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feat(path_generator): add path_generator package #138

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feat(path_generator): add path_generator package #138

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Description

This PR adds path_generator package, a simplified alternative of behavior_path_planner.

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How was this PR tested?

Psim on a lanelet2 map with waypoints

Screencast.from.2024.11.29.16.11.24.webm

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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github-actions bot commented Dec 23, 2024 •
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Thank you for contributing to the Autoware project!

🚧 If your pull request is in progress, switch it to draft mode.

Please ensure:

@takayuki5168 takayuki5168 self-assigned this Dec 23, 2024
@takayuki5168 takayuki5168 mentioned this pull request Jan 7, 2025
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youtalk
youtalk reviewed Jan 8, 2025
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Since it’s a porting task, I’m keeping the review to a minimum.

planning/autoware_path_generator/package.xml Outdated Show resolved Hide resolved
planning/autoware_path_generator/src/node.hpp Show resolved Hide resolved
planning/autoware_path_generator/src/node.hpp Show resolved Hide resolved
youtalk
youtalk approved these changes Jan 9, 2025
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Thank you for your revision. LGTM

@youtalk youtalk enabled auto-merge (squash) January 9, 2025 12:58
@kosuke55
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@takayuki5168
CI failed

updated cache in /github/home/.ros/rosdep/sources.cache
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
autoware_path_generator: Cannot locate rosdep definition for [tier4_planning_msgs]

can we use tier4 msgs in core?

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In principle, we cannot use tier4's msgs in autoware.core.
The CI failure is fine for now since the AWE team is working on porting some of tier4's msgs to autoware's msgs in parallel.

@youtalk youtalk disabled auto-merge January 14, 2025 06:03
youtalk
youtalk requested changes Jan 15, 2025
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PathWithLaneId has been ported. Please use it instead.
autowarefoundation/autoware_internal_msgs#42

youtalk
youtalk reviewed Jan 15, 2025
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planning/autoware_path_generator/package.xml Outdated
<depend>generate_parameter_library</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>tier4_planning_msgs</depend>
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Suggested change
<depend>tier4_planning_msgs</depend>
<depend>autoware_internal_planning_msgs</depend>

Please make the same changes to the other sections as well.

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The package uses autoware_trajectory internally, and it depends on tier4_planning_msgs::msg::PathPointWithLaneId. Should I ask the maintainer to migrate to autoware_internal_planning_msgs?

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@mitsudome-r It seems that the autoware_motion_utils and autoware_trajectory packages also need to be ported, but is any work being done on them somewhere?

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I found #171.

@youtalk youtalk mentioned this pull request Jan 15, 2025
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youtalk
youtalk reviewed Jan 23, 2025
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planning/autoware_path_generator/include/autoware/path_generator/utils.hpp Outdated

#include "autoware/path_generator/common_structs.hpp"

#include <tier4_planning_msgs/msg/path_with_lane_id.hpp>
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Suggested change
#include <tier4_planning_msgs/msg/path_with_lane_id.hpp>
#include <autoware_internal_planning_msgs/msg/path_with_lane_id.hpp>

planning/autoware_path_generator/include/autoware/path_generator/utils.hpp Outdated
Comment on lines 28 to 29
using tier4_planning_msgs::msg::PathPointWithLaneId;
using tier4_planning_msgs::msg::PathWithLaneId;
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Suggested change
using tier4_planning_msgs::msg::PathPointWithLaneId;
using tier4_planning_msgs::msg::PathWithLaneId;
using autoware_internal_planning_msgs::msg::PathPointWithLaneId;
using autoware_internal_planning_msgs::msg::PathWithLaneId;

planning/autoware_path_generator/package.xml Outdated
<depend>generate_parameter_library</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>tier4_planning_msgs</depend>
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@mitsudome-r It seems that the autoware_motion_utils and autoware_trajectory packages also need to be ported, but is any work being done on them somewhere?

planning/autoware_path_generator/package.xml Outdated
<depend>generate_parameter_library</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>tier4_planning_msgs</depend>
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I found #171.

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youtalk commented Jan 24, 2025

@mitukou1109 The autoware_internal_msgs and autoware_utils are now ready to use in this PR. Please revise it.

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mitukou1109 commented Jan 27, 2025 •
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It seems autoware_trajectory still does not support autoware_internal_planning_msgs::msg::PathWithLaneId, so the build won't pass.

mitukou1109 and others added 9 commits January 27, 2025 11:07
@mitukou1109
add path_generator package
06aed91 
Signed-off-by: mitukou1109 <[email protected]>
@mitukou1109
fix spell check error
9f22ac2 
Signed-off-by: mitukou1109 <[email protected]>
@mitukou1109
include necessary headers
e872c4f 
Signed-off-by: mitukou1109 <[email protected]>
@mitukou1109 @youtalk
change package version to 0.0.0
b8cb040 
Co-authored-by: Yutaka Kondo <[email protected]>
Signed-off-by: mitukou1109 <[email protected]>
@mitukou1109 @youtalk
fix include guard name
f4cac9a 
Co-authored-by: Yutaka Kondo <[email protected]>
Signed-off-by: mitukou1109 <[email protected]>
@mitukou1109 @youtalk
replace flowchart uml with pre-generated image
72161b6 
Co-authored-by: Yutaka Kondo <[email protected]>
Signed-off-by: mitukou1109 <[email protected]>
@pre-commit-ci @mitukou1109
style(pre-commit): autofix
5b1c426 
Signed-off-by: mitukou1109 <[email protected]>
@mitukou1109
replace tier4_planning_msgs with autoware_internal_planning_msgs
2be600e 
Signed-off-by: mitukou1109 <[email protected]>
@pre-commit-ci @mitukou1109
style(pre-commit): autofix
e5d8e89 
Signed-off-by: mitukou1109 <[email protected]>
@mitukou1109
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Plus, it needs #170 to be merged due to its dependence on autoware_vehicle_info_utils.

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