feat(operation_mode_transition_manager): support ad api

[isamu-takagi]

Signed-off-by: Takagi, Isamu isamu.takagi@tier4.jp

Description

The operation mode transition manager supports AD API. State transition is unified as follows (local mode is same as remote).
When in vehicle control mode (disengage), the operation mode can be changed immediately without checking. When the control mode changes to autoware (engage) or the operation mode changes in autoware control mode (e.g. stop to autonomous), the operation mode will be transition mode. The transition mode exits when the conditions are satisfied.

Related links

tier4/tier4_autoware_msgs#46

Tests performed

• mode change in vehicle control mode
  1. change to vehicle control mode if not
  2. change to autonomous mode and check if it completes without transition mode
• stop to auto (in autoware control)
  1. change to autoware control mode if not
  2. change to autonomous mode
  3. check the mode is autonomous transition, and then transition flag is false
  4. check the mode is autonomous transition, mode returns to stop if transition failed
• vehicle control to auto (in autoware control)
  1. change to vehicle control mode if not
  2. change to autonomous mode if not
  3. change to autoware control mode
  4. check the mode is autonomous transition, and then transition flag is false
  5. check the mode is autonomous transition, mode returns to vehicle control if transition failed

Notes for reviewers

By default, the transition time is too short for testing. It can be changed with this parameter.
launch/tier4_control_launch/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml

  stable_check:
    duration: 0.1

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[stale]

This pull request has been automatically marked as stale because it has not had recent activity.

[tkhmy]

LGTM
Tested with following case

• vehicle engage during manual driving
• change from engage to manual driving and back to engage
• when vehicle is out of the lane, it will not engage

[isamu-takagi]

CI will pass after merging tier4/tier4_autoware_msgs#46.

[codecov]

Codecov Report

Base: 11.14% // Head: 11.09% // Decreases project coverage by -0.04% ⚠️

Coverage data is based on head (830faa0) compared to base (f07801d).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1535      +/-   ##
==========================================
- Coverage   11.14%   11.09%   -0.05%     
==========================================
  Files        1203     1207       +4     
  Lines       86261    86634     +373     
  Branches    20827    20879      +52     
==========================================
  Hits         9612     9612              
- Misses      66493    66861     +368     
- Partials    10156    10161       +5     

Flag	Coverage Δ		*Carryforward flag
differential	8.06% <0.00%> (?)
total	11.11% <0.00%> (ø)		Carriedforward from f07801d

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

Impacted Files	Coverage Δ
...tion_mode_transition_manager/src/compatibility.cpp	0.00% <0.00%> (ø)
...rol/operation_mode_transition_manager/src/data.cpp	0.00% <0.00%> (ø)
...rol/operation_mode_transition_manager/src/data.hpp	0.00% <0.00%> (ø)
...rol/operation_mode_transition_manager/src/node.cpp	0.00% <0.00%> (ø)
...ol/operation_mode_transition_manager/src/state.cpp	0.00% <0.00%> (ø)
...ol/operation_mode_transition_manager/src/state.hpp	0.00% <0.00%> (ø)
control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp	0.23% <0.00%> (-0.07%)	⬇️
control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp	0.00% <ø> (ø)
... and 1 more

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