autoware_default_adapi

Notes

Components that relay services must be executed by the Multi-Threaded Executor.

Features

This package is a default implementation AD API.

• autoware state (backward compatibility)
• fail-safe
• interface
• localization
• motion
• operation mode
• routing

Web server script

This is a sample to call API using HTTP.

Guide message script

This is a debug script to check the conditions for transition to autonomous mode.

$ ros2 run autoware_default_adapi guide.py

The vehicle pose is not estimated. Please set an initial pose or check GNSS.
The route is not set. Please set a goal pose.
The topic rate error is detected. Please check [control,planning] components.
The vehicle is ready. Please change the operation mode to autonomous.
The vehicle is driving autonomously.
The vehicle has reached the goal of the route. Please reset a route.

Changelog for package autoware_default_adapi

0.44.0 (2025-04-18)

• Merge remote-tracking branch 'origin/main' into humble
• fix: add missing exec_depend (#10404)
  • fix missing exec depend
  • remove fixed depend

  * remove the removed dependency ---------

• feat(autoware_default_adapi): release adapi v1.8.0 (#10380)
• feat: manual control (#10354)
  • feat(default_adapi): add manual control
  • add conversion
  • update selector
  • update selector depends
  • update converter
  • modify heartbeat name
  • update launch
  • update api
  • fix pedal callback
  • done todo
  • apply message rename
  • fix test
  • fix message type and qos
  • fix steering_tire_velocity

  * fix for clang-tidy ---------

• feat(autoware_default_adapi): disable sample web server (#10327)
  • feat(autoware_default_adapi): disable sample web server

  * fix unused inport ---------

• feat(autoware_default_adapi): log autoware state change (#10364)
• Contributors: Ryohsuke Mitsudome, Takagi, Isamu

0.43.0 (2025-03-21)

• Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
• chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
• feat(planning_factor): support new cruise planner's factor (#10229)
  • support cruise planner's factor

  * not slowdown but slow_down ---------

• feat(Autoware_planning_factor_interface): replace tier4_msgs with autoware_internal_msgs (#10204)
• Contributors: Hayato Mizushima, Kento Yabuuchi, Yutaka Kondo, 心刚

0.42.0 (2025-03-03)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• feat(autoware_default_adapi): allow route clear while vehicle is stopped (#10158)
  • feat(autoware_default_adapi): allow route clear while vehicle is stopped

  * fix parameter ---------

• Contributors: Fumiya Watanabe, Takagi, Isamu

0.41.2 (2025-02-19)

• chore: bump version to 0.41.1 (#10088)
• Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• feat: apply [autoware]{.title-ref} prefix for [component_state_monitor]{.title-ref} and its dependencies (#9961)
• feat: apply [autoware_]{.title-ref} prefix for [diagnostic_graph_utils]{.title-ref} (#9968)
• feat: apply [autoware_]{.title-ref} prefix for [default_ad_api_helpers]{.title-ref} (#9965) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Takagi, Isamu <<isamu.takagi@tier4.jp>>
• feat(autoware_component_interface_specs_universe!): rename package (#9753)
• fix(obstacle_stop_planner): migrate planning factor (#9939)
  • fix(obstacle_stop_planner): migrate planning factor

  * fix(autoware_default_adapi): add coversion map ---------

• feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (#9927) Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>> Co-authored-by: Ryohsuke Mitsudome <<43976834+mitsudome-r@users.noreply.github.com>> Co-authored-by: satoshi-ota <<satoshi.ota928@gmail.com>>
• feat(autoware_default_adapi): release adapi v1.6.0 (#9704)
  • feat: reject clearing route during autonomous mode
  • feat: modify check and relay door service
  • fix door condition
  • fix error and add option

  * update v1.6.0 ---------

• fix(autoware_default_adapi): fix bugprone-branch-clone (#9726) fix: bugprone-error
• Contributors: Fumiya Watanabe, Junya Sasaki, Mamoru Sobue, Ryohsuke Mitsudome, Satoshi OTA, Takagi, Isamu, kobayu858

