feat: add external cmd selector package (autowarefoundation#78)

* Porting remote cmd selector (autowarefoundation#1286) * Feature/add remote cmd selector (autowarefoundation#1179) * Add in/out args of remote_cmd_converter.launch Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Change remote input topic of vehicle_cmd_gate Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add msgs for remote_cmd_selector Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add remote_cmd_selector Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Rename remote_cmd_selector to external_cmd_selector Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Remove VehicleCommand support in autoware_joy_controller Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Support external_cmd_source in autoware_joy_controller.launch (autowarefoundation#1194) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix porting miss Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * fix missing function * modify xml format * fix include guard * add callback group * modify remap name * Revert "modify remap name" This reverts commit 169cc8d28442825b1d61b0439b9892c913304527. * change topic name * use rclcpp_component * Remove autoware_debug_msgs from autoware_joy_controller Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Change default mode of autoware_joy_controller Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> * fix ament (autowarefoundation#1307) * Ros2/create/external commands (autowarefoundation#1299) * add remote message * add remote commands * fix topic * remove unnecessary topic * remove unused topic * add external cmd instead * ToExternalComd * fix topic in joy con * Fix -Wunused-parameter (autowarefoundation#1836) * Fix -Wunused-parameter Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix mistake Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * fix spell * Fix lint issues Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Ignore flake8 warnings Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> * suppress warnings for control packages (autowarefoundation#1892) * add Werror * add maybe unused * Add autoware api (autowarefoundation#1979) * Move launch file of external_cmd_selector (autowarefoundation#2017) * Move launch file of external_cmd_selector Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Add copyright Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Use DeclareLaunchArgument Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix external command api name Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Move common parameters Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix format Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix format Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Use EmergencyState instead of deprecated EmergencyMode (autowarefoundation#2030) * Use EmergencyState instead of deprecated EmergencyMode Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Use stamped type Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * add sort-package-xml hook in pre-commit (autowarefoundation#1881) * add sort xml hook in pre-commit * change retval to exit_status * rename * add prettier plugin-xml * use early return * add license note * add tier4 license * restore prettier * change license order * move local hooks to public repo * move prettier-xml to pre-commit-hooks-ros * update version for bug-fix * apply pre-commit * Improve diagnostic tree for future extensions (autowarefoundation#2153) * change resource monitoring group * implement diagnostic tree proposal * rename v2x param file * add v2x to launch * add dummy analyzer to avoid format error * modify external control * rename vehicle_ecu_errors * fixup * remove num_items * fix error * add heartbeat to external command selector * Restore sensing/node_alive_monitoring * Update system/autoware_error_monitor/config/diagnostic_aggregator/sensing.param.yaml Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * add sensor_kit arg for diagnostic_agg * change sensor_kit's default value * add _ prefix to hide parameter file * delete dummy parameter * change to use update_functions * add extra_agg_config_file_vehicle * change initializer * remove line * Update system/autoware_error_monitor/config/diagnostic_aggregator/system.param.yaml Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * change hearbeat diag * add clock group * update sensing diag * Remove discard and v2x Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix heartbeat name Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add remote_external_control Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add