feat(tier4_adapi_rviz_plugin): add adapi rviz plugin

common/tier4_adapi_rviz_plugin/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.14)
+project(tier4_adapi_rviz_plugin)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+find_package(Qt5 REQUIRED Core Widgets)
+set(QT_LIBRARIES Qt5::Widgets)
+set(CMAKE_AUTOMOC ON)
+set(CMAKE_INCLUDE_CURRENT_DIR ON)
+add_definitions(-DQT_NO_KEYWORDS)
+
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/route_tool.cpp
+)
+
+target_link_libraries(${PROJECT_NAME}
+  ${QT_LIBRARIES}
+)
+
+pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml)
+
+ament_auto_package(INSTALL_TO_SHARE icons)

common/tier4_adapi_rviz_plugin/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>tier4_adapi_rviz_plugin</name>
+  <version>0.0.0</version>
+  <description>The autoware adapi rviz plugin package</description>
+  <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
+  <maintainer email="hiroki.ota@tier4.jp">Hiroki OTA</maintainer>
+  <maintainer email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <build_depend>autoware_cmake</build_depend>
+
+  <depend>libqt5-core</depend>
+  <depend>libqt5-gui</depend>
+  <depend>libqt5-widgets</depend>
+  <depend>rclcpp</depend>
+  <depend>rviz_common</depend>
+  <depend>rviz_default_plugins</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+    <rviz plugin="${prefix}/plugins/plugin_description.xml"/>
+  </export>
+</package>

common/tier4_adapi_rviz_plugin/plugins/plugin_description.xml

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+<library path="tier4_adapi_rviz_plugin">
+
+  <class type="tier4_adapi_rviz_plugins::RouteTool" base_class_type="rviz_common::Tool">
+    <description>RouteTool</description>
+  </class>
+
+</library>

common/tier4_adapi_rviz_plugin/src/route_tool.cpp

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+//
+//  Copyright 2020 TIER IV, Inc. All rights reserved.
+//
+//  Licensed under the Apache License, Version 2.0 (the "License");
+//  you may not use this file except in compliance with the License.
+//  You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+//  Unless required by applicable law or agreed to in writing, software
+//  distributed under the License is distributed on an "AS IS" BASIS,
+//  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+//  See the License for the specific language governing permissions and
+//  limitations under the License.
+//
+
+#include "route_tool.hpp"
+
+namespace tier4_adapi_rviz_plugins
+{
+
+RouteTool::RouteTool()
+{
+  shortcut_key_ = 'r';
+}
+
+void RouteTool::onInitialize()
+{
+  GoalTool::onInitialize();
+  setName("Rough Goal");
+}
+
+}  // namespace tier4_adapi_rviz_plugins
+
+#include <pluginlib/class_list_macros.hpp>
+PLUGINLIB_EXPORT_CLASS(tier4_adapi_rviz_plugins::RouteTool, rviz_common::Tool)

common/tier4_adapi_rviz_plugin/src/route_tool.hpp

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+//
+//  Copyright 2020 TIER IV, Inc. All rights reserved.
+//
+//  Licensed under the Apache License, Version 2.0 (the "License");
+//  you may not use this file except in compliance with the License.
+//  You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+//  Unless required by applicable law or agreed to in writing, software
+//  distributed under the License is distributed on an "AS IS" BASIS,
+//  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+//  See the License for the specific language governing permissions and
+//  limitations under the License.
+//
+
+#ifndef ROUTE_TOOL_HPP_
+#define ROUTE_TOOL_HPP_
+
+#include <rviz_default_plugins/tools/goal_pose/goal_tool.hpp>
+
+namespace tier4_adapi_rviz_plugins
+{
+
+class RouteTool : public rviz_default_plugins::tools::GoalTool
+{
+  Q_OBJECT
+
+public:
+  RouteTool();
+  void onInitialize() override;
+};
+
+}  // namespace tier4_adapi_rviz_plugins
+
+#endif  // ROUTE_TOOL_HPP_