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expose same api
Signed-off-by: Koichi Imai <koichi.imai.2@tier4.jp>
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‎common/autoware_agnocast_wrapper/README.md‎

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@@ -16,15 +16,58 @@ This package provides two approaches for integrating Agnocast. Both will coexist
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Use this when you want the **entire node** to transparently switch between `rclcpp::Node` and `agnocast::Node` at runtime. The node wrapper automatically selects the correct underlying implementation based on the `ENABLE_AGNOCAST` environment variable.
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Currently supported APIs:
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- Publisher / Subscription / PollingSubscriber
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- Client / Service
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- Timer (`create_wall_timer`, free `create_timer()`, free `set_period()`)
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- Parameters
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- Logger, Clock
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- Callback groups
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- Node interfaces (partial: `get_node_base_interface()`, `get_node_topics_interface()`, `get_node_parameters_interface()`)
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`agnocast_wrapper::Node` does **not** publicly derive from `rclcpp::Node`. It exposes a curated subset
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of the `rclcpp::Node` surface and forwards each member to the underlying implementation (`rclcpp::Node`
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or `agnocast::Node`). This subset is **identical in both builds** (`ENABLE_AGNOCAST=0` and `=1`), so a
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node written against it compiles unchanged either way. If you need an API that is not listed below,
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reach the underlying node via `get_rclcpp_node()` (always available) or extend the wrapper.
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#### Supported API surface
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The following members / free functions are provided. Unless noted, signatures mirror their
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`rclcpp::Node` counterparts.
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| Category | Members |
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| ------------------ | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| Construction | `Node(name, options)`, `Node(name, namespace, options)`, virtual destructor, `SharedPtr` |
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| Basic info | `get_name()`, `get_namespace()`, `get_fully_qualified_name()`, `get_logger()` |
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| Time | `get_clock()`, `now()` |
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| Node interfaces | `get_node_base_interface()`, `get_node_topics_interface()`, `get_node_parameters_interface()` (partial — only these three) |
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| Callback groups | `create_callback_group()` |
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| Parameters | `declare_parameter()` (typed + `ParameterValue`/`ParameterType` overloads), `has_parameter()`, `undeclare_parameter()`, `get_parameter()` / `get_parameters()` (typed + prefix overloads), `set_parameter()` / `set_parameters()` / `set_parameters_atomically()`, `describe_parameter(s)()`, `get_parameter_types()`, `list_parameters()`, `add_on_set_parameters_callback()`, `remove_on_set_parameters_callback()` |
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| Publisher | `create_publisher<MessageT>()` (`QoS` and depth overloads) |
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| Subscription | `create_subscription<MessageT>()` (`QoS` and depth overloads) |
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| Polling subscriber | `create_polling_subscriber<MessageT>()` (`QoS` and depth overloads) |
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| Client | `create_client<ServiceT>()` — takes `rclcpp::QoS` (the wrapper normalizes the Humble vs. Jazzy QoS-argument difference) |
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| Service | `create_service<ServiceT>()` — `message_ptr` callback form and an rclcpp-style `shared_ptr` callback form |
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| Timer | `create_wall_timer()`; free `create_timer(node, clock, period, cb, group)` and free `set_period(timer, period)` (see [Timer notes](#timer-notes)) |
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| Underlying node | `get_rclcpp_node()`; `get_agnocast_node()` (agnocast-enabled build only — not declared in an agnocast-disabled build, so calling it there is a compile error); free `to_rclcpp_node(node)` |
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> `OnSetParametersCallbackType` is aliased in this namespace and resolves to the correct rclcpp type
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> for both Humble (rclcpp 16.x) and Jazzy (rclcpp 28+).
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#### Build modes: agnocast-disabled vs agnocast-enabled
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Which of the two `Node` **class definitions** is compiled is a **build-time** choice, selected by the
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`USE_AGNOCAST_ENABLED` preprocessor macro. The API surface above is identical in both, so this choice
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only affects the backend and the underlying-node accessors below.
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This is a separate axis from the **runtime backend selection**: in the agnocast-enabled build, each
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node *instance* additionally picks `rclcpp::Node` vs `agnocast::Node` at construction from the
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`ENABLE_AGNOCAST` environment variable read at runtime (`use_agnocast()`), fixed for the node's
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lifetime. The runtime value selects the backend; it does *not* change which `Node` definition was
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compiled or which methods are declared — e.g. `get_agnocast_node()` is declared in every
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agnocast-enabled build and instead throws at runtime when the node is not in Agnocast mode.
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| | Agnocast-disabled build<br>(`USE_AGNOCAST_ENABLED` undefined) | Agnocast-enabled build<br>(`USE_AGNOCAST_ENABLED` defined) |
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| ---------------------- | ------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------- |
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| Backend | Always an owned `rclcpp::Node`. | `rclcpp::Node` or `agnocast::Node`, chosen at construction from the runtime `ENABLE_AGNOCAST` value and fixed for the node's lifetime. |
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| `get_rclcpp_node()` | Always returns the owned node. | Declared; returns the `rclcpp::Node`, but **throws** `std::runtime_error` if the node is in Agnocast mode. |
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| `get_agnocast_node()` | **Not declared** — calling it is a compile error. | Declared regardless of the runtime backend; returns the `agnocast::Node`, but **throws** if the node is not in Agnocast mode. |
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| `to_rclcpp_node(node)` | Always succeeds. | Forwards to `get_rclcpp_node()` (same throw condition). |
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In both builds `agnocast_wrapper::Node` does not derive from `rclcpp::Node`, so hand it to an executor or
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utility via `get_node_base_interface()` (e.g. `executor.add_node(node->get_node_base_interface())`).
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```cpp
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#include <autoware/agnocast_wrapper/node.hpp>

