diff --git a/docs/design/autoware-interfaces/ad-api/features/manual-control.md b/docs/design/autoware-interfaces/ad-api/features/manual-control.md index e59f522d05e..0c053fa6305 100644 --- a/docs/design/autoware-interfaces/ad-api/features/manual-control.md +++ b/docs/design/autoware-interfaces/ad-api/features/manual-control.md @@ -2,28 +2,28 @@ ## Related API -- {{ link_ad_api('/api/remote/control_mode/list') }} -- {{ link_ad_api('/api/remote/control_mode/select') }} -- {{ link_ad_api('/api/remote/control_mode/status') }} -- {{ link_ad_api('/api/remote/operator/status') }} -- {{ link_ad_api('/api/remote/command/pedals') }} -- {{ link_ad_api('/api/remote/command/acceleration') }} -- {{ link_ad_api('/api/remote/command/velocity') }} -- {{ link_ad_api('/api/remote/command/steering') }} -- {{ link_ad_api('/api/remote/command/gear') }} -- {{ link_ad_api('/api/remote/command/turn_indicators') }} -- {{ link_ad_api('/api/remote/command/hazard_lights') }} -- {{ link_ad_api('/api/local/control_mode/list') }} -- {{ link_ad_api('/api/local/control_mode/select') }} -- {{ link_ad_api('/api/local/control_mode/status') }} -- {{ link_ad_api('/api/local/operator/status') }} -- {{ link_ad_api('/api/local/command/pedals') }} -- {{ link_ad_api('/api/local/command/acceleration') }} -- {{ link_ad_api('/api/local/command/velocity') }} -- {{ link_ad_api('/api/local/command/steering') }} -- {{ link_ad_api('/api/local/command/gear') }} -- {{ link_ad_api('/api/local/command/turn_indicators') }} -- {{ link_ad_api('/api/local/command/hazard_lights') }} +- {{ link_ad_api('/api/manual/remote/control_mode/list') }} +- {{ link_ad_api('/api/manual/remote/control_mode/select') }} +- {{ link_ad_api('/api/manual/remote/control_mode/status') }} +- {{ link_ad_api('/api/manual/remote/operator/heartbeat') }} +- {{ link_ad_api('/api/manual/remote/command/pedals') }} +- {{ link_ad_api('/api/manual/remote/command/acceleration') }} +- {{ link_ad_api('/api/manual/remote/command/velocity') }} +- {{ link_ad_api('/api/manual/remote/command/steering') }} +- {{ link_ad_api('/api/manual/remote/command/gear') }} +- {{ link_ad_api('/api/manual/remote/command/turn_indicators') }} +- {{ link_ad_api('/api/manual/remote/command/hazard_lights') }} +- {{ link_ad_api('/api/manual/local/control_mode/list') }} +- {{ link_ad_api('/api/manual/local/control_mode/select') }} +- {{ link_ad_api('/api/manual/local/control_mode/status') }} +- {{ link_ad_api('/api/manual/local/operator/heartbeat') }} +- {{ link_ad_api('/api/manual/local/command/pedals') }} +- {{ link_ad_api('/api/manual/local/command/acceleration') }} +- {{ link_ad_api('/api/manual/local/command/velocity') }} +- {{ link_ad_api('/api/manual/local/command/steering') }} +- {{ link_ad_api('/api/manual/local/command/gear') }} +- {{ link_ad_api('/api/manual/local/command/turn_indicators') }} +- {{ link_ad_api('/api/manual/local/command/hazard_lights') }} ## Description diff --git a/docs/design/autoware-interfaces/ad-api/list/api/local/command/acceleration.md b/docs/design/autoware-interfaces/ad-api/list/api/manual/local/command/acceleration.md similarity index 82% rename from docs/design/autoware-interfaces/ad-api/list/api/local/command/acceleration.md rename to docs/design/autoware-interfaces/ad-api/list/api/manual/local/command/acceleration.md index f4d59c82a48..0852cc1e936 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/local/command/acceleration.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/manual/local/command/acceleration.md @@ -1,5 +1,5 @@ --- -title: /api/local/command/acceleration +title: /api/manual/local/command/acceleration status: not released method: realtime stream type: @@ -14,5 +14,5 @@ type: {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} {% block description %} Sends acceleration command used in local operation mode. -To use this API, select the corresponding mode as described in [manual control](../../../../features/manual-control.md). +To use this API, select the corresponding mode as described in [manual control](../../../../../features/manual-control.md). {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/local/command/gear.md b/docs/design/autoware-interfaces/ad-api/list/api/manual/local/command/gear.md similarity index 82% rename from docs/design/autoware-interfaces/ad-api/list/api/local/command/gear.md rename to docs/design/autoware-interfaces/ad-api/list/api/manual/local/command/gear.md index 2f1f80762e2..1f549a8f32b 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/local/command/gear.