adapi_adaptors

initial_pose_adaptor

This node makes it easy to use the localization AD API from RViz. When a initial pose topic is received, call the localization initialize API. This node depends on the map height fitter library. See here for more details.

routing_adaptor

This node makes it easy to use the routing AD API from RViz. When a goal pose topic is received, reset the waypoints and call the API. When a waypoint pose topic is received, append it to the end of the waypoints to call the API. The clear API is called automatically before setting the route.

parameters

{{ json_to_markdown(“system/autoware_default_adapi_helpers/adapi_adaptors/schema/adapi_adaptors.schema.json”) }}

Changelog for package autoware_adapi_adaptors

1.10.0 (2026-09-28)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

• feat(api, motion_velocity_planner): add the node designs required by the AD API and motion planning design modules (#1456)

  • feat(api): add node designs for the default AD API nodes and RViz adaptors

  * fix(autoware_motion_velocity_planner): add additional planning factors to publishers in the node design ---------

• feat(map_height_fitter, pose_initializer, adapi_adaptors): move the nodes to agnocast_wrapper::Node (#1445)

  • feat(map_height_fitter, pose_initializer, adapi_adaptors): move the nodes to agnocast_wrapper::Node
  • refactor(map_height_fitter, pose_initializer, adapi_adaptors): use AgnocastOnlyCallbackIsolatedExecutor and drop redundant comments
  • refactor(map_height_fitter, pose_initializer, adapi_adaptors): drop the comments that restate the code
  • docs(map_height_fitter, pose_initializer, adapi_adaptors): note what the agnocast_env include provides

  * docs(map_height_fitter, pose_initializer): explain the ENABLE_AGNOCAST test gate ---------

• fix(autoware_adapi_adaptors): declare the dependencies it includes (#1356) The package includes headers from packages it never declares. It builds today only because another declared dependency re-exports them, so a change in an unrelated repository can break it without anything here changing.

• fix(component_interface_utils): fix build errors related to NodeAdaptor (#1339)

• refactor(autoware_adapi_adaptors): create endpoints through NodeAdaptor (#1330) Five endpoints re-derived their name and QoS from specs that already carry both. Create them through NodeAdaptor instead. One of them, the route-state subscription, built its QoS by writing out the body of get_qos<RouteState>() into a local: depth, reliability and durability read off the same spec. That local is now redundant and is removed with the call site it served. No wire change.

• Contributors: Koichi Imai, Mete Fatih Cırıt, Taekjin LEE, Takagi, Isamu, Yutaka Kondo, github-actions

1.9.0 (2026-06-24)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

• refactor(autoware_adapi_adaptors): extract pure helpers and add unit tests (#1147)

  * refactor(autoware_adapi_adaptors): extract pure helpers and add unit tests Extract the previously inlined, node-coupled logic of the two RViz-to-AD-API adaptor nodes into small internal-only free/templated helpers so it can be unit-tested without spinning up a ROS node, and add the package's first test/ directory:

  - vector_to_array<T,N>() in parameter_helper.hpp: the pure size-validating vector-to-array covariance parsing (throw branch is now testable).

  - decide_routing_action() in routing_state_machine.hpp: the on_timer merge-window/state-machine, returning the next action and updated counter.

  - set_goal() / append_waypoint() in route_builder.hpp: the route-request building rules, including the on_waypoint frame-mismatch guard. The public node API/ABI is unchanged; the callbacks now delegate to these helpers. Behavior is preserved: the covariance size-error message is identical for N=36, and the timer/route-building branches map one-to-one to the previous inline code. Refs: autowarefoundation/autoware_core#1096

  * Potential fix for pull request finding Co-authored-by: Copilot Autofix powered by AI <<175728472+Copilot@users.noreply.github.com>>

  * refactor(autoware_adapi_adaptors): clarify helper naming per PR review Address review feedback on PR #1147:

  - Rename the routing merge-window counter from request_timing_control to number_of_requests_for_timing_control

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