No version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro kilted. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.
Package Summary
Tags | No category tags. |
Version | 0.46.0 |
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 | 2025-06-30 |
Dev Status | UNKNOWN |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The autoware_command_mode_switcher package
Additional Links
No additional links.
Maintainers
- Takagi, Isamu
Authors
No additional authors.
autoware_command_mode_switcher
Overview
This package activates the target command mode from the decider node. The activation process for each command mode is implementation dependent, so extensions using plugins are supported. By implementing the required interface, each plugin will be able to operate under the appropriate state transitions.
Status
The switcher node will output the following status depending on the plugin status.
Status | Description |
---|---|
request | This command mode is requested |
transition | This command mode transition is in progress |
vehicle_gate_selected | The vehicle interface is using this command mode |
network_gate_selected | The ECU is selected (if there are multiple ECUs) |
command_gate_selected | The command source of this command mode is selected |
command_source_exclusive | This is the only command mode using the command source |
command_source_enabled | This command mode is enabled |
command_source_disabled | This command mode is disabled |
CHANGELOG
Changelog for package autoware_command_mode_switcher
0.46.0 (2025-06-20)
- Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
- feat(command_mode_switcher): create package (#10170)
- Contributors: TaikiYamada4, Takagi, Isamu
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
Name | Deps |
---|---|
autoware_command_mode_switcher_plugins |
Launch files
- launch/switcher.launch.xml
-
- config [default: $(find-pkg-share autoware_command_mode_switcher)/config/default.param.yaml]
- ~/command_mode/status [default: /system/command_mode/status]
- ~/command_mode/request [default: /system/command_mode/request]
- ~/command_mode/transition/completed [default: /system/command_mode/transition/completed]
- ~/source/status [default: /control/control_command_gate/source/status]
- ~/source/select [default: /control/control_command_gate/source/select]
- ~/election/status [default: /system/election/status]
- ~/control_mode/report [default: /vehicle/status/control_mode]
- ~/control_mode/request [default: /control/control_mode_request]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged autoware_command_mode_switcher at Robotics Stack Exchange
No version for distro noetic. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.