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/manual/local/command/gear.md @@ -1,5 +1,5 @@ --- -title: /api/local/command/gear +title: /api/manual/local/command/gear status: not released method: notification type: @@ -14,5 +14,5 @@ type: {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} {% block description %} Sends gear command used in local operation mode. -To use this API, select the corresponding mode as described in [manual control](../../../../features/manual-control.md). +To use this API, select the corresponding mode as described in [manual control](../../../../../features/manual-control.md). {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/local/command/hazard_lights.md b/docs/design/autoware-interfaces/ad-api/list/api/manual/local/command/hazard_lights.md similarity index 82% rename from docs/design/autoware-interfaces/ad-api/list/api/local/command/hazard_lights.md rename to docs/design/autoware-interfaces/ad-api/list/api/manual/local/command/hazard_lights.md index 2679b581bbf..c88e3f9ded6 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/local/command/hazard_lights.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/manual/local/command/hazard_lights.md @@ -1,5 +1,5 @@ --- -title: /api/local/command/hazard_lights +title: /api/manual/local/command/hazard_lights status: not released method: notification type: @@ -14,5 +14,5 @@ type: {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} {% block description %} Sends hazard lights command used in local operation mode. -To use this API, select the corresponding mode as described in [manual control](../../../../features/manual-control.md). +To use this API, select the corresponding mode as described in [manual control](../../../../../features/manual-control.md). {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/local/command/pedals.md b/docs/design/autoware-interfaces/ad-api/list/api/manual/local/command/pedals.md similarity index 77% rename from docs/design/autoware-interfaces/ad-api/list/api/local/command/pedals.md rename to docs/design/autoware-interfaces/ad-api/list/api/manual/local/command/pedals.md index 4409d3f2bda..eefc8f228a3 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/local/command/pedals.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/manual/local/command/pedals.md @@ -1,5 +1,5 @@ --- -title: /api/local/command/pedals +title: /api/manual/local/command/pedals status: not released method: realtime stream type: @@ -7,8 +7,8 @@ type: msg: - name: stamp text: Timestamp when this message was sent. - - name: accelerator - text: Target accelerator pedal ratio. + - name: throttle + text: Target throttle pedal ratio. - name: brake text: Target brake pedal ratio. --- @@ -16,5 +16,5 @@ type: {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} {% block description %} Sends pedals command used in local operation mode. The pedal value is the ratio with the maximum pedal depression being 1.0. -To use this API, select the corresponding mode as described in [manual control](../../../../features/manual-control.md). +To use this API, select the corresponding mode as described in [manual control](../../../../../features/manual-control.md). {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/steering.md b/docs/design/autoware-interfaces/ad-api/list/api/manual/local/command/steering.md similarity index 71% rename from docs/design/autoware-interfaces/ad-api/list/api/remote/command/steering.md rename to docs/design/autoware-interfaces/ad-api/list/api/manual/local/command/steering.md index 10e476777ab..e70f6fc277b 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/steering.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/manual/local/command/steering.md @@ -1,5 +1,5 @@ --- -title: /api/remote/command/steering +title: /api/manual/local/command/steering status: not released method: realtime stream type: @@ -9,10 +9,12 @@ type: text: Timestamp when this message was sent. - name: steering_tire_angle text: Target steering tire angle [rad]. + - name: steering_tire_velocity + text: Target steering tire velocity [rad/s]. --- {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} {% block description %} Send steering command to this API. -To use this API, select the corresponding mode as described in [manual control](../../../../features/manual-control.md). +To use this API, select the corresponding mode as described in [manual control](../../../../../features/manual-control.md). {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/local/command/turn_indicators.md b/docs/design/autoware-interfaces/ad-api/list/api/manual/local/command/turn_indicators.md similarity index 81% rename from docs/design/autoware-interfaces/ad-api/list/api/local/command/turn_indicators.md rename to docs/design/autoware-interfaces/ad-api/list/api/manual/local/command/turn_indicators.md index 67926c7a4b0..0071ee21d7c 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/local/command/turn_indicators.