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isamu-takagi committed Nov 28, 2024
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2 changes: 1 addition & 1 deletion docs/design/autoware-architecture/index.md
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Expand Up @@ -22,7 +22,7 @@ Note that the initial focus of this architecture design was solely on driving ca

![Overview](image/autoware-architecture-overview.drawio.svg)

Autoware's architecture consists of the following six stacks. Each linked page contains a more detailed set of requirements and use cases specific to that stack:
Autoware's architecture consists of the following seven stacks. Each linked page contains a more detailed set of requirements and use cases specific to that stack:

- [Sensing design](sensing/index.md)
- [Map design](map/index.md)
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114 changes: 57 additions & 57 deletions docs/design/autoware-interfaces/ad-api/list/index.md
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# List of Autoware AD API

| API | Release |
| ------------------------------------------------------------------------------------------------ | ------------ |
| [/api/fail_safe/mrm_state](./api/fail_safe/mrm_state.md) | v1.1.0 |
| [/api/interface/version](./api/interface/version.md) | v1.0.0 |
| [/api/local/command/acceleration](./api/local/command/acceleration.md) | not released |
| [/api/local/command/gear](./api/local/command/gear.md) | not released |
| [/api/local/command/hazard_lights](./api/local/command/hazard_lights.md) | not released |
| [/api/local/command/pedal](./api/local/command/pedal.md) | not released |
| [/api/local/command/steering](./api/local/command/steering.md) | not released |
| [/api/local/command/turn_indicators](./api/local/command/turn_indicators.md) | not released |
| [/api/local/control_mode/list](./api/local/control_mode/list.md) | not released |
| [/api/local/control_mode/select](./api/local/control_mode/select.md) | not released |
| [/api/local/control_mode/status](./api/local/control_mode/status.md) | not released |
| [/api/local/operator/status](./api/local/operator/status.md) | not released |
| [/api/localization/initialization_state](./api/localization/initialization_state.md) | v1.0.0 |
| [/api/localization/initialize](./api/localization/initialize.md) | v1.0.0 |
| [/api/motion/accept_start](./api/motion/accept_start.md) | not released |
| [/api/motion/state](./api/motion/state.md) | not released |
| [/api/operation_mode/change_to_autonomous](./api/operation_mode/change_to_autonomous.md) | v1.0.0 |
| [/api/operation_mode/change_to_local](./api/operation_mode/change_to_local.md) | v1.0.0 |
| [/api/operation_mode/change_to_remote](./api/operation_mode/change_to_remote.md) | v1.0.0 |
| [/api/operation_mode/change_to_stop](./api/operation_mode/change_to_stop.md) | v1.0.0 |
| [/api/operation_mode/disable_autoware_control](./api/operation_mode/disable_autoware_control.md) | v1.0.0 |
| [/api/operation_mode/enable_autoware_control](./api/operation_mode/enable_autoware_control.md) | v1.0.0 |
| [/api/operation_mode/state](./api/operation_mode/state.md) | v1.0.0 |
| [/api/perception/objects](./api/perception/objects.md) | not released |
| [/api/planning/cooperation/get_policies](./api/planning/cooperation/get_policies.md) | not released |
| [/api/planning/cooperation/set_commands](./api/planning/cooperation/set_commands.md) | not released |
| [/api/planning/cooperation/set_policies](./api/planning/cooperation/set_policies.md) | not released |
| [/api/planning/steering_factors](./api/planning/steering_factors.md) | not released |
| [/api/planning/velocity_factors](./api/planning/velocity_factors.md) | not released |
| [/api/remote/command/acceleration](./api/remote/command/acceleration.md) | not released |
| [/api/remote/command/gear](./api/remote/command/gear.md) | not released |
| [/api/remote/command/hazard_lights](./api/remote/command/hazard_lights.md) | not released |
| [/api/remote/command/pedal](./api/remote/command/pedal.md) | not released |
| [/api/remote/command/steering](./api/remote/command/steering.md) | not released |
| [/api/remote/command/turn_indicators](./api/remote/command/turn_indicators.md) | not released |
| [/api/remote/control_mode/list](./api/remote/control_mode/list.md) | not released |
| [/api/remote/control_mode/select](./api/remote/control_mode/select.md) | not released |
| [/api/remote/control_mode/status](./api/remote/control_mode/status.md) | not released |
| [/api/remote/operator/status](./api/remote/operator/status.md) | not released |
