Initial import of FaRui Campus ADS v3.2

slave/src/Api/autoware_ad_api_specs/CMakeLists.txt

@@ -0,0 +1,7 @@
+cmake_minimum_required(VERSION 3.14)
+project(autoware_ad_api_specs)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+ament_auto_package()

slave/src/Api/autoware_ad_api_specs/README.md

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+# autoware_adapi_specs
+
+This package is a specification of Autoware AD API.

slave/src/Api/autoware_ad_api_specs/include/autoware_ad_api_specs/fail_safe.hpp

@@ -0,0 +1,36 @@
+// Copyright 2022 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE_AD_API_SPECS__FAIL_SAFE_HPP_
+#define AUTOWARE_AD_API_SPECS__FAIL_SAFE_HPP_
+
+#include <rclcpp/qos.hpp>
+
+#include <autoware_adapi_v1_msgs/msg/mrm_state.hpp>
+
+namespace autoware_ad_api::fail_safe
+{
+
+struct MrmState
+{
+  using Message = autoware_adapi_v1_msgs::msg::MrmState;
+  static constexpr char name[] = "/api/fail_safe/mrm_state";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+};
+
+}  // namespace autoware_ad_api::fail_safe
+
+#endif  // AUTOWARE_AD_API_SPECS__FAIL_SAFE_HPP_

slave/src/Api/autoware_ad_api_specs/include/autoware_ad_api_specs/interface.hpp

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+// Copyright 2022 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE_AD_API_SPECS__INTERFACE_HPP_
+#define AUTOWARE_AD_API_SPECS__INTERFACE_HPP_
+
+#include <autoware_adapi_version_msgs/srv/interface_version.hpp>
+
+namespace autoware_ad_api::interface
+{
+
+struct Version
+{
+  using Service = autoware_adapi_version_msgs::srv::InterfaceVersion;
+  static constexpr char name[] = "/api/interface/version";
+};
+
+}  // namespace autoware_ad_api::interface
+
+#endif  // AUTOWARE_AD_API_SPECS__INTERFACE_HPP_

slave/src/Api/autoware_ad_api_specs/include/autoware_ad_api_specs/localization.hpp

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+// Copyright 2022 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE_AD_API_SPECS__LOCALIZATION_HPP_
+#define AUTOWARE_AD_API_SPECS__LOCALIZATION_HPP_
+
+#include <rclcpp/qos.hpp>
+
+#include <autoware_adapi_v1_msgs/msg/localization_initialization_state.hpp>
+#include <autoware_adapi_v1_msgs/srv/initialize_localization.hpp>
+
+namespace autoware_ad_api::localization
+{
+
+struct Initialize
+{
+  using Service = autoware_adapi_v1_msgs::srv::InitializeLocalization;
+  static constexpr char name[] = "/api/localization/initialize";
+};
+
+struct InitializationState
+{
+  using Message = autoware_adapi_v1_msgs::msg::LocalizationInitializationState;
+  static constexpr char name[] = "/api/localization/initialization_state";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+};
+
+}  // namespace autoware_ad_api::localization
+
+#endif  // AUTOWARE_AD_API_SPECS__LOCALIZATION_HPP_

slave/src/Api/autoware_ad_api_specs/include/autoware_ad_api_specs/motion.hpp

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+// Copyright 2022 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE_AD_API_SPECS__MOTION_HPP_
+#define AUTOWARE_AD_API_SPECS__MOTION_HPP_
+
+#include <rclcpp/qos.hpp>
+
+#include <autoware_adapi_v1_msgs/msg/motion_state.hpp>
+#include <autoware_adapi_v1_msgs/srv/accept_start.hpp>
+
+namespace autoware_ad_api::motion
+{
+
+struct AcceptStart
+{
+  using Service = autoware_adapi_v1_msgs::srv::AcceptStart;
+  static constexpr char name[] = "/api/motion/accept_start";
+};
+
+struct State
+{
+  using Message = autoware_adapi_v1_msgs::msg::MotionState;
+  static constexpr char name[] = "/api/motion/state";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+};
+
+}  // namespace autoware_ad_api::motion
+
+#endif  // AUTOWARE_AD_API_SPECS__MOTION_HPP_

slave/src/Api/autoware_ad_api_specs/include/autoware_ad_api_specs/operation_mode.hpp