external_control Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Rename remote_control to external_control Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Rename command_gate to control_command_gate Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Simplify resource monitoring Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Remove sensing from autoware_error_monitor.param.yaml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Remove trajectory_deviation Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Remove vehicle specific settings Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add blank lines Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Ignore matching_score error Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Remove debug_data_logger Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add trajectory_validation Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Specify children for performance_monitoring Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Comment out route_validation Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Revert "Remove trajectory_deviation" This reverts commit 199132f1a6c7083440f0ef9a956b0663d45f4531. * Remove control_command_topic_status Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Disable some diagnostics for planning simulator Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add TODO comment Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Enable /autoware/vehicle/node_alive_monitoring in planning simulator Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix missing dependency of external_cmd_selector (autowarefoundation#2324) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Change formatter to clang-format and black (autowarefoundation#2332) * Revert "Temporarily comment out pre-commit hooks" This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. * Replace ament_lint_common with autoware_lint_common Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Remove ament_cmake_uncrustify and ament_clang_format Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Apply Black Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Apply clang-format Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix build errors Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix for cpplint * Fix include double quotes to angle brackets Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Apply clang-format Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix build errors Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add COLCON_IGNORE (autowarefoundation#500) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * port part of external_cmd_selector (autowarefoundation#497) * port part of external_cmd_selector Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp> * add convert function Signed-off-by: kosuke murakami <kosuke.murakami@tier4.jp> * port signal Signed-off-by: kosuke murakami <kosuke.murakami@tier4.jp> * Update control/external_cmd_selector/include/external_cmd_selector/external_cmd_selector_node.hpp Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> * Fix publisher in external_cmd_selector (autowarefoundation#676) Co-authored-by: Keisuke Shima <keisuke.shima@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: Kosuke Murakami <kosuke.murakami@tier4.jp> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com>
satoshi-ota · Dec 3, 2021 · bbbea7b · bbbea7b
1 parent 5d8f891
commit bbbea7b
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diff --git a/control/external_cmd_selector/CMakeLists.txt b/control/external_cmd_selector/CMakeLists.txt
@@ -0,0 +1,34 @@
+cmake_minimum_required(VERSION 3.5)
+project(external_cmd_selector)
+
+### Compile options
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+  set(CMAKE_CXX_EXTENSIONS OFF)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
+endif()
+
+### Dependencies
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+ament_auto_add_library(external_cmd_selector_node SHARED
+  src/external_cmd_selector/external_cmd_selector_node.cpp
+)
+
+rclcpp_components_register_node(external_cmd_selector_node
+  PLUGIN "ExternalCmdSelector"
+  EXECUTABLE external_cmd_selector
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package(INSTALL_TO_SHARE
+  launch
+)
diff --git a/control/external_cmd_selector/include/external_cmd_selector/external_cmd_selector_node.hpp b/control/external_cmd_selector/include/external_cmd_selector/external_cmd_selector_node.hpp
@@ -0,0 +1,105 @@
+// Copyright 2020 Tier IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// 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 EXTERNAL_CMD_SELECTOR__EXTERNAL_CMD_SELECTOR_NODE_HPP_
