Fix/acquire position action

[yamacir-kit]

Description

Abstract

With this update, it is now possible to send a goal to Autoware multiple times using AcquirePositionAction. This makes it possible to write scenarios that involve repeatedly driving around a closed route.

Background

When sending the goal position to Autoware, if it is not the first time, it is necessary to instruct Autoware to clear the route before sending. However, because AcquirePositionAction did not include a process to clear the route, it was not possible to send the goal position to Autoware multiple times. As this was not the intended specification, it has been fixed.

Details

• The behavior of API::requestClearRoute for non-EgoEntity has been changed from an error to "do nothing." Currently, non-EgoEntity does not have a process that corresponds to requestClearRoute, but this may be possible depending on the implementation of the entity plugin. Therefore, we thought it was unnatural to treat requestClearRoute for non-EgoEntity as an error, so we changed this behavior.
• Changed AcquirePositionAction to call API::requestClearRoute before calling API::requestAcquirePosition.
• The behavior of TransitionAssertion has been changed so that it monitors the response time according to initialize_duration only until the first engage.

References

• Evidence for regression testing (private link)

Destructive Changes

None.

Known Limitations

None.

[github-actions]

Checklist for reviewers ☑️

All references to "You" in the following text refer to the code reviewer.

• Is this pull request written in a way that is easy to read from a third-party perspective?
• Is there sufficient information (background, purpose, specification, algorithm description, list of disruptive changes, and migration guide) in the description of this pull request?
• If this pull request contains a destructive change, does this pull request contain the migration guide?
• Labels of this pull request are valid?
• All unit tests/integration tests are included in this pull request? If you think adding test cases is unnecessary, please describe why and cross out this line.
• The documentation for this pull request is enough? If you think adding documents for this pull request is unnecessary, please describe why and cross out this line.

[sonarcloud]

Please retry analysis of this Pull-Request directly on SonarCloud