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/manual/local/command/turn_indicators.md @@ -1,5 +1,5 @@ --- -title: /api/local/command/turn_indicators +title: /api/manual/local/command/turn_indicators status: not released method: notification type: @@ -14,5 +14,5 @@ type: {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} {% block description %} Sends turn indicators command used in local operation mode. -To use this API, select the corresponding mode as described in [manual control](../../../../features/manual-control.md). +To use this API, select the corresponding mode as described in [manual control](../../../../../features/manual-control.md). {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/local/command/velocity.md b/docs/design/autoware-interfaces/ad-api/list/api/manual/local/command/velocity.md similarity index 82% rename from docs/design/autoware-interfaces/ad-api/list/api/local/command/velocity.md rename to docs/design/autoware-interfaces/ad-api/list/api/manual/local/command/velocity.md index 4bc8792f760..0b430cee5ac 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/local/command/velocity.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/manual/local/command/velocity.md @@ -1,5 +1,5 @@ --- -title: /api/local/command/velocity +title: /api/manual/local/command/velocity status: not released method: realtime stream type: @@ -14,5 +14,5 @@ type: {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} {% block description %} Sends velocity command used in local operation mode. -To use this API, select the corresponding mode as described in [manual control](../../../../features/manual-control.md). +To use this API, select the corresponding mode as described in [manual control](../../../../../features/manual-control.md). {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/list.md b/docs/design/autoware-interfaces/ad-api/list/api/manual/local/control_mode/list.md similarity index 82% rename from docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/list.md rename to docs/design/autoware-interfaces/ad-api/list/api/manual/local/control_mode/list.md index 955c8a1abbd..f09349e3d21 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/list.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/manual/local/control_mode/list.md @@ -1,5 +1,5 @@ --- -title: /api/remote/control_mode/list +title: /api/manual/local/control_mode/list status: not released method: function call type: @@ -13,6 +13,6 @@ type: {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} {% block description %} -List the available manual control modes as described in [manual control](../../../../features/manual-control.md). +List the available manual control modes as described in [manual control](../../../../../features/manual-control.md). The disabled mode is not included in the available modes. {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/local/control_mode/select.md b/docs/design/autoware-interfaces/ad-api/list/api/manual/local/control_mode/select.md similarity index 70% rename from docs/design/autoware-interfaces/ad-api/list/api/local/control_mode/select.md rename to docs/design/autoware-interfaces/ad-api/list/api/manual/local/control_mode/select.md index 6cad2e17fba..c817e517854 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/local/control_mode/select.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/manual/local/control_mode/select.md @@ -1,5 +1,5 @@ --- -title: /api/local/control_mode/select +title: /api/manual/local/control_mode/select status: not released method: function call type: @@ -14,6 +14,6 @@ type: {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} {% block description %} -Selects the manual control mode as described in [manual control](../../../../features/manual-control.md). -This API fails while [operation mode](../../../../features/operation_mode.md) is local. +Selects the manual control mode as described in [manual control](../../../../../features/manual-control.md). +This API fails while [operation mode](../../../../../features/operation_mode.md) is local. {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/status.md b/docs/design/autoware-interfaces/ad-api/list/api/manual/local/control_mode/status.md similarity index 88% rename from docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/status.md rename to docs/design/autoware-interfaces/ad-api/list/api/manual/local/control_mode/status.md index df348cbf817..13284c2dbc1 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/status.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/manual/local/control_mode/status.md @@ -1,5 +1,5 @@ --- -title: /api/remote/control_mode/status +title: /api/manual/local/control_mode/status status: not released method: notification type: diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/operator/status.md b/docs/design/autoware-interfaces/ad-api/list/api/manual/local/operator/heartbeat.md similarity index 70% rename from docs/design/autoware-interfaces/ad-api/list/api/remote/operator/status.md rename to docs/design/autoware-interfaces/ad-api/list/api/manual/local/operator/heartbeat.md index 73e1c86c752..829550c9781 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/remote/operator/status.