feat(mission_planner)!: introduce route_selector node

[isamu-takagi]

Description

Introduce the route_selector node to the mission_planner package. The route_selector node manages main/mrm routes and makes requests to the mission_planner node. Therefore, now the mission_planner node only needs to plan the current route.

Related links

• Related to Refactor route interface #6319
• Related to feat(mission_planner_rviz_plugin): create mission planner tool #6362
• Related to feat(default_ad_api): apply route_selector #6364
• Depends on feat(tier4_planning_msgs): add internal route interface tier4/tier4_autoware_msgs#111

Tests performed

1. Merge the dependent PRs.
2. Launch planning simulator.
3. Add MrmGoalTool and RouteSelectorPanel to rviz.
4. Set topic name from rviz tool property panel.
   • 2D Goal Pose: /rviz/route_selector/main/goal
   • Mrm Goal Pose: /rviz/route_selector/mrm/goal
5. Check if the normal route can be set (use 2D Goal Pose)
6. Check if the mrm route can be set (use Mrm Goal Pose)
7. Check if it can return to normal route (push clear button of MRM state)
8. Check if the mrm route can be set again (use Mrm Goal Pose)
9. Check if the normal route setting is rejected during MRM (use 2D Goal Pose)

https://evaluation.tier4.jp/evaluation/reports/7d8458ad-5132-5f28-b0b2-1c117bc1b7e6?project_id=prd_jt

Notes for reviewers

simplescreenrecorder-2024-02-08_22.21.30.mp4

Interface changes

Add:

• /planning/mission_planning/route_selector/main/route
• /planning/mission_planning/route_selector/main/state
• /planning/mission_planning/route_selector/mrm/route
• /planning/mission_planning/route_selector/mrm/state
• /planning/mission_planning/mission_planner/clear_route
• /planning/mission_planning/mission_planner/set_lanelet_route
• /planning/mission_planning/mission_planner/set_waypoint_route
• /planning/mission_planning/route_selector/main/clear_route
• /planning/mission_planning/route_selector/main/set_lanelet_route
• /planning/mission_planning/route_selector/main/set_waypoint_route
• /planning/mission_planning/route_selector/mrm/clear_route
• /planning/mission_planning/route_selector/mrm/set_lanelet_route
• /planning/mission_planning/route_selector/mrm/set_waypoint_route

Type change:

• /planning/mission_planning/state

Effects on system behavior

The MRM route will no longer be reflected in AD API.

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[kosuke55]

thanks!!! looks very nice!

[soblin]

The snippet main_.change_state(now(), RouteState::SET); is going to be updated to INERRUPTED in this PR or in the future, right ?

[isamu-takagi]

Yes, updated fa07c4c

[soblin]

I'd appreciate if you could add some NOTE for how to notify the API that the main route is canceled during MRM.

[codecov]

Codecov Report

Attention: 328 lines in your changes are missing coverage. Please review.

Comparison is base (e329fda) 15.24% compared to head (4d67f93) 15.26%.
Report is 26 commits behind head on main.

Files	Patch %	Lines
...on_planner/src/mission_planner/mission_planner.cpp	0.00%	161 Missing ⚠️
...ion_planner/src/mission_planner/route_selector.cpp	0.00%	143 Missing ⚠️
...sion_planner/src/mission_planner/service_utils.hpp	0.00%	18 Missing ⚠️
...sion_planner/src/mission_planner/service_utils.cpp	0.00%	4 Missing ⚠️
...n_planner/src/lanelet2_plugins/default_planner.cpp	0.00%	1 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6363      +/-   ##
==========================================
+ Coverage   15.24%   15.26%   +0.01%     
==========================================
  Files        1816     1819       +3     
  Lines      125147   125245      +98     
  Branches    38188    38263      +75     
==========================================
+ Hits        19075    19114      +39     
- Misses      84684    84706      +22     
- Partials    21388    21425      +37     

Flag	Coverage Δ		*Carryforward flag
differential	12.95% <0.00%> (?)
total	15.28% <ø> (+0.04%)	⬆️	Carriedforward from e329fda

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

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