Merge pull request tier4#1555 from tier4/feature/remove-trajectory-subscription

Remove Autoware trajectory subscription

Author: yamacir-kit

external/concealer/include/concealer/field_operator_application.hpp

@@ -40,7 +40,6 @@
 #include <tier4_external_api_msgs/msg/emergency.hpp>
 #include <tier4_external_api_msgs/srv/engage.hpp>
 #include <tier4_external_api_msgs/srv/set_velocity_limit.hpp>
-#include <tier4_planning_msgs/msg/trajectory.hpp>
 #include <tier4_rtc_msgs/msg/cooperate_status_array.hpp>
 #include <tier4_rtc_msgs/srv/auto_mode_with_module.hpp>
 #include <tier4_rtc_msgs/srv/cooperate_commands.hpp>
@@ -78,7 +77,6 @@ struct FieldOperatorApplication : public rclcpp::Node
 #if __has_include(<autoware_adapi_v1_msgs/msg/route_state.hpp>)
   using RouteState                      = autoware_adapi_v1_msgs::msg::RouteState;
 #endif
-  using Trajectory                      = tier4_planning_msgs::msg::Trajectory;
   using TurnIndicatorsCommand           = autoware_vehicle_msgs::msg::TurnIndicatorsCommand;
 
   using ClearRoute                      = autoware_adapi_v1_msgs::srv::ClearRoute;
@@ -105,7 +103,6 @@ struct FieldOperatorApplication : public rclcpp::Node
 #if __has_include(<autoware_adapi_v1_msgs/msg/route_state.hpp>)
   Subscriber<RouteState>                      getRouteState;
 #endif
-  Subscriber<Trajectory>                      getTrajectory;
   Subscriber<TurnIndicatorsCommand>           getTurnIndicatorsCommand;
 
   Service<ClearRoute>             requestClearRoute;
@@ -163,8 +160,6 @@ struct FieldOperatorApplication : public rclcpp::Node
 
   auto getLegacyAutowareState() const -> LegacyAutowareState;
 
-  auto getWaypoints() const -> traffic_simulator_msgs::msg::WaypointsArray;
-
   auto requestAutoModeForCooperation(const std::string &, bool) -> void;
 
   auto sendCooperateCommand(const std::string &, const std::string &) -> void;

external/concealer/src/field_operator_application.cpp

@@ -151,7 +151,6 @@ FieldOperatorApplication::FieldOperatorApplication(const pid_t pid)
 #if __has_include(<autoware_adapi_v1_msgs/msg/route_state.hpp>)
   getRouteState("/api/routing/state", rclcpp::QoS(1), *this),
 #endif
-  getTrajectory("/api/iv_msgs/planning/scenario_planning/trajectory", rclcpp::QoS(1), *this),
   getTurnIndicatorsCommand("/control/command/turn_indicators_cmd", rclcpp::QoS(1), *this),
   requestClearRoute("/api/routing/clear_route", *this),
   requestCooperateCommands("/api/external/set/rtc_commands", *this),
@@ -300,17 +299,6 @@ auto FieldOperatorApplication::engaged() const -> bool
   return task_queue.empty() and getLegacyAutowareState().value == LegacyAutowareState::driving;
 }
 
-auto FieldOperatorApplication::getWaypoints() const -> traffic_simulator_msgs::msg::WaypointsArray
-{
-  traffic_simulator_msgs::msg::WaypointsArray waypoints;
-
-  for (const auto & point : getTrajectory().points) {
-    waypoints.waypoints.emplace_back(point.pose.position);
-  }
-
-  return waypoints;
-}
-
 auto FieldOperatorApplication::initialize(const geometry_msgs::msg::Pose & initial_pose) -> void
 {
   if (not std::exchange(initialized, true)) {

simulation/traffic_simulator/src/entity/ego_entity.cpp

@@ -158,7 +158,12 @@ auto EgoEntity::getCurrentPose() const -> const geometry_msgs::msg::Pose &
 
 auto EgoEntity::getWaypoints() -> const traffic_simulator_msgs::msg::WaypointsArray
 {
-  return FieldOperatorApplication::getWaypoints();
+  /**
+   * @note return empty array because this function is used for visualization
+   * Autoware's trajectory is already visualized in RViz
+   * there is no need to visualize it second time
+   */
+  return traffic_simulator_msgs::msg::WaypointsArray{};
 }
 
 auto EgoEntity::updateFieldOperatorApplication() -> void { spinSome(); }