ROS Index
Package Summary
| Version | 0.53.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-10-26 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Ryohsuke Mitsudome
- Junya Sasaki
Authors
autoware_topic_state_monitor
Purpose
This node monitors input topic for abnormalities such as timeout and low frequency. The result of topic status is published as diagnostics.
Inner-workings / Algorithms
The types of topic status and corresponding diagnostic status are following.
| Topic status | Diagnostic status | Description |
|---|---|---|
OK |
OK | The topic has no abnormalities |
NotReceived |
ERROR | The topic has not been received yet |
WarnRate |
WARN | The frequency of the topic is dropped |
ErrorRate |
ERROR | The frequency of the topic is significantly dropped |
Timeout |
ERROR | The topic subscription is stopped for a certain time |
Inputs / Outputs
Input
| Name | Type | Description |
|---|---|---|
| any name | any type | Subscribe target topic to monitor |
Output
| Name | Type | Description |
|---|---|---|
/diagnostics |
diagnostic_msgs/DiagnosticArray |
Diagnostics outputs |
Parameters
Node Parameters
| Name | Type | Default Value | Description |
|---|---|---|---|
topic |
string | - | Name of target topic |
topic_type |
string | - | Type of target topic (used if the topic is not transform) |
frame_id |
string | - | Frame ID of transform parent (used if the topic is transform) |
child_frame_id |
string | - | Frame ID of transform child (used if the topic is transform) |
transient_local |
bool | false | QoS policy of topic subscription (Transient Local/Volatile) |
best_effort |
bool | false | QoS policy of topic subscription (Best Effort/Reliable) |
diag_name |
string | - | Name used for the diagnostics to publish |
update_rate |
double | 10.0 | Timer callback period [Hz] |
Core Parameters
| Name | Type | Default Value | Description |
|---|---|---|---|
warn_rate |
double | 0.5 | If the topic rate is lower than this value, the topic status becomes WarnRate
|
error_rate |
double | 0.1 | If the topic rate is lower than this value, the topic status becomes ErrorRate
|
timeout |
double | 1.0 | If the topic subscription is stopped for more than this time [s], the topic status becomes Timeout
|
window_size |
int | 10 | Window size of target topic for calculating frequency |
Assumptions / Known limits
TBD.
Changelog for package autoware_topic_state_monitor
0.53.0 (2026-09-29)
-
Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
-
feat(autoware_topic_state_monitor): apply [agnocast_wrapper::Node]{.title-ref} to [topic_state_monitor]{.title-ref} (#13382)
- feat(autoware_topic_state_monitor): apply [agnocast_wrapper::Node]{.title-ref} to [topic_state_monitor]{.title-ref}
* feat(autoware_component_state_monitor): run topic state monitors standalone under Agnocast ---------
-
fix(system): declare the dependencies these packages use (#13217)
-
refactor(system): move node design files into each package (#13103) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
-
Contributors: Koichi Imai, Mete Fatih Cırıt, Ryohsuke Mitsudome, Taekjin LEE
0.52.0 (2026-06-30)
0.51.0 (2026-05-01)
0.50.0 (2026-02-14)
- Merge remote-tracking branch 'origin/main' into humble
- refactor(topic_state_monitor): simplify timer handling in TopicStateMonitorNode (#11951)
- Contributors: Kyoichi Sugahara, Ryohsuke Mitsudome
0.49.0 (2025-12-30)
0.48.0 (2025-11-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
feat(component_state_monitor): use topic_state_monitor component (#11308)
- move private headers
- use component
* remove empty line ---------Co-authored-by: Junya Sasaki <<junya.sasaki@tier4.jp>>
-
fix(topic_state_monitor): cppcheck uninitMemberVar (#11332) fix(topic_state_monitor): cppcheck uninitialized param
-
feat(autoware_topic_state_monitor): enable to remap diagnostics topic (#11294) feat: enable to remap diagnostics topic
-
Contributors: Ryohsuke Mitsudome, Takagi, Isamu, Tetsuhiro Kawaguchi
0.47.1 (2025-08-14)
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)
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| autoware_component_state_monitor |
Launch files
- launch/load_topic_state_monitor.launch.xml
-
- target_container
- node_name_suffix
- topic
- topic_type
- transient_local [default: false]
- best_effort [default: false]
- diag_name
- warn_rate
- error_rate
- timeout
- window_size [default: 10]
- pub_topic_name [default: /diagnostics]
- launch/load_topic_state_monitor_tf.launch.xml
-
- target_container
- node_name_suffix
- topic
- frame_id
- child_frame_id
- transient_local [default: false]
- best_effort [default: false]
- diag_name
- warn_rate
- error_rate
- timeout
- window_size [default: 10]
- pub_topic_name [default: /diagnostics]
- launch/topic_state_monitor.launch.xml
-
- node_name_suffix
- topic
- topic_type
- transient_local [default: false]
- best_effort [default: false]
- diag_name
- warn_rate
- error_rate
- timeout
- window_size [default: 10]
- pub_topic_name [default: /diagnostics]
- ld_preload [default: $(env LD_PRELOAD '')]
- launch/topic_state_monitor_tf.launch.xml
-
- node_name_suffix
- topic
- frame_id
- child_frame_id
- transient_local [default: false]
- best_effort [default: false]
- diag_name
- warn_rate
- error_rate
- timeout
- window_size [default: 10]
- pub_topic_name [default: /diagnostics]
- ld_preload [default: $(env LD_PRELOAD '')]
Messages
Services
Plugins
Recent questions tagged autoware_topic_state_monitor at Robotics Stack Exchange
Package Summary
| Version | 0.53.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-10-26 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Ryohsuke Mitsudome
- Junya Sasaki
Authors
autoware_topic_state_monitor
Purpose
This node monitors input topic for abnormalities such as timeout and low frequency. The result of topic status is published as diagnostics.
Inner-workings / Algorithms
The types of topic status and corresponding diagnostic status are following.
| Topic status | Diagnostic status | Description |
|---|---|---|
OK |
OK | The topic has no abnormalities |
NotReceived |
ERROR | The topic has not been received yet |
WarnRate |
WARN | The frequency of the topic is dropped |
ErrorRate |
ERROR | The frequency of the topic is significantly dropped |
Timeout |
ERROR | The topic subscription is stopped for a certain time |
Inputs / Outputs
Input
| Name | Type | Description |
|---|---|---|
| any name | any type | Subscribe target topic to monitor |
Output
| Name | Type | Description |
|---|---|---|
/diagnostics |
diagnostic_msgs/DiagnosticArray |
Diagnostics outputs |
Parameters
Node Parameters
| Name | Type | Default Value | Description |
|---|---|---|---|
topic |
string | - | Name of target topic |
topic_type |
string | - | Type of target topic (used if the topic is not transform) |
frame_id |
string | - | Frame ID of transform parent (used if the topic is transform) |
child_frame_id |
string | - | Frame ID of transform child (used if the topic is transform) |
transient_local |
bool | false | QoS policy of topic subscription (Transient Local/Volatile) |
best_effort |
bool | false | QoS policy of topic subscription (Best Effort/Reliable) |
diag_name |
string | - | Name used for the diagnostics to publish |
update_rate |
double | 10.0 | Timer callback period [Hz] |
Core Parameters
| Name | Type | Default Value | Description |
|---|---|---|---|
warn_rate |
double | 0.5 | If the topic rate is lower than this value, the topic status becomes WarnRate
|
error_rate |
double | 0.1 | If the topic rate is lower than this value, the topic status becomes ErrorRate
|
timeout |
double | 1.0 | If the topic subscription is stopped for more than this time [s], the topic status becomes Timeout
|
window_size |
int | 10 | Window size of target topic for calculating frequency |
Assumptions / Known limits
TBD.
