autoware_command_gate

Package Summary

Version	0.1.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2026-05-20
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Simple gateway that maps operation mode service calls to mode state and gear commands.

Maintainers

Junya Sasaki

Authors

No additional authors.

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

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_gtest
	ament_cmake_ros
	class_loader
	autoware_adapi_specs
	autoware_adapi_v1_msgs
	autoware_common_msgs
	autoware_component_interface_specs
	autoware_system_msgs
	autoware_vehicle_msgs
	builtin_interfaces
	rclcpp
	rclcpp_components

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_control

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_command_gate` at Robotics Stack Exchange

autoware_command_gate package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
jazzy

Package Summary

Version	0.1.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2026-05-20
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Simple gateway that maps operation mode service calls to mode state and gear commands.

Maintainers

Junya Sasaki

Authors

No additional authors.

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

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_gtest
	ament_cmake_ros
	class_loader
	autoware_adapi_specs
	autoware_adapi_v1_msgs
	autoware_common_msgs
	autoware_component_interface_specs
	autoware_system_msgs
	autoware_vehicle_msgs
	builtin_interfaces
	rclcpp
	rclcpp_components

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_control

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_command_gate` at Robotics Stack Exchange

No version for distro kilted showing humble. Known supported distros are highlighted in the buttons above.

autoware_command_gate package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Version	0.1.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2026-05-20
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Simple gateway that maps operation mode service calls to mode state and gear commands.

Maintainers

Junya Sasaki

Authors

No additional authors.

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

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_gtest
	ament_cmake_ros
	class_loader
	autoware_adapi_specs
	autoware_adapi_v1_msgs
	autoware_common_msgs
	autoware_component_interface_specs
	autoware_system_msgs
	autoware_vehicle_msgs
	builtin_interfaces
	rclcpp
	rclcpp_components

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_control

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_command_gate` at Robotics Stack Exchange

No version for distro rolling showing humble. Known supported distros are highlighted in the buttons above.

autoware_command_gate package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Version	0.1.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2026-05-20
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Simple gateway that maps operation mode service calls to mode state and gear commands.

Maintainers

Junya Sasaki

Authors

No additional authors.

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

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_gtest
	ament_cmake_ros
	class_loader
	autoware_adapi_specs
	autoware_adapi_v1_msgs
	autoware_common_msgs
	autoware_component_interface_specs
	autoware_system_msgs
	autoware_vehicle_msgs
	builtin_interfaces
	rclcpp
	rclcpp_components

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_control

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_command_gate` at Robotics Stack Exchange

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.

autoware_command_gate package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Version	0.1.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2026-05-20
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Simple gateway that maps operation mode service calls to mode state and gear commands.

Maintainers

Junya Sasaki

Authors

No additional authors.

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

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_gtest
	ament_cmake_ros
	class_loader
	autoware_adapi_specs
	autoware_adapi_v1_msgs
	autoware_common_msgs
	autoware_component_interface_specs
	autoware_system_msgs
	autoware_vehicle_msgs
	builtin_interfaces
	rclcpp
	rclcpp_components

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_control

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_command_gate` at Robotics Stack Exchange

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.

autoware_command_gate package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Version	0.1.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2026-05-20
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Simple gateway that maps operation mode service calls to mode state and gear commands.

Maintainers

Junya Sasaki

Authors

No additional authors.

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

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_gtest
	ament_cmake_ros
	class_loader
	autoware_adapi_specs
	autoware_adapi_v1_msgs
	autoware_common_msgs
	autoware_component_interface_specs
	autoware_system_msgs
	autoware_vehicle_msgs
	builtin_interfaces
	rclcpp
	rclcpp_components

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_control

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_command_gate` at Robotics Stack Exchange

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.

autoware_command_gate package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Version	0.1.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2026-05-20
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Simple gateway that maps operation mode service calls to mode state and gear commands.

Maintainers

Junya Sasaki

Authors

No additional authors.

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

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_gtest
	ament_cmake_ros
	class_loader
	autoware_adapi_specs
	autoware_adapi_v1_msgs
	autoware_common_msgs
	autoware_component_interface_specs
	autoware_system_msgs
	autoware_vehicle_msgs
	builtin_interfaces
	rclcpp
	rclcpp_components

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_control

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_command_gate` at Robotics Stack Exchange

No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.

autoware_command_gate package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Version	0.1.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2026-05-20
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Simple gateway that maps operation mode service calls to mode state and gear commands.

Maintainers

Junya Sasaki

Authors

No additional authors.

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

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_gtest
	ament_cmake_ros
	class_loader
	autoware_adapi_specs
	autoware_adapi_v1_msgs
	autoware_common_msgs
	autoware_component_interface_specs
	autoware_system_msgs
	autoware_vehicle_msgs
	builtin_interfaces
	rclcpp
	rclcpp_components

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_control

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_command_gate` at Robotics Stack Exchange

No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.

autoware_command_gate package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Version	0.1.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2026-05-20
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Simple gateway that maps operation mode service calls to mode state and gear commands.

Maintainers

Junya Sasaki

Authors

No additional authors.

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

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_gtest
	ament_cmake_ros
	class_loader
	autoware_adapi_specs
	autoware_adapi_v1_msgs
	autoware_common_msgs
	autoware_component_interface_specs
	autoware_system_msgs
	autoware_vehicle_msgs
	builtin_interfaces
	rclcpp
	rclcpp_components

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_control

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_command_gate` at Robotics Stack Exchange

No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.

autoware_command_gate package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Version	0.1.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2026-05-20
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Simple gateway that maps operation mode service calls to mode state and gear commands.

Maintainers

Junya Sasaki

Authors

No additional authors.

