autoware_component_interface_specs

This package defines the standardized component interface specifications for Autoware Core, ensuring consistent communication and interaction between various components in the Autoware autonomous driving stack.

Purpose

The purpose of this package is to:

• Provide a single source of truth for component interface definitions
• Ensure consistency across different implementations
• Facilitate modular development and component interchangeability
• Document the communication protocols between Autoware Core components

Structure

The package contains interface specifications for various components, including:

• Message definitions
• Service interfaces
• Action interfaces

Usage

To use these interface specifications in your component:

1. Add this package as a dependency in your package.xml:

   <depend>autoware_component_interface_specs</depend>
   

1. Use the provided interfaces in your component code.

   #include <autoware/component_interface_specs/localization.hpp>
   // Example: Creating a publisher using the interface specs
   using KinematicState = autoware::component_interface_specs::localization::KinematicState;
   rclcpp::Publisher<KinematicState::Message>::SharedPtr publisher_ =
   create_publisher<KinematicState::Message>(
   KinematicState::name,
   autoware::component_interface_specs::get_qos<KinematicState>());
   // Example: Creating a subscription using the interface specs
   auto subscriber_ = create_subscription<KinematicState::Message>(
   KinematicState::name,
   autoware::component_interface_specs::get_qos<KinematicState>(),
   std::bind(&YourClass::callback, this, std::placeholders::1));
   

Changelog for package autoware_component_interface_specs

1.0.0 (2025-03-31)

0.3.0 (2025-03-21)

• chore: fix versions in package.xml
• feat: add autoware_core_component_interface_specs package (#124)
• Contributors: Ryohsuke Mitsudome, mitsudome-r