feat(nebula_continental, nebula_hesai): apply agnocast_components for CIE

[atsushi421]

Description

Apply agnocast_components to enable CallbackIsolatedAgnocastExecutor (CIE) for nebula_continental and nebula_hesai nodes, as part of the effort to achieve middleware-transparent scheduling and optimize end-to-end response time across Autoware.

Changes

nebula_continental

• CMakeLists.txt:
  • Added conditional agnocast_components support guarded by ENABLE_AGNOCAST environment variable
  • When ENABLE_AGNOCAST is set: uses agnocast_components_register_node with EXECUTOR CallbackIsolatedAgnocastExecutor for continental_ars548_ros_wrapper, and default executor for continental_srr520_ros_wrapper
  • When ENABLE_AGNOCAST is not set: falls back to rclcpp_components_register_node
  • Added conditional ament_export_dependencies(agnocast_components)
  • SRR520 is also registered with agnocast_components_register_node when ENABLE_AGNOCAST is set, because agnocast_components_register_node and rclcpp_components_register_node cannot coexist in the same package (both generate the same resource index file via different mechanisms)
• package.xml:
  • Added <depend condition="$ENABLE_AGNOCAST == 1">agnocast_components</depend>

nebula_hesai

• CMakeLists.txt:
  • Added conditional agnocast_components availability check guarded by ENABLE_AGNOCAST (alongside existing agnocastlib check)
  • When ENABLE_AGNOCAST is set: uses agnocast_components_register_node with EXECUTOR CallbackIsolatedAgnocastExecutor for hesai_ros_wrapper
  • When ENABLE_AGNOCAST is not set: falls back to rclcpp_components_register_node
  • Added conditional ament_export_dependencies(agnocast_components)
  • Existing agnocastlib dependency (for publisher/subscriber wrapping via nebula_agnocast_wrapper) is preserved
• package.xml:
  • Added <depend condition="$ENABLE_AGNOCAST == 1">agnocast_components</depend>

Related links

• Parent Issue: Apply CallbackIsolatedAgnocastExecutor (CIE) to safety-/performance-critical nodes autowarefoundation/autoware_core#968

• AutowareDiscussion about adopting CIE

How was this PR tested?

• Evaluator passed: https://evaluation.tier4.jp/evaluation/reports/3ee70e2f-cf2b-5e96-a27d-ca56d525fecf?project_id=x2_dev
• Verification in Lsim

Notes for reviewers

Please review the following aspects:

• Verify that all relevant CMakeLists.txt for nebula_continental and nebula_hesai nodes have been updated (no missed files).

  • Our current target is X2 v4.4.0, so please let us know if we have applied CIE to any nodes that do not run with that version.

• If the node meets all of the following conditions, please check for potential race conditions (see Effects on system behavior for the reason):

  1. The node was originally running on a rclcpp::executors::SingleThreadedExecutor or rclcpp_components::component_container
  2. The node has multiple callback groups (the default is one)
  3. Shared variables are accessed across callback groups without proper mutex protection

  Note: Nodes already running on MultiThreadedExecutor (or component_container_mt) are not affected, as their callbacks are already executed concurrently.

Interface changes

None.

Effects on system behavior

Internally, CIE creates a dedicated rclcpp::executors::SingleThreadedExecutor for each callback group, so the fundamental scheduling behavior within each group remains almost identical. The key difference is that, for nodes originally using rclcpp::executors::SingleThreadedExecutor, callback groups now run in parallel across separate threads, similar to MultiThreadedExecutor.

[Copilot]

Pull request overview

This PR integrates autoware_agnocast_wrapper into nebula_continental so the ARS548 node can switch between the standard ROS 2 executor and CallbackIsolatedAgnocastExecutor (CIE) based on the ENABLE_AGNOCAST environment variable, supporting middleware-transparent scheduling efforts in Autoware.

Changes:

• Added autoware_agnocast_wrapper as a package dependency.
• Added find_package(autoware_agnocast_wrapper REQUIRED) in CMake.
• Switched ARS548’s component executable registration to autoware_agnocast_wrapper_register_node with explicit ROS2/agnocast executor selections.

Reviewed changes

Copilot reviewed 2 out of 2 changed files in this pull request and generated 1 comment.

File	Description
src/nebula_continental/nebula_continental/package.xml	Adds autoware_agnocast_wrapper dependency to the package manifest.
src/nebula_continental/nebula_continental/CMakeLists.txt	Enables wrapper-based node registration for ARS548 and sets executor types for toggling CIE via env var.

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[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 48.34%. Comparing base (601086a) to head (161ea6b).

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #418      +/-   ##
==========================================
- Coverage   48.35%   48.34%   -0.01%     
==========================================
  Files         156      156              
  Lines       12996    12997       +1     
  Branches     6901     6901              
==========================================
  Hits         6284     6284              
- Misses       5325     5326       +1     
  Partials     1387     1387              

Flag	Coverage Δ
nebula_continental	30.37% <ø> (?)
nebula_hesai	30.37% <ø> (?)

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[mojomex]

Hi, thank you for the PR! I'm really excited about our stack getting proper scheduling.

One question: Is there a reason you only targeted the Continental ARS548 here, and not the Hesai node as well? From what we saw internally, LiDARs would profit the most from proper real-time scheduling support.

[atsushi421]

Hi, thank you for the PR! I'm really excited about our stack getting proper scheduling.

One question: Is there a reason you only targeted the Continental ARS548 here, and not the Hesai node as well? From what we saw internally, LiDARs would profit the most from proper real-time scheduling support.

@mojomex
Thank you for the warm and encouraging comment!
Regarding the Hesai node — the executor for hesai_ros_wrapper_node is planned to be changed in this separate PR: https://github.com/tier4/autoware_launch.x2/pull/2028
Please let me know if my understanding is off!

[mojomex]

@atsushi421 I see. That seems like a very Pilot Auto-centric approach to me. Since Nebula is used by other projects and products, I'd suggest we add the same changes to Hesai in Nebula directly as well. Other vendors are fine right now - we can change those on-demand.

[atsushi421]

@atsushi421 I see. That seems like a very Pilot Auto-centric approach to me. Since Nebula is used by other projects and products, I'd suggest we add the same changes to Hesai in Nebula directly as well. Other vendors are fine right now - we can change those on-demand.

@mojomex
Thank you for the suggestion! We ideally wanted to apply CIE to all executors, but our initial plan was to start small and demonstrate results before expanding further considering this comment.
That said, if you're open to having the same changes applied to Hesai as well, we'd be happy to do so. Would it be okay to include the Hesai updates in this PR, or would you prefer a separate one?

[mojomex]

@atsushi421 I see, that makes sense. From a Nebula point of view, I would still prefer for you to add Hesai (in this PR is fine!).

If there's any unforseen roadblocks, we can split PRs, or do Hesai later as you suggested.
Thanks!

[atsushi421]

@mojomex
I've applied the same changes to Hesai's CMakeLists.txt in this PR 👍 161ea6b
With ENABLE_AGNOCAST=1, if you launch hesai_ros_wrapper_node as a standalone executable, it will use CallbackIsolatedAgnocastExecutor. If you load it into a component container, you can use agnocast_component_container_cie to enable CIE.