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/manual/local/operator/heartbeat.md @@ -1,9 +1,9 @@ --- -title: /api/remote/operator/status +title: /api/manual/local/operator/heartbeat status: not released method: realtime stream type: - name: autoware_adapi_v1_msgs/msg/ManualOperatorStatus + name: autoware_adapi_v1_msgs/msg/ManualOperatorHeartbeat msg: - name: stamp text: Timestamp when this message was sent. @@ -14,5 +14,5 @@ type: {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} {% block description %} The application needs to determine whether the operator is able to drive and send that information via this API. -For details, see the [manual control](../../../../features/manual-control.md). +For details, see the [manual control](../../../../../features/manual-control.md). {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/acceleration.md b/docs/design/autoware-interfaces/ad-api/list/api/manual/remote/command/acceleration.md similarity index 82% rename from docs/design/autoware-interfaces/ad-api/list/api/remote/command/acceleration.md rename to docs/design/autoware-interfaces/ad-api/list/api/manual/remote/command/acceleration.md index 9947181ce6e..22f81623b6c 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/acceleration.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/manual/remote/command/acceleration.md @@ -1,5 +1,5 @@ --- -title: /api/remote/command/acceleration +title: /api/manual/remote/command/acceleration status: not released method: realtime stream type: @@ -14,5 +14,5 @@ type: {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} {% block description %} Sends acceleration command used in remote operation mode. -To use this API, select the corresponding mode as described in [manual control](../../../../features/manual-control.md). +To use this API, select the corresponding mode as described in [manual control](../../../../../features/manual-control.md). {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/gear.md b/docs/design/autoware-interfaces/ad-api/list/api/manual/remote/command/gear.md similarity index 82% rename from docs/design/autoware-interfaces/ad-api/list/api/remote/command/gear.md rename to docs/design/autoware-interfaces/ad-api/list/api/manual/remote/command/gear.md index 690daf92283..4f3e3b20b69 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/gear.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/manual/remote/command/gear.md @@ -1,5 +1,5 @@ --- -title: /api/remote/command/gear +title: /api/manual/remote/command/gear status: not released method: notification type: @@ -14,5 +14,5 @@ type: {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} {% block description %} Sends gear command used in remote operation mode. -To use this API, select the corresponding mode as described in [manual control](../../../../features/manual-control.md). +To use this API, select the corresponding mode as described in [manual control](../../../../../features/manual-control.md). {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/hazard_lights.md b/docs/design/autoware-interfaces/ad-api/list/api/manual/remote/command/hazard_lights.md similarity index 81% rename from docs/design/autoware-interfaces/ad-api/list/api/remote/command/hazard_lights.md rename to docs/design/autoware-interfaces/ad-api/list/api/manual/remote/command/hazard_lights.md index 18a628aff34..e66c1a944a4 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/hazard_lights.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/manual/remote/command/hazard_lights.md @@ -1,5 +1,5 @@ --- -title: /api/remote/command/hazard_lights +title: /api/manual/remote/command/hazard_lights status: not released method: notification type: @@ -14,5 +14,5 @@ type: {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} {% block description %} Sends hazard lights command used in remote operation mode. -To use this API, select the corresponding mode as described in [manual control](../../../../features/manual-control.md). +To use this API, select the corresponding mode as described in [manual control](../../../../../features/manual-control.md). {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/pedals.md b/docs/design/autoware-interfaces/ad-api/list/api/manual/remote/command/pedals.md similarity index 77% rename from docs/design/autoware-interfaces/ad-api/list/api/remote/command/pedals.md rename to docs/design/autoware-interfaces/ad-api/list/api/manual/remote/command/pedals.md index 05fd3c25afb..f9fe126bbf5 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/pedals.