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

The RTC Interface works by creating a communication channel between a behavior planning module and the rest of the autonomous driving system. The planning module uses the interface to publish its current status, such as whether it is safe to proceed or if it is waiting for an external command. Other modules can then subscribe to this status information and send commands to the behavior planning module, such as “activate” or “deactivate”.

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 the current state of the module
  const uint8_t state = ...

  // 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, state, 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, const bool enable_rtc = false);

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
• enable_rtc: A boolean indicating whether RTC is enabled or not by default.

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

```c++

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Changelog for package autoware_rtc_interface

0.48.0 (2025-11-18)

• Merge remote-tracking branch 'origin/main' into humble

• feat(roundabout): add autoware_behavior_velocity_roundabout_module (#11142)

  • feat(behavior_velocity_roundabout_module): add roundabout behavior velocity planner module
  • feat(behavior_planning): add roundabout module to behavior planning launch and RTC interface
  • Add functions for behavior velocity planner in roundabout module
  • Refactor roundabout module
  • feat(roundabout_module): integrate Roundabout regulatory element
  • refactor(roundabout_module): remove associative_ids from attention lane
  • move header files to include
  • refactor(roundabout_module): remove util files and update includes for intersection module
  • fix(roundabout_module): update include path for interpolated_path_info
  • refactor(roundabout_module): update include paths for consistency
  • fix(scene_roundabout): update include path for result.hpp
  • refactor(roundabout_module): clean up unused structures and methods
  • refactor(roundabout_module): clean up and optimize code structure and comments
  • refactor(object_manager): remove unused stopline handling from ObjectInfo initialization
  • refactor(roundabout_module): remove unused variables and comments related to second pass judge line
  • refactor(roundabout_module): improve comments and remove unnecessary code in decision result and collision handling
  • feat(ttc_visualizer): add TTC visualizer script for time-to-collision analysis
  • refactor(roundabout_module): remove consider_wrong_direction_vehicle parameter and related code
  • refactor(roundabout_module): simplify object management and improve code clarity
  • style(pre-commit): autofix
  • fix(manager): include <set> header for improved functionality
  • fix(roundabout): update parameter name
  • docs(roundabout): update README to clarify module role and functionality
  • fix(readme): fix README
  • fix(readme): fix README
  • style(pre-commit): autofix
  • refactor(roundabout): fix attention lanelet logic
  • style(pre-commit): autofix
  • review roundabout
  • update utils
  • refactor(roundabout): fix attention lanelet logic
  • feat(cmake): add installation for ttc.py script
  • refactor(detectOcclusion): fix cppcheck error
  • style(pre-commit): autofix
  • docs(README): fix unkown word ci error
  • style(pre-commit): autofix
  • fix: update copyright year to 2025 in multiple files
  • docs(README): add flowchart for roundabout behavior velocity module logic
  • style(pre-commit): autofix
  • fix: correct capitalization in copyright notice
  • refactor(roundabout-module): streamline roundabout module initialization and remove unused conflicting area logic
  • refactor(roundabout-module): remove unnecessary comments and streamline lanelet handling
  • refactor(roundabout-module): rename variables for clarity and improve lanelet handling
  • style(pre-commit): autofix
  • refactor(roundabout-module): remove attention_area_length parameter and update related logic
  • style(pre-commit): autofix
  • build(build_depends_humble.repos): bump autoware_lanelet2_extension to 0.9.0
  • fix(package): add dependency on tf2_geometry_msgs
  • feat(planning): add roundabout handling to planning factors and conversion map

  * Revert "feat(planning): add roundabout handling to planning factors and conversion map" This reverts commit e79eab23e89969f88bc7485c4ed337e843d33a7f.

  • refactor(roundabout): Move the parameter definition
  • style(pre-commit): autofix
  • fix(package): add maintainer

  * refactor(debug): clean up includes and remove unused color definitions ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Y.Hisaki <<yhisaki31@gmail.com>> Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

• feat(RTC, behavior_velocity_planner): set manual RTC via the lanelet map (#11340)

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