refactor(localization): remove unnecessary dependency in localization packages #8202

KYabuuchi · 2024-07-26T02:49:46Z

Description

To minimize package dependencies, I removed unnecessary package dependencies from the package.xml.

The selection of packages to remove was based on autowarefoundation/autoware#3468 (comment)

How was this PR tested?

I deleted the build/ and install/ directories and confirmed that the build was successful.

Notes for reviewers

None.

Interface changes

Does not change.

Effects on system behavior

Does not change.

Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp>

github-actions · 2024-07-26T02:50:01Z

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codecov · 2024-07-26T03:07:48Z

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 29.22%. Comparing base (5093495) to head (5cf71ef).
Report is 19 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #8202      +/-   ##
==========================================
- Coverage   29.24%   29.22%   -0.02%     
==========================================
  Files        1600     1602       +2     
  Lines      117738   117441     -297     
  Branches    50720    50629      -91     
==========================================
- Hits        34427    34317     -110     
+ Misses      74120    73923     -197     
- Partials     9191     9201      +10

Flag	Coverage Δ		*Carryforward flag
differential	`41.72% <ø> (?)`
total	`29.21% <ø> (-0.03%)`	⬇️	Carriedforward from 7dc3939

*This pull request uses carry forward flags. Click here to find out more.

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KYabuuchi · 2024-07-26T04:45:04Z

@a-maumau maybe our works are conflicted. sorry 😭

KYabuuchi · 2024-07-26T05:02:54Z

To the maintainers,
since @a-maumau has conducted more detailed testing, I have asked him to review this and share his detailed analysis.
Please wait your reviews until he has completed his review.

a-maumau · 2024-07-26T05:12:47Z

@KYabuuchi
I have updated the script for checking some autoware_* dependency and the result is following:

updated result

--- Checking src/universe/autoware.universe/localization/autoware_landmark_based_localizer/autoware_landmark_manager/package.xml ---

--- Checking src/universe/autoware.universe/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/package.xml ---
ament_index_cpp should be rather be marked as either <build_depend> or <test_depend>, not <depend>
autoware_lanelet2_extension seems not to be used

--- Checking src/universe/autoware.universe/localization/pose_initializer/package.xml ---

--- Checking src/universe/autoware.universe/localization/ekf_localizer/package.xml ---

--- Checking src/universe/autoware.universe/localization/pose_estimator_arbiter/package.xml ---
pcl_ros seems not to be used
pluginlib seems not to be used
ublox_msgs seems not to be used
yabloc_particle_filter seems not to be used

--- Checking src/universe/autoware.universe/localization/yabloc/yabloc_pose_initializer/package.xml ---

--- Checking src/universe/autoware.universe/localization/yabloc/yabloc_image_processing/package.xml ---

--- Checking src/universe/autoware.universe/localization/yabloc/yabloc_monitor/package.xml ---

--- Checking src/universe/autoware.universe/localization/yabloc/yabloc_common/package.xml ---

--- Checking src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/package.xml ---

--- Checking src/universe/autoware.universe/localization/autoware_pose_covariance_modifier/package.xml ---

--- Checking src/universe/autoware.universe/localization/twist2accel/package.xml ---

--- Checking src/universe/autoware.universe/localization/autoware_stop_filter/package.xml ---

--- Checking src/universe/autoware.universe/localization/gyro_odometer/package.xml ---

--- Checking src/universe/autoware.universe/localization/localization_util/package.xml ---
autoware_universe_utils seems not to be used
fmt seems not to be used
nav_msgs seems not to be used
sensor_msgs seems not to be used
std_srvs seems not to be used
tf2_ros seems not to be used
tf2_sensor_msgs seems not to be used
tier4_debug_msgs seems not to be used
tier4_localization_msgs seems not to be used

--- Checking src/universe/autoware.universe/localization/ndt_scan_matcher/package.xml ---
std_msgs seems not to be used

--- Checking src/universe/autoware.universe/localization/pose_instability_detector/package.xml ---
ament_index_cpp should be rather be marked as either <build_depend> or <test_depend>, not <depend>
tier4_debug_msgs seems not to be used

--- Checking src/universe/autoware.universe/localization/localization_error_monitor/package.xml ---
diagnostic_updater seems not to be used

--- Checking src/universe/autoware.universe/localization/geo_pose_projector/package.xml ---

--- Checking src/universe/autoware.universe/localization/pose2twist/package.xml ---

At least for compiling, we can follow the above result for removing the unused dependency except for autoware_universe_utils in localization_util.

Remove the autoware_universe_utils and add diagnostic_msgs to remove the autoware_universe_utils dependency in localization_util.
add the autoware_universe_utils in autoware_landmark_manager.

Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp>

…Yabuuchi/autoware.universe into refactor/remove_unnecessary_dependency

KYabuuchi · 2024-07-26T08:11:33Z

I have updated the dependencies based on a-maumau's review. 🙏

And, I have reconfirmed that all packages build successfully again.

Now, this PR is ready for review 🙇

YamatoAndo

I have confirmed that the all packages build successfully and the Lsim works with sample rosbag.

… packages (autowarefoundation#8202) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yamato Ando <yamato.ando@gmail.com>

KYabuuchi added 2 commits July 26, 2024 11:41

remove dependency in pose_estimator_arbiter

359880c

Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp>

remove dependency in localization_util

f6591a5

Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp>

github-actions bot added the component:localization Vehicle's position determination in its environment. (auto-assigned) label Jul 26, 2024

KYabuuchi added the tag:run-build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Jul 26, 2024

KYabuuchi marked this pull request as ready for review July 26, 2024 04:06

KYabuuchi requested review from anhnv3991, Motsu-san, RyuYamamoto, SakodaShintaro, TaikiYamada4 and YamatoAndo as code owners July 26, 2024 04:06

KYabuuchi marked this pull request as draft July 26, 2024 07:13

KYabuuchi and others added 4 commits July 26, 2024 16:51

remove some dependency in localization packages

4e5486b

Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp>

style(pre-commit): autofix

32b9fb6

fix miss removal

dd4575c

Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp>

Merge branch 'refactor/remove_unnecessary_dependency' of github.com:K…

dbcadd0

…Yabuuchi/autoware.universe into refactor/remove_unnecessary_dependency

KYabuuchi marked this pull request as ready for review July 26, 2024 08:11

pre-commit-ci bot and others added 2 commits July 26, 2024 08:12

style(pre-commit): autofix

7dc3939

Merge branch 'main' into refactor/remove_unnecessary_dependency

5cf71ef

YamatoAndo approved these changes Jul 30, 2024

View reviewed changes

KYabuuchi merged commit d5e8e85 into autowarefoundation:main Jul 31, 2024
30 checks passed

KYabuuchi deleted the refactor/remove_unnecessary_dependency branch July 31, 2024 00:31

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refactor(localization): remove unnecessary dependency in localization packages #8202

refactor(localization): remove unnecessary dependency in localization packages #8202

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refactor(localization): remove unnecessary dependency in localization packages #8202

refactor(localization): remove unnecessary dependency in localization packages #8202

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KYabuuchi commented Jul 26, 2024 • edited Loading

Description

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How was this PR tested?

Notes for reviewers

Interface changes

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