feat(default_ad_api): add operation mode api

[isamu-takagi]

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

Description

This is an implementation of operation mode API. For details, see the discussion page.

Related links

#1535
#1586
tier4/tier4_autoware_msgs#46

Tests performed

1. Launch the planning_simulator.launch.xml, initialize pose and set route.
2. Call change_to_autonomous service, and check if the vehicle starts.
3. Call change_to_stop service, and check if the vehicle stops.
4. Call change_to_local and change_to_remote services, and check if gate_mode and selector_mode are changed (AutowareStatePanel is useful).

Notes for reviewers

Commands
ros2 service call /api/operation_mode/change_to_stop autoware_adapi_v1_msgs/srv/ChangeOperationMode
ros2 service call /api/operation_mode/change_to_autonomous autoware_adapi_v1_msgs/srv/ChangeOperationMode
ros2 service call /api/operation_mode/change_to_local autoware_adapi_v1_msgs/srv/ChangeOperationMode
ros2 service call /api/operation_mode/change_to_remote autoware_adapi_v1_msgs/srv/ChangeOperationMode

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[codecov]

Codecov Report

Base: 11.09% // Head: 11.14% // Increases project coverage by +0.04% 🎉

Coverage data is based on head (4064b33) compared to base (a40d23e).
Patch coverage: 24.09% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1569      +/-   ##
==========================================
+ Coverage   11.09%   11.14%   +0.04%     
==========================================
  Files        1213     1205       -8     
  Lines       86618    86380     -238     
  Branches    20787    20866      +79     
==========================================
+ Hits         9612     9626      +14     
+ Misses      66847    66571     -276     
- Partials    10159    10183      +24     

Flag	Coverage Δ		*Carryforward flag
differential	17.25% <24.09%> (?)
total	11.10% <ø> (+0.03%)	⬆️	Carriedforward from 0afa8ad

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

Impacted Files	Coverage Δ
system/default_ad_api/src/operation_mode.cpp	24.09% <24.09%> (ø)
...vehicle_model/sim_model_ideal_steer_acc_geared.cpp	73.58% <0.00%> (-9.44%)	⬇️
...planning_evaluator/src/planning_evaluator_node.cpp	37.11% <0.00%> (-1.04%)	⬇️
control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp	0.00% <0.00%> (ø)
planning/motion_velocity_smoother/src/resample.cpp	0.00% <0.00%> (ø)
...rol/operation_mode_transition_manager/src/data.cpp	0.00% <0.00%> (ø)
...ol/operation_mode_transition_manager/src/state.cpp	0.00% <0.00%> (ø)
.../pointcloud_preprocessor/src/utility/utilities.cpp	0.00% <0.00%> (ø)
...ehavior_path_planner/src/behavior_tree_manager.cpp	0.00% <0.00%> (ø)
...n_velocity_smoother/src/smoother/smoother_base.cpp	0.00% <0.00%> (ø)
... and 45 more

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[tkhmy]

@isamu-takagi cc: @yabuta
Here are several commend for this PR

1. I think the /api/operation_mode/state should be change to publish in 10Hz, as now it only publish when it receive mode change. This might cause the data loss if the connection is not stable, so I think is better to publish it in a constant frequency.
2. The tools will required to base on the mode and choose the mode change, but currently I cannot get the mode in the initial, so the tools cannot know what is the current mode and cannot call the correct service.
3. is_autonomous_mode_available is always false, cannot change to auto mode

[isamu-takagi]

@tkhmy Thank you for the comments.

1. AD API avoid periodically publishing topics because it increases the amount of communication. The data loss should be guaranteed by DDS QoS.
2. Since the initial state depends on the vehicle interface, the application need to wait until the first state
3. Will it be true if you set initial pose and route?

[tkhmy]

@tkhmy Thank you for the comments.

1. AD API avoid periodically publishing topics because it increases the amount of communication. The data loss should be guaranteed by DDS QoS.
2. Since the initial state depends on the vehicle interface, the application need to wait until the first state
3. Will it be true if you set initial pose and route?

1. I think if AD API do not plan to periodically publish topic, it should be change to services instead of topic, because the app will not able to get the data is the change occur before the app launch.
2. Which part will trigger the first state? As some of the application will need to use the api to trigger the mode change, currently in psim, we will not able to get any info.
3. It still false even I set the initial pose and route

[isamu-takagi]

I think if AD API do not plan to periodically publish topic, it should be change to services instead of topic, because the app will not able to get the data is the change occur before the app launch.

QoS of this topic is reliable/transient_local, so the application can read the message even if it is started later.

2. Which part will trigger the first state? As some of the application will need to use the api to trigger the mode change, currently in psim, we will not able to get any info.

The state needed to set the initial pose.

3. It still false even I set the initial pose and route

tier4/autoware_launch#561

[tkhmy]

LGTM
Tested the new api

[yabuta]

LGTM