From 656dac6909e30e3aa08e8af735e192b7f6383f93 Mon Sep 17 00:00:00 2001 From: atsushi421 Date: Tue, 17 Mar 2026 09:28:56 +0900 Subject: [PATCH 1/6] feat(nebula_continental): apply autoware_agnocast_wrapper for CIE Signed-off-by: atsushi421 --- src/nebula_continental/nebula_continental/CMakeLists.txt | 8 ++++++-- src/nebula_continental/nebula_continental/package.xml | 1 + 2 files changed, 7 insertions(+), 2 deletions(-) diff --git a/src/nebula_continental/nebula_continental/CMakeLists.txt b/src/nebula_continental/nebula_continental/CMakeLists.txt index d7b62a342..0bf123afc 100644 --- a/src/nebula_continental/nebula_continental/CMakeLists.txt +++ b/src/nebula_continental/nebula_continental/CMakeLists.txt @@ -4,6 +4,8 @@ project(nebula_continental) find_package(autoware_cmake REQUIRED) autoware_package() +find_package(autoware_agnocast_wrapper REQUIRED) + # # Continental # ARS548 @@ -42,9 +44,11 @@ ament_target_dependencies( sync_tooling_msgs rclcpp_components) -rclcpp_components_register_node( +autoware_agnocast_wrapper_register_node( continental_ars548_ros_wrapper PLUGIN "ContinentalARS548RosWrapper" - EXECUTABLE continental_ars548_ros_wrapper_node) + EXECUTABLE continental_ars548_ros_wrapper_node + ROS2_EXECUTOR SingleThreadedExecutor + AGNOCAST_EXECUTOR CallbackIsolatedAgnocastExecutor) # SRR520 add_library( diff --git a/src/nebula_continental/nebula_continental/package.xml b/src/nebula_continental/nebula_continental/package.xml index b6904a213..278c17f34 100644 --- a/src/nebula_continental/nebula_continental/package.xml +++ b/src/nebula_continental/nebula_continental/package.xml @@ -33,6 +33,7 @@ nebula_msgs pcl_conversions radar_msgs + autoware_agnocast_wrapper rclcpp rclcpp_components sensor_msgs From a1ce5fc1d4ba6a7efd294b079a468a67d960e562 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Tue, 17 Mar 2026 00:30:13 +0000 Subject: [PATCH 2/6] ci(pre-commit): autofix --- src/nebula_continental/nebula_continental/package.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/nebula_continental/nebula_continental/package.xml b/src/nebula_continental/nebula_continental/package.xml index 278c17f34..a72d96dae 100644 --- a/src/nebula_continental/nebula_continental/package.xml +++ b/src/nebula_continental/nebula_continental/package.xml @@ -18,6 +18,7 @@ libpcl-all-dev libpcl-all-dev + autoware_agnocast_wrapper autoware_sensing_msgs continental_msgs continental_srvs @@ -33,7 +34,6 @@ nebula_msgs pcl_conversions radar_msgs - autoware_agnocast_wrapper rclcpp rclcpp_components sensor_msgs From 3feead6cf55d987ee0d5494a2785b9d9c61237b3 Mon Sep 17 00:00:00 2001 From: atsushi421 Date: Wed, 18 Mar 2026 19:45:50 +0900 Subject: [PATCH 3/6] refactor(nebula_continental): replace autoware_agnocast_wrapper with agnocast_components Signed-off-by: atsushi421 --- src/nebula_continental/nebula_continental/CMakeLists.txt | 7 +++---- src/nebula_continental/nebula_continental/package.xml | 2 +- 2 files changed, 4 insertions(+), 5 deletions(-) diff --git a/src/nebula_continental/nebula_continental/CMakeLists.txt b/src/nebula_continental/nebula_continental/CMakeLists.txt index 98f1be67d..26d88b861 100644 --- a/src/nebula_continental/nebula_continental/CMakeLists.txt +++ b/src/nebula_continental/nebula_continental/CMakeLists.txt @@ -6,7 +6,7 @@ find_package(message_filters REQUIRED) find_package(tf2_ros REQUIRED) autoware_package() -find_package(autoware_agnocast_wrapper REQUIRED) +find_package(agnocast_components REQUIRED) # # Continental @@ -44,11 +44,10 @@ ament_target_dependencies( rclcpp_components