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feat(autoware_adapi_v1_msgs): add mrm description #94

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Merged
merged 2 commits into from
Jun 17, 2025
Merged

feat(autoware_adapi_v1_msgs): add mrm description #94

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4d0ebfb
feat(autoware_adapi_v1_msgs): add mrm description
isamu-takagi Jun 13, 2025
5e3f83d
add deprecated api url
isamu-takagi Jun 17, 2025
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2 changes: 2 additions & 0 deletions autoware_adapi_v1_msgs/CMakeLists.txt
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Expand Up @@ -53,9 +53,11 @@ rosidl_generate_interfaces(${PROJECT_NAME}
planning/srv/GetCooperationPolicies.srv
system/msg/RtiState.msg
system/msg/MrmState.msg
system/msg/MrmDescription.msg
system/msg/MrmRequest.msg
system/msg/MrmRequestList.msg
system/srv/SendMrmRequest.srv
system/srv/ListMrmDescription.srv
system/msg/Heartbeat.msg
system/msg/DiagGraphStruct.msg
system/msg/DiagGraphStatus.msg
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3 changes: 3 additions & 0 deletions autoware_adapi_v1_msgs/system/msg/MrmDescription.msg
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@@ -0,0 +1,3 @@
uint16 behavior
string name
string description
3 changes: 2 additions & 1 deletion autoware_adapi_v1_msgs/system/msg/MrmState.msg
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Expand Up @@ -9,7 +9,8 @@ uint16 MRM_OPERATING = 2
uint16 MRM_SUCCEEDED = 3
uint16 MRM_FAILED = 4

# For behavior
# For behavior. Deprecated: use description API.
# https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/fail-safe/
uint16 NONE = 1
uint16 EMERGENCY_STOP = 2
uint16 COMFORTABLE_STOP = 3
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3 changes: 3 additions & 0 deletions autoware_adapi_v1_msgs/system/srv/ListMrmDescription.srv
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autoware_adapi_v1_msgs/MrmDescription[] descriptions
---
autoware_adapi_v1_msgs/ResponseStatus status