autoware_universe_utils

Purpose

This package contains many common functions used by other packages, so please refer to them as needed.

For developers

autoware_universe_utils.hpp header file was removed because the source files that directly/indirectly include this file took a long time for preprocessing.

autoware::universe_utils

systems

autoware::universe_utils::TimeKeeper

Constructor

template <typename... Reporters>
explicit TimeKeeper(Reporters... reporters);

• Initializes the TimeKeeper with a list of reporters.

Methods

• void add_reporter(std::ostream * os);

  • Adds a reporter to output processing times to an ostream.
  • os: Pointer to the ostream object.

• void add_reporter(rclcpp::Publisher<ProcessingTimeDetail>::SharedPtr publisher);

  • Adds a reporter to publish processing times to an rclcpp publisher.
  • publisher: Shared pointer to the rclcpp publisher.

• void add_reporter(rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher);

  • Adds a reporter to publish processing times to an rclcpp publisher with std_msgs::msg::String.
  • publisher: Shared pointer to the rclcpp publisher.

• void start_track(const std::string & func_name);

  • Starts tracking the processing time of a function.
  • func_name: Name of the function to be tracked.

• void end_track(const std::string & func_name);

  • Ends tracking the processing time of a function.
  • func_name: Name of the function to end tracking.

• void comment(const std::string & comment);

  • Adds a comment to the current function being tracked.
  • comment: Comment to be added.

Note

• It’s possible to start and end time measurements using start_track and end_track as shown below:

  time_keeper.start_track("example_function");
  // Your function code here
  time_keeper.end_track("example_function");
  

• For safety and to ensure proper tracking, it is recommended to use ScopedTimeTrack.

Example

#include <rclcpp/rclcpp.hpp>

#include <std_msgs/msg/string.hpp>

#include <chrono>
#include <iostream>
#include <memory>
#include <thread>

class ExampleNode : public rclcpp::Node
{
public:
  ExampleNode() : Node("time_keeper_example")
  {
    publisher_ =
      create_publisher<autoware::universe_utils::ProcessingTimeDetail>("processing_time", 1);

    time_keeper_ = std::make_shared<autoware::universe_utils::TimeKeeper>(publisher_, &std::cerr);
    // You can also add a reporter later by add_reporter.
    // time_keeper_->add_reporter(publisher_);
    // time_keeper_->add_reporter(&std::cerr);

    timer_ =
      create_wall_timer(std::chrono::seconds(1), std::bind(&ExampleNode::func_a, this));
  }

private:
  std::shared_ptr<autoware::universe_utils::TimeKeeper> time_keeper_;
  rclcpp::Publisher<autoware::universe_utils::ProcessingTimeDetail>::SharedPtr publisher_;
  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_str_;
  rclcpp::TimerBase::SharedPtr timer_;

  void func_a()
  {
    // Start constructing ProcessingTimeTree (because func_a is the root function)
    autoware::universe_utils::ScopedTimeTrack st("func_a", *time_keeper_);
    std::this_thread::sleep_for(std::chrono::milliseconds(1));
    time_keeper_->comment("This is a comment for func_a");
    func_b();
    // End constructing ProcessingTimeTree. After this, the tree will be reported (publishing
    // message and outputting to std::cerr)
  }

  void func_b()
  {
    autoware::universe_utils::ScopedTimeTrack st("func_b", *time_keeper_);
    std::this_thread::sleep_for(std::chrono::milliseconds(2));
    time_keeper_->comment("This is a comment for func_b");
    func_c();
  }

  void func_c()
  {
    autoware::universe_utils::ScopedTimeTrack st("func_c", *time_keeper_);
    std::this_thread::sleep_for(std::chrono::milliseconds(3));
    time_keeper_->comment("This is a comment for func_c");
  }
};

int main(int argc, char ** argv)
{
  rclcpp::init(argc, argv);
  auto node = std::make_shared<ExampleNode>();
  rclcpp::spin(node);
  rclcpp::shutdown();
  return 0;
}

• Output (console)

