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API#

The api image packages the Autoware AD API used by fleet managers, HMIs, and scenario runners. It provides ROS 2 services and topics for:

  • Vehicle position, velocity, engage status, and operation mode
  • Autonomous, manual, stop, local, and remote mode transitions
  • Route and goal setting
  • Emergency stop and engage/disengage commands
  • Scenario simulation auto-engage and route integration

The component starts with tier4_autoware_api_component.launch.xml. It is the standard external entry point for the modular simulation deployments.