From aa7a9880685e25c7e6b0333ec72067409ad4abb3 Mon Sep 17 00:00:00 2001 From: tkhmy Date: Wed, 1 Feb 2023 12:20:19 +0900 Subject: [PATCH 01/25] init vehicle status Signed-off-by: tkhmy --- .../ad-api/list/api/vehicle/door.md | 19 ++++++++++++ .../ad-api/list/api/vehicle/gear.md | 16 ++++++++++ .../ad-api/list/api/vehicle/index.md | 11 +++++++ .../ad-api/list/api/vehicle/motion.md | 20 +++++++++++++ .../ad-api/list/api/vehicle/position.md | 18 +++++++++++ .../ad-api/list/api/vehicle/signal.md | 17 +++++++++++ .../autoware-interfaces/ad-api/list/index.md | 1 + .../msg/geo_position.md | 15 ++++++++++ .../msg/vehicle_door.md | 30 +++++++++++++++++++ .../msg/vehicle_door_status.md | 14 +++++++++ .../msg/vehicle_gear.md | 21 +++++++++++++ .../msg/vehicle_motion.md | 17 +++++++++++ .../msg/vehicle_postion.md | 15 ++++++++++ .../msg/vehicle_signal.md | 21 +++++++++++++ 14 files changed, 235 insertions(+) create mode 100644 docs/design/autoware-interfaces/ad-api/list/api/vehicle/door.md create mode 100644 docs/design/autoware-interfaces/ad-api/list/api/vehicle/gear.md create mode 100644 docs/design/autoware-interfaces/ad-api/list/api/vehicle/index.md create mode 100644 docs/design/autoware-interfaces/ad-api/list/api/vehicle/motion.md create mode 100644 docs/design/autoware-interfaces/ad-api/list/api/vehicle/position.md create mode 100644 docs/design/autoware-interfaces/ad-api/list/api/vehicle/signal.md create mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/geo_position.md create mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_door.md create mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_door_status.md create mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_gear.md create mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_motion.md create mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_postion.md create mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_signal.md diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/door.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/door.md new file mode 100644 index 00000000000..f94a2f9e544 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/door.md @@ -0,0 +1,19 @@ + + +# /api/vehicle/door + +- Method: notification +- Type: [autoware_adapi_v1_msgs/msg/VehicleDoorStatus](../../../types/autoware_adapi_v1_msgs/msg/vehicle_door_status.md) + +## Description + +Publish door status, the door location information will be received from vehicle info service. + +## Message + +| Name | Type | Description | +| ------------------- | ------- | ------------------- | +| doors.door_id | uint8 | respective door id | +| doors.door_location | uint8[] | door location | +| doors.status | uint8 | current door status | +| doors.door_location | uint8[] | door location | diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/gear.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/gear.md new file mode 100644 index 00000000000..c9986966921 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/gear.md @@ -0,0 +1,16 @@ + + +# /api/vehicle/gear + +- Method: notification +- Type: [autoware_adapi_v1_msgs/msg/VehicleGear](../../../types/autoware_adapi_v1_msgs/msg/vehicle_gear.md) + +## Description + +Publish vehicle current gear information. + +## Message + +| Name | Type | Description | +| ------ | ---- | ------------------- | +| status | int8 | gear current status | diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/index.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/index.md new file mode 100644 index 00000000000..c2c4c6db3f5 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/index.md @@ -0,0 +1,11 @@ +# Vehicle Status API + +- {{ link_ad_api('/api/vehicle/position') }} +- {{ link_ad_api('/api/vehicle/motion') }} +- {{ link_ad_api('/api/vehicle/gear') }} +- {{ link_ad_api('/api/vehicle/signal') }} +- {{ link_ad_api('/api/vehicle/door') }} + +## Description + +This api responsible to publish the vehicle status. diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/motion.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/motion.md new file mode 100644 index 00000000000..70c4aa92131 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/motion.md @@ -0,0 +1,20 @@ + + +# /api/vehicle/motion + +- Method: realtime stream +- Type: [autoware_adapi_v1_msgs/msg/VehicleMotion](../../../types/autoware_adapi_v1_msgs/msg/vehicle_motion.md) + +## Description + +Publish vehicle current motion information. + +## Message + +| Name | Type | Description | +| ---------------- | ------------------- | ------------------------------------------- | +| header | std_msgs/msg/Header | header for pose transformation | +| velocity | float64 | Vehicle current velocity in [m/s] | +| angular_velocity | float64 | Vehicle current angular velocity in [rad/s] | +| acceleration | float64 | Vehicle current acceleration in [m/ss] | +| steering | float64 | Vehicle current steering in [rad] | diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/position.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/position.md new file mode 100644 index 00000000000..67de2e82bde --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/position.md @@ -0,0 +1,18 @@ + + +# /api/vehicle/position + +- Method: realtime stream +- Type: [autoware_adapi_v1_msgs/msg/VehiclePostion](../../../types/autoware_adapi_v1_msgs/msg/vehicle_postion.md) + +## Description + +Publish vehicle current pose and geo position. + +## Message + +| Name | Type | Description | +| ------------ | -------------------------------------- | ---------------------------------------------------- | +| header | std_msgs/msg/Header | header for pose transformation | +| pose | geometry_msgs/msg/Pose | The pose from the base link | +| geo_position | autoware_adapi_v1_msgs/msg/GeoPosition | The longtitude, latitude and altitude of the vehicle | diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/signal.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/signal.md new file mode 100644 index 00000000000..18d31626e08 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/signal.md @@ -0,0 +1,17 @@ + + +# /api/vehicle/signal + +- Method: notification +- Type: [autoware_adapi_v1_msgs/msg/VehicleSignal](../../../types/autoware_adapi_v1_msgs/msg/vehicle_signal.md) + +## Description + +Publish vehicle current turn indicator and hazard light status. + +## Message + +| Name | Type | Description | +| -------------- | ----- | ---------------------------------------------------------------- | +| turn_indicator | uint8 | turn indicator status, only either left or right will be enabled | +| hazard_light | uint8 | hazard light status | diff --git a/docs/design/autoware-interfaces/ad-api/list/index.md b/docs/design/autoware-interfaces/ad-api/list/index.md index 65ee7e0efd7..4d2bcdb1cc5 100644 --- a/docs/design/autoware-interfaces/ad-api/list/index.md +++ b/docs/design/autoware-interfaces/ad-api/list/index.md @@ -7,3 +7,4 @@ - [Motion](./api/motion/index.md) - [Planning](./api/planning/index.md) - [Fail-safe](./api/fail_safe/index.md) +- [Vehicle Status](./api/vehicle_status/index.md) diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/geo_position.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/geo_position.md new file mode 100644 index 00000000000..e5ddf5a443a --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/geo_position.md @@ -0,0 +1,15 @@ + + +# autoware_adapi_v1_msgs/msg/GeoPosition + +## Definition + +```txt +float64 latitude +float64 longitude +float64 altitude +``` + +## This type uses + +None diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_door.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_door.md new file mode 100644 index 00000000000..d3eaf9d7790 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_door.md @@ -0,0 +1,30 @@ + + +# autoware_adapi_v1_msgs/msg/VehicleDoor + +## Definition + +```txt +# constants for door status +uint8 UNKNOWN = 0 +uint8 DOOR_OPENED = 1 +uint8 DOOR_CLOSED = 2 +uint8 DOOR_OPENING = 3 +uint8 DOOR_CLOSING = 4 +uint8 NOT_APPLICABLE = 5 + +# constants for door locations +uint8 FRONT = 1 +uint8 BACK = 2 +uint8 MIDDLE = 3 +uint8 LEFT = 4 +uint8 RIGHT = 5 + +uint8 door_id +uint8 status +uint8[] door_location +``` + +## This type uses + +None diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_door_status.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_door_status.md new file mode 100644 index 00000000000..4fa4f08aef1 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_door_status.md @@ -0,0 +1,14 @@ + + +# autoware_adapi_v1_msgs/msg/VehicleDoorStatus + +## Definition + +```txt +builtin_interfaces/Time stamp +autoware_adapi_v1_msgs/VehicleDoor[] doors +``` + +## This type uses + +- [autoware_adapi_v1_msgs/msg/VehicleDoor](../../autoware_adapi_v1_msgs/msg/vehicle_door.md) diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_gear.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_gear.md new file mode 100644 index 00000000000..5c30d28269d --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_gear.md @@ -0,0 +1,21 @@ + + +# autoware_adapi_v1_msgs/msg/VehicleGear + +## Definition + +```txt +# constants +uint8 NEUTRAL = 1 +uint8 DRIVE = 2 +uint8 REVERSE = 3 +uint8 PARK = 4 +uint8 LOW = 5 + +builtin_interfaces/Time stamp +int8 status +``` + +## This type uses + +None diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_motion.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_motion.md new file mode 100644 index 00000000000..7fed0fdce99 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_motion.md @@ -0,0 +1,17 @@ + + +# autoware_adapi_v1_msgs/msg/VehicleMotion + +## Definition + +```txt +std_msgs/Header header +float64 velocity +float64 angular_velocity +float64 acceleration +float64 steering +``` + +## This type uses + +None diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_postion.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_postion.md new file mode 100644 index 00000000000..bed41c6f4e3 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_postion.md @@ -0,0 +1,15 @@ + + +# autoware_adapi_v1_msgs/msg/VehiclePostion + +## Definition + +```txt +std_msgs/Header header +geometry_msgs/Pose pose +autoware_adapi_v1_msgs/GeoPosition geo_position +``` + +## This type uses + +- [autoware_adapi_v1_msgs/msg/GeoPosition](../../autoware_adapi_v1_msgs/msg/geo_position.md) diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_signal.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_signal.md new file mode 100644 index 00000000000..5ac15bf5df2 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_signal.md @@ -0,0 +1,21 @@ + + +# autoware_adapi_v1_msgs/msg/VehicleSignal + +## Definition + +```txt +# constants +uint8 DISABLE = 1 +uint8 ENABLE_LEFT = 2 +uint8 ENABLE_RIGHT = 3 +uint8 HAZARD_ENABLE = 2 + +builtin_interfaces/Time stamp +uint8 turn_indicator +uint8 hazard_light +``` + +## This type uses + +None From ff87ccda849131cafbba1bfcdd146c1ac235d2b6 Mon Sep 17 00:00:00 2001 From: tkhmy Date: Wed, 1 Feb 2023 12:48:27 +0900 Subject: [PATCH 02/25] fix spelling error Signed-off-by: tkhmy --- .../msg/vehicle_position.md | 15 +++++++++++++++ 1 file changed, 15 insertions(+) create mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_position.md diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_position.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_position.md new file mode 100644 index 00000000000..e61140db839 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_position.md @@ -0,0 +1,15 @@ + + +# autoware_adapi_v1_msgs/msg/VehiclePosition + +## Definition + +```txt +std_msgs/Header header +geometry_msgs/Pose pose +autoware_adapi_v1_msgs/GeoPosition geo_position +``` + +## This type uses + +- [autoware_adapi_v1_msgs/msg/GeoPosition](../../autoware_adapi_v1_msgs/msg/geo_position.md) From 9cb6f97bd706fc8e13dc178139e8f8a112b6fb4f Mon Sep 17 00:00:00 2001 From: tkhmy Date: Wed, 1 Feb 2023 12:49:45 +0900 Subject: [PATCH 03/25] remove old file Signed-off-by: tkhmy --- .../autoware_adapi_v1_msgs/msg/vehicle_postion.md | 15 --------------- 1 file changed, 15 deletions(-) delete mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_postion.md diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_postion.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_postion.md deleted file mode 100644 index bed41c6f4e3..00000000000 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_postion.md +++ /dev/null @@ -1,15 +0,0 @@ - - -# autoware_adapi_v1_msgs/msg/VehiclePostion - -## Definition - -```txt -std_msgs/Header header -geometry_msgs/Pose pose -autoware_adapi_v1_msgs/GeoPosition geo_position -``` - -## This type uses - -- [autoware_adapi_v1_msgs/msg/GeoPosition](../../autoware_adapi_v1_msgs/msg/geo_position.md) From b49ac5ddab4c88b8574808d01b0454dec6c8a257 Mon Sep 17 00:00:00 2001 From: tkhmy Date: Wed, 1 Feb 2023 12:55:54 +0900 Subject: [PATCH 04/25] fix spelling error Signed-off-by: tkhmy --- .../autoware-interfaces/ad-api/list/api/vehicle/position.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/position.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/position.md index 67de2e82bde..15d60147071 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/position.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/position.md @@ -3,7 +3,7 @@ # /api/vehicle/position - Method: realtime stream -- Type: [autoware_adapi_v1_msgs/msg/VehiclePostion](../../../types/autoware_adapi_v1_msgs/msg/vehicle_postion.md) +- Type: [autoware_adapi_v1_msgs/msg/VehiclePosition](../../../types/autoware_adapi_v1_msgs/msg/vehicle_position.md) ## Description @@ -15,4 +15,4 @@ Publish vehicle current pose and geo position. | ------------ | -------------------------------------- | ---------------------------------------------------- | | header | std_msgs/msg/Header | header for pose transformation | | pose | geometry_msgs/msg/Pose | The pose from the base link | -| geo_position | autoware_adapi_v1_msgs/msg/GeoPosition | The longtitude, latitude and altitude of the vehicle | +| geo_position | autoware_adapi_v1_msgs/msg/GeoPosition | The longitude,, latitude and altitude of the vehicle | From b1f628ba40ab88bf76be3786a52b3cd7fe2df5de Mon Sep 17 00:00:00 2001 From: tkhmy Date: Wed, 1 Feb 2023 13:01:37 +0900 Subject: [PATCH 05/25] fix dead link Signed-off-by: tkhmy --- docs/design/autoware-interfaces/ad-api/list/index.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/design/autoware-interfaces/ad-api/list/index.md b/docs/design/autoware-interfaces/ad-api/list/index.md index 4d2bcdb1cc5..42437e359c1 100644 --- a/docs/design/autoware-interfaces/ad-api/list/index.md +++ b/docs/design/autoware-interfaces/ad-api/list/index.md @@ -7,4 +7,4 @@ - [Motion](./api/motion/index.md) - [Planning](./api/planning/index.md) - [Fail-safe](./api/fail_safe/index.md) -- [Vehicle Status](./api/vehicle_status/index.md) +- [Vehicle Status](./api/vehicle/index.md) From b81dfe53460a9160c24a3ce3c87066451a2325a2 Mon Sep 17 00:00:00 2001 From: tkhmy Date: Fri, 3 Feb 2023 11:50:55 +0900 Subject: [PATCH 06/25] update vehicle message Signed-off-by: tkhmy --- .../ad-api/list/api/vehicle/door.md | 9 +++------ .../ad-api/list/api/vehicle/gear.md | 16 ---------------- .../ad-api/list/api/vehicle/index.md | 3 +-- .../ad-api/list/api/vehicle/signal.md | 17 ----------------- .../ad-api/list/api/vehicle/state.md | 18 ++++++++++++++++++ .../autoware_adapi_v1_msgs/msg/vehicle_door.md | 9 --------- .../msg/vehicle_hazard_light.md | 18 ++++++++++++++++++ .../msg/vehicle_state.md | 18 ++++++++++++++++++ ...cle_signal.md => vehicle_turn_indicator.md} | 6 ++---- 9 files changed, 60 insertions(+), 54 deletions(-) delete mode 100644 docs/design/autoware-interfaces/ad-api/list/api/vehicle/gear.md delete mode 100644 docs/design/autoware-interfaces/ad-api/list/api/vehicle/signal.md create mode 100644 docs/design/autoware-interfaces/ad-api/list/api/vehicle/state.md create mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_hazard_light.md create mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_state.md rename docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/{vehicle_signal.md => vehicle_turn_indicator.md} (67%) diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/door.