refactor(autoware_auto_control_msgs): replace autoware_auto_control_msgs with autoware_control_msgs

[xmfcx]

Description

Closes: #3674

🤖 Generated by Copilot at 4fa17ed

This pull request replaces the use of AckermannControlCommand and AckermannLateralCommand messages from autoware_auto_control_msgs with the new generic Control and Lateral messages from autoware_control_msgs in various control modules and tools. This simplifies the control interface, avoids unnecessary conversions, and ensures compatibility with the latest control command definition. The changes affect the source code, header files, package dependencies, and documentation of the tier4_control_rviz_plugin, control_performance_analysis, joy_controller, mpc_lateral_controller, and autonomous_emergency_braking packages.

Related links

• Needs to be merged with:
  • refactor(autoware_auto_control_msgs): replace autoware_auto_control_msgs with autoware_control_msgs tier4/tier4_ad_api_adaptor#106
  • refactor(autoware_auto_control_msgs): replace autoware_auto_control_msgs with autoware_control_msgs tier4/pacmod_interface#61
  • refactor(autoware_auto_control_msgs): replace autoware_auto_control_msgs with autoware_control_msgs autoware_launch#353
• Simulator PRs:
  • refactor: use control_cmd_auto instead tier4/scenario_simulator_v2#1020
  • refactor: use control_cmd_auto instead tier4/AWSIM#152

Tests performed

• Compilation works and existing tests pass.
• Planning simulation demo works.

Notes for reviewers

• Because this is a very interconnected PR, I've had to make it all in a single PR.
• Needs to be merged with:
  • refactor(autoware_auto_control_msgs): replace autoware_auto_control_msgs with autoware_control_msgs tier4/tier4_ad_api_adaptor#106
  • refactor(autoware_auto_control_msgs): replace autoware_auto_control_msgs with autoware_control_msgs tier4/pacmod_interface#61
  • refactor(autoware_auto_control_msgs): replace autoware_auto_control_msgs with autoware_control_msgs autoware_launch#353

Interface changes

🤖 Generated by Copilot at 4fa17ed

• Replace autoware_auto_control_msgs with autoware_control_msgs to unify the control message interface across different controllers (link, link, link, link, link)
• Change the control command message type from AckermannControlCommand to Control and update the corresponding fields, namespaces, headers, publishers, subscribers, buffers, and functions in tier4_control_rviz_plugin, control_performance_analysis, and joy_controller (link, link, link, link, link, link, link, link, link, link, link, link, link, link, link, link, link, link, link, link, link, link, link, link, link, link, link)
• Change the lateral control command message type from AckermannLateralCommand to Lateral and update the corresponding fields, namespaces, headers, publishers, subscribers, buffers, and functions in mpc_lateral_controller (link, link, link, link, link, link, link, link, link, link, link)
• Update the README files for tier4_control_rviz_plugin, control_performance_analysis, joy_controller, and mpc_lateral_controller to reflect the new message types and fields for control command and lateral control (link, link, link, link)

Effects on system behavior

Shouldn't change the system behavior.

Fun

🤖 Generated by Copilot at 4fa17ed

Control replaces
AckermannControlCommand
Simpler interface

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[xmfcx]

Side tasks:

• Once this PR is merged, fix the filename of https://github.com/autowarefoundation/autoware.universe/blob/main/system/mrm_emergency_stop_operator/READEME.md
• https://github.com/autowarefoundation/autoware.universe/tree/7024f655a307d084c3ba55a3d0b2cd9fb80172c2/system/emergency_handler#purpose (from from)

Remarks:

• It wasn't being used in planning_test_utils, so I've removed its references.

[codecov]

Codecov Report

Patch coverage: 26.77% and no project coverage change.

Comparison is base (c9280db) 15.23% compared to head (be36eb1) 15.23%.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #3677   +/-   ##
=======================================
  Coverage   15.23%   15.23%           
=======================================
  Files        1468     1468           
  Lines      101783   101785    +2     
  Branches    31405    31405           
=======================================
+ Hits        15503    15507    +4     
+ Misses      69417    69416    -1     
+ Partials    16863    16862    -1     

Flag	Coverage Δ		*Carryforward flag
differential	18.34% <26.77%> (?)
total	15.21% <ø> (-0.02%)	⬇️	Carriedforward from c9280db

