rtc_replayer

Purpose

The current issue for RTC commands is that service is not recorded to rosbag, so it's very hard to analyze what was happened exactly. So this package makes it possible to replay rtc commands service from rosbag rtc status topic to resolve that issue.

Inputs / Outputs

Input

Name	Type	Description
/debug/rtc_status	tier4_rtc_msgs::msg::CooperateStatusArray	CooperateStatusArray that is recorded in rosbag

Output

Name	Type	Description
/api/external/set/rtc_commands	tier4_rtc_msgs::msg::CooperateCommands	CooperateCommands that is replayed by this package

Inner-workings / Algorithms

@startuml
title rtc replayer
start

:rosbag;

:rtc_replayer;

:rtc_interface;

end

@enduml

Assumptions / Known limits

This package can't replay CooperateCommands correctly if CooperateStatusArray is not stable. And this replay is always later one step than actual however it will not affect much for behavior.

Future extensions / Unimplemented parts

tbd.