Can not set initial pose in planning simulator after code update

[NorahXiong]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

I failed to set initial pose in planning simulator after updating the code(5f7fbd7).

Set_Pose_Failed.mp4

Expected behavior

Planning simulator works normally.

Actual behavior

Can not set initial pose in planning simulator.

Steps to reproduce

Update the project and try to set initial pose in planning simulator.

Versions

• OS: Ubuntu 20.04
• ROS2: Galactic
• Autoware: Autoware.universe:main

Possible causes

In PR #1500, simple_planning_simulator topic "/initialpose" is changed to "/initialpose3d" but no message is sent on topic "/initialpose3d" when simulating. Maybe there are some relating parameters need modification at the same time.

Additional context

I changed the rviz_default_plugins/SetInitialPose topic from "/initialpose" to "/initialpose3d" and the simulator worked. Anyway, it seems not a proper fix as the pose set through rviz_default_plugins still missing z axis value(z value is always 0).

[VRichardJP]

I'm facing the same problem after updating autoware. I think autoware's launch files should run this module https://github.com/autowarefoundation/autoware.universe/tree/main/system/default_ad_api_helpers/ad_api_adaptors

[isamu-takagi]

Sorry, it was because these PRs were not merged at the same time. It's fixed now.

• feat: move adapi rviz adaptor  #1900
• feat: move adapi rviz adaptor  autoware_launch#88

[NorahXiong]

Sorry, it was because these PRs were not merged at the same time. It's fixed now.

• feat: move adapi rviz adaptor  #1900
• feat: move adapi rviz adaptor  autoware_launch#88

Planning simulator works well now. Thank you.