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Autoware state compatibility#

Overview#

Since /autoware/state was so widely used, default_ad_api creates it from the states of AD API for backwards compatibility. The diagnostic checks that ad_service_state_monitor used to perform have been replaced by component_state_monitor. The service /autoware/shutdown to change autoware state to finalizing is also supported for compatibility.

autoware-state-architecture

Conversion#

This is the correspondence between AD API states and autoware states. The launch state is the data that default_ad_api node holds internally.

autoware-state-table