Changelog for package autoware_topic_state_monitor
0.53.0 (2026-09-29)
-
Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
-
feat(autoware_topic_state_monitor): apply [agnocast_wrapper::Node]{.title-ref} to [topic_state_monitor]{.title-ref} (#13382)
- feat(autoware_topic_state_monitor): apply [agnocast_wrapper::Node]{.title-ref} to [topic_state_monitor]{.title-ref}
* feat(autoware_component_state_monitor): run topic state monitors standalone under Agnocast ---------
-
fix(system): declare the dependencies these packages use (#13217)
-
refactor(system): move node design files into each package (#13103) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
-
Contributors: Koichi Imai, Mete Fatih Cırıt, Ryohsuke Mitsudome, Taekjin LEE
0.52.0 (2026-06-30)
0.51.0 (2026-05-01)
0.50.0 (2026-02-14)
- Merge remote-tracking branch 'origin/main' into humble
- refactor(topic_state_monitor): simplify timer handling in TopicStateMonitorNode (#11951)
- Contributors: Kyoichi Sugahara, Ryohsuke Mitsudome
0.49.0 (2025-12-30)
0.48.0 (2025-11-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
feat(component_state_monitor): use topic_state_monitor component (#11308)
- move private headers
- use component
* remove empty line ---------Co-authored-by: Junya Sasaki <<junya.sasaki@tier4.jp>>
-
fix(topic_state_monitor): cppcheck uninitMemberVar (#11332) fix(topic_state_monitor): cppcheck uninitialized param
-
feat(autoware_topic_state_monitor): enable to remap diagnostics topic (#11294) feat: enable to remap diagnostics topic
-
Contributors: Ryohsuke Mitsudome, Takagi, Isamu, Tetsuhiro Kawaguchi
0.47.1 (2025-08-14)
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)
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| autoware_component_state_monitor |
Launch files
- launch/load_topic_state_monitor.launch.xml
-
- target_container
- node_name_suffix
- topic
- topic_type
- transient_local [default: false]
- best_effort [default: false]
- diag_name
- warn_rate
- error_rate
- timeout
- window_size [default: 10]
- pub_topic_name [default: /diagnostics]
- launch/load_topic_state_monitor_tf.launch.xml
-
- target_container
- node_name_suffix
- topic
- frame_id
- child_frame_id
- transient_local [default: false]
- best_effort [default: false]
- diag_name
- warn_rate
- error_rate
- timeout
- window_size [default: 10]
- pub_topic_name [default: /diagnostics]
- launch/topic_state_monitor.launch.xml
-
- node_name_suffix
- topic
- topic_type
- transient_local [default: false]
- best_effort [default: false]
- diag_name
- warn_rate
- error_rate
- timeout
- window_size [default: 10]
- pub_topic_name [default: /diagnostics]
- ld_preload [default: $(env LD_PRELOAD '')]
- launch/topic_state_monitor_tf.launch.xml
-
- node_name_suffix
- topic
- frame_id
- child_frame_id
- transient_local [default: false]
- best_effort [default: false]
- diag_name
- warn_rate
- error_rate
- timeout
- window_size [default: 10]
- pub_topic_name [default: /diagnostics]
- ld_preload [default: $(env LD_PRELOAD '')]
Messages
Services
Plugins
Recent questions tagged autoware_topic_state_monitor at Robotics Stack Exchange
Package Summary
| Version | 0.53.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-10-26 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Ryohsuke Mitsudome
- Junya Sasaki
Authors
autoware_topic_state_monitor
Purpose
This node monitors input topic for abnormalities such as timeout and low frequency. The result of topic status is published as diagnostics.
Inner-workings / Algorithms
The types of topic status and corresponding diagnostic status are following.
| Topic status | Diagnostic status | Description |
|---|---|---|
OK |
OK | The topic has no abnormalities |
NotReceived |
ERROR | The topic has not been received yet |
WarnRate |
WARN | The frequency of the topic is dropped |
ErrorRate |
ERROR | The frequency of the topic is significantly dropped |
Timeout |
ERROR | The topic subscription is stopped for a certain time |
Inputs / Outputs
Input
| Name | Type | Description |
|---|---|---|
| any name | any type | Subscribe target topic to monitor |
Output
| Name | Type | Description |
|---|---|---|
/diagnostics |
diagnostic_msgs/DiagnosticArray |
Diagnostics outputs |
Parameters
Node Parameters
| Name | Type | Default Value | Description |
|---|---|---|---|
topic |
string | - | Name of target topic |
topic_type |
string | - | Type of target topic (used if the topic is not transform) |
frame_id |
string | - | Frame ID of transform parent (used if the topic is transform) |
child_frame_id |
string | - | Frame ID of transform child (used if the topic is transform) |
transient_local |
bool | false | QoS policy of topic subscription (Transient Local/Volatile) |
best_effort |
bool | false | QoS policy of topic subscription (Best Effort/Reliable) |
diag_name |
string | - | Name used for the diagnostics to publish |
update_rate |
double | 10.0 | Timer callback period [Hz] |
Core Parameters
| Name | Type | Default Value | Description |
|---|---|---|---|
warn_rate |
double | 0.5 | If the topic rate is lower than this value, the topic status becomes WarnRate
|
error_rate |
double | 0.1 | If the topic rate is lower than this value, the topic status becomes ErrorRate
|
timeout |
double | 1.0 | If the topic subscription is stopped for more than this time [s], the topic status becomes Timeout
|
window_size |
int | 10 | Window size of target topic for calculating frequency |
Assumptions / Known limits
TBD.