‎common/autoware_agnocast_wrapper/include/autoware/agnocast_wrapper/diagnostic_updater.hpp‎

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@@ -282,10 +282,10 @@ class Updater : public ::diagnostic_updater::Updater
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public:
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/// @brief Construct from a wrapper Node and update period.
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///
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/// In this build, autoware::agnocast_wrapper::Node is an alias for rclcpp::Node,
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/// so the call forwards directly to ::diagnostic_updater::Updater(NodeT, double).
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/// In this build, autoware::agnocast_wrapper::Node owns an internal rclcpp::Node, so the call
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/// forwards to ::diagnostic_updater::Updater built on node->get_rclcpp_node().
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///
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/// @param node Wrapper node (alias for rclcpp::Node in this build).
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/// @param node Wrapper node providing the underlying rclcpp::Node via get_rclcpp_node().
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/// @param period Default update period in seconds; overridden by the
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/// `diagnostic_updater.period` ros2 parameter if set.
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///
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/// `::agnocast::Updater` does not support it, and the wrapper keeps a
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/// single signature shared by both backends.
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explicit Updater(autoware::agnocast_wrapper::Node * node, double period = 1.0)
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: ::diagnostic_updater::Updater(node, period)
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: ::diagnostic_updater::Updater(node->get_rclcpp_node(), period)
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{
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}
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};

‎common/autoware_agnocast_wrapper/include/autoware/agnocast_wrapper/message_filters.hpp‎

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namespace message_filters
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{
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/// @brief message_filters Subscriber (non-Agnocast build). Thin wrapper over the rclcpp
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/// message_filters Subscriber that accepts the wrapper Node and forwards to its underlying
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/// rclcpp::Node, so the public API matches the Agnocast build (which takes the wrapper
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/// Node).
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template <class M>
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using Subscriber = ::message_filters::Subscriber<M>;
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class Subscriber : public ::message_filters::Subscriber<M, rclcpp::Node>
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{
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public:
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using Base = ::message_filters::Subscriber<M, rclcpp::Node>;
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Subscriber() = default;
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Subscriber(
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autoware::agnocast_wrapper::Node * node, const std::string & topic,
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const rmw_qos_profile_t qos = rmw_qos_profile_default)
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: Base(node->get_rclcpp_node().get(), topic, qos)
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{
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}
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void subscribe(
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autoware::agnocast_wrapper::Node * node, const std::string & topic,
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const rmw_qos_profile_t qos = rmw_qos_profile_default)
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{
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Base::subscribe(node->get_rclcpp_node().get(), topic, qos);
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}
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};
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namespace sync_policies
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{

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