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/door.md index f94a2f9e544..db1666bb5d4 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/door.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/door.md @@ -11,9 +11,6 @@ Publish door status, the door location information will be received from vehicle ## Message -| Name | Type | Description | -| ------------------- | ------- | ------------------- | -| doors.door_id | uint8 | respective door id | -| doors.door_location | uint8[] | door location | -| doors.status | uint8 | current door status | -| doors.door_location | uint8[] | door location | +| Name | Type | Description | +| ------------ | ----- | ------------------- | +| doors.status | uint8 | current door status | diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/gear.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/gear.md deleted file mode 100644 index c9986966921..00000000000 --- a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/gear.md +++ /dev/null @@ -1,16 +0,0 @@ - - -# /api/vehicle/gear - -- Method: notification -- Type: [autoware_adapi_v1_msgs/msg/VehicleGear](../../../types/autoware_adapi_v1_msgs/msg/vehicle_gear.md) - -## Description - -Publish vehicle current gear information. - -## Message - -| Name | Type | Description | -| ------ | ---- | ------------------- | -| status | int8 | gear current status | diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/index.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/index.md index c2c4c6db3f5..8e2f77b5922 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/index.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/index.md @@ -2,8 +2,7 @@ - {{ link_ad_api('/api/vehicle/position') }} - {{ link_ad_api('/api/vehicle/motion') }} -- {{ link_ad_api('/api/vehicle/gear') }} -- {{ link_ad_api('/api/vehicle/signal') }} +- {{ link_ad_api('/api/vehicle/sate') }} - {{ link_ad_api('/api/vehicle/door') }} ## Description diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/signal.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/signal.md deleted file mode 100644 index 18d31626e08..00000000000 --- a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/signal.md +++ /dev/null @@ -1,17 +0,0 @@ - - -# /api/vehicle/signal - -- Method: notification -- Type: [autoware_adapi_v1_msgs/msg/VehicleSignal](../../../types/autoware_adapi_v1_msgs/msg/vehicle_signal.md) - -## Description - -Publish vehicle current turn indicator and hazard light status. - -## Message - -| Name | Type | Description | -| -------------- | ----- | ---------------------------------------------------------------- | -| turn_indicator | uint8 | turn indicator status, only either left or right will be enabled | -| hazard_light | uint8 | hazard light status | diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/state.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/state.md new file mode 100644 index 00000000000..f938a20a61f --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/state.md @@ -0,0 +1,18 @@ + + +# /api/vehicle/state + +- Method: notification +- Type: [autoware_adapi_v1_msgs/msg/VehicleState](../../../types/autoware_adapi_v1_msgs/msg/vehicle_state.md) + +## Description + +Publish vehicle state information + +## Message + +| Name | Type | Description | +| -------------- | ----------------------------------------------- | ---------------------------------------------------------------- | +| gear | autoware_adapi_v1_msgs/msg/VehicleGear | gear current status | +| turn_indicator | autoware_adapi_v1_msgs/msg/VehicleTurnIndicator | turn indicator status, only either left or right will be enabled | +| hazard_light | autoware_adapi_v1_msgs/msg/VehicleHazardLight | hazard light status | diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_door.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_door.md index d3eaf9d7790..aad19be2542 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_door.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_door.md @@ -13,16 +13,7 @@ uint8 DOOR_OPENING = 3 uint8 DOOR_CLOSING = 4 uint8 NOT_APPLICABLE = 5 -# constants for door locations -uint8 FRONT = 1 -uint8 BACK = 2 -uint8 MIDDLE = 3 -uint8 LEFT = 4 -uint8 RIGHT = 5 - -uint8 door_id uint8 status -uint8[] door_location ``` ## This type uses diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_hazard_light.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_hazard_light.md new file mode 100644 index 00000000000..e324844e723 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_hazard_light.md @@ -0,0 +1,18 @@ + + +# autoware_adapi_v1_msgs/msg/VehicleHazardLight + +## Definition + +```txt +# constants +uint8 DISABLE = 1 +uint8 ENABLE = 2 + +builtin_interfaces/Time stamp +uint8 status +``` + +## This type uses + +None diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_state.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_state.md new file mode 100644 index 00000000000..3b34ed918e9 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_state.md @@ -0,0 +1,18 @@ + + +# autoware_adapi_v1_msgs/msg/VehicleState + +## Definition + +```txt +builtin_interfaces/Time stamp +autoware_adapi_v1_msgs/VehicleGear gear +autoware_adapi_v1_msgs/VehicleTurnIndicator turn_indicator +autoware_adapi_v1_msgs/VehicleHazardLight hazard_light +``` + +## This type uses + +- [autoware_adapi_v1_msgs/msg/VehicleGear](../../autoware_adapi_v1_msgs/msg/vehicle_gear.md) +- [autoware_adapi_v1_msgs/msg/VehicleHazardLight](../../autoware_adapi_v1_msgs/msg/vehicle_hazard_light.md) +- [autoware_adapi_v1_msgs/msg/VehicleTurnIndicator](../../autoware_adapi_v1_msgs/msg/vehicle_turn_indicator.md) diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_signal.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_turn_indicator.md similarity index 67% rename from docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_signal.md rename to docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_turn_indicator.md index 5ac15bf5df2..f5cae7c1adc 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_signal.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_turn_indicator.md @@ -1,6 +1,6 @@ -# autoware_adapi_v1_msgs/msg/VehicleSignal +# autoware_adapi_v1_msgs/msg/VehicleTurnIndicator ## Definition @@ -9,11 +9,9 @@ uint8 DISABLE = 1 uint8 ENABLE_LEFT = 2 uint8 ENABLE_RIGHT = 3 -uint8 HAZARD_ENABLE = 2 builtin_interfaces/Time stamp -uint8 turn_indicator -uint8 hazard_light +uint8 status ``` ## This type uses From 4f7ec5b99a4599cc7ea40a7bc4a222f27b957dfb Mon Sep 17 00:00:00 2001 From: tkhmy Date: Fri, 3 Feb 2023 12:27:52 +0900 Subject: [PATCH 07/25] change vehicle motion Signed-off-by: tkhmy --- .../ad-api/list/api/vehicle/motion.md | 13 ++++++------- .../autoware_adapi_v1_msgs/msg/vehicle_motion.md | 7 +++---- 2 files changed, 9 insertions(+), 11 deletions(-) diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/motion.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/motion.md index 70c4aa92131..e742d602ff9 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/motion.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/motion.md @@ -11,10 +11,9 @@ Publish vehicle current motion information. ## Message -| Name | Type | Description | -| ---------------- | ------------------- | ------------------------------------------- | -| header | std_msgs/msg/Header | header for pose transformation | -| velocity | float64 | Vehicle current velocity in [m/s] | -| angular_velocity | float64 | Vehicle current angular velocity in [rad/s] | -| acceleration | float64 | Vehicle current acceleration in [m/ss] | -| steering | float64 | Vehicle current steering in [rad] | +| Name | Type | Description | +| ------------------- | ------------------------------------- | ----------------------------------------------------------------------------------- | +| header | std_msgs/msg/Header | header for pose transformation | +| twist | geometry_msgs/msg/TwistWithCovariance | Vehicle current twist with covariance , input from /localization/kinematic_state | +| accel | geometry_msgs/msg/AccelWithCovariance | Vehicle current acceleration with ovariance , input from /localization/acceleration | +| steering_tire_angle | float64 | Vehicle current tire angle in [rad], input from /vehicle/status/steering_status | diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_motion.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_motion.md index 7fed0fdce99..dc7cc4bdf49 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_motion.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_motion.md @@ -6,10 +6,9 @@ ```txt std_msgs/Header header -float64 velocity -float64 angular_velocity -float64 acceleration -float64 steering +geometry_msgs/TwistWithCovariance twist +geometry_msgs/AccelWithCovariance accel +float64 steering_tire_angle ``` ## This type uses From d299da65cf7c7f3009ecb891fe8563b3e9c3408d Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Fri, 3 Feb 2023 15:52:54 +0900 Subject: [PATCH 08/25] feat(ad-api): add vehicle information api Signed-off-by: Takagi, Isamu --- .../list/api/vehicle/info/dimensions.md | 21 ++++++++++++++++ .../ad-api/list/api/vehicle/info/doors.md | 21 ++++++++++++++++ .../ad-api/list/api/vehicle/info/index.md | 4 +++ .../autoware-interfaces/ad-api/list/index.md | 1 + .../autoware_adapi_v1_msgs/msg/door_layout.md | 17 +++++++++++++ .../msg/response_status.md | 2 ++ .../msg/vehicle_dimensions.md | 25 +++++++++++++++++++ .../srv/get_door_layout.md | 20 +++++++++++++++ .../srv/get_vehicle_dimensions.md | 20 +++++++++++++++ 9 files changed, 131 insertions(+) create mode 100644 docs/design/autoware-interfaces/ad-api/list/api/vehicle/info/dimensions.md create mode 100644 docs/design/autoware-interfaces/ad-api/list/api/vehicle/info/doors.md create mode 100644 docs/design/autoware-interfaces/ad-api/list/api/vehicle/info/index.md create mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/door_layout.md create mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_dimensions.md create mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/get_door_layout.md create mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/get_vehicle_dimensions.md diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/info/dimensions.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/info/dimensions.md new file mode 100644 index 00000000000..e3fba9cb1dd --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/info/dimensions.md @@ -0,0 +1,21 @@ + + +# /api/vehicle/info/dimensions + +- Method: function call +- Type: [autoware_adapi_v1_msgs/srv/GetVehicleDimensions](../../../../types/autoware_adapi_v1_msgs/srv/get_vehicle_dimensions.md) + +## Description + +Get the vehicle dimensions. See [here](../../../../../components/vehicle-dimensions.md) for the definition of each value. + +## Request + +None + +## Response + +| Name | Type | Description | +| ---------- | -------------------------------------------- | ------------------ | +| status | autoware_adapi_v1_msgs/msg/ResponseStatus | response status | +| dimensions | autoware_adapi_v1_msgs/msg/VehicleDimensions | vehicle dimensions | diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/info/doors.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/info/doors.md new file mode 100644 index 00000000000..6114e925bde --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/info/doors.md @@ -0,0 +1,21 @@ + + +# /api/vehicle/info/doors + +- Method: function call +- Type: [autoware_adapi_v1_msgs/srv/GetDoorLayout](../../../../types/autoware_adapi_v1_msgs/srv/get_door_layout.md) + +## Description + +Get the door layout. It is an array of pose for each door. The array index corresponds to the door status. + +## Request + +None + +## Response + +| Name | Type | Description | +| ------ | ----------------------------------------- | ---------------------------------------------------------------------------- | +| status | autoware_adapi_v1_msgs/msg/ResponseStatus | response status | +| doors | autoware_adapi_v1_msgs/msg/DoorLayout | The pose in the base_link frame. The outside front is positive X-coordinate. | diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/info/index.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/info/index.md new file mode 100644 index 00000000000..a4bfde4967b --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/info/index.md @@ -0,0 +1,4 @@ +# Vehicle information API + +- {{ link_ad_api('/api/vehicle/info/dimensions') }} +- {{ link_ad_api('/api/vehicle/info/doors') }} diff --git a/docs/design/autoware-interfaces/ad-api/list/index.md b/docs/design/autoware-interfaces/ad-api/list/index.md index 65ee7e0efd7..49ff798a83b 100644 --- a/docs/design/autoware-interfaces/ad-api/list/index.md +++ b/docs/design/autoware-interfaces/ad-api/list/index.md @@ -7,3 +7,4 @@ - [Motion](./api/motion/index.md) - [Planning](./api/planning/index.md) - [Fail-safe](./api/fail_safe/index.md) +- [Vehicle Information](./api/vehicle/info/index.md) diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/door_layout.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/door_layout.md new file mode 100644 index 00000000000..b9a95305bfb --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/door_layout.md @@ -0,0 +1,17 @@ + + +# autoware_adapi_v1_msgs/msg/DoorLayout + +## Definition + +```txt +geometry_msgs/Pose pose +``` + +## This type uses + +None + +## This type is used by + +- [autoware_adapi_v1_msgs/srv/GetDoorLayout](../../autoware_adapi_v1_msgs/srv/get_door_layout.md) diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/response_status.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/response_status.md index 625c19cc14a..3ca805d0e78 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/response_status.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/response_status.md @@ -31,6 +31,8 @@ None - [autoware_adapi_v1_msgs/srv/AcceptStart](../../autoware_adapi_v1_msgs/srv/accept_start.md) - [autoware_adapi_v1_msgs/srv/ChangeOperationMode](../../autoware_adapi_v1_msgs/srv/change_operation_mode.md) - [autoware_adapi_v1_msgs/srv/ClearRoute](../../autoware_adapi_v1_msgs/srv/clear_route.md) +- [autoware_adapi_v1_msgs/srv/GetDoorLayout](../../autoware_adapi_v1_msgs/srv/get_door_layout.md) +- [autoware_adapi_v1_msgs/srv/GetVehicleDimensions](../../autoware_adapi_v1_msgs/srv/get_vehicle_dimensions.md) - [autoware_adapi_v1_msgs/srv/InitializeLocalization](../../autoware_adapi_v1_msgs/srv/initialize_localization.md) - [autoware_adapi_v1_msgs/srv/SetRoute](../../autoware_adapi_v1_msgs/srv/set_route.md) - [autoware_adapi_v1_msgs/srv/SetRoutePoints](../../autoware_adapi_v1_msgs/srv/set_route_points.md) diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_dimensions.