autoware_default_adapi_universe

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

Interface

• Autoware AD API
• Parameters
• Diagnostics

Web server script

This is a sample to call API using HTTP.

Guide message script

This script is no longer supported, please use rqt_diagnostic_graph_monitor instead. This tool is available in autoware_tools.

ros2 run rqt_diagnostic_graph_monitor rqt_diagnostic_graph_monitor

Changelog for package autoware_default_adapi

0.53.0 (2026-09-29)

• Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog

• feat(default_adapi_universe): make default_adapi.launch.py configurable by node_keys_file (#13444)

  • feat: make default_adapi_launch configurable by node_keys
  • revert unnecessary change for test_default_adapi.launch.xml
  • rename key for avoid conflict
  • minor local variable renaming
  • use node keys file
  • add comment

  * fix comment ---------Co-authored-by: Taeseung Sohn <<taeseung.sohn@tier4.jp>>

• fix(design): align the system node designs with the packages they describe (#13338)

  * fix(design): declare the fixed-name interfaces of the system node designs as remap targets The diagnostic graph ports, the diagnostics array publisher and the automatic pose initializer's localization interfaces are pinned with global:, which keeps them out of the design graph: link_manager skips any connection whose target is a global input port and the exporter emits no remap. remap_target: keeps the same fixed topic and service names while letting the ports take part in the graph.

  * feat(autoware_default_adapi_universe): add node designs for the AD API nodes The package builds fifteen AD API components with no design of their own, so a system that composes the AD API from design modules cannot reference them.

  * feat(design): add the diagnostic graph and component state monitor node designs autoware_component_state_monitor and autoware_diagnostic_graph_aggregator build three components with no design of their own: the state monitor that aggregates topic monitor diagnostics into per-component availability, the aggregator that turns /diagnostics into the diagnostic graph, and the converter that derives operation mode availability from it. DiagnosticGraphLogging and ProcessingTimeChecker declare the parameters their launchers pass, which have no package param file to come from. ---------

• feat(autoware_default_adapi_universe): move the last component_interface_utils nodes to agnocast_wrapper::Node (#13378)

  * feat(autoware_default_adapi_universe): move the last component_interface_utils nodes to agnocast_wrapper::Node motion held a VehicleStopChecker, which owns an rclcpp subscription. Only the node-agnostic VehicleStopCheckerBase is kept, fed from a KinematicState subscription: that spec is /localization/kinematic_state with the same depth and QoS the checker used, so the node sees the same odometry it did before. mrm_request and vehicle_door take the wrapper's diagnostic_updater::Updater, which dispatches to the same upstream Updater under ENABLE_AGNOCAST=0. vehicle_door blocks on a client from inside a service callback, which the callback-isolated executor serves on another thread. With no node left on rclcpp, utils/types.hpp drops the rclcpp::Node default from the endpoint aliases, the package registers no rclcpp components any more, and the launch file starts the whole set as separate processes under =1 rather than an empty container beside them.

  * cosmetic: add reference link to value ---------Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>> Co-authored-by: Junya Sasaki <<junya.sasaki@tier4.jp>>

• feat(autoware_default_adapi_universe): move the nodes that build endpoints outside the adaptor to agnocast_wrapper::Node (#13377) These three create endpoints that NodeAdaptor does not cover, so they name the wrapper types directly instead of the rclcpp handle types: autoware_state's component-state subscriptions, its state publisher and its shutdown service, operation_mode's availability subscription, and planning's factor subscriptions, whose init_factors() now deduces the node type rather than naming rclcpp::Node. autoware_state builds its state message into the loaned message so the Agnocast path copies no payload. operation_mode blocks on a client from inside a service callback, so its client callback group has to be served by another thread, which the callback-isolated executor does.

• feat(autoware_default_adapi_universe): move the mechanical component_interface_utils nodes to agnocast_wrapper::Node (#13376) Of the 13 nodes in this package that reach the middleware through component_interface_utils, these seven need nothing beyond naming the node type: the base class, [NodeAdaptor<NodeT>]{.title-ref} instead of CTAD, and the wrapper's create_timer where they hold one. autoware_core#1362

File truncated at 100 lines see the full file