/api/routing/set_route

Status

• Latest Version: v1.0.0
• Method: function call
• Data Type: autoware_adapi_v1_msgs/srv/SetRoute

Description

Set the route with the waypoint segments in lanelet format. If start pose is not specified, the current pose will be used. This API only accepts the route when the route state is UNSET. In any other state, clear the route first.

Request

Name	Type	Description
header	std_msgs/msg/Header	header for pose transformation
goal	geometry_msgs/msg/Pose	goal pose
segments	autoware_adapi_v1_msgs/msg/RouteSegment[]	waypoint segments in lanelet format

Response

Name	Type	Description
status	autoware_adapi_v1_msgs/msg/ResponseStatus	response status