back().pose.covariance = particle_covariance;
+  req->method = localization_interface::Initialize::Service::Request::AUTO;
+  req->pose_with_covariance.push_back(request->pose);
+  req->pose_with_covariance.back().pose.covariance = particle_covariance;
 
   try {
     const auto res = cli_localization_initialize_->call(req, initial_pose_timeout);
@@ -77,6 +78,7 @@ void InitialPose::setInitializePoseAuto(
   const tier4_external_api_msgs::srv::InitializePoseAuto::Response::SharedPtr response)
 {
   const auto req = std::make_shared<localization_interface::Initialize::Service::Request>();
+  req->method = localization_interface::Initialize::Service::Request::AUTO;
 
   try {
     const auto res = cli_localization_initialize_->call(req, initial_pose_timeout);