From 49bac1cc0187dd12f9a5f3d81d04b68d7b12d93f Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Fri, 22 Nov 2024 20:53:06 +0900 Subject: [PATCH 01/10] add api pages Signed-off-by: Takagi, Isamu --- .../ad-api/list/api/remote/command/accel.md | 14 +++++++++++ .../ad-api/list/api/remote/command/gear.md | 14 +++++++++++ .../list/api/remote/command/hazard_lights.md | 14 +++++++++++ .../ad-api/list/api/remote/command/pedal.md | 14 +++++++++++ .../ad-api/list/api/remote/command/steer.md | 14 +++++++++++ .../api/remote/command/turn_indicators.md | 14 +++++++++++ .../autoware-interfaces/ad-api/list/index.md | 6 +++++ .../msg/AccelCommand.md | 14 +++++++++++ .../types/autoware_adapi_v1_msgs/msg/Gear.md | 1 + .../autoware_adapi_v1_msgs/msg/GearCommand.md | 16 ++++++++++++ .../msg/HazardLights.md | 1 + .../msg/HazardLightsCommand.md | 16 ++++++++++++ .../msg/PedalCommand.md | 15 +++++++++++ .../msg/SteerCommand.md | 14 +++++++++++ .../msg/TurnIndicators.md | 1 + .../msg/TurnIndicatorsCommand.md | 16 ++++++++++++ .../autoware-interfaces/ad-api/types/index.md | 6 +++++ yaml/autoware-interfaces.yaml | 25 +++++++++++++++++++ 18 files changed, 215 insertions(+) create mode 100644 docs/design/autoware-interfaces/ad-api/list/api/remote/command/accel.md create mode 100644 docs/design/autoware-interfaces/ad-api/list/api/remote/command/gear.md create mode 100644 docs/design/autoware-interfaces/ad-api/list/api/remote/command/hazard_lights.md create mode 100644 docs/design/autoware-interfaces/ad-api/list/api/remote/command/pedal.md create mode 100644 docs/design/autoware-interfaces/ad-api/list/api/remote/command/steer.md create mode 100644 docs/design/autoware-interfaces/ad-api/list/api/remote/command/turn_indicators.md create mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/AccelCommand.md create mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/GearCommand.md create mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/HazardLightsCommand.md create mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/PedalCommand.md create mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/SteerCommand.md create mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/TurnIndicatorsCommand.md diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/accel.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/accel.md new file mode 100644 index 00000000000..c17af4c33d4 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/accel.md @@ -0,0 +1,14 @@ +--- +title: /api/remote/command/accel +status: not released +method: realtime stream +type: + name: autoware_adapi_v1_msgs/msg/AccelCommand + msg: + - name: + text: +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/gear.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/gear.md new file mode 100644 index 00000000000..5a1e017c830 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/gear.md @@ -0,0 +1,14 @@ +--- +title: /api/remote/command/gear +status: not released +method: notification +type: + name: autoware_adapi_v1_msgs/msg/GearCommand + msg: + - name: + text: +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/hazard_lights.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/hazard_lights.md new file mode 100644 index 00000000000..60de84c7f38 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/hazard_lights.md @@ -0,0 +1,14 @@ +--- +title: /api/remote/command/hazard_lights +status: not released +method: notification +type: + name: autoware_adapi_v1_msgs/msg/HazardLightsCommand + msg: + - name: + text: +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/pedal.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/pedal.md new file mode 100644 index 00000000000..0ca03bf4fa1 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/pedal.md @@ -0,0 +1,14 @@ +--- +title: /api/remote/command/pedal +status: not released +method: realtime stream +type: + name: autoware_adapi_v1_msgs/msg/PedalCommand + msg: + - name: + text: +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/steer.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/steer.md new file mode 100644 index 00000000000..f6d871f5ab3 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/steer.md @@ -0,0 +1,14 @@ +--- +title: /api/remote/command/steer +status: not released +method: realtime stream +type: + name: autoware_adapi_v1_msgs/msg/SteerCommand + msg: + - name: + text: +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/turn_indicators.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/turn_indicators.md new file mode 100644 index 00000000000..578287b8b14 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/turn_indicators.md @@ -0,0 +1,14 @@ +--- +title: /api/remote/command/turn_indicators +status: not released +method: notification +type: + name: autoware_adapi_v1_msgs/msg/TurnIndicatorsCommand + msg: + - name: + text: +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/index.md b/docs/design/autoware-interfaces/ad-api/list/index.md index 985452b2df4..f833d0d7c45 100644 --- a/docs/design/autoware-interfaces/ad-api/list/index.md +++ b/docs/design/autoware-interfaces/ad-api/list/index.md @@ -21,6 +21,12 @@ | [/api/planning/cooperation/set_policies](./api/planning/cooperation/set_policies.md) | not released | | [/api/planning/steering_factors](./api/planning/steering_factors.md) | not released | | [/api/planning/velocity_factors](./api/planning/velocity_factors.md) | not released | +| [/api/remote/command/accel](./api/remote/command/accel.md) | not released | +| [/api/remote/command/gear](./api/remote/command/gear.md) | not released | +| [/api/remote/command/hazard_lights](./api/remote/command/hazard_lights.md) | not released | +| [/api/remote/command/pedal](./api/remote/command/pedal.md) | not released | +| [/api/remote/command/steer](./api/remote/command/steer.md) | not released | +| [/api/remote/command/turn_indicators](./api/remote/command/turn_indicators.md) | not released | | [/api/routing/change_route](./api/routing/change_route.md) | v1.5.0 | | [/api/routing/change_route_points](./api/routing/change_route_points.md) | v1.5.0 | | [/api/routing/clear_route](./api/routing/clear_route.md) | v1.0.0 | diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/AccelCommand.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/AccelCommand.md new file mode 100644 index 00000000000..ec3b9b5000e --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/AccelCommand.md @@ -0,0 +1,14 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/AccelCommand +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +builtin_interfaces/Time stamp +float32 accel +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/Gear.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/Gear.md index 6c79186e63c..c125b5854e2 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/Gear.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/Gear.md @@ -2,6 +2,7 @@ # This file is generated by tools/autoware-interfaces/generate.py title: autoware_adapi_v1_msgs/msg/Gear used: + - autoware_adapi_v1_msgs/msg/GearCommand - autoware_adapi_v1_msgs/msg/VehicleStatus --- diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/GearCommand.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/GearCommand.md new file mode 100644 index 00000000000..f20ad9ce3ed --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/GearCommand.md @@ -0,0 +1,16 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/GearCommand +uses: + - autoware_adapi_v1_msgs/msg/Gear +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +builtin_interfaces/Time stamp +autoware_adapi_v1_msgs/Gear command +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/HazardLights.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/HazardLights.md index b7d3846de04..91601820168 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/HazardLights.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/HazardLights.md @@ -2,6 +2,7 @@ # This file is generated by tools/autoware-interfaces/generate.py title: autoware_adapi_v1_msgs/msg/HazardLights used: + - autoware_adapi_v1_msgs/msg/HazardLightsCommand - autoware_adapi_v1_msgs/msg/VehicleStatus --- diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/HazardLightsCommand.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/HazardLightsCommand.md new file mode 100644 index 00000000000..226977010e4 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/HazardLightsCommand.md @@ -0,0 +1,16 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/HazardLightsCommand +uses: + - autoware_adapi_v1_msgs/msg/HazardLights +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +builtin_interfaces/Time stamp +autoware_adapi_v1_msgs/HazardLights command +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/PedalCommand.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/PedalCommand.md new file mode 100644 index 00000000000..deac6777a59 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/PedalCommand.md @@ -0,0 +1,15 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/PedalCommand +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +builtin_interfaces/Time stamp +float32 accel +float32 brake +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/SteerCommand.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/SteerCommand.md new file mode 100644 index 00000000000..ea4b883b47e --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/SteerCommand.md @@ -0,0 +1,14 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/SteerCommand +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +builtin_interfaces/Time stamp +float32 steer +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/TurnIndicators.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/TurnIndicators.md index f27fb2c2f0f..7df9657c812 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/TurnIndicators.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/TurnIndicators.md @@ -2,6 +2,7 @@ # This file is generated by tools/autoware-interfaces/generate.py title: autoware_adapi_v1_msgs/msg/TurnIndicators used: + - autoware_adapi_v1_msgs/msg/TurnIndicatorsCommand - autoware_adapi_v1_msgs/msg/VehicleStatus --- diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/TurnIndicatorsCommand.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/TurnIndicatorsCommand.md new file mode 100644 index 00000000000..c957237b0e6 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/TurnIndicatorsCommand.md @@ -0,0 +1,16 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/TurnIndicatorsCommand +uses: + - autoware_adapi_v1_msgs/msg/TurnIndicators +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +builtin_interfaces/Time stamp +autoware_adapi_v1_msgs/TurnIndicators command +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/index.md b/docs/design/autoware-interfaces/ad-api/types/index.md index 23f3749f6d1..f2b4b8765d8 100644 --- a/docs/design/autoware-interfaces/ad-api/types/index.md +++ b/docs/design/autoware-interfaces/ad-api/types/index.md @@ -1,5 +1,6 @@ # Types of Autoware AD API +- [autoware_adapi_v1_msgs/msg/AccelCommand](./autoware_adapi_v1_msgs/msg/AccelCommand.md) - [autoware_adapi_v1_msgs/msg/CooperationCommand](./autoware_adapi_v1_msgs/msg/CooperationCommand.md) - [autoware_adapi_v1_msgs/msg/CooperationDecision](./autoware_adapi_v1_msgs/msg/CooperationDecision.md) - [autoware_adapi_v1_msgs/msg/CooperationPolicy](./autoware_adapi_v1_msgs/msg/CooperationPolicy.md) @@ -18,13 +19,16 @@ - [autoware_adapi_v1_msgs/msg/DynamicObjectKinematics](./autoware_adapi_v1_msgs/msg/DynamicObjectKinematics.md) - [autoware_adapi_v1_msgs/msg/DynamicObjectPath](./autoware_adapi_v1_msgs/msg/DynamicObjectPath.md) - [autoware_adapi_v1_msgs/msg/Gear](./autoware_adapi_v1_msgs/msg/Gear.md) +- [autoware_adapi_v1_msgs/msg/GearCommand](./autoware_adapi_v1_msgs/msg/GearCommand.md) - [autoware_adapi_v1_msgs/msg/HazardLights](./autoware_adapi_v1_msgs/msg/HazardLights.md) +- [autoware_adapi_v1_msgs/msg/HazardLightsCommand](./autoware_adapi_v1_msgs/msg/HazardLightsCommand.md) - [autoware_adapi_v1_msgs/msg/Heartbeat](./autoware_adapi_v1_msgs/msg/Heartbeat.md) - [autoware_adapi_v1_msgs/msg/LocalizationInitializationState](./autoware_adapi_v1_msgs/msg/LocalizationInitializationState.md) - [autoware_adapi_v1_msgs/msg/MotionState](./autoware_adapi_v1_msgs/msg/MotionState.md) - [autoware_adapi_v1_msgs/msg/MrmState](./autoware_adapi_v1_msgs/msg/MrmState.md) - [autoware_adapi_v1_msgs/msg/ObjectClassification](./autoware_adapi_v1_msgs/msg/ObjectClassification.md) - [autoware_adapi_v1_msgs/msg/OperationModeState](./autoware_adapi_v1_msgs/msg/OperationModeState.md) +- [autoware_adapi_v1_msgs/msg/PedalCommand](./autoware_adapi_v1_msgs/msg/PedalCommand.md) - [autoware_adapi_v1_msgs/msg/ResponseStatus](./autoware_adapi_v1_msgs/msg/ResponseStatus.md) - [autoware_adapi_v1_msgs/msg/Route](./autoware_adapi_v1_msgs/msg/Route.md) - [autoware_adapi_v1_msgs/msg/RouteData](./autoware_adapi_v1_msgs/msg/RouteData.md) @@ -32,9 +36,11 @@ - [autoware_adapi_v1_msgs/msg/RoutePrimitive](./autoware_adapi_v1_msgs/msg/RoutePrimitive.md) - [autoware_adapi_v1_msgs/msg/RouteSegment](./autoware_adapi_v1_msgs/msg/RouteSegment.md) - [autoware_adapi_v1_msgs/msg/RouteState](./autoware_adapi_v1_msgs/msg/RouteState.md) +- [autoware_adapi_v1_msgs/msg/SteerCommand](./autoware_adapi_v1_msgs/msg/SteerCommand.md) - [autoware_adapi_v1_msgs/msg/SteeringFactor](./autoware_adapi_v1_msgs/msg/SteeringFactor.md) - [autoware_adapi_v1_msgs/msg/SteeringFactorArray](./autoware_adapi_v1_msgs/msg/SteeringFactorArray.md) - [autoware_adapi_v1_msgs/msg/TurnIndicators](./autoware_adapi_v1_msgs/msg/TurnIndicators.md) +- [autoware_adapi_v1_msgs/msg/TurnIndicatorsCommand](./autoware_adapi_v1_msgs/msg/TurnIndicatorsCommand.md) - [autoware_adapi_v1_msgs/msg/VehicleDimensions](./autoware_adapi_v1_msgs/msg/VehicleDimensions.md) - [autoware_adapi_v1_msgs/msg/VehicleKinematics](./autoware_adapi_v1_msgs/msg/VehicleKinematics.md) - [autoware_adapi_v1_msgs/msg/VehicleStatus](./autoware_adapi_v1_msgs/msg/VehicleStatus.md) diff --git a/yaml/autoware-interfaces.yaml b/yaml/autoware-interfaces.yaml index 7efed1d6170..1e74662d1a6 100644 --- a/yaml/autoware-interfaces.yaml +++ b/yaml/autoware-interfaces.yaml @@ -1,4 +1,8 @@ types: + autoware_adapi_v1_msgs/msg/AccelCommand: + msg: + accel: float32 + stamp: builtin_interfaces/msg/Time autoware_adapi_v1_msgs/msg/CooperationCommand: msg: cooperator: autoware_adapi_v1_msgs/msg/CooperationDecision @@ -78,9 +82,17 @@ types: autoware_adapi_v1_msgs/msg/Gear: msg: status: uint8 + autoware_adapi_v1_msgs/msg/GearCommand: + msg: + command: autoware_adapi_v1_msgs/msg/Gear + stamp: builtin_interfaces/msg/Time autoware_adapi_v1_msgs/msg/HazardLights: msg: status: uint8 + autoware_adapi_v1_msgs/msg/HazardLightsCommand: + msg: + command: autoware_adapi_v1_msgs/msg/HazardLights + stamp: builtin_interfaces/msg/Time autoware_adapi_v1_msgs/msg/Heartbeat: msg: seq: uint16 @@ -112,6 +124,11 @@ types: is_stop_mode_available: bool mode: uint8 stamp: builtin_interfaces/msg/Time + autoware_adapi_v1_msgs/msg/PedalCommand: + msg: + accel: float32 + brake: float32 + stamp: builtin_interfaces/msg/Time autoware_adapi_v1_msgs/msg/ResponseStatus: msg: code: uint16 @@ -142,6 +159,10 @@ types: msg: stamp: builtin_interfaces/msg/Time state: uint16 + autoware_adapi_v1_msgs/msg/SteerCommand: + msg: + stamp: builtin_interfaces/msg/Time + steer: float32 autoware_adapi_v1_msgs/msg/SteeringFactor: msg: behavior: string @@ -159,6 +180,10 @@ types: autoware_adapi_v1_msgs/msg/TurnIndicators: msg: status: uint8 + autoware_adapi_v1_msgs/msg/TurnIndicatorsCommand: + msg: + command: autoware_adapi_v1_msgs/msg/TurnIndicators + stamp: builtin_interfaces/msg/Time autoware_adapi_v1_msgs/msg/VehicleDimensions: msg: footprint: geometry_msgs/msg/Polygon From f107180ca446e89ffc240348721bced585250f03 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Tue, 26 Nov 2024 19:18:01 +0900 Subject: [PATCH 02/10] add feature page Signed-off-by: Takagi, Isamu --- .../ad-api/features/manual_control.md | 28 +++++++++++++++++++ .../ad-api/list/api/remote/command/accel.md | 2 +- .../ad-api/list/api/remote/command/gear.md | 2 +- .../list/api/remote/command/hazard_lights.md | 2 +- .../ad-api/list/api/remote/command/pedal.md | 2 +- .../ad-api/list/api/remote/command/steer.md | 2 +- .../api/remote/command/turn_indicators.md | 2 +- 7 files changed, 34 insertions(+), 6 deletions(-) create mode 100644 docs/design/autoware-interfaces/ad-api/features/manual_control.md diff --git a/docs/design/autoware-interfaces/ad-api/features/manual_control.md b/docs/design/autoware-interfaces/ad-api/features/manual_control.md new file mode 100644 index 00000000000..0ece14079a8 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/features/manual_control.md @@ -0,0 +1,28 @@ +# Manual control + +## Related API + +- {{ link_ad_api('/api/remote/control_mode/select') }} +- {{ link_ad_api('/api/remote/control_mode/status') }} +- {{ link_ad_api('/api/remote/command/pedal') }} +- {{ link_ad_api('/api/remote/command/accel') }} +- {{ link_ad_api('/api/remote/command/steer') }} +- {{ link_ad_api('/api/remote/command/gear') }} +- {{ link_ad_api('/api/remote/command/turn_indicators') }} +- {{ link_ad_api('/api/remote/command/hazard_lights') }} +- {{ link_ad_api('/api/local/control_mode/select') }} +- {{ link_ad_api('/api/local/control_mode/status') }} +- {{ link_ad_api('/api/local/command/pedal') }} +- {{ link_ad_api('/api/local/command/accel') }} +- {{ link_ad_api('/api/local/command/steer') }} +- {{ link_ad_api('/api/local/command/gear') }} +- {{ link_ad_api('/api/local/command/turn_indicators') }} +- {{ link_ad_api('/api/local/command/hazard_lights') }} + +## Description + +This API is used to manually control the vehicle, and provides the same interface for different operators: remote and local. +For example, the local operator controls a vehicle without a driver's seat using a joystick, while the remote operator provides remote support when problems occur with autonomous driving. +Since there are multiple ways to control a vehicle, such as pedals or acceleration, the application must first select a control mode. + + diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/accel.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/accel.md index c17af4c33d4..b3a6f24073d 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/accel.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/accel.md @@ -5,7 +5,7 @@ method: realtime stream type: name: autoware_adapi_v1_msgs/msg/AccelCommand msg: - - name: + - name: stamp text: --- diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/gear.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/gear.md index 5a1e017c830..6f7eecb0a6a 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/gear.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/gear.md @@ -5,7 +5,7 @@ method: notification type: name: autoware_adapi_v1_msgs/msg/GearCommand msg: - - name: + - name: stamp text: --- diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/hazard_lights.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/hazard_lights.md index 60de84c7f38..c0d4c377dfb 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/hazard_lights.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/hazard_lights.md @@ -5,7 +5,7 @@ method: notification type: name: autoware_adapi_v1_msgs/msg/HazardLightsCommand msg: - - name: + - name: stamp text: --- diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/pedal.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/pedal.md index 0ca03bf4fa1..8ab06568c58 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/pedal.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/pedal.md @@ -5,7 +5,7 @@ method: realtime stream type: name: autoware_adapi_v1_msgs/msg/PedalCommand msg: - - name: + - name: stamp text: --- diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/steer.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/steer.md index f6d871f5ab3..7c677ac2427 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/steer.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/steer.md @@ -5,7 +5,7 @@ method: realtime stream type: name: autoware_adapi_v1_msgs/msg/SteerCommand msg: - - name: + - name: stamp text: --- diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/turn_indicators.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/turn_indicators.md index 578287b8b14..c8a20e31901 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/turn_indicators.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/turn_indicators.md @@ -5,7 +5,7 @@ method: notification type: name: autoware_adapi_v1_msgs/msg/TurnIndicatorsCommand msg: - - name: + - name: stamp text: --- From c2f54cb235b7b6ec75a1e233a0c48423c3372245 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Wed, 27 Nov 2024 17:51:34 +0900 Subject: [PATCH 03/10] add local command and control mode Signed-off-by: Takagi, Isamu --- .../ad-api/list/api/local/command/accel.md | 14 +++++++++++++ .../ad-api/list/api/local/command/gear.md | 14 +++++++++++++ .../list/api/local/command/hazard_lights.md | 14 +++++++++++++ .../ad-api/list/api/local/command/pedal.md | 14 +++++++++++++ .../ad-api/list/api/local/command/steer.md | 14 +++++++++++++ .../list/api/local/command/turn_indicators.md | 14 +++++++++++++ .../list/api/local/control_mode/select.md | 12 +++++++++++ .../list/api/local/control_mode/status.md | 14 +++++++++++++ .../list/api/remote/control_mode/select.md | 12 +++++++++++ .../list/api/remote/control_mode/status.md | 14 +++++++++++++ .../autoware-interfaces/ad-api/list/index.md | 2 ++ .../msg/ManualControlMode.md | 20 +++++++++++++++++++ .../msg/ManualControlModeStatus.md | 16 +++++++++++++++ .../msg/ResponseStatus.md | 1 + .../srv/SelectManualControlMode.md | 18 +++++++++++++++++ .../autoware-interfaces/ad-api/types/index.md | 3 +++ yaml/autoware-interfaces.yaml | 12 +++++++++++ 17 files changed, 208 insertions(+) create mode 100644 docs/design/autoware-interfaces/ad-api/list/api/local/command/accel.md create mode 100644 docs/design/autoware-interfaces/ad-api/list/api/local/command/gear.md create mode 100644 docs/design/autoware-interfaces/ad-api/list/api/local/command/hazard_lights.md create mode 100644 docs/design/autoware-interfaces/ad-api/list/api/local/command/pedal.md create mode 100644 docs/design/autoware-interfaces/ad-api/list/api/local/command/steer.md create mode 100644 docs/design/autoware-interfaces/ad-api/list/api/local/command/turn_indicators.md create mode 100644 docs/design/autoware-interfaces/ad-api/list/api/local/control_mode/select.md create mode 100644 docs/design/autoware-interfaces/ad-api/list/api/local/control_mode/status.md create mode 100644 docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/select.md create mode 100644 docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/status.md create mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ManualControlMode.md create mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ManualControlModeStatus.md create mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/SelectManualControlMode.md diff --git a/docs/design/autoware-interfaces/ad-api/list/api/local/command/accel.md b/docs/design/autoware-interfaces/ad-api/list/api/local/command/accel.md new file mode 100644 index 00000000000..4c31120888c --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/local/command/accel.md @@ -0,0 +1,14 @@ +--- +title: /api/local/command/accel +status: not released +method: realtime stream +type: + name: autoware_adapi_v1_msgs/msg/AccelCommand + msg: + - name: stamp + text: +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/local/command/gear.md b/docs/design/autoware-interfaces/ad-api/list/api/local/command/gear.md new file mode 100644 index 00000000000..34cd6747805 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/local/command/gear.md @@ -0,0 +1,14 @@ +--- +title: /api/local/command/gear +status: not released +method: notification +type: + name: autoware_adapi_v1_msgs/msg/GearCommand + msg: + - name: stamp + text: +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/local/command/hazard_lights.md b/docs/design/autoware-interfaces/ad-api/list/api/local/command/hazard_lights.md new file mode 100644 index 00000000000..3338df83541 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/local/command/hazard_lights.md @@ -0,0 +1,14 @@ +--- +title: /api/local/command/hazard_lights +status: not released +method: notification +type: + name: autoware_adapi_v1_msgs/msg/HazardLightsCommand + msg: + - name: stamp + text: +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/local/command/pedal.md b/docs/design/autoware-interfaces/ad-api/list/api/local/command/pedal.md new file mode 100644 index 00000000000..6f8c867590a --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/local/command/pedal.md @@ -0,0 +1,14 @@ +--- +title: /api/local/command/pedal +status: not released +method: realtime stream +type: + name: autoware_adapi_v1_msgs/msg/PedalCommand + msg: + - name: stamp + text: +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/local/command/steer.md