Changelog for package autoware_topic_state_monitor
0.53.0 (2026-09-29)
-
Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
-
feat(autoware_topic_state_monitor): apply [agnocast_wrapper::Node]{.title-ref} to [topic_state_monitor]{.title-ref} (#13382)
- feat(autoware_topic_state_monitor): apply [agnocast_wrapper::Node]{.title-ref} to [topic_state_monitor]{.title-ref}
* feat(autoware_component_state_monitor): run topic state monitors standalone under Agnocast ---------
-
fix(system): declare the dependencies these packages use (#13217)
-
refactor(system): move node design files into each package (#13103) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
-
Contributors: Koichi Imai, Mete Fatih Cırıt, Ryohsuke Mitsudome, Taekjin LEE
0.52.0 (2026-06-30)
0.51.0 (2026-05-01)
0.50.0 (2026-02-14)
- Merge remote-tracking branch 'origin/main' into humble
- refactor(topic_state_monitor): simplify timer handling in TopicStateMonitorNode (#11951)
- Contributors: Kyoichi Sugahara, Ryohsuke Mitsudome
0.49.0 (2025-12-30)
0.48.0 (2025-11-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
feat(component_state_monitor): use topic_state_monitor component (#11308)
- move private headers
- use component
* remove empty line ---------Co-authored-by: Junya Sasaki <<junya.sasaki@tier4.jp>>
-
fix(topic_state_monitor): cppcheck uninitMemberVar (#11332) fix(topic_state_monitor): cppcheck uninitialized param
-
feat(autoware_topic_state_monitor): enable to remap diagnostics topic (#11294) feat: enable to remap diagnostics topic
-
Contributors: Ryohsuke Mitsudome, Takagi, Isamu, Tetsuhiro Kawaguchi
0.47.1 (2025-08-14)
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)
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| autoware_component_state_monitor |
Launch files
- launch/load_topic_state_monitor.launch.xml
-
- target_container
- node_name_suffix
- topic
- topic_type
- transient_local [default: false]
- best_effort [default: false]
- diag_name
- warn_rate
- error_rate
- timeout
- window_size [default: 10]
- pub_topic_name [default: /diagnostics]
- launch/load_topic_state_monitor_tf.launch.xml
-
- target_container
- node_name_suffix
- topic
- frame_id
- child_frame_id
- transient_local [default: false]
- best_effort [default: false]
- diag_name
- warn_rate
- error_rate
- timeout
- window_size [default: 10]
- pub_topic_name [default: /diagnostics]
- launch/topic_state_monitor.launch.xml
-
- node_name_suffix
- topic
- topic_type
- transient_local [default: false]
- best_effort [default: false]
- diag_name
- warn_rate
- error_rate
- timeout
- window_size [default: 10]
- pub_topic_name [default: /diagnostics]
- ld_preload [default: $(env LD_PRELOAD '')]
- launch/topic_state_monitor_tf.launch.xml
-
- node_name_suffix
- topic
- frame_id
- child_frame_id
- transient_local [default: false]
- best_effort [default: false]
- diag_name
- warn_rate
- error_rate
- timeout
- window_size [default: 10]
- pub_topic_name [default: /diagnostics]
- ld_preload [default: $(env LD_PRELOAD '')]
Messages
Services
Plugins
Recent questions tagged autoware_topic_state_monitor at Robotics Stack Exchange
Package Summary
| Version | 0.53.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-10-26 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Ryohsuke Mitsudome
- Junya Sasaki
Authors
autoware_topic_state_monitor
Purpose
This node monitors input topic for abnormalities such as timeout and low frequency. The result of topic status is published as diagnostics.
Inner-workings / Algorithms
The types of topic status and corresponding diagnostic status are following.
| Topic status | Diagnostic status | Description |
|---|---|---|
OK |
OK | The topic has no abnormalities |
NotReceived |
ERROR | The topic has not been received yet |
WarnRate |
WARN | The frequency of the topic is dropped |
ErrorRate |
ERROR | The frequency of the topic is significantly dropped |
Timeout |
ERROR | The topic subscription is stopped for a certain time |
Inputs / Outputs
Input
| Name | Type | Description |
|---|---|---|
| any name | any type | Subscribe target topic to monitor |
Output
| Name | Type | Description |
|---|---|---|
/diagnostics |
diagnostic_msgs/DiagnosticArray |
Diagnostics outputs |
Parameters
Node Parameters
| Name | Type | Default Value | Description |
|---|---|---|---|
topic |
string | - | Name of target topic |
topic_type |
string | - | Type of target topic (used if the topic is not transform) |
frame_id |
string | - | Frame ID of transform parent (used if the topic is transform) |
child_frame_id |
string | - | Frame ID of transform child (used if the topic is transform) |
transient_local |
bool | false | QoS policy of topic subscription (Transient Local/Volatile) |
best_effort |
bool | false | QoS policy of topic subscription (Best Effort/Reliable) |
diag_name |
string | - | Name used for the diagnostics to publish |
update_rate |
double | 10.0 | Timer callback period [Hz] |
Core Parameters
| Name | Type | Default Value | Description |
|---|---|---|---|
warn_rate |
double | 0.5 | If the topic rate is lower than this value, the topic status becomes WarnRate
|
error_rate |
double | 0.1 | If the topic rate is lower than this value, the topic status becomes ErrorRate
|
timeout |
double | 1.0 | If the topic subscription is stopped for more than this time [s], the topic status becomes Timeout
|
window_size |
int | 10 | Window size of target topic for calculating frequency |
Assumptions / Known limits
TBD.
Changelog for package autoware_topic_state_monitor
0.53.0 (2026-09-29)
-
Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
-
feat(autoware_topic_state_monitor): apply [agnocast_wrapper::Node]{.title-ref} to [topic_state_monitor]{.title-ref} (#13382)
- feat(autoware_topic_state_monitor): apply [agnocast_wrapper::Node]{.title-ref} to [topic_state_monitor]{.title-ref}
* feat(autoware_component_state_monitor): run topic state monitors standalone under Agnocast ---------
-
fix(system): declare the dependencies these packages use (#13217)
-
refactor(system): move node design files into each package (#13103) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
-
Contributors: Koichi Imai, Mete Fatih Cırıt, Ryohsuke Mitsudome, Taekjin LEE
0.52.0 (2026-06-30)
0.51.0 (2026-05-01)
0.50.0 (2026-02-14)
- Merge remote-tracking branch 'origin/main' into humble
- refactor(topic_state_monitor): simplify timer handling in TopicStateMonitorNode (#11951)
- Contributors: Kyoichi Sugahara, Ryohsuke Mitsudome
0.49.0 (2025-12-30)
0.48.0 (2025-11-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
feat(component_state_monitor): use topic_state_monitor component (#11308)
- move private headers
- use component
* remove empty line ---------Co-authored-by: Junya Sasaki <<junya.sasaki@tier4.jp>>
-
fix(topic_state_monitor): cppcheck uninitMemberVar (#11332) fix(topic_state_monitor): cppcheck uninitialized param
-
feat(autoware_topic_state_monitor): enable to remap diagnostics topic (#11294) feat: enable to remap diagnostics topic
-
Contributors: Ryohsuke Mitsudome, Takagi, Isamu, Tetsuhiro Kawaguchi
0.47.1 (2025-08-14)
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)
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| autoware_component_state_monitor |
Launch files
- launch/load_topic_state_monitor.launch.xml
-
- target_container
- node_name_suffix
- topic
- topic_type
- transient_local [default: false]
- best_effort [default: false]
- diag_name
- warn_rate
- error_rate
- timeout
- window_size [default: 10]
- pub_topic_name [default: /diagnostics]
- launch/load_topic_state_monitor_tf.launch.xml
-
- target_container
- node_name_suffix
- topic
- frame_id
- child_frame_id
- transient_local [default: false]
- best_effort [default: false]
- diag_name
- warn_rate
- error_rate
- timeout
- window_size [default: 10]
- pub_topic_name [default: /diagnostics]
- launch/topic_state_monitor.launch.xml
-
- node_name_suffix
- topic
- topic_type
- transient_local [default: false]
- best_effort [default: false]
- diag_name
- warn_rate
- error_rate
- timeout
- window_size [default: 10]
- pub_topic_name [default: /diagnostics]
- ld_preload [default: $(env LD_PRELOAD '')]
- launch/topic_state_monitor_tf.launch.xml
-
- node_name_suffix
- topic
- frame_id
- child_frame_id
- transient_local [default: false]
- best_effort [default: false]
- diag_name
- warn_rate
- error_rate
- timeout
- window_size [default: 10]
- pub_topic_name [default: /diagnostics]
- ld_preload [default: $(env LD_PRELOAD '')]
Messages
Services
Plugins
Recent questions tagged autoware_topic_state_monitor at Robotics Stack Exchange
Package Summary
| Version | 0.53.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-10-26 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Ryohsuke Mitsudome
- Junya Sasaki
Authors
autoware_topic_state_monitor
Purpose
This node monitors input topic for abnormalities such as timeout and low frequency. The result of topic status is published as diagnostics.
