# /api/vehicle/kinematics

## Status

- Latest Version: v1.1.0
- Method: realtime stream
- Data Type: [autoware\_adapi\_v1\_msgs/msg/VehicleKinematics](<../../../../types/autoware_adapi_v1_msgs/msg/VehicleKinematics/index.md>)

## Description

Publish vehicle kinematics.

## Message

| Name | Type | Description |
| --- | --- | --- |
| geographic\_pose | geographic\_msgs/msg/GeoPointStamped | The latitude, longitude, and altitude of the vehicle. If the map uses local coordinates, it is not available (NaN). |
| pose | geometry\_msgs/msg/PoseWithCovarianceStamped | The pose of the base link with covariance in the map frame. |
| twist | geometry\_msgs/msg/TwistWithCovarianceStamped | Vehicle current twist with covariance. |
| accel | geometry\_msgs/msg/AccelWithCovarianceStamped | Vehicle current acceleration with covariance. |