feat(default_ad_api): add interface version

[isamu-takagi]

Signed-off-by: Takagi, Isamu [email protected]

Description

I started implementing the API prototype. I believe this helps discussion of API.

• Add interface vesion API.
• Add rclcpp service class wrapper for logging.
• Add message types.
• Add sample HTTP server.

Related links

autowarefoundation/autoware-documentation#69

Tests performed

1. Launch the service server.
   ros2 component standalone default_ad_api default_ad_api::InterfaceVersionNode
2. Call the service by another terminal.
   ros2 service call /api/interface/version autoware_ad_api_msgs/srv/InterfaceVersion "{}"
3. Check the service response.
   version = 0.5.0 and response.summary.code = SUCCESS
4. Check service server log.
   service call: /api/interface/version ... and service exit: /api/interface/version ...
5. Check HTTP server.
   Open a browser and access to http://localhost:8888/interface/version

Notes for reviewers

None

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[codecov]

Codecov Report

Merging #704 (58e93bb) into main (154a4bb) will decrease coverage by 0.00%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main     #704      +/-   ##
==========================================
- Coverage   10.53%   10.53%   -0.01%     
==========================================
  Files         741      742       +1     
  Lines       52021    52030       +9     
  Branches     6652     6652              
==========================================
  Hits         5483     5483              
- Misses      42080    42089       +9     
  Partials     4458     4458              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	10.53% <ø> (ø)		Carriedforward from 31e270a

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

Impacted Files	Coverage Δ
system/default_ad_api/src/interface_version.cpp	0.00% <0.00%> (ø)

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[kenji-miyake]

@isamu-takagi Could you comment on autowarefoundation/autoware#41 or autowarefoundation/autoware#99 and explain the TIER IV's thoughts to other contributors? 🙏

Even to me, it looks the PRs are submitted suddenly.

[isamu-takagi]

@kenji-miyake I commented below.
autowarefoundation/autoware#41 (comment)
autowarefoundation/autoware#99 (comment)

[kenji-miyake]

Just for future reference, could you tell me some links that you referred to when you write this test file? 🙏

[isamu-takagi]

The launch_testing readme and examples are helpful.

[kenji-miyake]

LGTM. Great work!

[kenji-miyake]

@isamu-takagi Unfortunately, there was an error in Rolling. 🥺

/home/kenji/autoware/install/component_interface_utils/include/component_interface_utils/rclcpp/service_server.hpp:48:84: error: call of overloaded ‘to_yaml(std::__shared_ptr_access<autoware_ad_api_msgs::srv::InterfaceVersion_Request_<std::allocator<void> >, __gnu_cxx::_S_atomic, false, false>::element_type&)’ is ambiguous
   48 |       RCLCPP_INFO_STREAM(logger, "service call: " << SpecT::name << "\n" << to_yaml(*request));

-> I had to comment out using rosidl_generator_traits::to_yaml;