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_dimensions.md new file mode 100644 index 00000000000..eff0b416839 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_dimensions.md @@ -0,0 +1,25 @@ + + +# autoware_adapi_v1_msgs/msg/VehicleDimensions + +## Definition + +```txt +float32 wheel_radius +float32 wheel_width +float32 wheel_base +float32 wheel_tread +float32 front_overhang +float32 rear_overhang +float32 left_overhang +float32 right_overhang +float32 height +``` + +## This type uses + +None + +## This type is used by + +- [autoware_adapi_v1_msgs/srv/GetVehicleDimensions](../../autoware_adapi_v1_msgs/srv/get_vehicle_dimensions.md) diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/get_door_layout.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/get_door_layout.md new file mode 100644 index 00000000000..79737dda765 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/get_door_layout.md @@ -0,0 +1,20 @@ + + +# autoware_adapi_v1_msgs/srv/GetDoorLayout + +## Definition + +```txt +--- +autoware_adapi_v1_msgs/ResponseStatus status +autoware_adapi_v1_msgs/DoorLayout doors +``` + +## This type uses + +- [autoware_adapi_v1_msgs/msg/DoorLayout](../../autoware_adapi_v1_msgs/msg/door_layout.md) +- [autoware_adapi_v1_msgs/msg/ResponseStatus](../../autoware_adapi_v1_msgs/msg/response_status.md) + +## This type is used by + +None diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/get_vehicle_dimensions.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/get_vehicle_dimensions.md new file mode 100644 index 00000000000..60b347fc095 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/get_vehicle_dimensions.md @@ -0,0 +1,20 @@ + + +# autoware_adapi_v1_msgs/srv/GetVehicleDimensions + +## Definition + +```txt +--- +autoware_adapi_v1_msgs/ResponseStatus status +autoware_adapi_v1_msgs/VehicleDimensions dimensions +``` + +## This type uses + +- [autoware_adapi_v1_msgs/msg/ResponseStatus](../../autoware_adapi_v1_msgs/msg/response_status.md) +- [autoware_adapi_v1_msgs/msg/VehicleDimensions](../../autoware_adapi_v1_msgs/msg/vehicle_dimensions.md) + +## This type is used by + +None From 5dbf29252e75b4c7bd80f68d59093fbb96f2fdde Mon Sep 17 00:00:00 2001 From: tkhmy Date: Tue, 21 Feb 2023 13:51:32 +0900 Subject: [PATCH 09/25] fix msgs Signed-off-by: tkhmy --- .../types/autoware_adapi_v1_msgs/msg/vehicle_door.md | 12 +++++++----- .../msg/vehicle_hazard_light.md | 1 - .../msg/vehicle_turn_indicator.md | 5 ++--- 3 files changed, 9 insertions(+), 9 deletions(-) diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_door.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_door.md index aad19be2542..6b1120fdcd4 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_door.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_door.md @@ -7,11 +7,13 @@ ```txt # constants for door status uint8 UNKNOWN = 0 -uint8 DOOR_OPENED = 1 -uint8 DOOR_CLOSED = 2 -uint8 DOOR_OPENING = 3 -uint8 DOOR_CLOSING = 4 -uint8 NOT_APPLICABLE = 5 +uint8 NOT_AVAILABLE = 1 +uint8 OPENED = 2 +uint8 CLOSED = 3 +uint8 OPENING = 4 +uint8 CLOSING = 5 +uint8 FREE_MODE = 6 +uint8 MANUAL_MODE = 7 uint8 status ``` diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_hazard_light.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_hazard_light.md index e324844e723..8405248d774 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_hazard_light.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_hazard_light.md @@ -9,7 +9,6 @@ uint8 DISABLE = 1 uint8 ENABLE = 2 -builtin_interfaces/Time stamp uint8 status ``` diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_turn_indicator.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_turn_indicator.md index f5cae7c1adc..a718c3eebc5 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_turn_indicator.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_turn_indicator.md @@ -7,10 +7,9 @@ ```txt # constants uint8 DISABLE = 1 -uint8 ENABLE_LEFT = 2 -uint8 ENABLE_RIGHT = 3 +uint8 LEFT = 2 +uint8 RIGHT = 3 -builtin_interfaces/Time stamp uint8 status ``` From 99db92d06ae9f5290c6b98d42e7f9267b4539bfe Mon Sep 17 00:00:00 2001 From: tkhmy Date: Tue, 21 Feb 2023 14:00:32 +0900 Subject: [PATCH 10/25] update geo position Signed-off-by: tkhmy --- .../ad-api/list/api/vehicle/position.md | 10 +++++----- .../autoware_adapi_v1_msgs/msg/geo_position.md | 15 --------------- .../msg/vehicle_position.md | 5 +++-- 3 files changed, 8 insertions(+), 22 deletions(-) delete mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/geo_position.md diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/position.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/position.md index 15d60147071..9194c63711d 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/position.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/position.md @@ -11,8 +11,8 @@ Publish vehicle current pose and geo position. ## Message -| Name | Type | Description | -| ------------ | -------------------------------------- | ---------------------------------------------------- | -| header | std_msgs/msg/Header | header for pose transformation | -| pose | geometry_msgs/msg/Pose | The pose from the base link | -| geo_position | autoware_adapi_v1_msgs/msg/GeoPosition | The longitude,, latitude and altitude of the vehicle | +| Name | Type | Description | +| ------------ | ---------------------- | --------------------------------------------------- | +| header | std_msgs/msg/Header | header for pose transformation | +| pose | geometry_msgs/msg/Pose | The pose from the base link | +| geo_position | float64[3] | The longitude, latitude and altitude of the vehicle | diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/geo_position.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/geo_position.md deleted file mode 100644 index e5ddf5a443a..00000000000 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/geo_position.md +++ /dev/null @@ -1,15 +0,0 @@ - - -# autoware_adapi_v1_msgs/msg/GeoPosition - -## Definition - -```txt -float64 latitude -float64 longitude -float64 altitude -``` - -## This type uses - -None diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_position.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_position.md index e61140db839..e4f625edf5d 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_position.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_position.md @@ -7,9 +7,10 @@ ```txt std_msgs/Header header geometry_msgs/Pose pose -autoware_adapi_v1_msgs/GeoPosition geo_position +# Store the geo position in order [latitude, longitude, altitude] +float64[3] geo_position ``` ## This type uses -- [autoware_adapi_v1_msgs/msg/GeoPosition](../../autoware_adapi_v1_msgs/msg/geo_position.md) +None From 5d86cc0270843fb050165c767c3b2cd37c6c8789 Mon Sep 17 00:00:00 2001 From: tkhmy Date: Tue, 21 Feb 2023 14:20:08 +0900 Subject: [PATCH 11/25] fix typo Signed-off-by: tkhmy --- .../design/autoware-interfaces/ad-api/list/api/vehicle/index.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/index.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/index.md index 8e2f77b5922..d5ec5cc75b7 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/index.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/index.md @@ -2,7 +2,7 @@ - {{ link_ad_api('/api/vehicle/position') }} - {{ link_ad_api('/api/vehicle/motion') }} -- {{ link_ad_api('/api/vehicle/sate') }} +- {{ link_ad_api('/api/vehicle/state') }} - {{ link_ad_api('/api/vehicle/door') }} ## Description From 9f2e492ebd9f89e388c6023f6d05b23768973fbf Mon Sep 17 00:00:00 2001 From: tkhmy Date: Wed, 1 Mar 2023 19:51:01 +0900 Subject: [PATCH 12/25] change naming Signed-off-by: tkhmy --- .../ad-api/list/api/vehicle/door.md | 4 ++-- .../ad-api/list/api/vehicle/index.md | 3 +-- .../ad-api/list/api/vehicle/kinematic.md | 19 +++++++++++++++++++ .../ad-api/list/api/vehicle/motion.md | 19 ------------------- .../ad-api/list/api/vehicle/position.md | 18 ------------------ .../ad-api/list/api/vehicle/state.md | 11 ++++++----- .../msg/{vehicle_door.md => door_status.md} | 4 +--- .../msg/door_status_array.md | 14 ++++++++++++++ .../msg/{vehicle_gear.md => gear.md} | 4 ++-- .../autoware_adapi_v1_msgs/msg/geo_point.md | 14 ++++++++++++++ ...ehicle_hazard_light.md => hazard_light.md} | 2 +- .../autoware_adapi_v1_msgs/msg/kinematic.md | 16 ++++++++++++++++ ...le_turn_indicator.md => turn_indicator.md} | 2 +- .../msg/vehicle_door_status.md | 14 -------------- .../msg/vehicle_motion.md | 16 ---------------- .../msg/vehicle_position.md | 16 ---------------- .../msg/vehicle_state.md | 14 ++++++++------ 17 files changed, 85 insertions(+), 105 deletions(-) create mode 100644 docs/design/autoware-interfaces/ad-api/list/api/vehicle/kinematic.md delete mode 100644 docs/design/autoware-interfaces/ad-api/list/api/vehicle/motion.md delete mode 100644 docs/design/autoware-interfaces/ad-api/list/api/vehicle/position.md rename docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/{vehicle_door.md => door_status.md} (76%) create mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/door_status_array.md rename docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/{vehicle_gear.md => gear.md} (75%) create mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/geo_point.md rename docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/{vehicle_hazard_light.md => hazard_light.md} (78%) create mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/kinematic.md rename docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/{vehicle_turn_indicator.md => turn_indicator.md} (79%) delete mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_door_status.md delete mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_motion.md delete mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_position.md diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/door.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/door.md index db1666bb5d4..288f2c557d0 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/door.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/door.md @@ -3,11 +3,11 @@ # /api/vehicle/door - Method: notification -- Type: [autoware_adapi_v1_msgs/msg/VehicleDoorStatus](../../../types/autoware_adapi_v1_msgs/msg/vehicle_door_status.md) +- Type: [autoware_adapi_v1_msgs/msg/DoorStatusArray](../../../types/autoware_adapi_v1_msgs/msg/door_status_array.md) ## Description -Publish door status, the door location information will be received from vehicle info service. +Publish door status in array according to the door location information that received from vehicle info service. ## Message diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/index.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/index.md index d5ec5cc75b7..b384ba23c8b 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/index.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/index.md @@ -1,7 +1,6 @@ # Vehicle Status API -- {{ link_ad_api('/api/vehicle/position') }} -- {{ link_ad_api('/api/vehicle/motion') }} +- {{ link_ad_api('/api/vehicle/kinematic') }} - {{ link_ad_api('/api/vehicle/state') }} - {{ link_ad_api('/api/vehicle/door') }} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/kinematic.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/kinematic.md new file mode 100644 index 00000000000..83b5c4c6520 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/kinematic.md @@ -0,0 +1,19 @@ + + +# /api/vehicle/kinematic + +- Method: realtime stream +- Type: [autoware_adapi_v1_msgs/msg/Kinematic](../../../types/autoware_adapi_v1_msgs/msg/kinematic.md) + +## Description + +Publish vehicle kinematic + +## Message + +| Name | Type | Description | +| --------------------- | -------------------------------------------- | --------------------------------------------------------------------------------------------------------- | +| geo_position | autoware_adapi_v1_msgs/msg/GeoPoint | The longitude and latitude of the vehicle, if the map do not contains MGRS code, it will not be available | +| pose_with_covariance | geometry_msgs/msg/PoseWithCovarianceStamped | The pose with covariance from the base link | +| twist_with_covariance | geometry_msgs/msg/TwistWithCovarianceStamped | Vehicle current twist with covariance , input from /localization/kinematic_state | +| accel_with_covariance | geometry_msgs/msg/AccelWithCovarianceStamped | Vehicle current acceleration with covariance , input from /localization/acceleration | diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/motion.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/motion.md deleted file mode 100644 index e742d602ff9..00000000000 --- a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/motion.md +++ /dev/null @@ -1,19 +0,0 @@ - - -# /api/vehicle/motion - -- Method: realtime stream -- Type: [autoware_adapi_v1_msgs/msg/VehicleMotion](../../../types/autoware_adapi_v1_msgs/msg/vehicle_motion.md) - -## Description - -Publish vehicle current motion information. - -## Message - -| Name | Type | Description | -| ------------------- | ------------------------------------- | ----------------------------------------------------------------------------------- | -| header | std_msgs/msg/Header | header for pose transformation | -| twist | geometry_msgs/msg/TwistWithCovariance | Vehicle current twist with covariance , input from /localization/kinematic_state | -| accel | geometry_msgs/msg/AccelWithCovariance | Vehicle current acceleration with ovariance , input from /localization/acceleration | -| steering_tire_angle | float64 | Vehicle current tire angle in [rad], input from /vehicle/status/steering_status | diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/position.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/position.md deleted file mode 100644 index 9194c63711d..00000000000 --- a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/position.md +++ /dev/null @@ -1,18 +0,0 @@ - - -# /api/vehicle/position - -- Method: realtime stream -- Type: [autoware_adapi_v1_msgs/msg/VehiclePosition](../../../types/autoware_adapi_v1_msgs/msg/vehicle_position.md) - -## Description - -Publish vehicle current pose and geo position. - -## Message - -| Name | Type | Description | -| ------------ | ---------------------- | --------------------------------------------------- | -| header | std_msgs/msg/Header | header for pose transformation | -| pose | geometry_msgs/msg/Pose | The pose from the base link | -| geo_position | float64[3] | The longitude, latitude and altitude of the vehicle | diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/state.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/state.md index f938a20a61f..195a57a1627 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/state.