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

0.53.0 (2026-09-29)

0.52.0 (2026-06-30)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

• fix(clang-tidy): re-enable bugprone-optional-value-conversion for universe utils (#12588)

  • fix(clang-tidy): re-enable optional value conversion check for universe utils

  * ignoreing bugprone-optional-value-conversion until the rest of the fixes are made ---------Co-authored-by: mitsudome-r <<ryohsuke.mitsudome@tier4.jp>>

• fix(clang-tidy): re-enable bugprone-multi-level-implicit-pointer-conversion (#12578) fix(clang-tidy): re-enable multi-level pointer conversion check

• feat(autoware_vehicle_info_utils): refactor to use createFootprint with base_pose (#12586)

  • refactor universe_utils to transform in createFootprint
  • refactor mission_universe_planner to transform in createFootprint
  • refactor path_optimizer to transform in createFootprint
  • common-evaluator refactor createFootprint to apply base_link internally
  • bpp refactor createFootprint to apply base_link internally

  * bvp refactor createFootprint to apply base_link internally ---------

• Contributors: Sarun MUKDAPITAK, Vishal Chauhan, github-actions

0.51.0 (2026-05-01)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• perf(common): use emplace/emplace_back to avoid temporary object creation (#12238) Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
• fix(autoware_universe_utils): fix test for boost geometry (#12372)
  • fix(autoware_universe_utils): fix test for boost geometry
• chore(universe_utils): disable convex_hull flaky tests (#12276)
• Contributors: Mamoru Sobue, Ryohsuke Mitsudome, github-actions, nishikawa-masaki

0.50.0 (2026-02-14)

• Merge remote-tracking branch 'origin/main' into humble
• feat!: remove ROS 2 Galactic codes (#11905)
• chore(autoware_universe_utils): add maintainers (#11996) add maintainers for autoware_universe_utils
• chore(autoware_universe_utils): add a maintainer (#11991)
• fix(autoware_universe_utils): convex_hull syntax for boost 1.83+ (#11838)
• Contributors: Amadeusz Szymko, Junya Sasaki, Ryohsuke Mitsudome, mkquda

0.49.0 (2025-12-30)

• Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog
• feat(autoware_vehicle_info_utils): refactor footprint generation (#11696) Co-authored-by: Mamoru Sobue <<hilo.soblin@gmail.com>>
• Contributors: Ryohsuke Mitsudome, Sarun MUKDAPITAK

0.48.0 (2025-11-18)

• Merge remote-tracking branch 'origin/main' into humble
• fix: tf2 uses hpp headers in rolling (and is backported) (#11620)
• Contributors: Ryohsuke Mitsudome, Tim Clephas

0.47.1 (2025-08-14)

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)

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