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

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_gtest
	ament_cmake_ros
	class_loader
	autoware_adapi_specs
	autoware_adapi_v1_msgs
	autoware_common_msgs
	autoware_component_interface_specs
	autoware_system_msgs
	autoware_vehicle_msgs
	builtin_interfaces
	rclcpp
	rclcpp_components

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_control

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_command_gate` at Robotics Stack Exchange

No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.

autoware_command_gate package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Version	0.1.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2026-05-20
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Simple gateway that maps operation mode service calls to mode state and gear commands.

Maintainers

Junya Sasaki

Authors

No additional authors.

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

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_gtest
	ament_cmake_ros
	class_loader
	autoware_adapi_specs
	autoware_adapi_v1_msgs
	autoware_common_msgs
	autoware_component_interface_specs
	autoware_system_msgs
	autoware_vehicle_msgs
	builtin_interfaces
	rclcpp
	rclcpp_components

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_control

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_command_gate` at Robotics Stack Exchange

No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.

autoware_command_gate package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Version	0.1.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2026-05-20
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Simple gateway that maps operation mode service calls to mode state and gear commands.

Maintainers

Junya Sasaki

Authors

No additional authors.

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

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_gtest
	ament_cmake_ros
	class_loader
	autoware_adapi_specs
	autoware_adapi_v1_msgs
	autoware_common_msgs
	autoware_component_interface_specs
	autoware_system_msgs
	autoware_vehicle_msgs
	builtin_interfaces
	rclcpp
	rclcpp_components

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_control

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_command_gate` at Robotics Stack Exchange

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.

autoware_command_gate package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Version	0.1.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2026-05-20
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Simple gateway that maps operation mode service calls to mode state and gear commands.

Maintainers

Junya Sasaki

Authors

No additional authors.

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

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_gtest
	ament_cmake_ros
	class_loader
	autoware_adapi_specs
	autoware_adapi_v1_msgs
	autoware_common_msgs
	autoware_component_interface_specs
	autoware_system_msgs
	autoware_vehicle_msgs
	builtin_interfaces
	rclcpp
	rclcpp_components

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_control

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_command_gate` at Robotics Stack Exchange

No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.

autoware_command_gate package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Version	0.1.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2026-05-20
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Simple gateway that maps operation mode service calls to mode state and gear commands.

Maintainers

Junya Sasaki

Authors

No additional authors.

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

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_gtest
	ament_cmake_ros
	class_loader
	autoware_adapi_specs
	autoware_adapi_v1_msgs
	autoware_common_msgs
	autoware_component_interface_specs
	autoware_system_msgs
	autoware_vehicle_msgs
	builtin_interfaces
	rclcpp
	rclcpp_components

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_control

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_command_gate` at Robotics Stack Exchange

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.

autoware_command_gate package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Version	0.1.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2026-05-20
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Simple gateway that maps operation mode service calls to mode state and gear commands.

Maintainers

Junya Sasaki

Authors

No additional authors.

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

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_gtest
	ament_cmake_ros
	class_loader
	autoware_adapi_specs
	autoware_adapi_v1_msgs
	autoware_common_msgs
	autoware_component_interface_specs
	autoware_system_msgs
	autoware_vehicle_msgs
	builtin_interfaces
	rclcpp
	rclcpp_components

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_control

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_command_gate` at Robotics Stack Exchange

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.

autoware_command_gate package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Version	0.1.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2026-05-20
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Simple gateway that maps operation mode service calls to mode state and gear commands.

Maintainers

Junya Sasaki

Authors

No additional authors.

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

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_gtest
	ament_cmake_ros
	class_loader
	autoware_adapi_specs
	autoware_adapi_v1_msgs
	autoware_common_msgs
	autoware_component_interface_specs
	autoware_system_msgs
	autoware_vehicle_msgs
	builtin_interfaces
	rclcpp
	rclcpp_components

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_control

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_command_gate` at Robotics Stack Exchange

No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.

autoware_command_gate package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Version	0.1.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2026-05-20
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Simple gateway that maps operation mode service calls to mode state and gear commands.

Maintainers

Junya Sasaki

Authors

No additional authors.

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

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_gtest
	ament_cmake_ros
	class_loader
	autoware_adapi_specs
	autoware_adapi_v1_msgs
	autoware_common_msgs
	autoware_component_interface_specs
	autoware_system_msgs
	autoware_vehicle_msgs
	builtin_interfaces
	rclcpp
	rclcpp_components

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_control

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_command_gate` at Robotics Stack Exchange

No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.

autoware_command_gate package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Version	0.1.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2026-05-20
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Simple gateway that maps operation mode service calls to mode state and gear commands.

Maintainers

Junya Sasaki

Authors

No additional authors.

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

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_gtest
	ament_cmake_ros
	class_loader
	autoware_adapi_specs
	autoware_adapi_v1_msgs
	autoware_common_msgs
	autoware_component_interface_specs
	autoware_system_msgs
	autoware_vehicle_msgs
	builtin_interfaces
	rclcpp
	rclcpp_components

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_control

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_command_gate` at Robotics Stack Exchange

No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.

autoware_command_gate package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

Package Summary

Version	0.1.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2026-05-20
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Simple gateway that maps operation mode service calls to mode state and gear commands.

Maintainers

Junya Sasaki

Authors

No additional authors.

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

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_gtest
	ament_cmake_ros
	class_loader
	autoware_adapi_specs
	autoware_adapi_v1_msgs
	autoware_common_msgs
	autoware_component_interface_specs
	autoware_system_msgs
	autoware_vehicle_msgs
	builtin_interfaces
	rclcpp
	rclcpp_components

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_core_control

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_command_gate` at Robotics Stack Exchange