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/state.md @@ -11,8 +11,9 @@ Publish vehicle state information ## Message -| Name | Type | Description | -| -------------- | ----------------------------------------------- | ---------------------------------------------------------------- | -| gear | autoware_adapi_v1_msgs/msg/VehicleGear | gear current status | -| turn_indicator | autoware_adapi_v1_msgs/msg/VehicleTurnIndicator | turn indicator status, only either left or right will be enabled | -| hazard_light | autoware_adapi_v1_msgs/msg/VehicleHazardLight | hazard light status | +| Name | Type | Description | +| ------------------- | ---------------------------------------- | ------------------------------------------------------------------------------- | +| steering_tire_angle | float64 | Vehicle current tire angle in [rad], input from /vehicle/status/steering_status | +| gear | autoware_adapi_v1_msgs/msg/Gear | gear current status | +| turn_indicator | autoware_adapi_v1_msgs/msg/TurnIndicator | turn indicator status, only either left or right will be enabled | +| hazard_light | autoware_adapi_v1_msgs/msg/HazardLight | hazard light status | diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_door.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/door_status.md similarity index 76% rename from docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_door.md rename to docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/door_status.md index 6b1120fdcd4..522d2c84676 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_door.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/door_status.md @@ -1,6 +1,6 @@ -# autoware_adapi_v1_msgs/msg/VehicleDoor +# autoware_adapi_v1_msgs/msg/DoorStatus ## Definition @@ -12,8 +12,6 @@ uint8 OPENED = 2 uint8 CLOSED = 3 uint8 OPENING = 4 uint8 CLOSING = 5 -uint8 FREE_MODE = 6 -uint8 MANUAL_MODE = 7 uint8 status ``` diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/door_status_array.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/door_status_array.md new file mode 100644 index 00000000000..1e5dde48179 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/door_status_array.md @@ -0,0 +1,14 @@ + + +# autoware_adapi_v1_msgs/msg/DoorStatusArray + +## Definition + +```txt +builtin_interfaces/Time stamp +autoware_adapi_v1_msgs/DoorStatus[] doors +``` + +## This type uses + +- [autoware_adapi_v1_msgs/msg/DoorStatus](../../autoware_adapi_v1_msgs/msg/door_status.md) diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_gear.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/gear.md similarity index 75% rename from docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_gear.md rename to docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/gear.md index 5c30d28269d..73548e495a5 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_gear.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/gear.md @@ -1,18 +1,18 @@ -# autoware_adapi_v1_msgs/msg/VehicleGear +# autoware_adapi_v1_msgs/msg/Gear ## Definition ```txt # constants +uint8 NONE = 0 uint8 NEUTRAL = 1 uint8 DRIVE = 2 uint8 REVERSE = 3 uint8 PARK = 4 uint8 LOW = 5 -builtin_interfaces/Time stamp int8 status ``` diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/geo_point.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/geo_point.md new file mode 100644 index 00000000000..93b99ce0cf5 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/geo_point.md @@ -0,0 +1,14 @@ + + +# autoware_adapi_v1_msgs/msg/GeoPoint + +## Definition + +```txt +float64 latitude +float64 longitude +``` + +## This type uses + +None diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_hazard_light.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/hazard_light.md similarity index 78% rename from docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_hazard_light.md rename to docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/hazard_light.md index 8405248d774..c40008df922 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_hazard_light.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/hazard_light.md @@ -1,6 +1,6 @@ -# autoware_adapi_v1_msgs/msg/VehicleHazardLight +# autoware_adapi_v1_msgs/msg/HazardLight ## Definition diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/kinematic.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/kinematic.md new file mode 100644 index 00000000000..00302cbe2e5 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/kinematic.md @@ -0,0 +1,16 @@ + + +# autoware_adapi_v1_msgs/msg/Kinematic + +## Definition + +```txt +autoware_adapi_v1_msgs/GeoPoint geo_position +geometry_msgs/PoseWithCovarianceStamped pose_with_covariance +geometry_msgs/TwistWithCovarianceStamped twist_with_covariance +geometry_msgs/AccelWithCovarianceStamped accel_with_covariance +``` + +## This type uses + +- [autoware_adapi_v1_msgs/msg/GeoPoint](../../autoware_adapi_v1_msgs/msg/geo_point.md) diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_turn_indicator.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/turn_indicator.md similarity index 79% rename from docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_turn_indicator.md rename to docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/turn_indicator.md index a718c3eebc5..4d0d9bf1531 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_turn_indicator.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/turn_indicator.md @@ -1,6 +1,6 @@ -# autoware_adapi_v1_msgs/msg/VehicleTurnIndicator +# autoware_adapi_v1_msgs/msg/TurnIndicator ## Definition diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_door_status.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_door_status.md deleted file mode 100644 index 4fa4f08aef1..00000000000 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_door_status.md +++ /dev/null @@ -1,14 +0,0 @@ - - -# autoware_adapi_v1_msgs/msg/VehicleDoorStatus - -## Definition - -```txt -builtin_interfaces/Time stamp -autoware_adapi_v1_msgs/VehicleDoor[] doors -``` - -## This type uses - -- [autoware_adapi_v1_msgs/msg/VehicleDoor](../../autoware_adapi_v1_msgs/msg/vehicle_door.md) diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_motion.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_motion.md deleted file mode 100644 index dc7cc4bdf49..00000000000 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_motion.md +++ /dev/null @@ -1,16 +0,0 @@ - - -# autoware_adapi_v1_msgs/msg/VehicleMotion - -## Definition - -```txt -std_msgs/Header header -geometry_msgs/TwistWithCovariance twist -geometry_msgs/AccelWithCovariance accel -float64 steering_tire_angle -``` - -## This type uses - -None diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_position.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_position.md deleted file mode 100644 index e4f625edf5d..00000000000 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_position.md +++ /dev/null @@ -1,16 +0,0 @@ - - -# autoware_adapi_v1_msgs/msg/VehiclePosition - -## Definition - -```txt -std_msgs/Header header -geometry_msgs/Pose pose -# Store the geo position in order [latitude, longitude, altitude] -float64[3] geo_position -``` - -## This type uses - -None diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_state.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_state.md index 3b34ed918e9..c7437518f6b 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_state.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_state.md @@ -6,13 +6,15 @@ ```txt builtin_interfaces/Time stamp -autoware_adapi_v1_msgs/VehicleGear gear -autoware_adapi_v1_msgs/VehicleTurnIndicator turn_indicator -autoware_adapi_v1_msgs/VehicleHazardLight hazard_light +float64 steering_tire_angle +autoware_adapi_v1_msgs/Gear gear +autoware_adapi_v1_msgs/TurnIndicator turn_indicator +autoware_adapi_v1_msgs/HazardLight hazard_light +float32 energy_level ``` ## This type uses -- [autoware_adapi_v1_msgs/msg/VehicleGear](../../autoware_adapi_v1_msgs/msg/vehicle_gear.md) -- [autoware_adapi_v1_msgs/msg/VehicleHazardLight](../../autoware_adapi_v1_msgs/msg/vehicle_hazard_light.md) -- [autoware_adapi_v1_msgs/msg/VehicleTurnIndicator](../../autoware_adapi_v1_msgs/msg/vehicle_turn_indicator.md) +- [autoware_adapi_v1_msgs/msg/Gear](../../autoware_adapi_v1_msgs/msg/gear.md) +- [autoware_adapi_v1_msgs/msg/HazardLight](../../autoware_adapi_v1_msgs/msg/hazard_light.md) +- [autoware_adapi_v1_msgs/msg/TurnIndicator](../../autoware_adapi_v1_msgs/msg/turn_indicator.md) From 25244d2b3bf9f0e229cb67bb5bdd4b213bf0b815 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Mon, 6 Mar 2023 17:24:49 +0900 Subject: [PATCH 13/25] feat: add door group Signed-off-by: Takagi, Isamu --- .../autoware_adapi_v1_msgs/msg/door_group.md | 21 +++++++++++++++++++ .../autoware_adapi_v1_msgs/msg/door_layout.md | 3 ++- 2 files changed, 23 insertions(+), 1 deletion(-) create mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/door_group.md diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/door_group.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/door_group.md new file mode 100644 index 00000000000..e9b67c5409c --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/door_group.md @@ -0,0 +1,21 @@ + + +# autoware_adapi_v1_msgs/msg/DoorGroup + +## Definition + +```txt +uint8 ALL = 1 +uint8 GET_ON = 2 +uint8 GET_OFF = 3 + +uint8 group +``` + +## This type uses + +None + +## This type is used by + +- [autoware_adapi_v1_msgs/msg/DoorLayout](../../autoware_adapi_v1_msgs/msg/door_layout.md) diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/door_layout.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/door_layout.md index b9a95305bfb..14ce201965a 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/door_layout.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/door_layout.md @@ -5,12 +5,13 @@ ## Definition ```txt +autoware_adapi_v1_msgs/DoorGroup[] groups geometry_msgs/Pose pose ``` ## This type uses -None +- [autoware_adapi_v1_msgs/msg/DoorGroup](../../autoware_adapi_v1_msgs/msg/door_group.md) ## This type is used by From 25ca9369968ac80e32ad55e6e4da181ff4daca52 Mon Sep 17 00:00:00 2001 From: tkhmy Date: Mon, 6 Mar 2023 22:06:27 +0900 Subject: [PATCH 14/25] update message Signed-off-by: tkhmy --- .../msg/{geo_point.md => geo_point_stamped.md} | 3 ++- .../ad-api/types/autoware_adapi_v1_msgs/msg/hazard_light.md | 1 + .../ad-api/types/autoware_adapi_v1_msgs/msg/kinematic.md | 4 ++-- 3 files changed, 5 insertions(+), 3 deletions(-) rename docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/{geo_point.md => geo_point_stamped.md} (69%) diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/geo_point.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/geo_point_stamped.md similarity index 69% rename from docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/geo_point.md rename to docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/geo_point_stamped.md index 93b99ce0cf5..e2e85e6a576 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/geo_point.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/geo_point_stamped.md @@ -1,10 +1,11 @@ -# autoware_adapi_v1_msgs/msg/GeoPoint +# autoware_adapi_v1_msgs/msg/GeoPointStamped ## Definition ```txt +std_msgs/Header header float64 latitude float64 longitude ``` diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/hazard_light.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/hazard_light.md index c40008df922..d497215ecb5 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/hazard_light.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/hazard_light.md @@ -6,6 +6,7 @@ ```txt # constants +uint8 NONE = 0 uint8 DISABLE = 1 uint8 ENABLE = 2 diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/kinematic.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/kinematic.md index 00302cbe2e5..c4df8c98f2e 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/kinematic.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/kinematic.md @@ -5,7 +5,7 @@ ## Definition ```txt -autoware_adapi_v1_msgs/GeoPoint geo_position +autoware_adapi_v1_msgs/GeoPointStamped geo_position geometry_msgs/PoseWithCovarianceStamped pose_with_covariance geometry_msgs/TwistWithCovarianceStamped twist_with_covariance geometry_msgs/AccelWithCovarianceStamped accel_with_covariance @@ -13,4 +13,4 @@ geometry_msgs/AccelWithCovarianceStamped accel_with_covariance ## This type uses -- [autoware_adapi_v1_msgs/msg/GeoPoint](../../autoware_adapi_v1_msgs/msg/geo_point.md) +- [autoware_adapi_v1_msgs/msg/GeoPointStamped](../../autoware_adapi_v1_msgs/msg/geo_point_stamped.md) From 8968f23ff01efd2df4db06d401e5321d94a0f9d8 Mon Sep 17 00:00:00 2001 From: tkhmy Date: Thu, 23 Mar 2023 17:05:39 +0900 Subject: [PATCH 15/25] fix naming Signed-off-by: tkhmy --- .../ad-api/list/api/vehicle/kinematic.md | 12 ++++++------ .../types/autoware_adapi_v1_msgs/msg/hazard_light.md | 2 +- .../types/autoware_adapi_v1_msgs/msg/kinematic.md | 6 +++--- .../autoware_adapi_v1_msgs/msg/turn_indicator.md | 1 + 4 files changed, 11 insertions(+), 10 deletions(-) diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/kinematic.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/kinematic.md index 83b5c4c6520..b19b1f33965 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/kinematic.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/kinematic.md @@ -11,9 +11,9 @@ Publish vehicle kinematic ## Message -| Name | Type | Description | -| --------------------- | -------------------------------------------- | --------------------------------------------------------------------------------------------------------- | -| geo_position | autoware_adapi_v1_msgs/msg/GeoPoint | The longitude and latitude of the vehicle, if the map do not contains MGRS code, it will not be available | -| pose_with_covariance | geometry_msgs/msg/PoseWithCovarianceStamped | The pose with covariance from the base link | -| twist_with_covariance | geometry_msgs/msg/TwistWithCovarianceStamped | Vehicle current twist with covariance , input from /localization/kinematic_state | -| accel_with_covariance | geometry_msgs/msg/AccelWithCovarianceStamped | Vehicle current acceleration with covariance , input from /localization/acceleration | +| Name | Type | Description | +| ------------ | -------------------------------------------- | ---------------------------------------------------------------------------------------------------------- | +| geo_position | autoware_adapi_v1_msgs/msg/GeoPointStamped | The longitude and latitude of the vehicle, if the map do not contains MGRS code, it will not be available. | +| pose | geometry_msgs/msg/PoseWithCovarianceStamped | The pose with covariance from the base link | +| twist | geometry_msgs/msg/TwistWithCovarianceStamped | Vehicle current twist with covariance , input from /localization/kinematic_state | +| accel | geometry_msgs/msg/AccelWithCovarianceStamped | Vehicle current acceleration with covariance , input from /localization/acceleration | diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/hazard_light.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/hazard_light.md index d497215ecb5..750c9bad937 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/hazard_light.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/hazard_light.md @@ -6,7 +6,7 @@ ```txt # constants -uint8 NONE = 0 +uint8 UNKNOWN = 0 uint8 DISABLE = 1 uint8 ENABLE = 2 diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/kinematic.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/kinematic.md index c4df8c98f2e..919a03648e3 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/kinematic.