add velocity command

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

docs/design/autoware-interfaces/ad-api/features/manual-control.md

@@ -8,6 +8,7 @@
 - {{ link_ad_api('/api/remote/operator/status') }}
 - {{ link_ad_api('/api/remote/command/pedal') }}
 - {{ 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') }}
@@ -18,6 +19,7 @@
 - {{ link_ad_api('/api/local/operator/status') }}
 - {{ link_ad_api('/api/local/command/pedal') }}
 - {{ 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') }}
@@ -44,16 +46,18 @@ Since there are multiple ways to control a vehicle, such as pedals or accelerati
 | disabled     | This is the initial mode. When selected, all command APIs are unavailable. |
 | pedal        | This mode provides longitudinal control using the pedals.                  |
 | acceleration | This mode provides longitudinal control using the target acceleration.     |
+| velocity     | This mode provides longitudinal control using the target velocity.         |
 
 ## Commands
 
 The commands available in each mode are as follows.
 
-| Command         | disabled | pedal | acceleration |
-| --------------- | :------: | :---: | :----------: |
-| pedal           |    -     |   ✓   |      -       |
-| acceleration    |    -     |   -   |      ✓       |
-| steering        |    -     |   ✓   |      ✓       |
-| gear            |    -     |   ✓   |      ✓       |
-| turn_indicators |    -     |   ✓   |      ✓       |
-| hazard_lights   |    -     |   ✓   |      ✓       |
+| Command         | disabled | pedal | acceleration | velocity |
+| --------------- | :------: | :---: | :----------: | :------: |
+| pedal           |    -     |   X   |      -       |    -     |
+| acceleration    |    -     |   -   |      X       |    -     |
+| velocity        |    -     |   -   |      -       |    X     |
+| steering        |    -     |   X   |      X       |    X     |
+| gear            |    -     |   X   |      X       |    X     |
+| turn_indicators |    -     |   X   |      X       |    X     |
+| hazard_lights   |    -     |   X   |      X       |    X     |

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

@@ -0,0 +1,18 @@
+---
+title: /api/local/command/velocity
+status: not released
+method: realtime stream
+type:
+  name: autoware_adapi_v1_msgs/msg/VelocityCommand
+  msg:
+    - name: stamp
+      text: Timestamp when this message was sent.
+    - name: velocity
+      text: Target velocity [m/s].
+---
+
+{% 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).
+{% endblock %}

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

@@ -0,0 +1,18 @@
+---
+title: /api/remote/command/velocity
+status: not released
+method: realtime stream
+type:
+  name: autoware_adapi_v1_msgs/msg/VelocityCommand
+  msg:
+    - name: stamp
+      text: Timestamp when this message was sent.
+    - name: velocity
+      text: Target velocity [m/s].
+---
+
+{% 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).
+{% endblock %}

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

@@ -10,6 +10,7 @@
 | [/api/local/command/pedal](./api/local/command/pedal.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    |
@@ -37,6 +38,7 @@
 | [/api/remote/command/pedal](./api/remote/command/pedal.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    |

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

@@ -14,6 +14,7 @@ used:
 uint8 DISABLED = 1
 uint8 PEDAL = 2
 uint8 ACCELERATION = 3
+uint8 VELOCITY = 4
 
 uint8 mode
 ```

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

@@ -0,0 +1,14 @@
+---
+# This file is generated by tools/autoware-interfaces/generate.py
+title: autoware_adapi_v1_msgs/msg/VelocityCommand
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %}
+{% block definition %}
+
+```txt
+builtin_interfaces/Time stamp
+float32 velocity
+```
+
+{% endblock %}

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

@@ -47,6 +47,7 @@
 - [autoware_adapi_v1_msgs/msg/VehicleDimensions](./autoware_adapi_v1_msgs/msg/VehicleDimensions.md)
 - [autoware_adapi_v1_msgs/msg/VehicleKinematics](./autoware_adapi_v1_msgs/msg/VehicleKinematics.md)
 - [autoware_adapi_v1_msgs/msg/VehicleStatus](./autoware_adapi_v1_msgs/msg/VehicleStatus.md)
+- [autoware_adapi_v1_msgs/msg/VelocityCommand](./autoware_adapi_v1_msgs/msg/VelocityCommand.md)
 - [autoware_adapi_v1_msgs/msg/VelocityFactor](./autoware_adapi_v1_msgs/msg/VelocityFactor.md)
 - [autoware_adapi_v1_msgs/msg/VelocityFactorArray](./autoware_adapi_v1_msgs/msg/VelocityFactorArray.md)
 - [autoware_adapi_v1_msgs/srv/AcceptStart](./autoware_adapi_v1_msgs/srv/AcceptStart.md)

docs/design/autoware-interfaces/ad-api/use-cases/manual-control/index.md

@@ -8,7 +8,7 @@ To operate a vehicle without a steering wheel or steering wheel, or to develop a
 
 - The vehicle can transition to a safe state when a communication problem occurs.
 - Supports the following commands and statuses.
-  - Pedal or acceleration as longitudinal control
+  - Pedal, acceleration or velocity as longitudinal control
   - Steering tire angle as lateral control
   - Gear
   - Turn indicators

yaml/autoware-interfaces.yaml

@@ -220,6 +220,10 @@ types:
       stamp: builtin_interfaces/msg/Time
       steering_tire_angle: float64
       turn_indicators: autoware_adapi_v1_msgs/msg/TurnIndicators
+  autoware_adapi_v1_msgs/msg/VelocityCommand:
+    msg:
+      stamp: builtin_interfaces/msg/Time
+      velocity: float32
   autoware_adapi_v1_msgs/msg/VelocityFactor:
     msg:
       behavior: string