autoware_integration.md

How to integrate Agnocast to Autoware

Basically, take a look at the first Autoware integration Pull Request tier4/autoware.universe_tmp-agnocast#2

There are two steps for Agnocast to work with Autoware:

Step 1: Add Agnocast dependencies

For CMakeLists.txt (target_library should be replaced with the corresponding target):

find_package(agnocastlib REQUIRED)
...
ament_target_dependencies(target_library agnocastlib)
target_include_directories(target_library PRIVATE
  ${agnocastlib_INCLUDE_DIRS}
)

For launch.xml:

<env name="LD_PRELOAD" value="libagnocast_heaphook.so"/>

For packages.xml:

<depend>agnocastlib</depend>

Step 2: Replace ROS 2 APIs for Agnocast APIs

The declarations and initializations should be replaced like the following:

// rclcpp::Publisher<MessageType>::SharedPtr message_pub_;
// message_pub_ = this->create_publisher<MessageType>("/topic_name", rclcpp::QoS{x});

std::shared_ptr<agnocast::Publisher<MessageType>> message_pub_;
message_pub_ = agnocast::create_publisher<MessageType>("/topic_name", rclcpp::QoS{x});

// rclcpp::Subscription<MessageType>::SharedPtr> message_sub_;
// message_sub_ = node_.create_subscription<MessageType>("/topic_name", rclcpp::QoS{x}, callback);

std::shared_ptr<agnocast::Subscription<MessageType>> message_sub_;
message_sub_ = agnocast::create_subscription<MessageType>("/topic_name", rclcpp::QoS{x}, callback);

Other tips

• Until the subscription callback thread is integrated into ROS 2 executor, all callback functions should be guarded with mutex lock.
• Although Agnocast already has get_subscription_count() API, it is not still complete. There is an issue ticket #181.
• Agnocast does not support publish_if_subscribed() API yet. There is an issue ticket #164.