This repository provides TIER IV Autoware API that specialized for use cases in TIER IV. Some pages in this documentation are only in Japanese.
For Pilot.Auto, this repository is included in the repos file, so no additional steps are required. For Autoware, please follow the installation guide.
TIER IV Autoware API is sometimes called High-level API or TIER IV External API.
These APIs are specialized for use cases in TIER IV. There are currently no plans to move to AD API, but this may be done if there are many requests from the community.
If the version is v0.4.0, it means version v0.4.0 or earlier.
These are old implementations used internally by TIER IV. Please use AD API instead.
| EOL | Type | Name | Migration Guide |
|---|---|---|---|
| T.B.D. | service | /api/external/set/initialize_pose | Migrate to Localization API |
| T.B.D. | topic | /api/external/get/hazard_status | Migrate to Diagnostics API |
| T.B.D. | service | /api/external/set/emergency | Migrate to Fail-safe API |
| T.B.D. | topic | /api/external/get/emergency | Migrate to Fail-safe API |
| T.B.D. | topic | /api/iv_msgs/planning/scenario_planning/trajectory | Migrate to Evaluation Interface |
| T.B.D. | topic | /api/iv_msgs/perception/object_recognition/tracking/objects | Migrate to Evaluation Interface |
| EOL | Type | Name | Migration Guide |
|---|---|---|---|
| v0.4.3 | service | /api/external/set/service | This API was not used. |
| v0.4.3 | topic | /api/external/get/service | This API was not used. |
| v0.4.3 | service | /api/external/set/initialize_pose_auto | Migrate to Localization API |
| v0.4.3 | service | /api/external/set/route | Migrate to Routing API |
| v0.4.3 | topic | /api/external/get/route | Migrate to Routing API |
| v0.4.3 | service | /api/external/set/clear_route | Migrate to Routing API |
| v0.4.3 | service | /api/external/set/engage | Migrate to Operation Mode API |
| v0.4.3 | topic | /api/external/get/engage | Migrate to Operation Mode API |
| v0.4.3 | service | /api/external/set/operator | Migrate to Operation Mode API |
| v0.4.3 | topic | /api/external/get/operator | Migrate to Operation Mode API |
| v0.4.3 | service | /api/external/set/observer | Migrate to Operation Mode API |
| v0.4.3 | topic | /api/external/get/observer | Migrate to Operation Mode API |
| v0.4.3 | service | /api/external/set/pause_driving | Migrate to Operation Mode API |
| v0.4.3 | service | /api/autoware/set/start_request | Migrate to Motion API |
| v0.4.3 | topic | /api/external/get/diagnostics | Migrate to Diagnostics API |
| v0.4.3 | topic | /api/external/get/vehicle/status | Migrate to Vehicle Status API |
| v0.4.3 | service | /api/external/set/door | Migrate to Vehicle Doors API |
| v0.4.3 | topic | /api/external/get/door | Migrate to Vehicle Doors API |
| v0.4.3 | topic | /api/external/set/command/local/control | Migrate to Manual Control API |
| v0.4.3 | topic | /api/external/set/command/local/shift | Migrate to Manual Control API |
| v0.4.3 | topic | /api/external/set/command/local/turn_signal | Migrate to Manual Control API |
| v0.4.3 | topic | /api/external/set/command/local/heartbeat | Migrate to Manual Control API |
| v0.4.3 | topic | /api/external/set/command/remote/control | Migrate to Manual Control API |
| v0.4.3 | topic | /api/external/set/command/remote/shift | Migrate to Manual Control API |
| v0.4.3 | topic | /api/external/set/command/remote/turn_signal | Migrate to Manual Control API |
| v0.4.3 | topic | /api/external/set/command/remote/heartbeat | Migrate to Manual Control API |
| v0.4.3 | topic | /api/external/get/command/selected/control | Migrate to Control API |
| v0.4.3 | topic | /api/external/get/command/selected/vehicle | Migrate to Control API |
| v0.4.3 | topic | /awapi/autoware/get/status | |
| v0.4.3 | topic | /awapi/vehicle/get/status | |
| v0.4.3 | topic | /awapi/autoware/put/engage | |
| v0.4.3 | topic | /awapi/autoware/put/route | |
| v0.4.3 | topic | /awapi/autoware/put/goal | |
| v0.4.3 | topic | /awapi/autoware/get/route | |
| v0.4.3 | topic | /awapi/autoware/put/pose_initialization_request | |
| v0.4.3 | topic | /awapi/vehicle/put/stop | |
| v0.4.3 | topic | /awapi/vehicle/put/velocity | |
| v0.4.3 | topic | /awapi/tmp/virtual_traffic_light_states | |
| v0.4.3 | topic | /awapi/tmp/infrastructure_commands | |
| v0.4.3 | topic | /awapi/prediction/get/objects | |
| v0.4.3 | topic | /awapi/autoware/get/stop_speed_exceeded | |
| v0.4.3 | topic | /awapi/autoware/put/expand_stop_range | |
| v0.4.3 | topic | /awapi/traffic_light/get/traffic_signals | |
| v0.4.3 | topic | /awapi/traffic_light/get/nearest_traffic_signal | |
| v0.4.3 | topic | /awapi/path_change/get/ready_module | |
| v0.4.3 | topic | /awapi/path_change/get/force_available | |
| v0.4.3 | topic | /awapi/path_change/get/running_modules | |
| v0.4.3 | topic | /awapi/path_change/put/approval | |
| v0.4.3 | topic | /awapi/path_change/put/force | |
| v0.4.3 | topic | /awapi/lane_change/put/approval | |
| v0.4.3 | topic | /awapi/lane_change/put/force | |
| v0.4.3 | topic | /awapi/object_avoidance/put/approval | |
| v0.4.3 | topic | /awapi/object_avoidance/put/force | |
| v0.4.3 | topic | /awapi/traffic_light/put/traffic_signals | |
| v0.4.3 | topic | /awapi/autoware/put/crosswalk_states | |
| v0.4.3 | topic | /awapi/autoware/put/intersection_states | |
| v0.4.3 | topic | /awapi/lane_change/get/status | |
| v0.4.3 | topic | /awapi/object_avoidance/get/status | |
| v0.4.3 | topic | /api/iv_msgs/autoware/state | Make Autoware State from AD API |
| v0.4.0 | topic | /api/iv_msgs/vehicle/status/control_mode | Operation mode API |