Autoware API#
Architecture#
High-level API#
| API | Type | Status |
|---|---|---|
| /api/set/engage | Service | Develop |
| /api/set/emergency | Service | Develop |
| /api/set/service | Service | Develop |
| /api/set/door | Service | Develop |
| /api/set/stations | Service | Develop |
| /api/get/stations | Topic | Develop |
| /api/set/route | Service | Develop |
| /api/set/operator | Service | Develop |
| /api/set/control_command/local | Topic | Develop |
| /api/set/control_command/remote | Topic | Develop |
| /api/get/information | Topic | Develop |
| /api/get/diagnoscics | Topic | Develop |
| /api/get/status/autoware | Topic | Proposal |
| /api/get/status/vehicle | Topic | Proposal |
| /api/get/version | Service | Proposal |
| /api/get/heartbeat | Topic | Proposal |
| /api/set/map | Service | Proposal |
| /api/get/takeover | Topic | Proposal |
| /api/get/engage | Topic | Proposal |
| /api/get/service | Topic | Proposal |
| /api/get/route | Topic | Proposal |
| /api/get/states/operator | Topic | Proposal |
Vehicle Control API#
| API | Type | Status |
|---|---|---|
| /api/vehicle/set/engage | Service | Develop |
| /api/vehicle/set/control_mode | Service | Develop |
| /api/vehicle/set/command | Topic | Develop |
| /api/vehicle/set/shift | Topic | Develop |
| /api/vehicle/set/turn_signal | Topic | Develop |
| /api/vehicle/get/twist | Topic | Develop |
Vehicle Device API#
| API | Type | Status |
|---|---|---|
| /api/vehicle/set/door | Service | Develop |
| /api/vehicle/get/door | Topic | Develop |
| /api/vehicle/set/announce | Service | Develop |
Simulator API#
| API | Type | Status |
|---|---|---|
| /api/simulator/set/max_velocity | Service | Develop |
| /api/simulator/set/pose | Service | Develop |
| /api/simulator/get/pose | Topic | Develop |
| /api/simulator/set/twist | Service | Develop |
| /api/simulator/get/twist | Topic | Develop |
Logging API#
| API | Type | Status |
|---|---|---|
| /api/logging/set/record/start | Service | Proposal |
| /api/logging/set/record/stop | Service | Proposal |
Autoware API#
| API | Type | Status |
|---|---|---|
| /api/autoware/set/operator | Service | Develop |
| /api/autoware/set/engage | Service | v0.1 |
| /api/autoware/set/emergency | Service | Develop |
| /api/autoware/set/init_pose | Service | Develop |
| /api/autoware/set/route | Service | Develop |
| /api/autoware/set/goal | Service | Develop |
| /api/autoware/set/checkpoint | Service | Develop |
| /api/autoware/set/force_arrived_goal | Service | Develop |
| /api/autoware/set/stop | Service | Develop |
| /api/autoware/set/slow_stop | Service | Develop |
| /api/autoware/set/safety_stop | Service | Develop |
| /api/autoware/set/max_velocity | Service | Develop |
| /api/autoware/set/force_lane_change | Service | Develop |
| /api/autoware/set/traffic_light_states | Topic | Develop |
| /api/autoware/set/intersection_states | Topic | Develop |
| /api/autoware/set/crosswalk_state | Topic | Develop |
| /api/autoware/set/expand_stop_range | Service | Develop |
| /api/autoware/set/control_command | Topic | Proposal |
| /api/autoware/callback/start | Service | Proposal |
| /api/autoware/callback/stop | Service | Proposal |
| /api/autoware/get/status/planning | Topic | Proposal |