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/kinematic.md @@ -6,9 +6,9 @@ ```txt autoware_adapi_v1_msgs/GeoPointStamped geo_position -geometry_msgs/PoseWithCovarianceStamped pose_with_covariance -geometry_msgs/TwistWithCovarianceStamped twist_with_covariance -geometry_msgs/AccelWithCovarianceStamped accel_with_covariance +geometry_msgs/PoseWithCovarianceStamped pose +geometry_msgs/TwistWithCovarianceStamped twist +geometry_msgs/AccelWithCovarianceStamped accel ``` ## This type uses diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/turn_indicator.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/turn_indicator.md index 4d0d9bf1531..89f367745eb 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/turn_indicator.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/turn_indicator.md @@ -6,6 +6,7 @@ ```txt # constants +uint8 UNKNOWN = 0 uint8 DISABLE = 1 uint8 LEFT = 2 uint8 RIGHT = 3 From aeddb78b7331a993ea2f8d99b6ef4405772ae417 Mon Sep 17 00:00:00 2001 From: tkhmy Date: Mon, 27 Mar 2023 19:28:54 +0900 Subject: [PATCH 16/25] fix typo Signed-off-by: tkhmy --- .../ad-api/types/autoware_adapi_v1_msgs/msg/gear.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/gear.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/gear.md index 73548e495a5..fe7976d6277 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/gear.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/gear.md @@ -13,7 +13,7 @@ uint8 REVERSE = 3 uint8 PARK = 4 uint8 LOW = 5 -int8 status +uint8 status ``` ## This type uses From efbe19864e0682da99f4deb57d309d470dc27035 Mon Sep 17 00:00:00 2001 From: tkhmy Date: Tue, 28 Mar 2023 15:39:46 +0900 Subject: [PATCH 17/25] update geographic_msgs Signed-off-by: tkhmy --- .../ad-api/list/api/vehicle/kinematic.md | 12 ++++++------ .../types/autoware_adapi_v1_msgs/msg/gear.md | 2 +- .../msg/geo_point_stamped.md | 15 --------------- .../types/autoware_adapi_v1_msgs/msg/kinematic.md | 4 ++-- 4 files changed, 9 insertions(+), 24 deletions(-) delete mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/geo_point_stamped.md diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/kinematic.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/kinematic.md index b19b1f33965..c99d5405cbc 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/kinematic.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/kinematic.md @@ -11,9 +11,9 @@ Publish vehicle kinematic ## Message -| Name | Type | Description | -| ------------ | -------------------------------------------- | ---------------------------------------------------------------------------------------------------------- | -| geo_position | autoware_adapi_v1_msgs/msg/GeoPointStamped | The longitude and latitude of the vehicle, if the map do not contains MGRS code, it will not be available. | -| pose | geometry_msgs/msg/PoseWithCovarianceStamped | The pose with covariance from the base link | -| twist | geometry_msgs/msg/TwistWithCovarianceStamped | Vehicle current twist with covariance , input from /localization/kinematic_state | -| accel | geometry_msgs/msg/AccelWithCovarianceStamped | Vehicle current acceleration with covariance , input from /localization/acceleration | +| Name | Type | Description | +| --------------- | -------------------------------------------- | ---------------------------------------------------------------------------------------------------------- | +| geographic_pose | geographic_msgs/msg/GeoPointStamped | The longitude and latitude of the vehicle, if the map do not contains MGRS code, it will not be available. | +| pose | geometry_msgs/msg/PoseWithCovarianceStamped | The pose with covariance from the base link | +| twist | geometry_msgs/msg/TwistWithCovarianceStamped | Vehicle current twist with covariance , input from /localization/kinematic_state | +| accel | geometry_msgs/msg/AccelWithCovarianceStamped | Vehicle current acceleration with covariance , input from /localization/acceleration | diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/gear.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/gear.md index fe7976d6277..6a056f7870b 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/gear.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/gear.md @@ -6,7 +6,7 @@ ```txt # constants -uint8 NONE = 0 +uint8 UNKNOWN = 0 uint8 NEUTRAL = 1 uint8 DRIVE = 2 uint8 REVERSE = 3 diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/geo_point_stamped.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/geo_point_stamped.md deleted file mode 100644 index e2e85e6a576..00000000000 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/geo_point_stamped.md +++ /dev/null @@ -1,15 +0,0 @@ - - -# autoware_adapi_v1_msgs/msg/GeoPointStamped - -## Definition - -```txt -std_msgs/Header header -float64 latitude -float64 longitude -``` - -## This type uses - -None diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/kinematic.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/kinematic.md index 919a03648e3..4645d16bccf 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/kinematic.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/kinematic.md @@ -5,7 +5,7 @@ ## Definition ```txt -autoware_adapi_v1_msgs/GeoPointStamped geo_position +geographic_msgs/GeoPointStamped geographic_pose geometry_msgs/PoseWithCovarianceStamped pose geometry_msgs/TwistWithCovarianceStamped twist geometry_msgs/AccelWithCovarianceStamped accel @@ -13,4 +13,4 @@ geometry_msgs/AccelWithCovarianceStamped accel ## This type uses -- [autoware_adapi_v1_msgs/msg/GeoPointStamped](../../autoware_adapi_v1_msgs/msg/geo_point_stamped.md) +None From 610adb37a62ee53f54a8e3ebbdc392def673b8c0 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Mon, 29 May 2023 12:58:57 +0900 Subject: [PATCH 18/25] docs(ad-api): add use cases of vehicle status Signed-off-by: Takagi, Isamu --- .../ad-api/features/planning-factors.md | 5 +++++ .../ad-api/features/vehicle-status.md | 5 +++++ .../ad-api/use-cases/index.md | 2 ++ .../ad-api/use-cases/request-to-cooperate.md | 7 +++++++ .../ad-api/use-cases/vehicle-monitoring.md | 16 ++++++++++++++++ 5 files changed, 35 insertions(+) create mode 100644 docs/design/autoware-interfaces/ad-api/features/planning-factors.md create mode 100644 docs/design/autoware-interfaces/ad-api/features/vehicle-status.md create mode 100644 docs/design/autoware-interfaces/ad-api/use-cases/request-to-cooperate.md create mode 100644 docs/design/autoware-interfaces/ad-api/use-cases/vehicle-monitoring.md diff --git a/docs/design/autoware-interfaces/ad-api/features/planning-factors.md b/docs/design/autoware-interfaces/ad-api/features/planning-factors.md new file mode 100644 index 00000000000..8e5300f2329 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/features/planning-factors.md @@ -0,0 +1,5 @@ +# Planning factors + +!!! warning + + Under Construction diff --git a/docs/design/autoware-interfaces/ad-api/features/vehicle-status.md b/docs/design/autoware-interfaces/ad-api/features/vehicle-status.md new file mode 100644 index 00000000000..f1120f6cbe1 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/features/vehicle-status.md @@ -0,0 +1,5 @@ +# Vehicle status + +!!! warning + + Under Construction diff --git a/docs/design/autoware-interfaces/ad-api/use-cases/index.md b/docs/design/autoware-interfaces/ad-api/use-cases/index.md index 96dfb0f9536..1cba89d5305 100644 --- a/docs/design/autoware-interfaces/ad-api/use-cases/index.md +++ b/docs/design/autoware-interfaces/ad-api/use-cases/index.md @@ -19,3 +19,5 @@ Service providers can combine these use cases to define user stories and check i - [Change the operation mode](change-operation-mode.md) - [Drive to the designated position](drive-designated-position.md) - [Get on and get off](get-on-off.md) +- [Vehicle monitoring](./vehicle-monitoring.md) +- [Request to cooperate](./request-to-cooperate.md) diff --git a/docs/design/autoware-interfaces/ad-api/use-cases/request-to-cooperate.md b/docs/design/autoware-interfaces/ad-api/use-cases/request-to-cooperate.md new file mode 100644 index 00000000000..7b0dc2385d3 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/use-cases/request-to-cooperate.md @@ -0,0 +1,7 @@ +# Request to cooperate + +!!! warning + + Under Construction + +AD API supports operator cooperation for vehicle decisions. diff --git a/docs/design/autoware-interfaces/ad-api/use-cases/vehicle-monitoring.md b/docs/design/autoware-interfaces/ad-api/use-cases/vehicle-monitoring.md new file mode 100644 index 00000000000..308e0f5b475 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/use-cases/vehicle-monitoring.md @@ -0,0 +1,16 @@ +# Vehicle monitoring + +AD API provides current vehicle status for remote monitoring, visualization for passengers, etc. +Use the API below depending on the data you want to monitor. + +## Vehicle status + +The [vehicle status](../features/vehicle-status.md) provides basic information such as kinematics, indicators, and dimensions. +This allows a remote operator to know the position and velocity of the vehicle. +For applications such as FMS, it can help find vehicles that need assistance, such as vehicles that are stuck or brake suddenly. +It is also possible to determine the actual distance to an object from the vehicle dimensions. + +## Planning factors + +The [planning factors](../features/planning-factors.md) provides the planning status of the vehicle. +HMI can be used to warn of sudden movements of the vehicle, and to share the stop reason with passengers for comfortable driving. From 9030fd3974c8a78140442ae2dc049f37ef8d9d30 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Mon, 29 May 2023 13:19:53 +0900 Subject: [PATCH 19/25] feat: remove old files Signed-off-by: Takagi, Isamu --- .../autoware_adapi_v1_msgs/msg/door_group.md | 21 ---------------- .../autoware_adapi_v1_msgs/msg/door_layout.md | 18 ------------- .../msg/vehicle_dimensions.md | 25 ------------------- .../srv/get_door_layout.md | 20 --------------- .../srv/get_vehicle_dimensions.md | 20 --------------- 5 files changed, 104 deletions(-) delete mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/door_group.md delete mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/door_layout.md delete mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_dimensions.md delete mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/get_door_layout.md delete mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/get_vehicle_dimensions.md diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/door_group.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/door_group.md deleted file mode 100644 index e9b67c5409c..00000000000 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/door_group.md +++ /dev/null @@ -1,21 +0,0 @@ - - -# autoware_adapi_v1_msgs/msg/DoorGroup - -## Definition - -```txt -uint8 ALL = 1 -uint8 GET_ON = 2 -uint8 GET_OFF = 3 - -uint8 group -``` - -## This type uses - -None - -## This type is used by - -- [autoware_adapi_v1_msgs/msg/DoorLayout](../../autoware_adapi_v1_msgs/msg/door_layout.md) diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/door_layout.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/door_layout.md deleted file mode 100644 index 14ce201965a..00000000000 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/door_layout.md +++ /dev/null @@ -1,18 +0,0 @@ - - -# autoware_adapi_v1_msgs/msg/DoorLayout - -## Definition - -```txt -autoware_adapi_v1_msgs/DoorGroup[] groups -geometry_msgs/Pose pose -``` - -## This type uses - -- [autoware_adapi_v1_msgs/msg/DoorGroup](../../autoware_adapi_v1_msgs/msg/door_group.md) - -## This type is used by - -- [autoware_adapi_v1_msgs/srv/GetDoorLayout](../../autoware_adapi_v1_msgs/srv/get_door_layout.md) diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_dimensions.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_dimensions.md deleted file mode 100644 index eff0b416839..00000000000 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_dimensions.md +++ /dev/null @@ -1,25 +0,0 @@ - - -# autoware_adapi_v1_msgs/msg/VehicleDimensions - -## Definition - -```txt -float32 wheel_radius -float32 wheel_width -float32 wheel_base -float32 wheel_tread -float32 front_overhang -float32 rear_overhang -float32 left_overhang -float32 right_overhang -float32 height -``` - -## This type uses - -None - -## This type is used by - -- [autoware_adapi_v1_msgs/srv/GetVehicleDimensions](../../autoware_adapi_v1_msgs/srv/get_vehicle_dimensions.md) diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/get_door_layout.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/get_door_layout.md deleted file mode 100644 index 79737dda765..00000000000 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/get_door_layout.md +++ /dev/null @@ -1,20 +0,0 @@ - - -# autoware_adapi_v1_msgs/srv/GetDoorLayout - -## Definition - -```txt ---- -autoware_adapi_v1_msgs/ResponseStatus status -autoware_adapi_v1_msgs/DoorLayout doors -``` - -## This type uses - -- [autoware_adapi_v1_msgs/msg/DoorLayout](../../autoware_adapi_v1_msgs/msg/door_layout.md) -- [autoware_adapi_v1_msgs/msg/ResponseStatus](../../autoware_adapi_v1_msgs/msg/response_status.md) - -## This type is used by - -None diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/get_vehicle_dimensions.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/get_vehicle_dimensions.md deleted file mode 100644 index 60b347fc095..00000000000 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/get_vehicle_dimensions.md +++ /dev/null @@ -1,20 +0,0 @@ - - -# autoware_adapi_v1_msgs/srv/GetVehicleDimensions - -## Definition - -```txt ---- -autoware_adapi_v1_msgs/ResponseStatus status -autoware_adapi_v1_msgs/VehicleDimensions dimensions -``` - -## This type uses - -- [autoware_adapi_v1_msgs/msg/ResponseStatus](../../autoware_adapi_v1_msgs/msg/response_status.md) -- [autoware_adapi_v1_msgs/msg/VehicleDimensions](../../autoware_adapi_v1_msgs/msg/vehicle_dimensions.md) - -## This type is used by - -None From 11e4c61fde3b4d0ef88dcf2fb8ce22b6404c20fc Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Mon, 29 May 2023 13:41:22 +0900 Subject: [PATCH 20/25] feat: use template Signed-off-by: Takagi, Isamu --- .../list/api/vehicle/info/dimensions.md | 35 ++++++++---------- .../ad-api/list/api/vehicle/info/doors.md | 37 +++++++++---------- .../autoware_adapi_v1_msgs/msg/DoorLayout.md | 19 ++++++++++ .../msg/ResponseStatus.md | 2 + .../msg/VehicleDimensions.md | 24 ++++++++++++ .../msg/VelocityFactor.md | 1 + .../srv/GetDoorLayout.md | 18 +++++++++ .../srv/GetVehicleDimensions.md | 18 +++++++++ main.py | 1 + yaml/autoware-interfaces.yaml | 24 ++++++++++++ 10 files changed, 139 insertions(+), 40 deletions(-) create mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DoorLayout.md create mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VehicleDimensions.md create mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/GetDoorLayout.md create mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/GetVehicleDimensions.md diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/info/dimensions.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/info/dimensions.md index e3fba9cb1dd..742905f379f 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/info/dimensions.