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autoware_topic_relay_controller package from autoware_universe repo

autoware_adapi_specs autoware_agnocast_wrapper autoware_auto_common autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_gyro_odometer autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_ndt_scan_matcher autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initializer autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_tf_generator autoware_bytetrack autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_crossing_objects_noise_filter autoware_radar_fusion_to_detected_object autoware_radar_object_clustering autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simple_object_merger autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_mission_planner_universe autoware_obstacle_cruise_planner autoware_obstacle_stop_planner autoware_path_optimizer autoware_path_smoother autoware_planning_validator autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_component_monitor autoware_component_state_monitor autoware_default_adapi autoware_adapi_adaptors autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_processing_time_checker autoware_system_diagnostic_monitor autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_mission_details_overlay_rviz_plugin autoware_overlay_rviz_plugin autoware_string_stamped_rviz_plugin autoware_perception_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_datetime_rviz_plugin tier4_localization_rviz_plugin tier4_planning_factor_rviz_plugin tier4_planning_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Tags No category tags.
Version 0.43.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2025-04-04
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The topic_relay_controller ROS 2 package

Additional Links

No additional links.

Maintainers

  • Makoto Kurihara
  • Tetsuhiro Kawaguchi

Authors

No additional authors.
system/autoware_topic_relay_controller/README.md

topic_relay_controller

Purpose

The node 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.

Inputs / Outputs

Input

Name Type Description
/<topic> <specified message type> Topic to be subscribed, as defined by the topic parameter.
/tf tf2_msgs::msg::TFMessage (Optional) If the topic is /tf, used for transform message relay.
/tf_static tf2_msgs::msg::TFMessage (Optional) If the topic is /tf_static, used for static transforms.

Output

Name Type Description
/<remap_topic> <specified message type> Republished topic after remapping, as defined by the remap_topic parameter.

Parameters

Variable Type Description
topic string The name of the input topic to subscribe to
remap_topic string The name of the output topic to publish to
topic_type string The type of messages being relayed
qos integer QoS profile to use for subscriptions and publications (default: 1)
transient_local boolean Enables transient local QoS for subscribers (default: false)
best_effort boolean Enables best-effort QoS for subscribers (default: false)
enable_relay_control boolean Allows dynamic relay control via a service (default: true)
srv_name string The service name for relay control when enable_relay_control is true
enable_keep_publishing boolean Keeps publishing the last received topic value when not subscribed (default: false)
update_rate integer The rate (Hz) for publishing the last topic value when enable_keep_publishing is true (optional)
frame_id string Frame ID for transform messages when subscribing to /tf or /tf_static (optional)
child_frame_id string Child frame ID for transform messages when subscribing to /tf or /tf_static (optional)

Assumptions / Known limits

  • The node assumes that the specified topic and remap_topic are valid and accessible within the ROS 2 environment.
  • If enable_keep_publishing is true, the node continuously republishes the last received value even if no new messages are being received.
  • For /tf and /tf_static, additional parameters like frame_id and child_frame_id are required for selective transformation relays.
  • QoS settings must be carefully chosen to match the requirements of the subscribed and published topics.
CHANGELOG

Changelog for package autoware_topic_relay_controller

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)

  • fix(autoware_topic_relay_controller): fix typo (#10081) fix typo
  • Contributors: Yutaka Kondo

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
  • feat(autoware_topic_relay_controller): add topic relay controller node (#9964)
    • feat: add node base
    • modify: include guard
    • feat: delete schema
    • feat: delete config
    • feat: add subscriber
    • modify: add include
    • feat: add publisher
    • feat: add service
    • modify: typo
    • style(pre-commit): autofix
    • modify: add include memory
    • modify: add qos setting
    • style(pre-commit): autofix
    • feat: add enable_keep_publishing
    • style(pre-commit): autofix
    • feat: add readme
    • style(pre-commit): autofix
    • feat: change qos name and add parameter type
    • feat: add config and delete arg from launch
    • modify: typo
    • style(pre-commit): autofix
    • modify: add comment
    • modify: modify comment
    • feat: add maintainer
    • modift: change readme param format

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

  • Contributors: Fumiya Watanabe, TetsuKawa
  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • feat(autoware_topic_relay_controller): add topic relay controller node (#9964)
    • feat: add node base
    • modify: include guard
    • feat: delete schema
    • feat: delete config
    • feat: add subscriber
    • modify: add include
    • feat: add publisher
    • feat: add service
    • modify: typo
    • style(pre-commit): autofix
    • modify: add include memory
    • modify: add qos setting
    • style(pre-commit): autofix
    • feat: add enable_keep_publishing
    • style(pre-commit): autofix
    • feat: add readme
    • style(pre-commit): autofix
    • feat: change qos name and add parameter type
    • feat: add config and delete arg from launch
    • modify: typo
    • style(pre-commit): autofix
    • modify: add comment
    • modify: modify comment
    • feat: add maintainer
    • modift: change readme param format

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

  • Contributors: Fumiya Watanabe, TetsuKawa

0.40.0 (2025-01-06)

0.39.0 (2024-11-25)

0.38.0 (2024-11-11)

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
ament_cmake_auto
autoware_cmake
ament_lint_auto
autoware_lint_common
rclcpp
rclcpp_components
tf2_msgs
tier4_system_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_topic_relay_controller at Robotics Stack Exchange

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