@@ -0,0 +1,73 @@
+// Copyright 2022 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE_AD_API_SPECS__OPERATION_MODE_HPP_
+#define AUTOWARE_AD_API_SPECS__OPERATION_MODE_HPP_
+
+#include <rclcpp/qos.hpp>
+
+#include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
+#include <autoware_adapi_v1_msgs/srv/change_operation_mode.hpp>
+
+namespace autoware_ad_api::operation_mode
+{
+
+struct ChangeToStop
+{
+  using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode;
+  static constexpr char name[] = "/api/operation_mode/change_to_stop";
+};
+
+struct ChangeToAutonomous
+{
+  using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode;
+  static constexpr char name[] = "/api/operation_mode/change_to_autonomous";
+};
+
+struct ChangeToLocal
+{
+  using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode;
+  static constexpr char name[] = "/api/operation_mode/change_to_local";
+};
+
+struct ChangeToRemote
+{
+  using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode;
+  static constexpr char name[] = "/api/operation_mode/change_to_remote";
+};
+
+struct EnableAutowareControl
+{
+  using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode;
+  static constexpr char name[] = "/api/operation_mode/enable_autoware_control";
+};
+
+struct DisableAutowareControl
+{
+  using Service = autoware_adapi_v1_msgs::srv::ChangeOperationMode;
+  static constexpr char name[] = "/api/operation_mode/disable_autoware_control";
+};
+
+struct OperationModeState
+{
+  using Message = autoware_adapi_v1_msgs::msg::OperationModeState;
+  static constexpr char name[] = "/api/operation_mode/state";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+};
+
+}  // namespace autoware_ad_api::operation_mode
+
+#endif  // AUTOWARE_AD_API_SPECS__OPERATION_MODE_HPP_

slave/src/Api/autoware_ad_api_specs/include/autoware_ad_api_specs/perception.hpp

@@ -0,0 +1,36 @@
+// Copyright 2022 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE_AD_API_SPECS__PERCEPTION_HPP_
+#define AUTOWARE_AD_API_SPECS__PERCEPTION_HPP_
+
+#include <rclcpp/qos.hpp>
+
+#include <autoware_adapi_v1_msgs/msg/dynamic_object_array.hpp>
+
+namespace autoware_ad_api::perception
+{
+
+struct DynamicObjectArray
+{
+  using Message = autoware_adapi_v1_msgs::msg::DynamicObjectArray;
+  static constexpr char name[] = "/api/perception/objects";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+};
+
+}  // namespace autoware_ad_api::perception
+
+#endif  // AUTOWARE_AD_API_SPECS__PERCEPTION_HPP_

slave/src/Api/autoware_ad_api_specs/include/autoware_ad_api_specs/planning.hpp

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+// Copyright 2022 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE_AD_API_SPECS__PLANNING_HPP_
+#define AUTOWARE_AD_API_SPECS__PLANNING_HPP_
+
+#include <rclcpp/qos.hpp>
+
+#include <autoware_adapi_v1_msgs/msg/steering_factor_array.hpp>
+#include <autoware_adapi_v1_msgs/msg/velocity_factor_array.hpp>
+
+namespace autoware_ad_api::planning
+{
+
+struct VelocityFactors
+{
+  using Message = autoware_adapi_v1_msgs::msg::VelocityFactorArray;
+  static constexpr char name[] = "/api/planning/velocity_factors";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+};
+
+struct SteeringFactors
+{
+  using Message = autoware_adapi_v1_msgs::msg::SteeringFactorArray;
+  static constexpr char name[] = "/api/planning/steering_factors";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+};
+
+}  // namespace autoware_ad_api::planning
+
+#endif  // AUTOWARE_AD_API_SPECS__PLANNING_HPP_