Inner-workings / Algorithms
The types of topic status and corresponding diagnostic status are following.
| Topic status | Diagnostic status | Description |
|---|---|---|
OK |
OK | The topic has no abnormalities |
NotReceived |
ERROR | The topic has not been received yet |
WarnRate |
WARN | The frequency of the topic is dropped |
ErrorRate |
ERROR | The frequency of the topic is significantly dropped |
Timeout |
ERROR | The topic subscription is stopped for a certain time |
Inputs / Outputs
Input
| Name | Type | Description |
|---|---|---|
| any name | any type | Subscribe target topic to monitor |
Output
| Name | Type | Description |
|---|---|---|
/diagnostics |
diagnostic_msgs/DiagnosticArray |
Diagnostics outputs |
Parameters
Node Parameters
| Name | Type | Default Value | Description |
|---|---|---|---|
topic |
string | - | Name of target topic |
topic_type |
string | - | Type of target topic (used if the topic is not transform) |
frame_id |
string | - | Frame ID of transform parent (used if the topic is transform) |
child_frame_id |
string | - | Frame ID of transform child (used if the topic is transform) |
transient_local |
bool | false | QoS policy of topic subscription (Transient Local/Volatile) |
best_effort |
bool | false | QoS policy of topic subscription (Best Effort/Reliable) |
diag_name |
string | - | Name used for the diagnostics to publish |
update_rate |
double | 10.0 | Timer callback period [Hz] |
Core Parameters
| Name | Type | Default Value | Description |
|---|---|---|---|
warn_rate |
double | 0.5 | If the topic rate is lower than this value, the topic status becomes WarnRate
|
error_rate |
double | 0.1 | If the topic rate is lower than this value, the topic status becomes ErrorRate
|
timeout |
double | 1.0 | If the topic subscription is stopped for more than this time [s], the topic status becomes Timeout
|
window_size |
int | 10 | Window size of target topic for calculating frequency |
Assumptions / Known limits
TBD.
Changelog for package autoware_topic_state_monitor
0.53.0 (2026-09-29)
-
Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
-
feat(autoware_topic_state_monitor): apply [agnocast_wrapper::Node]{.title-ref} to [topic_state_monitor]{.title-ref} (#13382)
- feat(autoware_topic_state_monitor): apply [agnocast_wrapper::Node]{.title-ref} to [topic_state_monitor]{.title-ref}
* feat(autoware_component_state_monitor): run topic state monitors standalone under Agnocast ---------
-
fix(system): declare the dependencies these packages use (#13217)
-
refactor(system): move node design files into each package (#13103) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
-
Contributors: Koichi Imai, Mete Fatih Cırıt, Ryohsuke Mitsudome, Taekjin LEE
0.52.0 (2026-06-30)
0.51.0 (2026-05-01)
0.50.0 (2026-02-14)
- Merge remote-tracking branch 'origin/main' into humble
- refactor(topic_state_monitor): simplify timer handling in TopicStateMonitorNode (#11951)
- Contributors: Kyoichi Sugahara, Ryohsuke Mitsudome
0.49.0 (2025-12-30)
0.48.0 (2025-11-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
feat(component_state_monitor): use topic_state_monitor component (#11308)
- move private headers
- use component
* remove empty line ---------Co-authored-by: Junya Sasaki <<junya.sasaki@tier4.jp>>
-
fix(topic_state_monitor): cppcheck uninitMemberVar (#11332) fix(topic_state_monitor): cppcheck uninitialized param
-
feat(autoware_topic_state_monitor): enable to remap diagnostics topic (#11294) feat: enable to remap diagnostics topic
-
Contributors: Ryohsuke Mitsudome, Takagi, Isamu, Tetsuhiro Kawaguchi
0.47.1 (2025-08-14)
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)
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| autoware_component_state_monitor |
Launch files
- launch/load_topic_state_monitor.launch.xml
-
- target_container
- node_name_suffix
- topic
- topic_type
- transient_local [default: false]
- best_effort [default: false]
- diag_name
- warn_rate
- error_rate
- timeout
- window_size [default: 10]
- pub_topic_name [default: /diagnostics]
- launch/load_topic_state_monitor_tf.launch.xml
-
- target_container
- node_name_suffix
- topic
- frame_id
- child_frame_id
- transient_local [default: false]
- best_effort [default: false]
- diag_name
- warn_rate
- error_rate
- timeout
- window_size [default: 10]
- pub_topic_name [default: /diagnostics]
- launch/topic_state_monitor.launch.xml
-
- node_name_suffix
- topic
- topic_type
- transient_local [default: false]
- best_effort [default: false]
- diag_name
- warn_rate
- error_rate
- timeout
- window_size [default: 10]
- pub_topic_name [default: /diagnostics]
- ld_preload [default: $(env LD_PRELOAD '')]
- launch/topic_state_monitor_tf.launch.xml
-
- node_name_suffix
- topic
- frame_id
- child_frame_id
- transient_local [default: false]
- best_effort [default: false]
- diag_name
- warn_rate
- error_rate
- timeout
- window_size [default: 10]
- pub_topic_name [default: /diagnostics]
- ld_preload [default: $(env LD_PRELOAD '')]
Messages
Services
Plugins
Recent questions tagged autoware_topic_state_monitor at Robotics Stack Exchange
Package Summary
| Version | 0.53.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-10-26 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Ryohsuke Mitsudome
- Junya Sasaki
Authors
autoware_topic_state_monitor
Purpose
This node monitors input topic for abnormalities such as timeout and low frequency. The result of topic status is published as diagnostics.
