feat(autoware_gnss_poser): porting from universe to core

[liuXinGangChina]

Description

We are porting autoware_gnss_poser to autoware.core, and this PR add the package to core

Related links

Parent Issue:

• Link Port ' autoware_gnss_poser ' from Autoware Universe to Autoware Core #142
• pr to remove package from universe repo feat(autoware_gnss_poser): porting from universe to core autoware.universe#9909

How was this PR tested?

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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[liuXinGangChina]

hi mits san @mitsudome-r

gnss-poser need autoware_component_interface_utils to work but "autoware_component_interface_utils" is marked "not ported"

for now the "build-and-test-differential / build-and-test-differential" has raised "autoware_component_interface_utils not found"

what shall we do to deal with this one?

Best regards

心刚

[xmfcx]

Let's use the standard rclcpp::Subscription here instead of the autoware_component_interface_utils for now.

[liuXinGangChina]

Let's use the standard rclcpp::Subscription here instead of the autoware_component_interface_utils for now.

already remove dependency to autoware_component_interface_utils using standard ros2::rclcpp
I get new issue "not found interface_spec" due to the pakcage is under universe repo

But i got successeful compile result locally with the intact autoware repo

So it need manually merging @mitsudome-r

Best regards

心刚

[xmfcx]

Suggested change

<depend>autoware_component_interface_specs</depend>

Please remove this line too to avoid that error.

[liuXinGangChina]

Thanks for your review , Fatih san @xmfcx

I go through the code again, gnss_poser do need "autoware_component_interface_specs" to compile

Actually gnss_poser just need the map_projector message under autoware_component_interface_specs,
In that case, I plan to replace all the "autoware_component_interface_specs" dependency with "core/autoware_msgs/autoware_map_msgs/msg/MapProjectorInfo.msg" which is already under core repo.

What do you think of this solution

Best regards

心刚

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 212 lines in your changes missing coverage. Please review.

Project coverage is 37.53%. Comparing base (4cb18f5) to head (110151f).
Report is 12 commits behind head on main.

Files with missing lines	Patch %	Lines
...ensing/autoware_gnss_poser/src/gnss_poser_node.cpp	0.00%	212 Missing ⚠️

Additional details and impacted files

@@             Coverage Diff             @@
##             main     #166       +/-   ##
===========================================
- Coverage   78.75%   37.53%   -41.23%     
===========================================
  Files          11       12        +1     
  Lines         193      405      +212     
  Branches       73       85       +12     
===========================================
  Hits          152      152               
- Misses         11      223      +212     
  Partials       30       30               

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	78.75% <ø> (ø)		Carriedforward from 4cb18f5

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

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[liuXinGangChina]

hi Fatih san @xmfcx

There is a clang-tidy error in the ci pipeline , i don't have clue about it. Do you know what cause this error or where can i find the reason?

Sorry to bother since it is still dawn in your time zone.

Thanks

心刚

[xmfcx]

Suggested change

#define private public

This is a very dangerous define, hiding private keyword as public. I've checked the original code too, in Universe, we don't have this test file.

To access private members from the tests, you can make use of FRIEND_TEST macro from google test library.

To find out why clang-tidy fails, you can download the artifact and open up the report.log and fixes.yaml.

clang-tidy-14 --use-color -export-fixes /tmp/tmp1wz5szdv/tmpv7njyvnj.yaml -p=build/ /__w/autoware.core/autoware.core/sensing/autoware_gnss_poser/test/test_gnss_poser_node.cpp
�[1m/__w/autoware.core/autoware.core/sensing/autoware_gnss_poser/test/test_gnss_poser_node.cpp:22:9: �[0m�[0;1;31merror: �[0m�[1mkeyword is hidden by macro definition [clang-diagnostic-keyword-macro]�[0m
#define private public
�[0;1;32m        ^

Sorry to bother since it is still dawn in your time zone.

No worries at all, I have "Do not disturb" mode on my phone for this, you can ping me anytime.

I'm very sorry for responding late.

[liuXinGangChina]

Thanks Fatih san , it helps a lot

[mitsudome-r]

autowarefoundation/autoware.universe#9909 (comment)