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feat(mapless_architecture): add mapless_architecture #7709

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feat(mapless_architecture): add mapless_architecture #7709

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Description

We created a mission planner with locally-generated, sensor-based maps as described in https://github.com/orgs/autowarefoundation/discussions/4545. The entire project is contained within the mapless_architecture folder, which should be added to the repository.

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How was this PR tested?

This PR was tested using rosbags and unit tests.

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

@github-actions github-actions bot added type:documentation Creating or refining documentation. (auto-assigned) component:planning Route planning, decision-making, and navigation. (auto-assigned) labels Jun 26, 2024
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github-actions bot commented Jun 26, 2024 •
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Thank you for contributing to the Autoware project!

🚧 If your pull request is in progress, switch it to draft mode.

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@simon-eisenmann-driveblocks simon-eisenmann-driveblocks changed the title Add mapless_architecture feat(mapless_architecture): add mapless_architecture Jun 26, 2024
@simon-eisenmann-driveblocks
Add nodes
c268146 
Signed-off-by: Simon Eisenmann <simon.eisenmann@driveblocks.ai>
@simon-eisenmann-driveblocks
Restructure folder
0b6c306 
Signed-off-by: Simon Eisenmann <simon.eisenmann@driveblocks.ai>
@simon-eisenmann-driveblocks
Change documentation
8b9c504 
Signed-off-by: Simon Eisenmann <simon.eisenmann@driveblocks.ai>
@simon-eisenmann-driveblocks
Add local mission planner
5e6ca68 
Signed-off-by: Simon Eisenmann <simon.eisenmann@driveblocks.ai>
@simon-eisenmann-driveblocks
Remove driveblocks dependencies
c25cac8 
Signed-off-by: Simon Eisenmann <simon.eisenmann@driveblocks.ai>
@simon-eisenmann-driveblocks
Rename packages
a12fcd7 
Signed-off-by: Simon Eisenmann <simon.eisenmann@driveblocks.ai>
@simon-eisenmann-driveblocks
Add namespace
b589b53 
Signed-off-by: Simon Eisenmann <simon.eisenmann@driveblocks.ai>
@simon-eisenmann-driveblocks
Run pre-commit
f94bdc9 
Signed-off-by: Simon Eisenmann <simon.eisenmann@driveblocks.ai>
@simon-eisenmann-driveblocks
Update launch files
71f7469 
Signed-off-by: Simon Eisenmann <simon.eisenmann@driveblocks.ai>
@simon-eisenmann-driveblocks
Change readme
5033efb 
Signed-off-by: Simon Eisenmann <simon.eisenmann@driveblocks.ai>
@simon-eisenmann-driveblocks
Specify language
b431760 
Signed-off-by: Simon Eisenmann <simon.eisenmann@driveblocks.ai>
@simon-eisenmann-driveblocks
Fix pre-commit issues
4af9b99 
Signed-off-by: Simon Eisenmann <simon.eisenmann@driveblocks.ai>
@simon-eisenmann-driveblocks
Work on documentation
4a8b586 
Signed-off-by: Simon Eisenmann <simon.eisenmann@driveblocks.ai>
@simon-eisenmann-driveblocks
Fix bug
b048568 
Signed-off-by: Simon Eisenmann <simon.eisenmann@driveblocks.ai>
@simon-eisenmann-driveblocks
Remove driveblocks dependencies
60bff85 
Signed-off-by: Simon Eisenmann <simon.eisenmann@driveblocks.ai>
@github-actions github-actions bot added component:perception Advanced sensor data processing and environment understanding. (auto-assigned) component:sensing Data acquisition from sensors, drivers, preprocessing. (auto-assigned) component:localization Vehicle's position determination in its environment. (auto-assigned) component:control Vehicle control algorithms and mechanisms. (auto-assigned) component:tools Utility and debugging software. (auto-assigned) component:system System design and integration. (auto-assigned) component:map Map creation, storage, and loading. (auto-assigned) component:vehicle Vehicle-specific implementations, drivers, packages. (auto-assigned) type:ci Continuous Integration (CI) processes and testing. (auto-assigned) component:launch Launch files, scripts and initialization tools. (auto-assigned) labels Jun 26, 2024
@github-actions github-actions bot removed component:perception Advanced sensor data processing and environment understanding. (auto-assigned) component:sensing Data acquisition from sensors, drivers, preprocessing. (auto-assigned) component:localization Vehicle's position determination in its environment. (auto-assigned) component:control Vehicle control algorithms and mechanisms. (auto-assigned) component:tools Utility and debugging software. (auto-assigned) component:system System design and integration. (auto-assigned) component:map Map creation, storage, and loading. (auto-assigned) component:vehicle Vehicle-specific implementations, drivers, packages. (auto-assigned) type:ci Continuous Integration (CI) processes and testing. (auto-assigned) component:launch Launch files, scripts and initialization tools. (auto-assigned) component:common Common packages from the autoware-common repository. (auto-assigned) component:simulation Virtual environment setups and simulations. (auto-assigned) component:evaluator Evaluation tools for planning, localization etc. (auto-assigned) labels Jun 26, 2024
@simon-eisenmann-driveblocks
Remove local_road_provider
55b4e77 
Signed-off-by: Simon Eisenmann <simon.eisenmann@driveblocks.ai>
@simon-eisenmann-driveblocks
Remove db_msgs
3bb548f 
Signed-off-by: Simon Eisenmann <simon.eisenmann@driveblocks.ai>
@simon-eisenmann-driveblocks
Move some functions to the library
9f9b92e 
Signed-off-by: Simon Eisenmann <simon.eisenmann@driveblocks.ai>
@simon-eisenmann-driveblocks
Merge commit
30048f6 
Signed-off-by: Simon Eisenmann <simon.eisenmann@driveblocks.ai>
@maxime-clem maxime-clem added run:deploy-docs Mark for deploy-docs action generation. (used-by-ci) run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) labels Jun 28, 2024
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Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-7709/
Modified URLs:

