feat: port autoware_behavior_velocity_planner_common from autoware.universe to autoware.core

[storrrrrrrrm]

Description

feat: port autoware_behavior_velocity_planner_common from autoware.universe to autoware.core

Related links

Parent Issue:

• Porting autoware_behavior_velocity_planner_common、autoware_behavior_velocity_stop_line_module to autoware.core #190

Must be merged after:

• feat(autoware_behavior_velocity_planner_common): replace autoware_universe_utils with autoware_utils autoware_universe#10154

How was this PR tested?

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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[storrrrrrrrm]

ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
autoware_behavior_velocity_planner_common: Cannot locate rosdep definition for [autoware_velocity_smoother]

ci would pass after autoware_velocity_smoother ported.

[xmfcx]

• feat(autoware_behavior_velocity_planner_common): replace autoware_universe_utils with autoware_utils autoware_universe#10154 should be merged first in Universe side. Until that happens, will set this to draft.

[xmfcx]

• feat(autoware_utils): replace autoware_universe_utils with autoware_utils  autoware_universe#10191
  was merged so this should be ready once again.

[xmfcx]

https://github.com/autowarefoundation/autoware.core/actions/runs/13835559832/job/38709590361?pr=230#step:5:296

📄 Phase 1 Target Packages Google Sheets Link

This package depends on:

• autoware_behavior_velocity_planner (not in the gsheet)
• autoware_velocity_smoother

[liuXinGangChina]

https://github.com/autowarefoundation/autoware.core/actions/runs/13835559832/job/38709590361?pr=230#step:5:296

📄 Phase 1 Target Packages Google Sheets Link

This package depends on:

* autoware_behavior_velocity_planner (not in the gsheet)

* autoware_velocity_smoother

Hello Fatih san @xmfcx

I found that the package stop-line-module we are porting in this pr only use test_utils function from autoware_behavior_velocity_planner to generate a virture autoware_behavior_velocity_planner node for test case in file https://github.com/autowarefoundation/autoware.universe/blob/0f1bfb6e65a874a1ec30f62c473b4ec516aa5471/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/test/test_node_interface.cpp#L56.

Autoware_behavior_velocity_planner involves too much packages( some are not planned to be ported to core repo), maybe that's the reason it is not on the porting list.

My idea is we remove this test case, and write new test case in the future according to its usage in core repo

What do you think of this solution ? @xmfcx

Best regards

心刚

[liuXinGangChina]

hi fatih san

What do you think of the solution #230 (comment) ？

Best regards

心刚

[liuXinGangChina]

Got confirmation from mits san

will port behavior_velocity_planner too

i will add it to the porting list

心刚