Inner-workings / Algorithms
The types of topic status and corresponding diagnostic status are following.
| Topic status | Diagnostic status | Description |
|---|---|---|
OK |
OK | The topic has no abnormalities |
NotReceived |
ERROR | The topic has not been received yet |
WarnRate |
WARN | The frequency of the topic is dropped |
ErrorRate |
ERROR | The frequency of the topic is significantly dropped |
Timeout |
ERROR | The topic subscription is stopped for a certain time |
Inputs / Outputs
Input
| Name | Type | Description |
|---|---|---|
| any name | any type | Subscribe target topic to monitor |
Output
| Name | Type | Description |
|---|---|---|
/diagnostics |
diagnostic_msgs/DiagnosticArray |
Diagnostics outputs |
Parameters
Node Parameters
| Name | Type | Default Value | Description |
|---|---|---|---|
topic |
string | - | Name of target topic |
topic_type |
string | - | Type of target topic (used if the topic is not transform) |
frame_id |
string | - | Frame ID of transform parent (used if the topic is transform) |
child_frame_id |
string | - | Frame ID of transform child (used if the topic is transform) |
transient_local |
bool | false | QoS policy of topic subscription (Transient Local/Volatile) |
best_effort |
bool | false | QoS policy of topic subscription (Best Effort/Reliable) |
diag_name |
string | - | Name used for the diagnostics to publish |
update_rate |
double | 10.0 | Timer callback period [Hz] |
Core Parameters
| Name | Type | Default Value | Description |
|---|---|---|---|
warn_rate |
double | 0.5 | If the topic rate is lower than this value, the topic status becomes WarnRate
|
error_rate |
double | 0.1 | If the topic rate is lower than this value, the topic status becomes ErrorRate
|
timeout |
double | 1.0 | If the topic subscription is stopped for more than this time [s], the topic status becomes Timeout
|
window_size |
int | 10 | Window size of target topic for calculating frequency |
Assumptions / Known limits
TBD.
Changelog for package autoware_topic_state_monitor
0.53.0 (2026-09-29)
-
Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
-
feat(autoware_topic_state_monitor): apply [agnocast_wrapper::Node]{.title-ref} to [topic_state_monitor]{.title-ref} (#13382)
- feat(autoware_topic_state_monitor): apply [agnocast_wrapper::Node]{.title-ref} to [topic_state_monitor]{.title-ref}
* feat(autoware_component_state_monitor): run topic state monitors standalone under Agnocast ---------
-
fix(system): declare the dependencies these packages use (#13217)
-
refactor(system): move node design files into each package (#13103) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
-
Contributors: Koichi Imai, Mete Fatih Cırıt, Ryohsuke Mitsudome, Taekjin LEE
0.52.0 (2026-06-30)
0.51.0 (2026-05-01)
0.50.0 (2026-02-14)
- Merge remote-tracking branch 'origin/main' into humble
- refactor(topic_state_monitor): simplify timer handling in TopicStateMonitorNode (#11951)
- Contributors: Kyoichi Sugahara, Ryohsuke Mitsudome
0.49.0 (2025-12-30)
0.48.0 (2025-11-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
feat(component_state_monitor): use topic_state_monitor component (#11308)
- move private headers
- use component
* remove empty line ---------Co-authored-by: Junya Sasaki <<junya.sasaki@tier4.jp>>
-
fix(topic_state_monitor): cppcheck uninitMemberVar (#11332) fix(topic_state_monitor): cppcheck uninitialized param
-
feat(autoware_topic_state_monitor): enable to remap diagnostics topic (#11294) feat: enable to remap diagnostics topic
-
Contributors: Ryohsuke Mitsudome, Takagi, Isamu, Tetsuhiro Kawaguchi
0.47.1 (2025-08-14)
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)
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| autoware_component_state_monitor |
Launch files
- launch/load_topic_state_monitor.launch.xml
-
- target_container
- node_name_suffix
- topic
- topic_type
- transient_local [default: false]
- best_effort [default: false]
- diag_name
- warn_rate
- error_rate
- timeout
- window_size [default: 10]
- pub_topic_name [default: /diagnostics]
- launch/load_topic_state_monitor_tf.launch.xml
-
- target_container
- node_name_suffix
- topic
- frame_id
- child_frame_id
- transient_local [default: false]
- best_effort [default: false]
- diag_name
- warn_rate
- error_rate
- timeout
- window_size [default: 10]
- pub_topic_name [default: /diagnostics]
- launch/topic_state_monitor.launch.xml
-
- node_name_suffix
- topic
- topic_type
- transient_local [default: false]
- best_effort [default: false]
- diag_name
- warn_rate
- error_rate
- timeout
- window_size [default: 10]
- pub_topic_name [default: /diagnostics]
- ld_preload [default: $(env LD_PRELOAD '')]
- launch/topic_state_monitor_tf.launch.xml
-
- node_name_suffix
- topic
- frame_id
- child_frame_id
- transient_local [default: false]
- best_effort [default: false]
- diag_name
- warn_rate
- error_rate
- timeout
- window_size [default: 10]
- pub_topic_name [default: /diagnostics]
- ld_preload [default: $(env LD_PRELOAD '')]
Messages
Services
Plugins
Recent questions tagged autoware_topic_state_monitor at Robotics Stack Exchange
Package Summary
| Version | 0.53.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-10-26 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Ryohsuke Mitsudome
- Junya Sasaki
Authors
autoware_topic_state_monitor
Purpose
This node monitors input topic for abnormalities such as timeout and low frequency. The result of topic status is published as diagnostics.
Inner-workings / Algorithms
The types of topic status and corresponding diagnostic status are following.
| Topic status | Diagnostic status | Description |
|---|---|---|
OK |
OK | The topic has no abnormalities |
NotReceived |
ERROR | The topic has not been received yet |
WarnRate |
WARN | The frequency of the topic is dropped |
ErrorRate |
ERROR | The frequency of the topic is significantly dropped |
Timeout |
ERROR | The topic subscription is stopped for a certain time |
Inputs / Outputs
Input
| Name | Type | Description |
|---|---|---|
| any name | any type | Subscribe target topic to monitor |
Output
| Name | Type | Description |
|---|---|---|
/diagnostics |
diagnostic_msgs/DiagnosticArray |
Diagnostics outputs |
Parameters
Node Parameters
| Name | Type | Default Value | Description |
|---|---|---|---|
topic |
string | - | Name of target topic |
topic_type |
string | - | Type of target topic (used if the topic is not transform) |
frame_id |
string | - | Frame ID of transform parent (used if the topic is transform) |
child_frame_id |
string | - | Frame ID of transform child (used if the topic is transform) |
transient_local |
bool | false | QoS policy of topic subscription (Transient Local/Volatile) |
best_effort |
bool | false | QoS policy of topic subscription (Best Effort/Reliable) |
diag_name |
string | - | Name used for the diagnostics to publish |
update_rate |
double | 10.0 | Timer callback period [Hz] |
Core Parameters
| Name | Type | Default Value | Description |
|---|---|---|---|
warn_rate |
double | 0.5 | If the topic rate is lower than this value, the topic status becomes WarnRate
|
error_rate |
double | 0.1 | If the topic rate is lower than this value, the topic status becomes ErrorRate
|
timeout |
double | 1.0 | If the topic subscription is stopped for more than this time [s], the topic status becomes Timeout
|
window_size |
int | 10 | Window size of target topic for calculating frequency |
Assumptions / Known limits
TBD.
