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

1.9.0 (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 across the extracted helper, the RoutingDecision struct, and the RoutingAdaptor member for an explicit name (sasakisasaki).

  - Rename vector_to_array's parameter from vector to values so it no longer reads like a type name (Copilot). The dimensionally-incorrect merge-window comment was already corrected in the preceding autofix commit. Verified with a Release build and the package gtest suite in the core-devel-jazzy container (37 cases, 0 failures).

  * modify naming ---------Co-authored-by: Copilot Autofix powered by AI <<175728472+Copilot@users.noreply.github.com>> Co-authored-by: Takagi, Isamu <<isamu.takagi@tier4.jp>> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>

• Contributors: Yutaka Kondo, github-actions

1.8.0 (2026-05-01)

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

1.5.0 (2025-11-16)

• Merge remote-tracking branch 'origin/main' into humble

• feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)

  • replace ament_auto_package to autoware_ament_auto_package

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

• chore: jazzy-porting:fix qos profile issue (#634)

• chore: bump version (1.4.0) and update changelog (#608)

• Contributors: Mete Fatih Cırıt, Yutaka Kondo, mitsudome-r, 心刚

1.4.0 (2025-08-11)

• chore: bump version to 1.3.0 (#554)
• Contributors: Ryohsuke Mitsudome

1.3.0 (2025-06-23)

• fix: to be consistent version in all package.xml(s)
• feat: port autoware_adapi_adaptors from Autoware Universe (#530)

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