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autoware_auto_perception_msgs/CMakeLists.txt

+# All rights reserved.
+cmake_minimum_required(VERSION 3.5)
+
+### Export headers
+project(autoware_auto_perception_msgs)
+
+# Generate messages
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/BoundingBox.idl"
+  "msg/BoundingBoxArray.idl"
+  "msg/ClassifiedRoi.idl"
+  "msg/ClassifiedRoiArray.idl"
+  "msg/DetectedObject.idl"
+  "msg/DetectedObjectKinematics.idl"
+  "msg/DetectedObjects.idl"
+  "msg/LookingTrafficSignal.idl"
+  "msg/ObjectClassification.idl"
+  "msg/PointClusters.idl"
+  "msg/PointXYZIF.idl"
+  "msg/PredictedObject.idl"
+  "msg/PredictedObjectKinematics.idl"
+  "msg/PredictedObjects.idl"
+  "msg/PredictedPath.idl"
+  "msg/Shape.idl"
+  "msg/TrackedObject.idl"
+  "msg/TrackedObjectKinematics.idl"
+  "msg/TrackedObjects.idl"
+  "msg/TrafficLight.idl"
+  "msg/TrafficLightRoi.idl"
+  "msg/TrafficLightRoiArray.idl"
+  "msg/TrafficSignal.idl"
+  "msg/TrafficSignalArray.idl"
+  "msg/TrafficSignalStamped.idl"
+  "msg/TrafficSignalWithJudge.idl"
+  DEPENDENCIES
+    "autoware_auto_geometry_msgs"
+    "geometry_msgs"
+    "sensor_msgs"
+    "std_msgs"
+    "unique_identifier_msgs"
+  ADD_LINTER_TESTS
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package()

autoware_auto_perception_msgs/msg/BoundingBox.idl

+#include "autoware_auto_geometry_msgs/msg/Quaternion32.idl"
+#include "geometry_msgs/msg/Point32.idl"
+
+module autoware_auto_perception_msgs {
+  module msg {
+    typedef geometry_msgs::msg::Point32 geometry_msgs__msg__Point32;
+    typedef geometry_msgs__msg__Point32 geometry_msgs__msg__Point32__4[4];
+    typedef float float__8[8];
+    module BoundingBox_Constants {
+      const uint8 NO_LABEL = 0;
+      const uint8 CAR = 1;
+      const uint8 PEDESTRIAN = 2;
+      const uint8 CYCLIST = 3;
+      const uint8 MOTORCYCLE = 4;
+      const uint8 NO_SIGNAL = 0;
+      const uint8 LEFT_SIGNAL = 1;
+      const uint8 RIGHT_SIGNAL = 2;
+      const uint8 BRAKE = 3;
+      const uint32 POSE_X = 0;
+      const uint32 POSE_Y = 1;
+      const uint32 VELOCITY = 2;
+      const uint32 HEADING = 3;
+      const uint32 TURN_RATE = 4;
+      const uint32 SIZE_X = 5;
+      const uint32 SIZE_Y = 6;
+      const uint32 ACCELERATION = 7;
+    };
+    @verbatim (language="comment", text=
+      " Oriented bounding box representation")
+    struct BoundingBox {
+      geometry_msgs::msg::Point32 centroid;
+
+      geometry_msgs::msg::Point32 size;
+
+      autoware_auto_geometry_msgs::msg::Quaternion32 orientation;
+
+      @default (value=0.0)
+      float velocity;
+
+      @default (value=0.0)
+      float heading;
+
+      @default (value=0.0)
+      float heading_rate;
+
+      geometry_msgs__msg__Point32__4 corners;
+
+      float__8 variance;
+
+      @verbatim (language="comment", text=
+        " can hold arbitrary value, e.g. likelihood, area, perimeter")
+      float value;
+
+      @verbatim (language="comment", text=
+        " can hold one of the vehicle constants defined below" "\n"
+        " NO_LABEL as default value")
+      @default (value=0)
+      uint8 vehicle_label;
+
+      @verbatim (language="comment", text=
+        " can hold one of the signal constants defined below" "\n"
+        " NO_SIGNAL as default value")
+      @default (value=0)
+      uint8 signal_label;
+
+      @verbatim (language="comment", text=
+        " Likelihood of vehicle label")
+      float class_likelihood;
+    };
+  };
+};

