# /api/routing/set\_route

## Status

- Latest Version: v1.0.0
- Method: function call
- Data Type: [autoware\_adapi\_v1\_msgs/srv/SetRoute](<../../../../types/autoware_adapi_v1_msgs/srv/SetRoute/index.md>)

## 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](<../../../../features/routing/index.md>) |
| 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 |