b/docs/design/autoware-interfaces/ad-api/list/api/local/command/steer.md new file mode 100644 index 00000000000..2de43d5a122 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/local/command/steer.md @@ -0,0 +1,14 @@ +--- +title: /api/local/command/steer +status: not released +method: realtime stream +type: + name: autoware_adapi_v1_msgs/msg/SteerCommand + msg: + - name: stamp + text: +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/local/command/turn_indicators.md b/docs/design/autoware-interfaces/ad-api/list/api/local/command/turn_indicators.md new file mode 100644 index 00000000000..c86d338a937 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/local/command/turn_indicators.md @@ -0,0 +1,14 @@ +--- +title: /api/local/command/turn_indicators +status: not released +method: notification +type: + name: autoware_adapi_v1_msgs/msg/TurnIndicatorsCommand + msg: + - name: stamp + text: +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/local/control_mode/select.md b/docs/design/autoware-interfaces/ad-api/list/api/local/control_mode/select.md new file mode 100644 index 00000000000..f104a2e5ae6 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/local/control_mode/select.md @@ -0,0 +1,12 @@ +--- +title: /api/local/control_mode/select +status: not released +method: function call +type: + name: autoware_adapi_v1_msgs/srv/SelectManualControlMode + msg: [] +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/local/control_mode/status.md b/docs/design/autoware-interfaces/ad-api/list/api/local/control_mode/status.md new file mode 100644 index 00000000000..468d1afda4d --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/local/control_mode/status.md @@ -0,0 +1,14 @@ +--- +title: /api/local/control_mode/status +status: not released +method: notification +type: + name: autoware_adapi_v1_msgs/msg/ManualControlModeStatus + msg: + - name: stamp + text: +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/select.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/select.md new file mode 100644 index 00000000000..f104a2e5ae6 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/select.md @@ -0,0 +1,12 @@ +--- +title: /api/local/control_mode/select +status: not released +method: function call +type: + name: autoware_adapi_v1_msgs/srv/SelectManualControlMode + msg: [] +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/status.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/status.md new file mode 100644 index 00000000000..6460fae9c4f --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/status.md @@ -0,0 +1,14 @@ +--- +title: /api/remote/control_mode/status +status: not released +method: notification +type: + name: autoware_adapi_v1_msgs/msg/ManualControlModeStatus + msg: + - name: stamp + text: +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/index.md b/docs/design/autoware-interfaces/ad-api/list/index.md index f833d0d7c45..79fe9f266f0 100644 --- a/docs/design/autoware-interfaces/ad-api/list/index.md +++ b/docs/design/autoware-interfaces/ad-api/list/index.md @@ -27,6 +27,8 @@ | [/api/remote/command/pedal](./api/remote/command/pedal.md) | not released | | [/api/remote/command/steer](./api/remote/command/steer.md) | not released | | [/api/remote/command/turn_indicators](./api/remote/command/turn_indicators.md) | not released | +| [/api/remote/control_mode/select](./api/remote/control_mode/select.md) | not released | +| [/api/remote/control_mode/status](./api/remote/control_mode/status.md) | not released | | [/api/routing/change_route](./api/routing/change_route.md) | v1.5.0 | | [/api/routing/change_route_points](./api/routing/change_route_points.md) | v1.5.0 | | [/api/routing/clear_route](./api/routing/clear_route.md) | v1.0.0 | diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ManualControlMode.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ManualControlMode.md new file mode 100644 index 00000000000..e7d3318df48 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ManualControlMode.md @@ -0,0 +1,20 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/ManualControlMode +used: + - autoware_adapi_v1_msgs/msg/ManualControlModeStatus + - autoware_adapi_v1_msgs/srv/SelectManualControlMode +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +uint8 DISABLED = 1 +uint8 PEDAL = 2 +uint8 ACCEL = 3 + +uint8 mode +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ManualControlModeStatus.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ManualControlModeStatus.md new file mode 100644 index 00000000000..51fb1785aab --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ManualControlModeStatus.md @@ -0,0 +1,16 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/ManualControlModeStatus +uses: + - autoware_adapi_v1_msgs/msg/ManualControlMode +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +builtin_interfaces/Time stamp +autoware_adapi_v1_msgs/ManualControlMode mode +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ResponseStatus.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ResponseStatus.md index 7a2b8f31505..67eb3aef167 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ResponseStatus.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ResponseStatus.md @@ -9,6 +9,7 @@ used: - autoware_adapi_v1_msgs/srv/GetDoorLayout - autoware_adapi_v1_msgs/srv/GetVehicleDimensions - autoware_adapi_v1_msgs/srv/InitializeLocalization + - autoware_adapi_v1_msgs/srv/SelectManualControlMode - autoware_adapi_v1_msgs/srv/SetCooperationCommands - autoware_adapi_v1_msgs/srv/SetCooperationPolicies - autoware_adapi_v1_msgs/srv/SetDoorCommand diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/SelectManualControlMode.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/SelectManualControlMode.md new file mode 100644 index 00000000000..9b369fe1a67 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/SelectManualControlMode.md @@ -0,0 +1,18 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/srv/SelectManualControlMode +uses: + - autoware_adapi_v1_msgs/msg/ManualControlMode + - autoware_adapi_v1_msgs/msg/ResponseStatus +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +autoware_adapi_v1_msgs/ManualControlMode mode +--- +autoware_adapi_v1_msgs/ResponseStatus status +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/index.md b/docs/design/autoware-interfaces/ad-api/types/index.md index f2b4b8765d8..c609c104f3c 100644 --- a/docs/design/autoware-interfaces/ad-api/types/index.md +++ b/docs/design/autoware-interfaces/ad-api/types/index.md @@ -24,6 +24,8 @@ - [autoware_adapi_v1_msgs/msg/HazardLightsCommand](./autoware_adapi_v1_msgs/msg/HazardLightsCommand.md) - [autoware_adapi_v1_msgs/msg/Heartbeat](./autoware_adapi_v1_msgs/msg/Heartbeat.md) - [autoware_adapi_v1_msgs/msg/LocalizationInitializationState](./autoware_adapi_v1_msgs/msg/LocalizationInitializationState.md) +- [autoware_adapi_v1_msgs/msg/ManualControlMode](./autoware_adapi_v1_msgs/msg/ManualControlMode.md) +- [autoware_adapi_v1_msgs/msg/ManualControlModeStatus](./autoware_adapi_v1_msgs/msg/ManualControlModeStatus.md) - [autoware_adapi_v1_msgs/msg/MotionState](./autoware_adapi_v1_msgs/msg/MotionState.md) - [autoware_adapi_v1_msgs/msg/MrmState](./autoware_adapi_v1_msgs/msg/MrmState.md) - [autoware_adapi_v1_msgs/msg/ObjectClassification](./autoware_adapi_v1_msgs/msg/ObjectClassification.md) @@ -53,6 +55,7 @@ - [autoware_adapi_v1_msgs/srv/GetDoorLayout](./autoware_adapi_v1_msgs/srv/GetDoorLayout.md) - [autoware_adapi_v1_msgs/srv/GetVehicleDimensions](./autoware_adapi_v1_msgs/srv/GetVehicleDimensions.md) - [autoware_adapi_v1_msgs/srv/InitializeLocalization](./autoware_adapi_v1_msgs/srv/InitializeLocalization.md) +- [autoware_adapi_v1_msgs/srv/SelectManualControlMode](./autoware_adapi_v1_msgs/srv/SelectManualControlMode.md) - [autoware_adapi_v1_msgs/srv/SetCooperationCommands](./autoware_adapi_v1_msgs/srv/SetCooperationCommands.md) - [autoware_adapi_v1_msgs/srv/SetCooperationPolicies](./autoware_adapi_v1_msgs/srv/SetCooperationPolicies.md) - [autoware_adapi_v1_msgs/srv/SetDoorCommand](./autoware_adapi_v1_msgs/srv/SetDoorCommand.md) diff --git a/yaml/autoware-interfaces.yaml b/yaml/autoware-interfaces.yaml index 1e74662d1a6..280e81f0cbe 100644 --- a/yaml/autoware-interfaces.yaml +++ b/yaml/autoware-interfaces.yaml @@ -101,6 +101,13 @@ types: msg: stamp: builtin_interfaces/msg/Time state: uint16 + autoware_adapi_v1_msgs/msg/ManualControlMode: + msg: + mode: uint8 + autoware_adapi_v1_msgs/msg/ManualControlModeStatus: + msg: + mode: autoware_adapi_v1_msgs/msg/ManualControlMode + stamp: builtin_interfaces/msg/Time autoware_adapi_v1_msgs/msg/MotionState: msg: stamp: builtin_interfaces/msg/Time @@ -248,6 +255,11 @@ types: pose: geometry_msgs/msg/PoseWithCovarianceStamped[<=1] res: status: autoware_adapi_v1_msgs/msg/ResponseStatus + autoware_adapi_v1_msgs/srv/SelectManualControlMode: + req: + mode: autoware_adapi_v1_msgs/msg/ManualControlMode + res: + status: autoware_adapi_v1_msgs/msg/ResponseStatus autoware_adapi_v1_msgs/srv/SetCooperationCommands: req: commands: autoware_adapi_v1_msgs/msg/CooperationCommand[] From 0283529fd5a79c8e1798f8defde80461ec56d476 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Wed, 27 Nov 2024 19:48:30 +0900 Subject: [PATCH 04/10] add api description Signed-off-by: Takagi, Isamu --- .../{manual_control.md => manual-control.md} | 0 .../autoware-interfaces/ad-api/index.md | 1 + .../ad-api/list/api/remote/command/accel.md | 6 +++- .../ad-api/list/api/remote/command/gear.md | 6 +++- .../list/api/remote/command/hazard_lights.md | 6 +++- .../ad-api/list/api/remote/command/pedal.md | 8 ++++- .../ad-api/list/api/remote/command/steer.md | 6 +++- .../api/remote/command/turn_indicators.md | 6 +++- .../list/api/remote/control_mode/select.md | 11 +++++-- .../ad-api/use-cases/manual-control/index.md | 31 +++++++++++++++++++ .../manual-control/sequence.plantuml | 17 ++++++++++ 11 files changed, 90 insertions(+), 8 deletions(-) rename docs/design/autoware-interfaces/ad-api/features/{manual_control.md => manual-control.md} (100%) create mode 100644 docs/design/autoware-interfaces/ad-api/use-cases/manual-control/index.md create mode 100644 docs/design/autoware-interfaces/ad-api/use-cases/manual-control/sequence.plantuml diff --git a/docs/design/autoware-interfaces/ad-api/features/manual_control.md b/docs/design/autoware-interfaces/ad-api/features/manual-control.md similarity index 100% rename from docs/design/autoware-interfaces/ad-api/features/manual_control.md rename to docs/design/autoware-interfaces/ad-api/features/manual-control.md diff --git a/docs/design/autoware-interfaces/ad-api/index.md b/docs/design/autoware-interfaces/ad-api/index.md index 5baa16035ec..7b69a3359c7 100644 --- a/docs/design/autoware-interfaces/ad-api/index.md +++ b/docs/design/autoware-interfaces/ad-api/index.md @@ -27,6 +27,7 @@ Service providers can combine these use cases to define user stories and check i - [Vehicle monitoring](./use-cases/vehicle-monitoring.md) - [Vehicle operation](./use-cases/vehicle-operation.md) - [System monitoring](./use-cases/system-monitoring.md) +- [Manual control](./use-cases/manual-control/index.md) ## Features diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/accel.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/accel.md index b3a6f24073d..f2d8e3c664b 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/accel.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/accel.md @@ -6,9 +6,13 @@ type: name: autoware_adapi_v1_msgs/msg/AccelCommand msg: - name: stamp - text: + text: Timestamp when this message was sent. + - name: accel + text: target acceleration [m/s^2]. --- {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} {% block description %} +Send acceleration command to this API. +This API is not available until a control mode is selected using {{ link_ad_api('/api/remote/control_mode/select') }}. {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/gear.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/gear.md index 6f7eecb0a6a..0f3e6fba308 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/gear.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/gear.md @@ -6,9 +6,13 @@ type: name: autoware_adapi_v1_msgs/msg/GearCommand msg: - name: stamp - text: + text: Timestamp when this message was sent. + - name: command + text: Target gear status. --- {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} {% block description %} +Send gear command to this API. +This API is not available until a control mode is selected using {{ link_ad_api('/api/remote/control_mode/select') }}. {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/hazard_lights.