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feat(ad-api): add vehicle command and specs (#650)
* feat(ad-api): add vehicle command Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * add vehicle specs Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> --------- Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
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‎docs/design/autoware-interfaces/ad-api/features/vehicle-status.md

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- {{ link_ad_api('/api/vehicle/status') }}
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- {{ link_ad_api('/api/vehicle/metrics') }}
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- {{ link_ad_api('/api/vehicle/dimensions') }}
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- {{ link_ad_api('/api/vehicle/specs') }}
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- {{ link_ad_api('/api/vehicle/command/acceleration') }}
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- {{ link_ad_api('/api/vehicle/command/pedals') }}
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- {{ link_ad_api('/api/vehicle/command/steering') }}
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- {{ link_ad_api('/api/vehicle/command/velocity') }}
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## Kinematics
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## Dimensions
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The vehicle dimensions are used to know the actual distance between the vehicle and objects because the vehicle position in kinematics is the coordinates of the base link. This is necessary for visualization when supporting vehicles remotely.
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## Commands
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The vehicle commands are target values that Autoware is sending to the vehicle. Note that unlike vehicle status, this does not represent the actual vehicle status.
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Some commands may not be supported depending on the vehicle control method.

‎docs/design/autoware-interfaces/ad-api/list/api/vehicle/command/acceleration.md

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---
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title: /api/vehicle/command/acceleration
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status: not released
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method: realtime stream
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type:
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name: autoware_adapi_v1_msgs/msg/AccelerationCommand
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msg:
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- name: stamp
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text: Timestamp when this message was sent.
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- name: acceleration
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text: Target acceleration [m/s^2].
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---
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{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
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{% block description %}
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This is the target acceleration that Autoware is sending to the vehicle.
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{% endblock %}

‎docs/design/autoware-interfaces/ad-api/list/api/vehicle/command/pedals.md

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---
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title: /api/vehicle/command/pedals
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status: not released
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method: realtime stream
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type:
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name: autoware_adapi_v1_msgs/msg/PedalsCommand
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msg:
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- name: stamp
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text: Timestamp when this message was sent.
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- name: accelerator
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text: Target accelerator pedal ratio.
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- name: brake
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text: Target brake pedal ratio.
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---
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{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
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{% block description %}
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This is the target pedals that Autoware is sending to the vehicle.
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The pedal value is the ratio with the maximum pedal depression being 1.0.
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This API is not supported if the vehicle is not controlled by pedals.
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{% endblock %}

‎docs/design/autoware-interfaces/ad-api/list/api/vehicle/command/steering.md

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---
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title: /api/vehicle/command/steering
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status: not released
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method: realtime stream
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type:
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name: autoware_adapi_v1_msgs/msg/SteeringCommand
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msg:
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- name: stamp
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text: Timestamp when this message was sent.
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- name: steering_tire_angle
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text: Target steering tire angle [rad].
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---
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{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
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{% block description %}
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This is the target steering that Autoware is sending to the vehicle.
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{% endblock %}

‎docs/design/autoware-interfaces/ad-api/list/api/vehicle/command/velocity.md

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---
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title: /api/vehicle/command/velocity
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status: not released
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method: realtime stream
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type:
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name: autoware_adapi_v1_msgs/msg/VelocityCommand
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msg:
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- name: stamp
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text: Timestamp when this message was sent.
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- name: velocity
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text: Target velocity [m/s].
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---
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{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
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{% block description %}
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This is the target velocity that Autoware is sending to the vehicle.
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{% endblock %}

‎docs/design/autoware-interfaces/ad-api/list/api/vehicle/specs.md

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---
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title: /api/vehicle/specs
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status: not released
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method: function call
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type:
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name: autoware_adapi_v1_msgs/srv/GetVehicleSpecs
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res:
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- name: status
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text: response status
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- name: specs
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text: vehicle specifications
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---
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{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
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{% block description %}
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Get the vehicle specifications.
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{% endblock %}

‎docs/design/autoware-interfaces/ad-api/list/index.md

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| [/api/system/diagnostics/status](./api/system/diagnostics/status.md) | v1.3.0 | realtime stream |
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| [/api/system/diagnostics/struct](./api/system/diagnostics/struct.md) | v1.3.0 | notification |
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| [/api/system/heartbeat](./api/system/heartbeat.md) | v1.3.0 | realtime stream |
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| [/api/vehicle/command/acceleration](./api/vehicle/command/acceleration.md) | not released | realtime stream |
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| [/api/vehicle/command/pedals](./api/vehicle/command/pedals.md) | not released | realtime stream |
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| [/api/vehicle/command/steering](./api/vehicle/command/steering.md) | not released | realtime stream |
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| [/api/vehicle/command/velocity](./api/vehicle/command/velocity.md) | not released | realtime stream |
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| [/api/vehicle/dimensions](./api/vehicle/dimensions.md) | v1.1.0 | function call |
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| [/api/vehicle/doors/command](./api/vehicle/doors/command.md) | v1.2.0 | function call |
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| [/api/vehicle/doors/layout](./api/vehicle/doors/layout.md) | v1.2.0 | function call |
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| [/api/vehicle/doors/status](./api/vehicle/doors/status.md) | v1.2.0 | notification |
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| [/api/vehicle/kinematics](./api/vehicle/kinematics.md) | v1.1.0 | realtime stream |
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| [/api/vehicle/metrics](./api/vehicle/metrics.md) | not released | reliable stream |
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| [/api/vehicle/specs](./api/vehicle/specs.md) | not released | function call |
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| [/api/vehicle/status](./api/vehicle/status.md) | v1.4.0 | realtime stream |

