feat: create autoware_auto_msgs_adapter node

[xmfcx]

Description

Closes: #3845

Tests performed

Fill here.

Effects on system behavior

It will do:

• subscribe to a message
• convert the message
• publish the converted message

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[codecov]

Codecov Report

Patch coverage: 50.00% and project coverage change: +0.03 🎉

Comparison is base (07f8de7) 14.45% compared to head (9e4e50d) 14.48%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3876      +/-   ##
==========================================
+ Coverage   14.45%   14.48%   +0.03%     
==========================================
  Files        1456     1461       +5     
  Lines      102537   102639     +102     
  Branches    29652    29704      +52     
==========================================
+ Hits        14819    14870      +51     
- Misses      71567    71568       +1     
- Partials    16151    16201      +50     

Flag	Coverage Δ		*Carryforward flag
differential	50.00% <50.00%> (?)
total	14.45% <ø> (ø)		Carriedforward from 361dea5

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

Impacted Files	Coverage Δ
...dapter/test/test_msg_ackermann_control_command.cpp	33.33% <33.33%> (ø)
...gs_adapter/src/autoware_auto_msgs_adapter_core.cpp	47.82% <47.82%> (ø)
...s_adapter/test/test_autoware_auto_msgs_adapter.cpp	66.66% <66.66%> (ø)
...are_auto_msgs_adapter/src/include/adapter_base.hpp	75.00% <75.00%> (ø)
..._auto_msgs_adapter/src/include/adapter_control.hpp	92.85% <92.85%> (ø)

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[xmfcx]

@isamu-takagi I've created the first functioning prototype for this node. I have also added an integration test for this too.

I'm open to any suggestions on this node.

Could you please review?

After your first review, I will also add documentation to show how it works too.

I've made it to be extensible like we discussed.

[isamu-takagi]

I don't think Interface is needed for a pointer name.

[xmfcx]

The reason was to be able to differentiate with the shared pointer from the class and the base class.

This functionality is not used, so it makes sense to remove it for this case. (Done in: a4e98e0 )

But if it was used, would it makes sense to either:

• give it a different name like I did
• OR somehow cast it to the base or derived class' pointer in the places it is used?

[isamu-takagi]

Oh, I didn't notice that. I'll look into type alias for derived classes.

[yukkysaito]

Thanks for the very good PR.

When we move from autoware_auto_msgs to autoware_msgs, I think we will need this adaptor not only in simulation but also in real machine. So I think it would be better to put it in the control directory instead of the simulation directory.

[xmfcx]

Thanks for the very good PR.

When we move from autoware_auto_msgs to autoware_msgs, I think we will need this adaptor not only in simulation but also in real machine. So I think it would be better to put it in the control directory instead of the simulation directory.

@yukkysaito thanks! I moved it to system directory instead: 4ba25b3

Reason is, this is not related to control only, it will probably adapt more message types from other components too.

I had 3 options:

• common (they are mostly libraries)
• system (default_ad_api is here too, picked this)
• tools (felt like, this folder is not intended for tools that run in real time)

What do you think?

[yukkysaito]

@yukkysaito thanks! I moved it to system directory instead: 4ba25b3
Reason is, this is not related to control only, it will probably adapt more message types from other components too.

@xmfcx
Thank you! It looks good.

[isamu-takagi]

LGTM.