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/hazard_lights.md index c0d4c377dfb..0f6eeb8a49e 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/hazard_lights.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/hazard_lights.md @@ -6,9 +6,13 @@ type: name: autoware_adapi_v1_msgs/msg/HazardLightsCommand msg: - name: stamp - text: + text: Timestamp when this message was sent. + - name: command + text: Target hazard lights status. --- {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} {% block description %} +Send hazard lights command to this API. +This API is not available until a control mode is selected using {{ link_ad_api('/api/remote/control_mode/select') }}. {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/pedal.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/pedal.md index 8ab06568c58..d93f733cb3a 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/pedal.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/pedal.md @@ -6,9 +6,15 @@ type: name: autoware_adapi_v1_msgs/msg/PedalCommand msg: - name: stamp - text: + text: Timestamp when this message was sent. + - name: accel + text: Target accelerator pedal ratio. + - name: brake + text: Target brake pedal ratio. --- {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} {% block description %} +Send accelerator and brake pedal command to this API. The pedal value is the ratio with the maximum pedal depression being 1.0. +This API is not available until a control mode is selected using {{ link_ad_api('/api/remote/control_mode/select') }}. {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/steer.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/steer.md index 7c677ac2427..6679005b965 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/steer.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/steer.md @@ -6,9 +6,13 @@ type: name: autoware_adapi_v1_msgs/msg/SteerCommand msg: - name: stamp - text: + text: Timestamp when this message was sent. + - name: steer + text: Target steering tire angle [rad]. --- {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} {% block description %} +Send steering command to this API. +This API is not available until a control mode is selected using {{ link_ad_api('/api/remote/control_mode/select') }}. {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/turn_indicators.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/turn_indicators.md index c8a20e31901..b582bc376e3 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/turn_indicators.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/turn_indicators.md @@ -6,9 +6,13 @@ type: name: autoware_adapi_v1_msgs/msg/TurnIndicatorsCommand msg: - name: stamp - text: + text: Timestamp when this message was sent. + - name: command + text: Target turn indicators status. --- {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} {% block description %} +Send turn indicators command to this API. +This API is not available until a control mode is selected using {{ link_ad_api('/api/remote/control_mode/select') }}. {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/select.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/select.md index f104a2e5ae6..a3ee8d63175 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/select.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/select.md @@ -1,12 +1,19 @@ --- -title: /api/local/control_mode/select +title: /api/remote/control_mode/select status: not released method: function call type: name: autoware_adapi_v1_msgs/srv/SelectManualControlMode - msg: [] + req: + - name: mode + text: The manual control mode to be used. + res: + - name: status + text: response status --- {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} {% block description %} +This API selects the type of command to use. +This API cannot be used while [operation mode](../../../../features/operation_mode.md) is remote. {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/use-cases/manual-control/index.md b/docs/design/autoware-interfaces/ad-api/use-cases/manual-control/index.md new file mode 100644 index 00000000000..6b91467324d --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/use-cases/manual-control/index.md @@ -0,0 +1,31 @@ +# Manual control + +## Description + +To operate a vehicle without a steering wheel or steering wheel, or to develop a remote operation system, an interface to manually drive a vehicle using Autoware is required. + +## Requirements + +- The vehicle can transition to a safe state when a communication problem occurs. +- Supports the following commands and statuses. + - Pedal or acceleration as longitudinal control + - Steering tire angle as lateral control + - Gear + - Turn indicators + - Hazard lignts +- The following are under consideration. + - Headlights + - Wipers + - Parking brake + - Horn + +## Sequence + +```plantuml +{% include 'design/autoware-interfaces/ad-api/use-cases/manual-control/sequence.plantuml' %} +``` + +## Related features + +- [Manual control](../../features/manual-control.md) +- [Vehicle status](../../features/vehicle-status.md) diff --git a/docs/design/autoware-interfaces/ad-api/use-cases/manual-control/sequence.plantuml b/docs/design/autoware-interfaces/ad-api/use-cases/manual-control/sequence.plantuml new file mode 100644 index 00000000000..bbf50ff5756 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/use-cases/manual-control/sequence.plantuml @@ -0,0 +1,17 @@ +@startuml + +skinparam SequenceMessageAlign center +participant "Application" as app +participant "AD API" as adapi + +app -> adapi ++: /api/remote/control_mode/select +return +adapi -> app: /api/remote/control_mode/status + +par + app -> adapi: /api/remote/command/** +else + adapi -> app: /api/veihcie/status +end + +@enduml From ff174c7b08308b9d9b96be3b4616e861c574cb33 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Wed, 27 Nov 2024 21:03:53 +0900 Subject: [PATCH 05/10] update description Signed-off-by: Takagi, Isamu --- .../ad-api/features/manual-control.md | 33 ++++++++++++++++--- .../autoware-interfaces/ad-api/index.md | 1 + .../ad-api/list/api/local/command/accel.md | 14 -------- .../list/api/local/command/acceleration.md | 18 ++++++++++ .../ad-api/list/api/local/command/gear.md | 6 +++- .../list/api/local/command/hazard_lights.md | 6 +++- .../ad-api/list/api/local/command/pedal.md | 8 ++++- .../ad-api/list/api/local/command/steer.md | 14 -------- .../steer.md => local/command/steering.md} | 8 ++--- .../list/api/local/command/turn_indicators.md | 6 +++- .../list/api/local/control_mode/list.md | 18 ++++++++++ .../list/api/local/control_mode/select.md | 9 ++++- .../list/api/local/control_mode/status.md | 1 + .../ad-api/list/api/remote/command/accel.md | 18 ---------- .../list/api/remote/command/acceleration.md | 18 ++++++++++ .../ad-api/list/api/remote/command/gear.md | 4 +-- .../list/api/remote/command/hazard_lights.md | 4 +-- .../ad-api/list/api/remote/command/pedal.md | 6 ++-- .../list/api/remote/command/steering.md | 18 ++++++++++ .../api/remote/command/turn_indicators.md | 4 +-- .../list/api/remote/control_mode/list.md | 18 ++++++++++ .../list/api/remote/control_mode/select.md | 4 +-- .../list/api/remote/control_mode/status.md | 1 + .../autoware-interfaces/ad-api/list/index.md | 14 ++++++-- ...SteerCommand.md => AccelerationCommand.md} | 4 +-- .../msg/ManualControlMode.md | 3 +- .../msg/PedalCommand.md | 2 +- .../msg/ResponseStatus.md | 1 + .../{AccelCommand.md => SteeringCommand.md} | 4 +-- .../srv/ListManualControlMode.md | 18 ++++++++++ .../autoware-interfaces/ad-api/types/index.md | 5 +-- yaml/autoware-interfaces.yaml | 14 +++++--- 32 files changed, 216 insertions(+), 86 deletions(-) delete mode 100644 docs/design/autoware-interfaces/ad-api/list/api/local/command/accel.md create mode 100644 docs/design/autoware-interfaces/ad-api/list/api/local/command/acceleration.md delete mode 100644 docs/design/autoware-interfaces/ad-api/list/api/local/command/steer.md rename docs/design/autoware-interfaces/ad-api/list/api/{remote/command/steer.md => local/command/steering.md} (58%) create mode 100644 docs/design/autoware-interfaces/ad-api/list/api/local/control_mode/list.md delete mode 100644 docs/design/autoware-interfaces/ad-api/list/api/remote/command/accel.md create mode 100644 docs/design/autoware-interfaces/ad-api/list/api/remote/command/acceleration.md create mode 100644 docs/design/autoware-interfaces/ad-api/list/api/remote/command/steering.md create mode 100644 docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/list.md rename docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/{SteerCommand.md => AccelerationCommand.md} (75%) rename docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/{AccelCommand.md => SteeringCommand.md} (75%) create mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/ListManualControlMode.md diff --git a/docs/design/autoware-interfaces/ad-api/features/manual-control.md b/docs/design/autoware-interfaces/ad-api/features/manual-control.md index 0ece14079a8..a2d7f5bc21d 100644 --- a/docs/design/autoware-interfaces/ad-api/features/manual-control.md +++ b/docs/design/autoware-interfaces/ad-api/features/manual-control.md @@ -2,19 +2,21 @@ ## Related API +- {{ link_ad_api('/api/remote/control_mode/list') }} - {{ link_ad_api('/api/remote/control_mode/select') }} - {{ link_ad_api('/api/remote/control_mode/status') }} - {{ link_ad_api('/api/remote/command/pedal') }} -- {{ link_ad_api('/api/remote/command/accel') }} -- {{ link_ad_api('/api/remote/command/steer') }} +- {{ link_ad_api('/api/remote/command/acceleration') }} +- {{ link_ad_api('/api/remote/command/steering') }} - {{ link_ad_api('/api/remote/command/gear') }} - {{ link_ad_api('/api/remote/command/turn_indicators') }} - {{ link_ad_api('/api/remote/command/hazard_lights') }} +- {{ link_ad_api('/api/local/control_mode/list') }} - {{ link_ad_api('/api/local/control_mode/select') }} - {{ link_ad_api('/api/local/control_mode/status') }} - {{ link_ad_api('/api/local/command/pedal') }} -- {{ link_ad_api('/api/local/command/accel') }} -- {{ link_ad_api('/api/local/command/steer') }} +- {{ link_ad_api('/api/local/command/acceleration') }} +- {{ link_ad_api('/api/local/command/steering') }} - {{ link_ad_api('/api/local/command/gear') }} - {{ link_ad_api('/api/local/command/turn_indicators') }} - {{ link_ad_api('/api/local/command/hazard_lights') }} @@ -23,6 +25,27 @@ This API is used to manually control the vehicle, and provides the same interface for different operators: remote and local. For example, the local operator controls a vehicle without a driver's seat using a joystick, while the remote operator provides remote support when problems occur with autonomous driving. +The command sent is used in [operation modes](./operation_mode.md) remote and local. + +## Control mode + Since there are multiple ways to control a vehicle, such as pedals or acceleration, the application must first select a control mode. - +| Mode | Description | +| ------------ | -------------------------------------------------------------------------- | +| disabled | This is the initial mode. When selected, all command APIs are unavailable. | +| pedal | This mode provides longitudinal control using the pedals. | +| acceleration | This mode provides longitudinal control using the target acceleration. | + +## Commands + +The commands available in each mode are as follows. + +| Command | disabled | pedal | acceleration | +| --------------- | :------: | :---: | :----------: | +| pedal | - | ✓ | - | +| acceleration | - | - | ✓ | +| steering | - | ✓ | ✓ | +| gear | - | ✓ | ✓ | +| turn_indicators | - | ✓ | ✓ | +| hazard_lights | - | ✓ | ✓ | diff --git a/docs/design/autoware-interfaces/ad-api/index.md b/docs/design/autoware-interfaces/ad-api/index.md index 7b69a3359c7..28721326d70 100644 --- a/docs/design/autoware-interfaces/ad-api/index.md +++ b/docs/design/autoware-interfaces/ad-api/index.md @@ -44,3 +44,4 @@ Service providers can combine these use cases to define user stories and check i - [Cooperation](./features/cooperation.md) - [Heartbeat](./features/heartbeat.md) - [Diagnostics](./features/diagnostics.md) +- [Manual control](./features/manual-control.md) diff --git a/docs/design/autoware-interfaces/ad-api/list/api/local/command/accel.md b/docs/design/autoware-interfaces/ad-api/list/api/local/command/accel.md deleted file mode 100644 index 4c31120888c..00000000000 --- a/docs/design/autoware-interfaces/ad-api/list/api/local/command/accel.md +++ /dev/null @@ -1,14 +0,0 @@ ---- -title: /api/local/command/accel -status: not released -method: realtime stream -type: - name: autoware_adapi_v1_msgs/msg/AccelCommand - msg: - - name: stamp - text: ---- - -{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} -{% block description %} -{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/local/command/acceleration.md b/docs/design/autoware-interfaces/ad-api/list/api/local/command/acceleration.md new file mode 100644 index 00000000000..f4d59c82a48 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/local/command/acceleration.md @@ -0,0 +1,18 @@ +--- +title: /api/local/command/acceleration +status: not released +method: realtime stream +type: + name: autoware_adapi_v1_msgs/msg/AccelerationCommand + msg: + - name: stamp + text: Timestamp when this message was sent. + - name: acceleration + text: Target acceleration [m/s^2]. +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +Sends acceleration command used in local operation mode. +To use this API, select the corresponding mode as described in [manual control](../../../../features/manual-control.md). +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/local/command/gear.md b/docs/design/autoware-interfaces/ad-api/list/api/local/command/gear.md index 34cd6747805..2f1f80762e2 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/local/command/gear.