feat(default_ad_api): add localization api

[isamu-takagi]

Signed-off-by: Takagi, Isamu [email protected]

Description

Introduce AD API for routing. This PR is the rviz helper, auto initial pose and AD API part of the diagram. Here are the changes for each package:

autoware_ad_api_msgs: Add the localization API messages. autoware_ad_api_specs: Add the localization API definitions. component_interface_specs; Add the internal localization interface definitions. default_ad_api: Add the localization API. default_ad_api_helpers: Add the adaptor for RViz localization topics, and auto initialize node by GNSS.

Related links

https://github.com/autowarefoundation/autoware_launch/pull/72 https://github.com/autowarefoundation/autoware_launch/pull/70 https://github.com/tier4/tier4_autoware_msgs/pull/44 https://github.com/autowarefoundation/autoware.universe/pull/1500

~~https://github.com/autowarefoundation/autoware_launch/pull/71~~

Tests performed

For planning simulation.

1. Merge all related PRs.
2. Launch planning simulation.
3. Check if the localization succeeds when initialpose from RViz.

For logging simulation.

1. Merge all related PRs.
2. Launch logging simulation (sample map).
3. Check if the localization succeeds automatically when the vehicle is stopped.
4. Disable auto initial pose (https://github.com/autowarefoundation/autoware_launch/pull/71)
   • Check if the localization succeeds when initialpose from RViz when vehicle is stopped.
   • Check if the localization failes when initialpose from RViz when vehicle is not stopped.

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[codecov[bot]]

Codecov Report

Merging #1431 (de6a32c) into main (d9fae78) will increase coverage by 0.45%. The diff coverage is 5.17%.

@@            Coverage Diff             @@
##             main    #1431      +/-   ##
==========================================
+ Coverage   10.25%   10.71%   +0.45%     
==========================================
  Files        1199     1108      -91     
  Lines       86374    78505    -7869     
  Branches    19891    18660    -1231     
==========================================
- Hits         8860     8410     -450     
+ Misses      68294    61169    -7125     
+ Partials     9220     8926     -294     

Flag	Coverage Δ		*Carryforward flag
differential	10.67% <5.17%> (?)
total	10.69% <ø> (+0.45%)	:arrow_up:	Carriedforward from 7eaefe2

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...lpers/ad_api_adaptors/src/initial_pose_adaptor.cpp	0.00% <0.00%> (ø)
...ose_initializer/src/automatic_pose_initializer.cpp	0.00% <0.00%> (ø)
system/default_ad_api/src/localization.cpp	42.85% <42.85%> (ø)
...vehicle_model/sim_model_ideal_steer_acc_geared.cpp	64.15% <0.00%> (-18.87%)	:arrow_down:
...ail/dds_fastrtps/response_status__type_support.cpp	0.00% <0.00%> (-16.08%)	:arrow_down:
..._msgs/msg/detail/response_status__type_support.cpp	0.00% <0.00%> (-15.39%)	:arrow_down:
...ils/include/motion_utils/trajectory/trajectory.hpp	77.86% <0.00%> (-0.89%)	:arrow_down:
...or_path_planner/src/behavior_path_planner_node.cpp	0.23% <0.00%> (-0.01%)	:arrow_down:
planning/surround_obstacle_checker/src/node.cpp	0.00% <0.00%> (ø)
localization/ekf_localizer/src/ekf_localizer.cpp	0.00% <0.00%> (ø)
... and 118 more

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[isamu-takagi]

I'll split the PR.

[isamu-takagi]

This PR is ready.