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chore(autoware_default_adapi)!: prefix autoware to package name (autowarefoundation#8533)
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
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‎.github/CODEOWNERS

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@@ -222,7 +222,7 @@ system/autoware_component_monitor/** memin@leodrive.ai
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system/autoware_processing_time_checker/** kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp
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system/bluetooth_monitor/** fumihito.ito@tier4.jp
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system/component_state_monitor/** isamu.takagi@tier4.jp
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system/default_ad_api/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp
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system/autoware_default_adapi/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp
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system/default_ad_api_helpers/ad_api_adaptors/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp
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system/default_ad_api_helpers/ad_api_visualizers/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp
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system/default_ad_api_helpers/automatic_pose_initializer/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp

‎launch/tier4_autoware_api_launch/launch/autoware_api.launch.xml

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<launch>
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<!-- AD API options -->
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<arg name="launch_deprecated_api" default="false"/>
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<arg name="launch_default_ad_api" default="true"/>
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<arg name="launch_default_adapi" default="true"/>
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<arg name="launch_rviz_adaptors" default="true"/>
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<!-- rosbridge options -->
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<!-- AD API -->
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<group>
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<include file="$(find-pkg-share default_ad_api)/launch/default_ad_api.launch.py" if="$(var launch_default_ad_api)"/>
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<include file="$(find-pkg-share autoware_default_adapi)/launch/default_adapi.launch.py" if="$(var launch_default_adapi)"/>
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<include file="$(find-pkg-share ad_api_adaptors)/launch/rviz_adaptors.launch.xml" if="$(var launch_rviz_adaptors)"/>
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</group>
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‎launch/tier4_autoware_api_launch/package.xml

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@@ -12,11 +12,11 @@
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<buildtool_depend>autoware_cmake</buildtool_depend>
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<exec_depend>ad_api_adaptors</exec_depend>
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<exec_depend>autoware_default_adapi</exec_depend>
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<exec_depend>autoware_iv_external_api_adaptor</exec_depend>
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<exec_depend>autoware_iv_internal_api_adaptor</exec_depend>
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<exec_depend>autoware_path_distance_calculator</exec_depend>
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<exec_depend>awapi_awiv_adapter</exec_depend>
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<exec_depend>default_ad_api</exec_depend>
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<exec_depend>rosbridge_server</exec_depend>
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<exec_depend>topic_tools</exec_depend>
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‎localization/pose_initializer/README.md

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@@ -51,9 +51,9 @@ If the score of initial pose estimation result is lower than score threshold, ER
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## Connection with Default AD API
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This `pose_initializer` is used via default AD API. For detailed description of the API description, please refer to [the description of `default_ad_api`](https://github.com/autowarefoundation/autoware.universe/blob/main/system/default_ad_api/document/localization.md).
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This `pose_initializer` is used via default AD API. For detailed description of the API description, please refer to [the description of `autoware_default_adapi`](https://github.com/autowarefoundation/autoware.universe/blob/main/system/autoware_default_adapi/document/localization.md).
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<img src="../../system/default_ad_api/document/images/localization.drawio.svg" alt="drawing" width="800"/>
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<img src="../../system/autoware_default_adapi/document/images/localization.drawio.svg" alt="drawing" width="800"/>
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## Initialize pose via CLI
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```
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It behaves the same as "initialpose (from rviz)".
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The position.z and the covariance will be overwritten by [ad_api_adaptors](https://github.com/autowarefoundation/autoware.universe/tree/main/system/default_ad_api_helpers/ad_api_adaptors), so there is no need to input them.
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The position.z and the covariance will be overwritten by [ad_api_adaptors](https://github.com/autowarefoundation/autoware.universe/tree/main/system/autoware_default_adapi_helpers/ad_api_adaptors), so there is no need to input them.