  ==========================
  func_a (6.243ms) : This is a comment for func_a
      └── func_b (5.116ms) : This is a comment for func_b
          └── func_c (3.055ms) : This is a comment for func_c
  

• Output (ros2 topic echo /processing_time)

  ---
  nodes:
  - id: 1
    name: func_a
    processing_time: 6.366
    parent_id: 0
    comment: This is a comment for func_a
  - id: 2
    name: func_b
    processing_time: 5.237
    parent_id: 1
    comment: This is a comment for func_b
  - id: 3
    name: func_c
    processing_time: 3.156
    parent_id: 2
    comment: This is a comment for func_c
  

autoware::universe_utils::ScopedTimeTrack

Description

Class for automatically tracking the processing time of a function within a scope.

Constructor

ScopedTimeTrack(const std::string & func_name, TimeKeeper & time_keeper);

• func_name: Name of the function to be tracked.
• time_keeper: Reference to the TimeKeeper object.

Destructor

~ScopedTimeTrack();

• Destroys the ScopedTimeTrack object, ending the tracking of the function.

Changelog for package autoware_universe_utils

0.44.0 (2025-04-18)

• Merge remote-tracking branch 'origin/main' into humble
• feat(autoware_universe_utils): add intersect and getPoint for Point2d type (#10443)
• perf(autoware_pointcloud_preprocessor): introduce managed transform buffer with implicitly defined listener type (#9197)
  • feat(autoware_universe_utils): rework managed transform buffer
  • feat(autoware_pointcloud_preprocessor): integrate Managed TF Buffer into pointcloud densifier
  • chore: update repos

  * chore(managed_transform_buffer): fix version ---------Co-authored-by: Kenzo Lobos-Tsunekawa <<kenzo.lobos@tier4.jp>>

• Contributors: Amadeusz Szymko, Maxime CLEMENT, Ryohsuke Mitsudome

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)
• fix(autoware_universe_utils): fix procedure to check if point is on edge (#10260)
  • fix procedure to check if point is on edge

  * add test cases ---------

• Contributors: Hayato Mizushima, Mitsuhiro Sakamoto, Yutaka Kondo

0.42.0 (2025-03-03)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• feat(autoware_vehicle_info_utils): replace autoware_universe_utils with autoware_utils (#10167)
• feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (#10023)
• test(autoware_universe_utils): make opencv_fast_atan2 test reproducible (#9728)
• feat(universe_utils): add Polygon Clipping implementation to do boolean operation on Polygons (XOR, OR, AND) (#8728) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <<78338830+maxime-clem@users.noreply.github.com>>
• Contributors: Fumiya Watanabe, Giovanni Muhammad Raditya, Max Schmeller, Ryohsuke Mitsudome

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
• refactor(autoware_universe_utils): add missing 's' in the class of diagnostics_interface (#9777)
• feat(behavior_path_planner): use autoware internal stamped messages (#9750)
  • feat(behavior_path_planner): use autoware internal stamped messages

  * fix universe_utils ---------

• feat!: move diagnostics_module from localization_util to unverse_utils (#9714)
  • feat!: move diagnostics_module from localization_util to unverse_utils
  • remove diagnostics module from localization_util
  • style(pre-commit): autofix
  • minor fix in pose_initializer
  • add test
  • style(pre-commit): autofix
  • remove unnecessary declaration
  • module -> interface
  • remove unnecessary equal expression
  • revert the remove of template function
  • style(pre-commit): autofix
  • use overload instead

  * include what you use -- test_diagnostics_interface.cpp ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• fix(autoware_universe_utils): fix bug in test (#9710)
• Contributors: Fumiya Watanabe, Ryuta Kambe, Takayuki Murooka, kminoda

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)
• feat(universe_utils): add extra info to time keeper warning (#9484) add extra info to time keeper warning
• refactor(evaluators, autoware_universe_utils): rename Stat class to Accumulator and move it to autoware_universe_utils (#9459)
  • add Accumulator class to autoware_universe_utils
  • use Accumulator on all evaluators.
  • pre-commit
  • found and fixed a bug. add more tests.
  • pre-commit

