feat(agnocastlib): implement Agnocast-ROS2 functionality

[veqcc]

Description

Implemented Agnocast -> ROS 2 bridge functionality.

Major changes are:

• deleted bridge directory
• replaced node_interface for node in both create_publisher and create_subscription
• updated publish() function to check whether to publish ROS 2 messages every time
• updated get_subscription_count() function to fix get_subscription_count が Agnocast の subscription しかカウントできない #181
• made it possible to pass topic names without resolving them

Related links

Design Document (TIER IV internal)

How was this PR tested?

• sample application (required)
  Confirmed that transient_local are subscribed by both Agnocast and ROS 2, and transient_local_with_flag are subscribed only by Agnocast.

[agnocast_component_container-1] [INFO] [1737351272.964023617] [listener_node]: I heard transient_local message through Agnocast
[agnocast_component_container-1] [INFO] [1737351272.964755617] [listener_node]: I heard transient_local_with_flag message through Agnocast
[agnocast_component_container-1] [INFO] [1737351273.074912651] [listener_node]: I heard transient_local message through ROS

• Autoware (required)
  • universe branch: update pub/sub interface autoware.universe_tmp-agnocast#15

Notes for reviewers

• The parameter do_always_ros2_publish will be unified to Agnocast::PublisherOptions later in create_publisher が options 引数を取れるようにする #306
• Is it better to unify the publisher/subscription interface from node_interfaces to node even in subscriptions?
  • done

[atsushi421]

Is it better to unify the publisher/subscription interface from node_interfaces to node even in subscriptions?

I think this is better.

[atsushi421]

@veqcc
pre-commitがfailしているみたいです
https://github.com/tier4/agnocast/actions/runs/12861802701/job/35855726630?pr=326

[veqcc]

Is it better to unify the publisher/subscription interface from node_interfaces to node even in subscriptions?

こちらの件、subscription もインターフェースを統一しました。

[atsushi421]

LGTM!

[github-actions]

------------------------------------------------------------------------------
                           GCC Code Coverage Report
Directory: .
------------------------------------------------------------------------------
File                                       Lines    Exec  Cover   Missing
------------------------------------------------------------------------------
src/agnocastlib/include/agnocast.hpp           2       2   100%   
src/agnocastlib/include/agnocast_executor.hpp
                                               1       0     0%   38
src/agnocastlib/include/agnocast_publisher.hpp
                                              33      25    75%   59,81-82,91-93,97-98
src/agnocastlib/include/agnocast_smart_pointer.hpp
                                              53      50    94%   77,80-81
src/agnocastlib/include/agnocast_topic_info.hpp
                                              13      13   100%   
src/agnocastlib/src/agnocast.cpp              82      15    18%   22,24,27,30,32-34,36,39,42,44-50,54-55,58-62,66-67,71-74,77,80,82-85,88,91,93-94,96-97,102,104-106,109-112,115,117-123,125,138-139,150-151,154-156,161
src/agnocastlib/src/agnocast_component_container.cpp
                                              12       0     0%   5,7-8,11-13,16,18-20,22-23
src/agnocastlib/src/agnocast_component_container_mt.cpp
                                              28       0     0%   7,11-12,14-16,18-20,22-24,26-28,30,32-33,35-37,40,42,44-46,48-49
src/agnocastlib/src/agnocast_executor.cpp
                                              86       0     0%   10,12,14-16,18-20,24,26,29,31-32,35-39,42-45,47-48,51-53,55-58,61-62,67,70,73,75-79,82,86-87,90-91,94,96-100,103,106,110-115,118,121-124,126-129,132,135-137,140,142,145,149-150,153-156,159,162,164-165
src/agnocastlib/src/agnocast_multi_threaded_executor.cpp
                                              51       0     0%   9,13,15-17,19-20,25-26,29-33,36,38-41,44,48,51,53-55,58-60,64,66-67,71,74,77,79-80,82-83,87-88,91,96,100,103-104,107,114-117,120
src/agnocastlib/src/agnocast_publisher.cpp
                                              73       0     0%   5,7,9-15,19-20,27,32,34-39,42-49,54,58-65,68-69,71-74,76-79,81,84-85,89-90,96,100-109,112-113,116,119,121-126,129
src/agnocastlib/src/agnocast_single_threaded_executor.cpp
                                              19       0     0%   10-12,16,18-21,24,28-30,33,35-37,40-42
src/agnocastlib/src/agnocast_smart_pointer.cpp
                                              20       0     0%   5,7-15,19,21-29
src/agnocastlib/src/agnocast_subscription.cpp
                                              90       9    10%   10-12,14,17,21,24-26,28,30,32,34-39,41-46,48,51-58,61-64,66,68,71,74,78-81,83-89,92-93,100,105,107-110,113,116,120-125,127-132,134,136,139,143-144,146-147
src/agnocastlib/src/agnocast_topic_info.cpp
                                              16       0     0%   12,16-17,20-24,28-31,34-37
src/agnocastlib/src/agnocast_utils.cpp        25      23    92%   48,50
------------------------------------------------------------------------------
TOTAL                                        604     137    22%
------------------------------------------------------------------------------

