RTC Interface

Purpose

RTC Interface is an interface to publish the decision status of behavior planning modules and receive execution command from external of an autonomous driving system.

Inner-workings / Algorithms

Usage example

// Generate instance (in this example, "intersection" is selected)
autoware::rtc_interface::RTCInterface rtc_interface(node, "intersection");

// Generate UUID
const unique_identifier_msgs::msg::UUID uuid = generate_uuid(getModuleId());

// Repeat while module is running
while (...) {
  // Get safety status of the module corresponding to the module id
  const bool safe = ...

  // Get distance to the object corresponding to the module id
  const double start_distance = ...
  const double finish_distance = ...

  // Get time stamp
  const rclcpp::Time stamp = ...

  // Update status
  rtc_interface.updateCooperateStatus(uuid, safe, start_distance, finish_distance, stamp);

  if (rtc_interface.isActivated(uuid)) {
    // Execute planning
  } else {
    // Stop planning
  }
  // Get time stamp
  const rclcpp::Time stamp = ...

  // Publish status topic
  rtc_interface.publishCooperateStatus(stamp);
}

// Remove the status from array
rtc_interface.removeCooperateStatus(uuid);

Inputs / Outputs

RTCInterface (Constructor)

autoware::rtc_interface::RTCInterface(rclcpp::Node & node, const std::string & name);

Description

A constructor for autoware::rtc_interface::RTCInterface.

Input

• node : Node calling this interface
• name : Name of cooperate status array topic and cooperate commands service
  • Cooperate status array topic name : ~/{name}/cooperate_status
  • Cooperate commands service name : ~/{name}/cooperate_commands

Output

An instance of RTCInterface

publishCooperateStatus

autoware::rtc_interface::publishCooperateStatus(const rclcpp::Time & stamp)

Description

Publish registered cooperate status.

Input

• stamp : Time stamp

Output

Nothing

updateCooperateStatus

autoware::rtc_interface::updateCooperateStatus(const unique_identifier_msgs::msg::UUID & uuid, const bool safe, const double start_distance, const double finish_distance, const rclcpp::Time & stamp)

Description

Update cooperate status corresponding to uuid. If cooperate status corresponding to uuid is not registered yet, add new cooperate status.

Input

• uuid : UUID for requesting module
• safe : Safety status of requesting module
• start_distance : Distance to the start object from ego vehicle
• finish_distance : Distance to the finish object from ego vehicle
• stamp : Time stamp

Output

Nothing

removeCooperateStatus

autoware::rtc_interface::removeCooperateStatus(const unique_identifier_msgs::msg::UUID & uuid)

Description

Remove cooperate status corresponding to uuid from registered statuses.

Input

• uuid : UUID for expired module

Output

Nothing

clearCooperateStatus

autoware::rtc_interface::clearCooperateStatus()

Description

Remove all cooperate statuses.

Input

Nothing

Output

Nothing

isActivated

autoware::rtc_interface::isActivated(const unique_identifier_msgs::msg::UUID & uuid)

Description

Return received command status corresponding to uuid.

Input

• uuid : UUID for checking module

Output

If auto mode is enabled, return based on the safety status. If not, if received command is ACTIVATED, return true. If not, return false.

isRegistered

autoware::rtc_interface::isRegistered(const unique_identifier_msgs::msg::UUID & uuid)

Description

Return true if uuid is registered.

Input

• uuid : UUID for checking module

Output

If uuid is registered, return true. If not, return false.

Debugging Tools

There is a debugging tool called RTC Replayer for the RTC interface.

Assumptions / Known limits

Future extensions / Unimplemented parts

Changelog for package autoware_rtc_interface

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)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
• Contributors: Fumiya Watanabe, 心刚

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)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• fix(autoware_rtc_interface): fix bugprone-branch-clone (#9698)
• Contributors: Fumiya Watanabe, kobayu858

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 - planning (#9570)
• 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)
• 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

• fix(autoware_rtc_interface): fix dependency (#9237)
• fix(rtc_interface): update requested field for every cooperateStatus state (#9211)
  • fix rtc_interface

  * fix test condition ---------

• feat(rtc_interface): add requested field (#9202)
  • add requested feature

  * Update planning/autoware_rtc_interface/test/test_rtc_interface.cpp Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>> ---------Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>>

• Contributors: Esteve Fernandez, Fumiya Watanabe, Go Sakayori, 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)
• 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

• fix(autoware_rtc_interface): fix dependency (#9237)
• fix(rtc_interface): update requested field for every cooperateStatus state (#9211)
  • fix rtc_interface

  * fix test condition ---------

• feat(rtc_interface): add requested field (#9202)
  • add requested feature

  * Update planning/autoware_rtc_interface/test/test_rtc_interface.cpp Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>> ---------Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>>

• Contributors: Esteve Fernandez, Go Sakayori, Yutaka Kondo

0.38.0 (2024-11-08)

• unify package.xml version to 0.37.0
• fix(rtc_interface): update cooperateStatus state transition (#8883) fix state transition for failure/success
• feat(rtc_interface, lane_change): check state transition for cooperate status (#8855)
  • update rtc state transition
  • remove transition from failuer and succeeded
  • fix
  • check initial state for cooperate status

  * change rtc cooperate status according to module status ---------

• feat(rtc_inteface): add function to check force deactivate (#8221) add function to check for deactivation
• fix(autoware_rtc_interface): fix constParameterReference (#8042)
  • fix:constParameterReference
  • fix: clang format

  * fix:constParameterReference ---------

• fix(rtc_interface): fix build error (#8111)
  • fix

  * fix format ---------

• fix(bpp, rtc_interface): fix state transition (#7743)
  • fix(rtc_interface): check rtc state
  • fix(bpp_interface): check rtc state

  * feat(rtc_interface): print ---------

• feat(static_obstacle_avoidance): enable force execution under unsafe conditions (#8094)
  • add force execution for static obstacle avoidance
  • fix
  • erase unused function in RTC interface
  • refactor with lamda function
  • fix rtc_interface
  • add warn throtthle and move code block

  * fix

• docs(planning): fix wrong link (#7751)
  • fix page link
  • fix out of lane link
  • fix

  * fix cost map generator link ---------

• docs(rtc_replayer): fix wrong link (#7714)
  • fix link for rtc_replayer
  • delete RTC replayer header

  * fix

• refactor(rtc_interface)!: rename to include/autoware/{package_name} (#7531) Co-authored-by: Fumiya Watanabe <<rej55.g@gmail.com>>
• refactor(rtc_interface)!: prefix package and namespace with autoware (#7321) refactor(rtc_interface): add autoware prefix
• Contributors: Fumiya Watanabe, Go Sakayori, Kosuke Takeuchi, Satoshi OTA, Yutaka Kondo, kobayu858

0.26.0 (2024-04-03)