feat(oa): integrate static-obstacle avoidance on develop

[erikwDLR]

Summary

Coordinate the tested static-obstacle-avoidance integration on official ADORe develop at f8bc415.

This PR changes only five submodule pins. .gitmodules, simulation-scenario pins, study/evaluation code, recordings and thesis documents are unchanged/excluded.

Submodule	Proposed commit	Status
adore_map	876280a	Companion draft, empty-quadtree initialization
adore_planning	1727d59	Companion draft, OA planning/regression tests
adore_decision_maker	271f500	Companion draft, OA integration/operator gate
adore_trajectory_tracker	a05aa5f	Companion draft, indicator handling
adore_visualizer	9f9038d	Already merged in the official visualizer repository

Merge dependencies — keep this PR as draft

1. Merge/review the map, planning, decision-maker and tracker companion PRs first.
2. Replace this PR's pins with the actual official merge commits; squash merges can change the IDs.
3. Verify a fresh recursive checkout using the unchanged official .gitmodules URLs, rebuild and retest.

The four companion branches have the names:

• erikwDLR/adore_map:bugfix/empty-quadtree-boundaries
• erikwDLR/adore_planning:feature/validated-obstacle-avoidance
• erikwDLR/adore_decision_maker:feature/validated-obstacle-avoidance
• erikwDLR/adore_trajectory_tracker:bugfix/turn-indicator-wiring

A draft pipeline may not be able to fetch all proposed pins from the official repositories before these dependencies are adopted. Do not treat publication on a fork as proof that the final official recursive clone is ready.

Validation

Environment: x86_64, ROS Jazzy, existing ADORe CLI image. Simulations were isolated from the host ROS network and any real vehicle.

• All 39 ROS packages built successfully after integration.
• Fresh comparison build of the unmodified official develop and its pinned submodules: all 39 packages built successfully.
• 79 planning GTest cases passed, including all 74 OA tests; 9 executed map cases passed, with 2 pre-existing disabled cases unchanged.
• 75-second intersection smoke check with OA enabled: movement, finite values, avoidance decisions and both operator gate commands verified.
• 40-second smoke check with OA disabled: no OA maneuver decisions and neither operator command enabled OA.
• Final observation windows had no node crashes. A runtime crash discovered in the originally pinned visualizer was resolved by selecting its already-official optional-message-array fix 9f9038d.
• Git rebase was conflict-free; the previous OA integration patch was preserved according to git range-diff.

Existing failures / limitations

The complete workspace suite is not fully green. Both integrated and fresh official baseline builds reproduce the same seven failing leaf test identities:

• PID test expects an exception although the implementation returns a braking command.
• Dynamics-conversion and visualizer test fixtures index empty optional message arrays.
• Three XML-lint checks cannot retrieve the external ROS schema in the deliberately offline container.
• A CARLA vendor copyright check fails.

Five Python packages also return NO TESTS RAN. No tests were changed/disabled to obtain these results. The leaf-result comparison found no additional failures caused by this integration; CTest wrapper results were excluded from the comparison to avoid counting failures twice.

The simulation checks do not claim complete mission completion, collision/comfort acceptance or vehicle safety qualification. The complete GitHub workflow, embedded packaging and AArch64 were not run locally. The previously diagnosed path-length/time-parameterization inconsistency in the shifted planning reference remains an explicitly open functional follow-up.

Companion pull requests

• Map: fix(map): initialize empty quadtree boundaries adore_map#12
• Planning: feat(oa): add validated static-obstacle avoidance adore_planning#11
• Decision Maker: feat(oa): integrate validated obstacle avoidance adore_decision_maker#23
• Trajectory Tracker: fix(tracker): restore maneuver turn-indicator handling adore_trajectory_tracker#7

Checklist

• Commits contain Signed-off-by.
• No study/evaluation artifacts included.
• Official submodule URLs retained.
• Companion PRs merged; final official pins updated.
• Fresh recursive clone verified after dependency merges.
• Known functional follow-up disposition agreed.
• Required CI, ECA verification and maintainer reviews completed.