feat(mission_planner)!: support ad api

[isamu-takagi]

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

Description

Introduce AD API for routing. This PR is the mission planner part of the diagram. Here are the changes for each package:

• component_interface_specs: Add the internal routing interface definitions.
• tier4_planning_launch: remove redundant launch file.
• mission_planner: change mission planner to support AD API.

Related links

https://github.com/autowarefoundation/autoware.universe/pull/1494 https://github.com/autowarefoundation/autoware_msgs/pull/33

Tests performed

1. Launch the planning simulation.
2. Check the routing state is UNSET.
3. Call the set_route_points API (refer to notes).
4. Check the routing state is SET.
5. Call the set_route_points API and check if it fails.
6. Start vehicle driving.
7. When vehicle goals, check the routing state is ARRIVED.
8. Call the clear_route API.
9. Call the set_route API (refer to notes)..

Notes for reviewers

Sample Routes are from this position.

Sample1 (SetRoutePoints)

ros2 service call /planning/routing/set_route_points  autoware_ad_api_msgs/srv/SetRoutePoints "
header: {stamp: {sec: 1659424851, nanosec: 893215051}, frame_id: map}
goal:
  position: {x: 3835.50, y: 73765.91, z: 0.0}
  orientation: {x: 0.0, y: 0.0, z: -0.52530, w: 0.85091}"

Sample2 (SetRoutePoints)

ros2 service call /planning/routing/set_route_points  autoware_ad_api_msgs/srv/SetRoutePoints "
header: {stamp: {sec: 1659424851, nanosec: 893215051}, frame_id: map}
goal:
  position: {x: 3835.50, y: 73765.91, z: 0.0}
  orientation: {x: 0.0, y: 0.0, z: -0.52530, w: 0.85091}
waypoints:
 - position: {x: 3774.31, y: 73802.53, z: 0.0}
   orientation: {x: 0.0, y: 0.0, z: 0.22214, w: 0.97501}"

Sample1 (SetRoute)

ros2 service call /planning/routing/set_route  autoware_ad_api_msgs/srv/SetRoute "
header: {stamp: {sec: 1659424851, nanosec: 893215051}, frame_id: map}
goal:
  position: {x: 3835.50, y: 73765.91, z: 0.0}
  orientation: {x: 0.0, y: 0.0, z: -0.52530, w: 0.85091}
segments:
- {preferred: {id: 34976, type: lane}, alternatives: []}
- {preferred: {id: 34981, type: lane}, alternatives: []}
- {preferred: {id: 34585, type: lane}, alternatives: []}
- {preferred: {id: 34579, type: lane}, alternatives: []}
- {preferred: {id: 34780, type: lane}, alternatives: []}
- {preferred: {id: 34675, type: lane}, alternatives: []}"

Sample2 (SetRoute)

ros2 service call /planning/routing/set_route  autoware_ad_api_msgs/srv/SetRoute "
header: {stamp: {sec: 1659424851, nanosec: 893215051}, frame_id: map}
goal:
  position: {x: 3835.50, y: 73765.91, z: 0.0}
  orientation: {x: 0.0, y: 0.0, z: -0.52530, w: 0.85091}
segments:
- {preferred: {id: 34976, type: lane}, alternatives: []}
- {preferred: {id: 34981, type: lane}, alternatives: []}
- {preferred: {id: 34636, type: lane}, alternatives: []}
- {preferred: {id: 34564, type: lane}, alternatives: []}
- {preferred: {id: 34495, type: lane}, alternatives: []}
- {preferred: {id: 34507, type: lane}, alternatives: []}
- {preferred: {id: 34795, type: lane}, alternatives: []}
- {preferred: {id: 34606, type: lane}, alternatives: []}
- {preferred: {id: 34672, type: lane}, alternatives: []}
- {preferred: {id: 34675, type: lane}, alternatives: []}"

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[codecov[bot]]

Codecov Report

Base: 10.41% // Head: 10.28% // Decreases project coverage by -0.13% :warning:

Coverage data is based on head (0d3534a) compared to base (f659209). Patch coverage: 1.45% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1495      +/-   ##
==========================================
- Coverage   10.41%   10.28%   -0.14%     
==========================================
  Files        1174     1169       -5     
  Lines       83662    83238     -424     
  Branches    19587    19374     -213     
==========================================
- Hits         8712     8559     -153     
- Misses      65411    65412       +1     
+ Partials     9539     9267     -272     

Flag	Coverage Δ		*Carryforward flag
differential	11.47% <0.42%> (?)
total	10.32% <6.52%> (-0.08%)	:arrow_down:	Carriedforward from 0b896a1

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

Impacted Files	Coverage Δ
...include/object_detection/object_polygon_detail.hpp	0.00% <ø> (ø)
...e/object_detection/object_polygon_display_base.hpp	0.00% <0.00%> (ø)
...gin/src/object_detection/object_polygon_detail.cpp	0.00% <0.00%> (ø)
...src/object_detection/predicted_objects_display.cpp	0.00% <0.00%> (ø)
...n/src/object_detection/tracked_objects_display.cpp	0.00% <0.00%> (ø)
common/motion_utils/src/marker/marker_helper.cpp	0.00% <0.00%> (ø)
.../src/goal_pose_visualizer/goal_pose_visualizer.cpp	0.00% <ø> (ø)
...n_planner/src/lanelet2_plugins/default_planner.cpp	0.00% <0.00%> (ø)
...planner/src/lanelet2_plugins/utility_functions.cpp	0.00% <ø> (ø)
...on_planner/src/mission_planner/arrival_checker.cpp	0.00% <0.00%> (ø)
... and 192 more

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[isamu-takagi]

@kenji-miyake @yukkysaito @mitsudome-r In this PR, we changed the route topic name to /planning/mission_planning/route (the first name was /planning/routing/route). However, an error has occurred because the name is already used to distribute the HAD map route internally. So I'll change it to /planning/mission_planning/api_route. Or any other suggestions?

[kenji-miyake]

@isamu-takagi I was thinking that we'll replace (or reuse) the existing topic. Would it be possible for you to explain the problem a bit more concretely? :bow:

[isamu-takagi]

@kenji-miyake The existing topic is an implementation-dependent message type HADMapRoute. The new topic is an implementation-independent API message type Route. So it cannot be replaced without forcing the internal implementation nodes to use the API type.

[isamu-takagi]

The discussion resulted in this. (API converts messages.)

[isamu-takagi]

Waiting for https://github.com/autowarefoundation/autoware_msgs/pull/33.

[TakaHoribe]

When I launch the autoware with this PR merged, it fails with the following error:

[component_container-43] [ERROR 1665995713.014441264] [planning.mission_planning.mission_planning_container] OnLoadNode(): Failed to find class with the requested plugin name 'mission_planner::MissionPlannerLanelet2' in the loaded library:(L219)

Is there any PR I need to merge except for these?

https://github.com/autowarefoundation/autoware.universe/pull/1494 https://github.com/autowarefoundation/autoware_msgs/pull/33 https://github.com/autowarefoundation/autoware_adapi_msgs/pull/14

[isamu-takagi]

@TakaHoribe Are you using TIER IV's meta-repository? I'll sync it.

[TakaHoribe]

Are you using TIER IV's meta-repository? I'll sync it.

Yes. Would you make a PR for the autoware_launch?

[isamu-takagi]

Yes. Would you make a PR for the autoware_launch?

@TakaHoribe https://github.com/tier4/autoware_launch/pull/520