RJD-1666 Change PathWithLaneId subscription to /api/routing/route

Author: gmajrobotec

external/concealer/include/concealer/field_operator_application.hpp

@@ -18,6 +18,7 @@
 #include <sys/wait.h>
 
 #include <autoware_adapi_v1_msgs/msg/mrm_state.hpp>
+#include <autoware_adapi_v1_msgs/msg/route.hpp>
 #include <autoware_adapi_v1_msgs/srv/change_operation_mode.hpp>
 #include <autoware_adapi_v1_msgs/srv/clear_route.hpp>
 #include <autoware_adapi_v1_msgs/srv/initialize_localization.hpp>
@@ -89,6 +90,7 @@ struct FieldOperatorApplication : public rclcpp::Node
   using AutoModeWithModule              = tier4_rtc_msgs::srv::AutoModeWithModule;
   using SetVelocityLimit                = tier4_external_api_msgs::srv::SetVelocityLimit;
   using ChangeOperationMode             = autoware_adapi_v1_msgs::srv::ChangeOperationMode;
+  using Route                           = autoware_adapi_v1_msgs::msg::Route;
 
   Subscriber<AutowareState>                   getAutowareState;
   Subscriber<Control>                         getCommand;
@@ -101,7 +103,7 @@ struct FieldOperatorApplication : public rclcpp::Node
 #if __has_include(<autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>)
   Subscriber<OperationModeState>              getOperationModeState;
 #endif
-  Subscriber<priority::PathWithLaneId>        getPathWithLaneId;
+  Subscriber<Route>        getRoute;
 #if __has_include(<autoware_adapi_v1_msgs/msg/route_state.hpp>)
   Subscriber<RouteState>                      getRouteState;
 #endif

external/concealer/src/field_operator_application.cpp

@@ -147,7 +147,7 @@ FieldOperatorApplication::FieldOperatorApplication(const pid_t pid)
 #if __has_include(<autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>)
   getOperationModeState("/api/operation_mode/state", rclcpp::QoS(1).transient_local(), *this),
 #endif
-  getPathWithLaneId("/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id", rclcpp::QoS(1), *this),
+  getRoute("/api/routing/route", rclcpp::QoS(1), *this),
 #if __has_include(<autoware_adapi_v1_msgs/msg/route_state.hpp>)
   getRouteState("/api/routing/state", rclcpp::QoS(1).transient_local(), *this),
 #endif

simulation/traffic_simulator/src/entity/ego_entity.cpp

@@ -143,11 +143,11 @@ auto EgoEntity::getObstacle() -> std::optional<traffic_simulator_msgs::msg::Obst
 auto EgoEntity::getRouteLanelets(double /*unused horizon*/) -> lanelet::Ids
 {
   lanelet::Ids ids{};
-
-  for (const auto & point : getPathWithLaneId().points) {
-    ids += point.lane_ids;
+  for (const auto & route_data : getRoute().data) {
+    for (const auto & segment : route_data.segments) {
+      ids.push_back(segment.preferred.id);
+    }
   }
-
   return ids;
 }