# List of Autoware AD API

| API | Release | Method |
| --- | --- | --- |
| [/api/control/command/acceleration](<api/control/command/acceleration/index.md>) | v1.9.0 | realtime stream |
| [/api/control/command/pedals](<api/control/command/pedals/index.md>) | v1.9.0 | realtime stream |
| [/api/control/command/steering](<api/control/command/steering/index.md>) | v1.9.0 | realtime stream |
| [/api/control/command/velocity](<api/control/command/velocity/index.md>) | v1.9.0 | realtime stream |
| [/api/fail\_safe/list\_mrm\_description](<api/fail_safe/list_mrm_description/index.md>) | v1.9.0 | function call |
| [/api/fail\_safe/mrm\_request/list](<api/fail_safe/mrm_request/list/index.md>) | v1.9.0 | notification |
| [/api/fail\_safe/mrm\_request/send](<api/fail_safe/mrm_request/send/index.md>) | v1.9.0 | function call |
| [/api/fail\_safe/mrm\_state](<api/fail_safe/mrm_state/index.md>) | v1.1.0 | notification |
| [/api/fail\_safe/rti\_state](<api/fail_safe/rti_state/index.md>) | not released | notification |
| [/api/interface/version](<api/interface/version/index.md>) | v1.0.0 | function call |
| [/api/localization/initialization\_state](<api/localization/initialization_state/index.md>) | v1.0.0 | notification |
| [/api/localization/initialize](<api/localization/initialize/index.md>) | v1.0.0 | function call |
| [/api/manual/local/command/acceleration](<api/manual/local/command/acceleration/index.md>) | v1.8.0 | realtime stream |
| [/api/manual/local/command/gear](<api/manual/local/command/gear/index.md>) | v1.8.0 | notification |
| [/api/manual/local/command/hazard\_lights](<api/manual/local/command/hazard_lights/index.md>) | v1.8.0 | notification |
| [/api/manual/local/command/pedals](<api/manual/local/command/pedals/index.md>) | v1.8.0 | realtime stream |
| [/api/manual/local/command/steering](<api/manual/local/command/steering/index.md>) | v1.8.0 | realtime stream |
| [/api/manual/local/command/turn\_indicators](<api/manual/local/command/turn_indicators/index.md>) | v1.8.0 | notification |
| [/api/manual/local/command/velocity](<api/manual/local/command/velocity/index.md>) | v1.8.0 | realtime stream |
| [/api/manual/local/control\_mode/list](<api/manual/local/control_mode/list/index.md>) | v1.8.0 | function call |
| [/api/manual/local/control\_mode/select](<api/manual/local/control_mode/select/index.md>) | v1.8.0 | function call |
| [/api/manual/local/control\_mode/status](<api/manual/local/control_mode/status/index.md>) | v1.8.0 | notification |
| [/api/manual/local/operator/heartbeat](<api/manual/local/operator/heartbeat/index.md>) | v1.8.0 | realtime stream |
| [/api/manual/remote/command/acceleration](<api/manual/remote/command/acceleration/index.md>) | v1.8.0 | realtime stream |
| [/api/manual/remote/command/gear](<api/manual/remote/command/gear/index.md>) | v1.8.0 | notification |
| [/api/manual/remote/command/hazard\_lights](<api/manual/remote/command/hazard_lights/index.md>) | v1.8.0 | notification |
| [/api/manual/remote/command/pedals](<api/manual/remote/command/pedals/index.md>) | v1.8.0 | realtime stream |
| [/api/manual/remote/command/steering](<api/manual/remote/command/steering/index.md>) | v1.8.0 | realtime stream |
| [/api/manual/remote/command/turn\_indicators](<api/manual/remote/command/turn_indicators/index.md>) | v1.8.0 | notification |
| [/api/manual/remote/command/velocity](<api/manual/remote/command/velocity/index.md>) | v1.8.0 | realtime stream |
| [/api/manual/remote/control\_mode/list](<api/manual/remote/control_mode/list/index.md>) | v1.8.0 | function call |
| [/api/manual/remote/control\_mode/select](<api/manual/remote/control_mode/select/index.md>) | v1.8.0 | function call |
