Port 'autoware_velocity_smother' from Autoware Universe to Autoware Core

[liuXinGangChina]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

As part of Autoware Core implementation activity discussed in this thread, I will be porting autoware_velocity_smother from Autoware Universe to Autoware Core.

Purpose

Port autoware_velocity_smother from Autoware Universe to Autoware Core to make autowre-core functional

Possible approaches

Port dependent packages from Universe to Core.

Definition of done

• Refactor Readme file according to migration guidance
• Replace dependency from autoware_universe_utils to autoware_utils
• Replace Tire4 Msg dependence with Autoware Msg
• Create draft pr
• Pr merged

[liuXinGangChina]

Mits san, @mitsudome-r

During the porting process, i found that this autoware velocity smoother node only have one tier4 msg dependency -- tier4_planning_msg/velocityLimit ( topic name /planning/scenario_planning/max_velocity ). It use this topic to determine the max velocity it should follow.

This node also output the max velocity that it caculates by this topic (/planning/scenario_planning/current_max_velocity using tier4_planning_msg/velocityLimit ) , to several nodes , rviz and awadapi nodes"

1. universe/autoware.universe/planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.cpp
2. universe/external/tier4_ad_api_adaptor/autoware_iv_internal_api_adaptor/src/velocity.cpp
3. universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter
4. other rviz viz nodes ......

Here is my plan,

1. create a copy of tier4_planning_msg/velocityLimit under core/autoware_msg named autoware_planning_msgs/velocityLimit, and keep the tier4_planning_msg the same , because there are other nodes under universe repo use this tier4 msg
2. resolve the conflict which use the output topic (/planning/scenario_planning/current_max_velocity using tier4_planning_msg/velocityLimit ) of velocity_smoother node by replace the msg dependency with autoware_msg

What is your idea about above solution? is it ok?

Best regards

心刚

[liuXinGangChina]

pr created, all pr should be merged together incase compile error,

once this pr merged, i will create a pr to move this package to core

1. universe repo -- feat(autoware_velocity_smoother): porting from universe to core autoware.universe#10184
2. tier4 ad api adapter repo -- feat(autoware_velocity_smoother): porting from universe to core tier4/tier4_ad_api_adaptor#135

all pr above has been tested with

• 1. colcon build with entire autoware
• 2. complete planning simulator A - B task

[liuXinGangChina]

According to the mits san's inner discussion with the planning team
I will split pr-10184 into two prs and close 10184, new prs will focus on two aspects respectivily

1. replace dependency of autoware_universe_utils with autoware_utils
2. replace dependency of tier4_msgs