set_route#

Status#

Latest Version: v1.0.0
Method: function call
Data Type: autoware_adapi_v1_msgs/srv/SetRoute

Description#

Set the route with the waypoint segments in lanelet format. The current pose of the vehicle is the start of the route. This API only accepts the route when the route state is UNSET. In any other state, clear the route first.

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