  * Update common/autoware_universe_utils/include/autoware/universe_utils/math/accumulator.hpp Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>> ---------Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>>

• 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)
• fix(autoware_utils): address self-intersecting polygons in random_concave_generator and handle empty inners() during triangulation (#8995) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <<78338830+maxime-clem@users.noreply.github.com>>
• 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

• Contributors: Esteve Fernandez, Fumiya Watanabe, Giovanni Muhammad Raditya, Kem (TiankuiXian), M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, danielsanchezaran

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)
• fix(autoware_utils): address self-intersecting polygons in random_concave_generator and handle empty inners() during triangulation (#8995) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <<78338830+maxime-clem@users.noreply.github.com>>
• 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

• Contributors: Esteve Fernandez, Giovanni Muhammad Raditya, Yutaka Kondo

0.38.0 (2024-11-08)

• unify package.xml version to 0.37.0
• feat(autoware_pointcloud_preprocessor): distortion corrector node update azimuth and distance (#8380)
  • feat: add option for updating distance and azimuth value
  • chore: clean code
  • chore: remove space
  • chore: add documentation
  • chore: fix docs
  • feat: conversion formula implementation for degree, still need to change to rad
  • chore: fix tests for AzimuthConversionExists function
  • feat: add fastatan to utils
  • feat: remove seperate sin, cos and use sin_and_cos function
  • chore: fix readme
  • chore: fix some grammar errors
  • chore: fix spell error
  • chore: set debug mode to false
  • chore: set update_azimuth_and_distance default value to false
  • chore: update readme
  • chore: remove cout
  • chore: add opencv license
  • chore: fix grammar error
  • style(pre-commit): autofix
  • chore: add runtime error when azimuth conversion failed
  • chore: change default pointcloud
  • chore: change function name
  • chore: move variables to structure
  • chore: add random seed
  • chore: rewrite get conversion function
  • chore: fix opencv fast atan2 function
  • chore: fix schema description

  * Update sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp Co-authored-by: Max Schmeller <<6088931+mojomex@users.noreply.github.com>> * Update sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp Co-authored-by: Max Schmeller <<6088931+mojomex@users.noreply.github.com>>

  • chore: move code to function for readability
  • chore: simplify code
  • chore: fix sentence, angle conversion
  • chore: add more invalid condition
  • chore: fix the string name to enum
  • chore: remove runtime error
  • chore: use optional for AngleConversion structure
  • chore: fix bug and clean code
  • chore: refactor the logic of calculating conversion
  • chore: refactor function in unit test
  • chore: RCLCPP_WARN_STREAM logging when failed to get angle conversion
  • chore: improve normalize angle algorithm
  • chore: improve multiple_of_90_degrees logic
  • chore: add opencv license
  • style(pre-commit): autofix
  • chore: clean code
  • chore: fix sentence
  • style(pre-commit): autofix
  • chore: add 0 0 0 points in test case
  • chore: fix spell error

  * Update common/autoware_universe_utils/NOTICE Co-authored-by: Max Schmeller <<6088931+mojomex@users.noreply.github.com>> * Update sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp Co-authored-by: Max Schmeller <<6088931+mojomex@users.noreply.github.com>> * Update sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp Co-authored-by: Max Schmeller <<6088931+mojomex@users.noreply.github.com>>

  • chore: use constexpr for threshold
  • chore: fix the path of license
  • chore: explanation for failures
  • chore: use throttle
  • chore: fix empty pointcloud function
  • refactor: change camel to snake case

  * Update sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp Co-authored-by: Max Schmeller <<6088931+mojomex@users.noreply.github.com>> * Update sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp Co-authored-by: Max Schmeller <<6088931+mojomex@users.noreply.github.com>>

  • style(pre-commit): autofix

  * Update sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp Co-authored-by: Max Schmeller <<6088931+mojomex@users.noreply.github.com>>