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/local/command/gear.md @@ -6,9 +6,13 @@ type: name: autoware_adapi_v1_msgs/msg/GearCommand msg: - name: stamp - text: + text: Timestamp when this message was sent. + - name: command + text: Target gear status. --- {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} {% block description %} +Sends gear command used in local operation mode. +To use this API, select the corresponding mode as described in [manual control](../../../../features/manual-control.md). {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/local/command/hazard_lights.md b/docs/design/autoware-interfaces/ad-api/list/api/local/command/hazard_lights.md index 3338df83541..2679b581bbf 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/local/command/hazard_lights.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/local/command/hazard_lights.md @@ -6,9 +6,13 @@ type: name: autoware_adapi_v1_msgs/msg/HazardLightsCommand msg: - name: stamp - text: + text: Timestamp when this message was sent. + - name: command + text: Target hazard lights status. --- {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} {% block description %} +Sends hazard lights command used in local operation mode. +To use this API, select the corresponding mode as described in [manual control](../../../../features/manual-control.md). {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/local/command/pedal.md b/docs/design/autoware-interfaces/ad-api/list/api/local/command/pedal.md index 6f8c867590a..978dec05f51 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/local/command/pedal.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/local/command/pedal.md @@ -6,9 +6,15 @@ type: name: autoware_adapi_v1_msgs/msg/PedalCommand msg: - name: stamp - text: + text: Timestamp when this message was sent. + - name: accelerator + text: Target accelerator pedal ratio. + - name: brake + text: Target brake pedal ratio. --- {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} {% block description %} +Sends pedal command used in local operation mode. The pedal value is the ratio with the maximum pedal depression being 1.0. +To use this API, select the corresponding mode as described in [manual control](../../../../features/manual-control.md). {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/local/command/steer.md b/docs/design/autoware-interfaces/ad-api/list/api/local/command/steer.md deleted file mode 100644 index 2de43d5a122..00000000000 --- a/docs/design/autoware-interfaces/ad-api/list/api/local/command/steer.md +++ /dev/null @@ -1,14 +0,0 @@ ---- -title: /api/local/command/steer -status: not released -method: realtime stream -type: - name: autoware_adapi_v1_msgs/msg/SteerCommand - msg: - - name: stamp - text: ---- - -{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} -{% block description %} -{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/steer.md b/docs/design/autoware-interfaces/ad-api/list/api/local/command/steering.md similarity index 58% rename from docs/design/autoware-interfaces/ad-api/list/api/remote/command/steer.md rename to docs/design/autoware-interfaces/ad-api/list/api/local/command/steering.md index 6679005b965..37fc91b3ff6 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/steer.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/local/command/steering.md @@ -1,18 +1,18 @@ --- -title: /api/remote/command/steer +title: /api/local/command/steering status: not released method: realtime stream type: - name: autoware_adapi_v1_msgs/msg/SteerCommand + name: autoware_adapi_v1_msgs/msg/SteeringCommand msg: - name: stamp text: Timestamp when this message was sent. - - name: steer + - name: steering_tire_angle text: Target steering tire angle [rad]. --- {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} {% block description %} Send steering command to this API. -This API is not available until a control mode is selected using {{ link_ad_api('/api/remote/control_mode/select') }}. +To use this API, select the corresponding mode as described in [manual control](../../../../features/manual-control.md). {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/local/command/turn_indicators.md b/docs/design/autoware-interfaces/ad-api/list/api/local/command/turn_indicators.md index c86d338a937..67926c7a4b0 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/local/command/turn_indicators.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/local/command/turn_indicators.md @@ -6,9 +6,13 @@ type: name: autoware_adapi_v1_msgs/msg/TurnIndicatorsCommand msg: - name: stamp - text: + text: Timestamp when this message was sent. + - name: command + text: Target turn indicators status. --- {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} {% block description %} +Sends turn indicators command used in local operation mode. +To use this API, select the corresponding mode as described in [manual control](../../../../features/manual-control.md). {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/local/control_mode/list.md b/docs/design/autoware-interfaces/ad-api/list/api/local/control_mode/list.md new file mode 100644 index 00000000000..eec07bba9fb --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/local/control_mode/list.md @@ -0,0 +1,18 @@ +--- +title: /api/local/control_mode/list +status: not released +method: function call +type: + name: autoware_adapi_v1_msgs/srv/ListManualControlMode + res: + - name: status + text: response status + - name: modes + text: List of available modes. +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +List the available manual control modes as described in [manual control](../../../../features/manual-control.md). +The disabled mode is not included in the available modes. +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/local/control_mode/select.md b/docs/design/autoware-interfaces/ad-api/list/api/local/control_mode/select.md index f104a2e5ae6..6cad2e17fba 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/local/control_mode/select.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/local/control_mode/select.md @@ -4,9 +4,16 @@ status: not released method: function call type: name: autoware_adapi_v1_msgs/srv/SelectManualControlMode - msg: [] + req: + - name: mode + text: The manual control mode to be used. + res: + - name: status + text: response status --- {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} {% block description %} +Selects the manual control mode as described in [manual control](../../../../features/manual-control.md). +This API fails while [operation mode](../../../../features/operation_mode.md) is local. {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/local/control_mode/status.md b/docs/design/autoware-interfaces/ad-api/list/api/local/control_mode/status.md index 468d1afda4d..d8c81ba5c33 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/local/control_mode/status.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/local/control_mode/status.md @@ -11,4 +11,5 @@ type: {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} {% block description %} +Get the current manual operation mode. {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/accel.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/accel.md deleted file mode 100644 index f2d8e3c664b..00000000000 --- a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/accel.md +++ /dev/null @@ -1,18 +0,0 @@ ---- -title: /api/remote/command/accel -status: not released -method: realtime stream -type: - name: autoware_adapi_v1_msgs/msg/AccelCommand - msg: - - name: stamp - text: Timestamp when this message was sent. - - name: accel - text: target acceleration [m/s^2]. ---- - -{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} -{% block description %} -Send acceleration command to this API. -This API is not available until a control mode is selected using {{ link_ad_api('/api/remote/control_mode/select') }}. -{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/acceleration.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/acceleration.md new file mode 100644 index 00000000000..9947181ce6e --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/acceleration.md @@ -0,0 +1,18 @@ +--- +title: /api/remote/command/acceleration +status: not released +method: realtime stream +type: + name: autoware_adapi_v1_msgs/msg/AccelerationCommand + msg: + - name: stamp + text: Timestamp when this message was sent. + - name: acceleration + text: Target acceleration [m/s^2]. +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +Sends acceleration command used in remote operation mode. +To use this API, select the corresponding mode as described in [manual control](../../../../features/manual-control.md). +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/gear.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/gear.md index 0f3e6fba308..690daf92283 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/gear.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/gear.md @@ -13,6 +13,6 @@ type: {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} {% block description %} -Send gear command to this API. -This API is not available until a control mode is selected using {{ link_ad_api('/api/remote/control_mode/select') }}. +Sends gear command used in remote operation mode. +To use this API, select the corresponding mode as described in [manual control](../../../../features/manual-control.md). {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/hazard_lights.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/hazard_lights.md index 0f6eeb8a49e..18a628aff34 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/hazard_lights.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/hazard_lights.md @@ -13,6 +13,6 @@ type: {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} {% block description %} -Send hazard lights command to this API. -This API is not available until a control mode is selected using {{ link_ad_api('/api/remote/control_mode/select') }}. +Sends hazard lights command used in remote operation mode. +To use this API, select the corresponding mode as described in [manual control](../../../../features/manual-control.md). {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/pedal.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/pedal.md index d93f733cb3a..fc1fb27aee0 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/pedal.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/pedal.md @@ -7,7 +7,7 @@ type: msg: - name: stamp text: Timestamp when this message was sent. - - name: accel + - name: accelerator text: Target accelerator pedal ratio. - name: brake text: Target brake pedal ratio. @@ -15,6 +15,6 @@ type: {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} {% block description %} -Send accelerator and brake pedal command to this API. The pedal value is the ratio with the maximum pedal depression being 1.0. -This API is not available until a control mode is selected using {{ link_ad_api('/api/remote/control_mode/select') }}. +Sends pedal command used in remote operation mode. The pedal value is the ratio with the maximum pedal depression being 1.0. +To use this API, select the corresponding mode as described in [manual control](../../../../features/manual-control.md). {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/steering.