Apollo: why apollo every two modules depend on each other?

[westeast]

eg. common module depends on percetion , and perception denpends on common,
common <===> planning

I think all common code should be put in common and all modules just depend on common ,what`s your opinions?

[siyangy]

If you take a closer look, common only depends on "//modules/perception/proto:perception_proto" and "//modules/planning/proto:planning_proto", which are the data proto of perception/planning. It's necessary as common::AdapaterManager is a component to manage all the data and thus needs to depend on them. As long as there's no code logic level cyclic dependency we should be good.

[lianglia-apollo]

It is because of protobuf and adapters.

[natashadsouza]

Closing this issue as it appears to be resolved.