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Routing service #20

Merged
merged 27 commits into from
Jan 23, 2023
Merged

Routing service #20

merged 27 commits into from
Jan 23, 2023

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agalbachicar
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🎉 New feature

Part of #1

Summary

Introduces /derive_lane_s_routes which provides all the LaneSRoutes between two RoadPositions whose intermediate Lanes's length are less than a certain threshold. It should be the start point for an agent to perform routing, at least based on geometric and connectivity constraints.

Test it

Via unit tests.

Checklist

  • Signed all commits for DCO
  • Added tests
  • Added example and/or tutorial
  • Updated documentation (as needed)
  • Updated migration guide (as needed)
  • Consider updating Python bindings (if it affects the public API)

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

@agalbachicar
Creates a base package to execute queries.
39ac9ea 
- Creates MaliputQueryNode as a ROS2 proxy to make RoadNetwork queries.
- Provides a sample configuration file use maliput_malidrive.

Signed-off-by: Agustin Alba Chicar <ag.albachicar@gmail.com>
@agalbachicar
Addresses comments.
10e54a1 
Signed-off-by: Agustin Alba Chicar <ag.albachicar@gmail.com>
@agalbachicar
Add tests to MaliputQuery.
4814a26 
Signed-off-by: Agustin Alba Chicar <ag.albachicar@gmail.com>
@agalbachicar
Add tests to MaliputQueryNode.
b6df3ed 
Signed-off-by: Agustin Alba Chicar <ag.albachicar@gmail.com>
@agalbachicar
Replaces gmock defines for the new versions.
f320184 
Signed-off-by: Agustin Alba Chicar <ag.albachicar@gmail.com>
@agalbachicar
Missing end of line.
e4cfd6a 
Signed-off-by: Agustin Alba Chicar <ag.albachicar@gmail.com>
@agalbachicar
Solves the non-mutable YAML configuration parameter.
6dd66cd 
Signed-off-by: Agustin Alba Chicar <ag.albachicar@gmail.com>
@agalbachicar
Adds dependencies to CI.
bf1e6ed 
Signed-off-by: Agustin Alba Chicar <ag.albachicar@gmail.com>
@agalbachicar
Adds new mocks and standardizes the macros.
663fec7 
Signed-off-by: Agustin Alba Chicar <ag.albachicar@gmail.com>
@agalbachicar
Adds test to MaliputQuery.
e38289e 
Signed-off-by: Agustin Alba Chicar <ag.albachicar@gmail.com>
@agalbachicar
Adds the junction service call and its tests.
b1331e1 
Signed-off-by: Agustin Alba Chicar <ag.albachicar@gmail.com>
@agalbachicar
Fixes docstring.
b029bef 
Signed-off-by: Agustin Alba Chicar <ag.albachicar@gmail.com>
@agalbachicar
Adds the service call creation.
9a2dbeb 
Signed-off-by: Agustin Alba Chicar <ag.albachicar@gmail.com>
@agalbachicar
Merge branch 'main' into agalbachicar/#1_add_get_junction_service
7a23e3f 
Signed-off-by: Agustin Alba Chicar <ag.albachicar@gmail.com>
@agalbachicar
Adds a segment to obtain Segments by ID.
cc6e354 
Signed-off-by: Agustin Alba Chicar <ag.albachicar@gmail.com>
@agalbachicar
Adds lane service.
66bf715 
Signed-off-by: Agustin Alba Chicar <ag.albachicar@gmail.com>
@agalbachicar
Adds branch_point service.
21391e1 
Signed-off-by: Agustin Alba Chicar <ag.albachicar@gmail.com>
@agalbachicar
Splits maliput_query_node_tests into multiple files per service.
08058f4 
- Moves specifc service request tests to individual files.
- Creates a function to make a service request and return the result.

Signed-off-by: Agustin Alba Chicar <ag.albachicar@gmail.com>
@agalbachicar
Merge branch 'main' into agalbachicar/#1_refactor_tests_to_scale_buil…
5a578e2 
…d_time
@agalbachicar
Adds ToRoadPosition and FindRoadPositions as service calls.
fb05a86 
Signed-off-by: Agustin Alba Chicar <ag.albachicar@gmail.com>
@agalbachicar
Adds a service to obtain the INERTIAL Frame pose of a given RoadPosit…
ab961f6 
…ion.

Signed-off-by: Agustin Alba Chicar <ag.albachicar@gmail.com>
@agalbachicar
Adds a service to obtain the LANE Frame derivatives at a given RoadPo…
a07d8c3 
…sition.

Signed-off-by: Agustin Alba Chicar <ag.albachicar@gmail.com>
@agalbachicar
Adds a query to retrieve lane boundaries at a RoadPosition.
30fa63f 
Signed-off-by: Agustin Alba Chicar <ag.albachicar@gmail.com>
@agalbachicar
Adds ToRoadPosition and FindRoadPositions as service calls.
8af20a3 
Signed-off-by: Agustin Alba Chicar <ag.albachicar@gmail.com>
@agalbachicar
Adds a query to derive LaneSRoutes from two RoadPositions.
e9aa3cd 
Signed-off-by: Agustin Alba Chicar <ag.albachicar@gmail.com>
@agalbachicar
Merge branch 'main' into agalbachicar/#1_routing_service
5bcdefc 
Signed-off-by: Agustin Alba Chicar <ag.albachicar@gmail.com>
@agalbachicar agalbachicar requested review from francocipollone and removed request for francocipollone January 17, 2023 19:22
francocipollone
francocipollone previously approved these changes Jan 18, 2023
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🚀

maliput_ros_translation/src/maliput_ros_translation/convert.cc Outdated Show resolved Hide resolved
maliput_ros_translation/include/maliput_ros_translation/convert.h Show resolved Hide resolved
maliput_ros/include/maliput_ros/ros/maliput_query.h Outdated Show resolved Hide resolved
@agalbachicar
Addresses comments.
84a1b8e 
Signed-off-by: Agustin Alba Chicar <ag.albachicar@gmail.com>
This was referenced Jan 21, 2023
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francocipollone
francocipollone approved these changes Jan 21, 2023
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LGTM!

@agalbachicar agalbachicar merged commit ce8c291 into main Jan 23, 2023
@agalbachicar agalbachicar deleted the agalbachicar/#1_routing_service branch January 23, 2023 14:06
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@francocipollone francocipollone francocipollone approved these changes

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@agalbachicar @francocipollone