autoware_component_interface_utils

Features

This is a utility package that provides the following features:

• Instantiation of the wrapper class
• Logging for service and client
• Service exception for response
• Relays for topic and service

Design

This package provides the wrappers for the interface classes of rclcpp. The wrappers limit the usage of the original class to enforce the processing recommended by the component interface. Do not inherit the class of rclcpp, and forward or wrap the member function that is allowed to be used.

Instantiation of the wrapper class

The wrapper class requires interface information in this format.

struct SampleService
{
  using Service = sample_msgs::srv::ServiceType;
  static constexpr char name[] = "/sample/service";
};

struct SampleMessage
{
  using Message = sample_msgs::msg::MessageType;
  static constexpr char name[] = "/sample/message";
  static constexpr size_t depth = 1;
  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
};

Create the wrapper using the above definition as follows.

// header file
autoware::component_interface_utils::Service<SampleService>::SharedPtr srv_;
autoware::component_interface_utils::Client<SampleService>::SharedPtr cli_;
autoware::component_interface_utils::Publisher<SampleMessage>::SharedPtr pub_;
autoware::component_interface_utils::Subscription<SampleMessage>::SharedPtr sub_;

// source file
const auto node = autoware::component_interface_utils::NodeAdaptor(this);
node.init_srv(srv_, callback);
node.init_cli(cli_);
node.init_pub(pub_);
node.init_sub(sub_, callback);

Logging for service and client

If the wrapper class is used, logging is automatically enabled. The log level is RCLCPP_INFO.

Service exception for response

If the wrapper class is used and the service response has status, throwing ServiceException will automatically catch and set it to status. This is useful when returning an error from a function called from the service callback.

void service_callback(Request req, Response res)
{
   function();
   res->status.success = true;
}

void function()
{
   throw ServiceException(ERROR_CODE, "message");
}

If the wrapper class is not used or the service response has no status, manually catch the ServiceException as follows.

void service_callback(Request req, Response res)
{
   try {
      function();
      res->status.success = true;
   } catch (const ServiceException & error) {
      res->status = error.status();
   }
}

Relays for topic and service

There are utilities for relaying services and messages of the same type.

const auto node = autoware::component_interface_utils::NodeAdaptor(this);
service_callback_group_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
node.relay_message(pub_, sub_);
node.relay_service(cli_, srv_, service_callback_group_);  // group is for avoiding deadlocks

Changelog for package autoware_component_interface_utils

0.43.0 (2025-03-21)

• Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
• chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
• Contributors: Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

0.41.2 (2025-02-19)

• chore: bump version to 0.41.1 (#10088)
• Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

0.40.0 (2024-12-12)

• Merge branch 'main' into release-0.40.0
• Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
• fix: fix ticket links in CHANGELOG.rst (#9588)
• chore(package.xml): bump version to 0.39.0 (#9587)
  • chore(package.xml): bump version to 0.39.0
  • fix: fix ticket links in CHANGELOG.rst

  * fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

• fix: fix ticket links in CHANGELOG.rst (#9588)
• fix(cpplint): include what you use - common (#9564)
• fix: fix package names in changelog files (#9500)
• 0.39.0
• update changelog
• Merge commit '6a1ddbd08bd' into release-0.39.0
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
  • unify package.xml version to 0.37.0
  • remove system_monitor/CHANGELOG.rst
  • add changelog

  * 0.38.0

• refactor(component_interface_utils): prefix package and namespace with autoware (#9092)
• Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo

0.39.0 (2024-11-25)

• Merge commit '6a1ddbd08bd' into release-0.39.0
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
  • unify package.xml version to 0.37.0
  • remove system_monitor/CHANGELOG.rst
  • add changelog

  * 0.38.0

• refactor(component_interface_utils): prefix package and namespace with autoware (#9092)
• Contributors: Esteve Fernandez, Yutaka Kondo

0.38.0 (2024-11-08)

• unify package.xml version to 0.37.0
• ci(pre-commit): autoupdate (#7499) Co-authored-by: M. Fatih Cırıt <<mfc@leodrive.ai>>
• Contributors: Yutaka Kondo, awf-autoware-bot[bot]

0.26.0 (2024-04-03)

• chore: update api package maintainers (#6086)
  • update api maintainers

  * fix

• chore(component_interface_utils): set log level of debug printing to DEBUG (#5995)
• feat: add common interface utils test (#5173)
  • add interface utils test

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• feat(autoware_api_specs): change topic depth of route state api and localization state api (#3757) fix depth
• build: mark autoware_cmake as <buildtool_depend> (#3616) * build: mark autoware_cmake as <buildtool_depend> with <build_depend>, autoware_cmake is automatically exported with ament_target_dependencies() (unecessary)
  • style(pre-commit): autofix

  * chore: fix pre-commit errors ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Kenji Miyake <<kenji.miyake@tier4.jp>>