[github-actions]

------------------------------------------------------------------------------
                           GCC Code Coverage Report
Directory: .
------------------------------------------------------------------------------
File                                       Lines    Exec  Cover   Missing
------------------------------------------------------------------------------
src/agnocastlib/include/agnocast.hpp           2       2   100%   
src/agnocastlib/include/agnocast_executor.hpp
                                               1       0     0%   38
src/agnocastlib/include/agnocast_publisher.hpp
                                              33      25    75%   59,81-82,91-93,97-98
src/agnocastlib/include/agnocast_smart_pointer.hpp
                                              53      50    94%   77,80-81
src/agnocastlib/include/agnocast_topic_info.hpp
                                              13      13   100%   
src/agnocastlib/src/agnocast.cpp              82      15    18%   22,24,27,30,32-34,36,39,42,44-50,54-55,58-62,66-67,71-74,77,80,82-85,88,91,93-94,96-97,102,104-106,109-112,115,117-123,125,138-139,150-151,154-156,161
src/agnocastlib/src/agnocast_component_container.cpp
                                              12       0     0%   5,7-8,11-13,16,18-20,22-23
src/agnocastlib/src/agnocast_component_container_mt.cpp
                                              28       0     0%   7,11-12,14-16,18-20,22-24,26-28,30,32-33,35-37,40,42,44-46,48-49
src/agnocastlib/src/agnocast_executor.cpp
                                              86       0     0%   10,12,14-16,18-20,24,26,29,31-32,35-39,42-45,47-48,51-53,55-58,61-62,67,70,73,75-79,82,86-87,90-91,94,96-100,103,106,110-115,118,121-124,126-129,132,135-137,140,142,145,149-150,153-156,159,162,164-165
src/agnocastlib/src/agnocast_multi_threaded_executor.cpp
                                              51       0     0%   9,13,15-17,19-20,25-26,29-33,36,38-41,44,48,51,53-55,58-60,64,66-67,71,74,77,79-80,82-83,87-88,91,96,100,103-104,107,114-117,120
src/agnocastlib/src/agnocast_publisher.cpp
                                              73       0     0%   5,7,9-15,19-20,27,32,34-39,42-49,54,58-65,68-69,71-74,76-79,81,84-85,89-90,96,100-109,112-113,116,119,121-126,129
src/agnocastlib/src/agnocast_single_threaded_executor.cpp
                                              19       0     0%   10-12,16,18-21,24,28-30,33,35-37,40-42
src/agnocastlib/src/agnocast_smart_pointer.cpp
                                              20       0     0%   5,7-15,19,21-29
src/agnocastlib/src/agnocast_subscription.cpp
                                              92       9     9%   10,12-15,17,20,24,27-29,31,33,35,37-42,44-49,51,54-61,64-67,69,71,74,77,81-84,86-92,95-96,103,108,110-113,116,119,123-128,130-135,137,139,142,146-147,149-150
src/agnocastlib/src/agnocast_topic_info.cpp
                                              16       0     0%   12,16-17,20-24,28-31,34-37
src/agnocastlib/src/agnocast_utils.cpp        25      23    92%   48,50
------------------------------------------------------------------------------
TOTAL                                        606     137    22%
------------------------------------------------------------------------------

[veqcc]

@atsushi421 @Koichi98

• トピック名の resolve なしでの publisher/subscription 作成を可能に（これに付随してテストも多少改変した）
• universe での動作確認

まで完了したので、再度 approve お願いします！

universe の方も同時マージできると助かります
tier4/autoware.universe_tmp-agnocast#15

[Koichi98]

LGTM!

[bdm-k]

@veqcc

The parameter do_always_ros2_publish will be unified to Agnocast::PublisherOptions later

struct PublisherOptions : rclcpp::PublisherOptionsBase
{
  bool do_always_ros2_publish;
};

このような構造体を想定していますか？

[veqcc]

struct PublisherOptions : rclcpp::PublisherOptionsBase
{
  bool do_always_ros2_publish;
};

このような構造体を想定していますか？

@bdm-k
ですね！何を継承するか（ rclcpp::PublisherOptionsBase なのか rclcpp::PublisherOptions なのかなど ）は未検討ですが、イメージはそんな感じです 👍

[Koichi98]

@bdm-k @veqcc
一旦rclcpp::PublisherOptionsBaseなどrclcpp側の継承をせずに、

struct PublisherOptions
{
  bool do_always_ros2_publish;
};

だけで作ってもらって機能性が保持されることを確認した上でPRをmergeしましょう。
そこからissue #306に見られるようなqos_overriding_optionsをはじめAutoware適用に必要なものを適宜追加していく形でどうでしょうか。
継承するのはPublisherOptionsBaseやPublisherOptionsなどで定義されているメンバ変数に関して、対応するAgnocastのPublisherでの実装を作ってからという方針でいくのがよさそうかなと！