slave/src/Api/autoware_ad_api_specs/include/autoware_ad_api_specs/routing.hpp

@@ -0,0 +1,79 @@
+// Copyright 2022 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE_AD_API_SPECS__ROUTING_HPP_
+#define AUTOWARE_AD_API_SPECS__ROUTING_HPP_
+
+#include <rclcpp/qos.hpp>
+
+#include <autoware_adapi_v1_msgs/msg/route.hpp>
+#include <autoware_adapi_v1_msgs/msg/route_state.hpp>
+#include <autoware_adapi_v1_msgs/srv/clear_route.hpp>
+#include <autoware_adapi_v1_msgs/srv/set_route.hpp>
+#include <autoware_adapi_v1_msgs/srv/set_route_points.hpp>
+
+namespace autoware_ad_api::routing
+{
+
+struct SetRoutePoints
+{
+  using Service = autoware_adapi_v1_msgs::srv::SetRoutePoints;
+  static constexpr char name[] = "/api/routing/set_route_points";
+};
+
+struct SetRoute
+{
+  using Service = autoware_adapi_v1_msgs::srv::SetRoute;
+  static constexpr char name[] = "/api/routing/set_route";
+};
+
+struct ChangeRoutePoints
+{
+  using Service = autoware_adapi_v1_msgs::srv::SetRoutePoints;
+  static constexpr char name[] = "/api/routing/change_route_points";
+};
+
+struct ChangeRoute
+{
+  using Service = autoware_adapi_v1_msgs::srv::SetRoute;
+  static constexpr char name[] = "/api/routing/change_route";
+};
+
+struct ClearRoute
+{
+  using Service = autoware_adapi_v1_msgs::srv::ClearRoute;
+  static constexpr char name[] = "/api/routing/clear_route";
+};
+
+struct RouteState
+{
+  using Message = autoware_adapi_v1_msgs::msg::RouteState;
+  static constexpr char name[] = "/api/routing/state";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+};
+
+struct Route
+{
+  using Message = autoware_adapi_v1_msgs::msg::Route;
+  static constexpr char name[] = "/api/routing/route";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+};
+
+}  // namespace autoware_ad_api::routing
+
+#endif  // AUTOWARE_AD_API_SPECS__ROUTING_HPP_

slave/src/Api/autoware_ad_api_specs/include/autoware_ad_api_specs/system.hpp

@@ -0,0 +1,36 @@
+// Copyright 2024 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE_AD_API_SPECS__SYSTEM_HPP_
+#define AUTOWARE_AD_API_SPECS__SYSTEM_HPP_
+
+#include <rclcpp/qos.hpp>
+
+#include <autoware_adapi_v1_msgs/msg/heartbeat.hpp>
+
+namespace autoware_ad_api::system
+{
+
+struct Heartbeat
+{
+  using Message = autoware_adapi_v1_msgs::msg::Heartbeat;
+  static constexpr char name[] = "/api/system/heartbeat";
+  static constexpr size_t depth = 10;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+};
+
+}  // namespace autoware_ad_api::system
+
+#endif  // AUTOWARE_AD_API_SPECS__SYSTEM_HPP_

