mitsudome-r

Retiring the operation-mode shim by graduating it into autoware_core

Goal: port the Universe AD API operation-mode node into core's default ADAPI, teach the command gate to hold mode and control as two independent states, and delete autoware_core_adapi_compat.

Scope	AD API /api/operation_mode/*
Targets	autoware_core main (2026-09), scenario_simulator_core
Status	draft for discussion

mitsudome-r

1. Build Autoware Core

#set up colcon workspace
git clone https:github.com/autowarefoundation/autoware.git
cd autoware
vcs import src/ < repositories/autoware.repos
vcs import src/ < repositories/autoware-nightly.repos

# run docker
docker run -it --rm --name jazzy -v $HOME/autoware:/autoware_jazzy  ghcr.io/autowarefoundation/autoware:core-common-devel-jazzy-amd64 /bin/bash

mitsudome-r

<launch>
  <!-- controller -->
  <arg name="trajectory_follower_mode" default="trajectory_follower_node"/>
  <arg name="lateral_controller_mode"/>
  <arg name="longitudinal_controller_mode"/>
  <arg name="check_external_emergency_heartbeat"/>

  <!-- external cmd selector and converter -->
  <arg name="launch_external_cmd_selector" default="true"/>
  <arg name="launch_external_cmd_converter" default="true"/>

mitsudome-r

Preparation

Docker Install

ref: https://docs.docker.com/engine/install/ubuntu/

#### Add Docker's official GPG key:
sudo apt-get update
sudo apt-get install ca-certificates curl
sudo install -m 0755 -d /etc/apt/keyrings
sudo curl -fsSL https://download.docker.com/linux/ubuntu/gpg -o /etc/apt/keyrings/docker.asc

mitsudome-r

Preparation

Please follow the CES Planning Demo Instruction to setup the environment and confirm that the containers work manually.

If you haven't updated the workspace please update it by the following commands

cd openadkit_demo.autoware
git checkout ces2025
git pull

mitsudome-r

Open AD Kit CES 2025 Demo Instructions (NEW)

Preparation

Git Install

sudo apt update
sudo apt install git

mitsudome-r

CES 2025 Perception Demo Instructions

Preparation

Git Install

sudo apt update
sudo apt install git

mitsudome-r

NEW VERSION IS AVIALABLE HERE

Open AD Kit CES 2025 Demo Instructions (OLD)

Preparation

Git Install

sudo apt update

mitsudome-r

import os
from pathlib import Path
import sys
import argparse

from rclpy.serialization import deserialize_message, serialize_message
from rosidl_runtime_py.utilities import get_message
from sensor_msgs.msg import PointCloud2, PointField
import rosbag2_py  # noqa
import numpy as np