Changelog for package autoware_topic_state_monitor
0.53.0 (2026-09-29)
-
Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
-
feat(autoware_topic_state_monitor): apply [agnocast_wrapper::Node]{.title-ref} to [topic_state_monitor]{.title-ref} (#13382)
- feat(autoware_topic_state_monitor): apply [agnocast_wrapper::Node]{.title-ref} to [topic_state_monitor]{.title-ref}
* feat(autoware_component_state_monitor): run topic state monitors standalone under Agnocast ---------
-
fix(system): declare the dependencies these packages use (#13217)
-
refactor(system): move node design files into each package (#13103) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
-
Contributors: Koichi Imai, Mete Fatih Cırıt, Ryohsuke Mitsudome, Taekjin LEE
0.52.0 (2026-06-30)
0.51.0 (2026-05-01)
0.50.0 (2026-02-14)
- Merge remote-tracking branch 'origin/main' into humble
- refactor(topic_state_monitor): simplify timer handling in TopicStateMonitorNode (#11951)
- Contributors: Kyoichi Sugahara, Ryohsuke Mitsudome
0.49.0 (2025-12-30)
0.48.0 (2025-11-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
feat(component_state_monitor): use topic_state_monitor component (#11308)
- move private headers
- use component
* remove empty line ---------Co-authored-by: Junya Sasaki <<junya.sasaki@tier4.jp>>
-
fix(topic_state_monitor): cppcheck uninitMemberVar (#11332) fix(topic_state_monitor): cppcheck uninitialized param
-
feat(autoware_topic_state_monitor): enable to remap diagnostics topic (#11294) feat: enable to remap diagnostics topic
-
Contributors: Ryohsuke Mitsudome, Takagi, Isamu, Tetsuhiro Kawaguchi
0.47.1 (2025-08-14)
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)
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| autoware_component_state_monitor |
Launch files
- launch/load_topic_state_monitor.launch.xml
-
- target_container
- node_name_suffix
- topic
- topic_type
- transient_local [default: false]
- best_effort [default: false]
- diag_name
- warn_rate
- error_rate
- timeout
- window_size [default: 10]
- pub_topic_name [default: /diagnostics]
- launch/load_topic_state_monitor_tf.launch.xml
-
- target_container
- node_name_suffix
- topic
- frame_id
- child_frame_id
- transient_local [default: false]
- best_effort [default: false]
- diag_name
- warn_rate
- error_rate
- timeout
- window_size [default: 10]
- pub_topic_name [default: /diagnostics]
- launch/topic_state_monitor.launch.xml
-
- node_name_suffix
- topic
- topic_type
- transient_local [default: false]
- best_effort [default: false]
- diag_name
- warn_rate
- error_rate
- timeout
- window_size [default: 10]
- pub_topic_name [default: /diagnostics]
- ld_preload [default: $(env LD_PRELOAD '')]
- launch/topic_state_monitor_tf.launch.xml
-
- node_name_suffix
- topic
- frame_id
- child_frame_id
- transient_local [default: false]
- best_effort [default: false]
- diag_name
- warn_rate
- error_rate
- timeout
- window_size [default: 10]
- pub_topic_name [default: /diagnostics]
- ld_preload [default: $(env LD_PRELOAD '')]
Messages
Services
Plugins
Recent questions tagged autoware_topic_state_monitor at Robotics Stack Exchange
Package Summary
| Version | 0.53.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-10-26 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Ryohsuke Mitsudome
- Junya Sasaki
Authors
autoware_topic_state_monitor
Purpose
This node monitors input topic for abnormalities such as timeout and low frequency. The result of topic status is published as diagnostics.
Inner-workings / Algorithms
The types of topic status and corresponding diagnostic status are following.
| Topic status | Diagnostic status | Description |
|---|---|---|
OK |
OK | The topic has no abnormalities |
NotReceived |
ERROR | The topic has not been received yet |
WarnRate |
WARN | The frequency of the topic is dropped |
ErrorRate |
ERROR | The frequency of the topic is significantly dropped |
Timeout |
ERROR | The topic subscription is stopped for a certain time |
Inputs / Outputs
Input
| Name | Type | Description |
|---|---|---|
| any name | any type | Subscribe target topic to monitor |
Output
| Name | Type | Description |
|---|---|---|
/diagnostics |
diagnostic_msgs/DiagnosticArray |
Diagnostics outputs |
Parameters
Node Parameters
| Name | Type | Default Value | Description |
|---|---|---|---|
topic |
string | - | Name of target topic |
topic_type |
string | - | Type of target topic (used if the topic is not transform) |
frame_id |
string | - | Frame ID of transform parent (used if the topic is transform) |
child_frame_id |
string | - | Frame ID of transform child (used if the topic is transform) |
transient_local |
bool | false | QoS policy of topic subscription (Transient Local/Volatile) |
best_effort |
bool | false | QoS policy of topic subscription (Best Effort/Reliable) |
diag_name |
string | - | Name used for the diagnostics to publish |
update_rate |
double | 10.0 | Timer callback period [Hz] |
Core Parameters
| Name | Type | Default Value | Description |
|---|---|---|---|
warn_rate |
double | 0.5 | If the topic rate is lower than this value, the topic status becomes WarnRate
|
error_rate |
double | 0.1 | If the topic rate is lower than this value, the topic status becomes ErrorRate
|
timeout |
double | 1.0 | If the topic subscription is stopped for more than this time [s], the topic status becomes Timeout
|
window_size |
int | 10 | Window size of target topic for calculating frequency |
Assumptions / Known limits
TBD.
