feat(voxel_grid_based_euclidean_cluster): use CallbackIsolatedAgnocastExecutor for voxel_grid_based_euclidean_cluster

[Koichi98]

Description

Use CallbackIsolatedAgnocastExecutor (CIE) for voxel_grid_based_euclidean_cluster node, 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: Set SingleThreadedExecutor explicitly for ROS_EXECUTOR and changed to CallbackIsolatedAgnocastExecutor for AGNOCAST_EXECUTOR option.

• voxel_grid_based_euclidean_cluster.launch.xml: Pass use_multithread=true to agnocast_env.launch.xml so that agnocast_component_container_cie is used when ENABLE_AGNOCAST=1. Also pass container_package and container_executable to the Python launch file.

• voxel_grid_based_euclidean_cluster.launch.xml: Pass container_package and container_executable to the Python launch file. -

Related links

• Parent Issue: Apply CallbackIsolatedAgnocastExecutor (CIE) to safety-/performance-critical nodes autoware_core#968

• AutowareDiscussion about adopting CIE

• What is autoware_agnocast_wrapper?

How was this PR tested?

• Evaluator passed: https://evaluation.tier4.jp/evaluation/reports/3ee70e2f-cf2b-5e96-a27d-ca56d525fecf?project_id=x2_dev
• Verification in Lsim (both ENABLE_AGNOCAST=0 and ENABLE_AGNOCAST=1).

Notes for reviewers

Please review the following aspects:

• Verify that all relevant CMakeLists.txt for voxel_grid_based_euclidean_cluster node have been updated (no missed files).

  • Our current target is X2 v4.4.0, so please let us know if we have applied CIE to any nodes that do not run with that version.

• 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 rclcpp::executors::SingleThreadedExecutor or rclcpp_components::component_container
  2. The node has multiple callback groups (the default is one)
  3. Shared variables are accessed across callback groups without proper mutex protection

  Note: Nodes already running on MultiThreadedExecutor (or component_container_mt) are not affected, as their callbacks are already executed concurrently.

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::executors::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 rclcpp::executors::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 19.03%. Comparing base (54657b7) to head (acfe74d).
⚠️ Report is 17 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #12361      +/-   ##
==========================================
+ Coverage   18.54%   19.03%   +0.49%     
==========================================
  Files        1850     1880      +30     
  Lines      128011   129149    +1138     
  Branches    45591    47993    +2402     
==========================================
+ Hits        23736    24581     +845     
- Misses      84599    85482     +883     
+ Partials    19676    19086     -590     

Flag	Coverage Δ		*Carryforward flag
daily	21.01% <ø> (+<0.01%)	⬆️	Carriedforward from 9059650
daily-cuda	18.53% <ø> (+<0.01%)	⬆️	Carriedforward from 9059650
differential	2.55% <ø> (?)
differential-cuda	2.12% <ø> (?)
total-cuda	18.53% <ø> (+<0.01%)	⬆️	Carriedforward from 9059650
total-humble-cuda	18.54% <ø> (+<0.01%)	⬆️	Carriedforward from 9059650

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