Processing Time Checker

Purpose

This node checks whether the processing time of each module is valid or not, and send a diagnostic. NOTE: Currently, there is no validation feature, and “OK” is always assigned in the diagnostic.

Standalone Startup

ros2 launch autoware_processing_time_checker processing_time_checker.launch.xml

Inner-workings / Algorithms

Inputs / Outputs

Input

Output

Parameters

{{ json_to_markdown(“system/autoware_processing_time_checker/schema/processing_time_checker.schema.json”) }}

If output_metrics = true, the node writes the statics of the processing_time measured during its lifetime to <ros2_logging_directory>/autoware_metrics/<node_name>-<time_stamp>.json when shut down.

Assumptions / Known limits

TBD.

Changelog for package autoware_processing_time_checker

0.53.0 (2026-09-29)

• Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog

• fix(design): align the system node designs with the packages they describe (#13338)

  * fix(design): declare the fixed-name interfaces of the system node designs as remap targets The diagnostic graph ports, the diagnostics array publisher and the automatic pose initializer's localization interfaces are pinned with global:, which keeps them out of the design graph: link_manager skips any connection whose target is a global input port and the exporter emits no remap. remap_target: keeps the same fixed topic and service names while letting the ports take part in the graph.

  * feat(autoware_default_adapi_universe): add node designs for the AD API nodes The package builds fifteen AD API components with no design of their own, so a system that composes the AD API from design modules cannot reference them.

  * feat(design): add the diagnostic graph and component state monitor node designs autoware_component_state_monitor and autoware_diagnostic_graph_aggregator build three components with no design of their own: the state monitor that aggregates topic monitor diagnostics into per-component availability, the aggregator that turns /diagnostics into the diagnostic graph, and the converter that derives operation mode availability from it. DiagnosticGraphLogging and ProcessingTimeChecker declare the parameters their launchers pass, which have no package param file to come from. ---------

• chore(autoware_trajectory_processor)!: rename to autoware_trajectory_modifier (#13389) rename processor -> modifier

• feat(trajectory_processor): unify Modifier and Optimizer nodes into Processor node (#13165)

• refactor(system): move node design files into each package (#13103) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>

• style(processing_time_checker): adjust comment indentation (#12780) adjust comment indentation Co-authored-by: Junya Sasaki <<junya.sasaki@tier4.jp>>

• feat(processing_time_checker): apply [agnocast_wrapper::Node]{.title-ref} to [processing_time_checker]{.title-ref} (#12761)

  • apply agnocast_wrapper::Node to processing_time_checker
  • launch and Cmake
  • fix copilot review
  • fix to use ALLOCATE

  * fix cpplint ---------Co-authored-by: atsushi yano <<55824710+atsushi421@users.noreply.github.com>>

• Contributors: Koichi Imai, Maxime CLEMENT, Ryohsuke Mitsudome, Taekjin LEE, Taeseung Sohn

0.52.0 (2026-06-30)

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

• feat(processing_time_cheker): add neural_network_based_planner node [processing_time_ms]{.title-ref} (#12529)

  • feat(diffusion_planner, trajectory_optimizer): add processing_time_ms topic

  * feat: processing_time_checker ---------Co-authored-by: t4-adc <<grp-rd-1-adc-admin@tier4.jp>>

• Contributors: Kazunori-Nakajima, github-actions

0.51.0 (2026-05-01)

0.50.0 (2026-02-14)

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

• Merge remote-tracking branch 'origin/main' into humble
• feat(run_out, processing_time_checker): support processing_time for run_out and update processing time list (#11515)

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