refactor(mission_planner): node refactoring #1940

takayuki5168 · 2022-09-22T15:50:37Z

Signed-off-by: Takayuki Murooka takayuki5168@gmail.com

Description

rename files
use /localization/kinematic_state for the ego pose source
small refactoring

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Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

codecov · 2022-09-22T16:19:46Z

Codecov Report

Base: 10.44% // Head: 10.41% // Decreases project coverage by -0.02% ⚠️

Coverage data is based on head (32bf052) compared to base (93cc9bd).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1940      +/-   ##
==========================================
- Coverage   10.44%   10.41%   -0.03%     
==========================================
  Files        1233     1237       +4     
  Lines       88034    88266     +232     
  Branches    20501    20501              
==========================================
  Hits         9197     9197              
- Misses      69328    69560     +232     
  Partials     9509     9509

Flag	Coverage Δ		*Carryforward flag
differential	`0.00% <0.00%> (?)`
total	`10.43% <ø> (ø)`		Carriedforward from 2533b3c

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

Impacted Files	Coverage Δ
...nning/mission_planner/src/goal_pose_visualizer.cpp	`0.00% <ø> (ø)`
.../mission_planner/src/mission_planner_interface.cpp	`0.00% <0.00%> (ø)`
...g/mission_planner/src/mission_planner_lanelet2.cpp	`0.00% <0.00%> (ø)`
planning/mission_planner/src/utility_functions.cpp	`0.00% <ø> (ø)`

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takayuki5168 · 2022-09-22T16:34:14Z

@mitsudome-r @TakaHoribe Could you review this.

The reason to add check_points_, which is a member variable, to plan_route, which is a member function, is that we want to call plan_route function externally with mission_planner as a library (#1942)

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

TakaHoribe

It works well

takayuki5168 · 2022-09-23T11:33:07Z

Thank you for your validation with psim.

I'll wait for @mitsudome-r 's approval and merge.

takayuki5168 · 2022-09-26T06:31:29Z

@mitsudome-r kindly ping. Just approval is fine.

@TakaHoribe I think it's better that you or I or both become a code ower of the mission_planner package. What do you think?

mitsudome-r

Thanks for the PR.
I had one small question regarding the following change. Please check my review comment.

use /localization/kinematic_state for the ego pose source

planning/mission_planner/src/mission_planner_interface.cpp

…on#1940)" This reverts commit d75ea6e.

* refactor(mission_planner): node refactoring Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * organize files and directories Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * refactor Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* feat(mission_planner): support ad api Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix: build error Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix: error message Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix: plugin name Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * docs: update readme Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * feat(autoware_ad_api_msgs): define routing interface Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * feat: rename route body message Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * feat: apply message change Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix: copyright Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix: minimize diff Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix: style Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix: fix routing adaptor node name in launch file Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix: style Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * feat: change message type Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * feat: change message type Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix: fix class Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * feat: remove unused function Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * feat: change message type Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix: fix build error Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix: ignore cpplint false positive Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix: fix status copy Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Revert "refactor(mission_planner): node refactoring (#1940)" This reverts commit d75ea6e. * feat: use kinematic state Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix: const Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix: init and var name Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* feat(mission_planner): support ad api Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix: build error Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix: error message Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix: plugin name Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * docs: update readme Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * feat(autoware_ad_api_msgs): define routing interface Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * feat: rename route body message Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * feat: apply message change Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix: copyright Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix: minimize diff Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix: style Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix: fix routing adaptor node name in launch file Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix: style Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * feat: change message type Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * feat: change message type Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix: fix class Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * feat: remove unused function Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * feat: change message type Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix: fix build error Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix: ignore cpplint false positive Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix: fix status copy Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Revert "refactor(mission_planner): node refactoring (autowarefoundation#1940)" This reverts commit d75ea6e. * feat: use kinematic state Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix: const Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * fix: init and var name Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* refactor(mission_planner): node refactoring Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * organize files and directories Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * refactor Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

refactor(mission_planner): node refactoring

7b5c9aa

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

takayuki5168 force-pushed the refactor/mission-planner branch from 7e22ce4 to 7b5c9aa Compare September 22, 2022 15:54

organize files and directories

2533b3c

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

takayuki5168 requested a review from TakaHoribe September 22, 2022 16:32

takayuki5168 marked this pull request as ready for review September 22, 2022 16:32

takayuki5168 requested a review from mitsudome-r as a code owner September 22, 2022 16:32

refactor

32bf052

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

TakaHoribe approved these changes Sep 23, 2022

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mitsudome-r reviewed Sep 29, 2022

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planning/mission_planner/src/mission_planner_interface.cpp Show resolved Hide resolved

mitsudome-r enabled auto-merge (squash) September 29, 2022 08:07

mitsudome-r approved these changes Sep 29, 2022

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mitsudome-r merged commit d75ea6e into autowarefoundation:main Sep 29, 2022

mitsudome-r deleted the refactor/mission-planner branch September 29, 2022 08:08

tier4-autoware-public-bot bot mentioned this pull request Sep 30, 2022

chore: sync upstream tier4/autoware.universe#140

Merged

isamu-takagi added a commit to isamu-takagi/autoware.universe that referenced this pull request Sep 30, 2022

Revert "refactor(mission_planner): node refactoring (autowarefoundati…

c911472

…on#1940)" This reverts commit d75ea6e.

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refactor(mission_planner): node refactoring #1940

refactor(mission_planner): node refactoring #1940

takayuki5168 commented Sep 22, 2022 •

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refactor(mission_planner): node refactoring #1940

refactor(mission_planner): node refactoring #1940

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takayuki5168 commented Sep 22, 2022 • edited by TakaHoribe Loading

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takayuki5168 commented Sep 22, 2022 •

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