About planning output topic name

[yukkysaito]

Currently the output of the component is the topic name directly below the namespace. If there are subcomponents, the subcomponents are also included in the namespace.
However, /planning/scenario_planning/trajectory is out of the above rule.

So, I propose to change from /planning/scenario_planning/trajectory to /planning/trajectory.

[yukkysaito]

Now, number of subscribers is 10.

Type: autoware_auto_planning_msgs/msg/Trajectory

Publisher count: 1

Node name: motion_velocity_smoother
Node namespace: /planning/scenario_planning
Topic type: autoware_auto_planning_msgs/msg/Trajectory
Endpoint type: PUBLISHER
GID: 53.84.10.01.c3.9a.07.8d.da.2b.9a.83.00.00.1d.03.00.00.00.00.00.00.00.00
QoS profile:
  Reliability: RELIABLE
  Durability: VOLATILE
  Lifespan: 9223372036854775807 nanoseconds
  Deadline: 9223372036854775807 nanoseconds
  Liveliness: AUTOMATIC
  Liveliness lease duration: 9223372036854775807 nanoseconds

Subscription count: 10

Node name: awapi_awiv_adapter_node
Node namespace: /awapi
Topic type: autoware_auto_planning_msgs/msg/Trajectory
Endpoint type: SUBSCRIPTION
GID: 01.70.10.01.2a.db.90.ff.21.b8.e1.53.00.00.51.04.00.00.00.00.00.00.00.00
QoS profile:
  Reliability: RELIABLE
  Durability: VOLATILE
  Lifespan: 9223372036854775807 nanoseconds
  Deadline: 9223372036854775807 nanoseconds
  Liveliness: AUTOMATIC
  Liveliness lease duration: 9223372036854775807 nanoseconds

Node name: planning_error_monitor
Node namespace: /planning/planning_diagnostics
Topic type: autoware_auto_planning_msgs/msg/Trajectory
Endpoint type: SUBSCRIPTION
GID: 04.1f.10.01.31.a0.f4.c8.df.31.02.91.00.00.17.04.00.00.00.00.00.00.00.00
QoS profile:
  Reliability: RELIABLE
  Durability: VOLATILE
  Lifespan: 9223372036854775807 nanoseconds
  Deadline: 9223372036854775807 nanoseconds
  Liveliness: AUTOMATIC
  Liveliness lease duration: 9223372036854775807 nanoseconds

Node name: ad_service_state_monitor
Node namespace: /system
Topic type: autoware_auto_planning_msgs/msg/Trajectory
Endpoint type: SUBSCRIPTION
GID: 1c.be.10.01.6d.15.33.b8.d3.55.38.35.00.00.1e.04.00.00.00.00.00.00.00.00
QoS profile:
  Reliability: RELIABLE
  Durability: VOLATILE
  Lifespan: 9223372036854775807 nanoseconds
  Deadline: 9223372036854775807 nanoseconds
  Liveliness: AUTOMATIC
  Liveliness lease duration: 9223372036854775807 nanoseconds

Node name: iv_msgs
Node namespace: /autoware_api/internal
Topic type: autoware_auto_planning_msgs/msg/Trajectory
Endpoint type: SUBSCRIPTION
GID: 7a.9b.10.01.96.06.11.07.d0.3b.85.3d.00.00.23.04.00.00.00.00.00.00.00.00
QoS profile:
  Reliability: RELIABLE
  Durability: VOLATILE
  Lifespan: 9223372036854775807 nanoseconds
  Deadline: 9223372036854775807 nanoseconds
  Liveliness: AUTOMATIC
  Liveliness lease duration: 9223372036854775807 nanoseconds

Node name: topic_state_monitor_scenario_planning_trajectory
Node namespace: /system
Topic type: autoware_auto_planning_msgs/msg/Trajectory
Endpoint type: SUBSCRIPTION
GID: 7d.3f.10.01.72.74.70.da.f6.1b.fc.50.00.00.16.04.00.00.00.00.00.00.00.00
QoS profile:
  Reliability: RELIABLE
  Durability: VOLATILE
  Lifespan: 9223372036854775807 nanoseconds
  Deadline: 9223372036854775807 nanoseconds
  Liveliness: AUTOMATIC
  Liveliness lease duration: 9223372036854775807 nanoseconds

