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refactor(simple_planning_simulator): remove tier4_api_utils dependency from autoware_simple_planning_simulator #12383

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Merged
sasakisasaki merged 6 commits into from
Apr 2, 2026
Merged

refactor(simple_planning_simulator): remove tier4_api_utils dependency from autoware_simple_planning_simulator #12383

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93a7d29
refactor(`simple_planning_simulator`): remove `tier4_api_utils` depen…
sasakisasaki Mar 25, 2026
29ae458
Merge branch 'main' into refactor-to-remove-tier4-api-utils-in-autowa…
sasakisasaki Apr 1, 2026
3fbc592
bug: do not create unnecessary service (see below)
sasakisasaki Apr 1, 2026
c82cda5
Merge branch 'refactor-to-remove-tier4-api-utils-in-autoware-simple-p…
sasakisasaki Apr 1, 2026
33ab633
bug: fix unsaved changes due to merge conflict
sasakisasaki Apr 1, 2026
059f203
bug: remove wrongly remaining lines following the previous commit
sasakisasaki Apr 1, 2026
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11 changes: 0 additions & 11 deletions ...g_simulator/include/autoware/simple_planning_simulator/simple_planning_simulator_core.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,6 @@
#include "autoware/simple_planning_simulator/vehicle_model/sim_model_interface.hpp"
#include "autoware/simple_planning_simulator/visibility_control.hpp"
#include "rclcpp/rclcpp.hpp"
#include "tier4_api_utils/tier4_api_utils.hpp"

#include "autoware_control_msgs/msg/control.hpp"
#include "autoware_map_msgs/msg/lanelet_map_bin.hpp"
Expand All @@ -43,7 +42,6 @@
#include "geometry_msgs/msg/twist_stamped.hpp"
#include "nav_msgs/msg/odometry.hpp"
#include "sensor_msgs/msg/imu.hpp"
#include "tier4_external_api_msgs/srv/initialize_pose.hpp"
#include "tier4_vehicle_msgs/msg/actuation_command_stamped.hpp"
#include "tier4_vehicle_msgs/msg/actuation_status_stamped.hpp"

Expand Down Expand Up @@ -83,7 +81,6 @@ using geometry_msgs::msg::Twist;
using geometry_msgs::msg::TwistStamped;
using nav_msgs::msg::Odometry;
using sensor_msgs::msg::Imu;
using tier4_external_api_msgs::srv::InitializePose;
using tier4_vehicle_msgs::msg::ActuationCommandStamped;
using tier4_vehicle_msgs::msg::ActuationStatusStamped;

Expand Down Expand Up @@ -158,7 +155,6 @@ class PLANNING_SIMULATOR_PUBLIC SimplePlanningSimulator : public rclcpp::Node
rclcpp::Service<ControlModeCommand>::SharedPtr srv_mode_req_;

rclcpp::CallbackGroup::SharedPtr group_api_service_;
tier4_api_utils::Service<InitializePose>::SharedPtr srv_set_pose_;

uint32_t timer_sampling_time_ms_; //!< @brief timer sampling time
rclcpp::TimerBase::SharedPtr on_timer_; //!< @brief timer for simulation
Expand Down Expand Up @@ -263,13 +259,6 @@ class PLANNING_SIMULATOR_PUBLIC SimplePlanningSimulator : public rclcpp::Node
*/
void on_initialtwist(const TwistStamped::ConstSharedPtr msg);

/**
* @brief set initial pose for simulation with received request
*/
void on_set_pose(
const InitializePose::Request::ConstSharedPtr request,
const InitializePose::Response::SharedPtr response);

/**
* @brief subscribe trajectory for deciding self z position.
*/
Expand Down
2 changes: 0 additions & 2 deletions simulator/autoware_simple_planning_simulator/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -37,8 +37,6 @@
<depend>tf2</depend>
<depend>tf2_geometry_msgs</depend>
<depend>tf2_ros</depend>
<depend>tier4_api_utils</depend>
<depend>tier4_external_api_msgs</depend>
<depend>tier4_vehicle_msgs</depend>
<build_depend>autoware_cmake</build_depend>

Expand Down
19 changes: 0 additions & 19 deletions ...imple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -184,13 +184,7 @@
on_timer_ = rclcpp::create_timer(
this, get_clock(), std::chrono::milliseconds(timer_sampling_time_ms_),
std::bind(&SimplePlanningSimulator::on_timer, this));

Check notice on line 187 in simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp

View check run for this annotation

CodeScene Delta Analysis / CodeScene Code Health Review (main)

✅ Getting better: Large Method 

SimplePlanningSimulator::SimplePlanningSimulator decreases from 109 to 104 lines of code, threshold = 70. Large functions with many lines of code are generally harder to understand and lower the code health. Avoid adding more lines to this function.
tier4_api_utils::ServiceProxyNodeInterface proxy(this);
group_api_service_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
srv_set_pose_ = proxy.create_service<tier4_external_api_msgs::srv::InitializePose>(
"/api/simulator/set/pose", std::bind(&SimplePlanningSimulator::on_set_pose, this, _1, _2),
rmw_qos_profile_services_default, group_api_service_);

// set vehicle model type
initialize_vehicle_model(vehicle_model_type_str);

Expand Down Expand Up @@ -567,19 +561,6 @@
initial_twist_ = *msg;
}

void SimplePlanningSimulator::on_set_pose(
const InitializePose::Request::ConstSharedPtr request,
const InitializePose::Response::SharedPtr response)
{
// save initial pose
Twist initial_twist;
PoseStamped initial_pose;
initial_pose.header = request->pose.header;
initial_pose.pose = request->pose.pose.pose;
set_initial_state_with_transform(initial_pose, initial_twist);
response->status = tier4_api_utils::response_success();
}

void SimplePlanningSimulator::set_input(const InputCommand & cmd, const double acc_by_slope)
{
std::visit(
Expand Down
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