# Release notes

These notes list the changes of each AD API interface version. The version is the value that [/api/interface/version](<../list/api/interface/version/index.md>) returns. Autoware 2.0.0 provides v1.9.1. The default implementation sets this value in [`interface.cpp`](<https://github.com/autowarefoundation/autoware_core/blob/1.10.0/api/autoware_default_adapi/src/interface.cpp>) of the `autoware_default_adapi` package (Autoware Core 1.10.0).

The interface version is separate from the package version of [`autoware_adapi_msgs`](<https://github.com/autowarefoundation/autoware_adapi_msgs>). Autoware 2.0.0 uses `autoware_adapi_msgs` 1.9.2. This release only adds comments to the message files and does not change the interface. An API with the status "not released" in the [list of APIs](<../list/index.md>) is not part of any interface version yet, even if the default implementation already provides it.

## v1.9.1

- \[Change\] Add roundabout as [Planning Behavior](<../features/planning-factors/index.md>)

## v1.9.0

- \[New\] Add [control command API](<../features/control/index.md>)
- \[New\] Add [/api/vehicle/metrics](<../list/api/vehicle/metrics/index.md>)
- \[New\] Add [/api/system/diagnostics/reset](<../list/api/system/diagnostics/reset/index.md>)
- \[New\] Add [/api/fail\_safe/list\_mrm\_description](<../list/api/fail_safe/list_mrm_description/index.md>)
- \[New\] Add [/api/fail\_safe/mrm\_request/list](<../list/api/fail_safe/mrm_request/list/index.md>)
- \[New\] Add [/api/fail\_safe/mrm\_request/send](<../list/api/fail_safe/mrm_request/send/index.md>)
- \[Change\] Support more detailed status in [diagnostics API](<../features/diagnostics/index.md>)
- \[Change\] Deprecate the MRM behavior constants in [fail-safe API](<../features/fail-safe/index.md>)

## v1.8.0

- \[New\] Add [manual control API](<../features/manual-control/index.md>)

## v1.7.0

- \[Chore\] Change the messages for the prototype implementation.

## v1.6.0

- \[Change\] Fix communication method of [/api/vehicle/status](<../list/api/vehicle/status/index.md>)
- \[Change\] Add restrictions to [/api/routing/clear\_route](<../list/api/routing/clear_route/index.md>)
- \[Change\] Add restrictions to [/api/vehicle/doors/command](<../list/api/vehicle/doors/command/index.md>)

## v1.5.0

- \[New\] Add [/api/routing/change\_route\_points](<../list/api/routing/change_route_points/index.md>)
- \[New\] Add [/api/routing/change\_route](<../list/api/routing/change_route/index.md>)

## v1.4.0

- \[New\] Add [/api/vehicle/status](<../list/api/vehicle/status/index.md>)

## v1.3.0

- \[New\] Add [heartbeat API](<../features/heartbeat/index.md>)
- \[New\] Add [diagnostics API](<../features/diagnostics/index.md>)

## v1.2.0

- \[New\] Add [vehicle doors API](<../features/vehicle-doors/index.md>)
- \[Change\] Add pull-over constants to [/api/fail\_safe/mrm\_state](<../list/api/fail_safe/mrm_state/index.md>)

## v1.1.0

- \[New\] Add [/api/fail\_safe/mrm\_state](<../list/api/fail_safe/mrm_state/index.md>)
- \[New\] Add [/api/vehicle/dimensions](<../list/api/vehicle/dimensions/index.md>)
- \[New\] Add [/api/vehicle/kinematics](<../list/api/vehicle/kinematics/index.md>)
- \[Change\] Add options to [the routing API](<../features/routing/index.md>)

## v1.0.0

- \[New\] Add [interface API](<../features/interface/index.md>)
- \[New\] Add [localization API](<../features/localization/index.md>)
- \[New\] Add [routing API](<../features/routing/index.md>)
- \[New\] Add [operation mode API](<../features/operation_mode/index.md>)