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avlite-executer-ROS2

Multiprocess ROS 2 executer for AVLite. Registers ROSExecuter and worker nodes (world, planner, controller, perception) with Autoware-compatible topics and GUI mirroring via TopicMirrorBridge.

Plugin name: avlite-executer-ROS2

Documentation

Full reference: docs/ros2-executer-plugin.md

Build docs locally:

pip install mkdocs mkdocs-material
mkdocs serve

Install

Monorepo development — register the repo-relative path:

c40_community_plugins:
  avlite-executer-ROS2: related-repos/avlite-executer-ROS2
c40_executer_type: ROSExecuter
c40_default_plugins:
  - p50_headless_mode

Standalone clone:

git clone https://github.com/AV-Lab/avlite-executer-ROS2 \
  ~/.local/share/avlite/plugins/avlite-executer-ROS2

Requires AVLite, ROS 2 (Humble+), and optionally autoware_auto_msgs.

Optional bridge plugins: avlite-bridge-carla, avlite-bridge-gazebo, avlite-bridge-ROS2.

Configuration

Plugin settings: ~/.config/avlite/plugin_avlite-executer-ROS2.yaml. Shipped defaults (monorepo / AVLite clone): configs/plugin_avlite-executer-ROS2.yaml.

Key fields: sim_dt, replan_dt, control_dt, perception_dt, compute_planner, compute_controller, topic names.

Requirements

Source ROS 2, then:

pip install -r requirements.txt

Tests

From the AVLite repo root (with community plugin path configured):

pytest related-repos/avlite-executer-ROS2/tests/

Or from this directory after setting PYTHONPATH to the AVLite root.