diff --git a/system/autoware_topic_rely_controller/CMakeLists.txt b/system/autoware_topic_rely_controller/CMakeLists.txt new file mode 100644 index 0000000000000..bf107e7f3592f --- /dev/null +++ b/system/autoware_topic_rely_controller/CMakeLists.txt @@ -0,0 +1,20 @@ +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 +) diff --git a/system/autoware_topic_rely_controller/README.md b/system/autoware_topic_rely_controller/README.md new file mode 100644 index 0000000000000..3cf5952f87060 --- /dev/null +++ b/system/autoware_topic_rely_controller/README.md @@ -0,0 +1,15 @@ +# topic_rely_controller + +## Purpose + +## Inputs / Outputs + +### Input + +### Output + +## Parameters + +## Assumptions / Known limits + +TBD. diff --git a/system/autoware_topic_rely_controller/config/topic_rely_controller.param.yaml b/system/autoware_topic_rely_controller/config/topic_rely_controller.param.yaml new file mode 100644 index 0000000000000..3a506213f054d --- /dev/null +++ b/system/autoware_topic_rely_controller/config/topic_rely_controller.param.yaml @@ -0,0 +1,4 @@ +--- +/**: + ros__parameters: + tmp: 0 \ No newline at end of file diff --git a/system/autoware_topic_rely_controller/launch/topic_rely_controller.launch.xml b/system/autoware_topic_rely_controller/launch/topic_rely_controller.launch.xml new file mode 100644 index 0000000000000..06e0f640b8940 --- /dev/null +++ b/system/autoware_topic_rely_controller/launch/topic_rely_controller.launch.xml @@ -0,0 +1,7 @@ + + + + + + + diff --git a/system/autoware_topic_rely_controller/package.xml b/system/autoware_topic_rely_controller/package.xml new file mode 100644 index 0000000000000..01810bcec2ac5 --- /dev/null +++ b/system/autoware_topic_rely_controller/package.xml @@ -0,0 +1,22 @@ + + + + autoware_topic_rely_controller + 0.1.0 + The topic_rely_controller ROS 2 package + Tetsuhiro Kawaguchi + Apache License 2.0 + + ament_cmake_auto + autoware_cmake + + rclcpp + rclcpp_components + + ament_lint_auto + autoware_lint_common + + + ament_cmake + + diff --git a/system/autoware_topic_rely_controller/schema/topic_rely_controller.schema.json b/system/autoware_topic_rely_controller/schema/topic_rely_controller.schema.json new file mode 100644 index 0000000000000..45cce06f227d3 --- /dev/null +++ b/system/autoware_topic_rely_controller/schema/topic_rely_controller.schema.json @@ -0,0 +1,30 @@ +{ + "$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 + } + \ No newline at end of file diff --git a/system/autoware_topic_rely_controller/src/topic_rely_controller_node.cpp b/system/autoware_topic_rely_controller/src/topic_rely_controller_node.cpp new file mode 100644 index 0000000000000..82b94902d23d3 --- /dev/null +++ b/system/autoware_topic_rely_controller/src/topic_rely_controller_node.cpp @@ -0,0 +1,25 @@ +// 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(autoware::topic_rely_controller::TopicRelyController) diff --git a/system/autoware_topic_rely_controller/src/topic_rely_controller_node.hpp b/system/autoware_topic_rely_controller/src/topic_rely_controller_node.hpp new file mode 100644 index 0000000000000..c67004d36c1a4 --- /dev/null +++ b/system/autoware_topic_rely_controller/src/topic_rely_controller_node.hpp @@ -0,0 +1,33 @@ +// 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 + +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_ \ No newline at end of file