AWAPI_AWIV_ADAPTER
✓: confirmed, (blank): not confirmed
get topic
/awapi/vehicle/get/status
get vehicle status
MessageType: awapi_awiv_adapter/AwapiVehicleStatus
✓
type
name
unit
note
✓
std_msgs/Header
header
✓
geometry_msgs/Pose
pose
position:[m]
✓
awapi_awiv_adapter/Euler
eulerangle
[rad]
roll/pitch/yaw
geographic_msgs/GeoPoint
geo_point
lat/lon/alt
✓
float64
velocity
[m/s]
✓
float64
acceleration
[m/ss]
calculate from velocity in awapi_adapter
✓
float64
steering
[rad]
✓
float64
steering_velocity
[rad/s]
calculate from steering in awapi_adapter
✓
float64
angular_velocity
[rad/s]
int32
gear
according to autoware_vehicle_msgs/Shift
float32
energy_level
available only for golf-cart
✓
int32
turn_signal
according to autoware_vehicle_msgs/TurnSignal
✓
float64
target_velocity
[m/s]
✓
float64
target_acceleration
[m/ss]
✓
float64
target_steering
[rad]
✓
float64
target_steering_velocity
[rad/s]
/awapi/autoware/get/status
get autoware status
MessageType: awapi_awiv_adapter/AwapiVehicleStatus
✓
type
name
unit
note
✓
std_msgs/Header
header
✓
string
autoware_state
✓
bool
autoware_engage_status
If true, Autoware is engaged (Autoware engage is turned on)
✓
int32
control_mode
according to autoware_vehicle_msgs/ControlMode
manual/auto (changed by /awapi/autoware/put/engage)
int32
gate_mode
autoware_vehicle_msgs/GateMode
auto/remote (it is valid only when control_mode=auto))
✓
bool
emergency_stopped
True in emergency mode
✓
float32
current_max_velocity
[m/s]
autoware_system_msgs/HazardStatus
hazard_status
system hazard status
✓
autoware_planning_msgs/StopReasonArray
stop_reason
"stop_pose" represents the position of "base_link" (not the head of the car)
✓
diagnostic_msgs/DiagnosticStatus[]
diagnostics
output only diag. of leaf node (diag. of parent node are cut)
✓
diagnostic_msgs/DiagnosticStatus[]
error_diagnostics
diagnostics that are the cause of system emergency
✓
bool
arrived_goal
True if the autoware_state is changed from Driving to ArrivedGoal or WaitingForRoute. False if the autoware_state is changed to WaitingForEngage or Driving. Default False.
specification of stop_reason
stop_reason is output only when the following conditions are met.
stop_point in stop_reason is close to /planning/scenario_planning/trajectory (within 10m).
The distance between current position and stop_point is less than stop_reason_thresh_dist.
/awapi/autoware/get/route
get route
MessageType: autoware_planning_msgs/Route
✓
type
name
unit
note
✓
autoware_planning_msgs/Route
/awapi/autoware/get/stop_speed_exceeded
get flag of exceeding stop speed or not
True: exceed the stop speed ( = "cannot stop before the stop line")
False: not exceed the stop speed ( = "no stop line in the trajectory" or "possible to stop before the stop line" )
MessageType: std_msgs/Bool
✓
type
name
unit
note
std_msgs/Bool
-
/awapi/prediction/get/objects
get predicted object
MessageType: autoware_api_msgs/DynamicObjectArray
✓
type
name
unit
note
✓
autoware_api_msgs/DynamicObjectArray
/awapi/lane_change/get/status
get lane change information
MessageType: awapi_awiv_adapter/LaneChangeStatus
✓
type
name
unit
note
std_msgs/Header
header
bool
force_lane_change_available
True when lane change is available
available: Physically lane changeable state (do not consider other vehicle)
bool
lane_change_ready
True when lane change is ready
ready: State that ego-vehicle can change lane without collision with other vehicle
autoware_planning_msgs/Path
candidate_path
according to autoware_planning_msgs/Path
/awapi/object_avoidance/get/status
get obstacle avoidance information
MessageType: awapi_awiv_adapter/ObstacleAvoidanceStatus
✓
type
name
unit
note
std_msgs/Header
header
bool
obstacle_avoidance_ready
True when obstacle avoidance is ready
autoware_planning_msgs/Trajectory
candidate_path
according to autoware_planning_msgs/Trajectory
Msg type is different from lane change candidate path
/awapi/traffic_light/get/status
get recognition result of traffic light
MessageType: autoware_api_msgs/TrafficLightStateArray
✓
type
name
unit
note
autoware_api_msgs/TrafficLightStateArray
/awapi/traffic_light/get/nearest_traffic_light_status
get recognition result of nearest traffic light
MessageType: autoware_perception_msgs/TrafficLightStateStamped
✓
type
name
unit
note
autoware_perception_msgs/TrafficLightStateStamped
/awapi/vehicle/get/door
get door status
MessageType: autoware_api_msgs/DoorStatus.msg
✓
type
name
unit
note
autoware_api_msgs/DoorStatus
status
0:UNKNOWN, 1:DOOR_OPENED, 2:DOOR_CLOSED 3:DOOR_OPENING, 4:DOOR_CLOSING, 5:NOT_APPLICABLE
available only for the vehicle using pacmod
Now, available status is following: (0:UNKNOWN, 1:DOOR_OPENED, 2:DOOR_CLOSED, 5:NOT_APPLICABLE ).