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/manual/remote/command/pedals.md @@ -1,5 +1,5 @@ --- -title: /api/remote/command/pedals +title: /api/manual/remote/command/pedals status: not released method: realtime stream type: @@ -7,8 +7,8 @@ type: msg: - name: stamp text: Timestamp when this message was sent. - - name: accelerator - text: Target accelerator pedal ratio. + - name: throttle + text: Target throttle pedal ratio. - name: brake text: Target brake pedal ratio. --- @@ -16,5 +16,5 @@ type: {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} {% block description %} Sends pedals command used in remote operation mode. The pedal value is the ratio with the maximum pedal depression being 1.0. -To use this API, select the corresponding mode as described in [manual control](../../../../features/manual-control.md). +To use this API, select the corresponding mode as described in [manual control](../../../../../features/manual-control.md). {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/local/command/steering.md b/docs/design/autoware-interfaces/ad-api/list/api/manual/remote/command/steering.md similarity index 71% rename from docs/design/autoware-interfaces/ad-api/list/api/local/command/steering.md rename to docs/design/autoware-interfaces/ad-api/list/api/manual/remote/command/steering.md index 37fc91b3ff6..70708cd4b4f 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/local/command/steering.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/manual/remote/command/steering.md @@ -1,5 +1,5 @@ --- -title: /api/local/command/steering +title: /api/manual/remote/command/steering status: not released method: realtime stream type: @@ -9,10 +9,12 @@ type: text: Timestamp when this message was sent. - name: steering_tire_angle text: Target steering tire angle [rad]. + - name: steering_tire_velocity + text: Target steering tire velocity [rad/s]. --- {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} {% block description %} Send steering command to this API. -To use this API, select the corresponding mode as described in [manual control](../../../../features/manual-control.md). +To use this API, select the corresponding mode as described in [manual control](../../../../../features/manual-control.md). {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/turn_indicators.md b/docs/design/autoware-interfaces/ad-api/list/api/manual/remote/command/turn_indicators.md similarity index 81% rename from docs/design/autoware-interfaces/ad-api/list/api/remote/command/turn_indicators.md rename to docs/design/autoware-interfaces/ad-api/list/api/manual/remote/command/turn_indicators.md index 02133772cd4..50b6b3939a6 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/turn_indicators.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/manual/remote/command/turn_indicators.md @@ -1,5 +1,5 @@ --- -title: /api/remote/command/turn_indicators +title: /api/manual/remote/command/turn_indicators status: not released method: notification type: @@ -14,5 +14,5 @@ type: {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} {% block description %} Sends turn indicators command used in remote operation mode. -To use this API, select the corresponding mode as described in [manual control](../../../../features/manual-control.md). +To use this API, select the corresponding mode as described in [manual control](../../../../../features/manual-control.md). {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/velocity.md b/docs/design/autoware-interfaces/ad-api/list/api/manual/remote/command/velocity.md similarity index 82% rename from docs/design/autoware-interfaces/ad-api/list/api/remote/command/velocity.md rename to docs/design/autoware-interfaces/ad-api/list/api/manual/remote/command/velocity.md index cbeaee9a73b..0f8cab3ce81 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/remote/command/velocity.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/manual/remote/command/velocity.md @@ -1,5 +1,5 @@ --- -title: /api/remote/command/velocity +title: /api/manual/remote/command/velocity status: not released method: realtime stream type: @@ -14,5 +14,5 @@ type: {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} {% block description %} Sends velocity command used in remote operation mode. -To use this API, select the corresponding mode as described in [manual control](../../../../features/manual-control.md). +To use this API, select the corresponding mode as described in [manual control](../../../../../features/manual-control.md). {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/local/control_mode/list.md b/docs/design/autoware-interfaces/ad-api/list/api/manual/remote/control_mode/list.md similarity index 82% rename from docs/design/autoware-interfaces/ad-api/list/api/local/control_mode/list.md rename to docs/design/autoware-interfaces/ad-api/list/api/manual/remote/control_mode/list.md index eec07bba9fb..8485ef00ce5 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/local/control_mode/list.