  • refactor: refactor virtual function in base class
  • chore: fix test naming error
  • chore: fix clang error
  • chore: fix error
  • chore: fix clangd
  • chore: add runtime error if the setting is wrong
  • chore: clean code

  * Update sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp Co-authored-by: Max Schmeller <<6088931+mojomex@users.noreply.github.com>>

  • style(pre-commit): autofix
  • chore: fix unit test for runtime error

  * Update sensing/autoware_pointcloud_preprocessor/docs/distortion-corrector.md Co-authored-by: Kenzo Lobos Tsunekawa <<kenzo.lobos@tier4.jp>>

  • chore: fix offset_rad_threshold
  • chore: change pointer to reference
  • chore: snake_case for unit test
  • chore: fix refactor process twist and imu
  • chore: fix abs and return type of matrix to tf2
  • chore: fix grammar error
  • chore: fix readme description

  * chore: remove runtime error ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Max Schmeller <<6088931+mojomex@users.noreply.github.com>> Co-authored-by: Kenzo Lobos Tsunekawa <<kenzo.lobos@tier4.jp>>

• fix(universe_utils): avoid test timeout (#8993) reduce number of polygons to be generated
• fix(autoware_universe_utils): fix unmatchedSuppression (#8986) fix:unmatchedSuppression
• refactor(universe_utils): eliminate dependence on Boost.Geometry (#8965)
  • add alt::Polygon2d -> Polygon2d conversion function
  • migrate to alt geometry
  • invert orientation of linked list
  • suppress cppcheck unusedFunction error

  * fix parameter to avoid confusion ---------

• feat(autoware_universe_utils): reduce dependence on Boost.Geometry (#8592)
  • add find_farthest()
  • add simplify()
  • add envelope()
  • (WIP) add buffer()
  • add Polygon2d class
  • change input type of envelope()
  • disable convexity check until correct() supports non-convex polygons
  • add is_clockwise()
  • make correct() support non-convex polygons
  • fix test case

  * Revert "(WIP) add buffer()" This reverts commit 123b0ba85ede5e558431a4336038c14023d1bef1. ---------

• refactor(universe_utils): remove raw pointers from the triangulation function (#8893)
• fix(autoware_pointcloud_preprocessor): static TF listener as Filter option (#8678)
• feat(universe_utils): add Triangulation (ear clipping) implementation for 2D concave polygon with/without holes (#8609)
  • added random_concave_polygon and triangulation
  • disable some test with GJK
  • pre-commit fix
  • fully fixed convexHull issue and styling fix
  • fix conflict
  • cleaning up the code
  • cleanup the code
  • cleanup the code
  • fix spelling
  • last cleanup
  • more spellcheck fix

  * more spellcheck fixes ---------Co-authored-by: Maxime CLEMENT <<maxime.clement@tier4.jp>>

• refactor(autoware_universe_utils): refactor Boost.Geometry alternatives (#8594)
  • move alternatives to separate files
  • style(pre-commit): autofix

