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feat: add topic relay controller #9979

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feat: add topic relay controller #9979

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TetsuKawa
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@TetsuKawa TetsuKawa commented Jan 20, 2025 •
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Description

This PR adds topic relay controller node which subscribes to a specified topic, remaps it, and republishes it. Additionally, it has the capability to continue publishing the last received value if the subscription stops.
The motivation for developing this node was to control the release of topics from the Main ECU to the Sub ECUs in a redundant system of Main ECUs and Sub ECUs.

Related links

This node requires the following msg.

How was this PR tested?

  1. build autoware
  2. cp and rebuild https://github.com/TetsuKawa/tier4_autoware_msgs/tree/feat/add-change-topic-relay-control-service and feat: add read me to topic relay controller TetsuKawa/autoware.universe#8.
  3. launch set

$ ros2 launch autoware_topic_relay_controller topic_relay_controller.launch.xml
$ ros2 topic pub /test std_msgs/msg/Int32 "{}"
$ ros2 topic echo /remap_test
$ ros2 service call /system/topic_relay_controller_test/operate tier4_system_msgs/srv/ChangeTopicRelayControl "{relay_on: false}"

Screencast.from.2025.01.19.22.04.31.webm

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

@github-actions github-actions bot added type:documentation Creating or refining documentation. (auto-assigned) component:system System design and integration. (auto-assigned) labels Jan 20, 2025
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github-actions bot commented Jan 20, 2025 •
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Thank you for contributing to the Autoware project!

🚧 If your pull request is in progress, switch it to draft mode.

Please ensure:

@TetsuKawa TetsuKawa added tag:require-cuda-build-and-test component:system System design and integration. (auto-assigned) run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) and removed type:documentation Creating or refining documentation. (auto-assigned) component:system System design and integration. (auto-assigned) labels Jan 20, 2025
@TetsuKawa TetsuKawa changed the title DELETE: CI check test: CI check Jan 20, 2025
@github-actions github-actions bot added the type:documentation Creating or refining documentation. (auto-assigned) label Jan 20, 2025
@TetsuKawa TetsuKawa changed the title test: CI check feat: add topic relay controller Jan 20, 2025
takayuki5168 and others added 19 commits January 20, 2025 12:20
@takayuki5168 @TetsuKawa
feat(velocity_smoother): introduce diagnostics (autowarefoundation#9933)
01a61e5 
* feat(velocity_smoother): introduce diagnostics

Signed-off-by: Takayuki Murooka <[email protected]>

* fix

Signed-off-by: Takayuki Murooka <[email protected]>

---------

Signed-off-by: Takayuki Murooka <[email protected]>
Signed-off-by: TetsuKawa <[email protected]>
@kyoichi-sugahara @TetsuKawa
test(start_planner): disable GenerateValidFreespacePullOutPath test (a…
6b4eb62 
…utowarefoundation#9937)

Signed-off-by: kyoichi-sugahara <[email protected]>
Signed-off-by: TetsuKawa <[email protected]>
@soblin @satoshi-ota
@mitsudome-r @TetsuKawa
feat(planning_factor)!: remove velocity_factor, steering_factor and i…
3b3263c 
…ntroduce planning_factor (autowarefoundation#9927)

Signed-off-by: satoshi-ota <[email protected]>
Signed-off-by: Mamoru Sobue <[email protected]>
Co-authored-by: Satoshi OTA <[email protected]>
Co-authored-by: Ryohsuke Mitsudome <[email protected]>
Co-authored-by: satoshi-ota <[email protected]>
Signed-off-by: TetsuKawa <[email protected]>
@soblin @TetsuKawa
feat(motion_utils): add detail and pass type to VirtualWall (autoware…
dea525e 
…foundation#9940)

Signed-off-by: Mamoru Sobue <[email protected]>
Signed-off-by: TetsuKawa <[email protected]>
@kyoichi-sugahara @TetsuKawa
fix(start_planner, goal_planner): refactor lane departure checker ini…
8a90cbf 
…tialization (autowarefoundation#9944)

Signed-off-by: TetsuKawa <[email protected]>
@zulfaqar-azmi-t4 @maxime-clem
@mkquda @TetsuKawa
refactor(lane_change): add missing safety check parameter (autowarefo…
581f311 
…undation#9928)

* refactor(lane_change): parameterize incoming object yaw threshold

Signed-off-by: Zulfaqar Azmi <[email protected]>

* Readme

Signed-off-by: Zulfaqar Azmi <[email protected]>

* Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp

Co-authored-by: Maxime CLEMENT <[email protected]>

* Add missing parameters

Signed-off-by: Zulfaqar Azmi <[email protected]>

* missing dot

Signed-off-by: Zulfaqar Azmi <[email protected]>

* Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md

Co-authored-by: mkquda <[email protected]>

* update readme

Signed-off-by: Zulfaqar Azmi <[email protected]>

---------

Signed-off-by: Zulfaqar Azmi <[email protected]>
Co-authored-by: Maxime CLEMENT <[email protected]>
Co-authored-by: mkquda <[email protected]>
Signed-off-by: TetsuKawa <[email protected]>
@soblin @TetsuKawa
feat(behavior_velocity_planner)!: remove velocity_factor completely (a…
adf6047 
…utowarefoundation#9943)

* feat(behavior_velocity_planner)!: remove velocity_factor completely

Signed-off-by: Mamoru Sobue <[email protected]>

* minimize diff

Signed-off-by: Mamoru Sobue <[email protected]>

---------

Signed-off-by: Mamoru Sobue <[email protected]>
Signed-off-by: TetsuKawa <[email protected]>
@TetsuKawa
feat: add node base
6383df2 
Signed-off-by: TetsuKawa <[email protected]>
@TetsuKawa
modify: include guard
fd50406 
Signed-off-by: TetsuKawa <[email protected]>
@TetsuKawa
feat: delete schema
4497e70 
Signed-off-by: TetsuKawa <[email protected]>
@TetsuKawa
feat: delete config
4c4255e 
Signed-off-by: TetsuKawa <[email protected]>
@TetsuKawa
feat: add subscriber
8b1445a 
Signed-off-by: TetsuKawa <[email protected]>
@TetsuKawa
modify: add include
8cb9dd3 
Signed-off-by: TetsuKawa <[email protected]>
@TetsuKawa
feat: add publisher
af7abe8 
Signed-off-by: TetsuKawa <[email protected]>
@TetsuKawa
feat: add service
3cc7e17 
Signed-off-by: TetsuKawa <[email protected]>
@TetsuKawa
modify: typo
6a1a945 
Signed-off-by: TetsuKawa <[email protected]>
@pre-commit-ci @TetsuKawa
style(pre-commit): autofix
310cdd3 
Signed-off-by: TetsuKawa <[email protected]>
@TetsuKawa
modify: add include memory
1429668 
Signed-off-by: TetsuKawa <[email protected]>
@TetsuKawa
modify: add qos setting
663ec50 
Signed-off-by: TetsuKawa <[email protected]>
pre-commit-ci bot and others added 6 commits January 20, 2025 12:20
@TetsuKawa TetsuKawa force-pushed the feat/add-read-me-to-topic-relay-controller branch from 394dfaf to 8695334 Compare January 20, 2025 03:20
@github-actions github-actions bot added component:planning Route planning, decision-making, and navigation. (auto-assigned) component:common Common packages from the autoware-common repository. (auto-assigned) labels Jan 20, 2025
@TetsuKawa TetsuKawa closed this Jan 20, 2025
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