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/manual/remote/control_mode/list.md @@ -1,5 +1,5 @@ --- -title: /api/local/control_mode/list +title: /api/manual/remote/control_mode/list status: not released method: function call type: @@ -13,6 +13,6 @@ type: {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} {% block description %} -List the available manual control modes as described in [manual control](../../../../features/manual-control.md). +List the available manual control modes as described in [manual control](../../../../../features/manual-control.md). The disabled mode is not included in the available modes. {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/select.md b/docs/design/autoware-interfaces/ad-api/list/api/manual/remote/control_mode/select.md similarity index 69% rename from docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/select.md rename to docs/design/autoware-interfaces/ad-api/list/api/manual/remote/control_mode/select.md index 3c4c8889639..b41ab736fbf 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/remote/control_mode/select.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/manual/remote/control_mode/select.md @@ -1,5 +1,5 @@ --- -title: /api/remote/control_mode/select +title: /api/manual/remote/control_mode/select status: not released method: function call type: @@ -14,6 +14,6 @@ type: {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} {% block description %} -Selects the manual control mode as described in [manual control](../../../../features/manual-control.md). -This API fails while [operation mode](../../../../features/operation_mode.md) is remote. +Selects the manual control mode as described in [manual control](../../../../../features/manual-control.md). +This API fails while [operation mode](../../../../../features/operation_mode.md) is remote. {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/local/control_mode/status.md b/docs/design/autoware-interfaces/ad-api/list/api/manual/remote/control_mode/status.md similarity index 88% rename from docs/design/autoware-interfaces/ad-api/list/api/local/control_mode/status.md rename to docs/design/autoware-interfaces/ad-api/list/api/manual/remote/control_mode/status.md index 1a186975208..63a3ec16c41 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/local/control_mode/status.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/manual/remote/control_mode/status.md @@ -1,5 +1,5 @@ --- -title: /api/local/control_mode/status +title: /api/manual/remote/control_mode/status status: not released method: notification type: diff --git a/docs/design/autoware-interfaces/ad-api/list/api/local/operator/status.md b/docs/design/autoware-interfaces/ad-api/list/api/manual/remote/operator/heartbeat.md similarity index 70% rename from docs/design/autoware-interfaces/ad-api/list/api/local/operator/status.md rename to docs/design/autoware-interfaces/ad-api/list/api/manual/remote/operator/heartbeat.md index fcce8835bda..4b4a4409d06 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/local/operator/status.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/manual/remote/operator/heartbeat.md @@ -1,9 +1,9 @@ --- -title: /api/local/operator/status +title: /api/manual/remote/operator/heartbeat status: not released method: realtime stream type: - name: autoware_adapi_v1_msgs/msg/ManualOperatorStatus + name: autoware_adapi_v1_msgs/msg/ManualOperatorHeartbeat msg: - name: stamp text: Timestamp when this message was sent. @@ -14,5 +14,5 @@ type: {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} {% block description %} The application needs to determine whether the operator is able to drive and send that information via this API. -For details, see the [manual control](../../../../features/manual-control.md). +For details, see the [manual control](../../../../../features/manual-control.md). {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/index.md b/docs/design/autoware-interfaces/ad-api/list/index.md index 6c29570341e..db1b2d555f8 100644 --- a/docs/design/autoware-interfaces/ad-api/list/index.md +++ b/docs/design/autoware-interfaces/ad-api/list/index.md @@ -5,19 +5,30 @@ | [/api/fail_safe/mrm_state](./api/fail_safe/mrm_state.md) | v1.1.0 | notification | | [/api/fail_safe/rti_state](./api/fail_safe/rti_state.md) | not released | notification | | [/api/interface/version](./api/interface/version.md) | v1.0.0 | function call | -| [/api/local/command/acceleration](./api/local/command/acceleration.md) | not released | realtime stream | -| [/api/local/command/gear](./api/local/command/gear.md) | not released | notification | -| [/api/local/command/hazard_lights](./api/local/command/hazard_lights.md) | not released | notification | -| [/api/local/command/pedals](./api/local/command/pedals.md) | not released | realtime stream | -| [/api/local/command/steering](./api/local/command/steering.md) | not released | realtime stream | -| [/api/local/command/turn_indicators](./api/local/command/turn_indicators.md) | not released | notification | -| [/api/local/command/velocity](./api/local/command/velocity.md) | not released | realtime stream | -| [/api/local/control_mode/list](./api/local/control_mode/list.md) | not released | function call | -| [/api/local/control_mode/select](./api/local/control_mode/select.md) | not released | function call | -| [/api/local/control_mode/status](./api/local/control_mode/status.md) | not released | notification | -| [/api/local/operator/status](./api/local/operator/status.md) | not released | realtime stream | | [/api/localization/initialization_state](./api/localization/initialization_state.md) | v1.0.0 | notification | | [/api/localization/initialize](./api/localization/initialize.md) | v1.0.0 | function call | +| [/api/manual/local/command/acceleration](./api/manual/local/command/acceleration.md) | not released | realtime stream | +| [/api/manual/local/command/gear](./api/manual/local/command/gear.md) | not released | notification | +| [/api/manual/local/command/hazard_lights](./api/manual/local/command/hazard_lights.md) | not released | notification | +| [/api/manual/local/command/pedals](./api/manual/local/command/pedals.md) | not released | realtime stream | +| [/api/manual/local/command/steering](./api/manual/local/command/steering.md) | not released | realtime stream | +| [/api/manual/local/command/turn_indicators](./api/manual/local/command/turn_indicators.md) | not released | notification | +| [/api/manual/local/command/velocity](./api/manual/local/command/velocity.md) | not released | realtime stream | +| [/api/manual/local/control_mode/list](./api/manual/local/control_mode/list.md) | not released | function call | +| [/api/manual/local/control_mode/select](./api/manual/local/control_mode/select.md) | not released | function call | +| [/api/manual/local/control_mode/status](./api/manual/local/control_mode/status.md) | not released | notification | +| [/api/manual/local/operator/heartbeat](./api/manual/local/operator/heartbeat.md) | not released | realtime stream | +| [/api/manual/remote/command/acceleration](./api/manual/remote/command/acceleration.md) | not released | realtime stream | +| [/api/manual/remote/command/gear](./api/manual/remote/command/gear.md) | not released | notification | +| [/api/manual/remote/command/hazard_lights](./api/manual/remote/command/hazard_lights.md) | not released | notification | +| [/api/manual/remote/command/pedals](./api/manual/remote/command/pedals.md) | not released | realtime stream | +| [/api/manual/remote/command/steering](./api/manual/remote/command/steering.md) | not released | realtime stream | +| [/api/manual/remote/command/turn_indicators](./api/manual/remote/command/turn_indicators.md) | not released | notification | +| [/api/manual/remote/command/velocity](./api/manual/remote/command/velocity.md) | not released | realtime stream | +| [/api/manual/remote/control_mode/list](./api/manual/remote/control_mode/list.md) | not released | function call | +| [/api/manual/remote/control_mode/select](./api/manual/remote/control_mode/select.md) | not released | function call | +| [/api/manual/remote/control_mode/status](./api/manual/remote/control_mode/status.md) | not released | notification | +| [/api/manual/remote/operator/heartbeat](./api/manual/remote/operator/heartbeat.md) | not released | realtime stream | | [/api/motion/accept_start](./api/motion/accept_start.md) | not released | function call | | [/api/motion/state](./api/motion/state.md) | not released | notification | | [/api/operation_mode/change_to_autonomous](./api/operation_mode/change_to_autonomous.md) | v1.0.0 | function call | @@ -33,17 +44,6 @@ | [/api/planning/cooperation/set_policies](./api/planning/cooperation/set_policies.md) | not released | function call | | [/api/planning/steering_factors](./api/planning/steering_factors.md) | not released | realtime stream | | [/api/planning/velocity_factors](./api/planning/velocity_factors.md) | not released | realtime stream | -| [/api/remote/command/acceleration](./api/remote/command/acceleration.md) | not released | realtime stream | -| [/api/remote/command/gear](./api/remote/command/gear.md) | not released | notification | -| [/api/remote/command/hazard_lights](./api/remote/command/hazard_lights.md) | not released | notification | -| [/api/remote/command/pedals](./api/remote/command/pedals.md) | not released | realtime stream | -| [/api/remote/command/steering](./api/remote/command/steering.md) | not released | realtime stream | -| [/api/remote/command/turn_indicators](./api/remote/command/turn_indicators.md) | not released | notification | -| [/api/remote/command/velocity](./api/remote/command/velocity.md) | not released | realtime stream | -| [/api/remote/control_mode/list](./api/remote/control_mode/list.md) | not released | function call | -| [/api/remote/control_mode/select](./api/remote/control_mode/select.md) | not released | function call | -| [/api/remote/control_mode/status](./api/remote/control_mode/status.md) | not released | notification | -| [/api/remote/operator/status](./api/remote/operator/status.md) | not released | realtime stream | | [/api/routing/change_route](./api/routing/change_route.md) | v1.5.0 | function call | | [/api/routing/change_route_points](./api/routing/change_route_points.md) | v1.5.0 | function call | | [/api/routing/clear_route](./api/routing/clear_route.md) | v1.0.0 | function call | diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ManualOperatorStatus.