fix(design): align the control node designs with the packages they describe

[technolojin]

Description

Split of #13298 — the control slice. The CollisionDetector part of that slice already landed as #13312; what remains is four designs.

ControlCommandGate — plugin name

autoware_control_command_gate registers autoware::control_command_gate::ControlCmdGate, not …::ControlCommandGateNode.

AutonomousModeTransitionFlag — fixed-name publishers

transition_available and transition_completed are pinned to /system/command_mode/transition/{available,completed} with global:. A port pinned with global: connects outside the design graph on a fixed topic: link_manager skips any connection whose target is a global input port, and the exporter emits no remap. With remap_target: the port takes part in the graph like any other, while the launcher still binds it to the official name.

TrajectoryFollower — interface types

Checked against the installed message definitions and the create_publisher call sites.

interface	was	is
slope_angle	std_msgs/msg/Float32Stamped (no such type)	autoware_internal_debug_msgs/msg/Float32MultiArrayStamped
lateral_diagnostic, longitudinal_diagnostic	diagnostic_msgs/msg/DiagnosticStatus	autoware_internal_debug_msgs/msg/Float32MultiArrayStamped

The stop_reason publisher is dropped; the node never creates it.

VehicleCmdGate — gate mode and engage on the design graph

The gate_mode (/control/gate_mode_cmd) and engage (/autoware/engage) subscribers drop their global: pins and keep their remap_target declarations, so these inputs are connected through the design.

OperationModeTransitionManager — system and legacy interfaces

The operation mode state publisher, the two operation mode change services and the legacy engage / gate_mode_cmd publishers are node-side fixed names. They are declared as remap targets so they sit on the design graph, matching the VehicleCmdGate side above.

Related links

Parent Issue:

• None

Related:

• fix(design): align the node designs with the packages they describe #13298 — the umbrella PR this is split from
• feat(autoware_sample_designs): compose the AD API, system and vehicle components from design modules autoware_launch#1976 — the launch counterpart; the reference system was built and run against this PR together with it
• fix(autoware_collision_detector): declare the operation mode state input as a remap target #13312 — the CollisionDetector part of this slice, already merged
• fix(control): declare the fixed-name compatibility interfaces in the control node designs #13281 — introduced the global: pins on the VehicleCmdGate compatibility inputs that this PR converts to design-graph connections
• fix(control, planning): connect the module inputs left without a source autoware_launch#1972 — the matching module connections. Paired; each needs the other.

How was this PR tested?

• pre-commit run --files on all four changed designs (Autoware System Design Format lint, prettier, yamllint) passes.
• Launch fields re-checked against CMakeLists.txt and RCLCPP_COMPONENTS_REGISTER_NODE; interface types against the installed .msg definitions.
• The changes are byte-identical to the corresponding files on fix(design): align the node designs with the packages they describe #13298, which was validated by an autoware_sample_designs deployment build across four modes.
• The AutowareSample reference system was built and run with these designs against feat(autoware_sample_designs): compose the AD API, system and vehicle components from design modules autoware_launch#1976: colcon build --packages-select autoware_sample_designs succeeds with zero warnings and exports all four modes (Runtime, LoggingSimulation, PlanningSimulation, E2ESimulation), and planning simulation reaches autonomous mode.

Notes for reviewers

Design metadata only; no launch file or node source is touched.

The gate_mode/engage inputs of VehicleCmdGate were declared global: in #13281 because of external publishers (internal API adaptor, joy controller, RViz panel); this PR moves them onto the design graph, so please check the multi-publisher expectation still holds for your systems.

Interface changes

None. TrajectoryFollower's debug publishers are corrected to the types the node already publishes, and stop_reason is removed from the design because the node does not create it — there is no node-side change.

Effects on system behavior

None.

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[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 20.48%. Comparing base (f540393) to head (f6b263c).
⚠️ Report is 1 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #13340      +/-   ##
==========================================
- Coverage   20.49%   20.48%   -0.01%     
==========================================
  Files        1948     1948              
  Lines      137202   137201       -1     
  Branches    48933    48932       -1     
==========================================
- Hits        28113    28109       -4     
  Misses      86314    86314              
- Partials    22775    22778       +3     

Flag	Coverage Δ		*Carryforward flag
daily	?
full-suite	20.48% <ø> (+<0.01%)	⬆️	Carriedforward from b09c90b

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