| /api/control/command/acceleration | v1.9.0 | realtime stream |
| /api/control/command/pedals | v1.9.0 | realtime stream |
| /api/control/command/steering | v1.9.0 | realtime stream |
| /api/control/command/velocity | v1.9.0 | realtime stream |
| /api/fail_safe/list_mrm_description | v1.9.0 | function call |
| /api/fail_safe/mrm_request/list | v1.9.0 | notification |
| /api/fail_safe/mrm_request/send | v1.9.0 | function call |
| /api/fail_safe/mrm_state | v1.1.0 | notification |
| /api/fail_safe/rti_state | not released | notification |
| /api/interface/version | v1.0.0 | function call |
| /api/localization/initialization_state | v1.0.0 | notification |
| /api/localization/initialize | v1.0.0 | function call |
| /api/manual/local/command/acceleration | v1.8.0 | realtime stream |
| /api/manual/local/command/gear | v1.8.0 | notification |
| /api/manual/local/command/hazard_lights | v1.8.0 | notification |
| /api/manual/local/command/pedals | v1.8.0 | realtime stream |
| /api/manual/local/command/steering | v1.8.0 | realtime stream |
| /api/manual/local/command/turn_indicators | v1.8.0 | notification |
| /api/manual/local/command/velocity | v1.8.0 | realtime stream |
| /api/manual/local/control_mode/list | v1.8.0 | function call |
| /api/manual/local/control_mode/select | v1.8.0 | function call |
| /api/manual/local/control_mode/status | v1.8.0 | notification |
| /api/manual/local/operator/heartbeat | v1.8.0 | realtime stream |
| /api/manual/remote/command/acceleration | v1.8.0 | realtime stream |
| /api/manual/remote/command/gear | v1.8.0 | notification |
| /api/manual/remote/command/hazard_lights | v1.8.0 | notification |
| /api/manual/remote/command/pedals | v1.8.0 | realtime stream |
| /api/manual/remote/command/steering | v1.8.0 | realtime stream |
| /api/manual/remote/command/turn_indicators | v1.8.0 | notification |
| /api/manual/remote/command/velocity | v1.8.0 | realtime stream |
| /api/manual/remote/control_mode/list | v1.8.0 | function call |
| /api/manual/remote/control_mode/select | v1.8.0 | function call |
| /api/manual/remote/control_mode/status | v1.8.0 | notification |
| /api/manual/remote/operator/heartbeat | v1.8.0 | realtime stream |
| /api/motion/accept_start | not released | function call |
| /api/motion/state | not released | notification |
| /api/operation_mode/change_to_autonomous | v1.0.0 | function call |
| /api/operation_mode/change_to_local | v1.0.0 | function call |
| /api/operation_mode/change_to_remote | v1.0.0 | function call |
| /api/operation_mode/change_to_stop | v1.0.0 | function call |
| /api/operation_mode/disable_autoware_control | v1.0.0 | function call |
| /api/operation_mode/enable_autoware_control | v1.0.0 | function call |
| /api/operation_mode/state | v1.0.0 | notification |
| /api/perception/objects | not released | reliable stream |
| /api/planning/cooperation/get_policies | not released | function call |
| /api/planning/cooperation/set_commands | not released | function call |
| /api/planning/cooperation/set_policies | not released | function call |
| /api/planning/steering_factors | not released | reliable stream |
| /api/planning/velocity_factors | not released | reliable stream |
| /api/routing/change_route | v1.5.0 | function call |
| /api/routing/change_route_points | v1.5.0 | function call |
| /api/routing/clear_route | v1.0.0 | function call |
| /api/routing/route | v1.0.0 | notification |
| /api/routing/set_route | v1.0.0 | function call |
| /api/routing/set_route_points | v1.0.0 | function call |
| /api/routing/state | v1.0.0 | notification |
| /api/system/diagnostics/reset | v1.9.0 | function call |
| /api/system/diagnostics/status | v1.3.0 | realtime stream |
| /api/system/diagnostics/struct | v1.3.0 | notification |
| /api/system/heartbeat | v1.3.0 | realtime stream |
| /api/vehicle/dimensions | v1.1.0 | function call |
| /api/vehicle/doors/command | v1.2.0 | function call |
| /api/vehicle/doors/layout | v1.2.0 | function call |
| /api/vehicle/doors/status | v1.2.0 | notification |
| /api/vehicle/kinematics | v1.1.0 | realtime stream |
| /api/vehicle/metrics | v1.9.0 | reliable stream |
| /api/vehicle/specs | not released | function call |
| /api/vehicle/status | v1.4.0 | realtime stream |