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ManualOperatorHeartbeat.md similarity index 80% rename from docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ManualOperatorStatus.md rename to docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ManualOperatorHeartbeat.md index ff5bf59990f..0e599601f0c 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ManualOperatorStatus.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ManualOperatorHeartbeat.md @@ -1,6 +1,6 @@ --- # This file is generated by tools/autoware-interfaces/generate.py -title: autoware_adapi_v1_msgs/msg/ManualOperatorStatus +title: autoware_adapi_v1_msgs/msg/ManualOperatorHeartbeat --- {% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/PedalsCommand.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/PedalsCommand.md index 80243be6f2c..ceeb02dcb0e 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/PedalsCommand.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/PedalsCommand.md @@ -8,7 +8,7 @@ title: autoware_adapi_v1_msgs/msg/PedalsCommand ```txt builtin_interfaces/Time stamp -float32 accelerator +float32 throttle float32 brake ``` diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/SteeringCommand.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/SteeringCommand.md index 6a038b917a1..d0f7ad66f97 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/SteeringCommand.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/SteeringCommand.md @@ -9,6 +9,7 @@ title: autoware_adapi_v1_msgs/msg/SteeringCommand ```txt builtin_interfaces/Time stamp float32 steering_tire_angle +float32 steering_tire_velocity ``` {% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/index.md b/docs/design/autoware-interfaces/ad-api/types/index.md index 9735185bd01..661a0c9e609 100644 --- a/docs/design/autoware-interfaces/ad-api/types/index.md +++ b/docs/design/autoware-interfaces/ad-api/types/index.md @@ -26,7 +26,7 @@ - [autoware_adapi_v1_msgs/msg/LocalizationInitializationState](./autoware_adapi_v1_msgs/msg/LocalizationInitializationState.md) - [autoware_adapi_v1_msgs/msg/ManualControlMode](./autoware_adapi_v1_msgs/msg/ManualControlMode.md) - [autoware_adapi_v1_msgs/msg/ManualControlModeStatus](./autoware_adapi_v1_msgs/msg/ManualControlModeStatus.md) -- [autoware_adapi_v1_msgs/msg/ManualOperatorStatus](./autoware_adapi_v1_msgs/msg/ManualOperatorStatus.md) +- [autoware_adapi_v1_msgs/msg/ManualOperatorHeartbeat](./autoware_adapi_v1_msgs/msg/ManualOperatorHeartbeat.md) - [autoware_adapi_v1_msgs/msg/MotionState](./autoware_adapi_v1_msgs/msg/MotionState.md) - [autoware_adapi_v1_msgs/msg/MrmState](./autoware_adapi_v1_msgs/msg/MrmState.md) - [autoware_adapi_v1_msgs/msg/ObjectClassification](./autoware_adapi_v1_msgs/msg/ObjectClassification.md) diff --git a/docs/design/autoware-interfaces/ad-api/use-cases/manual-control/sequence.plantuml b/docs/design/autoware-interfaces/ad-api/use-cases/manual-control/sequence.plantuml index cb8e81955ba..9ce0e0f1582 100644 --- a/docs/design/autoware-interfaces/ad-api/use-cases/manual-control/sequence.plantuml +++ b/docs/design/autoware-interfaces/ad-api/use-cases/manual-control/sequence.plantuml @@ -4,12 +4,12 @@ skinparam SequenceMessageAlign center participant "Application" as app participant "AD API" as adapi -app -> adapi ++: /api/remote/control_mode/select +app -> adapi ++: /api/manual/remote/control_mode/select return -adapi -> app: /api/remote/control_mode/status +adapi -> app: /api/manual/remote/control_mode/status par - app -> adapi: /api/remote/command/** + app -> adapi: /api/manual/remote/command/** else adapi -> app: /api/vehicle/status end diff --git a/yaml/autoware-interfaces.yaml b/yaml/autoware-interfaces.yaml index 152ea982174..71ae65cde25 100644 --- a/yaml/autoware-interfaces.yaml +++ b/yaml/autoware-interfaces.yaml @@ -108,7 +108,7 @@ types: msg: mode: autoware_adapi_v1_msgs/msg/ManualControlMode stamp: builtin_interfaces/msg/Time - autoware_adapi_v1_msgs/msg/ManualOperatorStatus: + autoware_adapi_v1_msgs/msg/ManualOperatorHeartbeat: msg: ready: bool stamp: builtin_interfaces/msg/Time @@ -137,9 +137,9 @@ types: stamp: builtin_interfaces/msg/Time autoware_adapi_v1_msgs/msg/PedalsCommand: msg: - accelerator: float32 brake: float32 stamp: builtin_interfaces/msg/Time + throttle: float32 autoware_adapi_v1_msgs/msg/ResponseStatus: msg: code: uint16 @@ -178,6 +178,7 @@ types: msg: stamp: builtin_interfaces/msg/Time steering_tire_angle: float32 + steering_tire_velocity: float32 autoware_adapi_v1_msgs/msg/SteeringFactor: msg: behavior: string