feat(autoware_raw_vehicle_cmd_conveter): 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 SingleThreadedExecutor 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.

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[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 19.09%. Comparing base (54657b7) to head (b0cbaaa).
⚠️ Report is 17 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #12322      +/-   ##
==========================================
+ Coverage   18.54%   19.09%   +0.55%     
==========================================
  Files        1850     1880      +30     
  Lines      128011   129084    +1073     
  Branches    45591    48036    +2445     
==========================================
+ Hits        23736    24647     +911     
- Misses      84599    85398     +799     
+ Partials    19676    19039     -637     

Flag	Coverage Δ		*Carryforward flag
daily	21.01% <ø> (+<0.01%)	⬆️	Carriedforward from e26770b
daily-cuda	18.53% <ø> (+<0.01%)	⬆️	Carriedforward from e26770b
daily-humble-amd64-nocuda	21.02% <ø> (?)		Carriedforward from e26770b
differential	2.67% <ø> (?)
total-cuda	18.53% <ø> (+<0.01%)	⬆️	Carriedforward from e26770b
total-humble-cuda	18.54% <ø> (+<0.01%)	⬆️	Carriedforward from e26770b

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

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[Copilot]

Pull request overview

Adopts autoware_agnocast_wrapper for autoware_raw_vehicle_cmd_converter so the node can switch between the standard ROS 2 executor and CallbackIsolatedAgnocastExecutor (CIE) based on ENABLE_AGNOCAST.

Changes:

• Add autoware_agnocast_wrapper dependency to the package manifest.
• Update CMake to find/link autoware_agnocast_wrapper, run wrapper setup, and register the component with explicit ROS2/Agnocast executor options.

Reviewed changes

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

File	Description
vehicle/autoware_raw_vehicle_cmd_converter/package.xml	Adds the wrapper dependency needed to build/run with CIE support.
vehicle/autoware_raw_vehicle_cmd_converter/CMakeLists.txt	Integrates the wrapper into the build and swaps node registration to the wrapper macro with executor configuration.

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[satoshi-ota]

LGTM