refactor(simple_planning_simulator): remove tier4_api_utils dependency from autoware_simple_planning_simulator#12383
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sasakisasaki merged 6 commits intoautowarefoundation:mainfrom Apr 2, 2026
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…dency * `tier4_api_utils` is deprecated. Thus fixed to use newer interface. Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>
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## main #12383 +/- ##
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+ Coverage 18.53% 19.14% +0.61%
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Lines 129807 130606 +799
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simple_planning_simulator): remove tier4_api_utils depen…simple_planning_simulator): remove tier4_api_utils dependency from autoware_simple_planning_simulator
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The service |
…re-simple-planning-simulator
* Pose set must be performed by `autoware_pose_initializer`, not by simulator * I noticed this issue thanks to the following review comment: ``` The service `/api/simulator/set/pose` is probably not being used, so it should be possible to simply delete it. According to [this diagram](https://github.com/autowarefoundation/autoware_universe/blob/main/system/autoware_default_adapi_universe/document/localization.md), the simulator receives `/initialpose3d` from the pose_initializer. Also, since the service `/localization/initialize` is provided by pose_initializer, it should not be provided by the simulator. ``` Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>
…lanning-simulator' of github.com:sasakisasaki/autoware.universe into refactor-to-remove-tier4-api-utils-in-autoware-simple-planning-simulator Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>
Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>
* autowarefoundation@3fbc592 Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>
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@isamu-takagi Exactly, you are right. In actual, when I applied the change as this PR, the planning simulator still worked. Could you do review again? Thank you in advance. |
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Description
tier4_api_utilsusage insimple_planning_simulator.Let me quote @isamu-takagi san's comment. We do not need to set pose via simulator.
Related links
How was this PR tested?
Based on this PR, I built all the autoware packages based on the nightly installation instructions.
Note that I edited
autoware-nightly.reposand replaced the remote URL and branch to point to my fork and branch for this PR, so that the source code of this PR is included in the build.After build, I followed the instruction in this planning simulator demo, and confirmed that the simulator still works as follows.
During the planning simulation, I checked by:
Interface changes
Topic changes
Additions and removals
/api/simulator/set/posetier4_external_api_msgs/srv/InitializePoseModifications
None.
ROS Parameter Changes
Additions and removals
None.
Modifications
None.
Effects on system behavior
No functional changes expected for simulation; this only drops a deprecated dependency.