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refactor(simple planning simulator): replace tier4_autoware_msgs by autoware_msgs#12530

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sasakisasaki wants to merge 18 commits intoautowarefoundation:mainfrom
sasakisasaki:migration-from-tier4-autoware-msgs-to-autoware-msgs-in-simple-planning-simulator
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refactor(simple planning simulator): replace tier4_autoware_msgs by autoware_msgs#12530
sasakisasaki wants to merge 18 commits intoautowarefoundation:mainfrom
sasakisasaki:migration-from-tier4-autoware-msgs-to-autoware-msgs-in-simple-planning-simulator

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@sasakisasaki sasakisasaki commented May 1, 2026 •
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Description

⚠️ This PR must be merged after the following PRs on the autoware_msgs and autoware_universe are merged. As the PRs below are merged, I'll make this PR as "Ready for review".

This PR refactors autoware_simple_planning_simulator to use autoware_vehicle_msgs actuation messages and remove the tier4_vehicle_msgs dependency.

Related links

How was this PR tested?

Using Planning Simulator

Based on this PR, and also this PR on the autoware_msgs side, I tested the functionality by using a planning simulator following this tutorial.

To test if the dummy objects are created, I performed:

  • Launch planning simulator by,
$ source ~/autoware/install/setup.bash
$ ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/autoware_map/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit
  • Then initialize the ego pose and set the ego goal pose
  • Put dummy car. The dummy car is created and running with following the direction that of initialized one.
  • Put dummy Bus. The created dummy bus did not start running which is different from that of car's case.
  • Put dummy pedestrian. The created dummy pedestrian did not start running which is different from that of car's case
  • Ran ego vehicle with autonomous mode.

I believe these observation is consistent that of without this PR.

Using TIER IV Internal Scenario Simulator

  • To be updated after testing.

Notes for reviewers

None

Interface changes

Switched actuation messages to autoware_vehicle_msgs and removed tier4_vehicle_msgs dependency.

Effects on system behavior

Non

sasakisasaki and others added 13 commits April 21, 2026 21:24
@sasakisasaki
chore: replace tier4_simulation_msgs by autoware_simulation_msgs
f0efc76 
Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>
@pre-commit-ci-lite
style(pre-commit): autofix
c4d28c8
@sasakisasaki
missing fix: to the previous commit (see below)
0c091a5 
  * This commit applies the missing fix for the following commit
      - autowarefoundation@f0efc76

Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>
@sasakisasaki
Merge branch 'migration-from-tier4-autoware-msgs-to-autoware-msgs-in-…
6468ff7 
…dummy-perception-publisher' of github.com:sasakisasaki/autoware.universe into migration-from-tier4-autoware-msgs-to-autoware-msgs-in-dummy-perception-publisher

Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>
@sasakisasaki
Merge branch 'main' into migration-from-tier4-autoware-msgs-to-autowa…
84d7bfd 
…re-msgs-in-dummy-perception-publisher
@pre-commit-ci-lite
style(pre-commit): autofix
c7d2836
@sasakisasaki
Merge branch 'main' into migration-from-tier4-autoware-msgs-to-autowa…
e4ca602 
…re-msgs-in-dummy-perception-publisher
@sasakisasaki
Merge branch 'main' into migration-from-tier4-autoware-msgs-to-autowa…
c6786ad 
…re-msgs-in-dummy-perception-publisher
@sasakisasaki
Merge branch 'main' into migration-from-tier4-autoware-msgs-to-autowa…
2faf1e7 
…re-msgs-in-dummy-perception-publisher
@sasakisasaki
bug: use "simulated" for consistency, except its package name
d962afd 
  * Apply the following review comment
      - autowarefoundation#12499 (comment)

Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>
@sasakisasaki
fix: code formatting by pre-commit
c99606d 
Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>
@sasakisasaki
refactor(simple_planning_simulator): switch from `tier4_vehicle_msg…
f14affc 
…s` to `autoware_vehicle_msgs`

Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>
@sasakisasaki
bug(simple_planning_simulator): fix documentation bug
afb0cfd 
  * We are not using `tier4_vehicle_msgs::srv::ControlModeRequest`

Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>
@sasakisasaki sasakisasaki self-assigned this May 1, 2026
@github-actions github-actions Bot added type:documentation Creating or refining documentation. (auto-assigned) component:simulation Virtual environment setups and simulations. (auto-assigned) labels May 1, 2026
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github-actions Bot commented May 1, 2026 •
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Thank you for contributing to the Autoware project!

🚧 If your pull request is in progress, switch it to draft mode.

Please ensure:

@sasakisasaki sasakisasaki changed the title Migration from tier4 autoware msgs to autoware msgs in simple planning simulator refactor(simple planning simulator): replace tier4_autoware_msgs by autoware_msgs May 1, 2026
@sasakisasaki sasakisasaki mentioned this pull request May 1, 2026
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@sasakisasaki
bug: fix documentation bugs
e1434aa 
Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>
@sasakisasaki
Merge remote-tracking branch 'jsasaki/migration-from-tier4-autoware-m…
10d33fb 
…sgs-to-autoware-msgs-in-dummy-perception-publisher' into migration-from-tier4-autoware-msgs-to-autoware-msgs-in-simple-planning-simulator

Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>
@sasakisasaki
fix: to use ActuationReport.msg (details below)
7231883 
  * Follow the following two commits on `autoware_msgs` side:
      - autowarefoundation/autoware_msgs@a75eff5
      - autowarefoundation/autoware_msgs@42732b2

Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>
@github-actions github-actions Bot added the component:common Common packages from the autoware-common repository. (auto-assigned) label May 7, 2026
@sasakisasaki sasakisasaki added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label May 7, 2026
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component:common Common packages from the autoware-common repository. (auto-assigned) component:simulation Virtual environment setups and simulations. (auto-assigned) run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) type:documentation Creating or refining documentation. (auto-assigned)

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