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component_interface_utils package from autoware_car repo

autoware_auto_control_msgs autoware_auto_geometry_msgs autoware_auto_mapping_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs autoware_auto_vehicle_msgs autoware_launch ekf_localizer gyro_odometer initial_pose_button_panel localization_error_monitor ndt_scan_matcher pose2twist pose_initializer stop_filter twist2accel autoware_adapi_v1_msgs autoware_cmake autoware_utils lanelet2_extension autoware_common_msgs autoware_planning_msgs autoware_ad_api_specs autoware_point_types interpolation kalman_filter motion_utils signal_processing tier4_autoware_utils component_interface_specs component_interface_utils ndt_omp tier4_control_msgs tier4_debug_msgs tier4_localization_msgs tier4_system_msgs tier4_localization_launch tier4_map_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch pointcloud_preprocessor tier4_pcl_extensions vehicle_velocity_converter automatic_pose_initializer map_height_fitter map_loader map_tf_generator autoware_lint_common autoware_map_msgs tier4_external_api_msgs lanelet2_map_preprocessor autoware_slam autoware_gazebo autoware_gazebo_individual_params autoware_gazebo_launch autoware_gazebo_utils autoware_webots autoware_webots_individual_params autoware_webots_launch autoware_webots_utils robot webots_ros2_driver webots_ros2_msgs cartographer cartographer_ros cartographer_ros_msgs cartographer_rviz dolly dolly_follow dolly_gazebo dolly_ignition ndt_omp_ros2 graph_based_slam lidarslam lidarslam_msgs scanmatcher lio_sam pcl_localization_ros2 velodyne_description velodyne_gazebo_plugins velodyne_simulator

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Package Summary

Tags No category tags.
Version 0.0.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/qin-yuan/autoware_car.git
VCS Type git
VCS Version master
Last Updated 2024-12-19
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 component_interface_utils package

Additional Links

No additional links.

Maintainers

  • Takagi, Isamu
  • yabuta
  • Kah Hooi Tan
  • Kenji Miyake

Authors

No additional authors.
autoware_localization/utils/component_interface_utils/README.md

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 = 3;
  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
component_interface_utils::Service<SampleService>::SharedPtr srv_;
component_interface_utils::Client<SampleService>::SharedPtr cli_;
component_interface_utils::Publisher<SampleMessage>::SharedPtr pub_;
component_interface_utils::Subscription<SampleMessage>::SharedPtr sub_;

// source file
const auto node = 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 = 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
No CHANGELOG found.

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.

Launch files

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Messages

No message files found.

Services

No service files found

Plugins

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Recent questions tagged component_interface_utils at Robotics Stack Exchange

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