feat(relative_map): routing-based local planning without HD maps

[Copilot]

RelativeMapComponent had no way to receive a routing destination — it relied entirely on pre-recorded navigation lines from Dreamview. This meant destination-driven autonomous navigation required HD map support.

Changes

RelativeMapComponent — subscribe to routing

• Adds reader for /apollo/routing_request; wires it to RelativeMap::OnRoutingRequest()

RelativeMap — routing ingestion + destination lifecycle

• OnRoutingRequest() extracts the last waypoint's ENU pose and calls NavigationLane::SetDestination()
• Per-cycle destination-reached check (FLAGS_destination_reached_threshold, default 5 m) clears the goal on arrival

NavigationLane — goal-directed path generation

New public API: SetDestination(), ClearDestination(), HasDestination(), IsDestinationReached(threshold)

Modified GeneratePath() fallback (when no pre-recorded navigation lines):

• Destination set + lane markers visible → ConvertLaneMarkerToPath() for lane-keeping (lateral position from perception)
• Destination set, no lane markers → new GenerateDestinationBearingPath(): converts ENU delta to FLU via Vec2d{dx,dy}.Rotate(-heading) (same convention as ConvertNavigationLineToPath), emits a straight path along the bearing

// ENU → FLU bearing path toward destination
auto flu_dir = Vec2d{dx, dy}.Rotate(-original_pose_.heading());
const double bearing_angle = std::atan2(flu_dir.y(), flu_dir.x());
const double flu_ux = flu_dir.x() / dist_to_dest;
const double flu_uy = flu_dir.y() / dist_to_dest;

BUILD + gflags

• Adds routing_cc_proto dependency to relative_map_lib and relative_map_component_lib
• Adds --destination_reached_threshold flag (default 5.0 m)

Warning

Firewall rules blocked me from connecting to one or more addresses (expand for details)

I tried to connect to the following addresses, but was blocked by firewall rules:

• releases.bazel.build
  • Triggering command: /usr/local/lib/node_modules/@bazel/bazelisk/bazelisk-linux_amd64 /usr/local/lib/node_modules/@bazel/bazelisk/bazelisk-linux_amd64 build //modules/world_model/relative_map:relative_map_component_lib (dns block)

If you need me to access, download, or install something from one of these locations, you can either:

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Original prompt

relative_map中如果实现局部规划目前能够最快的实现跑起来吗？例如我想实现通过routing发送目的地之后，RelativeMapComponent能够根据局部地图进行规划，并且最终到达目的地，给出详细的分析和建议，记住你需要保证的是不依赖高精度地图，而是实时感知的结果进行规划，参考业界优秀实践，对现有模块给出改进建议，以及如何快速跑通产品原型

Created from VS Code.

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