autoware_command_gate

A minimal gateway that exposes operation-mode change services and publishes matching state and gear commands.

Features

• Services /api/operation_mode/change_to_stop and /api/operation_mode/change_to_autonomous (autoware_adapi_v1_msgs/srv/ChangeOperationMode).
• Publishes /api/operation_mode/state (reliable, transient local QoS) and /control/command/gear_cmd on each service call.
• STOP -> gear PARK; AUTONOMOUS -> gear DRIVE.

Build

colcon build --packages-select autoware_command_gate --symlink-install

Run

Launch as a node:

ros2 launch autoware_command_gate autoware_command_gate.launch.py

Or run directly:

ros2 run autoware_command_gate autoware_command_gate_exe

Interact

Call services (example from a sourced workspace):

ros2 service call /api/operation_mode/change_to_stop autoware_adapi_v1_msgs/srv/ChangeOperationMode "{}"
ros2 service call /api/operation_mode/change_to_autonomous autoware_adapi_v1_msgs/srv/ChangeOperationMode "{}"

Echo topics:

ros2 topic echo /api/operation_mode/state
ros2 topic echo /control/command/gear_cmd

Tests

Tests are grouped under the following directories:

• Unit tests: test/unit
• Integration tests: test/integration

Run all tests:

colcon test --packages-select autoware_command_gate --event-handlers console_direct+

Changelog for package autoware_command_gate

1.9.0 (2026-06-24)

• chore: align package versions to 1.8.0 and reset changelogs

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

• refactor(autoware_command_gate): extract ROS-free mode dispatch helper (#1145)

  * refactor(autoware_command_gate): extract ROS-free mode dispatch helper Move the request-to-mode dispatch (switch on the requested operation mode and build the corresponding outputs) out of the node's service-callback lambda into a ROS-free static helper CommandGateModeBuilder::dispatch_mode, which returns std::optional<ModeOutputs> (std::nullopt for unknown/unsupported modes). This makes the dispatch and its only error path (unknown mode -> PARAMETER_ERROR) unit-testable with plain gtest, without spinning up rclcpp. Behavior is preserved: the node still publishes outputs and sets status.success/code/message on the happy path, and emits success=false with PARAMETER_ERROR on an unknown mode. Add unit tests for dispatch_mode covering all four valid modes and the previously untested unknown-mode nullopt branch. The public node API is unchanged; dispatch_mode is an additive static method. Refs: autowarefoundation/autoware_core#1096

  * refactor(autoware_command_gate): address review feedback Move autoware_system_msgs/srv/change_operation_mode include from the builder header to the .cpp where ChangeOperationMode::Request is used, decoupling includers from the service definition. Assert stamp propagation in DispatchModeAutonomous/Local/Remote tests by passing non-zero stamps and checking outputs->state.stamp. Refs: autowarefoundation/autoware_core#1096

  * refactor(autoware_command_gate): split mode-output and response builders (#80) Make the ChangeOperationMode service callback route through two pure message-in -> message-out builders: create_mode_output() builds the messages to publish (std::nullopt for unknown modes) and create_response() builds the service response. Both are ROS-node-free static functions that take the request, so they are unit-testable in isolation. Behavior is preserved; the publish-only ModeOutputs no longer carries response status. Refs: autowarefoundation/autoware_core#1096 ---------Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>

• feat: add [autoware_command_gate]{.title-ref} and its tests (#1012)

• Contributors: Junya Sasaki, Yutaka Kondo, github-actions