feat(dummy_operation_mode_publisher): add an adapi topic

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>
tier4 · Sep 4, 2024 · b0cf6e9 · b0cf6e9
1 parent f911cb9
commit b0cf6e9
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Showing 3 changed files with 6 additions and 0 deletions.
diff --git a/dummy/dummy_operation_mode_publisher/launch/dummy_operation_mode_publisher.launch.xml b/dummy/dummy_operation_mode_publisher/launch/dummy_operation_mode_publisher.launch.xml
@@ -3,5 +3,6 @@
 
   <node pkg="dummy_operation_mode_publisher" exec="dummy_operation_mode_publisher_node" name="dummy_operation_mode_publisher" output="screen">
     <remap from="~/output/operation_mode_state" to="/system/operation_mode/state"/>
+    <remap from="~/output/operation_mode_state_adapi" to="/api/operation_mode/state"/>
   </node>
 </launch>
diff --git a/dummy/dummy_operation_mode_publisher/src/dummy_operation_mode_publisher.cpp b/dummy/dummy_operation_mode_publisher/src/dummy_operation_mode_publisher.cpp
@@ -27,6 +27,8 @@ DummyOperationModePublisher::DummyOperationModePublisher(const rclcpp::NodeOptio
   // Publisher
   pub_operation_mode_state_ = create_publisher<autoware_adapi_v1_msgs::msg::OperationModeState>(
     "~/output/operation_mode_state", 10);
+  pub_operation_mode_state_adapi_ = create_publisher<autoware_adapi_v1_msgs::msg::OperationModeState>(
+    "~/output/operation_mode_state_adapi", 10);
 
   // Service
 
@@ -55,6 +57,7 @@ void DummyOperationModePublisher::onTimer()
   msg.is_remote_mode_available = true;
 
   pub_operation_mode_state_->publish(msg);
+  pub_operation_mode_state_adapi_->publish(msg);
 }
 
 }  // namespace dummy_operation_mode_publisher

diff --git a/dummy/dummy_operation_mode_publisher/src/dummy_operation_mode_publisher.hpp b/dummy/dummy_operation_mode_publisher/src/dummy_operation_mode_publisher.hpp
@@ -37,6 +37,8 @@ class DummyOperationModePublisher : public rclcpp::Node
   // Publisher
   rclcpp::Publisher<autoware_adapi_v1_msgs::msg::OperationModeState>::SharedPtr
     pub_operation_mode_state_;
+  rclcpp::Publisher<autoware_adapi_v1_msgs::msg::OperationModeState>::SharedPtr
+    pub_operation_mode_state_adapi_;
 
   // Service