feat(autoware_utils_rclcpp): split package (#40)

* feat(autoware_utils_rclcpp): split package

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* update test

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* update readme

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

---------

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

Author: isamu-takagi

autoware_utils/README.md

@@ -37,13 +37,9 @@ The ROS module provides utilities for working with ROS messages and nodes:
 - **`diagnostics_interface.hpp`**: An interface for publishing diagnostic messages.
 - **`msg_covariance.hpp`**: Indices for accessing covariance matrices in ROS messages.
 - **`msg_operation.hpp`**: Overloaded operators for quaternion messages.
-- **`parameter.hpp`**: Simplifies parameter retrieval and declaration.
-- **`polling_subscriber.hpp`**: A subscriber class with different polling policies (latest, newest, all).
 - **`processing_time_publisher.hpp`**: Publishes processing times as diagnostic messages.
 - **`published_time_publisher.hpp`**: Tracks and publishes the time when messages are published.
 - **`self_pose_listener.hpp`**: Listens to the self-pose of the vehicle.
-- **`update_param.hpp`**: Updates parameters from remote nodes.
-- **`wait_for_param.hpp`**: Waits for parameters from remote nodes.
 - **`debug_traits.hpp`**: Traits for identifying debug message types.
 
 #### System Module
@@ -95,30 +91,6 @@ int main() {
 
 ### Detailed Usage Examples
 
-#### Update Parameters Dynamically with update_param.hpp
-
-```cpp
-#include "autoware_utils/ros/update_param.hpp"
-#include <rclcpp/rclcpp.hpp>
-
-int main(int argc, char * argv[]) {
-  rclcpp::init(argc, argv);
-  auto node = rclcpp::Node::make_shared("param_node");
-
-  double param_value = 0.0;
-  std::vector<rclcpp::Parameter> params = node->get_parameters({"my_param"});
-
-  if (autoware_utils::update_param(params, "my_param", param_value)) {
-    RCLCPP_INFO(node->get_logger(), "Updated parameter value: %f", param_value);
-  } else {
-    RCLCPP_WARN(node->get_logger(), "Parameter 'my_param' not found.");
-  }
-
-  rclcpp::shutdown();
-  return 0;
-}
-```
-
 #### Logging Processing Times with ProcessingTimePublisher
 
 ```cpp

autoware_utils/include/autoware_utils/ros/parameter.hpp

@@ -1,4 +1,4 @@
-// Copyright 2023 Tier IV, Inc.
+// Copyright 2025 The Autoware Contributors
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -15,21 +15,14 @@
 #ifndef AUTOWARE_UTILS__ROS__PARAMETER_HPP_
 #define AUTOWARE_UTILS__ROS__PARAMETER_HPP_
 
-#include <rclcpp/rclcpp.hpp>
+// NOLINTBEGIN(build/namespaces, whitespace/line_length)
+// clang-format off
 
-#include <string>
+#pragma message("#include <autoware_utils/ros/parameter.hpp> is deprecated. Use #include <autoware_utils_rclcpp/parameter.hpp> instead.")
+#include <autoware_utils_rclcpp/parameter.hpp>
+namespace autoware_utils { using namespace autoware_utils_rclcpp; }
 
-namespace autoware_utils
-{
-template <class T>
-T get_or_declare_parameter(rclcpp::Node & node, const std::string & name)
-{
-  if (node.has_parameter(name)) {
-    return node.get_parameter(name).get_value<T>();
-  }
-
-  return node.declare_parameter<T>(name);
-}
-}  // namespace autoware_utils
+// clang-format on
+// NOLINTEND
 
 #endif  // AUTOWARE_UTILS__ROS__PARAMETER_HPP_

autoware_utils/include/autoware_utils/ros/polling_subscriber.hpp

@@ -1,4 +1,4 @@
-// Copyright 2024 TIER IV, Inc.
+// Copyright 2025 The Autoware Contributors
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -11,243 +11,18 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
+
 #ifndef AUTOWARE_UTILS__ROS__POLLING_SUBSCRIBER_HPP_
 #define AUTOWARE_UTILS__ROS__POLLING_SUBSCRIBER_HPP_
 
-#include <rclcpp/rclcpp.hpp>
-
-#include <memory>
-#include <stdexcept>
-#include <string>
-#include <vector>
-
-namespace autoware_utils
-{
-
-/**
- * @brief Creates a SensorDataQoS profile with a single depth.
- * @return rclcpp::SensorDataQoS The QoS profile with depth set to 1.
- */
-inline rclcpp::SensorDataQoS single_depth_sensor_qos()
-{
-  rclcpp::SensorDataQoS qos;
