autoware_agnocast_wrapper

The purpose of this package is to integrate Agnocast, a zero-copy middleware, into each topic in Autoware with minimal side effects. Agnocast is a library designed to work alongside ROS 2, enabling true zero-copy publish/subscribe communication for all ROS 2 message types, including unsized message types.

• Agnocast Repository: https://github.com/tier4/agnocast
• Discussion on Agnocast Integration into Autoware: https://github.com/orgs/autowarefoundation/discussions/5835
• Review Guide for Agnocast Wrapper PRs

This package provides macros that wrap functions for publish/subscribe operations and smart pointer types for handling ROS 2 messages. When Autoware is built using the default build command, Agnocast is not enabled. However, setting the environment variable ENABLE_AGNOCAST=1 enables Agnocast and results in a build that includes its integration. This design ensures backward compatibility for users who are unaware of Agnocast, minimizing disruption.

Two Integration Approaches

This package provides two approaches for integrating Agnocast. Both will coexist for the foreseeable future.

1. Node Wrapper (agnocast_wrapper::Node)

Use this when you want the entire node to transparently switch between rclcpp::Node and agnocast::Node at runtime. The node wrapper automatically selects the correct underlying implementation based on the ENABLE_AGNOCAST environment variable.

Currently supported APIs:

• Publisher / Subscription / PollingSubscriber
• Parameters
• Logger, Clock
• Callback groups
• Node interfaces (partial: get_node_base_interface(), get_node_topics_interface(), get_node_parameters_interface())

Note: Timer (create_wall_timer, create_timer) is not yet supported and will be added in a future update.

#include <autoware/agnocast_wrapper/node.hpp>

class MyNode : public autoware::agnocast_wrapper::Node
{
public:
  explicit MyNode(const rclcpp::NodeOptions & options)
  : Node("my_node", options)
  {
    pub_ = create_publisher<std_msgs::msg::String>("output", 10);
    sub_ = create_subscription<std_msgs::msg::String>(
      "input", 10, [this](std::unique_ptr<const std_msgs::msg::String> msg) { /* ... */ });
  }

private:
  autoware::agnocast_wrapper::Publisher<std_msgs::msg::String>::SharedPtr pub_;
  autoware::agnocast_wrapper::Subscription<std_msgs::msg::String>::SharedPtr sub_;
};

To use the Node wrapper in your package, add the following to your CMakeLists.txt:

find_package(autoware_agnocast_wrapper REQUIRED)
ament_target_dependencies(my_node_component autoware_agnocast_wrapper)

Registering a Node with autoware_agnocast_wrapper_register_node

Instead of calling rclcpp_components_register_node directly, use the autoware_agnocast_wrapper_register_node macro to register your component node. This macro:

1. Registers the component with rclcpp_components (for component container support)
2. Creates a standalone executable that can switch between rclcpp::Node and agnocast::Node at runtime based on the ENABLE_AGNOCAST environment variable

When ENABLE_AGNOCAST is not set or set to 0, this macro falls back to standard rclcpp_components_register_node behavior.

find_package(autoware_agnocast_wrapper REQUIRED)

ament_auto_add_library(my_node_component SHARED src/my_node.cpp)
ament_target_dependencies(my_node_component autoware_agnocast_wrapper)

autoware_agnocast_wrapper_register_node(my_node_component
  PLUGIN "my_package::MyNode"
  EXECUTABLE my_node
)

Parameters:

Valid executor values:

• ROS2_EXECUTOR: SingleThreadedExecutor, MultiThreadedExecutor
• AGNOCAST_EXECUTOR: SingleThreadedAgnocastExecutor, MultiThreadedAgnocastExecutor, CallbackIsolatedAgnocastExecutor, AgnocastOnlySingleThreadedExecutor, AgnocastOnlyMultiThreadedExecutor, AgnocastOnlyCallbackIsolatedExecutor

Node class requirements:

The required PLUGIN base class depends on the AGNOCAST_EXECUTOR type. The generated template enforces this via if constexpr at compile time:

Non-AgnocastOnly executors use NodeInstanceWrapper::get_node_base_interface() directly, which works with any node type (rclcpp::Node, agnocast_wrapper::Node, etc.) without requiring a cast. AgnocastOnly executors require get_agnocast_node(), which is only available on autoware::agnocast_wrapper::Node.

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Changelog for package autoware_agnocast_wrapper

0.50.0 (2026-02-14)

• Merge remote-tracking branch 'origin/main' into humble
• fix(agnocast): build on jazzy, remove from ground_segmentation_cuda (#11960)
• Contributors: Mete Fatih Cırıt, Ryohsuke Mitsudome

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

• Merge remote-tracking branch 'origin/main' into humble

• fix(agnocast_wrapper): fix const rvalue reference binding error in AgnocastPollingSubscriber (#11425) fix AgnocastPollingSubscriber in agnocast_wrapper

• feat(autoware_agnocast_wrapper): support runtime fallback to ROS 2 behavior (#11060)

  • Create message_ptr
  • Create use_agnocast
  • Create Subscription
  • Create Publisher
  • Create PollingSubscriber (wip)
  • Allow copying message_ptr with shared ownership
  • style(pre-commit): autofix
  • Fix typo
  • fix
  • fix
  • style(pre-commit): autofix
  • fix for tidy
  • fix tidy
  • style(pre-commit): autofix
  • try avoiding cpplint error
  • fix
  • fix ament_lint_commont to autoware_lint_common

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Koichi Imai <<koichi.imai.2@tier4.jp>> Co-authored-by: Koichi Imai <<45482193+Koichi98@users.noreply.github.com>> Co-authored-by: Takahiro Ishikawa-Aso <<sykwer@gmail.com>> Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

• Contributors: Guojun Wu, Koichi Imai, Ryohsuke Mitsudome

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

• Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
• chore: re-introduce agnocast and fix version to v2.1.0 (#10526) delete colcon ignore and fix agnocast version to v2.1.0
• Contributors: TaikiYamada4, Takahiro Ishikawa-Aso