autoware-documentation/yaml/autoware-interfaces.yaml at d7b616f8dc2a0a34f601c8172d756787b62e6666 · isamu-takagi/autoware-documentation · GitHub

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types:
  autoware_adapi_v1_msgs/msg/CooperationCommand:
    msg:
      cooperator: autoware_adapi_v1_msgs/msg/CooperationDecision
      uuid: unique_identifier_msgs/msg/UUID
  autoware_adapi_v1_msgs/msg/CooperationDecision:
    msg:
      decision: uint8
  autoware_adapi_v1_msgs/msg/CooperationPolicy:
    msg:
      behavior: string
      policy: uint8
      sequence: string
  autoware_adapi_v1_msgs/msg/CooperationStatus:
    msg:
      autonomous: autoware_adapi_v1_msgs/msg/CooperationDecision
      cancellable: bool
      cooperator: autoware_adapi_v1_msgs/msg/CooperationDecision
      uuid: unique_identifier_msgs/msg/UUID
  autoware_adapi_v1_msgs/msg/DiagGraphStatus:
    msg:
      id: string
      nodes: autoware_adapi_v1_msgs/msg/DiagNodeStatus[]
      stamp: builtin_interfaces/msg/Time
  autoware_adapi_v1_msgs/msg/DiagGraphStruct:
    msg:
      id: string
      links: autoware_adapi_v1_msgs/msg/DiagLinkStruct[]
      nodes: autoware_adapi_v1_msgs/msg/DiagNodeStruct[]
      stamp: builtin_interfaces/msg/Time
  autoware_adapi_v1_msgs/msg/DiagLinkStruct:
    msg:
      child: uint32
      parent: uint32
  autoware_adapi_v1_msgs/msg/DiagNodeStatus:
    msg:
      level: byte
  autoware_adapi_v1_msgs/msg/DiagNodeStruct:
    msg:
      path: string
  autoware_adapi_v1_msgs/msg/DoorCommand:
    msg:
      command: uint8
      index: uint32
  autoware_adapi_v1_msgs/msg/DoorLayout:
    msg:
      description: string
      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/DynamicObject:
    msg:
      classification: autoware_adapi_v1_msgs/msg/ObjectClassification[]
      existence_probability: float64
      id: unique_identifier_msgs/msg/UUID
      kinematics: autoware_adapi_v1_msgs/msg/DynamicObjectKinematics
      shape: shape_msgs/msg/SolidPrimitive
  autoware_adapi_v1_msgs/msg/DynamicObjectArray:
    msg:
      header: std_msgs/msg/Header
      objects: autoware_adapi_v1_msgs/msg/DynamicObject[]
  autoware_adapi_v1_msgs/msg/DynamicObjectKinematics:
    msg:
      accel: geometry_msgs/msg/Accel
      pose: geometry_msgs/msg/Pose
      predicted_paths: autoware_adapi_v1_msgs/msg/DynamicObjectPath[]
      twist: geometry_msgs/msg/Twist
  autoware_adapi_v1_msgs/msg/DynamicObjectPath:
    msg:
      confidence: float64
      path: geometry_msgs/msg/Pose[]
      time_step: builtin_interfaces/msg/Duration
  autoware_adapi_v1_msgs/msg/Gear:
    msg:
      status: uint8
  autoware_adapi_v1_msgs/msg/HazardLights:
    msg:
      status: uint8
  autoware_adapi_v1_msgs/msg/Heartbeat:
    msg:
      seq: uint16
      stamp: builtin_interfaces/msg/Time
  autoware_adapi_v1_msgs/msg/LocalizationInitializationState:
    msg:
      stamp: builtin_interfaces/msg/Time
      state: uint16
  autoware_adapi_v1_msgs/msg/MotionState:
    msg:
      stamp: builtin_interfaces/msg/Time
      state: uint16
  autoware_adapi_v1_msgs/msg/MrmState:
    msg:
      behavior: uint16
      stamp: builtin_interfaces/msg/Time
      state: uint16
  autoware_adapi_v1_msgs/msg/ObjectClassification:
    msg:
      label: uint8
      probability: float64
  autoware_adapi_v1_msgs/msg/OperationModeState:
    msg:
      is_autonomous_mode_available: bool
      is_autoware_control_enabled: bool
      is_in_transition: bool
      is_local_mode_available: bool
      is_remote_mode_available: bool
      is_stop_mode_available: bool
      mode: uint8
      stamp: builtin_interfaces/msg/Time
  autoware_adapi_v1_msgs/msg/ResponseStatus:
    msg:
      code: uint16
      message: string
      success: bool
  autoware_adapi_v1_msgs/msg/Route:
    msg:
      data: autoware_adapi_v1_msgs/msg/RouteData[<=1]
      header: std_msgs/msg/Header
  autoware_adapi_v1_msgs/msg/RouteData:
    msg:
      goal: geometry_msgs/msg/Pose
      segments: autoware_adapi_v1_msgs/msg/RouteSegment[]
      start: geometry_msgs/msg/Pose
  autoware_adapi_v1_msgs/msg/RouteOption:
    msg:
      allow_goal_modification: bool
  autoware_adapi_v1_msgs/msg/RoutePrimitive:
    msg:
      id: int64
      type: string
  autoware_adapi_v1_msgs/msg/RouteSegment:
    msg:
      alternatives: autoware_adapi_v1_msgs/msg/RoutePrimitive[]
      preferred: autoware_adapi_v1_msgs/msg/RoutePrimitive
  autoware_adapi_v1_msgs/msg/RouteState:
    msg:
      stamp: builtin_interfaces/msg/Time
      state: uint16
  autoware_adapi_v1_msgs/msg/SteeringFactor:
    msg:
      behavior: string
      cooperation: autoware_adapi_v1_msgs/msg/CooperationStatus[<=1]
      detail: string
      direction: uint16
      distance: float32[2]
      pose: geometry_msgs/msg/Pose[2]
      sequence: string
      status: uint16
  autoware_adapi_v1_msgs/msg/SteeringFactorArray:
    msg:
      factors: autoware_adapi_v1_msgs/msg/SteeringFactor[]
      header: std_msgs/msg/Header
  autoware_adapi_v1_msgs/msg/TurnIndicators:
    msg:
      status: uint8
  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/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/VehicleMetrics:
    msg:
      energy: float32
      stamp: builtin_interfaces/msg/Time
  autoware_adapi_v1_msgs/msg/VehicleStatus:
    msg:
      gear: autoware_adapi_v1_msgs/msg/Gear
      hazard_lights: autoware_adapi_v1_msgs/msg/HazardLights
      stamp: builtin_interfaces/msg/Time
      steering_tire_angle: float64
      turn_indicators: autoware_adapi_v1_msgs/msg/TurnIndicators
  autoware_adapi_v1_msgs/msg/VelocityFactor:
    msg:
      behavior: string
      cooperation: autoware_adapi_v1_msgs/msg/CooperationStatus[<=1]
      detail: string
      distance: float32
      pose: geometry_msgs/msg/Pose
      sequence: string
      status: uint16
  autoware_adapi_v1_msgs/msg/VelocityFactorArray:
    msg:
      factors: autoware_adapi_v1_msgs/msg/VelocityFactor[]
      header: std_msgs/msg/Header
  autoware_adapi_v1_msgs/srv/AcceptStart:
    res:
      status: autoware_adapi_v1_msgs/msg/ResponseStatus
  autoware_adapi_v1_msgs/srv/ChangeOperationMode:
    res:
      status: autoware_adapi_v1_msgs/msg/ResponseStatus
  autoware_adapi_v1_msgs/srv/ClearRoute:
    res:
      status: autoware_adapi_v1_msgs/msg/ResponseStatus
  autoware_adapi_v1_msgs/srv/GetCooperationPolicies:
    res:
      policies: autoware_adapi_v1_msgs/msg/CooperationPolicy[]
      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]
    res:
      status: autoware_adapi_v1_msgs/msg/ResponseStatus
  autoware_adapi_v1_msgs/srv/SetCooperationCommands:
    req:
      commands: autoware_adapi_v1_msgs/msg/CooperationCommand[]
    res:
      status: autoware_adapi_v1_msgs/msg/ResponseStatus
  autoware_adapi_v1_msgs/srv/SetCooperationPolicies:
    req:
      policies: autoware_adapi_v1_msgs/msg/CooperationPolicy[]
    res:
      status: autoware_adapi_v1_msgs/msg/ResponseStatus
  autoware_adapi_v1_msgs/srv/SetDoorCommand:
    req:
      doors: autoware_adapi_v1_msgs/msg/DoorCommand[]
    res:
      status: autoware_adapi_v1_msgs/msg/ResponseStatus
  autoware_adapi_v1_msgs/srv/SetRoute:
    req:
      goal: geometry_msgs/msg/Pose
      header: std_msgs/msg/Header
      option: autoware_adapi_v1_msgs/msg/RouteOption
      segments: autoware_adapi_v1_msgs/msg/RouteSegment[]
    res:
      status: autoware_adapi_v1_msgs/msg/ResponseStatus
  autoware_adapi_v1_msgs/srv/SetRoutePoints:
    req:
      goal: geometry_msgs/msg/Pose
      header: std_msgs/msg/Header
      option: autoware_adapi_v1_msgs/msg/RouteOption
      waypoints: geometry_msgs/msg/Pose[]
    res:
      status: autoware_adapi_v1_msgs/msg/ResponseStatus
  autoware_adapi_version_msgs/srv/InterfaceVersion:
    res:
      major: uint16
      minor: uint16
      patch: uint16