Node name: controller_node_exe
Node namespace: /control/trajectory_follower
Topic type: autoware_auto_planning_msgs/msg/Trajectory
Endpoint type: SUBSCRIPTION
GID: 95.20.10.01.01.15.18.44.ff.00.98.29.00.00.22.04.00.00.00.00.00.00.00.00
QoS profile:
  Reliability: RELIABLE
  Durability: VOLATILE
  Lifespan: 9223372036854775807 nanoseconds
  Deadline: 9223372036854775807 nanoseconds
  Liveliness: AUTOMATIC
  Liveliness lease duration: 9223372036854775807 nanoseconds

Node name: lane_departure_checker_node
Node namespace: /control/trajectory_follower
Topic type: autoware_auto_planning_msgs/msg/Trajectory
Endpoint type: SUBSCRIPTION
GID: 95.20.10.01.01.15.18.44.ff.00.98.29.00.00.76.04.00.00.00.00.00.00.00.00
QoS profile:
  Reliability: RELIABLE
  Durability: VOLATILE
  Lifespan: 9223372036854775807 nanoseconds
  Deadline: 9223372036854775807 nanoseconds
  Liveliness: AUTOMATIC
  Liveliness lease duration: 9223372036854775807 nanoseconds

Node name: operation_mode_transition_manager
Node namespace: /control
Topic type: autoware_auto_planning_msgs/msg/Trajectory
Endpoint type: SUBSCRIPTION
GID: 95.20.10.01.01.15.18.44.ff.00.98.29.00.00.d6.04.00.00.00.00.00.00.00.00
QoS profile:
  Reliability: RELIABLE
  Durability: VOLATILE
  Lifespan: 9223372036854775807 nanoseconds
  Deadline: 9223372036854775807 nanoseconds
  Liveliness: AUTOMATIC
  Liveliness lease duration: 9223372036854775807 nanoseconds

Node name: rviz2
Node namespace: /
Topic type: autoware_auto_planning_msgs/msg/Trajectory
Endpoint type: SUBSCRIPTION
GID: 9c.42.10.01.d8.aa.67.99.8c.d0.60.fe.00.00.5d.04.00.00.00.00.00.00.00.00
QoS profile:
  Reliability: RELIABLE
  Durability: VOLATILE
  Lifespan: 9223372036854775807 nanoseconds
  Deadline: 9223372036854775807 nanoseconds
  Liveliness: AUTOMATIC
  Liveliness lease duration: 9223372036854775807 nanoseconds

Node name: simple_planning_simulator
Node namespace: /simulation
Topic type: autoware_auto_planning_msgs/msg/Trajectory
Endpoint type: SUBSCRIPTION
GID: a0.34.10.01.94.26.b8.e7.53.3e.17.34.00.00.20.04.00.00.00.00.00.00.00.00
QoS profile:
  Reliability: RELIABLE
  Durability: VOLATILE
  Lifespan: 9223372036854775807 nanoseconds
  Deadline: 9223372036854775807 nanoseconds
  Liveliness: AUTOMATIC
  Liveliness lease duration: 9223372036854775807 nanoseconds

[yukkysaito]

Related PRs

• feat!: change planning output topic name autoware.universe#2184
• feat: change planning output topic name tier4/tier4_ad_api_adaptor#76
• feat: change planning output topic name autoware_launch#105

[kenji-miyake]

I think it's okay, but since some other topics have similar topic names, it would be great if we could have clear criteria for topic names and write design guidelines.

[yukkysaito]

Yes. I agree with you

[yukkysaito]

After TIER IV internal discussion, it is good that if mission planning and scenario planning were to be adopted as subcomponents, it would be better to keep them.

• mission planning output : /planning/mission_planning/route
• scenario planning output : /planning/scenario_planning/trajectory

Reason

• Since the route of mission planning is also used as an output of planning, it is strange that planning output has /planning/route and /planning/trajectory.
• When planning is developed and used as a replacement, it would appear that mission planning also needs to be implemented.