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/info/dimensions.md @@ -1,21 +1,16 @@ - - -# /api/vehicle/info/dimensions - -- Method: function call -- Type: [autoware_adapi_v1_msgs/srv/GetVehicleDimensions](../../../../types/autoware_adapi_v1_msgs/srv/get_vehicle_dimensions.md) - -## Description - +--- +title: /api/vehicle/dimensions +method: function call +type: + name: autoware_adapi_v1_msgs/srv/GetVehicleDimensions + res: + - name: status + text: response status + - name: dimensions + text: vehicle dimensions +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} Get the vehicle dimensions. See [here](../../../../../components/vehicle-dimensions.md) for the definition of each value. - -## Request - -None - -## Response - -| Name | Type | Description | -| ---------- | -------------------------------------------- | ------------------ | -| status | autoware_adapi_v1_msgs/msg/ResponseStatus | response status | -| dimensions | autoware_adapi_v1_msgs/msg/VehicleDimensions | vehicle dimensions | +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/info/doors.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/info/doors.md index 6114e925bde..3e654fa3ac1 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/info/doors.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/info/doors.md @@ -1,21 +1,18 @@ - - -# /api/vehicle/info/doors - -- Method: function call -- Type: [autoware_adapi_v1_msgs/srv/GetDoorLayout](../../../../types/autoware_adapi_v1_msgs/srv/get_door_layout.md) - -## Description - +--- +title: /api/vehicle/doors/layout +method: function call +type: + name: autoware_adapi_v1_msgs/srv/GetDoorLayout + res: + - name: status + text: response status + - name: doors.roles + text: The roles of the door in the current operation of the vehicle. + - name: doors.pose + text: The pose of the door where the direction to get off is positive X-axis. +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} Get the door layout. It is an array of pose for each door. The array index corresponds to the door status. - -## Request - -None - -## Response - -| Name | Type | Description | -| ------ | ----------------------------------------- | ---------------------------------------------------------------------------- | -| status | autoware_adapi_v1_msgs/msg/ResponseStatus | response status | -| doors | autoware_adapi_v1_msgs/msg/DoorLayout | The pose in the base_link frame. The outside front is positive X-coordinate. | +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DoorLayout.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DoorLayout.md new file mode 100644 index 00000000000..5d82c00a84b --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DoorLayout.md @@ -0,0 +1,19 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/DoorLayout +used: + - autoware_adapi_v1_msgs/srv/GetDoorLayout +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +uint8 GET_ON = 1 +uint8 GET_OFF = 2 + +uint8[] roles +geometry_msgs/Pose pose +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ResponseStatus.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ResponseStatus.md index e6c7189c9e0..247f7012511 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ResponseStatus.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ResponseStatus.md @@ -5,6 +5,8 @@ used: - autoware_adapi_v1_msgs/srv/AcceptStart - autoware_adapi_v1_msgs/srv/ChangeOperationMode - autoware_adapi_v1_msgs/srv/ClearRoute + - autoware_adapi_v1_msgs/srv/GetDoorLayout + - autoware_adapi_v1_msgs/srv/GetVehicleDimensions - autoware_adapi_v1_msgs/srv/InitializeLocalization - autoware_adapi_v1_msgs/srv/SetRoute - autoware_adapi_v1_msgs/srv/SetRoutePoints diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VehicleDimensions.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VehicleDimensions.md new file mode 100644 index 00000000000..ec69bf6e741 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VehicleDimensions.md @@ -0,0 +1,24 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/VehicleDimensions +used: + - autoware_adapi_v1_msgs/srv/GetVehicleDimensions +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +float32 wheel_radius +float32 wheel_width +float32 wheel_base +float32 wheel_tread +float32 front_overhang +float32 rear_overhang +float32 left_overhang +float32 right_overhang +float32 height +geometry_msgs/Polygon footprint +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VelocityFactor.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VelocityFactor.md index 7cc277d2791..7cb4125992f 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VelocityFactor.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VelocityFactor.md @@ -29,6 +29,7 @@ uint16 SIDEWALK = 13 uint16 LANE_CHANGE = 14 uint16 AVOIDANCE = 15 uint16 EMERGENCY_STOP_OPERATION = 16 +uint16 NO_DRIVABLE_LANE = 17 # constants for status uint16 APPROACHING = 1 diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/GetDoorLayout.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/GetDoorLayout.md new file mode 100644 index 00000000000..487637997a7 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/GetDoorLayout.md @@ -0,0 +1,18 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/srv/GetDoorLayout +uses: + - autoware_adapi_v1_msgs/msg/DoorLayout + - autoware_adapi_v1_msgs/msg/ResponseStatus +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +--- +autoware_adapi_v1_msgs/ResponseStatus status +autoware_adapi_v1_msgs/DoorLayout doors +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/GetVehicleDimensions.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/GetVehicleDimensions.md new file mode 100644 index 00000000000..5e5884a823d --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/GetVehicleDimensions.md @@ -0,0 +1,18 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/srv/GetVehicleDimensions +uses: + - autoware_adapi_v1_msgs/msg/ResponseStatus + - autoware_adapi_v1_msgs/msg/VehicleDimensions +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +--- +autoware_adapi_v1_msgs/ResponseStatus status +autoware_adapi_v1_msgs/VehicleDimensions dimensions +``` + +{% endblock %} diff --git a/main.py b/main.py index 5629cd8cdc5..6952a83155e 100644 --- a/main.py +++ b/main.py @@ -23,4 +23,5 @@ def resolve_msg_field(type, name, ext): for field in name.split("."): type = type.split("[")[0] type = specs[type][ext][field] + ext = "msg" return type diff --git a/yaml/autoware-interfaces.yaml b/yaml/autoware-interfaces.yaml index b766dac0e00..d421a593012 100644 --- a/yaml/autoware-interfaces.yaml +++ b/yaml/autoware-interfaces.yaml @@ -1,4 +1,8 @@ types: + autoware_adapi_v1_msgs/msg/DoorLayout: + msg: + pose: geometry_msgs/msg/Pose + roles: uint8[] autoware_adapi_v1_msgs/msg/LocalizationInitializationState: msg: stamp: builtin_interfaces/msg/Time @@ -63,6 +67,18 @@ types: msg: factors: autoware_adapi_v1_msgs/msg/SteeringFactor[] header: std_msgs/msg/Header + autoware_adapi_v1_msgs/msg/VehicleDimensions: + msg: + footprint: geometry_msgs/msg/Polygon + front_overhang: float32 + height: float32 + left_overhang: float32 + rear_overhang: float32 + right_overhang: float32 + wheel_base: float32 + wheel_radius: float32 + wheel_tread: float32 + wheel_width: float32 autoware_adapi_v1_msgs/msg/VelocityFactor: msg: detail: string @@ -83,6 +99,14 @@ types: autoware_adapi_v1_msgs/srv/ClearRoute: res: status: autoware_adapi_v1_msgs/msg/ResponseStatus + autoware_adapi_v1_msgs/srv/GetDoorLayout: + res: + doors: autoware_adapi_v1_msgs/msg/DoorLayout + status: autoware_adapi_v1_msgs/msg/ResponseStatus + autoware_adapi_v1_msgs/srv/GetVehicleDimensions: + res: + dimensions: autoware_adapi_v1_msgs/msg/VehicleDimensions + status: autoware_adapi_v1_msgs/msg/ResponseStatus autoware_adapi_v1_msgs/srv/InitializeLocalization: req: pose: geometry_msgs/msg/PoseWithCovarianceStamped[<=1] From 5e4f78db01c939aa1d94930e767aaebc20d55704 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Mon, 5 Jun 2023 10:10:18 +0900 Subject: [PATCH 21/25] apply template Signed-off-by: Takagi, Isamu --- .../list/api/vehicle/{info => }/dimensions.md | 0 .../ad-api/list/api/vehicle/door.md | 16 -------- .../{info/doors.md => doors/layout.md} | 0 .../ad-api/list/api/vehicle/doors/status.md | 14 +++++++ .../ad-api/list/api/vehicle/index.md | 4 +- .../ad-api/list/api/vehicle/info/index.md | 4 -- .../ad-api/list/api/vehicle/kinematic.md | 37 +++++++++--------- .../ad-api/list/api/vehicle/state.md | 39 ++++++++++--------- .../autoware_adapi_v1_msgs/msg/DoorStatus.md | 23 +++++++++++ .../msg/DoorStatusArray.md | 16 ++++++++ .../types/autoware_adapi_v1_msgs/msg/Gear.md | 23 +++++++++++ .../autoware_adapi_v1_msgs/msg/HazardLight.md | 20 ++++++++++ .../autoware_adapi_v1_msgs/msg/Kinematic.md | 23 +++++++++++ .../msg/TurnIndicator.md | 21 ++++++++++ .../msg/VehicleState.md | 24 ++++++++++++ .../autoware_adapi_v1_msgs/msg/door_status.md | 21 ---------- .../msg/door_status_array.md | 14 ------- .../types/autoware_adapi_v1_msgs/msg/gear.md | 21 ---------- .../msg/hazard_light.md | 18 --------- .../autoware_adapi_v1_msgs/msg/kinematic.md | 16 -------- .../msg/turn_indicator.md | 19 --------- .../msg/vehicle_state.md | 20 ---------- tools/autoware-interfaces/generate.py | 6 ++- yaml/autoware-interfaces.yaml | 30 ++++++++++++++ 24 files changed, 242 insertions(+), 187 deletions(-) rename docs/design/autoware-interfaces/ad-api/list/api/vehicle/{info => }/dimensions.md (100%) delete mode 100644 docs/design/autoware-interfaces/ad-api/list/api/vehicle/door.md rename docs/design/autoware-interfaces/ad-api/list/api/vehicle/{info/doors.md => doors/layout.md} (100%) create mode 100644 docs/design/autoware-interfaces/ad-api/list/api/vehicle/doors/status.md delete mode 100644 docs/design/autoware-interfaces/ad-api/list/api/vehicle/info/index.md create mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DoorStatus.md create mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DoorStatusArray.md create mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/Gear.md create mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/HazardLight.md create mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/Kinematic.md create mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/TurnIndicator.md create mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VehicleState.md delete mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/door_status.md delete mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/door_status_array.md delete mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/gear.md delete mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/hazard_light.md delete mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/kinematic.md delete mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/turn_indicator.md delete mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_state.md diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/info/dimensions.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/dimensions.md similarity index 100% rename from docs/design/autoware-interfaces/ad-api/list/api/vehicle/info/dimensions.md rename to docs/design/autoware-interfaces/ad-api/list/api/vehicle/dimensions.md diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/door.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/door.md deleted file mode 100644 index 288f2c557d0..00000000000 --- a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/door.md +++ /dev/null @@ -1,16 +0,0 @@ - - -# /api/vehicle/door - -- Method: notification -- Type: [autoware_adapi_v1_msgs/msg/DoorStatusArray](../../../types/autoware_adapi_v1_msgs/msg/door_status_array.md) - -## Description - -Publish door status in array according to the door location information that received from vehicle info service. - -## Message - -| Name | Type | Description | -| ------------ | ----- | ------------------- | -| doors.status | uint8 | current door status | diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/info/doors.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/doors/layout.md similarity index 100% rename from docs/design/autoware-interfaces/ad-api/list/api/vehicle/info/doors.md rename to docs/design/autoware-interfaces/ad-api/list/api/vehicle/doors/layout.md diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/doors/status.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/doors/status.md new file mode 100644 index 00000000000..8c8b51c103f --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/doors/status.md @@ -0,0 +1,14 @@ +--- +title: /api/vehicle/doors/status +method: notification +type: + name: autoware_adapi_v1_msgs/msg/DoorStatusArray + msg: + - name: doors.status + text: current door status +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +Publish door status in array according to the door location information that received from vehicle info service. +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/index.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/index.md index b384ba23c8b..5d2d848db79 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/index.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/index.md @@ -2,7 +2,9 @@ - {{ link_ad_api('/api/vehicle/kinematic') }} - {{ link_ad_api('/api/vehicle/state') }} -- {{ link_ad_api('/api/vehicle/door') }} +- {{ link_ad_api('/api/vehicle/dimensions') }} +- {{ link_ad_api('/api/vehicle/doors/layout') }} +- {{ link_ad_api('/api/vehicle/doors/status') }} ## Description diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/info/index.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/info/index.md deleted file mode 100644 index a4bfde4967b..00000000000 --- a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/info/index.md +++ /dev/null @@ -1,4 +0,0 @@ -# Vehicle information API - -- {{ link_ad_api('/api/vehicle/info/dimensions') }} -- {{ link_ad_api('/api/vehicle/info/doors') }} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/kinematic.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/kinematic.md index c99d5405cbc..c6744a9af6c 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/kinematic.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/kinematic.md @@ -1,19 +1,20 @@ - +--- +title: /api/vehicle/kinematic +method: realtime stream +type: + name: autoware_adapi_v1_msgs/msg/Kinematic + msg: + - name: geographic_pose + text: The longitude and latitude of the vehicle. If the map uses local coordinates, it will not be available. + - name: pose + text: The pose with covariance from the base link. + - name: twist + text: Vehicle current twist with covariance. + - name: accel + text: Vehicle current acceleration with covariance. +--- -# /api/vehicle/kinematic - -- Method: realtime stream -- Type: [autoware_adapi_v1_msgs/msg/Kinematic](../../../types/autoware_adapi_v1_msgs/msg/kinematic.md) - -## Description - -Publish vehicle kinematic - -## Message - -| Name | Type | Description | -| --------------- | -------------------------------------------- | ---------------------------------------------------------------------------------------------------------- | -| geographic_pose | geographic_msgs/msg/GeoPointStamped | The longitude and latitude of the vehicle, if the map do not contains MGRS code, it will not be available. | -| pose | geometry_msgs/msg/PoseWithCovarianceStamped | The pose with covariance from the base link | -| twist | geometry_msgs/msg/TwistWithCovarianceStamped | Vehicle current twist with covariance , input from /localization/kinematic_state | -| accel | geometry_msgs/msg/AccelWithCovarianceStamped | Vehicle current acceleration with covariance , input from /localization/acceleration | +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +Publish vehicle kinematic. +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/state.