rely_trajectry.py

#!/usr/bin/env python3

import rclpy
from rclpy.node import Node
from autoware_auto_planning_msgs.msg import Trajectory
import threading

class RelayTrajectoryNode(Node):

    def __init__(self):
        super().__init__('relay_trajectory')
        self.subscription = self.create_subscription(
            Trajectory,
            '/tmp/planning/scenario_planning/trajectory',
            self.listener_callback,
            10)
        self.publisher = self.create_publisher(Trajectory, '/planning/scenario_planning/trajectory', 10)
        self.running = True

    def listener_callback(self, msg):
        if self.running:
            self.publisher.publish(msg)

def main(args=None):
    rclpy.init(args=args)
    node = RelayTrajectoryNode()

    def input_thread():
        nonlocal node
        while True:
            user_input = input("Enter 'y' to stop publishing: ")
            if user_input.lower() == 'y':
                node.running = False
                print("Publishing stopped.")
                break

    thread = threading.Thread(target=input_thread)
    thread.start()

    rclpy.spin(node)

    thread.join()
    node.destroy_node()
    rclpy.shutdown()

if __name__ == '__main__':
    main()