feat: add rely script

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

simulator/simple_planning_simulator/CMakeLists.txt

@@ -29,6 +29,12 @@ rclcpp_components_register_node(${PROJECT_NAME}
   EXECUTABLE ${PROJECT_NAME}_exe
 )
 
+install(PROGRAMS
+  tool/rely_trajectry.py
+  DESTINATION lib/${PROJECT_NAME}
+  PERMISSIONS OWNER_EXECUTE OWNER_WRITE OWNER_READ GROUP_EXECUTE GROUP_READ WORLD_EXECUTE WORLD_READ
+)
+
 if(BUILD_TESTING)
   ament_add_ros_isolated_gtest(test_simple_planning_simulator
     test/test_simple_planning_simulator.cpp

system/control_cmd_switcher/tool/rely_trajectry.py

@@ -0,0 +1,47 @@
+#!/usr/bin/env python3
+
+import rclpy
+from rclpy.node import Node
+from autoware_auto_planning_msgs.msg import Trajectory
+import threading
+
+class RelayTrajectoryNode(Node):
+
+    def __init__(self):
+        super().__init__('relay_trajectory')
+        self.subscription = self.create_subscription(
+            Trajectory,
+            '/tmp/planning/scenario_planning/trajectory',
+            self.listener_callback,
+            10)
+        self.publisher = self.create_publisher(Trajectory, '/planning/scenario_planning/trajectory', 10)
+        self.running = True
+
+    def listener_callback(self, msg):
+        if self.running:
+            self.publisher.publish(msg)
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = RelayTrajectoryNode()
+
+    def input_thread():
+        nonlocal node
+        while True:
+            user_input = input("Enter 'y' to stop publishing: ")
+            if user_input.lower() == 'y':
+                node.running = False
+                print("Publishing stopped.")
+                break
+
+    thread = threading.Thread(target=input_thread)
+    thread.start()
+
+    rclpy.spin(node)
+
+    thread.join()
+    node.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()