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/state.md index 195a57a1627..4d5c575d956 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/state.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/state.md @@ -1,19 +1,22 @@ - +--- +title: /api/vehicle/dimensions +method: notification +type: + name: autoware_adapi_v1_msgs/msg/VehicleState + msg: + - name: turn_indicator + text: Turn indicators status, only either left or right will be enabled. + - name: hazard_light + text: Hazard light status. + - name: gear + text: Gear status. + - name: steering_tire_angle + text: Vehicle current tire angle in radian. + - name: energy_level + text: Battery percentage or fuel percentage, it will depends on the vehicle. +--- -# /api/vehicle/state - -- Method: notification -- Type: [autoware_adapi_v1_msgs/msg/VehicleState](../../../types/autoware_adapi_v1_msgs/msg/vehicle_state.md) - -## Description - -Publish vehicle state information - -## Message - -| Name | Type | Description | -| ------------------- | ---------------------------------------- | ------------------------------------------------------------------------------- | -| steering_tire_angle | float64 | Vehicle current tire angle in [rad], input from /vehicle/status/steering_status | -| gear | autoware_adapi_v1_msgs/msg/Gear | gear current status | -| turn_indicator | autoware_adapi_v1_msgs/msg/TurnIndicator | turn indicator status, only either left or right will be enabled | -| hazard_light | autoware_adapi_v1_msgs/msg/HazardLight | hazard light status | +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +Publish vehicle state information. +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DoorStatus.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DoorStatus.md new file mode 100644 index 00000000000..5a3722bee9f --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DoorStatus.md @@ -0,0 +1,23 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/DoorStatus +used: + - autoware_adapi_v1_msgs/msg/DoorStatusArray +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +# constants for door status +uint8 UNKNOWN = 0 +uint8 NOT_AVAILABLE = 1 +uint8 OPENED = 2 +uint8 CLOSED = 3 +uint8 OPENING = 4 +uint8 CLOSING = 5 + +uint8 status +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DoorStatusArray.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DoorStatusArray.md new file mode 100644 index 00000000000..cd83a4b8950 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DoorStatusArray.md @@ -0,0 +1,16 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/DoorStatusArray +uses: + - autoware_adapi_v1_msgs/msg/DoorStatus +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +builtin_interfaces/Time stamp +autoware_adapi_v1_msgs/DoorStatus[] doors +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/Gear.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/Gear.md new file mode 100644 index 00000000000..7d2d16f070d --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/Gear.md @@ -0,0 +1,23 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/Gear +used: + - autoware_adapi_v1_msgs/msg/VehicleState +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +# constants +uint8 UNKNOWN = 0 +uint8 NEUTRAL = 1 +uint8 DRIVE = 2 +uint8 REVERSE = 3 +uint8 PARK = 4 +uint8 LOW = 5 + +uint8 status +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/HazardLight.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/HazardLight.md new file mode 100644 index 00000000000..7052d2d1d26 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/HazardLight.md @@ -0,0 +1,20 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/HazardLight +used: + - autoware_adapi_v1_msgs/msg/VehicleState +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +# constants +uint8 UNKNOWN = 0 +uint8 DISABLE = 1 +uint8 ENABLE = 2 + +uint8 status +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/Kinematic.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/Kinematic.md new file mode 100644 index 00000000000..a6af4bb1421 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/Kinematic.md @@ -0,0 +1,23 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/Kinematic +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +# Geographic point, using the WGS 84 reference ellipsoid. +# Currently only support conversion from single MGRS Grid code or UTM +# If the vector map do not contain correct MGRS Grid code or UTM, this data will be not valid +geographic_msgs/GeoPointStamped geographic_pose + +# Local coordinate from the autoware +geometry_msgs/PoseWithCovarianceStamped pose + + +geometry_msgs/TwistWithCovarianceStamped twist +geometry_msgs/AccelWithCovarianceStamped accel +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/TurnIndicator.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/TurnIndicator.md new file mode 100644 index 00000000000..c574d503edd --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/TurnIndicator.md @@ -0,0 +1,21 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/TurnIndicator +used: + - autoware_adapi_v1_msgs/msg/VehicleState +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +# constants +uint8 UNKNOWN = 0 +uint8 DISABLE = 1 +uint8 LEFT = 2 +uint8 RIGHT = 3 + +uint8 status +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VehicleState.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VehicleState.md new file mode 100644 index 00000000000..3d813d5fa6b --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VehicleState.md @@ -0,0 +1,24 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/VehicleState +uses: + - autoware_adapi_v1_msgs/msg/Gear + - autoware_adapi_v1_msgs/msg/HazardLight + - autoware_adapi_v1_msgs/msg/TurnIndicator +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +builtin_interfaces/Time stamp +float64 steering_tire_angle +autoware_adapi_v1_msgs/Gear gear +autoware_adapi_v1_msgs/TurnIndicator turn_indicator +autoware_adapi_v1_msgs/HazardLight hazard_light + +# can be battery percentage or fuel percentage, it will depends on the vehicle specific +float32 energy_level +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/door_status.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/door_status.md deleted file mode 100644 index 522d2c84676..00000000000 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/door_status.md +++ /dev/null @@ -1,21 +0,0 @@ - - -# autoware_adapi_v1_msgs/msg/DoorStatus - -## Definition - -```txt -# constants for door status -uint8 UNKNOWN = 0 -uint8 NOT_AVAILABLE = 1 -uint8 OPENED = 2 -uint8 CLOSED = 3 -uint8 OPENING = 4 -uint8 CLOSING = 5 - -uint8 status -``` - -## This type uses - -None diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/door_status_array.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/door_status_array.md deleted file mode 100644 index 1e5dde48179..00000000000 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/door_status_array.md +++ /dev/null @@ -1,14 +0,0 @@ - - -# autoware_adapi_v1_msgs/msg/DoorStatusArray - -## Definition - -```txt -builtin_interfaces/Time stamp -autoware_adapi_v1_msgs/DoorStatus[] doors -``` - -## This type uses - -- [autoware_adapi_v1_msgs/msg/DoorStatus](../../autoware_adapi_v1_msgs/msg/door_status.md) diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/gear.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/gear.md deleted file mode 100644 index 6a056f7870b..00000000000 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/gear.md +++ /dev/null @@ -1,21 +0,0 @@ - - -# autoware_adapi_v1_msgs/msg/Gear - -## Definition - -```txt -# constants -uint8 UNKNOWN = 0 -uint8 NEUTRAL = 1 -uint8 DRIVE = 2 -uint8 REVERSE = 3 -uint8 PARK = 4 -uint8 LOW = 5 - -uint8 status -``` - -## This type uses - -None diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/hazard_light.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/hazard_light.md deleted file mode 100644 index 750c9bad937..00000000000 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/hazard_light.md +++ /dev/null @@ -1,18 +0,0 @@ - - -# autoware_adapi_v1_msgs/msg/HazardLight - -## Definition - -```txt -# constants -uint8 UNKNOWN = 0 -uint8 DISABLE = 1 -uint8 ENABLE = 2 - -uint8 status -``` - -## This type uses - -None diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/kinematic.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/kinematic.md deleted file mode 100644 index 4645d16bccf..00000000000 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/kinematic.md +++ /dev/null @@ -1,16 +0,0 @@ - - -# autoware_adapi_v1_msgs/msg/Kinematic - -## Definition - -```txt -geographic_msgs/GeoPointStamped geographic_pose -geometry_msgs/PoseWithCovarianceStamped pose -geometry_msgs/TwistWithCovarianceStamped twist -geometry_msgs/AccelWithCovarianceStamped accel -``` - -## This type uses - -None diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/turn_indicator.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/turn_indicator.md deleted file mode 100644 index 89f367745eb..00000000000 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/turn_indicator.md +++ /dev/null @@ -1,19 +0,0 @@ - - -# autoware_adapi_v1_msgs/msg/TurnIndicator - -## Definition - -```txt -# constants -uint8 UNKNOWN = 0 -uint8 DISABLE = 1 -uint8 LEFT = 2 -uint8 RIGHT = 3 - -uint8 status -``` - -## This type uses - -None diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_state.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_state.md deleted file mode 100644 index c7437518f6b..00000000000 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/vehicle_state.md +++ /dev/null @@ -1,20 +0,0 @@ - - -# autoware_adapi_v1_msgs/msg/VehicleState - -## Definition - -```txt -builtin_interfaces/Time stamp -float64 steering_tire_angle -autoware_adapi_v1_msgs/Gear gear -autoware_adapi_v1_msgs/TurnIndicator turn_indicator -autoware_adapi_v1_msgs/HazardLight hazard_light -float32 energy_level -``` - -## This type uses - -- [autoware_adapi_v1_msgs/msg/Gear](../../autoware_adapi_v1_msgs/msg/gear.md) -- [autoware_adapi_v1_msgs/msg/HazardLight](../../autoware_adapi_v1_msgs/msg/hazard_light.md) -- [autoware_adapi_v1_msgs/msg/TurnIndicator](../../autoware_adapi_v1_msgs/msg/turn_indicator.md) diff --git a/tools/autoware-interfaces/generate.py b/tools/autoware-interfaces/generate.py index b2986f19044..4d098df20bf 100755 --- a/tools/autoware-interfaces/generate.py +++ b/tools/autoware-interfaces/generate.py @@ -16,6 +16,7 @@ # This script requires "source install/setup.bash" for dependent messages/services. +import shutil import yaml from pathlib import Path @@ -112,8 +113,11 @@ def main(): type_uses[user].add(name) type_used[name].add(user) - # Generate data type pages. + # Clean up data type pages. base = Path("docs/design/autoware-interfaces/ad-api/types") + shutil.rmtree(base) + + # Generate data type pages. for name in specs: uses = list(sorted(type_uses[name])) used = list(sorted(type_used[name])) diff --git a/yaml/autoware-interfaces.yaml b/yaml/autoware-interfaces.yaml index d421a593012..7c3c1f49239 100644 --- a/yaml/autoware-interfaces.yaml +++ b/yaml/autoware-interfaces.yaml @@ -3,6 +3,25 @@ types: msg: pose: geometry_msgs/msg/Pose roles: uint8[] + autoware_adapi_v1_msgs/msg/DoorStatus: + msg: + status: uint8 + autoware_adapi_v1_msgs/msg/DoorStatusArray: + msg: + doors: autoware_adapi_v1_msgs/msg/DoorStatus[] + stamp: builtin_interfaces/msg/Time + autoware_adapi_v1_msgs/msg/Gear: + msg: + status: uint8 + autoware_adapi_v1_msgs/msg/HazardLight: + msg: + status: uint8 + autoware_adapi_v1_msgs/msg/Kinematic: + msg: + accel: geometry_msgs/msg/AccelWithCovarianceStamped + geographic_pose: geographic_msgs/msg/GeoPointStamped + pose: geometry_msgs/msg/PoseWithCovarianceStamped + twist: geometry_msgs/msg/TwistWithCovarianceStamped autoware_adapi_v1_msgs/msg/LocalizationInitializationState: msg: stamp: builtin_interfaces/msg/Time @@ -67,6 +86,9 @@ types: msg: factors: autoware_adapi_v1_msgs/msg/SteeringFactor[] header: std_msgs/msg/Header + autoware_adapi_v1_msgs/msg/TurnIndicator: + msg: + status: uint8 autoware_adapi_v1_msgs/msg/VehicleDimensions: msg: footprint: geometry_msgs/msg/Polygon @@ -79,6 +101,14 @@ types: wheel_radius: float32 wheel_tread: float32 wheel_width: float32 + autoware_adapi_v1_msgs/msg/VehicleState: + msg: + energy_level: float32 + gear: autoware_adapi_v1_msgs/msg/Gear + hazard_light: autoware_adapi_v1_msgs/msg/HazardLight + stamp: builtin_interfaces/msg/Time + steering_tire_angle: float64 + turn_indicator: autoware_adapi_v1_msgs/msg/TurnIndicator autoware_adapi_v1_msgs/msg/VelocityFactor: msg: detail: string From 8b41eab3b2af3d59fdbd0f2f049bf4f78edd5564 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Mon, 5 Jun 2023 10:47:46 +0900 Subject: [PATCH 22/25] update message name Signed-off-by: Takagi, Isamu --- .../ad-api/list/api/vehicle/index.md | 4 ++-- .../vehicle/{kinematic.md => kinematics.md} | 6 ++--- .../list/api/vehicle/{state.md => status.md} | 14 +++++------ .../types/autoware_adapi_v1_msgs/msg/Gear.md | 2 +- .../msg/{HazardLight.md => HazardLights.md} | 4 ++-- .../{TurnIndicator.md => TurnIndicators.md} | 4 ++-- .../{Kinematic.md => VehicleKinematics.md} | 4 +--- .../msg/VehicleState.md | 24 ------------------- .../msg/VehicleStatus.md | 22 +++++++++++++++++ yaml/autoware-interfaces.yaml | 24 +++++++++---------- 10 files changed, 52 insertions(+), 56 deletions(-) rename docs/design/autoware-interfaces/ad-api/list/api/vehicle/{kinematic.md => kinematics.md} (82%) rename docs/design/autoware-interfaces/ad-api/list/api/vehicle/{state.md => status.md} (71%) rename docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/{HazardLight.md => HazardLights.md} (75%) rename docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/{TurnIndicator.md => TurnIndicators.md} (76%) rename docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/{Kinematic.md => VehicleKinematics.md} (92%) delete mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VehicleState.md create mode 100644 docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VehicleStatus.md diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/index.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/index.md index 5d2d848db79..71c3ba70427 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/index.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/index.md @@ -1,7 +1,7 @@ # Vehicle Status API -- {{ link_ad_api('/api/vehicle/kinematic') }} -- {{ link_ad_api('/api/vehicle/state') }} +- {{ link_ad_api('/api/vehicle/kinematics') }} +- {{ link_ad_api('/api/vehicle/status') }} - {{ link_ad_api('/api/vehicle/dimensions') }} - {{ link_ad_api('/api/vehicle/doors/layout') }} - {{ link_ad_api('/api/vehicle/doors/status') }} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/kinematic.