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feat(ad-api): update to latest message #254

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Nov 21, 2022
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feat(ad-api): update to latest message #254

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4 changes: 3 additions & 1 deletion docs/design/autoware-interfaces/ad-api/list/api/fail_safe/mrm_state.md
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# /api/fail_safe/mrm_state

- Method: notification
- Type: [autoware_ad_api_msgs/msg/MrmState](../../../types/autoware_ad_api_msgs/msg/mrm_state.md)
- Type: [autoware_adapi_v1_msgs/msg/MrmState](../../../types/autoware_adapi_v1_msgs/msg/mrm_state.md)

## Description

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4 changes: 3 additions & 1 deletion docs/design/autoware-interfaces/ad-api/list/api/interface/version.md
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# /api/interface/version

- Method: function call
- Type: [autoware_ad_api_msgs/srv/InterfaceVersion](../../../types/autoware_ad_api_msgs/srv/interface_version.md)
- Type: [autoware_adapi_version_msgs/srv/InterfaceVersion](../../../types/autoware_adapi_version_msgs/srv/interface_version.md)

## Description

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4 changes: 3 additions & 1 deletion ...design/autoware-interfaces/ad-api/list/api/localization/initialization_state.md
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# /api/localization/initialization_state

- Method: notification
- Type: [autoware_ad_api_msgs/msg/LocalizationInitializationState](../../../types/autoware_ad_api_msgs/msg/localization_initialization_state.md)
- Type: [autoware_adapi_v1_msgs/msg/LocalizationInitializationState](../../../types/autoware_adapi_v1_msgs/msg/localization_initialization_state.md)

## Description

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10 changes: 6 additions & 4 deletions docs/design/autoware-interfaces/ad-api/list/api/localization/initialize.md
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# /api/localization/initialize

- Method: function call
- Type: [autoware_ad_api_msgs/srv/InitializeLocalization](../../../types/autoware_ad_api_msgs/srv/initialize_localization.md)
- Type: [autoware_adapi_v1_msgs/srv/InitializeLocalization](../../../types/autoware_adapi_v1_msgs/srv/initialize_localization.md)

## Description

Expand All @@ -15,6 +17,6 @@ Request to initialize localization. For details, see the [pose state](./index.md

## Response

| Name | Type | Description |
| ------ | --------------------------------------- | --------------- |
| status | autoware_ad_api_msgs/msg/ResponseStatus | response status |
| Name | Type | Description |
| ------ | ----------------------------------------- | --------------- |
| status | autoware_adapi_v1_msgs/msg/ResponseStatus | response status |
10 changes: 6 additions & 4 deletions docs/design/autoware-interfaces/ad-api/list/api/motion/accept_start.md
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# /api/motion/accept_start

- Method: function call
- Type: [autoware_ad_api_msgs/srv/AcceptStart](../../../types/autoware_ad_api_msgs/srv/accept_start.md)
- Type: [autoware_adapi_v1_msgs/srv/AcceptStart](../../../types/autoware_adapi_v1_msgs/srv/accept_start.md)

## Description

Expand All @@ -13,6 +15,6 @@ None

## Response

| Name | Type | Description |
| ------ | --------------------------------------- | --------------- |
| status | autoware_ad_api_msgs/msg/ResponseStatus | response status |
| Name | Type | Description |
| ------ | ----------------------------------------- | --------------- |
| status | autoware_adapi_v1_msgs/msg/ResponseStatus | response status |
4 changes: 3 additions & 1 deletion docs/design/autoware-interfaces/ad-api/list/api/motion/state.md
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# /api/motion/state

- Method: notification
- Type: [autoware_ad_api_msgs/msg/MotionState](../../../types/autoware_ad_api_msgs/msg/motion_state.md)
- Type: [autoware_adapi_v1_msgs/msg/MotionState](../../../types/autoware_adapi_v1_msgs/msg/motion_state.md)

## Description

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10 changes: 6 additions & 4 deletions ...sign/autoware-interfaces/ad-api/list/api/operation_mode/change_to_autonomous.md
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# /api/operation_mode/change_to_autonomous

- Method: function call
- Type: [autoware_ad_api_msgs/srv/ChangeOperationMode](../../../types/autoware_ad_api_msgs/srv/change_operation_mode.md)
- Type: [autoware_adapi_v1_msgs/srv/ChangeOperationMode](../../../types/autoware_adapi_v1_msgs/srv/change_operation_mode.md)