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

Impacted Files	Coverage Δ
...ontrol_rviz_plugin/src/tools/manual_controller.cpp	0.00% <0.00%> (ø)
...analysis/src/control_performance_analysis_core.cpp	0.00% <0.00%> (ø)
...analysis/src/control_performance_analysis_node.cpp	0.00% <0.00%> (ø)
...troller/src/joy_controller/joy_controller_node.cpp	0.00% <0.00%> (ø)
..._controller/include/mpc_lateral_controller/mpc.hpp	63.15% <ø> (ø)
.../mpc_lateral_controller/mpc_lateral_controller.hpp	66.66% <ø> (ø)
...lude/mpc_lateral_controller/steering_predictor.hpp	100.00% <ø> (ø)
control/mpc_lateral_controller/src/mpc.cpp	49.86% <ø> (ø)
.../mpc_lateral_controller/src/steering_predictor.cpp	52.27% <ø> (ø)
control/mpc_lateral_controller/test/test_mpc.cpp	51.31% <ø> (ø)
... and 27 more

... and 1 file with indirect coverage changes

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[xmfcx]

Needs to be merged at the same time with

• refactor(autoware_auto_control_msgs): replace autoware_auto_control_msgs with autoware_control_msgs tier4/tier4_ad_api_adaptor#106
• refactor(autoware_auto_control_msgs): replace autoware_auto_control_msgs with autoware_control_msgs tier4/pacmod_interface#61
  for entire autoware to compile.

[xmfcx]

Tested with the Planning simulation demo and it works fine.

[xmfcx]

I have had to squash and re-base while fixing the conflicts with the 8fcac0e

Compiled and tested with the planning simulator again to make sure it works.

[xmfcx]

It'd be great if we can merge these as soon as possible to avoid potential future merge conflict errors.

[takayuki5168]

@xmfcx pre-commit failed.
@TakaHoribe Could you review the PR.

[TakaHoribe]

@xmfcx Thank you!!! It looks good, but I thought the output of the trajectory_follower would be the ControlHolizon msg.
I don’t think we have to discuss right now though.

If you don’t have a large concern, I’d like to merge this PR.

[xmfcx]

@xmfcx Thank you!!! It looks good, but I thought the output of the trajectory_follower would be the ControlHorizon msg. I don’t think we have to discuss right now though.

If you don’t have a large concern, I’d like to merge this PR.

Thanks for reviewing, for now, I've just refactored and made minimal changes to just adapt the existing code.

To use the new messages, we can open up new PRs over this.

I am waiting for @mitsudome-r to ask the web.auto team to confirm if these changes won't break anything there.

But I think @isamu-takagi can confirm too, since he is working on the ad_api tasks.

[xmfcx]

@xmfcx pre-commit failed. @TakaHoribe Could you review the PR.

@takayuki5168 I've added the missing header, now it should be fine:

• df9ec97

[takayuki5168]

@xmfcx @TakaHoribe
I found that If we merge this PR now, the scenario simulator will not work well with the latest autoware.universe, which I think is critical.
Don't you apply the same change to the scenario simulator as well?
https://github.com/tier4/scenario_simulator_v2

[xmfcx]

I found that If we merge this PR now, the scenario simulator will not work well with the latest autoware.universe, which I think is critical. Don't you apply the same change to the scenario simulator as well? https://github.com/tier4/scenario_simulator_v2

@takayuki5168 Thanks for noticing, I've just talked to @mitsudome-r about this, he mentioned https://github.com/tier4/scenario_simulator_v2 and AWSIM both won't work. He will talk to internal team to find a resolution.

I will create a branch on scenario simulator to perform refactoring anyways.
Same with AWSIM.

[xmfcx]

We can merge this once the following issue is resolved:

• Create a messages_adapter package #3845

Please feel free to add your comments on the issue.

[xmfcx]

Confirmed that planning simulator works with all the PRs combined.

[xmfcx]

All of the PRs are finished, please review them.

Needs to be tested/merged at the same time with

• refactor(autoware_auto_control_msgs): replace autoware_auto_control_msgs with autoware_control_msgs tier4/tier4_ad_api_adaptor#106
• refactor(autoware_auto_control_msgs): replace autoware_auto_control_msgs with autoware_control_msgs tier4/pacmod_interface#61
• refactor(autoware_auto_control_msgs): replace autoware_auto_control_msgs with autoware_control_msgs autoware_launch#353
  for entire Autoware to compile and function.

To test the simulators, need to be in following branches:

• refactor: use control_cmd_auto instead tier4/scenario_simulator_v2#1020
• refactor: use control_cmd_auto instead tier4/AWSIM#152

[stale]

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

[xmfcx]

I'm closing all of my message migration issues and PRs.