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/steering.md new file mode 100644 index 00000000000..10e476777ab --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/steering.md @@ -0,0 +1,18 @@ +--- +title: /api/remote/command/steering +status: not released +method: realtime stream +type: + name: autoware_adapi_v1_msgs/msg/SteeringCommand + msg: + - name: stamp + text: Timestamp when this message was sent. + - name: steering_tire_angle + text: Target steering tire angle [rad]. +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +Send steering command to this API. +To use this API, select the corresponding mode as described in [manual control](../../../../features/manual-control.md). +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/turn_indicators.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/turn_indicators.md index b582bc376e3..02133772cd4 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/turn_indicators.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/turn_indicators.md @@ -13,6 +13,6 @@ type: {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} {% block description %} -Send turn indicators command to this API. -This API is not available until a control mode is selected using {{ link_ad_api('/api/remote/control_mode/select') }}. +Sends turn indicators command used in remote operation mode. +To use this API, select the corresponding mode as described in [manual control](../../../../features/manual-control.md). {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/list.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/list.md new file mode 100644 index 00000000000..955c8a1abbd --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/list.md @@ -0,0 +1,18 @@ +--- +title: /api/remote/control_mode/list +status: not released +method: function call +type: + name: autoware_adapi_v1_msgs/srv/ListManualControlMode + res: + - name: status + text: response status + - name: modes + text: List of available modes. +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +List the available manual control modes as described in [manual control](../../../../features/manual-control.md). +The disabled mode is not included in the available modes. +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/select.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/select.md index a3ee8d63175..3c4c8889639 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/select.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/select.md @@ -14,6 +14,6 @@ type: {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} {% block description %} -This API selects the type of command to use. -This API cannot be used while [operation mode](../../../../features/operation_mode.md) is remote. +Selects the manual control mode as described in [manual control](../../../../features/manual-control.md). +This API fails while [operation mode](../../../../features/operation_mode.md) is remote. {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/status.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/status.md index 6460fae9c4f..d4b34b7327f 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/status.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/status.md @@ -11,4 +11,5 @@ type: {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} {% block description %} +Get the current manual operation mode. {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/index.md b/docs/design/autoware-interfaces/ad-api/list/index.md index 79fe9f266f0..0485c4a9d7c 100644 --- a/docs/design/autoware-interfaces/ad-api/list/index.md +++ b/docs/design/autoware-interfaces/ad-api/list/index.md @@ -4,6 +4,15 @@ | ------------------------------------------------------------------------------------------------ | ------------ | | [/api/fail_safe/mrm_state](./api/fail_safe/mrm_state.md) | v1.1.0 | | [/api/interface/version](./api/interface/version.md) | v1.0.0 | +| [/api/local/command/acceleration](./api/local/command/acceleration.md) | not released | +| [/api/local/command/gear](./api/local/command/gear.md) | not released | +| [/api/local/command/hazard_lights](./api/local/command/hazard_lights.md) | not released | +| [/api/local/command/pedal](./api/local/command/pedal.md) | not released | +| [/api/local/command/steering](./api/local/command/steering.md) | not released | +| [/api/local/command/turn_indicators](./api/local/command/turn_indicators.md) | not released | +| [/api/local/control_mode/list](./api/local/control_mode/list.md) | not released | +| [/api/local/control_mode/select](./api/local/control_mode/select.md) | not released | +| [/api/local/control_mode/status](./api/local/control_mode/status.md) | not released | | [/api/localization/initialization_state](./api/localization/initialization_state.md) | v1.0.0 | | [/api/localization/initialize](./api/localization/initialize.md) | v1.0.0 | | [/api/motion/accept_start](./api/motion/accept_start.md) | not released | @@ -21,12 +30,13 @@ | [/api/planning/cooperation/set_policies](./api/planning/cooperation/set_policies.md) | not released | | [/api/planning/steering_factors](./api/planning/steering_factors.md) | not released | | [/api/planning/velocity_factors](./api/planning/velocity_factors.md) | not released | -| [/api/remote/command/accel](./api/remote/command/accel.md) | not released | +| [/api/remote/command/acceleration](./api/remote/command/acceleration.md) | not released | | [/api/remote/command/gear](./api/remote/command/gear.md) | not released | | [/api/remote/command/hazard_lights](./api/remote/command/hazard_lights.md) | not released | | [/api/remote/command/pedal](./api/remote/command/pedal.md) | not released | -| [/api/remote/command/steer](./api/remote/command/steer.md) | not released | +| [/api/remote/command/steering](./api/remote/command/steering.md) | not released | | [/api/remote/command/turn_indicators](./api/remote/command/turn_indicators.md) | not released | +| [/api/remote/control_mode/list](./api/remote/control_mode/list.md) | not released | | [/api/remote/control_mode/select](./api/remote/control_mode/select.md) | not released | | [/api/remote/control_mode/status](./api/remote/control_mode/status.md) | not released | | [/api/routing/change_route](./api/routing/change_route.md) | v1.5.0 | diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/SteerCommand.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/AccelerationCommand.md similarity index 75% rename from docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/SteerCommand.md rename to docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/AccelerationCommand.md index ea4b883b47e..5db8bd9c6f8 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/SteerCommand.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/AccelerationCommand.md @@ -1,6 +1,6 @@ --- # This file is generated by tools/autoware-interfaces/generate.py -title: autoware_adapi_v1_msgs/msg/SteerCommand +title: autoware_adapi_v1_msgs/msg/AccelerationCommand --- {% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} @@ -8,7 +8,7 @@ title: autoware_adapi_v1_msgs/msg/SteerCommand ```txt builtin_interfaces/Time stamp -float32 steer +float32 acceleration ``` {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ManualControlMode.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ManualControlMode.md index e7d3318df48..76d9c13f75f 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ManualControlMode.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ManualControlMode.md @@ -3,6 +3,7 @@ title: autoware_adapi_v1_msgs/msg/ManualControlMode used: - autoware_adapi_v1_msgs/msg/ManualControlModeStatus + - autoware_adapi_v1_msgs/srv/ListManualControlMode - autoware_adapi_v1_msgs/srv/SelectManualControlMode --- @@ -12,7 +13,7 @@ used: ```txt uint8 DISABLED = 1 uint8 PEDAL = 2 -uint8 ACCEL = 3 +uint8 ACCELERATION = 3 uint8 mode ``` diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/PedalCommand.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/PedalCommand.md index deac6777a59..720cb6ff76f 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/PedalCommand.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/PedalCommand.md @@ -8,7 +8,7 @@ title: autoware_adapi_v1_msgs/msg/PedalCommand ```txt builtin_interfaces/Time stamp -float32 accel +float32 accelerator float32 brake ``` diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ResponseStatus.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ResponseStatus.md index 67eb3aef167..7bf5cc4c221 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ResponseStatus.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ResponseStatus.md @@ -9,6 +9,7 @@ used: - autoware_adapi_v1_msgs/srv/GetDoorLayout - autoware_adapi_v1_msgs/srv/GetVehicleDimensions - autoware_adapi_v1_msgs/srv/InitializeLocalization + - autoware_adapi_v1_msgs/srv/ListManualControlMode - autoware_adapi_v1_msgs/srv/SelectManualControlMode - autoware_adapi_v1_msgs/srv/SetCooperationCommands - autoware_adapi_v1_msgs/srv/SetCooperationPolicies diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/AccelCommand.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/SteeringCommand.md similarity index 75% rename from docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/AccelCommand.md rename to docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/SteeringCommand.md index ec3b9b5000e..6a038b917a1 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/AccelCommand.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/SteeringCommand.md @@ -1,6 +1,6 @@ --- # This file is generated by tools/autoware-interfaces/generate.py -title: autoware_adapi_v1_msgs/msg/AccelCommand +title: autoware_adapi_v1_msgs/msg/SteeringCommand --- {% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} @@ -8,7 +8,7 @@ title: autoware_adapi_v1_msgs/msg/AccelCommand ```txt builtin_interfaces/Time stamp -float32 accel +float32 steering_tire_angle ``` {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/ListManualControlMode.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/ListManualControlMode.md new file mode 100644 index 00000000000..6fe74ce50c4 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/ListManualControlMode.md @@ -0,0 +1,18 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/srv/ListManualControlMode +uses: + - autoware_adapi_v1_msgs/msg/ManualControlMode + - autoware_adapi_v1_msgs/msg/ResponseStatus +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +--- +autoware_adapi_v1_msgs/ResponseStatus status +autoware_adapi_v1_msgs/ManualControlMode[] modes +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/index.md b/docs/design/autoware-interfaces/ad-api/types/index.md index c609c104f3c..b5d367b615c 100644 --- a/docs/design/autoware-interfaces/ad-api/types/index.md +++ b/docs/design/autoware-interfaces/ad-api/types/index.md @@ -1,6 +1,6 @@ # Types of Autoware AD API -- [autoware_adapi_v1_msgs/msg/AccelCommand](./autoware_adapi_v1_msgs/msg/AccelCommand.md) +- [autoware_adapi_v1_msgs/msg/AccelerationCommand](./autoware_adapi_v1_msgs/msg/AccelerationCommand.md) - [autoware_adapi_v1_msgs/msg/CooperationCommand](./autoware_adapi_v1_msgs/msg/CooperationCommand.md) - [autoware_adapi_v1_msgs/msg/CooperationDecision](./autoware_adapi_v1_msgs/msg/CooperationDecision.md) - [autoware_adapi_v1_msgs/msg/CooperationPolicy](./autoware_adapi_v1_msgs/msg/CooperationPolicy.md) @@ -38,7 +38,7 @@ - [autoware_adapi_v1_msgs/msg/RoutePrimitive](./autoware_adapi_v1_msgs/msg/RoutePrimitive.md) - [autoware_adapi_v1_msgs/msg/RouteSegment](./autoware_adapi_v1_msgs/msg/RouteSegment.md) - [autoware_adapi_v1_msgs/msg/RouteState](./autoware_adapi_v1_msgs/msg/RouteState.md) -- [autoware_adapi_v1_msgs/msg/SteerCommand](./autoware_adapi_v1_msgs/msg/SteerCommand.md) +- [autoware_adapi_v1_msgs/msg/SteeringCommand](./autoware_adapi_v1_msgs/msg/SteeringCommand.md) - [autoware_adapi_v1_msgs/msg/SteeringFactor](./autoware_adapi_v1_msgs/msg/SteeringFactor.md) - [autoware_adapi_v1_msgs/msg/SteeringFactorArray](./autoware_adapi_v1_msgs/msg/SteeringFactorArray.md) - [autoware_adapi_v1_msgs/msg/TurnIndicators](./autoware_adapi_v1_msgs/msg/TurnIndicators.md) @@ -55,6 +55,7 @@ - [autoware_adapi_v1_msgs/srv/GetDoorLayout](./autoware_adapi_v1_msgs/srv/GetDoorLayout.md) - [autoware_adapi_v1_msgs/srv/GetVehicleDimensions](./autoware_adapi_v1_msgs/srv/GetVehicleDimensions.md) - [autoware_adapi_v1_msgs/srv/InitializeLocalization](./autoware_adapi_v1_msgs/srv/InitializeLocalization.md) +- [autoware_adapi_v1_msgs/srv/ListManualControlMode](./autoware_adapi_v1_msgs/srv/ListManualControlMode.md) - [autoware_adapi_v1_msgs/srv/SelectManualControlMode](./autoware_adapi_v1_msgs/srv/SelectManualControlMode.md) - [autoware_adapi_v1_msgs/srv/SetCooperationCommands](./autoware_adapi_v1_msgs/srv/SetCooperationCommands.md) - [autoware_adapi_v1_msgs/srv/SetCooperationPolicies](./autoware_adapi_v1_msgs/srv/SetCooperationPolicies.md) diff --git a/yaml/autoware-interfaces.yaml b/yaml/autoware-interfaces.yaml index 280e81f0cbe..3aee8ed7bc4 100644 --- a/yaml/autoware-interfaces.yaml +++ b/yaml/autoware-interfaces.yaml @@ -1,7 +1,7 @@ types: - autoware_adapi_v1_msgs/msg/AccelCommand: + autoware_adapi_v1_msgs/msg/AccelerationCommand: msg: - accel: float32 + acceleration: float32 stamp: builtin_interfaces/msg/Time autoware_adapi_v1_msgs/msg/CooperationCommand: msg: @@ -133,7 +133,7 @@ types: stamp: builtin_interfaces/msg/Time autoware_adapi_v1_msgs/msg/PedalCommand: msg: - accel: float32 + accelerator: float32 brake: float32 stamp: builtin_interfaces/msg/Time autoware_adapi_v1_msgs/msg/ResponseStatus: @@ -166,10 +166,10 @@ types: msg: stamp: builtin_interfaces/msg/Time state: uint16 - autoware_adapi_v1_msgs/msg/SteerCommand: + autoware_adapi_v1_msgs/msg/SteeringCommand: msg: stamp: builtin_interfaces/msg/Time - steer: float32 + steering_tire_angle: float32 autoware_adapi_v1_msgs/msg/SteeringFactor: msg: behavior: string @@ -255,6 +255,10 @@ types: pose: geometry_msgs/msg/PoseWithCovarianceStamped[<=1] res: status: autoware_adapi_v1_msgs/msg/ResponseStatus + autoware_adapi_v1_msgs/srv/ListManualControlMode: + res: + modes: autoware_adapi_v1_msgs/msg/ManualControlMode[] + status: autoware_adapi_v1_msgs/msg/ResponseStatus autoware_adapi_v1_msgs/srv/SelectManualControlMode: req: mode: autoware_adapi_v1_msgs/msg/ManualControlMode From 2f143ddbf1ede2377c076fbc4947f637562df88a Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Wed, 27 Nov 2024 21:38:37 +0900 Subject: [PATCH 06/10] add operator status Signed-off-by: Takagi, Isamu --- .../ad-api/features/manual-control.md | 8 ++++++++ .../list/api/local/control_mode/status.md | 2 +- .../ad-api/list/api/local/operator/status.md | 18 ++++++++++++++++++ .../list/api/remote/control_mode/status.md | 2 +- .../ad-api/list/api/remote/operator/status.md | 18 ++++++++++++++++++ 5 files changed, 46 insertions(+), 2 deletions(-) create mode 100644 docs/design/autoware-interfaces/ad-api/list/api/local/operator/status.md create mode 100644 docs/design/autoware-interfaces/ad-api/list/api/remote/operator/status.md diff --git a/docs/design/autoware-interfaces/ad-api/features/manual-control.md b/docs/design/autoware-interfaces/ad-api/features/manual-control.md index a2d7f5bc21d..f47020fc9ad 100644 --- a/docs/design/autoware-interfaces/ad-api/features/manual-control.md +++ b/docs/design/autoware-interfaces/ad-api/features/manual-control.md @@ -5,6 +5,7 @@ - {{ link_ad_api('/api/remote/control_mode/list') }} - {{ link_ad_api('/api/remote/control_mode/select') }} - {{ link_ad_api('/api/remote/control_mode/status') }} +- {{ link_ad_api('/api/remote/operator/status') }} - {{ link_ad_api('/api/remote/command/pedal') }} - {{ link_ad_api('/api/remote/command/acceleration') }} - {{ link_ad_api('/api/remote/command/steering') }} @@ -14,6 +15,7 @@ - {{ link_ad_api('/api/local/control_mode/list') }} - {{ link_ad_api('/api/local/control_mode/select') }} - {{ link_ad_api('/api/local/control_mode/status') }} +- {{ link_ad_api('/api/local/operator/status') }} - {{ link_ad_api('/api/local/command/pedal') }} - {{ link_ad_api('/api/local/command/acceleration') }} - {{ link_ad_api('/api/local/command/steering') }} @@ -27,6 +29,12 @@ This API is used to manually control the vehicle, and provides the same interfac For example, the local operator controls a vehicle without a driver's seat using a joystick, while the remote operator provides remote support when problems occur with autonomous driving. The command sent is used in [operation modes](./operation_mode.md) remote and local. +## Operator status + +The application needs to determine whether the operator is able to drive and send that information via the operator status API. +If the operator is unable to continue driving during manual operation, Autoware will perform MRM to bring the vehicle to a safe state. +For level 3 and below, the operator status is referenced even during autonomous driving. + ## Control mode Since there are multiple ways to control a vehicle, such as pedals or acceleration, the application must first select a control mode. diff --git a/docs/design/autoware-interfaces/ad-api/list/api/local/control_mode/status.md b/docs/design/autoware-interfaces/ad-api/list/api/local/control_mode/status.md index d8c81ba5c33..1a186975208 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/local/control_mode/status.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/local/control_mode/status.md @@ -6,7 +6,7 @@ type: name: autoware_adapi_v1_msgs/msg/ManualControlModeStatus msg: - name: stamp - text: + text: Timestamp when this message was sent. --- {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/local/operator/status.md b/docs/design/autoware-interfaces/ad-api/list/api/local/operator/status.md new file mode 100644 index 00000000000..fcce8835bda --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/local/operator/status.md @@ -0,0 +1,18 @@ +--- +title: /api/local/operator/status +status: not released +method: realtime stream +type: + name: autoware_adapi_v1_msgs/msg/ManualOperatorStatus + msg: + - name: stamp + text: Timestamp when this message was sent. + - name: ready + text: Whether the operator is able to continue driving. +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +The application needs to determine whether the operator is able to drive and send that information via this API. +For details, see the [manual control](../../../../features/manual-control.md). +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/status.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/status.md index d4b34b7327f..df348cbf817 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/status.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/status.md @@ -6,7 +6,7 @@ type: name: autoware_adapi_v1_msgs/msg/ManualControlModeStatus msg: - name: stamp - text: + text: Timestamp when this message was sent. --- {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/operator/status.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/operator/status.md new file mode 100644 index 00000000000..73e1c86c752 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/remote/operator/status.md @@ -0,0 +1,18 @@ +--- +title: /api/remote/operator/status +status: not released +method: realtime stream +type: + name: autoware_adapi_v1_msgs/msg/ManualOperatorStatus + msg: + - name: stamp + text: Timestamp when this message was sent. + - name: ready + text: Whether the operator is able to continue driving. +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +The application needs to determine whether the operator is able to drive and send that information via this API. +For details, see the [manual control](../../../../features/manual-control.md). +{% endblock %} From 2ba8376fa97dab14692f7fa989db4b9fabaf44a0 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Wed, 27 Nov 2024 21:41:00 +0900 Subject: [PATCH 07/10] fix Signed-off-by: Takagi, Isamu --- .../autoware-interfaces/ad-api/list/index.md | 2 ++ .../msg/ManualOperatorStatus.md | 14 ++++++++++++++ .../autoware-interfaces/ad-api/types/index.md | 1 + yaml/autoware-interfaces.yaml | 4 ++++ 4 files changed, 21 insertions(+) create mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ManualOperatorStatus.md diff --git a/docs/design/autoware-interfaces/ad-api/list/index.md b/docs/design/autoware-interfaces/ad-api/list/index.md index 0485c4a9d7c..0e372fc5533 100644 --- a/docs/design/autoware-interfaces/ad-api/list/index.md +++ b/docs/design/autoware-interfaces/ad-api/list/index.md @@ -13,6 +13,7 @@ | [/api/local/control_mode/list](./api/local/control_mode/list.md) | not released | | [/api/local/control_mode/select](./api/local/control_mode/select.md) | not released | | [/api/local/control_mode/status](./api/local/control_mode/status.md) | not released | +| [/api/local/operator/status](./api/local/operator/status.md) | not released | | [/api/localization/initialization_state](./api/localization/initialization_state.md) | v1.0.0 | | [/api/localization/initialize](./api/localization/initialize.md) | v1.0.0 | | [/api/motion/accept_start](./api/motion/accept_start.md) | not released | @@ -39,6 +40,7 @@ | [/api/remote/control_mode/list](./api/remote/control_mode/list.md) | not released | | [/api/remote/control_mode/select](./api/remote/control_mode/select.md) | not released | | [/api/remote/control_mode/status](./api/remote/control_mode/status.md) | not released | +| [/api/remote/operator/status](./api/remote/operator/status.md) | not released | | [/api/routing/change_route](./api/routing/change_route.md) | v1.5.0 | | [/api/routing/change_route_points](./api/routing/change_route_points.md) | v1.5.0 | | [/api/routing/clear_route](./api/routing/clear_route.md) | v1.0.0 | diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ManualOperatorStatus.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ManualOperatorStatus.md new file mode 100644 index 00000000000..ff5bf59990f --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ManualOperatorStatus.md @@ -0,0 +1,14 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/ManualOperatorStatus +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +builtin_interfaces/Time stamp +bool ready +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/index.md b/docs/design/autoware-interfaces/ad-api/types/index.md index b5d367b615c..d09d61317f0 100644 --- a/docs/design/autoware-interfaces/ad-api/types/index.md +++ b/docs/design/autoware-interfaces/ad-api/types/index.md @@ -26,6 +26,7 @@ - [autoware_adapi_v1_msgs/msg/LocalizationInitializationState](./autoware_adapi_v1_msgs/msg/LocalizationInitializationState.md) - [autoware_adapi_v1_msgs/msg/ManualControlMode](./autoware_adapi_v1_msgs/msg/ManualControlMode.md) - [autoware_adapi_v1_msgs/msg/ManualControlModeStatus](./autoware_adapi_v1_msgs/msg/ManualControlModeStatus.md) +- [autoware_adapi_v1_msgs/msg/ManualOperatorStatus](./autoware_adapi_v1_msgs/msg/ManualOperatorStatus.md) - [autoware_adapi_v1_msgs/msg/MotionState](./autoware_adapi_v1_msgs/msg/MotionState.md) - [autoware_adapi_v1_msgs/msg/MrmState](./autoware_adapi_v1_msgs/msg/MrmState.md) - [autoware_adapi_v1_msgs/msg/ObjectClassification](./autoware_adapi_v1_msgs/msg/ObjectClassification.md) diff --git a/yaml/autoware-interfaces.yaml b/yaml/autoware-interfaces.yaml index 3aee8ed7bc4..b1430317592 100644 --- a/yaml/autoware-interfaces.yaml +++ b/yaml/autoware-interfaces.yaml @@ -108,6 +108,10 @@ types: msg: mode: autoware_adapi_v1_msgs/msg/ManualControlMode stamp: builtin_interfaces/msg/Time + autoware_adapi_v1_msgs/msg/ManualOperatorStatus: + msg: + ready: bool + stamp: builtin_interfaces/msg/Time autoware_adapi_v1_msgs/msg/MotionState: msg: stamp: builtin_interfaces/msg/Time From 4325f3925eabefcb5c0f3f2b4239ed14fc78ff17 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Thu, 28 Nov 2024 15:39:29 +0900 Subject: [PATCH 08/10] fix typo Signed-off-by: Takagi, Isamu --- .../autoware-interfaces/ad-api/features/manual-control.md | 2 +- .../ad-api/use-cases/manual-control/index.md | 2 +- .../ad-api/use-cases/manual-control/sequence.plantuml | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/docs/design/autoware-interfaces/ad-api/features/manual-control.md b/docs/design/autoware-interfaces/ad-api/features/manual-control.md index f47020fc9ad..304cbd6aaa3 100644 --- a/docs/design/autoware-interfaces/ad-api/features/manual-control.md +++ b/docs/design/autoware-interfaces/ad-api/features/manual-control.md @@ -27,7 +27,7 @@ This API is used to manually control the vehicle, and provides the same interface for different operators: remote and local. For example, the local operator controls a vehicle without a driver's seat using a joystick, while the remote operator provides remote support when problems occur with autonomous driving. -The command sent is