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

The RTC Interface works by creating a communication channel between a behavior planning module and the rest of the autonomous driving system. The planning module uses the interface to publish its current status, such as whether it is safe to proceed or if it is waiting for an external command. Other modules can then subscribe to this status information and send commands to the behavior planning module, such as “activate” or “deactivate”.

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 the current state of the module
  const uint8_t state = ...

  // 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, state, 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, const bool enable_rtc = false);

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
• enable_rtc: A boolean indicating whether RTC is enabled or not by default.

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

```c++

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Changelog for package autoware_rtc_interface

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

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)

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