5 (NOT_APPLICABLE) is published if the pacmod is not used
Due to the specifications of pacmod, the last door open / close command is published as the status.
The status is 0 (UNKNOWN) until the door open / close command is published once.
put topic
/awapi/vehicle/put/velocity
set upper velocity
MessageType: std_msgs/Float32
✓
type
name
unit
note
✓
std_msgs/Float32
max velocity
/awapi/vehicle/put/stop
✓
type
name
unit
note
✓
std_msgs/Bool
/awapi/autoware/put/gate_mode
send gate mode (auto/remote)
MessageType: autoware_control_msgs/GateMode
✓
type
name
unit
note
autoware_control_msgs/GateMode
/awapi/autoware/put/emergency_stop
send emergency_stop signal
MessageType: std_msgs/Bool
To enable this functionality, autoware have to be in the Remote Mode or set /control/vehicle_cmd_gate/use_external_emergency_stop to true.
✓
type
name
unit
note
✓
std_msgs/Bool
/awapi/autoware/put/engage
send engage signal (both of autoware/engage and vehicle/engage)
MessageType: std_msgs/Bool
✓
type
name
unit
note
✓
std_msgs/Bool
/awapi/autoware/put/goal
send goal pose
MessageType: geometry_msgs/PoseStamped
✓
type
name
unit
note
geometry_msgs/PoseStamped
/awapi/autoware/put/route
send route
MessageType: autoware_planning_msgs/Route
✓
type
name
unit
note
✓
autoware_planning_msgs/Route
/awapi/lane_change/put/approval
send lane change approval flag
send True: start lane change when lane_change_ready is true
MessageType: std_msgs/Bool
✓
type
name
unit
note
std_msgs/Bool
/awapi/lane_change/put/force
send force lane change flag
send True: start lane change when force_lane_change_available is true
MessageType: std_msgs/Bool
✓
type
name
unit
note
std_msgs/Bool
/awapi/object_avoidance/put/approval
send object avoidance approval flag
MessageType: std_msgs/Bool
✓
type
name
unit
note
std_msgs/Bool
/awapi/object_avoidance/put/force
send force object avoidance flag
not implemented (Autoware does not have corresponded topic)
/awapi/traffic_light/put/traffic_light
Overwrite the recognition result of traffic light
MessageType: autoware_perception_msgs/TrafficLightStateArray
✓
type
name
unit
note
autoware_perception_msgs/TrafficLightStateArray
/awapi/vehicle/put/door
send door command
MessageType: std_msgs/Bool
send True: open door
send False: close door
✓
type
name
unit
note
std_msgs/Bool
available only for the vehicle using pacmod
/awapi/autoware/put/crosswalk_states
send crosswalk status
forcibly rewrite the internal state of crosswalk module
MessageType: autoware_api_msgs/CrossWalkStatus
✓
type
name
unit
note
std_msgs/Header
header
int32
status
0:STOP, 1:GO, 2:SLOWDOWN
/awapi/autoware/put/intersection_states
send intersection status
forcibly rewrite the internal state of intersection module
MessageType: autoware_api_msgs/CrosswalkStatus
✓
type
name
unit
note
std_msgs/Header
header
int32
status
0:STOP, 1:GO
/awapi/autoware/put/expand_stop_range
send expand range of the polygon used by obstacle stop [m]
MessageType: std_msgs/Float32
✓
type
name
unit
note
Float32