autoware_trajectory_gate

Overview

This package subscribes to multiple trajectories, selects one, and publishes it. The selector node monitors the interval of each trajectory topic and publishes diagnostics.

Parameters

Name	Type	Description
trajectory_warn_duration	double	Warning threshold of trajectory interval.
trajectory_error_duration	double	Error threshold of trajectory interval.
source_ids	list[int]	List of trajectory source IDs.
source.<id>.name	string	Name of the corresponding trajectory source.

Interfaces

Interface	Name	Type	Description
Subscription	~/inputs/<name>/trajectory	autoware_planning_msgs/msg/Trajectory	Input trajectory.
Publisher	~/output/trajectory	autoware_planning_msgs/msg/Trajectory	Output trajectory.
Publisher	~/source/status	tier4_system_msgs/msg/TrajectorySourceStatus	Current trajectory source.
Service	~/source/change	tier4_system_msgs/srv/ChangeTrajectorySource	Change trajectory source.