feat: add vehicle status api

[tkhmy]

Description

• add vehicle status api
• add publish mgrs_grip topic in the map_loader -> move to feat(map_loader): add publish map projector info #3200
• This PR contains 4 api
  • /api/vehicle/kinematics
  • /api/vehicle/status
    ~~ - /api/vehicle/door ~~

Related links

• Create api for vehicle status autoware#3232
• feat(autoware_adapi_v1_msgs): add vehicle status msgs autoware_adapi_msgs#24
• feat(design): add vehicle status api autoware-documentation#312

Tests performed

• makesure all those api output the correct data

1. /api/vehicle/kinematic

   • geographic_pose
     • use a map that contain correct MGRS or UTM
     • check whether the latitude and longitude output correctly
     • the altitude should be the same as the pose z value
   • make sure the following have the correct output with the related topic
     • pose = /localization/kinematic_state ->pose
     • twist = /localization/kinematic_state ->twist
     • accel = /localization/acceleration -> accel

2. /api/vehicle/state

   • make sure the following have the correct output with the related topic
     • steering_tire_angle = /vehicle/status/steering_status ->steering_tire_angle
     • gear = /vehicle/status/gear_status ->report
     • turn_indicator = /vehicle/status/turn_indicators_status` -> report
     • hazard_light = /vehicle/status/hazard_lights_status` -> report
     • energy_level = /vehicle/status/battery_charge -> energy_level
       • can be test by using following command

       ros2 topic pub /vehicle/status/battery_charge tier4_vehicle_msgs/msg/BatteryStatus energy_level:\ 20

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[tkhmy]

@isamu-takagi @KYabuuchi
Do you think is better to separate the map_loader publish mgrs_grid function into another PR?

[KYabuuchi]

@tkhmy Since those functions will be reviewed by different people, it would be better to separate them if you can.

[tkhmy]

@tkhmy Since those functions will be reviewed by different people, it would be better to separate them if you can.

@KYabuuchi
Thanks for your commend, I moved the change to this PR, please review
#3200

[tkhmy]

@isamu-takagi I fixed the naming and it should be working now.
Can you have a look?

I think the autoware document currently do not have a link to the vehicle api page. can I create a PR for that?
About the door layout, will it be handle in vehicle interface and the api need to read the layout and door status from the vehicle interface?

[isamu-takagi]

I think the autoware document currently do not have a link to the vehicle api page. can I create a PR for that?

@tkhmy Thank you for checking document. I updated pages in this PR autowarefoundation/autoware-documentation#406. Now the vehicle status page is available from side menu.

About the door layout, will it be handle in vehicle interface and the api need to read the layout and door status from the vehicle interface?

Yes. The vehicle driver needs to support a interface for multiple doors. So for now, how about returning an empty array for status and layout?

[tkhmy]

Thank you for checking document. I updated pages in this PR autowarefoundation/autoware-documentation#406. Now the vehicle status page is available from side menu.

@isamu-takagi Thank you, I just saw the update, I think it is good

Yes. The vehicle driver needs to support a interface for multiple doors. So for now, how about returning an empty array for status and layout?

Actually I notice that vehicle interface do not have the message type for publishing multiple message, the current available is this tier4_api_msgs/msg/DoorStatus.

I think we can ask define vehicle_interface to use the DoorStatusArray directly, then the api will just relay the topic.

How do you think?

[isamu-takagi]

I think we can ask define vehicle_interface to use the DoorStatusArray directly, then the api will just relay the topic.

@tkhmy It sounds good. So we need to define interface for vehicle driver. It may be better to separate the PR for the door.

[tkhmy]

It sounds good. So we need to define interface for vehicle driver. It may be better to separate the PR for the door.

@isamu-takagi Okay I will separate the door from this PR

[codecov]

Codecov Report

Patch coverage: 15.49% and project coverage change: +0.01 🎉

Comparison is base (0443a08) 14.36% compared to head (39bd585) 14.38%.

❗ Current head 39bd585 differs from pull request most recent head 9f12741. Consider uploading reports for the commit 9f12741 to get more accurate results

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2930      +/-   ##
==========================================
+ Coverage   14.36%   14.38%   +0.01%     
==========================================
  Files        1567     1568       +1     
  Lines      107877   111046    +3169     
  Branches    31249    33564    +2315     
==========================================
+ Hits        15498    15972     +474     
- Misses      75525    77664    +2139     
- Partials    16854    17410     +556     

Flag	Coverage Δ		*Carryforward flag
differential	15.14% <15.49%> (?)
total	14.36% <ø> (ø)		Carriedforward from 2bb5e4f

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

Impacted Files	Coverage Δ
system/default_ad_api/src/vehicle.cpp	15.49% <15.49%> (ø)

... and 22 files with indirect coverage changes

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[tkhmy]

@isamu-takagi I changed the stuff that you request and also fixed the conflict with main, can you review again?

[isamu-takagi]

LGTM