autoware_auto_msgs_adapter

This package is used to convert autoware_msgs to autoware_auto_msgs.

Purpose

As we transition from autoware_auto_msgs to autoware_msgs, we wanted to provide flexibility and compatibility for users who are still using autoware_auto_msgs.

This adapter package allows users to easily convert messages between the two formats.

Capabilities

The autoware_auto_msgs_adapter package provides the following capabilities:

• Conversion of supported autoware_msgs messages to autoware_auto_msgs messages.
• Can be extended to support conversion for any message type pairs.
• Each instance is designed to convert from a single source message type to a single target message type.
• Multiple instances can be launched to convert multiple message types.
• Can be launched as a standalone node or as a component.

Usage

Customize the adapter configuration by replicating and editing the adapter_control.param.yaml file located in the autoware_auto_msgs_adapter/config directory. Example configuration:

/**:
  ros__parameters:
    msg_type_target: "autoware_auto_control_msgs/msg/AckermannControlCommand"
    topic_name_source: "/control/command/control_cmd"
    topic_name_target: "/control/command/control_cmd_auto"

Set the msg_type_target parameter to the desired target message type from autoware_auto_msgs.

Make sure that the msg_type_target has the correspondence in either:

• schema/autoware_auto_msgs_adapter.schema.json
• OR src/autoware_auto_msgs_adapter_core.cpp AutowareAutoMsgsAdapterNode::create_adapter_map() method.

(If this package is maintained correctly, they should match each other.)

Launch the adapter node by any of the following methods:

ros2 launch

ros2 launch autoware_auto_msgs_adapter autoware_auto_msgs_adapter.launch.xml param_path:='full_path_to_param_file'

Make sure to set the param_path argument to the full path of the parameter file.

Alternatively,

• You can replicate and edit the launch file to suit to your needs.
• You can make use of the existing launch file in another launch file by providing the parameter file path as an argument.

ros2 run

ros2 run autoware_auto_msgs_adapter autoware_auto_msgs_adapter_exe --ros-args --params-file 'full_path_to_param_file'

Make sure to set the param_path argument to the full path of the parameter file.

Contributing

Current implementation details

The entry point for the adapter executable is created with RCLCPP_COMPONENTS_REGISTER_NODE the autoware_auto_msgs_adapter_core.cpp.

This allows it to be launched as a component or as a standalone node.

In the AutowareAutoMsgsAdapterNode constructor, the adapter is selected by the type string provided in the configuration file. The adapter is then initialized with the topic names provided.

The constructors of the adapters are responsible for creating the publisher and subscriber (which makes use of the conversion method).

Adding a new message pair

To add a new message pair,

• Replicate and edit:
  • adapter_control.hpp.
  • Add the new header file to the CMakeLists.txt.
• Add a new entry to the returned map instance in the AutowareAutoMsgsAdapterNode::create_adapter_map() method of the adapter node:
  • autoware_auto_msgs_adapter_core.cpp
• Add a new entry to the schema/autoware_auto_msgs_adapter.schema.json file in the definitions:autoware_auto_msgs_adapter:properties:msg_type_target:enum section.
  • Learn more about JSON schema usage in here.
• Create a new config file by replicating and editing:
  • adapter_control.param.yaml
• Add a new test file by replicating and editing:
  • test_msg_ackermann_control_command.cpp
  • No need to edit the CMakeLists.txt file as it will automatically detect the new test file.

Also make sure to test the new adapter with:

colcon test --event-handlers console_cohesion+ --packages-select autoware_auto_msgs_adapter