feat: add autoware_control_center and autoware_node

[xmfcx]

Description

Goals for the v1:

• Lifecycle
• Register/Deregister
  • List potential cases that are handled
• Heartbeat monitoring
  • Error/Warning/Healthy states are part of the heartbeat
• Basic ACC features
  • Report faulty nodes

Remaining tasks

• Write down the AutowareNode.
  • Create tests for it.
    • Init / Shutdown
    • Register
      • AN is launched first
      • ACC is launched first
      • Duplicate registering with same name
    • Heartbeat
      • Success case
      • Dead upon being late
      • Alive upon coming back

Edge cases

Support:

• ACC runs, AN runs, ACC dies, another ACC comes, AN should register to it.
• AN dies, ACC still has an entry, after a grace period, it should deregister it automatically.

Related links

🖱️Click to expand

Continuation from:

• feat: add autoware_node and autoware_control_center #73

• https://github.com/orgs/autowarefoundation/discussions/3194

Nav2 references

• https://navigation.ros.org/concepts/index.html#lifecycle-nodes-and-bond
• https://navigation.ros.org/configuration/packages/configuring-lifecycle.html
• https://github.com/ros-planning/navigation2/blob/main/nav2_util/include/nav2_util/lifecycle_node.hpp

Autoware.Auto discussions

• Autoware.Auto discussions: https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/issues/821
• Discuss Implementing LifeCycleNode Support on Autoware.Auto Nodes - https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/issues/282
• Autoware Diagnostics and Monitoring - https://gist.github.com/xmfcx/7eaae9750d6317a3a2aa23745ac99444

Tests performed

WIP

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[esteve]

@xmfcx I found this about using Kubernetes to ensure a singleton instance:

https://medium.com/@fahed.dorgaa/kubernetes-singleton-pattern-84a88a06727a

And this for integrating Kubernetes with ROS 2:

https://github.com/fujitatomoya/ros_k8s

Hope this helps, let me know if I can help

[xmfcx]

@esteve I've read the medium post and it aims to solve the same problem I had. I've also read the slides and looked into implementations from https://github.com/fujitatomoya/ros_k8s as well.

Kubernetes, also known as K8s, is an open source system for automating deployment, scaling, and management of containerized applications.

But k8s works with containers and I would assume this would have meant that /autoware/control_center node would need to be in its own container? I don't know it too well. But if yes, this is not the solution I'm looking for. I would like to be able to run the entire Autoware in a single container or without any.

I think current solution is enough for now, since in the deployment stage, this would not occur anyways, it is just to prevent adding another thing to debug for developers by making sure there is only one instance of the /autoware/control_center.

[esteve]

@xmfcx yeah, for something like this,, Kubernetes is overkill, I thought it was more about making sure that nodes in a distributed system were only instantiated only. But if it's a tool that runs locally, a lock and a file is more than enough.

[codecov]

Codecov Report

Attention: Patch coverage is 33.93393% with 220 lines in your changes missing coverage. Please review.

Please upload report for BASE (main@9989140). Learn more about missing BASE report.

Files	Patch %	Lines
...utoware_control_center/src/control_center_node.cpp	43.10%	18 Missing and 48 partials ⚠️
...utoware_control_center/src/control_center_main.cpp	0.00%	41 Missing ⚠️
...autoware_control_center/test/test_cc_heartbeat.cpp	22.44%	3 Missing and 35 partials ⚠️
...toware_control_center/test/test_cc_registering.cpp	27.65%	3 Missing and 31 partials ⚠️
...mmon/autoware_control_center/test/test_utility.hpp	45.90%	3 Missing and 30 partials ⚠️
...ware_control_center/test/test_cc_init_shutdown.cpp	61.11%	0 Missing and 7 partials ⚠️
...control_center/src/include/control_center_node.hpp	0.00%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@           Coverage Diff           @@
##             main      #84   +/-   ##
=======================================
  Coverage        ?   33.93%           
=======================================
  Files           ?        7           
  Lines           ?      333           
  Branches        ?      169           
=======================================
  Hits            ?      113           
  Misses          ?       68           
  Partials        ?      152           

Flag	Coverage Δ
differential	33.93% <33.93%> (?)

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