Remove motion_common dependency from autoware_auto_common
Description
Currently, the autoware_auto_common
package has a dependency on motion_common
in the mpc
repo. This introduces a large, mostly unrelated, external dependency at one of the roots of the autoware dependency graph.
The dependency comes from three places:
- The
interpolate
function used inlookup_table.hpp
- The
time_utils
functions used in the unit tests formessage_adapters.hpp
This task is to remove the motion_common
dependency from autoware_auto_common
.
Expected behavior
No behavior change is expected
Definition of Done
-
Add an interpolate function to the interval class in the geometry package: !573 (merged) -
Move the lookup table and the motion_common
dependency to the geometry package: !574 (merged) -
Move vehicle_bounding_box
to recordreplay_planner !584 (merged) -
Use the interval interpolate function in the lookup table, remove motion_common
dependency from autoware_auto_geometry !585 (merged)
Edited by Jeffrey Kane Johnson