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Create AutowareBase Class #87

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3 of 14 tasks
mitsudome-r opened this issue Oct 29, 2024 · 1 comment
Open
3 of 14 tasks

Create AutowareBase Class #87

mitsudome-r opened this issue Oct 29, 2024 · 1 comment

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@mitsudome-r
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Checklist

  • I've read the contribution guidelines.
  • I've searched other issues and no duplicate issues were found.
  • I've agreed with the maintainers that I can plan this task.

Description

We have created a discussion around having a base class for all Autoware nodes for better monitoring of the system.

Purpose

Implement a base class for Autoware

Possible approaches

Inherit either rclcpp::LifeCycleNode or rclcpp::Node class and implement Autoware base class features.

Definition of done

  • Implement a base class that inherits rclcpp::Node.
  • Implement registration service
    • Define the interface
    • Create the client
    • Create the service
    • Make them communicate
  • Generate UUID
  • Send UUID
  • Implement control service
  • Implement reporting service
  • Implement watchdog - heartbeat
@mitsudome-r
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Related PRs:

These PRs took long time to be merged. We can break them up and merge by smaller pieces.

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@mitsudome-r