autoware_auto_perception_msgs/msg/BoundingBoxArray.idl

+#include "autoware_auto_perception_msgs/msg/BoundingBox.idl"
+#include "std_msgs/msg/Header.idl"
+
+module autoware_auto_perception_msgs {
+  module msg {
+    module BoundingBoxArray_Constants {
+      const uint32 CAPACITY = 256;
+    };
+    @verbatim (language="comment", text=
+      " Message for a full set of bounding boxes")
+    struct BoundingBoxArray {
+      std_msgs::msg::Header header;
+
+      sequence<autoware_auto_perception_msgs::msg::BoundingBox, 256> boxes;
+    };
+  };
+};

autoware_auto_perception_msgs/msg/ClassifiedRoi.idl

+#include "geometry_msgs/msg/Polygon.idl"
+#include "autoware_auto_perception_msgs/msg/ObjectClassification.idl"
+
+module autoware_auto_perception_msgs {
+  module msg {
+    @verbatim (language="comment", text="A region of interest in an image with class information.")
+    struct ClassifiedRoi {
+      @verbatim (language="comment", text="A vector of possible classifications of this object.")
+      sequence<autoware_auto_perception_msgs::msg::ObjectClassification> classifications;
+
+      @verbatim (language="comment", text="A 2D polygon describing the outline of an object in image coordinates.")
+      geometry_msgs::msg::Polygon polygon;
+    };
+  };
+};

autoware_auto_perception_msgs/msg/ClassifiedRoiArray.idl

+#include "autoware_auto_perception_msgs/msg/ClassifiedRoi.idl"
+#include "std_msgs/msg/Header.idl"
+
+module autoware_auto_perception_msgs {
+  module msg {
+    @verbatim (language="comment", text=
+      " Message for a full set of classified ROIs")
+    struct ClassifiedRoiArray {
+      std_msgs::msg::Header header;
+
+      sequence<autoware_auto_perception_msgs::msg::ClassifiedRoi> rois;
+    };
+  };
+};

autoware_auto_perception_msgs/msg/DetectedObject.idl

+#include "autoware_auto_perception_msgs/msg/DetectedObjectKinematics.idl"
+#include "autoware_auto_perception_msgs/msg/ObjectClassification.idl"
+#include "autoware_auto_perception_msgs/msg/Shape.idl"
+
+module autoware_auto_perception_msgs {
+  module msg {
+    struct DetectedObject {
+      @range (min=0.0, max=1.0)
+      float existence_probability;
+
+      sequence<autoware_auto_perception_msgs::msg::ObjectClassification> classification;
+      autoware_auto_perception_msgs::msg::DetectedObjectKinematics kinematics;
+      autoware_auto_perception_msgs::msg::Shape shape;
+    };
+  };
+};