| [/api/manual/remote/control\_mode/status](<api/manual/remote/control_mode/status/index.md>) | v1.8.0 | notification |
| [/api/manual/remote/operator/heartbeat](<api/manual/remote/operator/heartbeat/index.md>) | v1.8.0 | realtime stream |
| [/api/motion/accept\_start](<api/motion/accept_start/index.md>) | not released | function call |
| [/api/motion/state](<api/motion/state/index.md>) | not released | notification |
| [/api/operation\_mode/change\_to\_autonomous](<api/operation_mode/change_to_autonomous/index.md>) | v1.0.0 | function call |
| [/api/operation\_mode/change\_to\_local](<api/operation_mode/change_to_local/index.md>) | v1.0.0 | function call |
| [/api/operation\_mode/change\_to\_remote](<api/operation_mode/change_to_remote/index.md>) | v1.0.0 | function call |
| [/api/operation\_mode/change\_to\_stop](<api/operation_mode/change_to_stop/index.md>) | v1.0.0 | function call |
| [/api/operation\_mode/disable\_autoware\_control](<api/operation_mode/disable_autoware_control/index.md>) | v1.0.0 | function call |
| [/api/operation\_mode/enable\_autoware\_control](<api/operation_mode/enable_autoware_control/index.md>) | v1.0.0 | function call |
| [/api/operation\_mode/state](<api/operation_mode/state/index.md>) | v1.0.0 | notification |
| [/api/perception/objects](<api/perception/objects/index.md>) | not released | reliable stream |
| [/api/planning/cooperation/get\_policies](<api/planning/cooperation/get_policies/index.md>) | not released | function call |
| [/api/planning/cooperation/set\_commands](<api/planning/cooperation/set_commands/index.md>) | not released | function call |
| [/api/planning/cooperation/set\_policies](<api/planning/cooperation/set_policies/index.md>) | not released | function call |
| [/api/planning/steering\_factors](<api/planning/steering_factors/index.md>) | not released | reliable stream |
| [/api/planning/velocity\_factors](<api/planning/velocity_factors/index.md>) | not released | reliable stream |
| [/api/routing/change\_route](<api/routing/change_route/index.md>) | v1.5.0 | function call |
| [/api/routing/change\_route\_points](<api/routing/change_route_points/index.md>) | v1.5.0 | function call |
| [/api/routing/clear\_route](<api/routing/clear_route/index.md>) | v1.0.0 | function call |
| [/api/routing/route](<api/routing/route/index.md>) | v1.0.0 | notification |
| [/api/routing/set\_route](<api/routing/set_route/index.md>) | v1.0.0 | function call |
| [/api/routing/set\_route\_points](<api/routing/set_route_points/index.md>) | v1.0.0 | function call |
| [/api/routing/state](<api/routing/state/index.md>) | v1.0.0 | notification |
| [/api/system/diagnostics/reset](<api/system/diagnostics/reset/index.md>) | v1.9.0 | function call |
| [/api/system/diagnostics/status](<api/system/diagnostics/status/index.md>) | v1.3.0 | realtime stream |
| [/api/system/diagnostics/struct](<api/system/diagnostics/struct/index.md>) | v1.3.0 | notification |
| [/api/system/heartbeat](<api/system/heartbeat/index.md>) | v1.3.0 | realtime stream |
| [/api/vehicle/dimensions](<api/vehicle/dimensions/index.md>) | v1.1.0 | function call |
| [/api/vehicle/doors/command](<api/vehicle/doors/command/index.md>) | v1.2.0 | function call |
| [/api/vehicle/doors/layout](<api/vehicle/doors/layout/index.md>) | v1.2.0 | function call |
| [/api/vehicle/doors/status](<api/vehicle/doors/status/index.md>) | v1.2.0 | notification |
| [/api/vehicle/kinematics](<api/vehicle/kinematics/index.md>) | v1.1.0 | realtime stream |
| [/api/vehicle/metrics](<api/vehicle/metrics/index.md>) | v1.9.0 | reliable stream |
| [/api/vehicle/specs](<api/vehicle/specs/index.md>) | not released | function call |
| [/api/vehicle/status](<api/vehicle/status/index.md>) | v1.4.0 | realtime stream |