diff --git a/docs/design/autoware-interfaces/.pages b/docs/design/autoware-interfaces/.pages index c9820d268f1..5e60056765a 100644 --- a/docs/design/autoware-interfaces/.pages +++ b/docs/design/autoware-interfaces/.pages @@ -1,5 +1,5 @@ nav: - index.md + - TIER IV API: prototyping - AD API: ad-api - components - - prototyping diff --git a/docs/design/autoware-interfaces/prototyping/.pages b/docs/design/autoware-interfaces/prototyping/.pages index 200613097c0..35fd5a113be 100644 --- a/docs/design/autoware-interfaces/prototyping/.pages +++ b/docs/design/autoware-interfaces/prototyping/.pages @@ -1,3 +1,2 @@ nav: - - api - - type + - index.md diff --git a/docs/design/autoware-interfaces/prototyping/api/.pages b/docs/design/autoware-interfaces/prototyping/api/.pages deleted file mode 100644 index ca691f467ca..00000000000 --- a/docs/design/autoware-interfaces/prototyping/api/.pages +++ /dev/null @@ -1,3 +0,0 @@ -collapse: true -nav: - - list.md diff --git a/docs/design/autoware-interfaces/prototyping/api/external/get/accel_brake_map_calibrator/data.md b/docs/design/autoware-interfaces/prototyping/api/external/get/accel_brake_map_calibrator/data.md new file mode 100644 index 00000000000..0310169c3aa --- /dev/null +++ b/docs/design/autoware-interfaces/prototyping/api/external/get/accel_brake_map_calibrator/data.md @@ -0,0 +1,14 @@ +# /api/external/get/accel_brake_map_calibrator/data + +## Classification + +- Behavior: Service +- DataType: tier4_external_api_msgs/srv/GetAccelBrakeMapCalibrationData + +## Description + +AccelBrakeMap のキャリブレーション適正候補値を取得する。 + +## Requirement + +AccelBrakeMap のキャリブレーション適正候補値、及び、評価用のグラフ画像を取得できること。 diff --git a/docs/design/autoware-interfaces/prototyping/api/external/get/calibration_status.md b/docs/design/autoware-interfaces/prototyping/api/external/get/calibration_status.md new file mode 100644 index 00000000000..bcb09138f95 --- /dev/null +++ b/docs/design/autoware-interfaces/prototyping/api/external/get/calibration_status.md @@ -0,0 +1,14 @@ +# /api/external/get/calibration_status + +## Classification + +- Behavior: Topic +- DataType: tier4_external_api_msgs/msg/CalibrationStatusArray + +## Description + +各種キャリブレーションの適正評価状態を取得する。 + +## Requirement + +各種キャリブレーションの適正評価状態が取得できること。 diff --git a/docs/design/autoware-interfaces/prototyping/api/external/set/command/local/gear_shift.md b/docs/design/autoware-interfaces/prototyping/api/external/set/command/local/gear_shift.md deleted file mode 100644 index 5bec0fe30c9..00000000000 --- a/docs/design/autoware-interfaces/prototyping/api/external/set/command/local/gear_shift.md +++ /dev/null @@ -1,15 +0,0 @@ -# /api/external/set/command/local/gear_shift - -## Classification - -- Category: Optional -- Behavior: Topic -- DataType: autoware_external_api_msgs/msg/GearShiftStamped - -## Description - -車両の変速機を制御するコマンドを送信する。 - -## Requirement - -現在の車両状態を考慮し、指定されたコマンドを可能な限り反映した制御を行うこと。 diff --git a/docs/design/autoware-interfaces/prototyping/api/external/set/command/remote/gear_shift.md b/docs/design/autoware-interfaces/prototyping/api/external/set/command/remote/gear_shift.md deleted file mode 100644 index 43954b5ace8..00000000000 --- a/docs/design/autoware-interfaces/prototyping/api/external/set/command/remote/gear_shift.md +++ /dev/null @@ -1,15 +0,0 @@ -# /api/external/set/command/remote/gear_shift - -## Classification - -- Category: Optional -- Behavior: Topic -- DataType: autoware_external_api_msgs/msg/GearShiftStamped - -## Description - -車両の変速機を制御するコマンドを送信する。 - -## Requirement - -現在の車両状態を考慮し、指定されたコマンドを可能な限り反映した制御を行うこと。 