‎planning/behavior_path_planner/autoware_behavior_path_planner/README.md

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@@ -89,18 +89,18 @@ The Planner Manager's responsibilities include:
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### Input
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| Name | Required? | Type | Description |
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| :---------------------------- | :-------: | :------------------------------------------------------ | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| ~/input/odometry | ○ | `nav_msgs::msg::Odometry` | for ego velocity. |
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| ~/input/accel | ○ | `geometry_msgs::msg::AccelWithCovarianceStamped` | for ego acceleration. |
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| ~/input/objects | ○ | `autoware_perception_msgs::msg::PredictedObjects` | dynamic objects from perception module. |
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| ~/input/occupancy_grid_map | ○ | `nav_msgs::msg::OccupancyGrid` | occupancy grid map from perception module. This is used for only Goal Planner module. |
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| ~/input/traffic_signals | ○ | `autoware_perception_msgs::msg::TrafficLightGroupArray` | traffic signals information from the perception module |
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| ~/input/vector_map | ○ | `autoware_map_msgs::msg::LaneletMapBin` | vector map information. |
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| ~/input/route | ○ | `autoware_planning_msgs::msg::LaneletRoute` | current route from start to goal. |
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| ~/input/scenario | ○ | `tier4_planning_msgs::msg::Scenario` | Launches behavior path planner if current scenario == `Scenario:LaneDriving`. |
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| ~/input/lateral_offset | △ | `tier4_planning_msgs::msg::LateralOffset` | lateral offset to trigger side shift |
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| ~/system/operation_mode/state | ○ | `autoware_adapi_v1_msgs::msg::OperationModeState` | Allows planning module to know if vehicle is in autonomous mode or can be controlled<sup>[ref](https://github.com/autowarefoundation/autoware.universe/blob/main/system/default_ad_api/document/operation-mode.md)</sup> |
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| Name | Required? | Type | Description |
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| :---------------------------- | :-------: | :------------------------------------------------------ | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| ~/input/odometry | ○ | `nav_msgs::msg::Odometry` | for ego velocity. |
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| ~/input/accel | ○ | `geometry_msgs::msg::AccelWithCovarianceStamped` | for ego acceleration. |
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| ~/input/objects | ○ | `autoware_perception_msgs::msg::PredictedObjects` | dynamic objects from perception module. |
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| ~/input/occupancy_grid_map | ○ | `nav_msgs::msg::OccupancyGrid` | occupancy grid map from perception module. This is used for only Goal Planner module. |
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| ~/input/traffic_signals | ○ | `autoware_perception_msgs::msg::TrafficLightGroupArray` | traffic signals information from the perception module |
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| ~/input/vector_map | ○ | `autoware_map_msgs::msg::LaneletMapBin` | vector map information. |
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| ~/input/route | ○ | `autoware_planning_msgs::msg::LaneletRoute` | current route from start to goal. |
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| ~/input/scenario | ○ | `tier4_planning_msgs::msg::Scenario` | Launches behavior path planner if current scenario == `Scenario:LaneDriving`. |
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| ~/input/lateral_offset | △ | `tier4_planning_msgs::msg::LateralOffset` | lateral offset to trigger side shift |
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| ~/system/operation_mode/state | ○ | `autoware_adapi_v1_msgs::msg::OperationModeState` | Allows planning module to know if vehicle is in autonomous mode or can be controlled<sup>[ref](https://github.com/autowarefoundation/autoware.universe/blob/main/system/autoware_default_adapi/document/operation-mode.md)</sup> |
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- ○ Mandatory: Planning Module would not work if anyone of this is not present.
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- △ Optional: Some module would not work, but Planning Module can still be operated.

‎system/default_ad_api/CMakeLists.txt ‎system/autoware_default_adapi/CMakeLists.txt

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cmake_minimum_required(VERSION 3.14)
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project(default_ad_api)
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project(autoware_default_adapi)
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find_package(autoware_cmake REQUIRED)
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autoware_package()
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)
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rclcpp_components_register_nodes(${PROJECT_NAME}
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"default_ad_api::AutowareStateNode"
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"default_ad_api::DiagnosticsNode"
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"default_ad_api::FailSafeNode"
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"default_ad_api::HeartbeatNode"
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"default_ad_api::InterfaceNode"
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"default_ad_api::LocalizationNode"
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"default_ad_api::MotionNode"
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"default_ad_api::OperationModeNode"
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"default_ad_api::PerceptionNode"
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"default_ad_api::PlanningNode"
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"default_ad_api::RoutingNode"
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"default_ad_api::VehicleNode"
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"default_ad_api::VehicleInfoNode"
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"default_ad_api::VehicleDoorNode"
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"autoware::default_adapi::AutowareStateNode"
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"autoware::default_adapi::DiagnosticsNode"
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"autoware::default_adapi::FailSafeNode"
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"autoware::default_adapi::HeartbeatNode"
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"autoware::default_adapi::InterfaceNode"
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"autoware::default_adapi::LocalizationNode"
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"autoware::default_adapi::MotionNode"
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"autoware::default_adapi::OperationModeNode"
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"autoware::default_adapi::PerceptionNode"
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"autoware::default_adapi::PlanningNode"
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"autoware::default_adapi::RoutingNode"
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"autoware::default_adapi::VehicleNode"
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"autoware::default_adapi::VehicleInfoNode"
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"autoware::default_adapi::VehicleDoorNode"
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)
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if(BUILD_TESTING)

‎system/default_ad_api/README.md ‎system/autoware_default_adapi/README.md

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# default_ad_api
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# autoware_default_adapi
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## Notes
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This is a debug script to check the conditions for transition to autonomous mode.
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```bash
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$ ros2 run default_ad_api guide.py
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$ ros2 run autoware_default_adapi guide.py
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The vehicle pose is not estimated. Please set an initial pose or check GNSS.
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The route is not set. Please set a goal pose.

‎system/default_ad_api/config/default_ad_api.param.yaml ‎system/autoware_default_adapi/config/default_adapi.param.yaml

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/default_ad_api/node/autoware_state:
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/adapi/node/autoware_state:
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ros__parameters:
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update_rate: 10.0
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/default_ad_api/node/motion:
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/adapi/node/motion:
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ros__parameters:
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require_accept_start: false
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stop_check_duration: 1.0

‎system/default_ad_api/document/autoware-state.md ‎system/autoware_default_adapi/document/autoware-state.md

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## Overview
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Since `/autoware/state` was so widely used, default_ad_api creates it from the states of AD API for backwards compatibility.
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Since `/autoware/state` was so widely used, this packages creates it from the states of AD API for backwards compatibility.
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The diagnostic checks that ad_service_state_monitor used to perform have been replaced by component_state_monitor.
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The service `/autoware/shutdown` to change autoware state to finalizing is also supported for compatibility.
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## Conversion
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This is the correspondence between AD API states and autoware states.
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The launch state is the data that default_ad_api node holds internally.
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The launch state is the data that this node holds internally.
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![autoware-state-table](images/autoware-state-table.drawio.svg)

‎system/default_ad_api/document/fail-safe.md ‎system/autoware_default_adapi/document/fail-safe.md

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