feat(reroute-static-obstacle): fixing compilation issue after api changes for changing and setting route

NOTE : this is still wip and the functionality is not yet finished after this change.

Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com>

Author: Ahmed Ebrahim

planning/mission_planner/src/rerouting_static_obstacle/rerouting_static_obstacle.cpp

@@ -44,7 +44,7 @@ ReroutingStaticObstacle::ReroutingStaticObstacle(const rclcpp::NodeOptions & nod
     std::bind(&ReroutingStaticObstacle::on_trigger, this, _1));
 
   const auto adaptor = component_interface_utils::NodeAdaptor(this);
-  adaptor.init_cli(cli_change_route_);
+  adaptor.init_cli(cli_set_lanelet_route_);
 }
 
 void ReroutingStaticObstacle::on_odom(const nav_msgs::msg::Odometry::SharedPtr msg)
@@ -95,7 +95,7 @@ void ReroutingStaticObstacle::on_trigger(const geometry_msgs::msg::PointStamped:
       search_alternative_route(selected_point_lanelet, alternative_route_lanelets);
 
     if (alternative_route_found) {
-      change_route(alternative_route_lanelets);
+      set_lanelet_route(alternative_route_lanelets);
     }
   }
 }
@@ -175,24 +175,26 @@ bool ReroutingStaticObstacle::search_alternative_route(
   return alternative_route_found;
 }
 
-void ReroutingStaticObstacle::change_route(const lanelet::routing::LaneletPath & lanelet_path)
+void ReroutingStaticObstacle::set_lanelet_route(const lanelet::routing::LaneletPath & lanelet_path)
 {
-  const auto req = std::make_shared<ChangeRoute::Service::Request>();
+  const auto req = std::make_shared<SetLaneletRoute::Service::Request>();
   req->header.frame_id = "map";
   req->header.stamp = this->get_clock()->now();
-  req->goal = goal_pose_;
+  req->goal_pose = goal_pose_;
   convert_lanelet_path_to_route_segments(lanelet_path, req->segments);
-  cli_change_route_->async_send_request(req);
+  cli_set_lanelet_route_->async_send_request(req);
 }
 
 void ReroutingStaticObstacle::convert_lanelet_path_to_route_segments(
   const lanelet::routing::LaneletPath & lanelet_path,
-  std::vector<autoware_adapi_v1_msgs::msg::RouteSegment> & route_segments) const
+  std::vector<autoware_planning_msgs::msg::LaneletSegment> & route_segments) const
 {
   for (const auto & ll : lanelet_path) {
-    autoware_adapi_v1_msgs::msg::RouteSegment route_segment;
-    route_segment.preferred.id = ll.id();
-    route_segment.preferred.type = "lane";
+    autoware_planning_msgs::msg::LaneletSegment route_segment;
+    autoware_planning_msgs::msg::LaneletPrimitive lanelet_primitive;
+    lanelet_primitive.id = ll.id();
+    lanelet_primitive.primitive_type = "lane";
+    route_segment.primitives.push_back(lanelet_primitive);
     route_segments.push_back(route_segment);
   }
 }

planning/mission_planner/src/rerouting_static_obstacle/rerouting_static_obstacle.hpp

@@ -32,6 +32,8 @@
 #include <lanelet2_routing/Route.h>
 #include <lanelet2_routing/RoutingGraph.h>
 #include <lanelet2_traffic_rules/TrafficRules.h>
+#include <autoware_adapi_v1_msgs/msg/route_segment.hpp>
+
 
 #include <vector>
 
@@ -40,7 +42,7 @@ namespace mission_planner
 using autoware_auto_mapping_msgs::msg::HADMapBin;
 class ReroutingStaticObstacle : public rclcpp::Node
 {
-  using ChangeRoute = planning_interface::ChangeRoute;
+  using SetLaneletRoute = planning_interface::SetLaneletRoute;
 
 public:
   explicit ReroutingStaticObstacle(const rclcpp::NodeOptions & node_options);
@@ -50,7 +52,7 @@ class ReroutingStaticObstacle : public rclcpp::Node
   rclcpp::Subscription<geometry_msgs::msg::PointStamped>::SharedPtr sub_trigger_;
   rclcpp::Subscription<autoware_planning_msgs::msg::LaneletRoute>::SharedPtr sub_route_;
   rclcpp::Subscription<HADMapBin>::SharedPtr map_subscriber_;
-  component_interface_utils::Client<ChangeRoute>::SharedPtr cli_change_route_;
+  component_interface_utils::Client<SetLaneletRoute>::SharedPtr cli_set_lanelet_route_;
 
   lanelet::LaneletMapPtr lanelet_map_ptr_;
   lanelet::routing::RoutingGraphPtr routing_graph_ptr_;
@@ -76,11 +78,11 @@ class ReroutingStaticObstacle : public rclcpp::Node
     const lanelet::ConstLanelet & selected_point_lanelet,
     lanelet::routing::LaneletPath & alternative_route_lanelets) const;
 
-  void change_route(const lanelet::routing::LaneletPath & lanelet_path);
+  void set_lanelet_route(const lanelet::routing::LaneletPath & lanelet_path);
 
   void convert_lanelet_path_to_route_segments(
     const lanelet::routing::LaneletPath & lanelet_path,
-    std::vector<autoware_adapi_v1_msgs::msg::RouteSegment> & route_segments) const;
+    std::vector<autoware_planning_msgs::msg::LaneletSegment> & route_segments) const;
 };
 
 }  // namespace mission_planner