DDS topics

Ground-truth contract between Autoware and the safety island. All values are read directly from actuation_module/src/autoware/autoware_trajectory_follower_node/src/controller_node.cpp and demo/bridge/bridge-config.yaml.

Both sides of the bridge use DDS type names derived from the ROS 2 message packages listed below. The safety island is on DDS domain 2; Autoware is on DDS domain 1.

Subscriptions (inputs)

The controller subscribes to five topics on domain 2. The bridge forwards them from domain 1.

Topic	Message type	Bridge direction
/vehicle/status/steering_status	autoware_vehicle_msgs/msg/SteeringReport	1 → 2
/planning/scenario_planning/trajectory	autoware_planning_msgs/msg/Trajectory	1 → 2
/localization/kinematic_state	nav_msgs/msg/Odometry	1 → 2
/localization/acceleration	geometry_msgs/msg/AccelWithCovarianceStamped	1 → 2
/system/operation_mode/state	autoware_adapi_v1_msgs/msg/OperationModeState	1 → 2

Publications (outputs)

The controller publishes the primary control command plus two debug streams.

Topic	Message type	Bridge direction
/control/trajectory_follower/control_cmd	autoware_control_msgs/msg/Control	2 → 1
/control/trajectory_follower/lateral/debug/processing_time_ms	tier4_debug_msgs/msg/Float64Stamped	(not bridged)
/control/trajectory_follower/longitudinal/debug/processing_time_ms	tier4_debug_msgs/msg/Float64Stamped	(not bridged)

The debug processing-time topics stay on domain 2; connect a DDS tool directly to that domain (for example over the VPN) to monitor them.

Rates and timing

• Control loop period: 150 ms (ctrl_period parameter, default 0.15 seconds).

• Stale-output timeout: 0.5 s (timeout_thr_sec parameter).

The timeout applies to the control command produced by the lateral and longitudinal controllers: if the last output is older than timeout_thr_sec, the tick is skipped. Missing inputs are handled separately. See Architecture.