[interimadd]

Description

This PR replaces LateralControllerBase with LateralControllerInterface. It makes the same change for the lateral controller that #13539 made for the longitudinal controller. The new interface has one function:

virtual tl::expected<LateralOutput, std::string> run(
  const InputData & input_data, const rclcpp::Time & stamp) = 0;

The old base class had three problems. The caller had to call isReady() before run(). The steering offset reached the controller through a separate function, set_steering_offset(), which the subscription callback called between two cycles. run() had no way to report a failure. With the new interface, one call gets all the data for the cycle and returns all the results.

The diff is easy to read commit by commit. Each commit makes one small change, builds, and passes the tests.

1. pass stamp to lateral run(): MpcLateralControllerNode and PurePursuitLateralControllerNode read the clock by themselves. Now the Controller passes the time that it reads once at the start of the cycle. The longitudinal controller and control_cmd.stamp already use this value. The pure_pursuit test now gives the time of the cycle to run() and does not set a simulated clock.
2. pass steering offset through InputData: The new field InputData::steering_offset replaces set_steering_offset(). Its type is Float32Stamped, the message type of ~/input/steering_offset_update, because the other fields of InputData also hold the received messages. The Controller keeps the latest message and puts it in InputData. MpcLateralController reads the offset from InputData. Before the first message, the offset is 0, as before.
3. return tl::expected from lateral run() and remove isReady(): This commit folds isReady() into run(). If MpcLateralController::isReady() returns false, MpcLateralControllerNode::run() returns an error. MpcLateralController::isReady() does not change, and it still logs the condition that failed. PurePursuitLateralControllerNode::isReady() always returned true, so its run() always returns a value. The Controller logs the reason and skips the cycle. controller_node.hpp got boost/optional.hpp through the old header, so this commit includes it there directly.
4. rename LateralControllerBase to LateralControllerInterface: This is a mechanical rename of the class, the header file, and the include guard. The class has no state and no default implementation, so it is an interface and not a base.
5. update READMEs for LateralControllerInterface: The two READMEs now describe the new interface and the new process flow.

Related links

Parent Issue:

• Link

Related PRs:

• refactor(autoware_trajectory_follower): simplify longitudinal controller interface #13539: the same change for the longitudinal controller

How was this PR tested?

After each commit that changes the code, I ran colcon build and colcon test for autoware_trajectory_follower_base, autoware_mpc_lateral_controller, autoware_pure_pursuit, autoware_pid_longitudinal_controller and autoware_trajectory_follower_node. All tests passed.

TIERIV internal Evaluator links
https://evaluation.ci.tier4.jp/evaluation/reports/946a0a1f-7474-5ece-a53b-195294a3eb65?project_id=autoware_dev
https://evaluation.ci.tier4.jp/evaluation/reports/e371500e-686b-5754-a7c0-d573f56d155a?project_id=autoware_dev
https://evaluation.ci.tier4.jp/evaluation/reports/7a316529-b6d2-5405-8db9-514b9005b1fd?project_id=autoware_dev

Notes for reviewers

Please review the PR commit by commit. Each commit is small and has one purpose.

Interface changes

None.

Effects on system behavior

None.

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[codecov]

Codecov Report

❌ Patch coverage is 91.66667% with 1 line in your changes missing coverage. Please review.
✅ Project coverage is 38.30%. Comparing base (e4e36e8) to head (724cb79).
⚠️ Report is 4 commits behind head on main.

Files with missing lines	Patch %	Lines
...e_trajectory_follower_node/src/controller_node.cpp	80.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #13547      +/-   ##
==========================================
- Coverage   38.31%   38.30%   -0.01%     
==========================================
  Files        2034     2034              
  Lines      141865   141849      -16     
==========================================
- Hits        54349    54336      -13     
+ Misses      87516    87513       -3     

Flag	Coverage Δ		*Carryforward flag
full-suite	38.29% <ø> (-0.02%)	⬇️	Carriedforward from e4e36e8

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

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