Planning Topic Converter#
Purpose#
This package provides tools that convert topic type among types are defined in https://github.com/tier4/autoware_auto_msgs.
Inner-workings / Algorithms#
Usage example#
The tools in this package are provided as composable ROS 2 component nodes, so that they can be spawned into an existing process, launched from launch files, or invoked from the command line.
<load_composable_node target="container_name">
<composable_node pkg="planning_topic_converter" plugin="planning_topic_converter::PathToTrajectory" name="path_to_trajectory_converter" namespace="">
<!-- params -->
<param name="input_topic" value="foo"/>
<param name="output_topic" value="bar"/>
<!-- composable node config -->
<extra_arg name="use_intra_process_comms" value="false"/>
</composable_node>
</load_composable_node>
Parameters#
| Name | Type | Description |
|---|---|---|
input_topic |
string | input topic name. |
output_topic |
string | output topic name. |