autoware_auto_perception_msgs/msg/DetectedObjectKinematics.idl

+#include "geometry_msgs/msg/Point.idl"
+#include "geometry_msgs/msg/Quaternion.idl"
+#include "geometry_msgs/msg/TwistWithCovariance.idl"
+
+module autoware_auto_perception_msgs {
+  module msg {
+    module DetectedObjectKinematics_Constants {
+      /**
+       * Only position is available, orientation is empty. Note that the shape can be an oriented
+       * bounding box but the direction the object is facing is unknown, in which case
+       * orientation should be empty.
+       */
+      const uint8 UNAVAILABLE = 0;
+      /**
+       * The orientation is determined only up to a sign flip. For instance, assume that cars are
+       * longer than they are wide, and the perception pipeline can accurately estimate the
+       * dimensions of a car. It should set the orientation to coincide with the major axis, with
+       * the sign chosen arbitrarily, and use this tag to signify that the orientation could
+       * point to the front or the back.
+       */
+      const uint8 SIGN_UNKNOWN = 1;
+      /**
+       * The full orientation is available. Use e.g. for machine-learning models that can
+       * differentiate between the front and back of a vehicle.
+       */
+      const uint8 AVAILABLE = 2;
+    };
+
+    struct DetectedObjectKinematics {
+      geometry_msgs::msg::PoseWithCovariance pose_with_covariance;
+
+      boolean has_position_covariance;
+      uint8 orientation_availability;
+
+      geometry_msgs::msg::TwistWithCovariance twist_with_covariance;
+
+      boolean has_twist;
+      boolean has_twist_covariance;
+    };
+  };
+};

autoware_auto_perception_msgs/msg/DetectedObjects.idl

+#include "autoware_auto_perception_msgs/msg/DetectedObject.idl"
+#include "std_msgs/msg/Header.idl"
+
+module autoware_auto_perception_msgs {
+  module msg {
+    @verbatim (language="comment", text=
+      " This is the output of object detection and the input to tracking.")
+    struct DetectedObjects {
+      std_msgs::msg::Header header;
+      sequence<autoware_auto_perception_msgs::msg::DetectedObject> objects;
+    };
+  };
+};

autoware_auto_perception_msgs/msg/LookingTrafficSignal.idl

+#include "autoware_auto_perception_msgs/msg/TrafficSignalWithJudge.idl"
+#include "std_msgs/msg/Header.idl"
+
+module autoware_auto_perception_msgs {
+  module msg {
+    struct LookingTrafficSignal {
+      std_msgs::msg::Header header;
+      boolean is_module_running;
+      autoware_auto_perception_msgs::msg::TrafficSignalWithJudge perception;
+      autoware_auto_perception_msgs::msg::TrafficSignalWithJudge external;
+      autoware_auto_perception_msgs::msg::TrafficSignalWithJudge result;
+    };
+  };
+};

autoware_auto_perception_msgs/msg/ObjectClassification.idl

+module autoware_auto_perception_msgs {
+  module msg {
+    module ObjectClassification_Constants {
+      const uint8 UNKNOWN = 0;
+      const uint8 CAR = 1;
+      const uint8 TRUCK = 2;
+      const uint8 BUS = 3;
+      const uint8 TRAILER = 4;
+      const uint8 MOTORCYCLE = 5;
+      const uint8 BICYCLE = 6;
+      const uint8 PEDESTRIAN = 7;
+    };
+
+    struct ObjectClassification {
+      @verbatim (language="comment", text=
+        " Valid values for the label field are provided in"
+        " ObjectClassification_Constants.")
+      uint8 label;
+
+      @range (min=0.0, max=1.0)
+      float probability;
+    };
+  };
+};

autoware_auto_perception_msgs/msg/PointClusters.idl

+#include "autoware_auto_perception_msgs/msg/PointXYZIF.idl"
+#include "std_msgs/msg/Header.idl"
+
+module autoware_auto_perception_msgs {
+  module msg {
+    @verbatim (language="comment", text=
+      " Represent the clusters" "\n"
+      " The cluster 0 is from point 0 to point cluster_boundary[0] - 1." "\n"
+      " Cluster i would be from point cluster_boundary[i - 1] to cluster_boundary[i] - 1, and so on")
+    struct PointClusters {
+      std_msgs::msg::Header header;
+
+      sequence<autoware_auto_perception_msgs::msg::PointXYZIF> points;
+
+      sequence<uint32> cluster_boundary;
+    };
+  };
+};