slave/src/Api/autoware_ad_api_specs/include/autoware_ad_api_specs/vehicle.hpp

@@ -0,0 +1,77 @@
+// Copyright 2023 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE_AD_API_SPECS__VEHICLE_HPP_
+#define AUTOWARE_AD_API_SPECS__VEHICLE_HPP_
+
+#include <rclcpp/qos.hpp>
+
+#include <autoware_adapi_v1_msgs/msg/door_status_array.hpp>
+#include <autoware_adapi_v1_msgs/msg/vehicle_kinematics.hpp>
+#include <autoware_adapi_v1_msgs/msg/vehicle_status.hpp>
+#include <autoware_adapi_v1_msgs/srv/get_door_layout.hpp>
+#include <autoware_adapi_v1_msgs/srv/get_vehicle_dimensions.hpp>
+#include <autoware_adapi_v1_msgs/srv/set_door_command.hpp>
+
+namespace autoware_ad_api::vehicle
+{
+
+struct VehicleKinematics
+{
+  using Message = autoware_adapi_v1_msgs::msg::VehicleKinematics;
+  static constexpr char name[] = "/api/vehicle/kinematics";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+};
+
+struct VehicleStatus
+{
+  using Message = autoware_adapi_v1_msgs::msg::VehicleStatus;
+  static constexpr char name[] = "/api/vehicle/status";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+};
+
+struct Dimensions
+{
+  using Service = autoware_adapi_v1_msgs::srv::GetVehicleDimensions;
+  static constexpr char name[] = "/api/vehicle/dimensions";
+};
+
+struct DoorCommand
+{
+  using Service = autoware_adapi_v1_msgs::srv::SetDoorCommand;
+  static constexpr char name[] = "/api/vehicle/doors/command";
+};
+
+struct DoorLayout
+{
+  using Service = autoware_adapi_v1_msgs::srv::GetDoorLayout;
+  static constexpr char name[] = "/api/vehicle/doors/layout";
+};
+
+struct DoorStatus
+{
+  using Message = autoware_adapi_v1_msgs::msg::DoorStatusArray;
+  static constexpr char name[] = "/api/vehicle/doors/status";
+  static constexpr size_t depth = 1;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+};
+
+}  // namespace autoware_ad_api::vehicle
+
+#endif  // AUTOWARE_AD_API_SPECS__VEHICLE_HPP_

slave/src/Api/autoware_ad_api_specs/package.xml

@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>autoware_ad_api_specs</name>
+  <version>0.0.0</version>
+  <description>The autoware_ad_api_specs package</description>
+  <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
+  <maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>autoware_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

slave/src/Api/default_ad_api_helpers/ad_api_adaptors/CMakeLists.txt

@@ -0,0 +1,24 @@
+cmake_minimum_required(VERSION 3.14)
+project(ad_api_adaptors)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/initial_pose_adaptor.cpp
+  src/routing_adaptor.cpp
+)
+
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "ad_api_adaptors::InitialPoseAdaptor"
+  EXECUTABLE initial_pose_adaptor_node
+  EXECUTOR MultiThreadedExecutor
+)
+
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "ad_api_adaptors::RoutingAdaptor"
+  EXECUTABLE routing_adaptor_node
+  EXECUTOR SingleThreadedExecutor
+)
+
+ament_auto_package(INSTALL_TO_SHARE config launch)

slave/src/Api/default_ad_api_helpers/ad_api_adaptors/README.md

@@ -0,0 +1,35 @@
+# ad_api_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.](../../../map/autoware_map_height_fitter/README.md)
+
+| Interface    | Local Name  | Global Name                  | Description                               |
+| ------------ | ----------- | ---------------------------- | ----------------------------------------- |
+| Subscription | initialpose | /initialpose                 | The pose for localization initialization. |
+| Client       | -           | /api/localization/initialize | The localization initialize API.          |
+
+## 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.
+
+| Interface    | Local Name         | Global Name                           | Description                                        |
+| ------------ | ------------------ | ------------------------------------- | -------------------------------------------------- |
+| Subscription | -                  | /api/routing/state                    | The state of the routing API.                      |
+| Subscription | ~/input/fixed_goal | /planning/mission_planning/goal       | The goal pose of route. Disable goal modification. |
+| Subscription | ~/input/rough_goal | /rviz/routing/rough_goal              | The goal pose of route. Enable goal modification.  |
+| Subscription | ~/input/reroute    | /rviz/routing/reroute                 | The goal pose of reroute.                          |
+| Subscription | ~/input/waypoint   | /planning/mission_planning/checkpoint | The waypoint pose of route.                        |
+| Client       | -                  | /api/routing/clear_route              | The route clear API.                               |
+| Client       | -                  | /api/routing/set_route_points         | The route points set API.                          |
+| Client       | -                  | /api/routing/change_route_points      | The route points change API.                       |
+
+## parameters
+
+{{ json_to_markdown("/system/default_ad_api_helpers/ad_api_adaptors/schema/ad_api_adaptors.schema.json") }}

