autoware_utils_rclcpp

Overview

The autoware_utils library is a comprehensive toolkit designed to facilitate the development of autonomous driving applications. This package provides essential utilities for rclcpp. It is extensively used in the Autoware project to handle common tasks such as handling parameters, topics and services.

Design

• parameter.hpp: Simplifies parameter declaration, retrieval, updating, and waiting.
• polling_subscriber.hpp: A subscriber class with different polling policies (latest, newest, all).

Example Code Snippets

Update Parameters Dynamically with update_param.hpp

#include <autoware_utils_rclcpp/update_param.hpp>
#include <rclcpp/rclcpp.hpp>

int main(int argc, char * argv[]) {
  rclcpp::init(argc, argv);
  auto node = rclcpp::Node::make_shared("param_node");

  double param_value = 0.0;
  std::vector<rclcpp::Parameter> params = node->get_parameters({"my_param"});

  if (autoware_utils::update_param(params, "my_param", param_value)) {
    RCLCPP_INFO(node->get_logger(), "Updated parameter value: %f", param_value);
  } else {
    RCLCPP_WARN(node->get_logger(), "Parameter 'my_param' not found.");
  }

  rclcpp::shutdown();
  return 0;
}

Changelog for package autoware_utils_rclcpp

1.4.0 (2025-04-22)

1.3.0 (2025-03-21)

• unify version
• update changelog
• feat(autoware_utils_rclcpp): split package (#40)
  • feat(autoware_utils_rclcpp): split package
  • update test

  * update readme ---------

• Contributors: Takagi, Isamu, Yutaka Kondo
• feat(autoware_utils_rclcpp): split package (#40)
  • feat(autoware_utils_rclcpp): split package
  • update test

  * update readme ---------

• Contributors: Takagi, Isamu

1.2.0 (2025-02-26)

1.1.0 (2025-01-27)

1.0.0 (2024-05-02)