‎docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ResponseStatus.md

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- autoware_adapi_v1_msgs/srv/GetCooperationPolicies
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- autoware_adapi_v1_msgs/srv/GetDoorLayout
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- autoware_adapi_v1_msgs/srv/GetVehicleDimensions
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- autoware_adapi_v1_msgs/srv/GetVehicleSpecs
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- autoware_adapi_v1_msgs/srv/InitializeLocalization
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- autoware_adapi_v1_msgs/srv/ListManualControlMode
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- autoware_adapi_v1_msgs/srv/SelectManualControlMode

‎docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VehicleSpecs.md

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---
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# This file is generated by tools/autoware-interfaces/generate.py
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title: autoware_adapi_v1_msgs/msg/VehicleSpecs
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used:
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- autoware_adapi_v1_msgs/srv/GetVehicleSpecs
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---
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{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %}
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{% block definition %}
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```txt
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float32 max_steering_tire_angle
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```
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{% endblock %}

‎docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/GetVehicleSpecs.md

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---
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# This file is generated by tools/autoware-interfaces/generate.py
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title: autoware_adapi_v1_msgs/srv/GetVehicleSpecs
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uses:
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- autoware_adapi_v1_msgs/msg/ResponseStatus
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- autoware_adapi_v1_msgs/msg/VehicleSpecs
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---
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{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %}
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{% block definition %}
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```txt
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---
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autoware_adapi_v1_msgs/ResponseStatus status
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autoware_adapi_v1_msgs/VehicleSpecs specs
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```
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{% endblock %}

‎docs/design/autoware-interfaces/ad-api/types/index.md

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- [autoware_adapi_v1_msgs/msg/VehicleDimensions](./autoware_adapi_v1_msgs/msg/VehicleDimensions.md)
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- [autoware_adapi_v1_msgs/msg/VehicleKinematics](./autoware_adapi_v1_msgs/msg/VehicleKinematics.md)
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- [autoware_adapi_v1_msgs/msg/VehicleMetrics](./autoware_adapi_v1_msgs/msg/VehicleMetrics.md)
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- [autoware_adapi_v1_msgs/msg/VehicleSpecs](./autoware_adapi_v1_msgs/msg/VehicleSpecs.md)
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- [autoware_adapi_v1_msgs/msg/VehicleStatus](./autoware_adapi_v1_msgs/msg/VehicleStatus.md)
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- [autoware_adapi_v1_msgs/msg/VelocityCommand](./autoware_adapi_v1_msgs/msg/VelocityCommand.md)
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- [autoware_adapi_v1_msgs/msg/VelocityFactor](./autoware_adapi_v1_msgs/msg/VelocityFactor.md)
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- [autoware_adapi_v1_msgs/srv/GetCooperationPolicies](./autoware_adapi_v1_msgs/srv/GetCooperationPolicies.md)
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- [autoware_adapi_v1_msgs/srv/GetDoorLayout](./autoware_adapi_v1_msgs/srv/GetDoorLayout.md)
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- [autoware_adapi_v1_msgs/srv/GetVehicleDimensions](./autoware_adapi_v1_msgs/srv/GetVehicleDimensions.md)
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- [autoware_adapi_v1_msgs/srv/GetVehicleSpecs](./autoware_adapi_v1_msgs/srv/GetVehicleSpecs.md)
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- [autoware_adapi_v1_msgs/srv/InitializeLocalization](./autoware_adapi_v1_msgs/srv/InitializeLocalization.md)
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- [autoware_adapi_v1_msgs/srv/ListManualControlMode](./autoware_adapi_v1_msgs/srv/ListManualControlMode.md)
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- [autoware_adapi_v1_msgs/srv/SelectManualControlMode](./autoware_adapi_v1_msgs/srv/SelectManualControlMode.md)

‎yaml/autoware-interfaces.yaml

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msg:
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energy: float32
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stamp: builtin_interfaces/msg/Time
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autoware_adapi_v1_msgs/msg/VehicleSpecs:
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msg:
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max_steering_tire_angle: float32
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autoware_adapi_v1_msgs/msg/VehicleStatus:
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msg:
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gear: autoware_adapi_v1_msgs/msg/Gear
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res:
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dimensions: autoware_adapi_v1_msgs/msg/VehicleDimensions
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status: autoware_adapi_v1_msgs/msg/ResponseStatus
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autoware_adapi_v1_msgs/srv/GetVehicleSpecs:
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res:
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specs: autoware_adapi_v1_msgs/msg/VehicleSpecs
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status: autoware_adapi_v1_msgs/msg/ResponseStatus
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autoware_adapi_v1_msgs/srv/InitializeLocalization:
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req:
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pose: geometry_msgs/msg/PoseWithCovarianceStamped[<=1]

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