List of TIER IV API

Note

TIER IV API は High-level API または TIER IV External API と呼ばれる場合があります。

Deprecated API

これらの API は TIER IV の独自実装であり、段階的に AD API に統合する予定です。

種別	名前	移行先	移行ガイド
service	/api/external/get/version	Interface API	-
service	/api/external/set/initialize_pose	Localization API	-
service	/api/external/set/initialize_pose_auto	Localization API	-
service	/api/external/set/route	Routing API	-
topic	/api/external/get/route	Routing API	-
service	/api/external/set/clear_route	Routing API	-
service	/api/external/set/engage	Operation mode API	Operation mode compatibility
topic	/api/external/get/engage	Operation mode API	Operation mode compatibility
service	/api/external/set/operator	Operation mode API	Operation mode compatibility
topic	/api/external/get/operator	Operation mode API	Operation mode compatibility
service	/api/external/set/observer	Operation mode API	Operation mode compatibility
topic	/api/external/get/observer	Operation mode API	Operation mode compatibility
service	/api/external/set/pause_driving	Operation mode API	Operation mode compatibility
service	/api/autoware/set/start_request	T.B.D.	-
service	/api/external/set/emergency	T.B.D.	-
topic	/api/external/get/emergency	T.B.D.	-
topic	/api/external/get/vehicle/status	Vehicle status API	-
service	/api/external/set/door	Vehicle doors API	-
topic	/api/external/get/door	Vehicle doors API	-
service	/api/external/set/velocity_limit	T.B.D.	-
topic	/api/external/set/command/local/control	T.B.D.	-
topic	/api/external/set/command/local/shift	T.B.D.	-
topic	/api/external/set/command/local/turn_signal	T.B.D.	-
topic	/api/external/set/command/local/heartbeat	T.B.D.	-
topic	/api/external/set/command/remote/control	T.B.D.	-
topic	/api/external/set/command/remote/shift	T.B.D.	-
topic	/api/external/set/command/remote/turn_signal	T.B.D.	-
topic	/api/external/set/command/remote/heartbeat	T.B.D.	-
topic	/api/external/get/command/selected/control	T.B.D.	-
topic	/api/external/get/command/selected/vehicle	T.B.D.	-
topic	/api/iv_msgs/planning/scenario_planning/trajectory	T.B.D.	-
topic	/api/iv_msgs/perception/object_recognition/tracking/objects	T.B.D.	-
topic	/api/iv_msgs/autoware/state	None	Autoware state compatibility

Removed API

これらの API は削除されました。代わりに AD API を使用してください。

種別	名前	移行先
topic	/api/iv_msgs/vehicle/status/control_mode	Operation mode API

TIER IV API

これらの API はユースケースが限定的であり、AD API に統合されるか不明です。

Type	Name	Data
service	/api/external/get/metadata/packages	tier4_external_api_msgs/srv/GetMetadataPackages
service	/api/external/set/service	tier4_external_api_msgs/srv/SetService
topic	/api/external/get/service	tier4_external_api_msgs/msg/Service
topic	/api/external/get/diagnostics	tier4_external_api_msgs/msg/ClassifiedDiagnostics
topic	/api/external/get/localization_scores	tier4_external_api_msgs/msg/LocalizationScoreArray
topic	/api/external/get/map/info/hash	tier4_external_api_msgs/msg/MapHash
service	/api/external/get/map/lanelet/xml	tier4_external_api_msgs/srv/GetTextFile
service	/api/external/set/rosbag_logging_mode	tier4_external_api_msgs/srv/SetRosbagLoggingMode
topic	/api/external/get/rosbag_logging_mode	tier4_external_api_msgs/msg/RosbagLoggingMode
topic	/api/external/get/calibration_status	tier4_external_api_msgs/msg/CalibrationStatusArray
service	/api/external/get/accel_brake_map_calibrator/data	tier4_external_api_msgs/srv/GetAccelBrakeMapCalibrationData