Porting autoware_motion_velocity_obstacle_stop_module from autoware.universe to autoware.core

[NorahXiong]

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_test_utils from Autoware Universe to Autoware Core.

Purpose

Port autoware_motion_velocity_obstacle_stop_module from Autoware Universe to Autoware Core.

Possible approaches

Fix bugs if detected. Deal dependence problems related to autoware_motion_velocity_obstacle_stop_module if detected.

Definition of done

• port autoware_motion_velocity_obstacle_stop_module to autoware.core according to conventions
  • add referenced msg from tier4_autoware_msgs to autoware_internal_msgs (tier4_metric_msgs)
  • autoware_motion_velocity_planner_common_universe (autoware.universe/planning/motion_velocity_planner)
    • autoware_behavior_velocity_planner_common (autoware.universe/planning/motion_velocity_planner) (waiting for Porting autoware_behavior_velocity_planner_common、autoware_behavior_velocity_stop_line_module to autoware.core #190)
      • deal with dependence on autoware_planning_factor_interface (autoware.universe/planning) pr link feat(Autoware_planning_factor_interface): replace tier4_msgs with autoware_internal_msgs autoware.universe#10204
    • autoware_velocity_smoother (autoware.universe/planning) (waiting for Port 'autoware_velocity_smother' from Autoware Universe to Autoware Core #192)
  • autoware_object_recognition_utils (autoware.universe/common) -- feat(autoware_object_recognition_utils): remove from universe autoware.universe#10215 & feat(autoware_object_recognition_utils): move to core #232
• remove autoware_motion_velocity_obstacle_stop_module from autoware.universe and fix dependency problem if detected

[NorahXiong]

Latest pkg dependence graph:

[NorahXiong]

I will work on these dependencies if no one else is assigned. cc @mitsudome-r @xmfcx @youtalk @liuXinGangChina

• add referenced msg from tier4_autoware_msgs to autoware_internal_msgs (tier4_metric_msgs) (Done)
• deal with dependence on autoware_planning_factor_interface (autoware.universe/planning)

If autoware_planning_factor_interface needs to be ported to autoware.core, maybe type substitution should be done in autoware.universe as there are quite a lot of packages that depend on autoware_planning_factor_interface as shown below.