+#define EXTERNAL_CMD_SELECTOR__EXTERNAL_CMD_SELECTOR_NODE_HPP_
+
+#include <diagnostic_updater/diagnostic_updater.hpp>
+#include <diagnostic_updater/update_functions.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+#include <autoware_auto_vehicle_msgs/msg/gear_command.hpp>
+#include <autoware_auto_vehicle_msgs/msg/hazard_lights_command.hpp>
+#include <autoware_auto_vehicle_msgs/msg/turn_indicators_command.hpp>
+#include <autoware_control_msgs/msg/external_command_selector_mode.hpp>
+#include <autoware_control_msgs/srv/external_command_select.hpp>
+#include <autoware_external_api_msgs/msg/control_command_stamped.hpp>
+#include <autoware_external_api_msgs/msg/gear_shift_stamped.hpp>
+#include <autoware_external_api_msgs/msg/heartbeat.hpp>
+#include <autoware_external_api_msgs/msg/turn_signal_stamped.hpp>
+
+#include <memory>
+
+class ExternalCmdSelector : public rclcpp::Node
+{
+public:
+  explicit ExternalCmdSelector(const rclcpp::NodeOptions & node_options);
+
+private:
+  using CommandSourceSelect = autoware_control_msgs::srv::ExternalCommandSelect;
+  using CommandSourceMode = autoware_control_msgs::msg::ExternalCommandSelectorMode;
+  using InternalGearShift = autoware_auto_vehicle_msgs::msg::GearCommand;
+  using InternalTurnSignal = autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand;
+  using InternalHazardSignal = autoware_auto_vehicle_msgs::msg::HazardLightsCommand;
+  using InternalHeartbeat = autoware_external_api_msgs::msg::Heartbeat;
+  using ExternalControlCommand = autoware_external_api_msgs::msg::ControlCommandStamped;
+  using ExternalGearShift = autoware_external_api_msgs::msg::GearShiftStamped;
+  using ExternalTurnSignal = autoware_external_api_msgs::msg::TurnSignalStamped;
+  using ExternalHeartbeat = autoware_external_api_msgs::msg::Heartbeat;
+
+  // CallbackGroups
+  rclcpp::CallbackGroup::SharedPtr callback_group_subscribers_;
+  rclcpp::CallbackGroup::SharedPtr callback_group_services_;
+
+  // Publisher
+  rclcpp::Publisher<CommandSourceMode>::SharedPtr pub_current_selector_mode_;
+  rclcpp::Publisher<ExternalControlCommand>::SharedPtr pub_control_cmd_;
+  rclcpp::Publisher<InternalGearShift>::SharedPtr pub_shift_cmd_;
+  rclcpp::Publisher<InternalTurnSignal>::SharedPtr pub_turn_signal_cmd_;
+  rclcpp::Publisher<InternalHazardSignal>::SharedPtr pub_hazard_signal_cmd_;
+  rclcpp::Publisher<InternalHeartbeat>::SharedPtr pub_heartbeat_;
+
+  // Subscriber
+  rclcpp::Subscription<ExternalControlCommand>::SharedPtr sub_local_control_cmd_;
+  rclcpp::Subscription<ExternalGearShift>::SharedPtr sub_local_shift_cmd_;
+  rclcpp::Subscription<ExternalTurnSignal>::SharedPtr sub_local_turn_signal_cmd_;
+  rclcpp::Subscription<ExternalHeartbeat>::SharedPtr sub_local_heartbeat_;
+
+  rclcpp::Subscription<ExternalControlCommand>::SharedPtr sub_remote_control_cmd_;
+  rclcpp::Subscription<ExternalGearShift>::SharedPtr sub_remote_shift_cmd_;
+  rclcpp::Subscription<ExternalTurnSignal>::SharedPtr sub_remote_turn_signal_cmd_;
+  rclcpp::Subscription<ExternalHeartbeat>::SharedPtr sub_remote_heartbeat_;
+
+  void onLocalControlCmd(const ExternalControlCommand::ConstSharedPtr msg);
+  void onLocalShiftCmd(const ExternalGearShift::ConstSharedPtr msg);
+  void onLocalTurnSignalCmd(const ExternalTurnSignal::ConstSharedPtr msg);
+  void onLocalHeartbeat(const ExternalHeartbeat::ConstSharedPtr msg);
+
+  void onRemoteControlCmd(const ExternalControlCommand::ConstSharedPtr msg);
+  void onRemoteShiftCmd(const ExternalGearShift::ConstSharedPtr msg);
+  void onRemoteTurnSignalCmd(const ExternalTurnSignal::ConstSharedPtr msg);
+  void onRemoteHeartbeat(const ExternalHeartbeat::ConstSharedPtr msg);
+
+  // Service
+  rclcpp::Service<CommandSourceSelect>::SharedPtr srv_select_external_command_;
+  CommandSourceMode current_selector_mode_;
+
+  bool onSelectExternalCommandService(
+    const CommandSourceSelect::Request::SharedPtr req,
+    const CommandSourceSelect::Response::SharedPtr res);
+
+  // Timer
+  rclcpp::TimerBase::SharedPtr timer_;
+
+  void onTimer();
+
+  // Converter
+  static InternalGearShift convert(const ExternalGearShift & command);
+  static InternalHeartbeat convert(const ExternalHeartbeat & command);
+
+  // Diagnostics Updater
+  diagnostic_updater::Updater updater_{this};
+};
+
+#endif  // EXTERNAL_CMD_SELECTOR__EXTERNAL_CMD_SELECTOR_NODE_HPP_
diff --git a/control/external_cmd_selector/launch/external_cmd_selector.launch.py b/control/external_cmd_selector/launch/external_cmd_selector.launch.py
@@ -0,0 +1,123 @@
+# Copyright 2021 Tier IV, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# 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.
