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tier4_autoware_api_launch#

Description#

This package contains launch files that run nodes to convert Autoware internal topics into consistent API used by external software (e.g., fleet management system, simulator).

Package Dependencies#

Please see <exec_depend> in package.xml.

Usage#

You can include as follows in *.launch.xml to use autoware_api.launch.xml.

  <include file="$(find-pkg-share tier4_autoware_api_launch)/launch/autoware_api.launch.xml"/>

Notes#

For reducing processing load, we use the Component feature in ROS2 (similar to Nodelet in ROS1 )