tier4_autoware_api_launch

Description

This package contains launch files that run nodes to convert Autoware internal topics into consistent API used by external software (e.g., fleet management system, simulator).

Package Dependencies

Please see <exec_depend> in package.xml.

Usage

You can include as follows in *.launch.xml to use autoware_api.launch.xml.

  <include file="$(find-pkg-share tier4_autoware_api_launch)/launch/autoware_api.launch.xml"/>

Notes

For reducing processing load, we use the Component feature in ROS2 (similar to Nodelet in ROS1 )