feat(default_ad_api_helpers): support goal modification for rviz

[isamu-takagi]

Description

Add new goal pose topic with goal modification for rviz.

Related links

autowarefoundation/autoware#3406

Tests performed

Check allow_goal_modification value using /service_log topic.

• False by default
• True if change the rviz goal topic to /rviz/routing/rough_goal

Notes for reviewers

None

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[codecov]

Codecov Report

Patch coverage has no change and project coverage change: -0.01 ⚠️

Comparison is base (6b6fe15) 12.31% compared to head (df187e2) 12.31%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3370      +/-   ##
==========================================
- Coverage   12.31%   12.31%   -0.01%     
==========================================
  Files        1381     1381              
  Lines       96793    96801       +8     
  Branches    28020    28020              
==========================================
  Hits        11919    11919              
- Misses      72245    72253       +8     
  Partials    12629    12629              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	12.31% <ø> (+<0.01%)	⬆️	Carriedforward from 6b6fe15

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

Impacted Files	Coverage Δ
...pi_helpers/ad_api_adaptors/src/routing_adaptor.cpp	0.00% <0.00%> (ø)

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[kosuke55]

thanks! works fine!

allow_goal_modification-2023-04-12_22.33.18.mp4

[kosuke55]

@tkhmy @yabuta @kenji-miyake
Could you please check as a code owner?

[kenji-miyake]

@kosuke55 @isamu-takagi Could you explain some items?

• Why does the goal from RViz need to be rough?
• How does it behave when you give a rough goal from RViz?

I can approve this after they become clear and seem to be rational.

[kosuke55]

@kenji-miyake

• We are evolving pull_over to create a goal_planner
  • This module determines the goal position according to Autoware's decision when goal modification is allowed.
    • To avoid obstacles
    • Refine the goal according to a certain policy (e.g. right-align, left-align)
  • When the goal is not modified, it behaves as before.
    • Simply stop against the original goal by just lane following.

For above,

Why does the goal from RViz need to be rough?

• This is an option to allow goal modification and to trigger the goal_planner.
• The API to allow goal modification is provided, and here we create a means to call it from rviz.
• For now, we temporarily support just rough goal in rviz, but in the future there will be a panel of tools to manipulate various Route API from rviz.

How does it behave when you give a rough goal from RViz?

• It behaves by modifying the goal for avoiding obstacles, stopping at the lane edge, etc.

[kenji-miyake]

Looks cool with #3370 (comment).