slave/src/Api/default_ad_api_helpers/ad_api_adaptors/config/initial_pose.param.yaml

@@ -0,0 +1,13 @@
+/**:
+  ros__parameters:
+
+    # from initialpose (Rviz's 2DPoseEstimate)
+    initial_pose_particle_covariance:
+      [
+        4.0, 0.0, 0.0,  0.0,  0.0,  0.0,
+        0.0, 4.0, 0.0,  0.0,  0.0,  0.0,
+        0.0, 0.0, 0.01, 0.0,  0.0,  0.0,
+        0.0, 0.0, 0.0,  0.01, 0.0,  0.0,
+        0.0, 0.0, 0.0,  0.0,  0.01, 0.0,
+        0.0, 0.0, 0.0,  0.0,  0.0,  1.0,
+      ]

slave/src/Api/default_ad_api_helpers/ad_api_adaptors/launch/rviz_adaptors.launch.xml

@@ -0,0 +1,22 @@
+<launch>
+  <arg name="rviz_initial_pose_auto_fix_target" default="pointcloud_map"/>
+
+  <group>
+    <push-ros-namespace namespace="default_ad_api/helpers"/>
+    <node pkg="ad_api_adaptors" exec="initial_pose_adaptor_node">
+      <param from="$(find-pkg-share ad_api_adaptors)/config/initial_pose.param.yaml"/>
+      <param name="map_height_fitter.map_loader_name" value="/map/pointcloud_map_loader"/>
+      <param name="map_height_fitter.target" value="$(var rviz_initial_pose_auto_fix_target)"/>
+      <remap from="~/initialpose" to="/initialpose"/>
+      <remap from="~/pointcloud_map" to="/map/pointcloud_map"/>
+      <remap from="~/partial_map_load" to="/map/get_partial_pointcloud_map"/>
+      <remap from="~/vector_map" to="/map/vector_map"/>
+    </node>
+    <node pkg="ad_api_adaptors" exec="routing_adaptor_node">
+      <remap from="~/input/fixed_goal" to="/planning/mission_planning/goal"/>
+      <remap from="~/input/rough_goal" to="/rviz/routing/rough_goal"/>
+      <remap from="~/input/reroute" to="/rviz/routing/reroute"/>
+      <remap from="~/input/waypoint" to="/planning/mission_planning/checkpoint"/>
+    </node>
+  </group>
+</launch>

slave/src/Api/default_ad_api_helpers/ad_api_adaptors/package.xml

@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>ad_api_adaptors</name>
+  <version>0.1.0</version>
+  <description>The ad_api_adaptors package</description>
+  <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
+  <maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
+  <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>autoware_cmake</buildtool_depend>
+
+  <depend>autoware_ad_api_specs</depend>
+  <depend>autoware_adapi_v1_msgs</depend>
+  <depend>autoware_map_height_fitter</depend>
+  <depend>component_interface_utils</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

slave/src/Api/default_ad_api_helpers/ad_api_adaptors/schema/ad_api_adaptors.schema.json

