Move dummy_perception_msgs.Objects message definition to autoware_msgs

[YoshiRi]

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

I suggest to move dummy_perception_msgs.Objects message declaration in dummy_perception_publisher into https://github.com/autowarefoundation/autoware_msgs.
This is related to #8695.

Purpose

We want to remove common folder packages dependency to dummy_perception_publisher and it seems to depend its message named dummy_perception_msgs.Objects.

I think we can move this declaration to autoware_msgs.

Possible approaches

I think there are some approaches:

1. move dummy_perception_msgs.Objects to autoware_msgs/autoware_perception_msgs
2. create autoware_msgs/autoware_simulation_msgs and put the message into it

Case 1 needs message name change, while case 2 won't need it.
I prefer the latter, but I want to you guys advise.

Definition of done

Once after message transfer and dependency will be solved.

[YoshiRi]

@mitsudome-r @yukkysaito
Could you take a look and give some comments?

[mitsudome-r]

If those two are the options, I would go with the second option.

However, autoware_msgs is meant to be a place where we keep the core interface of Autoware, ideally with a proper design in Autoware Documentation like this page.

We currently do not have a simulator component at the moment with a concrete design document for interface so it might be better to first define what should be the inputs/outputs for simulation modules first rather than randomly adding a new package as autoware_simulation_msgs.

[YoshiRi]

@mitsudome-r
So, you mean

• We should not add this message to autoware_msgs
• Instead, create autoware_simulator_msgs repo/package and handle this messages,

right?

[takayuki5168]

@YoshiRi @mitsudome-r
How about moving the tier4_perception_rviz_plugin package or necessary specific plugins inside the package to the dummy_perception_publisher package since those plugins are for the simple_planning_simulator via dummy_perception_publisher in my understanding.

[YoshiRi]

Then, how about following alternatives? (Which idea is better?)

1. move tier4_perception_rviz_plugin to simluator folder. We may rename this package to tier4_dummy_perception_rviz_plugin
2. move message definition of dummy_perception_publisher to newly created package like autoware_simulation_msgs

I prefer method 1, because it is easier.

cc: @technolojin @hakuturu583

[technolojin]

I created a PR to execute the option 1.

[technolojin]

@YoshiRi @yukkysaito
Can you review the PR #8818 ?

I think tier4_dummy_object_rviz_plugin could be a better name.

[technolojin]

@yukkysaito
Thank you for your review and corporation.

Here is the steps of PR merges.

1. Merging new message fix(tier4_simulation_msgs): bring message of dummy object to simulator msgs tier4/tier4_autoware_msgs#146
2. Adapt to the new message and remove the old message fix(dummy_perception_publisher, tier4_dummy_object_rviz_plugin): separate dummy object msg #8828

[xmfcx]

@technolojin @yukkysaito @youtalk -san

This message was also being used by the AWSIM Labs. Using the same RViz2 plugins, you can spawn objects in the AWSIM Labs as well.

@Aysenayilmaz will update to the new messages.

• Unable to spawn dummy car in AWSIM with e2e_simulator due to topic type conflict AWSIM-Labs#157

I wanted to let you know to keep in mind if a new change is required for this message 🙏