fix(autoware_freespace_planner, autoware_freespace_planning_algorithms): modify freespace planner to use node clock instead of system clock

[stevenbrills]

Description

Modified the autoware_freespace_planner and autoware_freespace_planning_algorithms packages to use the node clock instead of rclcpp detached clock. This allows the module to make use of sim time. Previously during simulation the parking trajectory would have system time in trajectory header messages causing downstream issues like non-clearance of trajectory buffers in motion planning based on elapsed time.

How was this PR tested?

Tested in sim.

Effects on system behavior

In the previous version, the use of system time in the free-space planner trajectory header causes the trajectory buffer downstream from clearing and therefore causing the is_steering_converged flag to never reset when simulating causing the system to not change from Parking back to Lane Driving. Now, when use_sim_time is used, the parking trajectory also reflects the correct time and the buffer can be cleared appropriately.

[github-actions]

Thank you for contributing to the Autoware project!

🚧 If your pull request is in progress, switch it to draft mode.

Please ensure:

• You've checked our contribution guidelines.
• Your PR follows our pull request guidelines.
• All required CI checks pass before marking the PR ready for review.

[codecov]

Codecov Report

Attention: Patch coverage is 39.58333% with 29 lines in your changes missing coverage. Please review.

Project coverage is 30.07%. Comparing base (248bba7) to head (c1e645d).
Report is 69 commits behind head on main.

Files with missing lines	Patch %	Lines
...freespace_planning_algorithms/src/astar_search.cpp	15.00%	17 Missing ⚠️
...dule/src/pull_over_planner/freespace_pull_over.cpp	0.00%	4 Missing ⚠️
...th_start_planner_module/src/freespace_pull_out.cpp	0.00%	4 Missing ⚠️
...oware_freespace_planner/freespace_planner_node.cpp	33.33%	2 Missing ⚠️
...autoware/freespace_planning_algorithms/rrtstar.hpp	0.00%	2 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #9152      +/-   ##
==========================================
- Coverage   30.09%   30.07%   -0.02%     
==========================================
  Files        1340     1346       +6     
  Lines      103652   103720      +68     
  Branches    40362    40371       +9     
==========================================
+ Hits        31190    31195       +5     
- Misses      69450    69513      +63     
  Partials     3012     3012              

Flag	Coverage Δ		*Carryforward flag
differential	22.53% <39.58%> (?)
total	30.08% <ø> (-0.01%)	⬇️	Carriedforward from 248bba7

*This pull request uses carry forward flags. Click here to find out more.

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

[stevenbrills]

Hi @mkquda, is there anything else to be re-evaluated?

[mkquda]

LGTM.

[kosuke55]

There are other parts of autoware that use rclcpp::Clock() besides this PR change, do they all need to be replaced with node clock correctly?

[stevenbrills]

There are other parts of autoware that use rclcpp::Clock() besides this PR change, do they all need to be replaced with node clock correctly?

@kosuke55 Only if they are being used to populate headers or are directly/indirectly being used by consuming nodes as a reference of when the message was created in the context of the run either in real system time or simulated time. There are places where a detached clock is used for measuring algorithm processing time which does not need to change.

[stevenbrills]

@mkquda I forgot to add signoffs to the commit messages, and I am unable to rebase and add the signoffs directly to the pull request due to insufficient permissions. Is there a workaround?

[stevenbrills]

@maxime-clem @mkquda
Gentle reminder on this pending merge.