feat(simple_planning_simulator): add control_mode server

[TakaHoribe]

Description

• Add server for control_mode_request.srv.
• Add Auto/Manual mode handling
• Add manual control command subscriber
• Add getGear() function in vehicle_model

Related links

Tests performed

Run planning_simulator.launch

How to test:

0. merge message PR: feat(tier4_vehicle_msgs): add new msgs for engage-on-driving tier4/tier4_autoware_msgs#36
1. run planning_simulator
2. run the vehicle in autonomous mode
3. publish manual control topics like below:

ros2 topic pub /simulation/input/manual_ackermann_control_command autoware_auto_control_msgs/msg/AckermannControlCommand "{}" -r 10

ros2 topic pub /simulation/input/manual_gear_command autoware_auto_vehicle_msgs/msg/GearCommand "{command: 2}" -r 10

4. call ControlMdeRequest service to change Manual as below:

ros2 service call /simulation/control_mode_request tier4_vehicle_msgs/srv/ControlModeRequest "{mode: {data: 2}}"

5. See the vehicle motion is overrode by the manual command.

Notes for reviewers

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.
• The PR has been properly tested.
• The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.
• The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.

[TakaHoribe]

cc. @yamacir-kit

[yukkysaito]

Good
Just comment.

• update readme
• pass CI

[TakaHoribe]

@yukkysaito thanks. The CI failure is due to the lack of the required messages. Need to merge the message first.

[yukkysaito]

LGTM

[codecov]

Codecov Report

Merging #1061 (4683515) into main (ce6ccec) will increase coverage by 0.11%.
The diff coverage is 40.42%.

@@           Coverage Diff            @@
##            main   #1061      +/-   ##
========================================
+ Coverage   9.59%   9.70%   +0.11%     
========================================
  Files       1045    1045              
  Lines      71821   71945     +124     
  Branches   15590   15681      +91     
========================================
+ Hits        6889    6985      +96     
+ Misses     58693   58686       -7     
- Partials    6239    6274      +35     

Flag	Coverage Δ		*Carryforward flag
differential	56.90% <31.42%> (?)
total	9.57% <38.46%> (ø)		Carriedforward from aff04ea

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

Impacted Files	Coverage Δ
...nning_simulator/simple_planning_simulator_core.hpp	76.92% <ø> (-0.86%)	⬇️
...ulator/vehicle_model/sim_model_delay_steer_acc.hpp	100.00% <ø> (ø)
...vehicle_model/sim_model_delay_steer_acc_geared.hpp	100.00% <ø> (ø)
...ulator/vehicle_model/sim_model_ideal_steer_acc.hpp	100.00% <ø> (ø)
...vehicle_model/sim_model_ideal_steer_acc_geared.hpp	100.00% <ø> (ø)
...ulator/vehicle_model/sim_model_ideal_steer_vel.hpp	100.00% <ø> (ø)
...nning_simulator/simple_planning_simulator_core.cpp	49.03% <37.77%> (+7.76%)	⬆️
...ng_simulator/vehicle_model/sim_model_interface.hpp	75.00% <100.00%> (+8.33%)	⬆️
...ng_simulator/vehicle_model/sim_model_interface.cpp	50.00% <100.00%> (+2.63%)	⬆️
... and 3 more

---

Continue to review full report at Codecov.

Legend - Click here to learn more
Δ = absolute <relative> (impact), ø = not affected, ? = missing data
Powered by Codecov. Last update ce6ccec...4683515. Read the comment docs.