default_ad_api

Notes

Components that relay services must be executed by the Multi-Threaded Executor.

Features

This package is a default implementation AD API.

• autoware state (backward compatibility)
• fail-safe
• interface
• localization
• motion
• operation mode
• routing

Web server script

This is a sample to call API using HTTP.

Guide message script

This is a debug script to check the conditions for transition to autonomous mode.

$ ros2 run default_ad_api guide.py

The vehicle pose is not estimated. Please set an initial pose or check GNSS.
The route is not set. Please set a goal pose.
The topic rate error is detected. Please check [control,planning] components.
The vehicle is ready. Please change the operation mode to autonomous.
The vehicle is driving autonomously.
The vehicle has reached the goal of the route. Please reset a route.