@@ -0,0 +1,37 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "ad_api_adaptors parameter",
+  "type": "object",
+  "definitions": {
+    "ad_api_adaptors": {
+      "type": "object",
+      "properties": {
+        "initial_pose_particle_covariance": {
+          "type": "array",
+          "description": "initial_pose_particle_covariance",
+          "default": [
+            4.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0,
+            0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0,
+            0.0, 1.0
+          ]
+        }
+      },
+      "required": ["initial_pose_particle_covariance"],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/initial_pose_particle_covariance"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}

slave/src/Api/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.cpp

@@ -0,0 +1,66 @@
+// Copyright 2022 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "initial_pose_adaptor.hpp"
+
+#include <memory>
+#include <string>
+#include <vector>
+
+namespace ad_api_adaptors
+{
+template <class ServiceT>
+using Future = typename rclcpp::Client<ServiceT>::SharedFuture;
+
+std::array<double, 36> get_covariance_parameter(rclcpp::Node * node, const std::string & name)
+{
+  const auto vector = node->declare_parameter<std::vector<double>>(name);
+  if (vector.size() != 36) {
+    throw std::invalid_argument("The covariance parameter size is not 36.");
+  }
+  std::array<double, 36> array;
+  std::copy_n(vector.begin(), array.size(), array.begin());
+  return array;
+}
+
+InitialPoseAdaptor::InitialPoseAdaptor(const rclcpp::NodeOptions & options)
+: Node("initial_pose_adaptor", options), fitter_(this)
+{
+  rviz_particle_covariance_ = get_covariance_parameter(this, "initial_pose_particle_covariance");
+  sub_initial_pose_ = create_subscription<PoseWithCovarianceStamped>(
+    "~/initialpose", rclcpp::QoS(1),
+    std::bind(&InitialPoseAdaptor::on_initial_pose, this, std::placeholders::_1));
+
+  const auto adaptor = component_interface_utils::NodeAdaptor(this);
+  adaptor.init_cli(cli_initialize_);
+}
+
+void InitialPoseAdaptor::on_initial_pose(const PoseWithCovarianceStamped::ConstSharedPtr msg)
+{
+  PoseWithCovarianceStamped pose = *msg;
+  const auto fitted = fitter_.fit(pose.pose.pose.position, pose.header.frame_id);
+  if (fitted) {
+    pose.pose.pose.position = fitted.value();
+  }
+  pose.pose.covariance = rviz_particle_covariance_;
+
+  const auto req = std::make_shared<Initialize::Service::Request>();
+  req->pose.push_back(pose);
+  cli_initialize_->async_send_request(req);
+}
+
+}  // namespace ad_api_adaptors
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(ad_api_adaptors::InitialPoseAdaptor)

slave/src/Api/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.hpp

@@ -0,0 +1,46 @@
+// Copyright 2022 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef INITIAL_POSE_ADAPTOR_HPP_
+#define INITIAL_POSE_ADAPTOR_HPP_
+
+#include <autoware/map_height_fitter/map_height_fitter.hpp>
+#include <autoware_ad_api_specs/localization.hpp>
+#include <component_interface_utils/rclcpp.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+#include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
+
+namespace ad_api_adaptors
+{
+
+class InitialPoseAdaptor : public rclcpp::Node
+{
+public:
+  explicit InitialPoseAdaptor(const rclcpp::NodeOptions & options);
+
+private:
+  using PoseWithCovarianceStamped = geometry_msgs::msg::PoseWithCovarianceStamped;
+  using Initialize = autoware_ad_api::localization::Initialize;
+  rclcpp::Subscription<PoseWithCovarianceStamped>::SharedPtr sub_initial_pose_;
+  component_interface_utils::Client<Initialize>::SharedPtr cli_initialize_;
+  std::array<double, 36> rviz_particle_covariance_;
+  autoware::map_height_fitter::MapHeightFitter fitter_;
+
+  void on_initial_pose(const PoseWithCovarianceStamped::ConstSharedPtr msg);
+};
+
+}  // namespace ad_api_adaptors
+
+#endif  // INITIAL_POSE_ADAPTOR_HPP_

