autoware_default_adapi

Notes

Components that relay services must be executed by the Multi-Threaded Executor.

Features

This package is a default implementation AD API.

• interface
• localization
• routing

Interface

• Autoware AD API

Changelog for package autoware_default_adapi

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(default_adapi): move the API nodes to agnocast_wrapper::Node (#1438)

• fix(api): declare the dependencies autoware_default_adapi uses (#1366) autoware_default_adapi uses packages it never declares. Either it includes a header of that package, or it names a symbol of it while the header arrives through another dependency. Both build today only because some declared dependency re-exports the owner, so a change in an unrelated repository can break this package without anything here changing. The tag follows where the dependency is used: a use in an installed header or in code compiled into the library takes <depend>, one reached only from test/ takes <test_depend>.

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

• refactor(autoware_default_adapi): create endpoints through NodeAdaptor (#1326) The nineteen endpoints in this package each re-derived their type, name and QoS by hand from a spec that already carries all three. Create them through NodeAdaptor instead, so each call site names its spec once. No wire change: every site already passed Spec::name, and the QoS each one built by hand is the value NodeAdaptor derives. The topic and service lists are identical before and after.

• 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

• test(autoware_default_adapi): add gtest suite for pure conversion functions (#1141) The package previously had only a launch test asserting the interface version. The message-conversion translation units (route_conversion.cpp, localization_conversion.cpp) hold the real, pure logic yet were exercised only via service round-trips. Add an ament_auto_add_gtest suite that links against the package library and covers the already-pure conversion functions with value-asserting, table-driven cases:

  - convert_state: exhaustive internal RouteState -> external mapping, including the non-obvious collapses (INITIALIZING/UNSET/ROUTING->UNSET, REROUTING->CHANGING, ABORTED/INTERRUPTED->SET) and the default->UNKNOWN branch, plus stamp pass-through.

  - convert_route / RouteSegment round-trips: preferred-primitive extraction from alternatives, the missing-preferred branch (preferred left default-constructed, no erase), empty segments, and the RoutePrimitive.type <-> LaneletPrimitive.primitive_type field rename.

  - route convert_request overloads (lanelet, waypoint, clear) and convert_response field mappings.

  - localization convert_request (method=AUTO + pose copy) and convert_response field mappings. No production code changes; the functions were already pure and need no refactor to test. Refs: autowarefoundation/autoware_core#1096

• Contributors: Yutaka Kondo, github-actions

1.8.0 (2026-05-01)

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• docs: fix broken links (#779)
• ci(pre-commit): autoupdate (#723)
  • pre-commit formatting changes
• Contributors: Mete Fatih Cırıt, github-actions

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