fix(default_adapi): subscribe planning factor

[satoshi-ota]

Description

New factor msgs were defined in tier4/tier4_autoware_msgs#155 to output various information of module running state. And, each planning module will use them.

In this PR, I fixed adapi node to convert msg type from tier4_planning_msgs/PlanningFactorArray to autoware_adapi_v1_msgs/VelocityFactorArray(SteeringFactorArray).

Related links

Parent Issue:

• feat(motion_utils): add planning factor interface autowarefoundation/autoware.universe#9676
• feat(tier4_planning_msgs): add new msgs to analyze ego behavior tier4_autoware_msgs#155

How was this PR tested?

1. launch psim.
2. put ego and goal.
3. put object on ego path.
4. check the topic /api/planning/velocity_factors by echo command.
5. confirm that the node outputs factor like following one.

header:
  stamp:
    sec: 1735008280
    nanosec: 610628888
  frame_id: map
factors:
- pose:
    position:
      x: 61578.199978951016
      y: 56213.78579257302
      z: 78.16299873101634
    orientation:
      x: -3.6191521078641166e-05
      y: -0.0006830251435586911
      z: -0.052912858993544
      w: 0.9985988992182779
  distance: 14.520707130432129
  status: 1
  behavior: route-obstacle
  sequence: ''
  detail: ''
  cooperation: []

Notes for reviewers

None.

Interface changes

Version	Topic Type	Topic Name	Message Type	Description
Old	Sub	/planing/planning_factors/xxx	tier4_planning_msgs/PlanningFactorArray	Topic description
New	Sub	/planing/velocity(steering)_factors/xxx	autoware_adapi_v1_msgs/VelocityFactorArray(SteeringFactorArray)	Topic description

Effects on system behavior

None.

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[isamu-takagi]

The velocity/steering factor has a status, but planning factor does not. The status of velocity factor will be automatically completed. However, the status of steering factor will not be assigned.

[satoshi-ota]

The velocity/steering factor has a status, but planning factor does not. The status of velocity factor will be automatically completed. However, the status of steering factor will not be assigned.

Thanks for your comment. You're right.

I fixed logic in 5d55a4b to fill status automatically.

status: SteeringFactor::APPROACHING

status: SteeringFactor::TURNING

[isamu-takagi]

LGTM

[sonarqubecloud]

Quality Gate passed

Issues
3 New issues
0 Accepted issues

Measures
0 Security Hotspots
0.0% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarQube Cloud