slave/src/Api/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.cpp

@@ -0,0 +1,115 @@
+// Copyright 2022 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "routing_adaptor.hpp"
+
+#include <memory>
+
+namespace ad_api_adaptors
+{
+
+RoutingAdaptor::RoutingAdaptor(const rclcpp::NodeOptions & options)
+: Node("routing_adaptor", options)
+{
+  using std::placeholders::_1;
+
+  sub_fixed_goal_ = create_subscription<PoseStamped>(
+    "~/input/fixed_goal", 3, std::bind(&RoutingAdaptor::on_fixed_goal, this, _1));
+  sub_rough_goal_ = create_subscription<PoseStamped>(
+    "~/input/rough_goal", 3, std::bind(&RoutingAdaptor::on_rough_goal, this, _1));
+  sub_reroute_ = create_subscription<PoseStamped>(
+    "~/input/reroute", 3, std::bind(&RoutingAdaptor::on_reroute, this, _1));
+  sub_waypoint_ = create_subscription<PoseStamped>(
+    "~/input/waypoint", 10, std::bind(&RoutingAdaptor::on_waypoint, this, _1));
+
+  const auto adaptor = component_interface_utils::NodeAdaptor(this);
+  adaptor.init_cli(cli_reroute_);
+  adaptor.init_cli(cli_route_);
+  adaptor.init_cli(cli_clear_);
+  adaptor.init_sub(
+    sub_state_, [this](const RouteState::Message::ConstSharedPtr msg) { state_ = msg->state; });
+
+  const auto rate = rclcpp::Rate(5.0);
+  timer_ = rclcpp::create_timer(
+    this, get_clock(), rate.period(), std::bind(&RoutingAdaptor::on_timer, this));
+
+  state_ = RouteState::Message::UNKNOWN;
+  route_ = std::make_shared<SetRoutePoints::Service::Request>();
+}
+
+void RoutingAdaptor::on_timer()
+{
+  // Wait a moment to combine consecutive goals and checkpoints into a single request.
+  // This value is rate dependent and set the wait time for merging.
+  constexpr int delay_count = 3;  // 0.4 seconds (rate * (value - 1))
+  if (0 < request_timing_control_ && request_timing_control_ < delay_count) {
+    ++request_timing_control_;
+  }
+  if (request_timing_control_ != delay_count) {
+    return;
+  }
+
+  if (!calling_service_) {
+    if (state_ != RouteState::Message::UNSET) {
+      const auto request = std::make_shared<ClearRoute::Service::Request>();
+      calling_service_ = true;
+      cli_clear_->async_send_request(request, [this](auto) { calling_service_ = false; });
+    } else {
+      request_timing_control_ = 0;
+      calling_service_ = true;
+      cli_route_->async_send_request(route_, [this](auto) { calling_service_ = false; });
+    }
+  }
+}
+
+void RoutingAdaptor::on_fixed_goal(const PoseStamped::ConstSharedPtr pose)
+{
+  request_timing_control_ = 1;
+  route_->header = pose->header;
+  route_->goal = pose->pose;
+  route_->waypoints.clear();
+  route_->option.allow_goal_modification = false;
+}
+
+void RoutingAdaptor::on_rough_goal(const PoseStamped::ConstSharedPtr pose)
+{
+  request_timing_control_ = 1;
+  route_->header = pose->header;
+  route_->goal = pose->pose;
+  route_->waypoints.clear();
+  route_->option.allow_goal_modification = true;
+}
+
+void RoutingAdaptor::on_waypoint(const PoseStamped::ConstSharedPtr pose)
+{
+  if (route_->header.frame_id != pose->header.frame_id) {
+    RCLCPP_ERROR_STREAM(get_logger(), "The waypoint frame does not match the goal.");
+    return;
+  }
+  request_timing_control_ = 1;
+  route_->waypoints.push_back(pose->pose);
+}
+
+void RoutingAdaptor::on_reroute(const PoseStamped::ConstSharedPtr pose)
+{
+  const auto route = std::make_shared<SetRoutePoints::Service::Request>();
+  route->header = pose->header;
+  route->goal = pose->pose;
+  cli_reroute_->async_send_request(route);
+}
+
+}  // namespace ad_api_adaptors
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(ad_api_adaptors::RoutingAdaptor)

