Remove driveblocks dependencies

Signed-off-by: Simon Eisenmann <simon.eisenmann@driveblocks.ai>

Author: simon-eisenmann-driveblocks

planning/mapless_architecture/autoware_local_mission_planner/include/autoware/local_mission_planner/mission_planner_node.hpp

@@ -14,7 +14,6 @@
 #include "autoware_planning_msgs/msg/mission.hpp"
 #include "autoware_planning_msgs/msg/mission_lanes_stamped.hpp"
 #include "autoware_planning_msgs/msg/visualization_distance.hpp"
-#include "db_msgs/msg/lanelets_stamped.hpp"
 #include "geometry_msgs/msg/point.hpp"
 #include "nav_msgs/msg/odometry.hpp"
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"

planning/mapless_architecture/autoware_local_mission_planner/src/mission_planner_node.cpp

@@ -11,7 +11,6 @@
 #include "autoware_planning_msgs/msg/driving_corridor.hpp"
 #include "autoware_planning_msgs/msg/mission.hpp"
 #include "autoware_planning_msgs/msg/mission_lanes_stamped.hpp"
-#include "db_msgs/msg/lanelets_stamped.hpp"
 #include "geometry_msgs/msg/point.hpp"
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 #include "visualization_msgs/msg/marker.hpp"

planning/mapless_architecture/autoware_local_mission_planner/test/src/test_mission_planner_core.cpp

@@ -10,7 +10,6 @@
 #include "tf2_ros/transform_listener.h"
 
 #include "autoware_planning_msgs/msg/road_segments.hpp"
-#include "db_msgs/msg/lanelets_stamped.hpp"
 #include "geometry_msgs/msg/point.hpp"
 #include "geometry_msgs/msg/pose.hpp"
 
@@ -92,15 +91,6 @@ double NormalizePsi(const double psi);
  */
 std::vector<double> GetPsiForPoints(const std::vector<geometry_msgs::msg::Point> & points);
 
-/**
- * @brief Convert the LaneletsStamped message into a RoadSegments message.
- *
- * @param msg The message (db_msgs::msg::LaneletsStamped).
- * @return autoware_planning_msgs::msg::RoadSegments.
- */
-autoware_planning_msgs::msg::RoadSegments ConvertLaneletsStamped2RoadSegments(
-  const db_msgs::msg::LaneletsStamped & msg);
-
 /**
  * @brief Holds
  * the origin lanelet Id,

planning/mapless_architecture/autoware_local_mission_planner_common/include/autoware/local_mission_planner_common/helper_functions.hpp

@@ -6,7 +6,6 @@
 #include "rclcpp/rclcpp.hpp"
 
 #include "autoware_planning_msgs/msg/road_segments.hpp"
-#include "db_msgs/msg/lanelets_stamped.hpp"
 
 namespace autoware::mapless_architecture
 {
@@ -140,54 +139,6 @@ double GetYawFromQuaternion(const double x, const double y, const double z, cons
   return yaw;
 }
 
-// Declare a static logger
-static rclcpp::Logger static_logger = rclcpp::get_logger("static_logger");
-
-autoware_planning_msgs::msg::RoadSegments ConvertLaneletsStamped2RoadSegments(
-  const db_msgs::msg::LaneletsStamped & msg)
-{
-  // Initialize road segments message
-  autoware_planning_msgs::msg::RoadSegments road_segments;
-
-  // Fill message header and pose
-  road_segments.header = msg.header;
-  road_segments.pose = msg.pose;
-
-  // Convert lanelets to segments if lanelets are not empty
-  if (!msg.lanelets.empty()) {
-    for (const db_msgs::msg::Lanelet & lanelet : msg.lanelets) {
-      // Initialize a segment
-      autoware_planning_msgs::msg::Segment segment;
-
-      // Fill the segment with basic information
-      segment.id = lanelet.id;
-      segment.successor_lanelet_id = lanelet.successor_lanelet_id;
-      segment.neighboring_lanelet_id = lanelet.neighboring_lanelet_id;
-
-      // Copy linestrings data
-      for (int i = 0; i < 2; ++i) {
-        // Copy points from the original linestring to the new one if points are not empty
-        if (!lanelet.linestrings[i].points.empty()) {
-          segment.linestrings[i].poses.reserve(lanelet.linestrings[i].points.size());
-
-          for (const db_msgs::msg::DBPoint & point : lanelet.linestrings[i].points) {
-            segment.linestrings[i].poses.push_back(point.pose);
-          }
-        } else {
-          RCLCPP_WARN(
-            static_logger,
-            "Linestring does not contain points (ConvertLaneletsStamped2RoadSegments)!");
-        }
-      }
-
-      // Add the filled segment to the road_segments message
-      road_segments.segments.push_back(segment);
-    }
-  }
-
-  return road_segments;
-}
-
 std::vector<std::vector<int>> GetAllSuccessorSequences(
   const std::vector<LaneletConnection> & lanelet_connections, const int id_initial_lanelet)
 {