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import LoadComposableNodes
+from launch_ros.descriptions import ComposableNode
+
+
+def _create_mapping_tuple(name):
+    return ("~/" + name, LaunchConfiguration(name))
+
+
+def generate_launch_description():
+
+    arguments = [
+        # component
+        DeclareLaunchArgument("use_intra_process"),
+        DeclareLaunchArgument("target_container"),
+        # settings
+        DeclareLaunchArgument(
+            "initial_selector_mode", default_value="local", choices=["local", "remote"]
+        ),
+        # service
+        DeclareLaunchArgument(
+            "service/select_external_command", default_value="~/select_external_command"
+        ),
+        # local input
+        DeclareLaunchArgument(
+            "input/local/control_cmd", default_value="/api/external/set/command/local/control"
+        ),
+        DeclareLaunchArgument(
+            "input/local/shift_cmd", default_value="/api/external/set/command/local/shift"
+        ),
+        DeclareLaunchArgument(
+            "input/local/turn_signal_cmd",
+            default_value="/api/external/set/command/local/turn_signal",
+        ),
+        DeclareLaunchArgument(
+            "input/local/heartbeat", default_value="/api/external/set/command/local/heartbeat"
+        ),
+        # remote input
+        DeclareLaunchArgument(
+            "input/remote/control_cmd", default_value="/api/external/set/command/remote/control"
+        ),
+        DeclareLaunchArgument(
+            "input/remote/shift_cmd", default_value="/api/external/set/command/remote/shift"
+        ),
+        DeclareLaunchArgument(
+            "input/remote/turn_signal_cmd",
+            default_value="/api/external/set/command/remote/turn_signal",
+        ),
+        DeclareLaunchArgument(
+            "input/remote/heartbeat", default_value="/api/external/set/command/remote/heartbeat"
+        ),
+        # output
+        DeclareLaunchArgument(
+            "output/control_cmd", default_value="/external/selected/external_control_cmd"
+        ),
+        DeclareLaunchArgument("output/gear_cmd", default_value="/external/selected/gear_cmd"),
+        DeclareLaunchArgument(
+            "output/turn_indicators_cmd", default_value="/external/selected/turn_indicators_cmd"
+        ),
+        DeclareLaunchArgument(
+            "output/hazard_lights_cmd", default_value="/external/selected/hazard_lights_cmd"
+        ),
+        DeclareLaunchArgument("output/heartbeat", default_value="/external/selected/heartbeat"),
+        DeclareLaunchArgument(
+            "output/current_selector_mode", default_value="~/current_selector_mode"
+        ),
+    ]
+
+    component = ComposableNode(
+        package="external_cmd_selector",
+        plugin="ExternalCmdSelector",
+        name="external_cmd_selector",
+        remappings=[
+            _create_mapping_tuple("service/select_external_command"),
+            _create_mapping_tuple("input/local/control_cmd"),
+            _create_mapping_tuple("input/local/shift_cmd"),
+            _create_mapping_tuple("input/local/turn_signal_cmd"),
+            _create_mapping_tuple("input/local/heartbeat"),
+            _create_mapping_tuple("input/remote/control_cmd"),
+            _create_mapping_tuple("input/remote/shift_cmd"),
+            _create_mapping_tuple("input/remote/turn_signal_cmd"),
+            _create_mapping_tuple("input/remote/heartbeat"),
+            _create_mapping_tuple("output/control_cmd"),
+            _create_mapping_tuple("output/gear_cmd"),
+            _create_mapping_tuple("output/turn_indicators_cmd"),
+            _create_mapping_tuple("output/hazard_lights_cmd"),
+            _create_mapping_tuple("output/heartbeat"),
+            _create_mapping_tuple("output/current_selector_mode"),
+        ],
+        parameters=[
+            {
+                "initial_selector_mode": LaunchConfiguration("initial_selector_mode"),
+            }
+        ],
+        extra_arguments=[
+            {
+                "use_intra_process_comms": LaunchConfiguration("use_intra_process"),
+            }
+        ],
+    )
+
+    loader = LoadComposableNodes(
+        composable_node_descriptions=[component],