maxime-clem
maxime-clem requested changes Jul 1, 2024
View reviewed changes
planning/.pages
@@ -40,6 +40,7 @@ nav:
- 'Algorithm': planning/autoware_freespace_planning_algorithms
- 'RRT*': planning/autoware_freespace_planning_algorithms/rrtstar
- 'Mission Planner': planning/autoware_mission_planner
- 'Local Mission Planner': planning/mapless_architecture
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Please add links to each subpackages under the Local Mission Planner .

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Done!

planning/mapless_architecture/autoware_local_mission_planner/src/mission_planner_main.cpp Outdated
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main files like this one should be removed. Please see how nodes are implement in newer Autoware packages (e.g., autoware_motion_velocity_planner_node).

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Done! Should I place the hpp files in the src folder as in autoware_motion_velocity_planner_node?

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As you like.
It is okay to put the .hpp together with the .cpp files in the src folder for packages whose code is not meant to be included in other packages.

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Ok, thanks for the answer! I will keep the .hpp files in the include folder!

...ssion_lane_converter/include/autoware/mission_lane_converter/mission_lane_converter_node.hpp Outdated
Comment on lines 8 to 9
#include "autoware_auto_planning_msgs/msg/path.hpp"
#include "autoware_auto_planning_msgs/msg/trajectory.hpp"
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Messages should be from autoware_planning_msgs.

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Done!

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I guess the commit was not pushed 😅

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Yes, I will push all the changes when the internal review is finished!

planning/mapless_architecture/autoware_mission_lane_converter/Readme.md Outdated
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Please add the basic information about the node in this README (see other nodes' README files). There should be a table with the interface (input/output topics) and the node parameters.

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Done!

planning/mapless_architecture/autoware_mission_lane_converter/CMakeLists.txt Outdated

# --- SPECIFY TESTS ---
# configure clang format
set(ament_cmake_clang_format_CONFIG_FILE ../../.clang-format)
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this should not be necessary

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I removed it!

planning/mapless_architecture/autoware_mission_lane_converter/CMakeLists.txt Outdated
ament_lint_auto_find_test_dependencies()
endif()

ament_auto_package()
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ament_auto_... are not necessary. Please check other CMakeLists.txt files (e.g., in the autoware_path_smoother).

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Done!

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I pushed the requested changes!

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PR will be done here: tier4/mapless_autoware#3

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