feat(tier4_rtc_msgs): add new field to rtc cooperate status

[satoshi-ota]

Related Links

TIER IV INERNAL LINK

Description

Add new field tier4_rtc_msgs/State state so that external tools (e.g. FOA, MOT) can detect canceled behavior.

uint8 type

uint8 WAITING_FOR_EXECUTION = 0
uint8 RUNNING = 1
uint8 ABORTING = 2
uint8 SUCCEEDED = 3
uint8 FAILED = 4

Example Usecase

situation	state in cooperate status	FOA
Detect obstacle on the lane. Avoidance module starts running and publishing cooperate status.	WAITING_FOR_EXECUTION
Operator approves avoidance RTC request.	RUNNING
Obstacle has gone. Avoidance maneuver is no longer needed.	RUNNING
Avoidance module reverts avoidance maneuver and cooperate request.	FAILED	Detect state transition to FAILED from RUNNING. Notify operator of canceling.
Avoidance module stops running.	FAILED

Remarks

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[yukkysaito]

Can you draw a diagram of the state transitions, I'd be happy to ask for it in the README or something.

[satoshi-ota]

@yukkysaito I adde diagram and example usage. Is it okay for you...?

[mitsudome-r]

@satoshi-ota Is the information going to be available in some documentation? No one would want to look for this PR to know the state transition. If its going to be described in FOA/MOT app's README, that's also okay, but I want to put it somewhere more visible.

[mitsudome-r]

Also, I thought it might be better to add some comments to explain what each field is used for, just like in sensor_msgs/Image message for example because the message is starting to get big and hard to understand the purpose of each fields just from the variable's name.

Something like the following might work (please fix the description since I'm not sure about some of the fields)

# module type
tier4_rtc_msgs/Module module

# received command from human operator
tier4_rtc_msgs/Command command_status

# current execution status of RTC module
tier4_rtc_msgs/State state

# Indicates whether Autoware thinks it's safe to execute RTC
bool safe

# Indicates if the module is in auto mode. 
# If true, Autoware will automatically execute RTC behavior without 
# waiting for human operator's command. (i.e., when "safe" field is true)
bool auto_mode

# distances to where RTC will start/finish it's execution
float32 start_distance
float32 finish_distance

This is just a suggestion and I'm open to other opinions about how we do this(e.g., explain in a separate README file, do it in a separate PR, etc).

[satoshi-ota]

@satoshi-ota Is the information going to be available in some documentation? No one would want to look for this PR to know the state transition. If its going to be described in FOA/MOT app's README, that's also okay, but I want to put it somewhere more visible.

I'm thinkind I'll put documentation in https://autowarefoundation.github.io/autoware.universe/main/planning/rtc_interface/#rtc-interface.

[satoshi-ota]

Also, I thought it might be better to add some comments to explain what each field is used for, just like in sensor_msgs/Image message for example because the message is starting to get big and hard to understand the purpose of each fields just from the variable's name.

Something like the following might work (please fix the description since I'm not sure about some of the fields)

# module type
tier4_rtc_msgs/Module module

# received command from human operator
tier4_rtc_msgs/Command command_status

# current execution status of RTC module
tier4_rtc_msgs/State state

# Indicates whether Autoware thinks it's safe to execute RTC
bool safe

# Indicates if the module is in auto mode. 
# If true, Autoware will automatically execute RTC behavior without 
# waiting for human operator's command. (i.e., when "safe" field is true)
bool auto_mode

# distances to where RTC will start/finish it's execution
float32 start_distance
float32 finish_distance

This is just a suggestion and I'm open to other opinions about how we do this(e.g., explain in a separate README file, do it in a separate PR, etc).

Thank you for your suggestion. I'll add explanation.

[satoshi-ota]

@mitsudome-r I added variable explanation in 9e887f0.

[yukkysaito]

LGTM

[mitsudome-r]

LGTM