planning/control component is dependent on the packages outside of planning/control component

[youtalk]

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

autowarefoundation/autoware#5194 found that the planning/control component is dependent on the following packages outside of the planning/control component.

• map/map_loader
• map/autoware_map_projection_loader
• sensing/autoware_pcl_extensions
• sensing/autoware_pointcloud_preprocessor

Since the dependencies will no longer follow a parent-child relationship, the components become tightly coupled.

Purpose

Ensure that there are no dependency packages spanning across components. Connections between components should depend only on the core packages or the autoware.universe/common packages.

Possible approaches

Ensure that there are no dependency packages spanning across components. Connections between components should depend only on the core packages or the autoware.universe/common packages.

Definition of done

The planning/control packages will no longer directly depend on the following packages.

• map/map_loader
• map/autoware_map_projection_loader
• sensing/autoware_pcl_extensions
• sensing/autoware_pointcloud_preprocessor

[takayuki5168]

@youtalk
Thank you for the issues, and sorry to be late.
Could you give me the command to show the list of the packages outside of the planning/control component which the planning/control component is dependent on?

[youtalk]

@takayuki5168 I only checked by CI builds.
I made a reproducible PR autowarefoundation/autoware#5331 and the latest result was https://github.com/autowarefoundation/autoware/actions/runs/11287273469/job/31392958946?pr=5331#step:5:988.

 > [rosdep-universe-planning-control-depend 3/4] RUN rosdep keys --ignore-src --from-paths src     | xargs rosdep resolve --rosdistro humble     | grep -v '^#'     | sed 's/ \+/\n/g'    | sort     > /rosdep-universe-planning-control-depend-packages.txt     && cat /rosdep-universe-planning-control-depend-packages.txt:
1.349 ERROR: no rosdep rule for 'autoware_map_projection_loader'
1.349 ERROR: no rosdep rule for 'autoware_pointcloud_preprocessor'
1.349 ERROR: no rosdep rule for 'map_loader'

[mitsudome-r]

If we are going to include tier4_control_launch and tier4_planning_launch, I had to add the following dependencies as well:

• autoware_control_evaluator
• autoware_evaluator_utils
• autoware_planning_evaluator
• autoware_external_cmd_converter
• autoware_raw_vehicle_cmd_converter