fix(motion_velocity_planner): remove velocity factor

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

Author: satoshi-ota

planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware/motion_velocity_planner_common/plugin_module_interface.hpp

@@ -19,7 +19,6 @@
 #include "velocity_planning_result.hpp"
 
 #include <autoware/motion_utils/factor/planning_factor_interface.hpp>
-#include <autoware/motion_utils/factor/velocity_factor_interface.hpp>
 #include <autoware/universe_utils/ros/processing_time_publisher.hpp>
 #include <rclcpp/rclcpp.hpp>
 
@@ -47,7 +46,6 @@ class PluginModuleInterface
     const std::shared_ptr<const PlannerData> planner_data) = 0;
   virtual std::string get_module_name() const = 0;
   virtual void publish_planning_factor() {}
-  autoware::motion_utils::VelocityFactorInterface velocity_factor_interface_;
   rclcpp::Logger logger_ = rclcpp::get_logger("");
   rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr debug_publisher_;
   rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr virtual_wall_publisher_;

planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware/motion_velocity_planner_common/velocity_planning_result.hpp

@@ -17,7 +17,6 @@
 
 #include <autoware/motion_utils/marker/virtual_wall_marker_creator.hpp>
 
-#include <autoware_adapi_v1_msgs/msg/velocity_factor.hpp>
 #include <geometry_msgs/msg/point.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
 
@@ -43,7 +42,6 @@ struct VelocityPlanningResult
 {
   std::vector<geometry_msgs::msg::Point> stop_points{};
   std::vector<SlowdownInterval> slowdown_intervals{};
-  std::optional<autoware_adapi_v1_msgs::msg::VelocityFactor> velocity_factor{};
 };
 }  // namespace autoware::motion_velocity_planner
 

planning/motion_velocity_planner/autoware_motion_velocity_planner_node/README.md

@@ -30,10 +30,10 @@ This means that to stop before a wall, a stop point is inserted in the trajector
 
 ## Output topics
 
-| Name                        | Type                                              | Description                                        |
-| --------------------------- | ------------------------------------------------- | -------------------------------------------------- |
-| `~/output/trajectory`       | autoware_planning_msgs::msg::Trajectory           | Ego trajectory with updated velocity profile       |
-| `~/output/velocity_factors` | autoware_adapi_v1_msgs::msg::VelocityFactorsArray | factors causing change in the ego velocity profile |
+| Name                                      | Type                                           | Description                                        |
+| ----------------------------------------- | ---------------------------------------------- | -------------------------------------------------- |
+| `~/output/trajectory`                     | autoware_planning_msgs::msg::Trajectory        | Ego trajectory with updated velocity profile       |
+| `~/output/planning_factors/<MODULE_NAME>` | tier4_planning_msgs::msg::PlanningFactorsArray | factors causing change in the ego velocity profile |
 
 ## Services
 

planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp

@@ -82,9 +82,6 @@ MotionVelocityPlannerNode::MotionVelocityPlannerNode(const rclcpp::NodeOptions &
   // Publishers
   trajectory_pub_ =
     this->create_publisher<autoware_planning_msgs::msg::Trajectory>("~/output/trajectory", 1);
-  velocity_factor_publisher_ =
-    this->create_publisher<autoware_adapi_v1_msgs::msg::VelocityFactorArray>(
-      "~/output/velocity_factors", 1);
   processing_time_publisher_ =
     this->create_publisher<tier4_debug_msgs::msg::Float64Stamped>("~/debug/processing_time_ms", 1);
   debug_viz_pub_ =
@@ -425,20 +422,13 @@ autoware_planning_msgs::msg::Trajectory MotionVelocityPlannerNode::generate_traj
     resampled_trajectory, std::make_shared<const PlannerData>(planner_data_));
   processing_times["plan_velocities"] = stop_watch.toc("plan_velocities");
 
-  autoware_adapi_v1_msgs::msg::VelocityFactorArray velocity_factors;
-  velocity_factors.header.frame_id = "map";
-  velocity_factors.header.stamp = get_clock()->now();
-
   for (const auto & planning_result : planning_results) {
     for (const auto & stop_point : planning_result.stop_points)
       insert_stop(output_trajectory_msg, stop_point);
     for (const auto & slowdown_interval : planning_result.slowdown_intervals)
       insert_slowdown(output_trajectory_msg, slowdown_interval);
-    if (planning_result.velocity_factor)
-      velocity_factors.factors.push_back(*planning_result.velocity_factor);
   }
 
-  velocity_factor_publisher_->publish(velocity_factors);
   return output_trajectory_msg;
 }
 

planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.hpp

@@ -93,8 +93,6 @@ class MotionVelocityPlannerNode : public rclcpp::Node
   // publishers
   rclcpp::Publisher<autoware_planning_msgs::msg::Trajectory>::SharedPtr trajectory_pub_;
   rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr debug_viz_pub_;
-  rclcpp::Publisher<autoware_adapi_v1_msgs::msg::VelocityFactorArray>::SharedPtr
-    velocity_factor_publisher_;
   autoware::universe_utils::ProcessingTimePublisher processing_diag_publisher_{
     this, "~/debug/processing_time_ms_diag"};
   rclcpp::Publisher<tier4_debug_msgs::msg::Float64Stamped>::SharedPtr processing_time_publisher_;