AJD-568: Fix to processes dying randomly by introducing an autorespawning node container class

autoware_utils/CMakeLists.txt

@@ -2,12 +2,16 @@ cmake_minimum_required(VERSION 3.14)
 project(autoware_utils)
 
 find_package(autoware_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
+find_package(rclpy REQUIRED)
 autoware_package()
 
 ament_auto_add_library(autoware_utils SHARED
   src/autoware_utils.cpp
 )
 
+ament_python_install_package(${PROJECT_NAME})
+
 if(BUILD_TESTING)
   file(GLOB_RECURSE test_files test/**/*.cpp)
   ament_add_ros_isolated_gtest(test_autoware_utils ${test_files})

autoware_utils/autoware_utils/respawnable_node_container.py

@@ -0,0 +1,32 @@
+from typing import List
+from typing import Optional
+
+from launch.some_substitutions_type import SomeSubstitutionsType
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+
+
+class RespawnableNodeContainer(ComposableNodeContainer):
+    """
+    Action that executes a container node for composable ROS nodes with fixed
+    respawn flag and time.
+    """
+
+    def __init__(
+        self,
+        *,
+        name: SomeSubstitutionsType,
+        namespace: SomeSubstitutionsType,
+        composable_node_descriptions: Optional[List[ComposableNode]] = None,
+        respawn=True,
+        respawn_delay=0.05,
+        **kwargs
+    ) -> None:
+        super().__init__(
+            name=name,
+            namespace=namespace,
+            composable_node_descriptions=composable_node_descriptions,
+            respawn=respawn,
+            respawn_delay=respawn_delay,
+            **kwargs
+        )

autoware_utils/package.xml

@@ -8,11 +8,13 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>ament_cmake_python</buildtool_depend>
 
   <build_depend>autoware_cmake</build_depend>
 
   <depend>builtin_interfaces</depend>
   <depend>rclcpp</depend>
+  <depend>rclpy</depend>
 
   <test_depend>ament_cmake_ros</test_depend>