| [/api/routing/change_route](./api/routing/change_route.md) | v1.5.0 |
| [/api/routing/change_route_points](./api/routing/change_route_points.md) | v1.5.0 |
| [/api/routing/clear_route](./api/routing/clear_route.md) | v1.0.0 |
| [/api/routing/route](./api/routing/route.md) | v1.0.0 |
| [/api/routing/set_route](./api/routing/set_route.md) | v1.0.0 |
| [/api/routing/set_route_points](./api/routing/set_route_points.md) | v1.0.0 |
| [/api/routing/state](./api/routing/state.md) | v1.0.0 |
| [/api/system/diagnostics/status](./api/system/diagnostics/status.md) | v1.3.0 |
| [/api/system/diagnostics/struct](./api/system/diagnostics/struct.md) | v1.3.0 |
| [/api/system/heartbeat](./api/system/heartbeat.md) | v1.3.0 |
| [/api/vehicle/dimensions](./api/vehicle/dimensions.md) | v1.1.0 |
| [/api/vehicle/doors/command](./api/vehicle/doors/command.md) | v1.2.0 |
| [/api/vehicle/doors/layout](./api/vehicle/doors/layout.md) | v1.2.0 |
| [/api/vehicle/doors/status](./api/vehicle/doors/status.md) | v1.2.0 |
| [/api/vehicle/kinematics](./api/vehicle/kinematics.md) | v1.1.0 |
| [/api/vehicle/status](./api/vehicle/status.md) | v1.4.0 |
| API | Release | Method |
| ------------------------------------------------------------------------------------------------ | ------------ | --------------- |
| [/api/fail_safe/mrm_state](./api/fail_safe/mrm_state.md) | v1.1.0 | 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/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/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/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 |
| [/api/operation_mode/change_to_local](./api/operation_mode/change_to_local.md) | v1.0.0 | function call |
| [/api/operation_mode/change_to_remote](./api/operation_mode/change_to_remote.md) | v1.0.0 | function call |
| [/api/operation_mode/change_to_stop](./api/operation_mode/change_to_stop.md) | v1.0.0 | function call |
| [/api/operation_mode/disable_autoware_control](./api/operation_mode/disable_autoware_control.md) | v1.0.0 | function call |
| [/api/operation_mode/enable_autoware_control](./api/operation_mode/enable_autoware_control.md) | v1.0.0 | function call |
| [/api/operation_mode/state](./api/operation_mode/state.md) | v1.0.0 | notification |
| [/api/perception/objects](./api/perception/objects.md) | not released | realtime stream |
| [/api/planning/cooperation/get_policies](./api/planning/cooperation/get_policies.md) | not released | function call |
| [/api/planning/cooperation/set_commands](./api/planning/cooperation/set_commands.md) | not released | function call |
| [/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/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/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 |
| [/api/routing/route](./api/routing/route.md) | v1.0.0 | notification |
| [/api/routing/set_route](./api/routing/set_route.md) | v1.0.0 | function call |
| [/api/routing/set_route_points](./api/routing/set_route_points.md) | v1.0.0 | function call |
| [/api/routing/state](./api/routing/state.md) | v1.0.0 | notification |
| [/api/system/diagnostics/status](./api/system/diagnostics/status.md) | v1.3.0 | realtime stream |
| [/api/system/diagnostics/struct](./api/system/diagnostics/struct.md) | v1.3.0 | notification |
| [/api/system/heartbeat](./api/system/heartbeat.md) | v1.3.0 | realtime stream |
| [/api/vehicle/dimensions](./api/vehicle/dimensions.md) | v1.1.0 | function call |
| [/api/vehicle/doors/command](./api/vehicle/doors/command.md) | v1.2.0 | function call |
| [/api/vehicle/doors/layout](./api/vehicle/doors/layout.md) | v1.2.0 | function call |
| [/api/vehicle/doors/status](./api/vehicle/doors/status.md) | v1.2.0 | notification |
| [/api/vehicle/kinematics](./api/vehicle/kinematics.md) | v1.1.0 | realtime stream |
| [/api/vehicle/status](./api/vehicle/status.md) | v1.4.0 | realtime stream |
2 changes: 1 addition & 1 deletion docs/design/autoware-interfaces/components/localization.md
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Expand Up @@ -90,7 +90,7 @@ Current velocity of the ego vehicle, published by the vehicle interface.
- float lateral_velocity;
- float heading_rate;

Before the velocity input localization interface, module `vehicle_velocity_converter` converts message type `autoware_vehicle_msgs/msg/VelocityReport` to `geometry_msgs/msg/TwistWithCovarianceStamped`.
Before the velocity input localization interface, module `autoware_vehicle_velocity_converter` converts message type `autoware_vehicle_msgs/msg/VelocityReport` to `geometry_msgs/msg/TwistWithCovarianceStamped`.

## Outputs

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