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autoware_component_interface_specs#

This package defines the standardized component interface specifications for Autoware Core, ensuring consistent communication and interaction between various components in the Autoware autonomous driving stack.

Purpose#

The purpose of this package is to:

  • Provide a single source of truth for component interface definitions
  • Ensure consistency across different implementations
  • Facilitate modular development and component interchangeability
  • Document the communication protocols between Autoware Core components

Structure#

The package contains interface specifications for various components, including:

  • Message definitions
  • Service interfaces
  • Action interfaces

Usage#

To use these interface specifications in your component:

  1. Add this package as a dependency in your package.xml:

    <depend>autoware_component_interface_specs</depend>

  2. Use the provided interfaces in your component code.

    #include <autoware/component_interface_specs/localization.hpp>
// Example: Creating a publisher using the interface specs
using KinematicState = autoware::component_interface_specs::localization::KinematicState;
rclcpp::Publisher<KinematicState::Message>::SharedPtr publisher_ =
create_publisher<KinematicState::Message>(
KinematicState::name,
autoware::component_interface_specs::get_qos(KinematicState));
// Example: Creating a subscription using the interface specs
auto subscriber_ = create_subscription<KinematicState::Message>(
KinematicState::name,
autoware::component_interface_specs::get_qos(KinematicState),
std::bind(&YourClass::callback, this, std::placeholders::1));