-  qos.get_rmw_qos_profile().depth = 1;
-  return qos;
-}
-
-namespace polling_policy
-{
-
-/**
- * @brief Polling policy that keeps the latest received message.
- *
- * This policy retains the latest received message and provides it when requested. If a new message
- * is received, it overwrites the previously stored message.
- *
- * @tparam MessageT The message type.
- */
-template <typename MessageT>
-class Latest
-{
-private:
-  typename MessageT::ConstSharedPtr data_{nullptr};  ///< Data pointer to store the latest data
-
-protected:
-  /**
-   * @brief Check the QoS settings for the subscription.
-   *
-   * @param qos The QoS profile to check.
-   * @throws std::invalid_argument If the QoS depth is not 1.
-   */
-  void check_qos(const rclcpp::QoS & qos)
-  {
-    if (qos.get_rmw_qos_profile().depth > 1) {
-      throw std::invalid_argument(
-        "InterProcessPollingSubscriber will be used with depth > 1, which may cause inefficient "
-        "serialization while updateLatestData()");
-    }
-  }
-
-public:
-  /**
-   * @brief Retrieve the latest data. If no new data has been received, the previously received data
-   *
-   * @return typename MessageT::ConstSharedPtr The latest data.
-   */
-  typename MessageT::ConstSharedPtr take_data();
-};
-
-/**
- * @brief Polling policy that keeps the newest received message.
- *
- * @tparam MessageT The message type.
- */
-template <typename MessageT>
-class Newest
-{
-protected:
-  /**
-   * @brief Check the QoS settings for the subscription.
-   *
-   * @param qos The QoS profile to check.
-   * @throws std::invalid_argument If the QoS depth is not 1.
-   */
-  void check_qos(const rclcpp::QoS & qos)
-  {
-    if (qos.get_rmw_qos_profile().depth > 1) {
-      throw std::invalid_argument(
-        "InterProcessPollingSubscriber will be used with depth > 1, which may cause inefficient "
-        "serialization while updateLatestData()");
-    }
-  }
-
-public:
-  /**
-   * @brief Retrieve the newest data. If no new data has been received, nullptr is returned.
-   *
-   * @return typename MessageT::ConstSharedPtr The newest data.
-   */
-  typename MessageT::ConstSharedPtr take_data();
-};
-
-/**
- * @brief Polling policy that keeps all received messages.
- *
- * @tparam MessageT The message type.
- */
-template <typename MessageT>
-class All
-{
-protected:
-  /**
-   * @brief Check the QoS settings for the subscription.
-   *
-   * @param qos The QoS profile to check.
-   */
-  void check_qos(const rclcpp::QoS &) {}
-
-public:
-  /**
-   * @brief Retrieve all data.
-   *
-   * @return std::vector<typename MessageT::ConstSharedPtr> The list of all received data.
-   */
-  std::vector<typename MessageT::ConstSharedPtr> take_data();
-};
-
-}  // namespace polling_policy
-
-/**
- * @brief Subscriber class that uses a specified polling policy.
- *
- * @tparam MessageT The message type.
- * @tparam PollingPolicy The polling policy to use.
- */
-template <typename MessageT, template <typename> class PollingPolicy = polling_policy::Latest>
-class InterProcessPollingSubscriber : public PollingPolicy<MessageT>
-{
-  friend PollingPolicy<MessageT>;
-
-private:
-  typename rclcpp::Subscription<MessageT>::SharedPtr subscriber_;  ///< Subscription object
-
-public:
-  using SharedPtr = std::shared_ptr<InterProcessPollingSubscriber<MessageT, PollingPolicy>>;
-
-  /**
-   * @brief Construct a new InterProcessPollingSubscriber object.
-   *
-   * @param node The node to attach the subscriber to.
-   * @param topic_name The topic name to subscribe to.
-   * @param qos The QoS profile to use for the subscription.
-   */
-  explicit InterProcessPollingSubscriber(
-    rclcpp::Node * node, const std::string & topic_name, const rclcpp::QoS & qos = rclcpp::QoS{1})
-  {
-    this->check_qos(qos);
-
-    auto noexec_callback_group =
-      node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive, false);
-
-    auto noexec_subscription_options = rclcpp::SubscriptionOptions();
-    noexec_subscription_options.callback_group = noexec_callback_group;
-
