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autoware_command_gate#

A minimal gateway that exposes operation-mode change services and publishes matching state and gear commands.

Features#

  • Services /api/operation_mode/change_to_stop and /api/operation_mode/change_to_autonomous (autoware_adapi_v1_msgs/srv/ChangeOperationMode).
  • Publishes /api/operation_mode/state (reliable, transient local QoS) and /control/command/gear_cmd on each service call.
  • STOP -> gear PARK; AUTONOMOUS -> gear DRIVE.

Build#

bash colcon build --packages-select autoware_command_gate --symlink-install

Run#

Launch as a node:

bash ros2 launch autoware_command_gate autoware_command_gate.launch.py

Or run directly:

bash ros2 run autoware_command_gate autoware_command_gate_exe

Interact#

Call services (example from a sourced workspace):

bash ros2 service call /api/operation_mode/change_to_stop autoware_adapi_v1_msgs/srv/ChangeOperationMode "{}" ros2 service call /api/operation_mode/change_to_autonomous autoware_adapi_v1_msgs/srv/ChangeOperationMode "{}"

Echo topics:

bash ros2 topic echo /api/operation_mode/state ros2 topic echo /control/command/gear_cmd

Tests#

Tests are grouped under the following directories:

  • Unit tests: test/unit
  • Integration tests: test/integration

Run all tests:

bash colcon test --packages-select autoware_command_gate --event-handlers console_direct+