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/kinematics.md similarity index 82% rename from docs/design/autoware-interfaces/ad-api/list/api/vehicle/kinematic.md rename to docs/design/autoware-interfaces/ad-api/list/api/vehicle/kinematics.md index c6744a9af6c..ce00d1effa3 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/kinematic.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/kinematics.md @@ -1,8 +1,8 @@ --- -title: /api/vehicle/kinematic +title: /api/vehicle/kinematics method: realtime stream type: - name: autoware_adapi_v1_msgs/msg/Kinematic + name: autoware_adapi_v1_msgs/msg/VehicleKinematics msg: - name: geographic_pose text: The longitude and latitude of the vehicle. If the map uses local coordinates, it will not be available. @@ -16,5 +16,5 @@ type: {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} {% block description %} -Publish vehicle kinematic. +Publish vehicle kinematics. {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/state.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/status.md similarity index 71% rename from docs/design/autoware-interfaces/ad-api/list/api/vehicle/state.md rename to docs/design/autoware-interfaces/ad-api/list/api/vehicle/status.md index 4d5c575d956..333cbdcb3c4 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/state.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/status.md @@ -1,18 +1,18 @@ --- -title: /api/vehicle/dimensions +title: /api/vehicle/status method: notification type: - name: autoware_adapi_v1_msgs/msg/VehicleState + name: autoware_adapi_v1_msgs/msg/VehicleStatus msg: - - name: turn_indicator - text: Turn indicators status, only either left or right will be enabled. - - name: hazard_light - text: Hazard light status. - name: gear text: Gear status. + - name: turn_indicators + text: Turn indicators status, only either left or right will be enabled. + - name: hazard_lights + text: Hazard lights status. - name: steering_tire_angle text: Vehicle current tire angle in radian. - - name: energy_level + - name: energy_percentage text: Battery percentage or fuel percentage, it will depends on the vehicle. --- diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/Gear.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/Gear.md index 7d2d16f070d..6c79186e63c 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/Gear.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/Gear.md @@ -2,7 +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/VehicleState + - autoware_adapi_v1_msgs/msg/VehicleStatus --- {% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/HazardLight.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/HazardLights.md similarity index 75% rename from docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/HazardLight.md rename to docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/HazardLights.md index 7052d2d1d26..b7d3846de04 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/HazardLight.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/HazardLights.md @@ -1,8 +1,8 @@ --- # This file is generated by tools/autoware-interfaces/generate.py -title: autoware_adapi_v1_msgs/msg/HazardLight +title: autoware_adapi_v1_msgs/msg/HazardLights used: - - autoware_adapi_v1_msgs/msg/VehicleState + - autoware_adapi_v1_msgs/msg/VehicleStatus --- {% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/TurnIndicator.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/TurnIndicators.md similarity index 76% rename from docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/TurnIndicator.md rename to docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/TurnIndicators.md index c574d503edd..f27fb2c2f0f 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/TurnIndicator.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/TurnIndicators.md @@ -1,8 +1,8 @@ --- # This file is generated by tools/autoware-interfaces/generate.py -title: autoware_adapi_v1_msgs/msg/TurnIndicator +title: autoware_adapi_v1_msgs/msg/TurnIndicators used: - - autoware_adapi_v1_msgs/msg/VehicleState + - autoware_adapi_v1_msgs/msg/VehicleStatus --- {% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/Kinematic.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VehicleKinematics.md similarity index 92% rename from docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/Kinematic.md rename to docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VehicleKinematics.md index a6af4bb1421..83afb48d8de 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/Kinematic.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VehicleKinematics.md @@ -1,6 +1,6 @@ --- # This file is generated by tools/autoware-interfaces/generate.py -title: autoware_adapi_v1_msgs/msg/Kinematic +title: autoware_adapi_v1_msgs/msg/VehicleKinematics --- {% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} @@ -14,8 +14,6 @@ geographic_msgs/GeoPointStamped geographic_pose # Local coordinate from the autoware geometry_msgs/PoseWithCovarianceStamped pose - - geometry_msgs/TwistWithCovarianceStamped twist geometry_msgs/AccelWithCovarianceStamped accel ``` diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VehicleState.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VehicleState.md deleted file mode 100644 index 3d813d5fa6b..00000000000 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VehicleState.md +++ /dev/null @@ -1,24 +0,0 @@ ---- -# This file is generated by tools/autoware-interfaces/generate.py -title: autoware_adapi_v1_msgs/msg/VehicleState -uses: - - autoware_adapi_v1_msgs/msg/Gear - - autoware_adapi_v1_msgs/msg/HazardLight - - autoware_adapi_v1_msgs/msg/TurnIndicator ---- - -{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} -{% block definition %} - -```txt -builtin_interfaces/Time stamp -float64 steering_tire_angle -autoware_adapi_v1_msgs/Gear gear -autoware_adapi_v1_msgs/TurnIndicator turn_indicator -autoware_adapi_v1_msgs/HazardLight hazard_light - -# can be battery percentage or fuel percentage, it will depends on the vehicle specific -float32 energy_level -``` - -{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VehicleStatus.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VehicleStatus.md new file mode 100644 index 00000000000..224f1999d1a --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VehicleStatus.md @@ -0,0 +1,22 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/VehicleStatus +uses: + - autoware_adapi_v1_msgs/msg/Gear + - autoware_adapi_v1_msgs/msg/HazardLights + - 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/Gear gear +autoware_adapi_v1_msgs/TurnIndicators turn_indicators +autoware_adapi_v1_msgs/HazardLights hazard_lights +float64 steering_tire_angle +float32 energy_percentage # Battery percentage or fuel percentage, it will depends on the vehicle. +``` + +{% endblock %} diff --git a/yaml/autoware-interfaces.yaml b/yaml/autoware-interfaces.yaml index 7c3c1f49239..2ccad5ac73c 100644 --- a/yaml/autoware-interfaces.yaml +++ b/yaml/autoware-interfaces.yaml @@ -13,15 +13,9 @@ types: autoware_adapi_v1_msgs/msg/Gear: msg: status: uint8 - autoware_adapi_v1_msgs/msg/HazardLight: + autoware_adapi_v1_msgs/msg/HazardLights: msg: status: uint8 - autoware_adapi_v1_msgs/msg/Kinematic: - msg: - accel: geometry_msgs/msg/AccelWithCovarianceStamped - geographic_pose: geographic_msgs/msg/GeoPointStamped - pose: geometry_msgs/msg/PoseWithCovarianceStamped - twist: geometry_msgs/msg/TwistWithCovarianceStamped autoware_adapi_v1_msgs/msg/LocalizationInitializationState: msg: stamp: builtin_interfaces/msg/Time @@ -86,7 +80,7 @@ types: msg: factors: autoware_adapi_v1_msgs/msg/SteeringFactor[] header: std_msgs/msg/Header - autoware_adapi_v1_msgs/msg/TurnIndicator: + autoware_adapi_v1_msgs/msg/TurnIndicators: msg: status: uint8 autoware_adapi_v1_msgs/msg/VehicleDimensions: @@ -101,14 +95,20 @@ types: wheel_radius: float32 wheel_tread: float32 wheel_width: float32 - autoware_adapi_v1_msgs/msg/VehicleState: + autoware_adapi_v1_msgs/msg/VehicleKinematics: + msg: + accel: geometry_msgs/msg/AccelWithCovarianceStamped + geographic_pose: geographic_msgs/msg/GeoPointStamped + pose: geometry_msgs/msg/PoseWithCovarianceStamped + twist: geometry_msgs/msg/TwistWithCovarianceStamped + autoware_adapi_v1_msgs/msg/VehicleStatus: msg: - energy_level: float32 + energy_percentage: float32 gear: autoware_adapi_v1_msgs/msg/Gear - hazard_light: autoware_adapi_v1_msgs/msg/HazardLight + hazard_lights: autoware_adapi_v1_msgs/msg/HazardLights stamp: builtin_interfaces/msg/Time steering_tire_angle: float64 - turn_indicator: autoware_adapi_v1_msgs/msg/TurnIndicator + turn_indicators: autoware_adapi_v1_msgs/msg/TurnIndicators autoware_adapi_v1_msgs/msg/VelocityFactor: msg: detail: string From b7dc0395ca276b324d3f1d8576410cc62d6f94b6 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Mon, 5 Jun 2023 13:12:54 +0900 Subject: [PATCH 23/25] update vehicle status feature Signed-off-by: Takagi, Isamu --- .../ad-api/features/vehicle-status.md | 27 +++++++++++++++++-- .../ad-api/list/api/vehicle/index.md | 11 -------- .../autoware-interfaces/ad-api/list/index.md | 1 - .../ad-api/use-cases/index.md | 4 +++ 4 files changed, 29 insertions(+), 14 deletions(-) delete mode 100644 docs/design/autoware-interfaces/ad-api/list/api/vehicle/index.md diff --git a/docs/design/autoware-interfaces/ad-api/features/vehicle-status.md b/docs/design/autoware-interfaces/ad-api/features/vehicle-status.md index f1120f6cbe1..fd19310385d 100644 --- a/docs/design/autoware-interfaces/ad-api/features/vehicle-status.md +++ b/docs/design/autoware-interfaces/ad-api/features/vehicle-status.md @@ -1,5 +1,28 @@ # Vehicle status -!!! warning +## Related API - Under Construction +- {{ link_ad_api('/api/vehicle/kinematics') }} +- {{ link_ad_api('/api/vehicle/status') }} +- {{ link_ad_api('/api/vehicle/dimensions') }} +- {{ link_ad_api('/api/vehicle/doors/layout') }} +- {{ link_ad_api('/api/vehicle/doors/status') }} + +## Kinematics + +This is an estimate of the vehicle kinematics. The vehicle position is necessary for applications to schedule dispatches. +Also, using velocity and acceleration, applications can find vehicles that need operator assistance, such as stuck or brake suddenly. + +## Status + +This is the status provided by the vehicle. The indicators and steering are mainly used for visualization and remote control. +The remaining energy can be also used for vehicle scheduling. + +## Doors + +This feature is available if the vehicle provides a software interface for the doors. +It can be used to create user interfaces for passengers or to control sequences at bus stops. + +## Dimensions + +The vehicle dimensions are used to know the actual distance between the vehicle and objects because the vehicle position in kinematics is the coordinates of the base link. This is necessary for visualization when supporting vehicles remotely. diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/index.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/index.md deleted file mode 100644 index 71c3ba70427..00000000000 --- a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/index.md +++ /dev/null @@ -1,11 +0,0 @@ -# Vehicle Status API - -- {{ link_ad_api('/api/vehicle/kinematics') }} -- {{ link_ad_api('/api/vehicle/status') }} -- {{ link_ad_api('/api/vehicle/dimensions') }} -- {{ link_ad_api('/api/vehicle/doors/layout') }} -- {{ link_ad_api('/api/vehicle/doors/status') }} - -## Description - -This api responsible to publish the vehicle status. diff --git a/docs/design/autoware-interfaces/ad-api/list/index.md b/docs/design/autoware-interfaces/ad-api/list/index.md index 42437e359c1..65ee7e0efd7 100644 --- a/docs/design/autoware-interfaces/ad-api/list/index.md +++ b/docs/design/autoware-interfaces/ad-api/list/index.md @@ -7,4 +7,3 @@ - [Motion](./api/motion/index.md) - [Planning](./api/planning/index.md) - [Fail-safe](./api/fail_safe/index.md) -- [Vehicle Status](./api/vehicle/index.md) diff --git a/docs/design/autoware-interfaces/ad-api/use-cases/index.md b/docs/design/autoware-interfaces/ad-api/use-cases/index.md index 1cba89d5305..a37c26a0713 100644 --- a/docs/design/autoware-interfaces/ad-api/use-cases/index.md +++ b/docs/design/autoware-interfaces/ad-api/use-cases/index.md @@ -21,3 +21,7 @@ Service providers can combine these use cases to define user stories and check i - [Get on and get off](get-on-off.md) - [Vehicle monitoring](./vehicle-monitoring.md) - [Request to cooperate](./request-to-cooperate.md) + +## Features + +- [Vehicle status](../features/vehicle-status.md) From 10e7c816f093de0a8d6903798d28624ecec5d14c Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Mon, 5 Jun 2023 14:16:30 +0900 Subject: [PATCH 24/25] fix link Signed-off-by: Takagi, Isamu --- .../autoware-interfaces/ad-api/list/api/vehicle/dimensions.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/dimensions.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/dimensions.md index 742905f379f..8abf5a2b97c 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/dimensions.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/dimensions.md @@ -12,5 +12,5 @@ type: {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} {% block description %} -Get the vehicle dimensions. See [here](../../../../../components/vehicle-dimensions.md) for the definition of each value. +Get the vehicle dimensions. See [here](../../../../components/vehicle-dimensions.md) for the definition of each value. {% endblock %} From 8caef62b2843ceb588a85178fab5646b65a33d72 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Fri, 9 Jun 2023 18:42:18 +0900 Subject: [PATCH 25/25] update door layout Signed-off-by: Takagi, Isamu --- .../ad-api/list/api/vehicle/doors/layout.md | 6 +++--- .../ad-api/types/autoware_adapi_v1_msgs/msg/DoorLayout.md | 2 +- yaml/autoware-interfaces.yaml | 2 +- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/doors/layout.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/doors/layout.md index 3e654fa3ac1..fb8697be442 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/doors/layout.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/doors/layout.md @@ -7,9 +7,9 @@ type: - name: status text: response status - name: doors.roles - text: The roles of the door in the current operation of the vehicle. - - name: doors.pose - text: The pose of the door where the direction to get off is positive X-axis. + text: The roles of the door in the service the vehicle provides. + - name: doors.description + text: The description of the door for display in the interface. --- {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DoorLayout.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DoorLayout.md index 5d82c00a84b..dbcc95c097a 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DoorLayout.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DoorLayout.md @@ -13,7 +13,7 @@ uint8 GET_ON = 1 uint8 GET_OFF = 2 uint8[] roles -geometry_msgs/Pose pose +string description ``` {% endblock %} diff --git a/yaml/autoware-interfaces.yaml b/yaml/autoware-interfaces.yaml index 2ccad5ac73c..93376fc902b 100644 --- a/yaml/autoware-interfaces.yaml +++ b/yaml/autoware-interfaces.yaml @@ -1,7 +1,7 @@ types: autoware_adapi_v1_msgs/msg/DoorLayout: msg: - pose: geometry_msgs/msg/Pose + description: string roles: uint8[] autoware_adapi_v1_msgs/msg/DoorStatus: msg: