Autoware System Designer - initial implementation

[technolojin]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

Introduce a new method to develop and manage system variations for autoware_launch and current launcher files used across Autoware repositories.

Please see the discussion for decisions.

Purpose

• Improve Autoware software modularity and reusability
• Reduce the initial cost of Autoware onboarding (new vehicles, new sensors, new compute)
• Increase certainty and reproducibility of Autoware launch
• Provide additional tools for system design, visualization, and static analysis

Possible approaches

Implementation

• the system designer: https://github.com/autowarefoundation/autoware_system_designer
• Workspace setting for test: see feat: autoware system designer #6739

Definition of done

1. Implement linter
   • autoware_launch ci: add the autoware system design format linter autoware_launch#1767
   • autoware_universe ci: add the autoware system design format linter autoware_universe#12153
2. Locate node definition files in node package repositories:
   • autoware_universe feat(autoware_universe_designs): introduce autoware system designer autoware_universe#12070
   • autoware_core
3. nebula driver implementation
   • feat: implement autoware system designer tier4/nebula#403
   • feat: implement autoware system designer v0.2.15 tier4/nebula#404
4. Locate module and system files and packages: autoware_launch feat(autoware_sample_designs): implement autoware system designer systems autoware_launch#1751
5. Add autoware_system_designer repository into autoware repos: autoware_system_designer feat: autoware system designer #6739

[technolojin]

test method (workspace setting) is updated
#6739

[technolojin]

about lint

goal: check the node autoware_system_design_format file's format

1. lint implementation Create linter for node.yaml autoware_system_designer#3
2. introduce lint to universe
3. check and merge feat(autoware_universe_designs): introduce autoware system designer autoware_universe#12070

@mitsudome-r @xmfcx Please confrim if my understand is correct.

[technolojin]

Lint implementation is ongoing

• autoware_universe https://github.com/technolojin/autoware.universe/tree/autoware-system-lint
• autoware_launch https://github.com/tier4/autoware_launch/tree/autoware-system-lint

[technolojin]

action items of linter implementation

1. @mitsudome-r review current lint implementation ex: test ci autoware_system_designer#17
2. @technolojin when review is done, create PRs for autoware_universe and autoware_launch
3. when CI PRs are merged, proceed to implementation PRs

@xmfcx @mitsudome-r
I am waiting to your review. Please let me know when your review is done.

[technolojin]

Introduction process update

DONE

• finalize autoware system design format https://github.com/autowarefoundation/autoware_system_designer/releases/tag/v0.3.1
• add node files to universe feat(autoware_universe_designs): introduce autoware system designer autoware_universe#12070

TO BE DONE

1. nebula: driver nodes feat: implement autoware system designer tier4/nebula#403
2. autoware: update nebula drive
3. autoware: include autoware system designer into autoware workspace feat: autoware system designer #6739
4. autoware_launch: (requires 1, 2, and 3) add modules and systems feat(autoware_sample_designs): implement autoware system designer systems autoware_launch#1751

[technolojin]

all the PRs for this work are merged.