planning/mapless_architecture/autoware_local_mission_planner_common/src/helper_functions.cpp

@@ -33,6 +33,15 @@ class LocalRoadProviderNode : public rclcpp::Node
    */
   void CallbackLaneletsMessages_(const db_msgs::msg::LaneletsStamped & msg);
 
+  /**
+   * @brief Convert the LaneletsStamped message into a RoadSegments message.
+   *
+   * @param msg The message (db_msgs::msg::LaneletsStamped).
+   * @return autoware_planning_msgs::msg::RoadSegments.
+   */
+  autoware_planning_msgs::msg::RoadSegments ConvertLaneletsStamped2RoadSegments(
+    const db_msgs::msg::LaneletsStamped & msg);
+
   // Declare ROS2 publisher and subscriber
 
   rclcpp::Publisher<autoware_planning_msgs::msg::RoadSegments>::SharedPtr road_publisher_;

planning/mapless_architecture/autoware_local_road_provider/include/autoware/local_road_provider/local_road_provider_node.hpp

@@ -28,6 +28,55 @@ LocalRoadProviderNode::LocalRoadProviderNode() : Node("local_road_provider_node"
     std::bind(&LocalRoadProviderNode::CallbackLaneletsMessages_, this, _1));
 }
 
+autoware_planning_msgs::msg::RoadSegments
+LocalRoadProviderNode::ConvertLaneletsStamped2RoadSegments(
+  const db_msgs::msg::LaneletsStamped & msg)
+{
+  // Declare a static logger
+  static rclcpp::Logger static_logger = rclcpp::get_logger("static_logger");
+
+  // Initialize road segments message
+  autoware_planning_msgs::msg::RoadSegments road_segments;
+
+  // Fill message header and pose
+  road_segments.header = msg.header;
+  road_segments.pose = msg.pose;
+
+  // Convert lanelets to segments if lanelets are not empty
+  if (!msg.lanelets.empty()) {
+    for (const db_msgs::msg::Lanelet & lanelet : msg.lanelets) {
+      // Initialize a segment
+      autoware_planning_msgs::msg::Segment segment;
+
+      // Fill the segment with basic information
+      segment.id = lanelet.id;
+      segment.successor_lanelet_id = lanelet.successor_lanelet_id;
+      segment.neighboring_lanelet_id = lanelet.neighboring_lanelet_id;
+
+      // Copy linestrings data
+      for (int i = 0; i < 2; ++i) {
+        // Copy points from the original linestring to the new one if points are not empty
+        if (!lanelet.linestrings[i].points.empty()) {
+          segment.linestrings[i].poses.reserve(lanelet.linestrings[i].points.size());
+
+          for (const db_msgs::msg::DBPoint & point : lanelet.linestrings[i].points) {
+            segment.linestrings[i].poses.push_back(point.pose);
+          }
+        } else {
+          RCLCPP_WARN(
+            static_logger,
+            "Linestring does not contain points (ConvertLaneletsStamped2RoadSegments)!");
+        }
+      }
+
+      // Add the filled segment to the road_segments message
+      road_segments.segments.push_back(segment);
+    }
+  }
+
+  return road_segments;
+}
+
 void LocalRoadProviderNode::CallbackLaneletsMessages_(const db_msgs::msg::LaneletsStamped & msg)
 {
   autoware_planning_msgs::msg::RoadSegments road_segments =
@@ -36,4 +85,5 @@ void LocalRoadProviderNode::CallbackLaneletsMessages_(const db_msgs::msg::Lanele
   // Publish the RoadSegments message
   road_publisher_->publish(road_segments);
 }
+
 }  // namespace autoware::mapless_architecture