## Description

Expand All @@ -13,6 +15,6 @@ None

## Response

| Name | Type | Description |
| ------ | --------------------------------------- | --------------- |
| status | autoware_ad_api_msgs/msg/ResponseStatus | response status |
| Name | Type | Description |
| ------ | ----------------------------------------- | --------------- |
| status | autoware_adapi_v1_msgs/msg/ResponseStatus | response status |
10 changes: 6 additions & 4 deletions docs/design/autoware-interfaces/ad-api/list/api/operation_mode/change_to_local.md
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# /api/operation_mode/change_to_local

- Method: function call
- Type: [autoware_ad_api_msgs/srv/ChangeOperationMode](../../../types/autoware_ad_api_msgs/srv/change_operation_mode.md)
- Type: [autoware_adapi_v1_msgs/srv/ChangeOperationMode](../../../types/autoware_adapi_v1_msgs/srv/change_operation_mode.md)

## Description

Expand All @@ -13,6 +15,6 @@ None

## Response

| Name | Type | Description |
| ------ | --------------------------------------- | --------------- |
| status | autoware_ad_api_msgs/msg/ResponseStatus | response status |
| Name | Type | Description |
| ------ | ----------------------------------------- | --------------- |
| status | autoware_adapi_v1_msgs/msg/ResponseStatus | response status |
10 changes: 6 additions & 4 deletions docs/design/autoware-interfaces/ad-api/list/api/operation_mode/change_to_remote.md
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# /api/operation_mode/change_to_remote

- Method: function call
- Type: [autoware_ad_api_msgs/srv/ChangeOperationMode](../../../types/autoware_ad_api_msgs/srv/change_operation_mode.md)
- Type: [autoware_adapi_v1_msgs/srv/ChangeOperationMode](../../../types/autoware_adapi_v1_msgs/srv/change_operation_mode.md)

## Description

Expand All @@ -13,6 +15,6 @@ None

## Response

| Name | Type | Description |
| ------ | --------------------------------------- | --------------- |
| status | autoware_ad_api_msgs/msg/ResponseStatus | response status |
| Name | Type | Description |
| ------ | ----------------------------------------- | --------------- |
| status | autoware_adapi_v1_msgs/msg/ResponseStatus | response status |
10 changes: 6 additions & 4 deletions docs/design/autoware-interfaces/ad-api/list/api/operation_mode/change_to_stop.md
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# /api/operation_mode/change_to_stop

- Method: function call
- Type: [autoware_ad_api_msgs/srv/ChangeOperationMode](../../../types/autoware_ad_api_msgs/srv/change_operation_mode.md)
- Type: [autoware_adapi_v1_msgs/srv/ChangeOperationMode](../../../types/autoware_adapi_v1_msgs/srv/change_operation_mode.md)

## Description

Expand All @@ -13,6 +15,6 @@ None

## Response

| Name | Type | Description |
| ------ | --------------------------------------- | --------------- |
| status | autoware_ad_api_msgs/msg/ResponseStatus | response status |
| Name | Type | Description |
| ------ | ----------------------------------------- | --------------- |
| status | autoware_adapi_v1_msgs/msg/ResponseStatus | response status |
10 changes: 6 additions & 4 deletions .../autoware-interfaces/ad-api/list/api/operation_mode/disable_autoware_control.md
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# /api/operation_mode/disable_autoware_control

- Method: function call
- Type: [autoware_ad_api_msgs/srv/ChangeOperationMode](../../../types/autoware_ad_api_msgs/srv/change_operation_mode.md)
- Type: [autoware_adapi_v1_msgs/srv/ChangeOperationMode](../../../types/autoware_adapi_v1_msgs/srv/change_operation_mode.md)

## Description

Expand All @@ -14,6 +16,6 @@ None

## Response

| Name | Type | Description |
| ------ | --------------------------------------- | --------------- |
| status | autoware_ad_api_msgs/msg/ResponseStatus | response status |
| Name | Type | Description |
| ------ | ----------------------------------------- | --------------- |
| status | autoware_adapi_v1_msgs/msg/ResponseStatus | response status |
10 changes: 6 additions & 4 deletions ...n/autoware-interfaces/ad-api/list/api/operation_mode/enable_autoware_control.md
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# /api/operation_mode/enable_autoware_control

- Method: function call
- Type: [autoware_ad_api_msgs/srv/ChangeOperationMode](../../../types/autoware_ad_api_msgs/srv/change_operation_mode.md)
- Type: [autoware_adapi_v1_msgs/srv/ChangeOperationMode](../../../types/autoware_adapi_v1_msgs/srv/change_operation_mode.md)

## Description

Expand All @@ -14,6 +16,6 @@ None

## Response

| Name | Type | Description |
| ------ | --------------------------------------- | --------------- |
| status | autoware_ad_api_msgs/msg/ResponseStatus | response status |
| Name | Type | Description |
| ------ | ----------------------------------------- | --------------- |
| status | autoware_adapi_v1_msgs/msg/ResponseStatus | response status |
22 changes: 12 additions & 10 deletions docs/design/autoware-interfaces/ad-api/list/api/operation_mode/state.md
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# /api/operation_mode/state

- Method: notification
- Type: [autoware_ad_api_msgs/msg/OperationModeState](../../../types/autoware_ad_api_msgs/msg/operation_mode_state.md)
- Type: [autoware_adapi_v1_msgs/msg/OperationModeState](../../../types/autoware_adapi_v1_msgs/msg/operation_mode_state.md)

## Description

Get the operation mode state. For details, see the [operation mode](./index.md).

## Message

| Name | Type | Description |
| --------------------------- | ------ | -------------------------------------------------------- |
| operation_mode | uint16 | The selected command for Autoware control. |
| is_autoware_control_enabled | bool | True if vehicle control by Autoware is enabled. |
| is_in_transition | bool | True if the operation mode is in transition. |
| change_to_stop | bool | True if the operation mode can be changed to stop. |
| change_to_autonomous | bool | True if the operation mode can be changed to autonomous. |
| change_to_local | bool | True if the operation mode can be changed to local. |
| change_to_remote | bool | True if the operation mode can be changed to remote. |
| Name | Type | Description |
| ---------------------------- | ----- | -------------------------------------------------------- |
| mode | uint8 | The selected command for Autoware control. |
| is_autoware_control_enabled | bool | True if vehicle control by Autoware is enabled. |
| is_in_transition | bool | True if the operation mode is in transition. |
| is_stop_mode_available | bool | True if the operation mode can be changed to stop. |
| is_autonomous_mode_available | bool | True if the operation mode can be changed to autonomous. |
| is_local_mode_available | bool | True if the operation mode can be changed to local. |
| is_remote_mode_available | bool | True if the operation mode can be changed to remote. |
20 changes: 11 additions & 9 deletions docs/design/autoware-interfaces/ad-api/list/api/planning/steering_factors.md
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# /api/planning/steering_factors

- Method: realtime stream
- Type: [autoware_ad_api_msgs/msg/SteeringFactorArray](../../../types/autoware_ad_api_msgs/msg/steering_factor_array.md)
- Type: [autoware_adapi_v1_msgs/msg/SteeringFactorArray](../../../types/autoware_adapi_v1_msgs/msg/steering_factor_array.md)

## Description

Expand All @@ -10,11 +12,11 @@ For details, see the [planning](./index.md).

## Message

| Name | Type | Description |
| ----------------- | ---------------------- | ----------------------------------------------------- |
| factors.pose | geometry_msgs/msg/Pose | The pose related to the steering factor. |
| factors.distance | float32 | The distance from the vehicle head to the above pose. |
| factors.type | uint16 | The type of the steering factor. |
| factors.direction | uint16 | The direction of the steering factor. |
| factors.status | uint16 | The status of the steering factor. |
| factors.detail | string | The additional information of the steering factor. |
| Name | Type | Description |
| ----------------- | ------------------------- | ----------------------------------------------------- |
| factors.pose | geometry_msgs/msg/Pose[2] | The pose related to the steering factor. |
| factors.distance | float32[2] | The distance from the vehicle head to the above pose. |
| factors.type | uint16 | The type of the steering factor. |
| factors.direction | uint16 | The direction of the steering factor. |
| factors.status | uint16 | The status of the steering factor. |
| factors.detail | string | The additional information of the steering factor. |
4 changes: 3 additions & 1 deletion docs/design/autoware-interfaces/ad-api/list/api/planning/velocity_factors.md
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# /api/planning/velocity_factors

- Method: realtime stream
- Type: [autoware_ad_api_msgs/msg/VelocityFactorArray](../../../types/autoware_ad_api_msgs/msg/velocity_factor_array.md)
- Type: [autoware_adapi_v1_msgs/msg/VelocityFactorArray](../../../types/autoware_adapi_v1_msgs/msg/velocity_factor_array.md)

## Description

Expand Down
10 changes: 6 additions & 4 deletions docs/design/autoware-interfaces/ad-api/list/api/routing/clear_route.md
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# /api/routing/clear_route

- Method: function call
- Type: [autoware_ad_api_msgs/srv/ClearRoute](../../../types/autoware_ad_api_msgs/srv/clear_route.md)
- Type: [autoware_adapi_v1_msgs/srv/ClearRoute](../../../types/autoware_adapi_v1_msgs/srv/clear_route.md)

## Description

Expand All @@ -13,6 +15,6 @@ None

## Response

| Name | Type | Description |
| ------ | --------------------------------------- | --------------- |
| status | autoware_ad_api_msgs/msg/ResponseStatus | response status |
| Name | Type | Description |
| ------ | ----------------------------------------- | --------------- |
| status | autoware_adapi_v1_msgs/msg/ResponseStatus | response status |
11 changes: 7 additions & 4 deletions docs/design/autoware-interfaces/ad-api/list/api/routing/route.md
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# /api/routing/route

- Method: notification
- Type: [autoware_ad_api_msgs/msg/RouteOptional](../../../types/autoware_ad_api_msgs/msg/route_optional.md)
- Type: [autoware_adapi_v1_msgs/msg/Route](../../../types/autoware_adapi_v1_msgs/msg/route.md)

## Description

Get the route with the waypoint segments in lanelet format. It is empty if route is not set.

## Message

| Name | Type | Description |
| ----- | ----------------------------------- | --------------------------- |
| route | autoware_ad_api_msgs/msg/Route[<=1] | The route in lanelet format |
| Name | Type | Description |
| ------ | ----------------------------------------- | ------------------------------ |
| header | std_msgs/msg/Header | header for pose transformation |
| data | autoware_adapi_v1_msgs/msg/RouteData[<=1] | The route in lanelet format |
21 changes: 11 additions & 10 deletions docs/design/autoware-interfaces/ad-api/list/api/routing/set_route.md
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# /api/routing/set_route

- Method: function call
- Type: [autoware_ad_api_msgs/srv/SetRoute](../../../types/autoware_ad_api_msgs/srv/set_route.md)
- Type: [autoware_adapi_v1_msgs/srv/SetRoute](../../../types/autoware_adapi_v1_msgs/srv/set_route.md)

## Description

Set the route with the waypoint segments in lanelet format. If start pose is not specified, the current pose will be used.

## Request

| Name | Type | Description |
| -------- | --------------------------------------- | ----------------------------------- |
| header | std_msgs/msg/Header | header for pose transformation |
| start | geometry_msgs/msg/Pose[<=1] | start pose |
| goal | geometry_msgs/msg/Pose | goal pose |
| segments | autoware_ad_api_msgs/msg/RouteSegment[] | waypoint segments in lanelet format |
| Name | Type | Description |
| -------- | ----------------------------------------- | ----------------------------------- |
| header | std_msgs/msg/Header | header for pose transformation |
| goal | geometry_msgs/msg/Pose | goal pose |
| segments | autoware_adapi_v1_msgs/msg/RouteSegment[] | waypoint segments in lanelet format |

## Response

| Name | Type | Description |
| ------ | --------------------------------------- | --------------- |
| status | autoware_ad_api_msgs/msg/ResponseStatus | response status |
| Name | Type | Description |
| ------ | ----------------------------------------- | --------------- |
| status | autoware_adapi_v1_msgs/msg/ResponseStatus | response status |
21 changes: 11 additions & 10 deletions docs/design/autoware-interfaces/ad-api/list/api/routing/set_route_points.md
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# /api/routing/set_route_points

- Method: function call
- Type: [autoware_ad_api_msgs/srv/SetRoutePoints](../../../types/autoware_ad_api_msgs/srv/set_route_points.md)
- Type: [autoware_adapi_v1_msgs/srv/SetRoutePoints](../../../types/autoware_adapi_v1_msgs/srv/set_route_points.md)

## Description

Set the route with the waypoint poses. If start pose is not specified, the current pose will be used.

## Request

| Name | Type | Description |
| --------- | --------------------------- | ------------------------------ |
| header | std_msgs/msg/Header | header for pose transformation |
| start | geometry_msgs/msg/Pose[<=1] | start pose |
| goal | geometry_msgs/msg/Pose | goal pose |
| waypoints | geometry_msgs/msg/Pose[] | waypoint poses |
| Name | Type | Description |
| --------- | ------------------------ | ------------------------------ |
| header | std_msgs/msg/Header | header for pose transformation |
| goal | geometry_msgs/msg/Pose | goal pose |
| waypoints | geometry_msgs/msg/Pose[] | waypoint poses |

## Response

| Name | Type | Description |
| ------ | --------------------------------------- | --------------- |
| status | autoware_ad_api_msgs/msg/ResponseStatus | response status |
| Name | Type | Description |
| ------ | ----------------------------------------- | --------------- |
| status | autoware_adapi_v1_msgs/msg/ResponseStatus | response status |
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