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feat(external_cmd_selector): apply agnocast_wrapper::Node to external_cmd_selector - #13013
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…_cmd_selector Co-authored-by: Koichi Imai <koichi.imai.2@tier4.jp> Signed-off-by: kobayu858 <yutaro.kobayashi.2@tier4.jp>
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Signed-off-by: kobayu858 <yutaro.kobayashi.2@tier4.jp>
Signed-off-by: kobayu858 <yutaro.kobayashi.2@tier4.jp>
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…_cmd_selector (autowarefoundation/autoware_universe#13013) * feat(external_cmd_selector): apply agnocast_wrapper::Node to external_cmd_selector Co-authored-by: Koichi Imai <koichi.imai.2@tier4.jp> Signed-off-by: kobayu858 <yutaro.kobayashi.2@tier4.jp> * refactor: revert comment Signed-off-by: kobayu858 <yutaro.kobayashi.2@tier4.jp> * refactor: revert comment Signed-off-by: kobayu858 <yutaro.kobayashi.2@tier4.jp> --------- Signed-off-by: kobayu858 <yutaro.kobayashi.2@tier4.jp> Co-authored-by: Koichi Imai <koichi.imai.2@tier4.jp>
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…_cmd_selector (autowarefoundation#13013) * feat(external_cmd_selector): apply agnocast_wrapper::Node to external_cmd_selector Co-authored-by: Koichi Imai <koichi.imai.2@tier4.jp> Signed-off-by: kobayu858 <yutaro.kobayashi.2@tier4.jp> * refactor: revert comment Signed-off-by: kobayu858 <yutaro.kobayashi.2@tier4.jp> * refactor: revert comment Signed-off-by: kobayu858 <yutaro.kobayashi.2@tier4.jp> --------- Signed-off-by: kobayu858 <yutaro.kobayashi.2@tier4.jp> Co-authored-by: Koichi Imai <koichi.imai.2@tier4.jp> Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
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…_cmd_selector (autowarefoundation#13013) * feat(external_cmd_selector): apply agnocast_wrapper::Node to external_cmd_selector Co-authored-by: Koichi Imai <koichi.imai.2@tier4.jp> Signed-off-by: kobayu858 <yutaro.kobayashi.2@tier4.jp> * refactor: revert comment Signed-off-by: kobayu858 <yutaro.kobayashi.2@tier4.jp> * refactor: revert comment Signed-off-by: kobayu858 <yutaro.kobayashi.2@tier4.jp> --------- Signed-off-by: kobayu858 <yutaro.kobayashi.2@tier4.jp> Co-authored-by: Koichi Imai <koichi.imai.2@tier4.jp> Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
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…_cmd_selector (autowarefoundation#13013) * feat(external_cmd_selector): apply agnocast_wrapper::Node to external_cmd_selector Co-authored-by: Koichi Imai <koichi.imai.2@tier4.jp> Signed-off-by: kobayu858 <yutaro.kobayashi.2@tier4.jp> * refactor: revert comment Signed-off-by: kobayu858 <yutaro.kobayashi.2@tier4.jp> * refactor: revert comment Signed-off-by: kobayu858 <yutaro.kobayashi.2@tier4.jp> --------- Signed-off-by: kobayu858 <yutaro.kobayashi.2@tier4.jp> Co-authored-by: Koichi Imai <koichi.imai.2@tier4.jp>
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…_cmd_selector (autowarefoundation#13013) * feat(external_cmd_selector): apply agnocast_wrapper::Node to external_cmd_selector Co-authored-by: Koichi Imai <koichi.imai.2@tier4.jp> Signed-off-by: kobayu858 <yutaro.kobayashi.2@tier4.jp> * refactor: revert comment Signed-off-by: kobayu858 <yutaro.kobayashi.2@tier4.jp> * refactor: revert comment Signed-off-by: kobayu858 <yutaro.kobayashi.2@tier4.jp> --------- Signed-off-by: kobayu858 <yutaro.kobayashi.2@tier4.jp> Co-authored-by: Koichi Imai <koichi.imai.2@tier4.jp>
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…_cmd_selector (autowarefoundation#13013) * feat(external_cmd_selector): apply agnocast_wrapper::Node to external_cmd_selector Co-authored-by: Koichi Imai <koichi.imai.2@tier4.jp> Signed-off-by: kobayu858 <yutaro.kobayashi.2@tier4.jp> * refactor: revert comment Signed-off-by: kobayu858 <yutaro.kobayashi.2@tier4.jp> * refactor: revert comment Signed-off-by: kobayu858 <yutaro.kobayashi.2@tier4.jp> --------- Signed-off-by: kobayu858 <yutaro.kobayashi.2@tier4.jp> Co-authored-by: Koichi Imai <koichi.imai.2@tier4.jp> (cherry picked from commit 228f7c6)
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…_pass/external-cmd-selector feat(external_cmd_selector): apply `agnocast_wrapper::Node` to `autoware_external_cmd_selector` (cherry-pick autowarefoundation#12887, autowarefoundation#13013)
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Description
Apply
agnocast_wrapper::Nodetoautoware_external_cmd_selector.Please read autowarefoundation/autoware#7007 for the context and review guidelines of
autoware_agnocast_wrapperadoption.Also, please refer to https://github.com/autowarefoundation/autoware_core/blob/main/common/autoware_agnocast_wrapper/docs/review_guide.md for the review guide. FYI: This node takes Method2 of the two integration methods.
AgnocastOnlyCallbackIsolatedExecutor:
When built and run with
ENABLE_AGNOCAST=1, the node runs on anAgnocastOnlyCallbackIsolatedExecutor(CIE), the standard executor foragnocast_wrapper::Node. Please check for potential race conditions only if the node meets all of the following:SingleThreadedExecutor.Nodes already running on
MultiThreadedExecutorare unaffected, since their callbacks already run concurrently.Related links
autoware::agnocast_wrapper::Nodeacross Autoware autoware#7007How was this PR tested?
colcon buildsucceeds with bothENABLE_AGNOCAST=1andENABLE_AGNOCAST=0.ENABLE_AGNOCAST=0andENABLE_AGNOCAST=1, sinceagnocast::Nodedoes not currently work inside a component container. The node's ownlaunch.pyalways launches standalone and self-contains theagnocast_env/LD_PRELOADwiring, so noautoware_launch-side change is required.ENABLE_AGNOCAST=0andENABLE_AGNOCAST=1with noprocess diedor similar failures, and the selector correctly relays the selected source (e.g. LOCAL) commands to itsselectedoutputs.Notes for reviewers
This node is always launched standalone; its
launch.pyself-contains the Agnocast environment setup, so no companionautoware_launchPR is needed.The service QoS call
AUTOWARE_DEFAULT_SERVICES_QOS_PROFILE()was replaced with the equivalentrclcpp::ServicesQoS()(and the now-unusedautoware_qos_utilsdependency was dropped), because the wrapper'screate_servicetakes anrclcpp::QoS; the QoS profile is unchanged.Interface changes
None.
Effects on system behavior
None when
ENABLE_AGNOCASTis not set or set to0on runtime. WhenENABLE_AGNOCAST=1, CPU time used in this node for message serialization/deserialization will be reduced.