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Launch and terminate#

AD API does not have an API to launch or terminate Autoware. The application starts Autoware as a process, for example with ros2 launch autoware_launch autoware.launch.xml, and stops that process to terminate it.

The AD API nodes start together with Autoware. The launch_api argument of autoware.launch.xml is true by default. It includes autoware_api.launch.xml of tier4_autoware_api_launch, which starts the default AD API implementation (default_adapi.launch.py of autoware_default_adapi_universe).

Sequence#

The user powers on the computer. The operating system starts the application, which starts Autoware with the AD API, checks the interface version, and later stops Autoware before the shutdown.UserOperating systemApplicationAutoware and AD APIpower onstart the serviceupdate the systemstart Autoware (ros2 launch)/api/interface/versionmajor, minor, patchIn servicepower offstop Autowarestoppedshut down
The application starts Autoware, checks the interface version, and stops Autoware before the shutdown.
  1. Start Autoware. The application starts Autoware, for example as a system service or with ros2 launch. The AD API nodes start with it.
  2. Check the interface version. Call /api/interface/version until it responds. The response shows that AD API is ready. The version follows Semantic Versioning, so a different major version means that the application is not compatible.
  3. Use the vehicle. Continue with the other use cases, for example initialize the pose.
  4. Terminate Autoware. Stop the process that runs Autoware, then shut down the computer.