tf2_ros) -autoware_agnocast_wrapper_register_node( +agnocast_components_register_node( continental_ars548_ros_wrapper PLUGIN "ContinentalARS548RosWrapper" EXECUTABLE continental_ars548_ros_wrapper_node - ROS2_EXECUTOR SingleThreadedExecutor - AGNOCAST_EXECUTOR CallbackIsolatedAgnocastExecutor) + EXECUTOR CallbackIsolatedAgnocastExecutor) # SRR520 add_library( diff --git a/src/nebula_continental/nebula_continental/package.xml b/src/nebula_continental/nebula_continental/package.xml index 0e57e9537..e05fc1700 100644 --- a/src/nebula_continental/nebula_continental/package.xml +++ b/src/nebula_continental/nebula_continental/package.xml @@ -16,7 +16,7 @@ ros_environment ros_testing - autoware_agnocast_wrapper + agnocast_components autoware_sensing_msgs continental_msgs continental_srvs From ed6d44d3e6ca7555e66f093be8e46780bdef27d0 Mon Sep 17 00:00:00 2001 From: atsushi421 Date: Wed, 18 Mar 2026 20:10:30 +0900 Subject: [PATCH 4/6] fix(nebula_continental): make agnocast_components dependency conditional on ENABLE_AGNOCAST Align with the Hesai package pattern by guarding the agnocast_components dependency behind the ENABLE_AGNOCAST environment variable, falling back to rclcpp_components_register_node when disabled. This fixes CI failures where rosdep cannot find ros-humble-agnocast-components. Signed-off-by: atsushi421 --- .../nebula_continental/CMakeLists.txt | 22 ++++++++++++++----- .../nebula_continental/package.xml | 2 +- 2 files changed, 18 insertions(+), 6 deletions(-) diff --git a/src/nebula_continental/nebula_continental/CMakeLists.txt b/src/nebula_continental/nebula_continental/CMakeLists.txt index 26d88b861..ddb99f222 100644 --- a/src/nebula_continental/nebula_continental/CMakeLists.txt +++ b/src/nebula_continental/nebula_continental/CMakeLists.txt @@ -6,7 +6,9 @@ find_package(message_filters REQUIRED) find_package(tf2_ros REQUIRED) autoware_package() -find_package(agnocast_components REQUIRED) +if("$ENV{ENABLE_AGNOCAST}" AND NOT agnocast_components_FOUND) + message(FATAL_ERROR "agnocast_components is required when Agnocast is enabled") +endif() # # Continental @@ -44,10 +46,16 @@ ament_target_dependencies( rclcpp_components tf2_ros) -agnocast_components_register_node( - continental_ars548_ros_wrapper PLUGIN "ContinentalARS548RosWrapper" - EXECUTABLE continental_ars548_ros_wrapper_node - EXECUTOR CallbackIsolatedAgnocastExecutor) +if("$ENV{ENABLE_AGNOCAST}") + agnocast_components_register_node( + continental_ars548_ros_wrapper PLUGIN "ContinentalARS548RosWrapper" + EXECUTABLE continental_ars548_ros_wrapper_node + EXECUTOR CallbackIsolatedAgnocastExecutor) +else() + rclcpp_components_register_node( + continental_ars548_ros_wrapper PLUGIN "ContinentalARS548RosWrapper" + EXECUTABLE continental_ars548_ros_wrapper_node) +endif() # SRR520 add_library( @@ -188,4 +196,8 @@ ament_export_dependencies( visualization_msgs yaml-cpp) +if("$ENV{ENABLE_AGNOCAST}") + ament_export_dependencies(agnocast_components) +endif() + ament_package() diff --git a/src/nebula_continental/nebula_continental/package.xml b/src/nebula_continental/nebula_continental/package.xml index e05fc1700..529c34f4a 100644 --- a/src/nebula_continental/nebula_continental/package.xml +++ b/src/nebula_continental/nebula_continental/package.xml @@ -16,7 +16,7 @@ ros_environment ros_testing - agnocast_components + agnocast_components autoware_sensing_msgs continental_msgs continental_srvs From cd50eef2f6afb2b12dfd376e1c6127502e4837e5 Mon Sep 17 00:00:00 2001 From: atsushi421 Date: Thu, 19 Mar 2026 08:00:40 +0900 Subject: [PATCH 5/6] fix(nebula_continental): register SRR520 with agnocast_components when ENABLE_AGNOCAST agnocast_components_register_node and rclcpp_components_register_node cannot coexist in the same package because both generate the same rclcpp_components resource index file via different mechanisms. Wrap SRR520 registration with the same ENABLE_AGNOCAST conditional. Signed-off-by: atsushi421 --- .../nebula_continental/CMakeLists.txt | 12 +++++++++--- 1 file changed, 9 insertions(+), 3 deletions(-) diff --git a/src/nebula_continental/nebula_continental/CMakeLists.txt b/src/nebula_continental/nebula_continental/CMakeLists.txt index ddb99f222..62bf6e40a 100644 --- a/src/nebula_continental/nebula_continental/CMakeLists.txt +++ b/src/nebula_continental/nebula_continental/CMakeLists.txt @@ -90,9 +90,15 @@ ament_target_dependencies( message_filters tf2_ros) -rclcpp_components_register_node( - continental_srr520_ros_wrapper PLUGIN "ContinentalSRR520RosWrapper" - EXECUTABLE continental_srr520_ros_wrapper_node) +if("$ENV{ENABLE_AGNOCAST}") + agnocast_components_register_node( + continental_srr520_ros_wrapper PLUGIN "ContinentalSRR520RosWrapper" + EXECUTABLE continental_srr520_ros_wrapper_node) +else() + rclcpp_components_register_node( + continental_srr520_ros_wrapper PLUGIN "ContinentalSRR520RosWrapper" + EXECUTABLE continental_srr520_ros_wrapper_node) +endif() install( TARGETS continental_ars548_ros_wrapper From 161ea6bad8de375c2f0a0ca83d2e47ed550be48b Mon Sep 17 00:00:00 2001 From: atsushi421 Date: Thu, 19 Mar 2026 12:48:53 +0900 Subject: [PATCH 6/6] feat(nebula_hesai): apply CIE with agnocast_components Signed-off-by: atsushi421 --- src/nebula_hesai/nebula_hesai/CMakeLists.txt | 15 +++++++++++++-- src/nebula_hesai/nebula_hesai/package.xml | 1 + 2 files changed, 14 insertions(+), 2 deletions(-) diff --git a/src/nebula_hesai/nebula_hesai/CMakeLists.txt b/src/nebula_hesai/nebula_hesai/CMakeLists.txt index 15aa9296c..8f2ed1804 100644 --- a/src/nebula_hesai/nebula_hesai/CMakeLists.txt +++ b/src/nebula_hesai/nebula_hesai/CMakeLists.txt @@ -8,6 +8,9 @@ autoware_package() if("$ENV{ENABLE_AGNOCAST}" AND NOT agnocastlib_FOUND) message(FATAL_ERROR "agnocastlib is required when Agnocast is enabled") endif() +if("$ENV{ENABLE_AGNOCAST}" AND NOT agnocast_components_FOUND) + message(FATAL_ERROR "agnocast_components is required when Agnocast is enabled") +endif() # Hesai add_library( @@ -46,8 +49,15 @@ if("$ENV{ENABLE_AGNOCAST}") add_definitions(-DUSE_AGNOCAST_ENABLED) endif() -rclcpp_components_register_node(hesai_ros_wrapper PLUGIN "HesaiRosWrapper" - EXECUTABLE hesai_ros_wrapper_node) +if("$ENV{ENABLE_AGNOCAST}") + agnocast_components_register_node( + hesai_ros_wrapper PLUGIN "HesaiRosWrapper" + EXECUTABLE hesai_ros_wrapper_node + EXECUTOR CallbackIsolatedAgnocastExecutor) +else() + rclcpp_components_register_node(hesai_ros_wrapper PLUGIN "HesaiRosWrapper" + EXECUTABLE hesai_ros_wrapper_node) +endif() install( TARGETS hesai_ros_wrapper @@ -185,6 +195,7 @@ ament_export_dependencies( if("$ENV{ENABLE_AGNOCAST}") ament_export_dependencies(agnocastlib) + ament_export_dependencies(agnocast_components) endif() ament_package() diff --git a/src/nebula_hesai/nebula_hesai/package.xml b/src/nebula_hesai/nebula_hesai/package.xml index db2a74845..0b043f565 100644 --- a/src/nebula_hesai/nebula_hesai/package.xml +++ b/src/nebula_hesai/nebula_hesai/package.xml @@ -14,6 +14,7 @@ ros_environment ros_testing + agnocast_components agnocastlib autoware_internal_debug_msgs autoware_utils_debug