used in [operation modes](./operation_mode.md) remote and local. +The command sent will be used when [operation mode](./operation_mode.md) is remote or local. ## Operator status diff --git a/docs/design/autoware-interfaces/ad-api/use-cases/manual-control/index.md b/docs/design/autoware-interfaces/ad-api/use-cases/manual-control/index.md index 6b91467324d..4debc00c9ca 100644 --- a/docs/design/autoware-interfaces/ad-api/use-cases/manual-control/index.md +++ b/docs/design/autoware-interfaces/ad-api/use-cases/manual-control/index.md @@ -12,7 +12,7 @@ To operate a vehicle without a steering wheel or steering wheel, or to develop a - Steering tire angle as lateral control - Gear - Turn indicators - - Hazard lignts + - Hazard lights - The following are under consideration. - Headlights - Wipers diff --git a/docs/design/autoware-interfaces/ad-api/use-cases/manual-control/sequence.plantuml b/docs/design/autoware-interfaces/ad-api/use-cases/manual-control/sequence.plantuml index bbf50ff5756..cb8e81955ba 100644 --- a/docs/design/autoware-interfaces/ad-api/use-cases/manual-control/sequence.plantuml +++ b/docs/design/autoware-interfaces/ad-api/use-cases/manual-control/sequence.plantuml @@ -11,7 +11,7 @@ adapi -> app: /api/remote/control_mode/status par app -> adapi: /api/remote/command/** else - adapi -> app: /api/veihcie/status + adapi -> app: /api/vehicle/status end @enduml From 7f0598856c3262aa914033a80064dcf47aa222c4 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Thu, 5 Dec 2024 15:39:01 +0900 Subject: [PATCH 09/10] add velocity command Signed-off-by: Takagi, Isamu --- .../ad-api/features/manual-control.md | 20 +++++++++++-------- .../ad-api/list/api/local/command/velocity.md | 18 +++++++++++++++++ .../list/api/remote/command/velocity.md | 18 +++++++++++++++++ .../autoware-interfaces/ad-api/list/index.md | 2 ++ .../msg/ManualControlMode.md | 1 + .../msg/VelocityCommand.md | 14 +++++++++++++ .../autoware-interfaces/ad-api/types/index.md | 1 + .../ad-api/use-cases/manual-control/index.md | 2 +- yaml/autoware-interfaces.yaml | 4 ++++ 9 files changed, 71 insertions(+), 9 deletions(-) create mode 100644 docs/design/autoware-interfaces/ad-api/list/api/local/command/velocity.md create mode 100644 docs/design/autoware-interfaces/ad-api/list/api/remote/command/velocity.md create mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VelocityCommand.md diff --git a/docs/design/autoware-interfaces/ad-api/features/manual-control.md b/docs/design/autoware-interfaces/ad-api/features/manual-control.md index 304cbd6aaa3..d58f9480a6e 100644 --- a/docs/design/autoware-interfaces/ad-api/features/manual-control.md +++ b/docs/design/autoware-interfaces/ad-api/features/manual-control.md @@ -8,6 +8,7 @@ - {{ link_ad_api('/api/remote/operator/status') }} - {{ link_ad_api('/api/remote/command/pedal') }} - {{ link_ad_api('/api/remote/command/acceleration') }} +- {{ link_ad_api('/api/remote/command/velocity') }} - {{ link_ad_api('/api/remote/command/steering') }} - {{ link_ad_api('/api/remote/command/gear') }} - {{ link_ad_api('/api/remote/command/turn_indicators') }} @@ -18,6 +19,7 @@ - {{ link_ad_api('/api/local/operator/status') }} - {{ link_ad_api('/api/local/command/pedal') }} - {{ link_ad_api('/api/local/command/acceleration') }} +- {{ link_ad_api('/api/local/command/velocity') }} - {{ link_ad_api('/api/local/command/steering') }} - {{ link_ad_api('/api/local/command/gear') }} - {{ link_ad_api('/api/local/command/turn_indicators') }} @@ -44,16 +46,18 @@ Since there are multiple ways to control a vehicle, such as pedals or accelerati | disabled | This is the initial mode. When selected, all command APIs are unavailable. | | pedal | This mode provides longitudinal control using the pedals. | | acceleration | This mode provides longitudinal control using the target acceleration. | +| velocity | This mode provides longitudinal control using the target velocity. | ## Commands The commands available in each mode are as follows. -| Command | disabled | pedal | acceleration | -| --------------- | :------: | :---: | :----------: | -| pedal | - | ✓ | - | -| acceleration | - | - | ✓ | -| steering | - | ✓ | ✓ | -| gear | - | ✓ | ✓ | -| turn_indicators | - | ✓ | ✓ | -| hazard_lights | - | ✓ | ✓ | +| Command | disabled | pedal | acceleration | velocity | +| --------------- | :------: | :---: | :----------: | :------: | +| pedal | - | X | - | - | +| acceleration | - | - | X | - | +| velocity | - | - | - | X | +| steering | - | X | X | X | +| gear | - | X | X | X | +| turn_indicators | - | X | X | X | +| hazard_lights | - | X | X | X | diff --git a/docs/design/autoware-interfaces/ad-api/list/api/local/command/velocity.md b/docs/design/autoware-interfaces/ad-api/list/api/local/command/velocity.md new file mode 100644 index 00000000000..4bc8792f760 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/local/command/velocity.md @@ -0,0 +1,18 @@ +--- +title: /api/local/command/velocity +status: not released +method: realtime stream +type: + name: autoware_adapi_v1_msgs/msg/VelocityCommand + msg: + - name: stamp + text: Timestamp when this message was sent. + - name: velocity + text: Target velocity [m/s]. +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +Sends velocity command used in local operation mode. +To use this API, select the corresponding mode as described in [manual control](../../../../features/manual-control.md). +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/velocity.md b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/velocity.md new file mode 100644 index 00000000000..cbeaee9a73b --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/remote/command/velocity.md @@ -0,0 +1,18 @@ +--- +title: /api/remote/command/velocity +status: not released +method: realtime stream +type: + name: autoware_adapi_v1_msgs/msg/VelocityCommand + msg: + - name: stamp + text: Timestamp when this message was sent. + - name: velocity + text: Target velocity [m/s]. +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +Sends velocity command used in remote operation mode. +To use this API, select the corresponding mode as described in [manual control](../../../../features/manual-control.md). +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/index.md b/docs/design/autoware-interfaces/ad-api/list/index.md index 7f43d398a40..aab044c826b 100644 --- a/docs/design/autoware-interfaces/ad-api/list/index.md +++ b/docs/design/autoware-interfaces/ad-api/list/index.md @@ -10,6 +10,7 @@ | [/api/local/command/pedal](./api/local/command/pedal.md) | not released | realtime stream | | [/api/local/command/steering](./api/local/command/steering.md) | not released | realtime stream | | [/api/local/command/turn_indicators](./api/local/command/turn_indicators.md) | not released | notification | +| [/api/local/command/velocity](./api/local/command/velocity.md) | not released | realtime stream | | [/api/local/control_mode/list](./api/local/control_mode/list.md) | not released | function call | | [/api/local/control_mode/select](./api/local/control_mode/select.md) | not released | function call | | [/api/local/control_mode/status](./api/local/control_mode/status.md) | not released | notification | @@ -37,6 +38,7 @@ | [/api/remote/command/pedal](./api/remote/command/pedal.md) | not released | realtime stream | | [/api/remote/command/steering](./api/remote/command/steering.md) | not released | realtime stream | | [/api/remote/command/turn_indicators](./api/remote/command/turn_indicators.md) | not released | notification | +| [/api/remote/command/velocity](./api/remote/command/velocity.md) | not released | realtime stream | | [/api/remote/control_mode/list](./api/remote/control_mode/list.md) | not released | function call | | [/api/remote/control_mode/select](./api/remote/control_mode/select.md) | not released | function call | | [/api/remote/control_mode/status](./api/remote/control_mode/status.md) | not released | notification | diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ManualControlMode.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ManualControlMode.md index 76d9c13f75f..23ed048f589 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ManualControlMode.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ManualControlMode.md @@ -14,6 +14,7 @@ used: uint8 DISABLED = 1 uint8 PEDAL = 2 uint8 ACCELERATION = 3 +uint8 VELOCITY = 4 uint8 mode ``` diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VelocityCommand.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VelocityCommand.md new file mode 100644 index 00000000000..d3ae21a4813 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VelocityCommand.md @@ -0,0 +1,14 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/VelocityCommand +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +builtin_interfaces/Time stamp +float32 velocity +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/index.md b/docs/design/autoware-interfaces/ad-api/types/index.md index d09d61317f0..65460a72705 100644 --- a/docs/design/autoware-interfaces/ad-api/types/index.md +++ b/docs/design/autoware-interfaces/ad-api/types/index.md @@ -47,6 +47,7 @@ - [autoware_adapi_v1_msgs/msg/VehicleDimensions](./autoware_adapi_v1_msgs/msg/VehicleDimensions.md) - [autoware_adapi_v1_msgs/msg/VehicleKinematics](./autoware_adapi_v1_msgs/msg/VehicleKinematics.md) - [autoware_adapi_v1_msgs/msg/VehicleStatus](./autoware_adapi_v1_msgs/msg/VehicleStatus.md) +- [autoware_adapi_v1_msgs/msg/VelocityCommand](./autoware_adapi_v1_msgs/msg/VelocityCommand.md) - [autoware_adapi_v1_msgs/msg/VelocityFactor](./autoware_adapi_v1_msgs/msg/VelocityFactor.md) - [autoware_adapi_v1_msgs/msg/VelocityFactorArray](./autoware_adapi_v1_msgs/msg/VelocityFactorArray.md) - [autoware_adapi_v1_msgs/srv/AcceptStart](./autoware_adapi_v1_msgs/srv/AcceptStart.md) diff --git a/docs/design/autoware-interfaces/ad-api/use-cases/manual-control/index.md b/docs/design/autoware-interfaces/ad-api/use-cases/manual-control/index.md index 4debc00c9ca..10fcb70f0fd 100644 --- a/docs/design/autoware-interfaces/ad-api/use-cases/manual-control/index.md +++ b/docs/design/autoware-interfaces/ad-api/use-cases/manual-control/index.md @@ -8,7 +8,7 @@ To operate a vehicle without a steering wheel or steering wheel, or to develop a - The vehicle can transition to a safe state when a communication problem occurs. - Supports the following commands and statuses. - - Pedal or acceleration as longitudinal control + - Pedal, acceleration or velocity as longitudinal control - Steering tire angle as lateral control - Gear - Turn indicators diff --git a/yaml/autoware-interfaces.yaml b/yaml/autoware-interfaces.yaml index b1430317592..675d50a1cba 100644 --- a/yaml/autoware-interfaces.yaml +++ b/yaml/autoware-interfaces.yaml @@ -220,6 +220,10 @@ types: stamp: builtin_interfaces/msg/Time steering_tire_angle: float64 turn_indicators: autoware_adapi_v1_msgs/msg/TurnIndicators + autoware_adapi_v1_msgs/msg/VelocityCommand: + msg: + stamp: builtin_interfaces/msg/Time + velocity: float32 autoware_adapi_v1_msgs/msg/VelocityFactor: msg: behavior: string From 7bb2cc2b0b88e95c51e1ba0766cc5832916cce17 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Tue, 10 Dec 2024 14:00:31 +0900 Subject: [PATCH 10/10] use check mark Signed-off-by: Takagi, Isamu --- .../ad-api/features/manual-control.md | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/docs/design/autoware-interfaces/ad-api/features/manual-control.md b/docs/design/autoware-interfaces/ad-api/features/manual-control.md index d58f9480a6e..e7115c24890 100644 --- a/docs/design/autoware-interfaces/ad-api/features/manual-control.md +++ b/docs/design/autoware-interfaces/ad-api/features/manual-control.md @@ -52,12 +52,12 @@ Since there are multiple ways to control a vehicle, such as pedals or accelerati The commands available in each mode are as follows. -| Command | disabled | pedal | acceleration | velocity | -| --------------- | :------: | :---: | :----------: | :------: | -| pedal | - | X | - | - | -| acceleration | - | - | X | - | -| velocity | - | - | - | X | -| steering | - | X | X | X | -| gear | - | X | X | X | -| turn_indicators | - | X | X | X | -| hazard_lights | - | X | X | X | +| Command | disabled | pedal | acceleration | velocity | +| --------------- | :------: | :-----: | :----------: | :------: | +| pedal | - | ✓ | - | - | +| acceleration | - | - | ✓ | - | +| velocity | - | - | - | ✓ | +| steering | - | ✓ | ✓ | ✓ | +| gear | - | ✓ | ✓ | ✓ | +| turn_indicators | - | ✓ | ✓ | ✓ | +| hazard_lights | - | ✓ | ✓ | ✓ |