autoware_behavior_path_avoidance_by_lane_change_module	src/universe/autoware.universe/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module	(ros.ament_cmake)
autoware_behavior_path_dynamic_obstacle_avoidance_module	src/universe/autoware.universe/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module	(ros.ament_cmake)
autoware_behavior_path_external_request_lane_change_module	src/universe/autoware.universe/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module	(ros.ament_cmake)
autoware_behavior_path_goal_planner_module	src/universe/autoware.universe/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module	(ros.ament_cmake)
autoware_behavior_path_lane_change_module	src/universe/autoware.universe/planning/behavior_path_planner/autoware_behavior_path_lane_change_module	(ros.ament_cmake)
autoware_behavior_path_planner	src/universe/autoware.universe/planning/behavior_path_planner/autoware_behavior_path_planner	(ros.ament_cmake)
autoware_behavior_path_planner_common	src/universe/autoware.universe/planning/behavior_path_planner/autoware_behavior_path_planner_common	(ros.ament_cmake)
autoware_behavior_path_sampling_planner_module	src/universe/autoware.universe/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module	(ros.ament_cmake)
autoware_behavior_path_side_shift_module	src/universe/autoware.universe/planning/behavior_path_planner/autoware_behavior_path_side_shift_module	(ros.ament_cmake)
autoware_behavior_path_start_planner_module	src/universe/autoware.universe/planning/behavior_path_planner/autoware_behavior_path_start_planner_module	(ros.ament_cmake)
autoware_behavior_path_static_obstacle_avoidance_module	src/universe/autoware.universe/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module	(ros.ament_cmake)
autoware_behavior_velocity_blind_spot_module	src/universe/autoware.universe/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module	(ros.ament_cmake)
autoware_behavior_velocity_crosswalk_module	src/universe/autoware.universe/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module	(ros.ament_cmake)
autoware_behavior_velocity_detection_area_module	src/universe/autoware.universe/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module	(ros.ament_cmake)
autoware_behavior_velocity_intersection_module	src/universe/autoware.universe/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module	(ros.ament_cmake)
autoware_behavior_velocity_no_drivable_lane_module	src/universe/autoware.universe/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module	(ros.ament_cmake)
autoware_behavior_velocity_no_stopping_area_module	src/universe/autoware.universe/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module	(ros.ament_cmake)
autoware_behavior_velocity_occlusion_spot_module	src/universe/autoware.universe/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module	(ros.ament_cmake)
autoware_behavior_velocity_planner	src/universe/autoware.universe/planning/behavior_velocity_planner/autoware_behavior_velocity_planner	(ros.ament_cmake)
autoware_behavior_velocity_planner_common	src/universe/autoware.universe/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common	(ros.ament_cmake)
autoware_behavior_velocity_rtc_interface	src/universe/autoware.universe/planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface	(ros.ament_cmake)
autoware_behavior_velocity_run_out_module	src/universe/autoware.universe/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module	(ros.ament_cmake)
autoware_behavior_velocity_speed_bump_module	src/universe/autoware.universe/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module	(ros.ament_cmake)
autoware_behavior_velocity_stop_line_module	src/universe/autoware.universe/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module	(ros.ament_cmake)
autoware_behavior_velocity_template_module	src/universe/autoware.universe/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module	(ros.ament_cmake)
autoware_behavior_velocity_traffic_light_module	src/universe/autoware.universe/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module	(ros.ament_cmake)
autoware_behavior_velocity_virtual_traffic_light_module	src/universe/autoware.universe/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module	(ros.ament_cmake)
autoware_behavior_velocity_walkway_module	src/universe/autoware.universe/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module	(ros.ament_cmake)
autoware_launch	src/launcher/autoware_launch/autoware_launch	(ros.ament_cmake)
autoware_motion_velocity_dynamic_obstacle_stop_module	src/universe/autoware.universe/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module	(ros.ament_cmake)
autoware_motion_velocity_obstacle_cruise_module	src/universe/autoware.universe/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module	(ros.ament_cmake)
autoware_motion_velocity_obstacle_slow_down_module	src/universe/autoware.universe/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_slow_down_module	(ros.ament_cmake)
autoware_motion_velocity_obstacle_stop_module	src/core/autoware.core/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_stop_module	(ros.ament_cmake)
autoware_motion_velocity_obstacle_velocity_limiter_module	src/universe/autoware.universe/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module	(ros.ament_cmake)
autoware_motion_velocity_out_of_lane_module	src/universe/autoware.universe/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module	(ros.ament_cmake)
autoware_motion_velocity_planner_common_universe	src/universe/autoware.universe/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe	(ros.ament_cmake)
autoware_motion_velocity_planner_node_universe	src/universe/autoware.universe/planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe	(ros.ament_cmake)
autoware_obstacle_cruise_planner	src/universe/autoware.universe/planning/autoware_obstacle_cruise_planner	(ros.ament_cmake)
autoware_obstacle_stop_planner	src/universe/autoware.universe/planning/autoware_obstacle_stop_planner	(ros.ament_cmake)
autoware_planning_factor_interface	src/universe/autoware.universe/planning/autoware_planning_factor_interface	(ros.ament_cmake)
autoware_surround_obstacle_checker	src/universe/autoware.universe/planning/autoware_surround_obstacle_checker	(ros.ament_cmake)
tier4_planning_launch	src/universe/autoware.universe/launch/tier4_planning_launch	(ros.ament_cmake)

[liuXinGangChina]

Hello Mits san @mitsudome-r

I look into the dependency graph，find that if we follow the porting rule in this file ， we should move autoware_planning_factor_interface first， but i didn‘t find it in the porting task list。

Can you check with the planning team whether this package “autoware_planning_factor_interface” is in the porting plan

If it is， we will port autoware_planning_factor_interface first

At the mean time， we are working on porting the msg first

Best regards

心刚

[liuXinGangChina]

Hello Mits san

I look into the dependency graph，find that if we follow the porting rule in this file ， we should move autoware_planning_factor_interface first， but i didn‘t find it in the porting task list。

Can you check with the planning team whether this package “autoware_planning_factor_interface” is in the porting plan

If it is， we will port autoware_planning_factor_interface first

At the mean time， we are working on porting the msg first

Best regards

心刚

Already got confirmation from mits san, go go go! @NorahXiong

[NorahXiong]

Hello Mits san
I look into the dependency graph，find that if we follow the porting rule in this file ， we should move autoware_planning_factor_interface first， but i didn‘t find it in the porting task list。
Can you check with the planning team whether this package “autoware_planning_factor_interface” is in the porting plan
If it is， we will port autoware_planning_factor_interface first
At the mean time， we are working on porting the msg first
Best regards
心刚

Already got confirmation from mits san, go go go! @NorahXiong

Already done. autowarefoundation/autoware_internal_msgs#52
At this moment, porting is blocked by autoware_planning_factor_interface.

[liuXinGangChina]

Hello Mits san
I look into the dependency graph，find that if we follow the porting rule in this file ， we should move autoware_planning_factor_interface first， but i didn‘t find it in the porting task list。
Can you check with the planning team whether this package “autoware_planning_factor_interface” is in the porting plan
If it is， we will port autoware_planning_factor_interface first
At the mean time， we are working on porting the msg first
Best regards
心刚

Already got confirmation from mits san, go go go! @NorahXiong

Already done. autowarefoundation/autoware_internal_msgs#52 At this moment, porting is blocked by autoware_planning_factor_interface.

autowarefoundation/autoware.universe#10204 autoware_planning_factor_interface waiting for review