-    subscriber_ = node->create_subscription<MessageT>(
-      topic_name, qos,
-      [node]([[maybe_unused]] const typename MessageT::ConstSharedPtr msg) { assert(false); },
-      noexec_subscription_options);
-  }
-
-  /**
-   * @brief Create a subscription.
-   *
-   * @param node The node to attach the subscriber to.
-   * @param topic_name The topic name to subscribe to.
-   * @param qos The QoS profile to use for the subscription.
-   * @return SharedPtr The created subscription.
-   */
-  static SharedPtr create_subscription(
-    rclcpp::Node * node, const std::string & topic_name, const rclcpp::QoS & qos = rclcpp::QoS{1})
-  {
-    return std::make_shared<InterProcessPollingSubscriber<MessageT, PollingPolicy>>(
-      node, topic_name, qos);
-  }
-
-  typename rclcpp::Subscription<MessageT>::SharedPtr subscriber() { return subscriber_; }
-};
-
-namespace polling_policy
-{
-
-template <typename MessageT>
-typename MessageT::ConstSharedPtr Latest<MessageT>::take_data()
-{
-  auto & subscriber =
-    static_cast<InterProcessPollingSubscriber<MessageT, Latest> *>(this)->subscriber_;
-  auto new_data = std::make_shared<MessageT>();
-  rclcpp::MessageInfo message_info;
-  const bool success = subscriber->take(*new_data, message_info);
-  if (success) {
-    data_ = new_data;
-  }
-
-  return data_;
-}
-
-template <typename MessageT>
-typename MessageT::ConstSharedPtr Newest<MessageT>::take_data()
-{
-  auto & subscriber =
-    static_cast<InterProcessPollingSubscriber<MessageT, Newest> *>(this)->subscriber_;
-  auto new_data = std::make_shared<MessageT>();
-  rclcpp::MessageInfo message_info;
-  const bool success = subscriber->take(*new_data, message_info);
-  if (success) {
-    return new_data;
-  }
-  return nullptr;
-}
-
-template <typename MessageT>
-std::vector<typename MessageT::ConstSharedPtr> All<MessageT>::take_data()
-{
-  auto & subscriber =
-    static_cast<InterProcessPollingSubscriber<MessageT, All> *>(this)->subscriber_;
-  std::vector<typename MessageT::ConstSharedPtr> data;
-  rclcpp::MessageInfo message_info;
-  for (;;) {
-    auto datum = std::make_shared<MessageT>();
-    if (subscriber->take(*datum, message_info)) {
-      data.push_back(datum);
-    } else {
-      break;
-    }
-  }
-  return data;
-}
+// NOLINTBEGIN(build/namespaces, whitespace/line_length)
+// clang-format off
 
-}  // namespace polling_policy
+#pragma message("#include <autoware_utils/ros/polling_subscriber.hpp> is deprecated. Use #include <autoware_utils_rclcpp/polling_subscriber.hpp> instead.")
+#include <autoware_utils_rclcpp/polling_subscriber.hpp>
+namespace autoware_utils { using namespace autoware_utils_rclcpp; }
 
-}  // namespace autoware_utils
+// clang-format on
+// NOLINTEND
 
 #endif  // AUTOWARE_UTILS__ROS__POLLING_SUBSCRIBER_HPP_

autoware_utils/include/autoware_utils/ros/update_param.hpp

@@ -1,4 +1,4 @@
-// Copyright 2021 Tier IV, Inc.
+// Copyright 2025 The Autoware Contributors
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -15,29 +15,14 @@
 #ifndef AUTOWARE_UTILS__ROS__UPDATE_PARAM_HPP_
 #define AUTOWARE_UTILS__ROS__UPDATE_PARAM_HPP_
 
-#include <rclcpp/rclcpp.hpp>
+// NOLINTBEGIN(build/namespaces, whitespace/line_length)
+// clang-format off
 
-#include <string>
-#include <vector>
+#pragma message("#include <autoware_utils/ros/update_param.hpp> is deprecated. Use #include <autoware_utils_rclcpp/parameter.hpp> instead.")
+#include <autoware_utils_rclcpp/parameter.hpp>
+namespace autoware_utils { using namespace autoware_utils_rclcpp; }
 
-namespace autoware_utils
-{
-template <class T>
-bool update_param(
-  const std::vector<rclcpp::Parameter> & params, const std::string & name, T & value)
-{
-  const auto itr = std::find_if(
-    params.cbegin(), params.cend(),
-    [&name](const rclcpp::Parameter & p) { return p.get_name() == name; });
-
-  // Not found
-  if (itr == params.cend()) {
-    return false;
-  }
-
-  value = itr->template get_value<T>();
-  return true;
-}
-}  // namespace autoware_utils
+// clang-format on
+// NOLINTEND
 
 #endif  // AUTOWARE_UTILS__ROS__UPDATE_PARAM_HPP_