Changelog for package autoware_topic_state_monitor
0.53.0 (2026-09-29)
-
Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
-
feat(autoware_topic_state_monitor): apply [agnocast_wrapper::Node]{.title-ref} to [topic_state_monitor]{.title-ref} (#13382)
- feat(autoware_topic_state_monitor): apply [agnocast_wrapper::Node]{.title-ref} to [topic_state_monitor]{.title-ref}
* feat(autoware_component_state_monitor): run topic state monitors standalone under Agnocast ---------
-
fix(system): declare the dependencies these packages use (#13217)
-
refactor(system): move node design files into each package (#13103) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
-
Contributors: Koichi Imai, Mete Fatih Cırıt, Ryohsuke Mitsudome, Taekjin LEE
0.52.0 (2026-06-30)
0.51.0 (2026-05-01)
0.50.0 (2026-02-14)
- Merge remote-tracking branch 'origin/main' into humble
- refactor(topic_state_monitor): simplify timer handling in TopicStateMonitorNode (#11951)
- Contributors: Kyoichi Sugahara, Ryohsuke Mitsudome
0.49.0 (2025-12-30)
0.48.0 (2025-11-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
feat(component_state_monitor): use topic_state_monitor component (#11308)
- move private headers
- use component
* remove empty line ---------Co-authored-by: Junya Sasaki <<junya.sasaki@tier4.jp>>
-
fix(topic_state_monitor): cppcheck uninitMemberVar (#11332) fix(topic_state_monitor): cppcheck uninitialized param
-
feat(autoware_topic_state_monitor): enable to remap diagnostics topic (#11294) feat: enable to remap diagnostics topic
-
Contributors: Ryohsuke Mitsudome, Takagi, Isamu, Tetsuhiro Kawaguchi
0.47.1 (2025-08-14)
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)
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| autoware_component_state_monitor |
Launch files
- launch/load_topic_state_monitor.launch.xml
-
- target_container
- node_name_suffix
- topic
- topic_type
- transient_local [default: false]
- best_effort [default: false]
- diag_name
- warn_rate
- error_rate
- timeout
- window_size [default: 10]
- pub_topic_name [default: /diagnostics]
- launch/load_topic_state_monitor_tf.launch.xml
-
- target_container
- node_name_suffix
- topic
- frame_id
- child_frame_id
- transient_local [default: false]
- best_effort [default: false]
- diag_name
- warn_rate
- error_rate
- timeout
- window_size [default: 10]
- pub_topic_name [default: /diagnostics]
- launch/topic_state_monitor.launch.xml
-
- node_name_suffix
- topic
- topic_type
- transient_local [default: false]
- best_effort [default: false]
- diag_name
- warn_rate
- error_rate
- timeout
- window_size [default: 10]
- pub_topic_name [default: /diagnostics]
- ld_preload [default: $(env LD_PRELOAD '')]
- launch/topic_state_monitor_tf.launch.xml
-
- node_name_suffix
- topic
- frame_id
- child_frame_id
- transient_local [default: false]
- best_effort [default: false]
- diag_name
- warn_rate
- error_rate
- timeout
- window_size [default: 10]
- pub_topic_name [default: /diagnostics]
- ld_preload [default: $(env LD_PRELOAD '')]
Messages
Services
Plugins
Recent questions tagged autoware_topic_state_monitor at Robotics Stack Exchange
Package Summary
| Version | 0.53.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-10-26 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Ryohsuke Mitsudome
- Junya Sasaki
Authors
autoware_topic_state_monitor
Purpose
This node monitors input topic for abnormalities such as timeout and low frequency. The result of topic status is published as diagnostics.
Inner-workings / Algorithms
The types of topic status and corresponding diagnostic status are following.
| Topic status | Diagnostic status | Description |
|---|---|---|
OK |
OK | The topic has no abnormalities |
NotReceived |
ERROR | The topic has not been received yet |
WarnRate |
WARN | The frequency of the topic is dropped |
ErrorRate |
ERROR | The frequency of the topic is significantly dropped |
Timeout |
ERROR | The topic subscription is stopped for a certain time |
Inputs / Outputs
Input
| Name | Type | Description |
|---|---|---|
| any name | any type | Subscribe target topic to monitor |
Output
| Name | Type | Description |
|---|---|---|
/diagnostics |
diagnostic_msgs/DiagnosticArray |
Diagnostics outputs |
Parameters
Node Parameters
| Name | Type | Default Value | Description |
|---|---|---|---|
topic |
string | - | Name of target topic |
topic_type |
string | - | Type of target topic (used if the topic is not transform) |
frame_id |
string | - | Frame ID of transform parent (used if the topic is transform) |
child_frame_id |
string | - | Frame ID of transform child (used if the topic is transform) |
transient_local |
bool | false | QoS policy of topic subscription (Transient Local/Volatile) |
best_effort |
bool | false | QoS policy of topic subscription (Best Effort/Reliable) |
diag_name |
string | - | Name used for the diagnostics to publish |
update_rate |
double | 10.0 | Timer callback period [Hz] |
Core Parameters
| Name | Type | Default Value | Description |
|---|---|---|---|
warn_rate |
double | 0.5 | If the topic rate is lower than this value, the topic status becomes WarnRate
|
error_rate |
double | 0.1 | If the topic rate is lower than this value, the topic status becomes ErrorRate
|
timeout |
double | 1.0 | If the topic subscription is stopped for more than this time [s], the topic status becomes Timeout
|
window_size |
int | 10 | Window size of target topic for calculating frequency |
Assumptions / Known limits
TBD.
Changelog for package autoware_topic_state_monitor
0.53.0 (2026-09-29)
-
Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
-
feat(autoware_topic_state_monitor): apply [agnocast_wrapper::Node]{.title-ref} to [topic_state_monitor]{.title-ref} (#13382)
- feat(autoware_topic_state_monitor): apply [agnocast_wrapper::Node]{.title-ref} to [topic_state_monitor]{.title-ref}
* feat(autoware_component_state_monitor): run topic state monitors standalone under Agnocast ---------
-
fix(system): declare the dependencies these packages use (#13217)
-
refactor(system): move node design files into each package (#13103) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
-
Contributors: Koichi Imai, Mete Fatih Cırıt, Ryohsuke Mitsudome, Taekjin LEE
0.52.0 (2026-06-30)
0.51.0 (2026-05-01)
0.50.0 (2026-02-14)
- Merge remote-tracking branch 'origin/main' into humble
- refactor(topic_state_monitor): simplify timer handling in TopicStateMonitorNode (#11951)
- Contributors: Kyoichi Sugahara, Ryohsuke Mitsudome
0.49.0 (2025-12-30)
0.48.0 (2025-11-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
feat(component_state_monitor): use topic_state_monitor component (#11308)
- move private headers
- use component
* remove empty line ---------Co-authored-by: Junya Sasaki <<junya.sasaki@tier4.jp>>
-
fix(topic_state_monitor): cppcheck uninitMemberVar (#11332) fix(topic_state_monitor): cppcheck uninitialized param
-
feat(autoware_topic_state_monitor): enable to remap diagnostics topic (#11294) feat: enable to remap diagnostics topic
-
Contributors: Ryohsuke Mitsudome, Takagi, Isamu, Tetsuhiro Kawaguchi
0.47.1 (2025-08-14)
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)
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| autoware_component_state_monitor |
Launch files
- launch/load_topic_state_monitor.launch.xml
-
- target_container
- node_name_suffix
- topic
- topic_type
- transient_local [default: false]
- best_effort [default: false]
- diag_name
- warn_rate
- error_rate
- timeout
- window_size [default: 10]
- pub_topic_name [default: /diagnostics]
- launch/load_topic_state_monitor_tf.launch.xml
-
- target_container
- node_name_suffix
- topic
- frame_id
- child_frame_id
- transient_local [default: false]
- best_effort [default: false]
- diag_name
- warn_rate
- error_rate
- timeout
- window_size [default: 10]
- pub_topic_name [default: /diagnostics]
- launch/topic_state_monitor.launch.xml
-
- node_name_suffix
- topic
- topic_type
- transient_local [default: false]
- best_effort [default: false]
- diag_name
- warn_rate
- error_rate
- timeout
- window_size [default: 10]
- pub_topic_name [default: /diagnostics]
- ld_preload [default: $(env LD_PRELOAD '')]
- launch/topic_state_monitor_tf.launch.xml
-
- node_name_suffix
- topic
- frame_id
- child_frame_id
- transient_local [default: false]
- best_effort [default: false]
- diag_name
- warn_rate
- error_rate
- timeout
- window_size [default: 10]
- pub_topic_name [default: /diagnostics]
- ld_preload [default: $(env LD_PRELOAD '')]
Messages
Services
Plugins
Recent questions tagged autoware_topic_state_monitor at Robotics Stack Exchange
Package Summary
| Version | 0.53.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-10-26 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Ryohsuke Mitsudome
- Junya Sasaki
Authors
autoware_topic_state_monitor
Purpose
This node monitors input topic for abnormalities such as timeout and low frequency. The result of topic status is published as diagnostics.
