feat: adopt cie

[TetsuKawa]

Description

Apply autoware_agnocast_wrapper to enable CallbackIsolatedAgnocastExecutor (CIE) for this package, as part of the effort to achieve middleware-transparent scheduling and optimize end-to-end response time across Autoware. By going through autoware_agnocast_wrapper, CIE activation is controlled by the ENABLE_AGNOCAST environment variable — when unset or 0, the node runs with the standard ROS 2 executor as before; when set to 1, it switches to CallbackIsolatedAgnocastExecutor.

Changes

• CMakeLists.txt: Replaced rclcpp_components_register_node with autoware_agnocast_wrapper_register_node, adding ROS2_EXECUTOR MultiThreadedExecutor and AGNOCAST_EXECUTOR CallbackIsolatedAgnocastExecutor options.
• package.xml: Added autoware_agnocast_wrapper.

Related links

• AutowareDiscussion about adopting CIE
• What is autoware_agnocast_wrapper?

How was this PR tested?

• Evaluator passed.

Notes for reviewers

Please review the following aspects:

• Verify that all relevant CMakeLists.txt and launch files in this package have been updated (no missed files).
• If the node meets all of the following conditions, please check for potential race conditions (see Effects on system behavior for the reason):
  1. The node was originally running on a SingleThreadedExecutor
  2. The node has multiple callback groups
  3. Shared variables are accessed across callback groups without proper mutex protection

Interface changes

None.

Effects on system behavior

When ENABLE_AGNOCAST=0 (default), there is no change in behavior at all — the node runs with the standard ROS 2 executor exactly as before.

When ENABLE_AGNOCAST=1, the executor switches to CallbackIsolatedAgnocastExecutor (CIE). Internally, CIE creates a dedicated rclcpp::SingleThreadedExecutor for each callback group, so the fundamental scheduling behavior within each group remains almost identical. The key difference is that, for nodes originally using SingleThreadedExecutor, callback groups now run in parallel across separate threads, similar to MultiThreadedExecutor.

[github-actions]

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[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 18.52%. Comparing base (54657b7) to head (0139572).
⚠️ Report is 16 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #12318      +/-   ##
==========================================
- Coverage   18.54%   18.52%   -0.02%     
==========================================
  Files        1850     1854       +4     
  Lines      128011   128003       -8     
  Branches    45591    45564      -27     
==========================================
- Hits        23736    23715      -21     
- Misses      84599    84631      +32     
+ Partials    19676    19657      -19     

Flag	Coverage Δ		*Carryforward flag
daily	20.87% <ø> (-0.14%)	⬇️	Carriedforward from 0f1cf25
daily-cuda	18.39% <ø> (-0.14%)	⬇️	Carriedforward from 0f1cf25
differential	0.00% <ø> (?)
total-cuda	18.50% <ø> (-0.03%)	⬇️	Carriedforward from 0f1cf25
total-humble-cuda	?

*This pull request uses carry forward flags. Click here to find out more.

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[Copilot]

Pull request overview

This PR adopts autoware_agnocast_wrapper to allow switching the node’s executor between standard ROS 2 and CallbackIsolatedAgnocastExecutor (CIE) via the ENABLE_AGNOCAST environment variable.

Changes:

• Adds autoware_agnocast_wrapper as a package dependency.
• Updates CMake to find/link/setup autoware_agnocast_wrapper and registers the node via the wrapper macro with both ROS 2 and agnocast executor options.

Reviewed changes

Copilot reviewed 2 out of 2 changed files in this pull request and generated 1 comment.

File	Description
system/autoware_topic_relay_controller/package.xml	Adds runtime/build dependency on autoware_agnocast_wrapper.
system/autoware_topic_relay_controller/CMakeLists.txt	Switches node registration to autoware_agnocast_wrapper_* macros and wires wrapper setup/deps.

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