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

```cpp #include <rclcpp/rclcpp.hpp>

#include <std_msgs/msg/string.hpp>

#include #include #include #include

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() {

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Changelog for package autoware_universe_utils

0.47.0 (2025-08-11)

• style(pre-commit): update to clang-format-20 (#11088) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
• style(pre-commit): autofix (#10982) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
• Contributors: Mete Fatih Cırıt, Ryohsuke Mitsudome

0.46.0 (2025-06-20)

• Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
• fix(autoware_universe_utils): remove unused function (#10698)
• Contributors: Ryuta Kambe, TaikiYamada4

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

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)

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