autoware_auto_perception_msgs/msg/PointXYZIF.idl

+module autoware_auto_perception_msgs {
+  module msg {
+    module PointXYZIF_Constants {
+      const uint16 END_OF_SCAN_ID = 65535;
+    };
+    @verbatim (language="comment", text=
+      " This message is meant to mirror autoware::common::types::PointXYZIF")
+    struct PointXYZIF {
+      float x;
+
+      float y;
+
+      float z;
+
+      float intensity;
+
+      uint16 id;
+    };
+  };
+};

autoware_auto_perception_msgs/msg/PredictedObject.idl

+#include "autoware_auto_perception_msgs/msg/ObjectClassification.idl"
+#include "autoware_auto_perception_msgs/msg/Shape.idl"
+#include "autoware_auto_perception_msgs/msg/PredictedObjectKinematics.idl"
+#include "unique_identifier_msgs/msg/UUID.idl"
+
+module autoware_auto_perception_msgs {
+  module msg {
+    struct PredictedObject {
+      unique_identifier_msgs::msg::UUID object_id;
+
+      @range (min=0.0, max=1.0)
+      float existence_probability;
+
+      sequence<autoware_auto_perception_msgs::msg::ObjectClassification> classification;
+      autoware_auto_perception_msgs::msg::PredictedObjectKinematics kinematics;
+
+      autoware_auto_perception_msgs::msg::Shape shape;
+    };
+  };
+};

autoware_auto_perception_msgs/msg/PredictedObjectKinematics.idl

+#include "autoware_auto_perception_msgs/msg/PredictedPath.idl"
+#include "geometry_msgs/msg/AccelWithCovariance.idl"
+#include "geometry_msgs/msg/PoseWithCovariance.idl"
+#include "geometry_msgs/msg/TwistWithCovariance.idl"
+
+module autoware_auto_perception_msgs {
+  module msg {
+    struct PredictedObjectKinematics {
+      geometry_msgs::msg::PoseWithCovariance initial_pose_with_covariance;
+
+      geometry_msgs::msg::TwistWithCovariance initial_twist_with_covariance;
+
+      geometry_msgs::msg::AccelWithCovariance initial_acceleration_with_covariance;
+
+      sequence<autoware_auto_perception_msgs::msg::PredictedPath, 100> predicted_paths;
+    };
+  };
+};

autoware_auto_perception_msgs/msg/PredictedObjects.idl

+#include "autoware_auto_perception_msgs/msg/PredictedObject.idl"
+#include "std_msgs/msg/Header.idl"
+
+module autoware_auto_perception_msgs {
+  module msg {
+    @verbatim (language="comment", text=
+      " This is the output of object prediction.")
+    struct PredictedObjects {
+      std_msgs::msg::Header header;
+      sequence<autoware_auto_perception_msgs::msg::PredictedObject> objects;
+    };
+  };
+};

autoware_auto_perception_msgs/msg/PredictedPath.idl

+#include "builtin_interfaces/msg/Duration.idl"
+#include "geometry_msgs/msg/Pose.idl"
+
+module autoware_auto_perception_msgs {
+  module msg {
+    struct PredictedPath {
+      sequence<geometry_msgs::msg::Pose, 100> path;
+
+      @verbatim (language="comment", text=
+        " The time_step field defines the interval between consecutive pose predictions in the path array.")
+      builtin_interfaces::msg::Duration time_step;
+      float confidence;
+    };
+  };
+};

autoware_auto_perception_msgs/msg/Shape.idl

+#include "geometry_msgs/msg/Polygon.idl"
+
+module autoware_auto_perception_msgs {
+  module msg {
+    module Shape_Constants {
+      const uint8 BOUNDING_BOX=0;
+      const uint8 CYLINDER=1;
+      const uint8 POLYGON=2;
+    };
+
+    struct Shape {
+      @verbatim (language="comment", text=
+        " Type of the shape")
+      uint8 type;
+
+      @verbatim (language="comment", text=
+        " The contour of the shape (POLYGON)")
+      geometry_msgs::msg::Polygon footprint;
+
+      @verbatim (language="comment", text=
+        " x: the length of the object (BOUNDING_BOX) or diameter (CYLINDER)"
+        " y: the width of the object (BOUNDING_BOX)"
+        " z: the overall height of the object")
+      geometry_msgs::msg::Vector3 dimensions;
+    };
+  };
+};