  * include missing headers ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• fix(autoware_universe_utils): fix unusedFunction (#8723) fix:unusedFunction
• feat(universe_utils): add SAT implementation for 2D convex polygon collision check (#8239)
• feat(autoware_universe_utils): add thread_id check to time_keeper (#8628) add thread_id check
• fix(autoware_universe_utils): fix unusedFunction (#8521) fix: unusedFunction
• feat(autoware_universe_utils): add LRU Cache (#8456)
• fix(autoware_universe_utils): fix memory leak of time_keeper (#8425) fix bug of time_keeper
• feat(autoware_universe_utils): reduce dependence on Boost.Geometry (#7778)
  • add within function
  • return nullopt as is
  • add disjoint function
  • add polygon-and-polygon version of intersect function
  • use intersect for disjoint
  • add test case for disjoint
  • checking intersection of edges is unnecessary
  • return nullopt when no intersection point found
  • add distance function
  • add coveredBy function
  • add point-polygon variant of distance function
  • add isAbove function
  • add divideBySegment function
  • add convexHull function
  • add correct function
  • add area function
  • change point type to tf2::Vector3
  • simplify correct function
  • push geometry types to namespace
  • match the behavior of Boost.Geometry
  • add test cases for benchmarking
  • add headers for convex_hull()
  • remove polygon-polygon intersect & disjoint function
  • add intersects function
  • add touches function
  • add disjoint function
  • minor fix
  • change name Polygon to CvxPolygon
  • change name CvxPolygon to ConvexPolygon
  • rename intersect function and restore the original
  • change function names to snake_case
  • early return
  • change point type from tf2::Vector3 to custom struct
  • style(pre-commit): autofix
  • use alt::Vector2d to represent point
  • convert from boost before time measurement
  • add header for std::move
  • avoid using long
  • convert from boost before time measurement
  • add point-segment variant of touches function
  • improve performance of point-polygon touches()
  • improve performance of area()
  • add note for class naming
  • improve performance of covered_by()
  • simplify within()
  • improve performance of covered_by()
  • improve performance of within()
  • use operator[] instead of at()
  • print point when covered_by() test failed
  • avoid using hypot()
  • improve performace of convex_hull()
  • remove divide_by_segment() function
  • fix test cases
  • improve performance of touches()
  • add test case for touches()
  • improve performance of touches()
  • change type alias PointList to Points2d
  • add & fix vector size assertions

  * define epsilon respectively ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>>

• fix(autoware_universe_utils): fix constParameterReference (#8145)
  • fix:constParameterReference
  • fix:clang format
  • fix:constParameterReference

  * fix:clang format ---------

• perf(autoware_pointcloud_preprocessor): lazy & managed TF listeners (#8174)
  • perf(autoware_pointcloud_preprocessor): lazy & managed TF listeners
  • fix(autoware_pointcloud_preprocessor): param names & reverse frames transform logic
  • fix(autoware_ground_segmentation): add missing TF listener
  • feat(autoware_ground_segmentation): change to static TF buffer
  • refactor(autoware_pointcloud_preprocessor): move StaticTransformListener to universe utils
  • perf(autoware_universe_utils): skip redundant transform
  • fix(autoware_universe_utils): change checks order

  * doc(autoware_universe_utils): add docstring ---------

• refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (#7443)
  • refactor(tier4_autoware_utils): Changed the API to be more intuitive and added documentation.
  • use raw shared ptr in PollingPolicy::NEWEST
  • update
  • fix

  * Update evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp Co-authored-by: danielsanchezaran <<daniel.sanchez@tier4.jp>> ---------Co-authored-by: danielsanchezaran <<daniel.sanchez@tier4.jp>>

• feat(universe_utils): add GJK implementation for 2D convex polygon collision check (#7853)
• feat(autoware_universe_utils): add comment function to time_keeper (#7991)
  • update readme
  • refactoring
  • remove string reporter
  • fix readme.md
  • feat(autoware_universe_utils): add comment function to time_keeper
  • remove comment from scoped time track

  * modify readme ---------

• chore(autoware_universe_utils): update document (#7907)
  • update readme
  • refactoring
  • remove string reporter
  • fix readme.md
  • change node name of example

  * update readme ---------

• fix(autoware_universe_utils): fix constParameterReference (#7882)
  • fix: constParameterReference

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

• feat(autoware_universe_utils): add TimeKeeper to track function's processing time (#7754)
• refactor(universe_utils/motion_utils)!: add autoware namespace (#7594)
• feat(autoware_universe_utils)!: rename from tier4_autoware_utils (#7538) Co-authored-by: kosuke55 <<kosuke.tnp@gmail.com>>
• Contributors: Amadeusz Szymko, Giovanni Muhammad Raditya, Kosuke Takeuchi, Maxime CLEMENT, Mitsuhiro Sakamoto, Nagi70, Takayuki Murooka, Yi-Hsiang Fang (Vivid), Yukinari Hisaki, Yutaka Kondo, kobayu858

0.26.0 (2024-04-03)