docs(node-diagram): add routing api

[TakaHoribe]

Description

Add routing api in the node diagram

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[kosuke55]

wow, thanks!

/planning/mission_planning/change_route
/planning/mission_planning/change_route_points

are missing?

[kosuke55]

it may be not necessary to write and make confusing but /planning/mission_planning/goal is published directly from rviz

$ ros2 topic info /planning/mission_planning/goal -v
Type: geometry_msgs/msg/PoseStamped

Publisher count: 1

Node name: rviz2
Node namespace: /
Topic type: geometry_msgs/msg/PoseStamped
Endpoint type: PUBLISHER
GID: 01.10.00.67.9c.c0.36.4f.38.d3.25.d9.00.00.84.03.00.00.00.00.00.00.00.00
QoS profile:
  Reliability: RELIABLE
  History (Depth): KEEP_LAST (5)
  Durability: VOLATILE
  Lifespan: Infinite
  Deadline: Infinite
  Liveliness: AUTOMATIC
  Liveliness lease duration: Infinite

Subscription count: 1

Node name: routing_adaptor
Node namespace: /default_ad_api/helpers
Topic type: geometry_msgs/msg/PoseStamped
Endpoint type: SUBSCRIPTION
GID: 01.10.d2.a5.ad.ae.cd.e9.d9.00.70.3b.00.00.15.04.00.00.00.00.00.00.00.00
QoS profile:
  Reliability: RELIABLE
  History (Depth): KEEP_LAST (3)
  Durability: VOLATILE
  Lifespan: Infinite
  Deadline: Infinite
  Liveliness: AUTOMATIC
  Liveliness lease duration: Infinite

[TakaHoribe]

@kosuke55

/planning/mission_planning/change_route
/planning/mission_planning/change_route_points
are missing?

Thank you! I updated.

/planning/mission_planning/goal is published directly from rviz

I'm being confused. How these messages are differentiated?

[kosuke55]

Thank you! I updated.

change_route and change_route_points are called from routing

https://github.com/autowarefoundation/autoware.universe/blob/477ce95a1975773e426458f986b9a8a8c43a89f7/system/default_ad_api/src/routing.cpp#L36-L37

I'm being confused. How these messages are differentiated?

It's just FYI 🙏

This is a message for directly inputting a goal without api service, and is used in rviz's SetGoal button

The flow is
[rviz2] -/planning/mission_planning/goal -> [/default_ad_api/helpers/routing_adaptor] -set_route_points-> [/default_ad_api/node/routing] -set_route_points-> [mission_planner]

I think the topic name remains the same as in the old interface, so it might be better to rename to like rviz/routing/goal, but need to consider compatibility with other tools.

[kosuke55]

so it might be better to rename to like rviz/routing/goal

• https://github.com/autowarefoundation/autoware.universe/blob/main/system/default_ad_api_helpers/ad_api_adaptors/launch/rviz_adaptors.launch.xml#L12
• rviz config

but need to consider compatibility with other tools.

I think that main tools already use api, but some tools still use the topic like
https://github.com/tier4/autoware-functional-tests/blob/main/autoware_functional_tests/autoware/pub.py#L27-L29
so need to check the scope of influence.

[kosuke55]

I think that main tools already use api, but some tools still use the topic like

ah, scenario_simulator_v2 also uses the topic, but will move to use api in the near future.

https://github.com/tier4/scenario_simulator_v2/blob/master/external/concealer/include/concealer/field_operator_application_for_autoware_universe.hpp#L112

[TakaHoribe]

@kosuke55 Thank you for the information. I updated the diagram. Would you review again?

[kosuke55]

not the image of #450 (comment) but your updating is correct..!:pray:

[kosuke55]

LGTM!!