Inner-workings / Algorithms
The types of topic status and corresponding diagnostic status are following.
| Topic status | Diagnostic status | Description |
|---|---|---|
OK |
OK | The topic has no abnormalities |
NotReceived |
ERROR | The topic has not been received yet |
WarnRate |
WARN | The frequency of the topic is dropped |
ErrorRate |
ERROR | The frequency of the topic is significantly dropped |
Timeout |
ERROR | The topic subscription is stopped for a certain time |
Inputs / Outputs
Input
| Name | Type | Description |
|---|---|---|
| any name | any type | Subscribe target topic to monitor |
Output
| Name | Type | Description |
|---|---|---|
/diagnostics |
diagnostic_msgs/DiagnosticArray |
Diagnostics outputs |
Parameters
Node Parameters
| Name | Type | Default Value | Description |
|---|---|---|---|
topic |
string | - | Name of target topic |
topic_type |
string | - | Type of target topic (used if the topic is not transform) |
frame_id |
string | - | Frame ID of transform parent (used if the topic is transform) |
child_frame_id |
string | - | Frame ID of transform child (used if the topic is transform) |
transient_local |
bool | false | QoS policy of topic subscription (Transient Local/Volatile) |
best_effort |
bool | false | QoS policy of topic subscription (Best Effort/Reliable) |
diag_name |
string | - | Name used for the diagnostics to publish |
update_rate |
double | 10.0 | Timer callback period [Hz] |
Core Parameters
| Name | Type | Default Value | Description |
|---|---|---|---|
warn_rate |
double | 0.5 | If the topic rate is lower than this value, the topic status becomes WarnRate
|
error_rate |
double | 0.1 | If the topic rate is lower than this value, the topic status becomes ErrorRate
|
timeout |
double | 1.0 | If the topic subscription is stopped for more than this time [s], the topic status becomes Timeout
|
window_size |
int | 10 | Window size of target topic for calculating frequency |
Assumptions / Known limits
TBD.
Changelog for package autoware_topic_state_monitor
0.53.0 (2026-09-29)
-
Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
-
feat(autoware_topic_state_monitor): apply [agnocast_wrapper::Node]{.title-ref} to [topic_state_monitor]{.title-ref} (#13382)
- feat(autoware_topic_state_monitor): apply [agnocast_wrapper::Node]{.title-ref} to [topic_state_monitor]{.title-ref}
* feat(autoware_component_state_monitor): run topic state monitors standalone under Agnocast ---------
-
fix(system): declare the dependencies these packages use (#13217)
-
refactor(system): move node design files into each package (#13103) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
-
Contributors: Koichi Imai, Mete Fatih Cırıt, Ryohsuke Mitsudome, Taekjin LEE
0.52.0 (2026-06-30)
0.51.0 (2026-05-01)
0.50.0 (2026-02-14)
- Merge remote-tracking branch 'origin/main' into humble
- refactor(topic_state_monitor): simplify timer handling in TopicStateMonitorNode (#11951)
- Contributors: Kyoichi Sugahara, Ryohsuke Mitsudome
0.49.0 (2025-12-30)
0.48.0 (2025-11-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
feat(component_state_monitor): use topic_state_monitor component (#11308)
- move private headers
- use component
* remove empty line ---------Co-authored-by: Junya Sasaki <<junya.sasaki@tier4.jp>>
-
fix(topic_state_monitor): cppcheck uninitMemberVar (#11332) fix(topic_state_monitor): cppcheck uninitialized param
-
feat(autoware_topic_state_monitor): enable to remap diagnostics topic (#11294) feat: enable to remap diagnostics topic
-
Contributors: Ryohsuke Mitsudome, Takagi, Isamu, Tetsuhiro Kawaguchi
0.47.1 (2025-08-14)
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)
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| autoware_component_state_monitor |
Launch files
- launch/load_topic_state_monitor.launch.xml
-
- target_container
- node_name_suffix
- topic
- topic_type
- transient_local [default: false]
- best_effort [default: false]
- diag_name
- warn_rate
- error_rate
- timeout
- window_size [default: 10]
- pub_topic_name [default: /diagnostics]
- launch/load_topic_state_monitor_tf.launch.xml
-
- target_container
- node_name_suffix
- topic
- frame_id
- child_frame_id
- transient_local [default: false]
- best_effort [default: false]
- diag_name
- warn_rate
- error_rate
- timeout
- window_size [default: 10]
- pub_topic_name [default: /diagnostics]
- launch/topic_state_monitor.launch.xml
-
- node_name_suffix
- topic
- topic_type
- transient_local [default: false]
- best_effort [default: false]
- diag_name
- warn_rate
- error_rate
- timeout
- window_size [default: 10]
- pub_topic_name [default: /diagnostics]
- ld_preload [default: $(env LD_PRELOAD '')]
- launch/topic_state_monitor_tf.launch.xml
-
- node_name_suffix
- topic
- frame_id
- child_frame_id
- transient_local [default: false]
- best_effort [default: false]
- diag_name
- warn_rate
- error_rate
- timeout
- window_size [default: 10]
- pub_topic_name [default: /diagnostics]
- ld_preload [default: $(env LD_PRELOAD '')]