Autoware AD API#

Overview#

Autoware AD API is the interface for operating the vehicle from outside the autonomous driving system, for example from a fleet management system (FMS) or a human machine interface (HMI). See the overall interface design of Autoware for the concepts and the communication methods.

The list of APIs shows every API with its release version and communication method.
The types page shows the message and service types, which the autoware_adapi_msgs repository defines.
The release notes show the changes of each interface version. Autoware 2.0.0 provides the interface version 1.9.1.

Default implementation#

Autoware provides a default implementation of AD API. It starts with Autoware when the launch_api argument of autoware.launch.xml is true, which is the default.

Package	Repository	Provides
`autoware_adapi_specs`	Autoware Core	The name, type, and QoS of each API, as C++ headers.
`autoware_default_adapi`	Autoware Core	The interface, localization, and routing APIs.
`autoware_default_adapi_universe`	Autoware Universe	The other APIs, and the launch file that starts all API nodes in the `/adapi/node/*` namespace.
`autoware_adapi_adaptors`	Autoware Core	Adaptors that convert the RViz initial pose and goal topics to AD API calls.

User stories#

The user stories are service scenarios that AD API assumes. AD API is designed based on these scenarios. Each scenario is realized by a combination of use cases described later. If there are scenarios that cannot be covered, please discuss adding a user story.

Bus service

A bus goes around the designated stops.

Taxi service

A taxi picks up passengers and drives them to their destination.

Use cases#

Use cases are partial scenarios derived from the user story and generically designed. Service providers can combine these use cases to define user stories and check if AD API can be applied to their own scenarios.

Launch and terminate

Start and stop Autoware with the AD API.

Initialize the pose

Give the initial pose for localization.

Change the operation mode

Switch between stop, autonomous, and manual modes.

Drive to the designated position

Set a route and drive to the goal.

Get on and get off

Open and close the doors for passengers.

Vehicle monitoring

Watch the vehicle status, plans, and objects.

Vehicle operation

Support the decisions of Autoware.

System monitoring

Check the communication and the diagnostics.

Manual control

Drive the vehicle manually through Autoware.

Features#

Feature	Description
Interface	The interface version of AD API.
Operation mode	The operation mode (stop, autonomous, local, remote) and Autoware control.
Routing	The route to the goal.
Localization	The initialization of localization.
Motion	The stop and start of the vehicle.
Planning factors	The reasons why the vehicle stops, slows down, or steers.
Perception	The objects that Autoware detects.
Fail-safe	The minimal risk maneuver (MRM) and its requests.
Vehicle status	The kinematics, status, metrics, and dimensions of the vehicle.
Vehicle doors	The layout, status, and commands of the doors.
Control	The commands that Autoware sends to the vehicle.
Cooperation	Operator decisions for the planning scenes.
Heartbeat	The heartbeat of Autoware.
Diagnostics	The diagnostic graph of Autoware.
Manual control	Manual driving commands from a local or remote operator.