Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

feat(ad-api): manual control #631

Open
wants to merge 11 commits into
base: main
Choose a base branch
from
Open
Changes from 1 commit
Commits
File filter

Filter by extension

Filter by extension

Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
Next Next commit
add api pages
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
isamu-takagi committed Nov 22, 2024
commit 49bac1cc0187dd12f9a5f3d81d04b68d7b12d93f
Original file line number Diff line number Diff line change
@@ -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 %}
Original file line number Diff line number Diff line change
@@ -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 %}
Original file line number Diff line number Diff line change
@@ -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 %}
Original file line number Diff line number Diff line change
@@ -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 %}
Original file line number Diff line number Diff line change
@@ -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 %}
Original file line number Diff line number Diff line change
@@ -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 %}
6 changes: 6 additions & 0 deletions docs/design/autoware-interfaces/ad-api/list/index.md
Original file line number Diff line number Diff line change
@@ -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 |
Original file line number Diff line number Diff line change
@@ -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 %}
Original file line number Diff line number Diff line change
@@ -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
---

Original file line number Diff line number Diff line change
@@ -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 %}
Original file line number Diff line number Diff line change
@@ -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
---

Original file line number Diff line number Diff line change
@@ -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 %}
Original file line number Diff line number Diff line change
@@ -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 %}
Original file line number Diff line number Diff line change
@@ -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 %}
Original file line number Diff line number Diff line change
@@ -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
---

Original file line number Diff line number Diff line change
@@ -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 %}
6 changes: 6 additions & 0 deletions docs/design/autoware-interfaces/ad-api/types/index.md
Original file line number Diff line number Diff line change
@@ -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)
@@ -18,23 +19,28 @@
- [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)
- [autoware_adapi_v1_msgs/msg/RouteOption](./autoware_adapi_v1_msgs/msg/RouteOption.md)
- [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)
25 changes: 25 additions & 0 deletions yaml/autoware-interfaces.yaml
Original file line number Diff line number Diff line change
@@ -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