autoware_auto_perception_msgs/msg/TrackedObject.idl

+#include "autoware_auto_perception_msgs/msg/ObjectClassification.idl"
+#include "autoware_auto_perception_msgs/msg/Shape.idl"
+#include "autoware_auto_perception_msgs/msg/TrackedObjectKinematics.idl"
+#include "unique_identifier_msgs/msg/UUID.idl"
+
+module autoware_auto_perception_msgs {
+  module msg {
+    struct TrackedObject {
+      unique_identifier_msgs::msg::UUID object_id;
+
+      @range (min=0.0, max=1.0)
+      float existence_probability;
+
+      sequence<autoware_auto_perception_msgs::msg::ObjectClassification> classification;
+      autoware_auto_perception_msgs::msg::TrackedObjectKinematics kinematics;
+
+      autoware_auto_perception_msgs::msg::Shape shape;
+    };
+  };
+};

autoware_auto_perception_msgs/msg/TrackedObjectKinematics.idl

+#include "geometry_msgs/msg/AccelWithCovariance.idl"
+#include "geometry_msgs/msg/Point.idl"
+#include "geometry_msgs/msg/Quaternion.idl"
+#include "geometry_msgs/msg/TwistWithCovariance.idl"
+
+module autoware_auto_perception_msgs {
+  module msg {
+    module TrackedObjectKinematics_Constants {
+      /**
+       * Only position is available, orientation is empty. Note that the shape can be an oriented
+       * bounding box but the direction the object is facing is unknown, in which case
+       * orientation should be empty.
+       */
+      const uint8 UNAVAILABLE = 0;
+      /**
+       * The orientation is determined only up to a sign flip. For instance, assume that cars are
+       * longer than they are wide, and the perception pipeline can accurately estimate the
+       * dimensions of a car. It should set the orientation to coincide with the major axis, with
+       * the sign chosen arbitrarily, and use this tag to signify that the orientation could
+       * point to the front or the back.
+       */
+      const uint8 SIGN_UNKNOWN = 1;
+      /**
+       * The full orientation is available. Use e.g. for machine-learning models that can
+       * differentiate between the front and back of a vehicle.
+       */
+      const uint8 AVAILABLE = 2;
+    };
+
+    struct TrackedObjectKinematics {
+      @verbatim (language="comment", text=
+      " Pose covariance is always provided by tracking.")
+      geometry_msgs::msg::PoseWithCovariance pose_with_covariance;
+
+      uint8 orientation_availability;
+
+      geometry_msgs::msg::TwistWithCovariance twist_with_covariance;
+
+      geometry_msgs::msg::AccelWithCovariance acceleration_with_covariance;
+
+      @value (default=False)
+      boolean is_stationary;
+    };
+  };
+};

autoware_auto_perception_msgs/msg/TrackedObjects.idl

+#include "autoware_auto_perception_msgs/msg/TrackedObject.idl"
+#include "std_msgs/msg/Header.idl"
+
+module autoware_auto_perception_msgs {
+  module msg {
+    @verbatim (language="comment", text=
+      " This is the output of object tracking and the input to prediction.")
+    struct TrackedObjects {
+      std_msgs::msg::Header header;
+      sequence<autoware_auto_perception_msgs::msg::TrackedObject> objects;
+    };
+  };
+};

