feat: add world_model module and move relative_map into it (#118)

Author: daohu527

modules/map/BUILD

@@ -25,27 +25,15 @@ install(
     ],
     deps = [
         ":pb_map",
-        ":pb_hdrs",
         # "//modules/map/data:install",
-        "//modules/map/relative_map:install",
         "//modules/map/tools:install",
         "//modules/map/hdmap/adapter:install",
         "//modules/map/hdmap:install",
         "//modules/map/pnc_map:install",
-        "//modules/map/relative_map/tools:install",
         ":map_testdata"
     ],
 )
 
-install(
-    name = "pb_hdrs",
-    data_dest = "map/include",
-    data = [
-        "//modules/map/relative_map/proto:navigator_config_cc_proto",
-        "//modules/map/relative_map/proto:relative_map_config_cc_proto",
-    ],
-)
-
 install_files(
     name = "pb_map",
     dest = "map",
@@ -68,8 +56,6 @@ install_files(
         "//modules/common_msgs/map_msgs:map_stop_sign_py_pb2",
         "//modules/common_msgs/map_msgs:map_yield_sign_py_pb2",
         "//modules/common_msgs/planning_msgs:navigation_py_pb2",
-        "//modules/map/relative_map/proto:navigator_config_py_pb2",
-        "//modules/map/relative_map/proto:relative_map_config_py_pb2",
     ],
 )
 

modules/map/relative_map/dag/relative_map.dag

@@ -44,9 +44,9 @@ cc_library(
         "//modules/common/monitor_log",
         "//modules/common/status",
         "//modules/common/util",
-        "//modules/map/relative_map/common:relative_map_gflags",
+        "//modules/world_model/relative_map/common:relative_map_gflags",
         "//modules/common_msgs/planning_msgs:navigation_cc_proto",
-        "//modules/map/relative_map/proto:relative_map_config_cc_proto",
+        "//modules/world_model/relative_map/proto:relative_map_config_cc_proto",
         "//modules/common_msgs/perception_msgs:perception_obstacle_cc_proto",
     ],
 )
@@ -66,8 +66,8 @@ cc_library(
         "//modules/common/util",
         "//modules/common/vehicle_state:vehicle_state_provider",
         "//modules/common/vehicle_state/proto:vehicle_state_cc_proto",
-        "//modules/map/relative_map/common:relative_map_gflags",
-        "//modules/map/relative_map/proto:relative_map_config_cc_proto",
+        "//modules/world_model/relative_map/common:relative_map_gflags",
+        "//modules/world_model/relative_map/proto:relative_map_config_cc_proto",
         "@com_google_absl//absl/strings",
     ],
 )

modules/map/relative_map/BUILD modules/world_model/relative_map/BUILDmodules/map/relative_map/BUILD renamed to modules/world_model/relative_map/BUILD

@@ -14,7 +14,7 @@
  * limitations under the License.
  *****************************************************************************/
 
-#include "modules/map/relative_map/common/relative_map_gflags.h"
+#include "modules/world_model/relative_map/common/relative_map_gflags.h"
 
 DEFINE_string(
     relative_map_config_filename,