• chore: update codeowners (#3513)
• feat(component_interface_tools): add service log checker (#2503)
  • feat(component_interface_utils): add service log checker
  • feat(component_interface_tools): add service log checker
  • feat(component_interface_tools): add diagnostics
  • feat: update system error monitor config
• chore: add api maintainers (#2361)
• fix(component_interface_utils): fix error level (#2322)
• feat(operation_mode_transition_manager): support ad api (#1535)
  • feat(operation_mode_transition_manager): support ad api
  • fix: merge operation mode state message
  • feat(autoware_ad_api_msgs): define operation mode interface
  • fix: add message

  * Update common/autoware_ad_api_msgs/operation_mode/msg/OperationModeState.msg Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>> * Update common/autoware_ad_api_msgs/operation_mode/msg/OperationModeState.msg Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>>

  • feat: apply field name change
  • feat: move adapi message
  • feat: change message type
  • fix: fix build error
  • fix: fix error message
  • WIP
  • feat: add compatibility
  • fix: fix operation mode change when disable autoware control

  * fix: fix operation mode change when autoware control is disabled Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>>

• feat(default_ad_api): add motion api (#1809)
  • feat(autoware_ad_api_specs): define motion interface
  • feat(default_ad_api): add motion api
  • feat: modify motion api
  • feat: modify motion api
  • feat: add error code
  • feat: move adapi messages
  • feat: update message type
  • feat(component_interface_utils): apply message change
  • feat: apply status type change
  • feat: change message type
  • feat: change message name
  • fix: fix state
  • feat: add option

  * feat: modify state name Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>>

• feat(component_interface_utils): change service log output (#2022)
  • feat(component_interface_utils): change client log
  • feat(component_interface_utils): change server log
  • feat(component_interface_utils): add interface
  • feat: add console log
• feat(component_interface_utils): apply message change (#1921)
  • feat(component_interface_utils): apply message change
  • feat: add error category
• feat(autoware_ad_api_msgs): replace adapi message (#1897)
• feat(autoware_ad_api_specs): define routing interface (#1559)
  • feat(autoware_ad_api_msgs): define routing interface
  • feat: rename route body message
  • feat: rename route state
• feat(component_interface_utils): update service utility (#1429)
  • feat(component_interface_utils): add exceptions, relay, and synchronous service call
  • feat(autoware_ad_api_msgs): add status code
  • feat(component_interface_utils): fix for hubmle
  • feat(component_interface_utils): fix for galactic
  • docs(component_interface_utils): update readme
  • docs(component_interface_utils): update readme
  • docs(component_interface_utils): fix typo and spell check
  • feat(component_interface_utils): add transform error
  • feat(component_interface_utils): use optional for no timeout
  • docs(component_interface_utils): update readme
  • feat(component_interface_utils): add bind function
• feat(component_interface_utils): add interface classes (#899)
  • feat(component_interface_utils): add interface classes
  • feat(default_ad_api): apply the changes of interface utils
  • fix(component_interface_utils): remove old comment
  • fix(component_interface_utils): add client log
  • fix(component_interface_utils): remove unimplemented message
  • docs(component_interface_utils): add design policy
  • docs(component_interface_utils): add comment
• chore: upgrade cmake_minimum_required to 3.14 (#856)
• refactor: simplify Rolling support (#854)
• refactor: use autoware cmake (#849)
  • remove autoware_auto_cmake
  • add build_depend of autoware_cmake
  • use autoware_cmake in CMakeLists.txt
  • fix bugs
  • fix cmake lint errors
• fix: apply fixes for rolling (#821)
  • fix(component_interface_utils): add USE_DEPRECATED_TO_YAML
  • fix(lidar_apollo_instance_segmentation): add USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
  • add rclcpp_components to package.xml

  * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• feat(default_ad_api): add interface version (#704)
  • feat(default_ad_api): add interface version
  • feat(default_ad_api): add http server
  • feat(default_ad_api): add message readme
  • feat(default_ad_api): modify message readme
  • feat(default_ad_api): fix message type
  • feat(default_ad_api): fix message type
  • feat(default_ad_api): remove unused message
  • feat(component_interface_utils): use full path
  • feat(component_interface_utils): rename package
  • feat(autoware_ad_api_msgs): remove unused message
  • feat(component_interface_utils): add readme and comments
  • feat(default_ad_api): fix api name

  * Update common/autoware_ad_api_msgs/README.md Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>>

  • add test
  • fix server name
  • Add comment
  • fix typo
  • rename version api

  * Update system/default_ad_api/package.xml Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>> * Update common/component_interface_utils/include/component_interface_utils/rclcpp/create_interface.hpp Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>> * Update system/default_ad_api/launch/default_ad_api.launch.py Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>>

  • Fix for renaming web server script
  • Fix test script for readability
  • Fix test script for readability

  * Add comment Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>>

• Contributors: Kenji Miyake, Takagi, Isamu, Takayuki Murooka, Vincent Richard, shulanbushangshu, yabuta