RTC Interface

Purpose

RTC Interface is an interface to publish the decision status of behavior planning modules and receive execution command from external of an autonomous driving system.

Inner-workings / Algorithms

Usage example

// Generate instance (in this example, "intersection" is selected)
autoware::rtc_interface::RTCInterface rtc_interface(node, "intersection");

// Generate UUID
const unique_identifier_msgs::msg::UUID uuid = generate_uuid(getModuleId());

// Repeat while module is running
while (...) {
  // Get safety status of the module corresponding to the module id
  const bool safe = ...

  // Get distance to the object corresponding to the module id
  const double start_distance = ...
  const double finish_distance = ...

  // Get time stamp
  const rclcpp::Time stamp = ...

  // Update status
  rtc_interface.updateCooperateStatus(uuid, safe, start_distance, finish_distance, stamp);

  if (rtc_interface.isActivated(uuid)) {
    // Execute planning
  } else {
    // Stop planning
  }
  // Get time stamp
  const rclcpp::Time stamp = ...

  // Publish status topic
  rtc_interface.publishCooperateStatus(stamp);
}

// Remove the status from array
rtc_interface.removeCooperateStatus(uuid);

Inputs / Outputs

RTCInterface (Constructor)

autoware::rtc_interface::RTCInterface(rclcpp::Node & node, const std::string & name);

Description

A constructor for autoware::rtc_interface::RTCInterface.

Input

• node : Node calling this interface
• name : Name of cooperate status array topic and cooperate commands service
  • Cooperate status array topic name : ~/{name}/cooperate_status
  • Cooperate commands service name : ~/{name}/cooperate_commands

Output

An instance of RTCInterface

publishCooperateStatus

autoware::rtc_interface::publishCooperateStatus(const rclcpp::Time & stamp)

Description

Publish registered cooperate status.

Input

• stamp : Time stamp

Output

Nothing

updateCooperateStatus

autoware::rtc_interface::updateCooperateStatus(const unique_identifier_msgs::msg::UUID & uuid, const bool safe, const double start_distance, const double finish_distance, const rclcpp::Time & stamp)

Description

Update cooperate status corresponding to uuid. If cooperate status corresponding to uuid is not registered yet, add new cooperate status.

File truncated at 100 lines see the full file

Changelog for package autoware_rtc_interface

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

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)
• Contributors: Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
• Contributors: Fumiya Watanabe, 心刚

0.41.2 (2025-02-19)

• chore: bump version to 0.41.1 (#10088)
• Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• fix(autoware_rtc_interface): fix bugprone-branch-clone (#9698)
• Contributors: Fumiya Watanabe, kobayu858

0.40.0 (2024-12-12)

• Merge branch 'main' into release-0.40.0

• Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.

• fix: fix ticket links in CHANGELOG.rst (#9588)

• chore(package.xml): bump version to 0.39.0 (#9587)

  • chore(package.xml): bump version to 0.39.0
  • fix: fix ticket links in CHANGELOG.rst

  * fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

• fix: fix ticket links in CHANGELOG.rst (#9588)

• fix(cpplint): include what you use - planning (#9570)

• 0.39.0

• update changelog

• Merge commit '6a1ddbd08bd' into release-0.39.0

• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)

• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)

• chore(package.xml): bump version to 0.38.0 (#9266) (#9284)

  • unify package.xml version to 0.37.0
  • remove system_monitor/CHANGELOG.rst
  • add changelog

  * 0.38.0

• fix(autoware_rtc_interface): fix dependency (#9237)

• fix(rtc_interface): update requested field for every cooperateStatus

File truncated at 100 lines see the full file