refactor(ad_service_state_monitor): remove unused pointcloud_map param

[shmpwk]

Signed-off-by: Shumpei Wakabayashi shumpei.wakabayashi@tier4.jp

Description

It seems /map/pointcloud_map config param is not used at ad_service_state_monitor so I remove it.
I tested planning_simulator and confirmed it works without it.
(I don't know who knows well about it, so I requested many people randomly to review this.)

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[kenji-miyake]

Please avoid abbreviated words like rm.

[kenji-miyake]

What happens if you fail to launch the pointcloud loader?
For example, please test it with ros2 launch autoware_launch ... pointcloud_map_file:=dummy.

[kenji-miyake]

This setting checks if the map is successfully published.

[codecov]

Codecov Report

Merging #1196 (d5168bc) into main (d27e83d) will not change coverage.
The diff coverage is n/a.

@@          Coverage Diff          @@
##            main   #1196   +/-   ##
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  Coverage   9.59%   9.59%           
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  Files       1042    1042           
  Lines      71837   71837           
  Branches   15590   15590           
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  Hits        6890    6890           
  Misses     58978   58978           
  Partials    5969    5969           

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[shmpwk]

@kenji-miyake
Failed... let's me check, thank you.

[shmpwk]

@kenji-miyake
Could you tell me at which source code does dummy option work?
I could not find one......

[kenji-miyake]

@shmpwk It's just setting a wrong option not to launch the pointcloud loader.
I'll explain it later more in detail.

[shmpwk]

@kenji-miyake
If wrong pointcloud map is set, no other things except vehicle model appear in rviz.
I think it is an expected result, not related to this PR.

[kenji-miyake]

Mm, I think you can't delete the setting for autoware.launch.

For planning_simulator.launch, yes it could be removed, but I wonder why it makes no problem now. 🤔
I guess that no pointcloud map is given in scenario simulations and the ad_service_state won't transition correctly.

I'll check the behavior.

[kenji-miyake]

@shmpwk I've confirmed the behavior with the following commands.

ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/Downloads/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit
ros2 bag record /initialpose /planning/mission_planning/goal
# Send an initial pose and goal pose from RViz.

ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/Downloads/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit pointcloud_map_file:=dummy
ros2 bag play {rosbag_dir}
# Change the target frame to `base_link`, click `Zero` to reset the viewpoint, and confirm the route is set.
ros2 topic echo /autoware/state

The results are:

• Before this PR, the state is 1.
• With this PR, the state is 4.

    module AutowareState_Constants {
      const uint8 INITIALIZING = 1;
      const uint8 WAITING_FOR_ROUTE = 2;
      const uint8 PLANNING = 3;
      const uint8 WAITING_FOR_ENGAGE = 4;
      const uint8 DRIVING = 5;
      const uint8 ARRIVED_GOAL = 6;
      const uint8 FINALIZING = 7;
    };

[shmpwk]

Oh... thank you for your checking, now I rethink why this happens.

[shmpwk]

Thank you for analyzing the behavior.

[kenji-miyake]

Is this PR from the discussion here?
https://github.com/orgs/autowarefoundation/discussions/2680#discussioncomment-3053590

[shmpwk]

@kenji-miyake
Yes, from discussion.
pointcloud_map is subscribed at ad_service_state_monitor and map module.
So I check how ad_service_state_monitor behaves and it looks like pointcloud_map is not related at first.
Now I'm carefully checking them.

[shmpwk]

Close this PR since this is harmful for the transition of /autoware/state as @.kenji-miyake said hear.