feat(rtc_auto_mode_manager): add rtc_auto_mode_manager and fix auto mode behavior

[rej55]

Signed-off-by: Fumiya Watanabe [email protected]

Description

RTC Auto Approver had a problem that behavior velocity planning module inserts stop line for a moment because RTC Auto Approver sends a command after receiving RTC status from the planning module.

To solve this problem, I add the function to approve automatically to rtc_interface.
Furthermore, I removed approving function from RTC Auto Approver.
So, RTC Auto Approver just has the function to set default value to enable auto mode.
To clarify the function, I rename RTC Auto Approver to RTC Auto Mode Manager.

The behavior of auto mode is changed as following:

• If it receives cooperate_commands when auto mode is enabled
  • It plans following received cooperate_commands and turns off the auto mode
  • This behavior is just applied to the target that has same UUID

Related links

Tests performed

Tested in planning simulator.

2022-09-13-10-59-03.mp4

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[codecov]

Codecov Report

Base: 10.33% // Head: 10.10% // Decreases project coverage by -0.23% ⚠️

Coverage data is based on head (e67d3cd) compared to base (b402b2c).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1541      +/-   ##
==========================================
- Coverage   10.33%   10.10%   -0.24%     
==========================================
  Files        1152     1221      +69     
  Lines       76248    90492   +14244     
  Branches    18750    22813    +4063     
==========================================
+ Hits         7883     9145    +1262     
- Misses      59453    71683   +12230     
- Partials     8912     9664     +752     

Flag	Coverage Δ		*Carryforward flag
differential	2.73% <0.00%> (?)
total	10.38% <0.00%> (+0.04%)	⬆️	Carriedforward from de01710

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

Impacted Files	Coverage Δ
common/motion_utils/src/resample/resample.cpp	32.08% <0.00%> (+0.85%)	⬆️
...havior_path_planner/behavior_path_planner_node.hpp	0.00% <ø> (ø)
...or_path_planner/src/behavior_path_planner_node.cpp	0.32% <0.00%> (+0.32%)	⬆️
...include/behavior_velocity_planner/planner_data.hpp	0.00% <ø> (ø)
...y_planner/include/utilization/trajectory_utils.hpp	0.00% <0.00%> (ø)
planning/behavior_velocity_planner/src/node.cpp	0.57% <0.00%> (+0.57%)	⬆️
...ty_planner/src/scene_module/blind_spot/manager.cpp	0.00% <0.00%> (ø)
...ity_planner/src/scene_module/crosswalk/manager.cpp	0.00% <0.00%> (ø)
...ner/src/scene_module/crosswalk/scene_crosswalk.cpp	0.00% <0.00%> (ø)
...lanner/src/scene_module/detection_area/manager.cpp	0.00% <0.00%> (ø)
... and 883 more

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[yukkysaito]

This may not be relevant, but I was wondering about the stop line.

[rej55]

I can't reproduce it 🤔

[taikitanaka3]

@yukkysaito
can you tell me commit hash? if your branch is old then occlusion spot could have inserted stop line
#1541 (comment)

[taikitanaka3]

@rej55
I think this additional change is necessary to launch with awf:autoware.universe

[rej55]

@taikitanaka3
Thank you. I fixed it in 4ad3851

[yukkysaito]

I can't reproduce it

can you tell me commit hash? if your branch is old then occlusion spot could have inserted stop line

@rej55 @taikitanaka3 It is the screenshot of movie in PR description. So I don't know about hash

[rej55]

Ok, I see.
This video is the old version of autoware.universe.
I'll update the video in the description.

[taikitanaka3]

@yukkysaito
it's fixed by this PR
actually this is refactoring but this PR could solve insert.zero velocity problem which was caused by occlusion spot own inserting point at edge case
#1615

[taikitanaka3]

@satoshi-ota
Can you test crosswalk for this PR ?
I have tested with awf: autoware_launch but only yield is generated and there is stop behavior for crosswalk
https://user-images.githubusercontent.com/65527974/189782931-0708cb9d-ce92-4ca4-8805-8c8da56374a5.mp4

[taikitanaka3]

LGTM

[rej55]

@TakaHoribe
Could you approve this change?