feat: autoware_motion_velocity_planner and autoware_motion_velocity_planner_common to core

[storrrrrrrrm]

Description

Related links

Parent Issue:

• Link

How was this PR tested?

Notes for reviewers

ci of this pr would pass after autoware_motion_velocity_planner_common ported #307

Interface changes

None.

Effects on system behavior

None.

[github-actions]

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[youtalk]

I will review this first.
https://github.com/autowarefoundation/autoware_core/actions/runs/14099029826/job/39491694978?pr=242#step:5:296

ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
autoware_motion_velocity_planner_common: Cannot locate rosdep definition for [autoware_behavior_velocity_planner_common]
autoware_motion_velocity_planner_node: Cannot locate rosdep definition for [autoware_motion_velocity_out_of_lane_module]

[youtalk]

To unify the package structure with #230, I will make a minimal change by removing only the _node suffix from autoware_motion_velocity_planner_node.

[liuXinGangChina]

@liuXinGangChina I reverted #230. The package names were similar, so I made a mistake. From next time, We’d like to make the parent of the branch the previous PR if they’re related. In that case, build-and-run-differential can be run for each PR.

Got it ，kondo san
That‘s reasonable.

心刚

[youtalk]

I renamed autoware_motion_velocity_planner_node to autoware_motion_velocity_planner and fix bugs. Then LGTM
Note that the merge branch is autoware_behavior_velocity_planner_common not main.

[liuXinGangChina]

Kondo san @youtalk

I look into the build error in #242 (comment) and fix it by ad29bb3

I notice that you do it also in 19b7150

My fix is based on you while remove more code which is not necessary for this phase porting, including:

1. since only motion_velocity_planner_obstacle plugin is on the porting list, so i remove other plugins loading code
2. also remove deprecated test case due to they use plugins that we are not going to port

i will assign @NorahXiong to add more test cases after we merge motion_velocity related packages to core

Thanks again for your review

心刚

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 570 lines in your changes missing coverage. Please review.

Project coverage is 0.00%. Comparing base (4cb18f5) to head (a06bd15).
Report is 117 commits behind head on main.

Files with missing lines	Patch %	Lines
...nner/autoware_motion_velocity_planner/src/node.cpp	0.00%	242 Missing ⚠️
...otion_velocity_planner_common/src/planner_data.cpp	0.00%	96 Missing ⚠️
...tion_velocity_planner_common/src/polygon_utils.cpp	0.00%	96 Missing ⚠️
...oware_motion_velocity_planner_common/src/utils.cpp	0.00%	75 Missing ⚠️
...re_motion_velocity_planner/src/planner_manager.cpp	0.00%	32 Missing ⚠️
..._velocity_planner_common/src/collision_checker.cpp	0.00%	16 Missing ⚠️
...re/motion_velocity_planner_common/planner_data.hpp	0.00%	8 Missing ⚠️
...nner/autoware_motion_velocity_planner/src/node.hpp	0.00%	1 Missing ⚠️
...re_motion_velocity_planner/src/planner_manager.hpp	0.00%	1 Missing ⚠️
...tion_velocity_planner_common/collision_checker.hpp	0.00%	1 Missing ⚠️
... and 2 more

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #242       +/-   ##
==========================================
- Coverage   78.75%   0.00%   -78.76%     
==========================================
  Files          11     101       +90     
  Lines         193    7076     +6883     
  Branches       73    1350     +1277     
==========================================
- Hits          152       0      -152     
- Misses         11    7076     +7065     
+ Partials       30       0       -30     

Flag	Coverage Δ
differential	0.00% <0.00%> (?)
total	?

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[youtalk]

@liuXinGangChina @NorahXiong @storrrrrrrrm Thank you for your patience and support. @mitsudome-r and I really wanted to finish merging all the current PRs by the end of today, so I went ahead and made the changes directly.

[youtalk]

Now CIs are all green.

[liuXinGangChina]

@liuXinGangChina @NorahXiong Thank you for your patience and support. @mitsudome-r and I really wanted to finish merging all the current PRs by the end of today, so I went ahead and made the changes directly.

Kondo san @youtalk

Thanks for your help and help from mits san，I believe we share the same goal “finish merging all the current PRs by the end of today” since it is also our duty and responsibility to the community

I will take care of every pr that we created through the whole review process

心刚

[liuXinGangChina]

Looks all build dependency has been meet for this pr

Next step

1. merge this pr
2. we should merge behavier_velocity_planner pr and pr in pairs
3. then merge obj_stop plugin pr and pr in pairs

[youtalk]

The dependent PR #230 was merged and this PR is not a porting. I enable auto-merge it.