feat: add node base

Signed-off-by: TetsuKawa <[email protected]>

system/autoware_topic_rely_controller/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.14)
+project(autoware_topic_rely_controller)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/topic_rely_controller_node.cpp
+)
+
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "autoware::topic_rely_controller::TopicRelyController"
+  EXECUTABLE ${PROJECT_NAME}_node
+  EXECUTOR MultiThreadedExecutor
+)
+
+ament_auto_package(INSTALL_TO_SHARE
+  launch
+  config
+)

system/autoware_topic_rely_controller/README.md

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+# topic_rely_controller
+
+## Purpose
+
+## Inputs / Outputs
+
+### Input
+
+### Output
+
+## Parameters
+
+## Assumptions / Known limits
+
+TBD.

system/autoware_topic_rely_controller/config/topic_rely_controller.param.yaml

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+---
+/**:
+  ros__parameters:
+    tmp: 0

system/autoware_topic_rely_controller/launch/topic_rely_controller.launch.xml

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+<launch>
+  <arg name="config_file" default="$(find-pkg-share autoware_topic_rely_controller)/config/topic_rely_controller.param.yaml"/>
+
+  <node pkg="autoware_topic_rely_controller" exec="autoware_topic_rely_controller_node" name="topic_rely_controller" output="screen">
+    <param from="$(var config_file)"/>
+  </node>
+</launch>

system/autoware_topic_rely_controller/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>autoware_topic_rely_controller</name>
+  <version>0.1.0</version>
+  <description>The topic_rely_controller ROS 2 package</description>
+  <maintainer email="[email protected]">Tetsuhiro Kawaguchi</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>autoware_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

system/autoware_topic_rely_controller/schema/topic_rely_controller.schema.json

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+{
+    "$schema": "http://json-schema.org/draft-07/schema#",
+    "title": "Parameters for topic rely controller",
+    "type": "object",
+    "definitions": {
+      "topic_rely_controller": {
+        "type": "object",
+        "properties": {
+        },
+        "required": [
+        ],
+        "additionalProperties": false
+      }
+    },
+    "properties": {
+      "/**": {
+        "type": "object",
+        "properties": {
+          "ros__parameters": {
+            "$ref": "#/definitions/topic_rely_controller"
+          }
+        },
+        "required": ["ros__parameters"],
+        "additionalProperties": false
+      }
+    },
+    "required": ["/**"],
+    "additionalProperties": false
+  }
+

system/autoware_topic_rely_controller/src/topic_rely_controller_node.cpp

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+// Copyright 2025 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+// CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language
+// governing permissions and limitations under the License.
+
+#include "topic_rely_controller_node.hpp"
+
+namespace autoware::topic_rely_controller
+{
+TopicRelyController::TopicRelyController(const rclcpp::NodeOptions & options) : Node("topic_rely_controller", options)
+{
+    RCLCPP_INFO(get_logger(), "Hello, Autoware Topic Rely Controller!");
+}
+} // namespace autoware::topic_rely_controller
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::topic_rely_controller::TopicRelyController)

system/autoware_topic_rely_controller/src/topic_rely_controller_node.hpp

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+// Copyright 2025 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE_TOPIC_RELY_CONTROLLER__TOPIC_RELY_CONTROLLER_HPP_
+#define AUTOWARE_TOPIC_RELY_CONTROLLER__TOPIC_RELY_CONTROLLER_HPP_
+
+// ROS 2 core
+#include <rclcpp/rclcpp.hpp>
+
+namespace autoware::topic_rely_controller
+{
+class TopicRelyController : public rclcpp::Node
+{
+public:
+  explicit TopicRelyController(const rclcpp::NodeOptions & options);
+
+private:
+
+};
+}  // namespace autoware::topic_rely_controller
+
+#endif  // AUTOWARE_TOPIC_RELY_CONTROLLER__TOPIC_RELY_CONTROLLER_HPP_