diff --git a/docs/design/autoware-interfaces/prototyping/api/list.md b/docs/design/autoware-interfaces/prototyping/api/list.md deleted file mode 100644 index 047909eec9d..00000000000 --- a/docs/design/autoware-interfaces/prototyping/api/list.md +++ /dev/null @@ -1,43 +0,0 @@ -# List of Autoware API - -## External API - -| Type | Name | Data | -| ------- | ------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------- | -| service | [/api/external/get/version](../../api/external/get/version) | [autoware_external_api_msgs/srv/GetVersion](../../type/autoware_external_api_msgs/srv/GetVersion) | -| service | [/api/external/get/metadata/packages](../../api/external/get/metadata/packages) | [tier4_external_api_msgs/srv/GetMetadataPackages](../../type/tier4_external_api_msgs/srv/GetMetadataPackages) | -| service | [/api/external/set/service](../../api/external/set/service) | [tier4_external_api_msgs/srv/SetService](../../type/tier4_external_api_msgs/srv/SetService) | -| topic | [/api/external/get/service](../../api/external/get/service) | [tier4_external_api_msgs/msg/Service](../../type/tier4_external_api_msgs/msg/Service) | -| topic | [/api/external/get/diagnostics](../../api/external/get/diagnostics) | [tier4_external_api_msgs/msg/ClassifiedDiagnostics](../../type/tier4_external_api_msgs/msg/ClassifiedDiagnostics) | -| service | [/api/external/set/engage](../../api/external/set/engage) | [tier4_external_api_msgs/srv/Engage](../../type/tier4_external_api_msgs/srv/Engage) | -| topic | [/api/external/get/engage](../../api/external/get/engage) | [tier4_external_api_msgs/msg/EngageStatus](../../type/tier4_external_api_msgs/msg/EngageStatus) | -| service | [/api/external/set/emergency](../../api/external/set/emergency) | [tier4_external_api_msgs/srv/SetEmergency](../../type/tier4_external_api_msgs/srv/SetEmergency) | -| topic | [/api/external/get/emergency](../../api/external/get/emergency) | [tier4_external_api_msgs/msg/Emergency](../../type/tier4_external_api_msgs/msg/Emergency) | -| service | [/api/external/set/door](../../api/external/set/door) | [tier4_external_api_msgs/srv/SetDoor](../../type/tier4_external_api_msgs/srv/SetDoor) | -| topic | [/api/external/get/door](../../api/external/get/door) | [tier4_external_api_msgs/msg/DoorStatus](../../type/tier4_external_api_msgs/msg/DoorStatus) | -| topic | [/api/external/get/vehicle/status](../../api/external/get/vehicle/status) | [tier4_external_api_msgs/msg/VehicleStatusStamped](../../type/tier4_external_api_msgs/msg/VehicleStatusStamped) | -| service | [/api/external/set/initialize_pose](../../api/external/set/initialize_pose) | [tier4_external_api_msgs/srv/InitializePose](../../type/tier4_external_api_msgs/srv/InitializePose) | -| service | [/api/external/set/initialize_pose_auto](../../api/external/set/initialize_pose_auto) | [tier4_external_api_msgs/srv/InitializePoseAuto](../../type/tier4_external_api_msgs/srv/InitializePoseAuto) | -| service | [/api/external/set/route](../../api/external/set/route) | [tier4_external_api_msgs/srv/SetRoute](../../type/tier4_external_api_msgs/srv/SetRoute) | -| topic | [/api/external/get/route](../../api/external/get/route) | [tier4_external_api_msgs/msg/Route](../../type/tier4_external_api_msgs/msg/Route) | -| service | [/api/external/set/clear_route](../../api/external/set/clear_route) | [tier4_external_api_msgs/srv/ClearRoute](../../type/tier4_external_api_msgs/srv/ClearRoute) | -| service | [/api/external/set/operator](../../api/external/set/operator) | [tier4_external_api_msgs/srv/SetOperator](../../type/tier4_external_api_msgs/srv/SetOperator) | -| topic | [/api/external/get/operator](../../api/external/get/operator) | [tier4_external_api_msgs/msg/Operator](../../type/tier4_external_api_msgs/msg/Operator) | -| service | [/api/external/set/observer](../../api/external/set/observer) | [tier4_external_api_msgs/srv/SetObserver](../../type/tier4_external_api_msgs/srv/SetObserver) | -| topic | [/api/external/get/observer](../../api/external/get/observer) | [tier4_external_api_msgs/msg/Observer](../../type/tier4_external_api_msgs/msg/Observer) | -| topic | [/api/external/get/map/info/hash](../../api/external/get/map/info/hash) | [tier4_external_api_msgs/msg/MapHash](../../type/tier4_external_api_msgs/msg/MapHash) | -| service | [/api/external/get/map/lanelet/xml](../../api/external/get/map/lanelet/xml) | [tier4_external_api_msgs/srv/GetTextFile](../../type/tier4_external_api_msgs/srv/GetTextFile) | -| service | [/api/external/set/pause_driving](../../api/external/set/pause_driving) | [tier4_external_api_msgs/srv/PauseDriving](../../type/tier4_external_api_msgs/srv/PauseDriving) | -| service | [/api/external/set/velocity_limit](../../api/external/set/velocity_limit) | [tier4_external_api_msgs/srv/SetVelocityLimit](../../type/tier4_external_api_msgs/srv/SetVelocityLimit) | -| topic | [/api/external/set/command/local/control](../../api/external/set/command/local/control) | [tier4_external_api_msgs/msg/ControlCommandStamped](../../type/tier4_external_api_msgs/msg/ControlCommandStamped) | -| topic | [/api/external/set/command/local/shift](../../api/external/set/command/local/shift) | [tier4_external_api_msgs/msg/GearShiftStamped](../../type/tier4_external_api_msgs/msg/GearShiftStamped) | -| topic | [/api/external/set/command/local/turn_signal](../../api/external/set/command/local/turn_signal) | [tier4_external_api_msgs/msg/TurnSignalStamped](../../type/tier4_external_api_msgs/msg/TurnSignalStamped) | -| topic | [/api/external/set/command/local/heartbeat](../../api/external/set/command/local/heartbeat) | [tier4_external_api_msgs/msg/Heartbeat](../../type/tier4_external_api_msgs/msg/Heartbeat) | -| topic | [/api/external/set/command/remote/control](../../api/external/set/command/remote/control) | [tier4_external_api_msgs/msg/ControlCommandStamped](../../type/tier4_external_api_msgs/msg/ControlCommandStamped) | -| topic | [/api/external/set/command/remote/shift](../../api/external/set/command/remote/shift) | [tier4_external_api_msgs/msg/GearShiftStamped](../../type/tier4_external_api_msgs/msg/GearShiftStamped) | -| topic | [/api/external/set/command/remote/turn_signal](../../api/external/set/command/remote/turn_signal) | [tier4_external_api_msgs/msg/TurnSignalStamped](../../type/tier4_external_api_msgs/msg/TurnSignalStamped) | -| topic | [/api/external/set/command/remote/heartbeat](../../api/external/set/command/remote/heartbeat) | [tier4_external_api_msgs/msg/Heartbeat](../../type/tier4_external_api_msgs/msg/Heartbeat) | -| topic | [/api/external/get/command/selected/control](../../api/external/get/command/selected/control) | [tier4_external_api_msgs/msg/ControlCommandStamped](../../type/tier4_external_api_msgs/msg/ControlCommandStamped) | -| topic | [/api/external/get/command/selected/vehicle](../../api/external/get/command/selected/vehicle) | [tier4_external_api_msgs/msg/ControlCommandStamped](../../type/tier4_external_api_msgs/msg/ControlCommandStamped) | -| service | [/api/external/set/rosbag_logging_mode](../../api/external/set/rosbag_logging_mode) | [tier4_external_api_msgs/srv/SetRosbagLoggingMode](../../type/tier4_external_api_msgs/srv/SetRosbagLoggingMode) | -| topic | [/api/external/get/rosbag_logging_mode](../../api/external/get/rosbag_logging_mode) | [tier4_external_api_msgs/msg/RosbagLoggingMode](../../type/tier4_external_api_msgs/msg/RosbagLoggingMode) | diff --git a/docs/design/autoware-interfaces/prototyping/index.md b/docs/design/autoware-interfaces/prototyping/index.md new