0.40.0 (2024-12-12)

• Merge branch 'main' into release-0.40.0
• Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
• fix: fix ticket links in CHANGELOG.rst (#9588)
• chore(package.xml): bump version to 0.39.0 (#9587)
  • chore(package.xml): bump version to 0.39.0
  • fix: fix ticket links in CHANGELOG.rst

  * fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

• fix: fix ticket links in CHANGELOG.rst (#9588)
• fix(cpplint): include what you use - system (#9573)
• 0.39.0
• update changelog
• Merge commit '6a1ddbd08bd' into release-0.39.0
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• feat(bpp): add velocity interface (#9344)
  • feat(bpp): add velocity interface

  * fix(adapi): subscribe additional velocity factors ---------

• fix(run_out): output velocity factor (#9319)
  • fix(run_out): output velocity factor

  * fix(adapi): subscribe run out velocity factor ---------

• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• refactor(autoware_ad_api_specs): prefix package and namespace with autoware (#9250)
  • refactor(autoware_ad_api_specs): prefix package and namespace with autoware
  • style(pre-commit): autofix
  • chore(autoware_adapi_specs): rename ad_api to adapi
  • style(pre-commit): autofix
  • chore(autoware_adapi_specs): rename ad_api to adapi
  • chore(autoware_adapi_specs): rename ad_api to adapi

  * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
  • unify package.xml version to 0.37.0
  • remove system_monitor/CHANGELOG.rst
  • add changelog

  * 0.38.0

• fix(autoware_default_adapi): change subscribing steering factor topic name for obstacle avoidance and lane changes (#9273) feat(planning): add new steering factor topics for obstacle avoidance and lane changes
• refactor(component_interface_utils): prefix package and namespace with autoware (#9092)
• Contributors: Esteve Fernandez, Fumiya Watanabe, Kyoichi Sugahara, M. Fatih Cırıt, Ryohsuke Mitsudome, Satoshi OTA, Yutaka Kondo

0.39.0 (2024-11-25)

• Merge commit '6a1ddbd08bd' into release-0.39.0
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• refactor(autoware_ad_api_specs): prefix package and namespace with autoware (#9250)
  • refactor(autoware_ad_api_specs): prefix package and namespace with autoware
  • style(pre-commit): autofix
  • chore(autoware_adapi_specs): rename ad_api to adapi
  • style(pre-commit): autofix
  • chore(autoware_adapi_specs): rename ad_api to adapi
  • chore(autoware_adapi_specs): rename ad_api to adapi

  * chore(autoware_adapi_specs): rename ad_api_specs to adapi_specs ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
  • unify package.xml version to 0.37.0
  • remove system_monitor/CHANGELOG.rst
  • add changelog

  * 0.38.0

• fix(autoware_default_adapi): change subscribing steering factor topic name for obstacle avoidance and lane changes (#9273) feat(planning): add new steering factor topics for obstacle avoidance and lane changes
• refactor(component_interface_utils): prefix package and namespace with autoware (#9092)
• Contributors: Esteve Fernandez, Kyoichi Sugahara, Yutaka Kondo

0.38.0 (2024-11-08)

• unify package.xml version to 0.37.0
• refactor(component_interface_specs): prefix package and namespace with autoware (#9094)
• fix(default_ad_api): fix unusedFunction (#8581)
  • fix: unusedFunction

  * Revert "fix: unusedFunction" This reverts commit c70a36d4d29668f02dae9416f202ccd05abee552. * fix: unusedFunction ---------Co-authored-by: kobayu858 <<129580202+kobayu858@users.noreply.github.com>>

• chore(autoware_default_adapi)!: prefix autoware to package name (#8533)
• Contributors: Esteve Fernandez, Hayate TOBA, Takagi, Isamu, Yutaka Kondo

0.26.0 (2024-04-03)