Remove tier4_ad_api_adaptor

[isamu-takagi]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

Currently, tier4_ad_api_adaptor is imported as a sample API. However, it is now possible to drive the vehicle even with the newly introduced AD API. It's confusing to have two API examples, so I plan to remove tier4_ad_api_adaptor.

Purpose

Unify API samples to default_ad_api.

Possible approaches

1. Replace code that uses tier4_ad_api_adaptor with default_ad_api.
2. Remove tier4_ad_api_adaptor from autoware.repos.

Definition of done

Remove tier4_ad_api_adaptor from autoware.repos

[xmfcx]

Hello @isamu-takagi -san,

autoware/autoware.repos

Lines 28 to 31 in c9c4546

	universe/external/tier4_ad_api_adaptor: # TODO(TIER IV): Improve design/code and transfer to AWF
	type: git
	url: https://github.com/tier4/tier4_ad_api_adaptor.git
	version: tier4/universe

Since this comment is present, I guess this issue is still relevant.

Is there a timeline for this issue to be completed? (Is this low priority?)

Could you provide a list of packages to be modified/refactored to achieve this task?

[isamu-takagi]

@xmfcx RTC has not been deleted yet.

This will be completed by migrating to this API. I'm currently implementing this API.
https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/cooperation/

[xmfcx]

@isamu-takagi thanks for the information.

I couldn't find Cooperation API in the default_ad_api.

I'm currently implementing this API.

Is it being implemented into the default_ad_api package?

Are there ongoing PRs for this task?

[isamu-takagi]

There are no PRs for AD API yet. I'm currently changing the implementation to match the API.

• feat: change planning factor behavior constants autoware.universe#5590

[xmfcx]

@isamu-takagi -san
I've searched the current Autoware workspace for the usages of this package but couldn't find any. Can we remove tier4_ad_api_adaptor from Autoware completely now?

sudo apt install ripgrep -y

mfc@bunny:~/projects/autoware$ rg "tier4_ad_api_adaptor" --hidden --no-ignore -g '!*.rst' -g '!{build,install,log,**/.git,**/.idea}/**'

./autoware-nightly.repos
22:  universe/external/tier4_ad_api_adaptor: # TODO(TIER IV): Migrate to AD API and remove this repository entry.
24:    url: https://github.com/tier4/tier4_ad_api_adaptor.git

./src/universe/external/tier4_ad_api_adaptor/.github/workflows/sync-micro-bus.yaml
25:          sync-target-repository: https://github.com/tier4/tier4_ad_api_adaptor

./autoware.repos
37:  universe/external/tier4_ad_api_adaptor: # TODO(TIER IV): Migrate to AD API and remove this repository entry.
39:    url: https://github.com/tier4/tier4_ad_api_adaptor.git

[isamu-takagi]

@xmfcx The following packages in tier4_ad_api_adaptor are used when launch_deprecated_api=true. So, it is fine if the option is set to false (default value), but setting it to true will cause an error.

• autoware_iv_external_api_adaptor
• autoware_iv_internal_api_adaptor
• awapi_awiv_adapter

Releted files:

• https://github.com/autowarefoundation/autoware.universe/blob/main/launch/tier4_autoware_api_launch/package.xml#L16-L19
• https://github.com/autowarefoundation/autoware.universe/blob/main/launch/tier4_autoware_api_launch/launch/deprecated_api.launch.xml