Merge branch 'awf-latest' into revert-no-stopping-area-module

Author: kosuke55

.github/CODEOWNERS

@@ -192,13 +192,13 @@ planning/autoware_behavior_path_side_shift_module/** fumiya.watanabe@tier4.jp ky
 planning/behavior_path_start_planner_module/** daniel.sanchez@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
 planning/autoware_behavior_velocity_blind_spot_module/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 planning/autoware_behavior_velocity_crosswalk_module/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp yuki.takagi@tier4.jp
-planning/behavior_velocity_dynamic_obstacle_stop_module/** mamoru.sobue@tier4.jp maxime.clement@tier4.jp
 planning/behavior_velocity_no_drivable_lane_module/** ahmed.ebrahim@leodrive.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 planning/autoware_behavior_velocity_no_stopping_area_module/** kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 planning/autoware_behavior_velocity_occlusion_spot_module/** shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp
 planning/autoware_behavior_velocity_planner_common/** fumiya.watanabe@tier4.jp isamu.takagi@tier4.jp mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 planning/autoware_behavior_velocity_run_out_module/** kosuke.takeuchi@tier4.jp makoto.kurihara@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_speed_bump_module/** mdogru@leodrive.ai shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
+planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/** mamoru.sobue@tier4.jp maxime.clement@tier4.jp
 planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/** maxime.clement@tier4.jp
 planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/** maxime.clement@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 planning/motion_velocity_planner/autoware_motion_velocity_planner_common/** maxime.clement@tier4.jp

common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp

@@ -15,9 +15,6 @@
 #ifndef AUTOWARE_TEST_UTILS__AUTOWARE_TEST_UTILS_HPP_
 #define AUTOWARE_TEST_UTILS__AUTOWARE_TEST_UTILS_HPP_
 
-#include "ament_index_cpp/get_package_share_directory.hpp"
-#include "rclcpp/rclcpp.hpp"
-
 #include <component_interface_specs/planning.hpp>
 #include <lanelet2_extension/io/autoware_osm_parser.hpp>
 #include <lanelet2_extension/projection/mgrs_projector.hpp>
@@ -51,7 +48,6 @@
 #include <limits>
 #include <memory>
 #include <string>
-#include <utility>
 #include <vector>
 
 namespace autoware::test_utils
@@ -174,6 +170,45 @@ LaneletRoute makeNormalRoute();
  */
 OccupancyGrid makeCostMapMsg(size_t width = 150, size_t height = 150, double resolution = 0.2);
 
+/**
+ * @brief Get the absolute path to the lanelet map file.
+ *
+ * This function retrieves the absolute path to a lanelet map file located in the
+ * package's share directory under the "test_map" folder.
+ *
+ * @param package_name The name of the package containing the map file.
+ * @param map_filename The name of the map file.
+ * @return A string representing the absolute path to the lanelet map file.
+ */
+std::string get_absolute_path_to_lanelet_map(
+  const std::string & package_name, const std::string & map_filename);
+
+/**
+ * @brief Get the absolute path to the route file.
+ *
+ * This function retrieves the absolute path to a route file located in the
+ * package's share directory under the "test_route" folder.
+ *
+ * @param package_name The name of the package containing the route file.
+ * @param route_filename The name of the route file.
+ * @return A string representing the absolute path to the route file.
+ */
+std::string get_absolute_path_to_route(
+  const std::string & package_name, const std::string & route_filename);
+
+/**
+ * @brief Get the absolute path to the config file.
+ *
+ * This function retrieves the absolute path to a route file located in the
+ * package's share directory under the "config" folder.
+ *
+ * @param package_name The name of the package containing the route file.
+ * @param route_filename The name of the config file.
+ * @return A string representing the absolute path to the config file.
+ */
+std::string get_absolute_path_to_config(
+  const std::string & package_name, const std::string & config_filename);
+
 /**
  * @brief Creates a LaneletMapBin message from a Lanelet map file.
  *

common/autoware_test_utils/src/autoware_test_utils.cpp

@@ -12,7 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware_test_utils/autoware_test_utils.hpp"
+#include <ament_index_cpp/get_package_share_directory.hpp>
+#include <autoware_test_utils/autoware_test_utils.hpp>
+#include <rclcpp/clock.hpp>
+#include <rclcpp/executors/single_threaded_executor.hpp>
+#include <rclcpp/logging.hpp>
+#include <rclcpp/node.hpp>
+
+#include <utility>
+
 namespace autoware::test_utils
 {
 
@@ -103,6 +111,27 @@ OccupancyGrid makeCostMapMsg(size_t width, size_t height, double resolution)
   return costmap_msg;
 }
 
+std::string get_absolute_path_to_lanelet_map(
+  const std::string & package_name, const std::string & map_filename)
+{
+  const auto dir = ament_index_cpp::get_package_share_directory(package_name);
+  return dir + "/test_map/" + map_filename;
+}
+
+std::string get_absolute_path_to_route(
+  const std::string & package_name, const std::string & route_filename)
+{
+  const auto dir = ament_index_cpp::get_package_share_directory(package_name);
+  return dir + "/test_route/" + route_filename;
+}
+
+std::string get_absolute_path_to_config(
+  const std::string & package_name, const std::string & config_filename)
+{
+  const auto dir = ament_index_cpp::get_package_share_directory(package_name);
+  return dir + "/config/" + config_filename;
+}
+
 LaneletMapBin make_map_bin_msg(
   const std::string & absolute_path, const double center_line_resolution)
 {
@@ -122,12 +151,8 @@ LaneletMapBin make_map_bin_msg(
 
 LaneletMapBin makeMapBinMsg()
 {
-  const auto autoware_test_utils_dir =
-    ament_index_cpp::get_package_share_directory("autoware_test_utils");
-  const auto lanelet2_path = autoware_test_utils_dir + "/test_map/lanelet2_map.osm";
-  double center_line_resolution = 5.0;
-
-  return make_map_bin_msg(lanelet2_path, center_line_resolution);
+  return make_map_bin_msg(
+    get_absolute_path_to_lanelet_map("autoware_test_utils", "lanelet2_map.osm"));
 }
 
 Odometry makeOdometry(const double shift)
@@ -251,9 +276,8 @@ void updateNodeOptions(
 
 PathWithLaneId loadPathWithLaneIdInYaml()
 {
-  const auto autoware_test_utils_dir =
-    ament_index_cpp::get_package_share_directory("autoware_test_utils");
-  const auto yaml_path = autoware_test_utils_dir + "/config/path_with_lane_id_data.yaml";
+  const auto yaml_path =
+    get_absolute_path_to_config("autoware_test_utils", "path_with_lane_id_data.yaml");
   YAML::Node yaml_node = YAML::LoadFile(yaml_path);
   PathWithLaneId path_msg;