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feat: clarify planning interface
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
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‎docs/design/autoware-architecture-v1/interfaces/components/index.md‎

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## Interfaces
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- [/planning/set_lanelet_route](./list/planning-set_lanelet_route.md)
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- [/planning/set_waypoint_route](./list/planning-set_waypoint_route.md)
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- [/planning/clear_route](./list/planning-clear_route.md)
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- [/planning/trajectory](./list/planning-trajectory.md)
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- [/planning/turn_indicators_cmd](./list/planning-turn_indicators_cmd.md)
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- [/planning/hazard_lights_cmd](./list/planning-hazard_lights_cmd.md)
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- [/control/control_mode_request](./list/control-control-mode-request.md)
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- [/control/command/control_cmd](./list/control-command-control-cmd.md)
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- [/control/command/gear_cmd](./list/control-command-gear-cmd.md)

‎docs/design/autoware-architecture-v1/interfaces/components/list/planning-clear_route.md‎

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---
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last_updated: 2026-02-27
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interface_type: service
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interface_name: /planning/clear_route
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data_type_name: autoware_planning_msgs/srv/ClearRoute
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data_type_link: https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_planning_msgs/srv/ClearRoute.srv
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timeout: ---
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---
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# {{ interface_name }}
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## Specifications
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{% include 'design/autoware-architecture-v1/interfaces/templates/service.jinja2' %}
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## Description
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## Service
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## Errors
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## Support
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## Limitations
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## Use Cases
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## Requirement
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## Design
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## History
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| Date | Description |
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| ---------- | -------------------------------- |
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| 2026-02-27 | First release in the new format. |

‎docs/design/autoware-architecture-v1/interfaces/components/list/planning-hazard_lights_cmd.md‎

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---
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last_updated: 2026-02-27
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interface_type: topic
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interface_name: /planning/hazard_lights_cmd
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data_type_name: autoware_vehicle_msgs/msg/HazardLightsCommand
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data_type_link: https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_vehicle_msgs/msg/HazardLightsCommand.msg
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rate: 10 or N/A
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qos_reliability: reliable
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qos_durability: volatile or transient_local
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qos_depth: 1
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---
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# {{ interface_name }}
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## Specifications
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{% include 'design/autoware-architecture-v1/interfaces/templates/topic.jinja2' %}
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## Description
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## Message
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## Errors
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## Support
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## Limitations
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## Use Cases
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## Requirement
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## Design
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## History
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| Date | Description |
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| ---------- | -------------------------------- |
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| 2026-02-27 | First release in the new format. |

‎docs/design/autoware-architecture-v1/interfaces/components/list/planning-set_lanelet_route.md‎

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---
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last_updated: 2026-02-27
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interface_type: service
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interface_name: /planning/set_lanelet_route
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data_type_name: autoware_planning_msgs/srv/SetLaneletRoute
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data_type_link: https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_planning_msgs/srv/SetLaneletRoute.srv
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timeout: ---
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---
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# {{ interface_name }}
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## Specifications
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{% include 'design/autoware-architecture-v1/interfaces/templates/service.jinja2' %}
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## Description
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## Service
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## Errors
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## Support
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## Limitations
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## Use Cases
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## Requirement
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## Design
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## History
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| Date | Description |
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| ---------- | -------------------------------- |
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| 2026-02-27 | First release in the new format. |

‎docs/design/autoware-architecture-v1/interfaces/components/list/planning-set_waypoint_route.md‎

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---
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last_updated: 2026-02-27
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interface_type: service
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interface_name: /planning/set_waypoint_route
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data_type_name: autoware_planning_msgs/srv/SetWaypointRoute
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data_type_link: https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_planning_msgs/srv/SetWaypointRoute.srv
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timeout: ---
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---
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# {{ interface_name }}
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## Specifications
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{% include 'design/autoware-architecture-v1/interfaces/templates/service.jinja2' %}
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## Description
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## Service
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## Errors
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## Support
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## Limitations
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## Use Cases
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## Requirement
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## Design
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## History
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| Date | Description |
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| ---------- | -------------------------------- |
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| 2026-02-27 | First release in the new format. |

‎docs/design/autoware-architecture-v1/interfaces/components/list/planning-trajectory.md‎

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---
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last_updated: 2026-02-27
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interface_type: topic
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interface_name: /planning/trajectory
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data_type_name: autoware_planning_msgs/msg/Trajectory
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data_type_link: https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_planning_msgs/msg/Trajectory.msg
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rate: 10
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qos_reliability: reliable
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qos_durability: volatile
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qos_depth: 1
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---
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# {{ interface_name }}
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## Specifications
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{% include 'design/autoware-architecture-v1/interfaces/templates/topic.jinja2' %}
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## Description
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## Message
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## Errors
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## Support
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## Limitations
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## Use Cases
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## Requirement
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## Design
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## History
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| Date | Description |
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| ---------- | -------------------------------- |
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| 2026-02-27 | First release in the new format. |

‎docs/design/autoware-architecture-v1/interfaces/components/list/planning-turn_indicators_cmd.md‎

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---
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last_updated: 2026-02-27
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interface_type: topic
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interface_name: /planning/turn_indicators_cmd
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data_type_name: autoware_vehicle_msgs/msg/TurnIndicatorsCommand
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data_type_link: https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_vehicle_msgs/msg/TurnIndicatorsCommand.msg
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rate: 10 or N/A
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qos_reliability: reliable
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qos_durability: volatile or transient_local
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qos_depth: 1
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---
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# {{ interface_name }}
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## Specifications
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{% include 'design/autoware-architecture-v1/interfaces/templates/topic.jinja2' %}
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## Description
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## Message
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## Errors
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## Support
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## Limitations
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## Use Cases
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## Requirement
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## Design
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## History
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| Date | Description |
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| ---------- | -------------------------------- |
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| 2026-02-27 | First release in the new format. |

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