file mode 100644 index 00000000000..0cf16d1dea0 --- /dev/null +++ b/docs/design/autoware-interfaces/prototyping/index.md @@ -0,0 +1,45 @@ +# List of Autoware API + +## External API + +| Type | Name | Data | +| ------- | ---------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------ | +| service | [/api/external/get/version](./api/external/get/version.md) | [autoware_external_api_msgs/srv/GetVersion](./type/autoware_external_api_msgs/srv/GetVersion.md) | +| service | [/api/external/get/metadata/packages](./api/external/get/metadata/packages.md) | [tier4_external_api_msgs/srv/GetMetadataPackages](./type/tier4_external_api_msgs/srv/GetMetadataPackages.md) | +| service | [/api/external/set/service](./api/external/set/service.md) | [tier4_external_api_msgs/srv/SetService](./type/tier4_external_api_msgs/srv/SetService.md) | +| topic | [/api/external/get/service](./api/external/get/service.md) | [tier4_external_api_msgs/msg/Service](./type/tier4_external_api_msgs/msg/Service.md) | +| topic | [/api/external/get/diagnostics](./api/external/get/diagnostics.md) | [tier4_external_api_msgs/msg/ClassifiedDiagnostics](./type/tier4_external_api_msgs/msg/ClassifiedDiagnostics.md) | +| service | [/api/external/set/engage](./api/external/set/engage.md) | [tier4_external_api_msgs/srv/Engage](./type/tier4_external_api_msgs/srv/Engage.md) | +| topic | [/api/external/get/engage](./api/external/get/engage.md) | [tier4_external_api_msgs/msg/EngageStatus](./type/tier4_external_api_msgs/msg/EngageStatus.md) | +| service | [/api/external/set/emergency](./api/external/set/emergency.md) | [tier4_external_api_msgs/srv/SetEmergency](./type/tier4_external_api_msgs/srv/SetEmergency.md) | +| topic | [/api/external/get/emergency](./api/external/get/emergency.md) | [tier4_external_api_msgs/msg/Emergency](./type/tier4_external_api_msgs/msg/Emergency.md) | +| service | [/api/external/set/door](./api/external/set/door.md) | [tier4_external_api_msgs/srv/SetDoor](./type/tier4_external_api_msgs/srv/SetDoor.md) | +| topic | [/api/external/get/door](./api/external/get/door.md) | [tier4_external_api_msgs/msg/DoorStatus](./type/tier4_external_api_msgs/msg/DoorStatus.md) | +| topic | [/api/external/get/vehicle/status](./api/external/get/vehicle/status.md) | [tier4_external_api_msgs/msg/VehicleStatusStamped](./type/tier4_external_api_msgs/msg/VehicleStatusStamped.md) | +| service | [/api/external/set/initialize_pose](./api/external/set/initialize_pose.md) | [tier4_external_api_msgs/srv/InitializePose](./type/tier4_external_api_msgs/srv/InitializePose.md) | +| service | [/api/external/set/initialize_pose_auto](./api/external/set/initialize_pose_auto.md) | [tier4_external_api_msgs/srv/InitializePoseAuto](./type/tier4_external_api_msgs/srv/InitializePoseAuto.md) | +| service | [/api/external/set/route](./api/external/set/route.md) | [tier4_external_api_msgs/srv/SetRoute](./type/tier4_external_api_msgs/srv/SetRoute.md) | +| topic | [/api/external/get/route](./api/external/get/route.md) | [tier4_external_api_msgs/msg/Route](./type/tier4_external_api_msgs/msg/Route.md) | +| service | [/api/external/set/clear_route](./api/external/set/clear_route.md) | [tier4_external_api_msgs/srv/ClearRoute](./type/tier4_external_api_msgs/srv/ClearRoute.md) | +| service | [/api/external/set/operator](./api/external/set/operator.md) | [tier4_external_api_msgs/srv/SetOperator](./type/tier4_external_api_msgs/srv/SetOperator.md) | +| topic | [/api/external/get/operator](./api/external/get/operator.md) | [tier4_external_api_msgs/msg/Operator](./type/tier4_external_api_msgs/msg/Operator.md) | +| service | [/api/external/set/observer](./api/external/set/observer.md) | [tier4_external_api_msgs/srv/SetObserver](./type/tier4_external_api_msgs/srv/SetObserver.md) | +| topic | [/api/external/get/observer](./api/external/get/observer.md) | [tier4_external_api_msgs/msg/Observer](./type/tier4_external_api_msgs/msg/Observer.md) | +| topic | [/api/external/get/map/info/hash](./api/external/get/map/info/hash.md) | [tier4_external_api_msgs/msg/MapHash](./type/tier4_external_api_msgs/msg/MapHash.md) | +| service | [/api/external/get/map/lanelet/xml](./api/external/get/map/lanelet/xml.md) | [tier4_external_api_msgs/srv/GetTextFile](./type/tier4_external_api_msgs/srv/GetTextFile.md) | +| service | [/api/external/set/pause_driving](./api/external/set/pause_driving.md) | [tier4_external_api_msgs/srv/PauseDriving](./type/tier4_external_api_msgs/srv/PauseDriving.md) | +| service | [/api/external/set/velocity_limit](./api/external/set/velocity_limit.md) | [tier4_external_api_msgs/srv/SetVelocityLimit](./type/tier4_external_api_msgs/srv/SetVelocityLimit.md) | +| topic | [/api/external/set/command/local/control](./api/external/set/command/local/control.md) | [tier4_external_api_msgs/msg/ControlCommandStamped](./type/tier4_external_api_msgs/msg/ControlCommandStamped.md) | +| topic | [/api/external/set/command/local/shift](./api/external/set/command/local/shift.md) | [tier4_external_api_msgs/msg/GearShiftStamped](./type/tier4_external_api_msgs/msg/GearShiftStamped.md) | +| topic | [/api/external/set/command/local/turn_signal](./api/external/set/command/local/turn_signal.md) | [tier4_external_api_msgs/msg/TurnSignalStamped](./type/tier4_external_api_msgs/msg/TurnSignalStamped.md) | +| topic | [/api/external/set/command/local/heartbeat](./api/external/set/command/local/heartbeat.md) | [tier4_external_api_msgs/msg/Heartbeat](./type/tier4_external_api_msgs/msg/Heartbeat.md) | +| topic | [/api/external/set/command/remote/control](./api/external/set/command/remote/control.md) | [tier4_external_api_msgs/msg/ControlCommandStamped](./type/tier4_external_api_msgs/msg/ControlCommandStamped.md) | +| topic | [/api/external/set/command/remote/shift](./api/external/set/command/remote/shift.md) | [tier4_external_api_msgs/msg/GearShiftStamped](./type/tier4_external_api_msgs/msg/GearShiftStamped.md) | +| topic | [/api/external/set/command/remote/turn_signal](./api/external/set/command/remote/turn_signal.md) | [tier4_external_api_msgs/msg/TurnSignalStamped](./type/tier4_external_api_msgs/msg/TurnSignalStamped.md) | +| topic | [/api/external/set/command/remote/heartbeat](./api/external/set/command/remote/heartbeat.md) | [tier4_external_api_msgs/msg/Heartbeat](./type/tier4_external_api_msgs/msg/Heartbeat.md) | +| topic | [/api/external/get/command/selected/control](./api/external/get/command/selected/control.md) | [tier4_external_api_msgs/msg/ControlCommandStamped](./type/tier4_external_api_msgs/msg/ControlCommandStamped.md) | +| topic | [/api/external/get/command/selected/vehicle](./api/external/get/command/selected/vehicle.md) | [tier4_external_api_msgs/msg/ControlCommandStamped](./type/tier4_external_api_msgs/msg/ControlCommandStamped.md) | +| service | [/api/external/set/rosbag_logging_mode](./api/external/set/rosbag_logging_mode.md) | [tier4_external_api_msgs/srv/SetRosbagLoggingMode](./type/tier4_external_api_msgs/srv/SetRosbagLoggingMode.md) | +| topic | [/api/external/get/rosbag_logging_mode](./api/external/get/rosbag_logging_mode.md) | [tier4_external_api_msgs/msg/RosbagLoggingMode](./type/tier4_external_api_msgs/msg/RosbagLoggingMode.md) | +| topic | [/api/external/get/calibration_status](./api/external/get/calibration_status.md) | [tier4_external_api_msgs/msg/CalibrationStatusArray](./type/tier4_external_api_msgs/msg/CalibrationStatusArray.md) | +| service | [/api/external/get/accel_brake_map_calibrator/data](./api/external/get/accel_brake_map_calibrator/data.md) | [tier4_external_api_msgs/srv/GetAccelBrakeMapCalibrationData](./type/tier4_external_api_msgs/srv/GetAccelBrakeMapCalibrationData.md) | diff --git a/docs/design/autoware-interfaces/prototyping/type/.pages b/docs/design/autoware-interfaces/prototyping/type/.pages deleted file mode 100644 index e2d5ae91273..00000000000 --- a/docs/design/autoware-interfaces/prototyping/type/.pages +++ /dev/null @@ -1 +0,0 @@ -hide: true diff --git a/docs/design/autoware-interfaces/prototyping/type/tier4_external_api_msgs/msg/CalibrationStatusArray.md b/docs/design/autoware-interfaces/prototyping/type/tier4_external_api_msgs/msg/CalibrationStatusArray.md new file mode 100644 index 00000000000..c6cd6c22f37 --- /dev/null +++ b/docs/design/autoware-interfaces/prototyping/type/tier4_external_api_msgs/msg/CalibrationStatusArray.md @@ -0,0 +1,6 @@ +# CalibrationStatusArray + +```txt +builtin_interfaces/Time stamp +tier4_external_api_msgs/CalibrationStatus[] status_array +``` diff --git a/docs/design/autoware-interfaces/prototyping/type/tier4_external_api_msgs/srv/GetAccelBrakeMapCalibrationData.md b/docs/design/autoware-interfaces/prototyping/type/tier4_external_api_msgs/srv/GetAccelBrakeMapCalibrationData.md new file mode 100644 index 00000000000..40a9cb60a9a --- /dev/null +++ b/docs/design/autoware-interfaces/prototyping/type/tier4_external_api_msgs/srv/GetAccelBrakeMapCalibrationData.md @@ -0,0 +1,8 @@ +# GetAccelBrakeMapCalibrationData + +```txt +--- +uint8[] graph_image +string accel_map +string brake_map +``` diff --git a/tools/autoware_api_document/python/__init__.py b/tools/autoware_api_document/python/__init__.py index e2aca015d08..3cf7e75eefe 100644 --- a/tools/autoware_api_document/python/__init__.py +++ b/tools/autoware_api_document/python/__init__.py @@ -22,7 +22,7 @@ def generate(): parser = argparse.ArgumentParser() - parser.add_argument('path', default='docs/design/autoware-interface/prototyping', nargs='?') + parser.add_argument('path', default='docs/design/autoware-interfaces/prototyping', nargs='?') args = parser.parse_args() target = pathlib.Path(args.path) @@ -50,7 +50,7 @@ def generate(): def generate_list(target, groups): - with target.joinpath('api/list.md').open('w') as fp: + with target.joinpath('index.md').open('w') as fp: fp.write('# List of Autoware API\n\n') for group, specs in groups: table = MarkdownTable('Type', 'Name', 'Data') @@ -65,14 +65,14 @@ def generate_list(target, groups): def make_page_link(spec : AutowareAPI): if spec.page is None: return spec.spec_name - spec_link = '../..' + spec.spec_name + spec_link = '.' + spec.spec_name + '.md' return '[{}]({})'.format(spec.spec_name, spec_link) def make_type_link(spec : AutowareAPI): if spec.typedef.page is None: return spec.data_type - data_link = '../../type/' + spec.data_type + data_link = './type/' + spec.data_type + '.md' return '[{}]({})'.format(spec.data_type, data_link) diff --git a/tools/autoware_api_document/resource/tier4.yaml b/tools/autoware_api_document/resource/tier4.yaml index 9d5cd70fc8d..2fa6d020cb9 100644 --- a/tools/autoware_api_document/resource/tier4.yaml +++ b/tools/autoware_api_document/resource/tier4.yaml @@ -109,3 +109,9 @@ external/set/rosbag_logging_mode: external/get/rosbag_logging_mode: behavior: topic type: tier4_external_api_msgs/msg/RosbagLoggingMode +external/get/calibration_status: + behavior: topic + type: tier4_external_api_msgs/msg/CalibrationStatusArray +external/get/accel_brake_map_calibrator/data: + behavior: service + type: tier4_external_api_msgs/srv/GetAccelBrakeMapCalibrationData