Add routing interface

[isamu-takagi]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

There are three use cases that require reroute. Reroute here means changing the route while driving. Unlike route setting, it is required to keep the nearby trajectory. This issue will manage and introduce them.

• Route change API
  • This is a route change that the application makes using the API. It is used when changing the destination while driving or when driving a divided loop route.
• Modified goal
  • This is a goal change to pull over, avoid parked vehicles, and so on by a planning component. If the modified goal is outside the calculated route, a reroute is required. See https://github.com/orgs/autowarefoundation/discussions/2983 for details.
• Emergency goal
  • This is the MRM that pulls over the road shoulder. It has to be stopped as soon as possible, so a reroute is required. See Add pull over as MRM behavior autoware.universe#3221 for details.

Purpose

Support reroute use cases.

Possible approaches

Add reroute logic to mission_planner node.

• Route change API
  • Add route change API.
• Modified goal
  • In the callback of the existing modified_goal topic, execute reroute if it is required.
  • Add the option to allow goal modification to the existing route set API.
• Emergency goal
  • Add interface to set and clear an MRM goal.

Definition of done

• Mission planner
  • Add reroute logic.
• Route change API
  • Add mission_planner interface for API.
    • feat(mission_planner): add reroute interface for api autoware.universe#3298
  • Add ADAPI and rviz adaptor.
    • feat: add description of goal modification autoware-documentation#348
    • feat(default_ad_api): add route change api autoware.universe#3197
    • feat(tier4_adapi_rviz_plugin): add route panel autoware.universe#3840
• Modified goal
  • Call reroute logic.
    • feat(mission_planner): move modified goal callback for reroute autoware.universe#3297
  • Add goal modification option
    • feat(autoware_adapi_v1_msgs): add routing option for goal modification autoware_adapi_msgs#30
• Emergency goal
  • Add mission_planner interface for MRM.
    • feat(mission_planner): add reroute interface for mrm autoware.universe#3299

[mitsudome-r]

Were there any reasons for providing different interfaces for "modify goal" and "Route Change API"?

[isamu-takagi]

Were there any reasons for providing different interfaces for "modify goal" and "Route Change API"?

@mitsudome-r
Mission planner manages normal route and emergency route. The "modify goal" is the internal interface of planning component for obstacle avoidance, etc, and it modifies goal of normal and emergency routes. The "route change API" and "emergency goal" switches route mode. When "emergency goal" is called, mission planner will be emergency mode and ignore "route change API".