feat(autoware_node): add AutowareNode base class

[xmfcx]

Signed-off-by: M. Fatih Cırıt [email protected]

Description

Related Discussion: https://github.com/orgs/autowarefoundation/discussions/3194

This PR is for creating the base class for all the future Autoware Core nodes to inherit from.

This node will be inheriting from the rclcpp_lifecycle::LifecycleNode with (LifeCycle Readme).

I'll be taking ros2 nav2 stack as reference too while combining Lifecycle and Composable node concepts.

• https://navigation.ros.org/concepts/index.html#lifecycle-nodes-and-bond
• https://navigation.ros.org/configuration/packages/configuring-lifecycle.html
• https://github.com/ros-planning/navigation2/blob/main/nav2_util/include/nav2_util/lifecycle_node.hpp

While developing this PR, I am going to explore ideas mentioned in previous conversations in the Autoware community.

Related links

Related links

• Autoware.Auto discussions: https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/issues/821
• Discuss Implementing LifeCycleNode Support on Autoware.Auto Nodes - https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/issues/282
• Autoware Diagnostics and Monitoring - https://gist.github.com/xmfcx/7eaae9750d6317a3a2aa23745ac99444

Communication architecture

Communication architecture

Registration Service

Service server: ACC

Service client: AutowareNode

Roles:

• Register the AutowareNode in ACC
• Receive the UUID for the AutowareNode
• If already registered, return error

sequenceDiagram
    participant acc as Autoware Control Center
    participant node as node_a

    Note right of node: cli_reg
    node ->>+ acc: name: node_a
    Note left of acc: srv_reg

    acc ->> acc: generate a UUID for the node_a
    acc ->> acc: create a bond between acc and node_a


    Note left of acc: srv_reg
    acc -->>- node: UUID and registration success bool
    Note right of node: cli_reg

Loading

Heart beat bond

https://github.com/ros/bond_core/blob/ros2/ros2_migration_readme.md Slow

https://github.com/ros-safety/software_watchdogs

https://design.ros2.org/articles/qos_deadline_liveliness_lifespan.html

https://docs.ros.org/en/rolling/Concepts/About-Quality-of-Service-Settings.html#qos-events

Roles:

• As long as the AutowareNode is alive, it reports with this bond
• If the AutowareNode dies, it triggers the on_broken callback

Reporting service

Service server: ACC

Service client: AutowareNode

Roles:

• Reporting state of the AutowareNode to the ACC
  • Warning
  • Error

Control service

Service server: AutowareNode

Service client: ACC

Roles:

• Shutting down the AutowareNode
• Toggle AutowareNode between active-inactive?

Tasks

• Implement registration service
  • Define the interface
  • Create the client
  • Create the service
  • Make them communicate
  • Generate UUID
  • Send UUID
• Implement control service
• Implement reporting service
• Implement watchdog - heartbeat

Tests performed

PR Review Items

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[mergify]

⚠️ The sha of the head commit of this PR conflicts with #56. Mergify cannot evaluate rules on this PR. ⚠️

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.

[codecov]

Codecov Report

❗ No coverage uploaded for pull request base (main@6bafedf). Click here to learn what that means.
Patch has no changes to coverable lines.

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[xmfcx]

Because of the #57 (comment) mergify error, moved to #73