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Autoware state compatibility#

Overview#

Since /autoware/state was so widely used, this packages 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 The diagnostic checks that ad_service_state_monitor used to perform have been replaced by autoware_component_state_monitor.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 this node holds internally. For the routing state arrival, the first 2.0 seconds correspond to ArrivedGoal, the rest correspond to WaitingForRoute.

autoware-state-table