change_route#

Status#

Latest Version: v1.5.0
Method: function call
Data Type: autoware_adapi_v1_msgs/srv/SetRoute

Description#

Same as /api/routing/set_route, but change the route while driving. This API only accepts the route when the route state is SET. In any other state, set the route first or wait for the route change to complete.

Request#

Name	Type	Description
header	std_msgs/msg/Header	header for pose transformation
option	autoware_adapi_v1_msgs/msg/RouteOption	route options, see routing
goal	geometry_msgs/msg/Pose	goal pose
segments	autoware_adapi_v1_msgs/msg/RouteSegment[]	waypoint segments in lanelet format

Response#

Name	Type	Description
status	autoware_adapi_v1_msgs/msg/ResponseStatus	response status