autoware_auto_perception_msgs/msg/TrafficLight.idl

+module autoware_auto_perception_msgs {
+  module msg {
+    module TrafficLight_Constants {
+      // constants for color
+      const uint8 RED = 1;
+      const uint8 AMBER = 2;
+      const uint8 GREEN = 3;
+      const uint8 WHITE = 4;
+
+      // constants for shape
+      const uint8 CIRCLE = 5;
+      const uint8 LEFT_ARROW = 6;
+      const uint8 RIGHT_ARROW = 7;
+      const uint8 UP_ARROW = 8;
+      const uint8 DOWN_ARROW = 9;
+      const uint8 DOWN_LEFT_ARROW = 10;
+      const uint8 DOWN_RIGHT_ARROW = 11;
+      const uint8 CROSS = 12;
+
+      // constants for status
+      const uint8 SOLID_OFF = 13;
+      const uint8 SOLID_ON = 14;
+      const uint8 FLASHING = 15;
+
+      // constants for common use
+      const uint8 UNKNOWN = 16;
+    };
+    struct TrafficLight {
+      @default (value=0)
+      uint8 color;
+
+      @default (value=0)
+      uint8 shape;
+
+      @default (value=0)
+      uint8 status;
+
+      @default (value=0.0)
+      float confidence;
+    };
+  };
+};

autoware_auto_perception_msgs/msg/TrafficLightRoi.idl

+#include "sensor_msgs/msg/RegionOfInterest.idl"
+
+module autoware_auto_perception_msgs {
+  module msg {
+    struct TrafficLightRoi {
+      sensor_msgs::msg::RegionOfInterest roi;
+      int32 id;
+    };
+  };
+};

autoware_auto_perception_msgs/msg/TrafficLightRoiArray.idl

+#include "autoware_auto_perception_msgs/msg/TrafficLightRoi.idl"
+#include "std_msgs/msg/Header.idl"
+
+module autoware_auto_perception_msgs {
+  module msg {
+    struct TrafficLightRoiArray {
+      std_msgs::msg::Header header;
+      sequence<autoware_auto_perception_msgs::msg::TrafficLightRoi> rois;
+    };
+  };
+};

autoware_auto_perception_msgs/msg/TrafficSignal.idl

+#include "autoware_auto_perception_msgs/msg/TrafficLight.idl"
+
+module autoware_auto_perception_msgs {
+  module msg {
+    @verbatim (language="comment", text=
+    " A TrafficSignal is defined here as a group of multiple TrafficLights" "\n"
+    " which each represent a single light, indicator, or bulb.")
+    struct TrafficSignal {
+      @verbatim (language="comment", text=
+        " A value of 0 indicates an invalid map_primitive_id. Signals which are not"
+        " associated with map primitives should not be used in planning because this"
+        " indicates that the required signal-to-lane mapping is not available.")
+      @default (value=0)
+      int32 map_primitive_id;
+
+      sequence<autoware_auto_perception_msgs::msg::TrafficLight, 10> lights;
+    };
+  };
+};

autoware_auto_perception_msgs/msg/TrafficSignalArray.idl

+#include "autoware_auto_perception_msgs/msg/TrafficSignal.idl"
+#include "std_msgs/msg/Header.idl"
+
+module autoware_auto_perception_msgs {
+  module msg {
+    struct TrafficSignalArray {
+      std_msgs::msg::Header header;
+      sequence<autoware_auto_perception_msgs::msg::TrafficSignal> signals;
+    };
+  };
+};

autoware_auto_perception_msgs/msg/TrafficSignalStamped.idl

+#include "autoware_auto_perception_msgs/msg/TrafficSignal.idl"
+#include "std_msgs/msg/Header.idl"
+
+module autoware_auto_perception_msgs {
+  module msg {
+    struct TrafficSignalStamped {
+      std_msgs::msg::Header header;
+      autoware_auto_perception_msgs::msg::TrafficSignal signal;
+    };
+  };
+};

autoware_auto_perception_msgs/msg/TrafficSignalWithJudge.idl

+#include "autoware_auto_perception_msgs/msg/TrafficSignal.idl"
+
+module autoware_auto_perception_msgs {
+  module msg {
+    module TrafficSignalWithJudge_Constants {
+      const uint8 JUDGE = 1;
+      const uint8 NONE = 2;
+      const uint8 STOP = 3;
+      const uint8 GO = 4;
+    };
+    struct TrafficSignalWithJudge {
+      uint8 judge;
+      boolean has_state;
+      autoware_auto_perception_msgs::msg::TrafficSignal signal;
+    };
+  };
+};

autoware_auto_perception_msgs/package.xml

+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>autoware_auto_perception_msgs</name>
+  <version>1.0.0</version>
+  <description>Interfaces between core Autoware.Auto perception components</description>
+  <maintainer email="opensource@apex.ai">Apex.AI, Inc.</maintainer>
+  <license>Apache 2</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <depend>autoware_auto_geometry_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>unique_identifier_msgs</depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
+

tier4_perception_msgs/CMakeLists.txt

+cmake_minimum_required(VERSION 3.5)
+project(tier4_perception_msgs)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+  set(CMAKE_CXX_EXTENSIONS OFF)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/object_recognition/DetectedObjectWithFeature.msg"
+  "msg/object_recognition/DetectedObjectsWithFeature.msg"
+  "msg/object_recognition/DynamicObject.msg"
+  "msg/object_recognition/DynamicObjectArray.msg"
+  "msg/object_recognition/Feature.msg"
+  "msg/object_recognition/PredictedPath.msg"
+  "msg/object_recognition/Semantic.msg"
+  "msg/object_recognition/Shape.msg"
+  "msg/object_recognition/State.msg"
+  DEPENDENCIES
+    autoware_auto_perception_msgs
+    builtin_interfaces
+    geometry_msgs
+    sensor_msgs
+    std_msgs
+    unique_identifier_msgs
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package()

tier4_perception_msgs/msg/object_recognition/DetectedObjectWithFeature.msg

+autoware_auto_perception_msgs/DetectedObject object
+Feature feature

tier4_perception_msgs/msg/object_recognition/DetectedObjectsWithFeature.msg

+std_msgs/Header header
+DetectedObjectWithFeature[] feature_objects

tier4_perception_msgs/msg/object_recognition/DynamicObject.msg

+unique_identifier_msgs/UUID id
+Semantic semantic
+State state
+Shape shape

tier4_perception_msgs/msg/object_recognition/DynamicObjectArray.msg

+std_msgs/Header header
+DynamicObject[] objects

tier4_perception_msgs/msg/object_recognition/Feature.msg

+sensor_msgs/PointCloud2 cluster
+sensor_msgs/RegionOfInterest roi

tier4_perception_msgs/msg/object_recognition/PredictedPath.msg

+geometry_msgs/PoseWithCovarianceStamped[] path
+float64 confidence

tier4_perception_msgs/msg/object_recognition/Semantic.msg

+uint8 UNKNOWN=0
+uint8 CAR=1
+uint8 TRUCK=2
+uint8 BUS=3
+uint8 BICYCLE=4
+uint8 MOTORBIKE=5
+uint8 PEDESTRIAN=6
+uint8 ANIMAL=7
+uint32 type
+float64 confidence

tier4_perception_msgs/msg/object_recognition/Shape.msg

+uint8 BOUNDING_BOX=0
+uint8 CYLINDER=1
+uint8 POLYGON=2
+
+uint8 type
+geometry_msgs/Vector3 dimensions
+geometry_msgs/Polygon footprint

tier4_perception_msgs/msg/object_recognition/State.msg

+geometry_msgs/PoseWithCovariance pose_covariance
+bool orientation_reliable
+geometry_msgs/TwistWithCovariance twist_covariance
+bool twist_reliable
+geometry_msgs/AccelWithCovariance acceleration_covariance
+bool acceleration_reliable
+PredictedPath[] predicted_paths

tier4_perception_msgs/package.xml

+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>tier4_perception_msgs</name>
+  <version>0.1.0</version>
+  <description>The tier4_perception_msgs package</description>
+  <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <depend>autoware_auto_perception_msgs</depend>
+  <depend>builtin_interfaces</depend>
+  <depend>geometry_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>unique_identifier_msgs</depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>