feat(awapi): add velocity factor converter

[satoshi-ota]

PR Type

• New Feature

Related Links

Description

Add new class to convert message type from autoware_adapi_v1_msgs::msg::VelocityFactorArray to tier4_planning_msgs::msg::StopReasonArray because mainly the former one is being maintained and the latter one is going to be deprecated.

Review Procedure

1. launch psim
2. put ego and goal pose
3. put object in front of the ego
4. check the topic /awapi/autoware/get/status
5. it should include following infomation

stop_reason:                                                                                                                                                                                                                                                                                                                                                                                                                    
  header:                                                                                                                                                                                                                                                                                                                                                                                                                       
    stamp:                                                                                                                                                                                                                                                                                                                                                                                                                      
      sec: 1732184395                                                                                                                                                                                                                                                                                                                                                                                                           
      nanosec: 503437096                                                                                                                                                                                                                                                                                                                                                                                                        
    frame_id: map                                                                                                                                                                                                                                                                                                                                                                                                               
  stop_reasons:                                                                                                                                                                                                                                                                                                                                                                                                                 
  - reason: ObstacleStop                                                                                                                                                                                                                                                                                                                                                                                                        
    stop_factors:                                                                                                                                                                                                                                                                                                                                                                                                               
    - stop_pose:                                                                                                                                                                                                                                                                                                                                                                                                                
        position:                                                                                                                                                                                                                                                                                                                                                                                                               
          x: 61608.09100889809                                                                                                                                                                                                                                                                                                                                                                                                  
          y: 56210.605148893905                                                                                                                                                                                                                                                                                                                                                                                                 
          z: 78.12116795304318                                                                                                                                                                                                                                                                                                                                                                                                  
        orientation:                                                                                                                                                                                                                                                                                                                                                                                                            
          x: -4.010359337953184e-05                                                                                                                                                                                                                                                                                                                                                                                             
          y: -0.000754350051703711                                                                                                                                                                                                                                                                                                                                                                                              
          z: -0.05308812400350872                                                                                                                                                                                                                                                                                                                                                                                               
          w: 0.9985895455278356                                                                                                                                                                                                                                                                                                                                                                                                 
      dist_to_stop_pose: 0.182466521859169                                                                                                                                                                                                                                                                                                                                                                                      
      stop_factor_points: []         

Remarks

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• Code follows coding guidelines
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• Commits are properly organized and messages are according to the guideline
• Code follows coding guidelines
• (Optional) Unit tests have been written for new behavior
• PR title describes the changes

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PR Author should check the checkboxes below before merging.

• All open points are addressed and tracked via issues or tickets
• Write release notes

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[isamu-takagi]

LGTM

stop_reason:
  header:
    stamp:
      sec: 1732268019
      nanosec: 610488996
    frame_id: map
  stop_reasons:
  - reason: ObstacleStop
    stop_factors:
    - stop_pose:
        position:
          x: 3736.294258715315
          y: 73730.87799824534
          z: 19.349823834297794
        orientation:
          x: 0.0001909614396931554
          y: -0.0007789961835898731
          z: 0.23808844437050267
          w: 0.9712431463623866
      dist_to_stop_pose: 7.059513568878174
      stop_factor_points: []