+        target_container=LaunchConfiguration("target_container"),
+    )
+
+    return LaunchDescription(arguments + [loader])
diff --git a/control/external_cmd_selector/launch/external_cmd_selector.launch.xml b/control/external_cmd_selector/launch/external_cmd_selector.launch.xml
@@ -0,0 +1,49 @@
+<launch>
+
+  <!-- settings -->
+  <arg name="initial_selector_mode" default="local" description="local, remote" />
+
+  <!-- service -->
+  <arg name="service/select_external_command" default="~/select_external_command" />
+
+  <!-- input local -->
+  <arg name="input/local/control_cmd" default="/api/external/set/command/local/control" />
+  <arg name="input/local/shift_cmd" default="/api/external/set/command/local/shift" />
+  <arg name="input/local/turn_signal_cmd" default="/api/external/set/command/local/turn_signal" />
+  <arg name="input/local/heartbeat" default="/api/external/set/command/local/heartbeat" />
+
+  <!-- input remote -->
+  <arg name="input/remote/control_cmd" default="/api/external/set/command/remote/control" />
+  <arg name="input/remote/shift_cmd" default="/api/external/set/command/remote/shift" />
+  <arg name="input/remote/turn_signal_cmd" default="/api/external/set/command/remote/turn_signal" />
+  <arg name="input/remote/heartbeat" default="/api/external/set/command/remote/heartbeat" />
+
+  <!-- output -->
+  <arg name="output/control_cmd" default="/external/selected/external_control_cmd" />
+  <arg name="output/gear_cmd" default="/external/selected/gear_cmd" />
+  <arg name="output/turn_indicators_cmd" default="/external/selected/turn_indicators_cmd" />
+  <arg name="output/hazard_lights_cmd" default="/external/selected/hazard_lights_cmd" />
+  <arg name="output/heartbeat" default="/external/selected/heartbeat" />
+  <arg name="output/current_selector_mode" default="~/current_selector_mode" />
+
+  <!-- node -->
+  <node pkg="external_cmd_selector" exec="external_cmd_selector" name="external_cmd_selector" output="screen">
+    <remap from="~/service/select_external_command" to="$(var service/select_external_command)" />
+    <remap from="~/input/local/control_cmd" to="$(var input/local/control_cmd)" />
+    <remap from="~/input/local/shift_cmd" to="$(var input/local/shift_cmd)" />
+    <remap from="~/input/local/turn_signal_cmd" to="$(var input/local/turn_signal_cmd)" />
+    <remap from="~/input/local/heartbeat" to="$(var input/local/heartbeat)" />
+    <remap from="~/input/remote/control_cmd" to="$(var input/remote/control_cmd)" />
+    <remap from="~/input/remote/shift_cmd" to="$(var input/remote/shift_cmd)" />
+    <remap from="~/input/remote/turn_signal_cmd" to="$(var input/remote/turn_signal_cmd)" />
+    <remap from="~/input/remote/heartbeat" to="$(var input/remote/heartbeat)" />
+    <remap from="~/output/control_cmd" to="$(var output/control_cmd)" />
+    <remap from="~/output/gear_cmd" to="$(var output/gear_cmd)" />
+    <remap from="~/output/turn_indicators_cmd" to="$(var output/turn_indicators_cmd)" />
+    <remap from="~/output/hazard_lights_cmd" to="$(var output/hazard_lights_cmd)" />
+    <remap from="~/output/heartbeat" to="$(var output/heartbeat)" />
+    <remap from="~/output/current_selector_mode" to="$(var output/current_selector_mode)" />
+    <param name="initial_selector_mode" value="$(var initial_selector_mode)" />
+  </node>
+
+</launch>
diff --git a/control/external_cmd_selector/package.xml b/control/external_cmd_selector/package.xml
@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>external_cmd_selector</name>
+  <version>0.1.0</version>
+  <description>The external_cmd_selector package</description>
+  <maintainer email="kenji.miyake@tier4.jp">Kenji Miyake</maintainer>
+  <author email="kenji.miyake@tier4.jp">Kenji Miyake</author>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <depend>autoware_auto_vehicle_msgs</depend>
+  <depend>autoware_control_msgs</depend>
+  <depend>autoware_external_api_msgs</depend>
+  <depend>autoware_iv_auto_msgs_converter</depend>
+  <depend>diagnostic_updater</depend>
+  <depend>geometry_msgs</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
+  <depend>std_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>