slave/src/Api/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.hpp

@@ -0,0 +1,64 @@
+// Copyright 2022 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef ROUTING_ADAPTOR_HPP_
+#define ROUTING_ADAPTOR_HPP_
+
+#include <autoware_ad_api_specs/routing.hpp>
+#include <component_interface_utils/rclcpp.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+#include <geometry_msgs/msg/pose_stamped.hpp>
+
+#include <string>
+
+namespace ad_api_adaptors
+{
+
+class RoutingAdaptor : public rclcpp::Node
+{
+public:
+  explicit RoutingAdaptor(const rclcpp::NodeOptions & options);
+
+private:
+  using PoseStamped = geometry_msgs::msg::PoseStamped;
+  using SetRoutePoints = autoware_ad_api::routing::SetRoutePoints;
+  using ChangeRoutePoints = autoware_ad_api::routing::ChangeRoutePoints;
+  using ClearRoute = autoware_ad_api::routing::ClearRoute;
+  using RouteState = autoware_ad_api::routing::RouteState;
+  component_interface_utils::Client<ChangeRoutePoints>::SharedPtr cli_reroute_;
+  component_interface_utils::Client<SetRoutePoints>::SharedPtr cli_route_;
+  component_interface_utils::Client<ClearRoute>::SharedPtr cli_clear_;
+  component_interface_utils::Subscription<RouteState>::SharedPtr sub_state_;
+  rclcpp::Subscription<PoseStamped>::SharedPtr sub_fixed_goal_;
+  rclcpp::Subscription<PoseStamped>::SharedPtr sub_rough_goal_;
+  rclcpp::Subscription<PoseStamped>::SharedPtr sub_waypoint_;
+  rclcpp::Subscription<PoseStamped>::SharedPtr sub_reroute_;
+  rclcpp::TimerBase::SharedPtr timer_;
+
+  bool calling_service_ = false;
+  int request_timing_control_ = 0;
+  SetRoutePoints::Service::Request::SharedPtr route_;
+  RouteState::Message::_state_type state_;
+
+  void on_timer();
+  void on_fixed_goal(const PoseStamped::ConstSharedPtr pose);
+  void on_rough_goal(const PoseStamped::ConstSharedPtr pose);
+  void on_waypoint(const PoseStamped::ConstSharedPtr pose);
+  void on_reroute(const PoseStamped::ConstSharedPtr pose);
+};
+
+}  // namespace ad_api_adaptors
+
+#endif  // ROUTING_ADAPTOR_HPP_

slave/src/Api/tier4_ad_api_adaptor/.clang-format

@@ -0,0 +1,47 @@
+# Modified from https://github.com/ament/ament_lint/blob/master/ament_clang_format/ament_clang_format/configuration/.clang-format
+Language: Cpp
+BasedOnStyle: Google
+
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
+AllowShortFunctionsOnASingleLine: InlineOnly
+BraceWrapping:
+  AfterClass: true
+  AfterFunction: true
+  AfterNamespace: true
+  AfterStruct: true
+BreakBeforeBraces: Custom
+ColumnLimit: 100
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+DerivePointerAlignment: false
+PointerAlignment: Middle
+ReflowComments: true
+IncludeCategories:
+  # C++ system headers
+  - Regex: <[a-z_]*>
+    Priority: 6
+    CaseSensitive: true
+  # C system headers
+  - Regex: <.*\.h>
+    Priority: 5
+    CaseSensitive: true
+  # Boost headers
+  - Regex: boost/.*
+    Priority: 4
+    CaseSensitive: true
+  # Message headers
+  - Regex: .*_msgs/.*
+    Priority: 3
+    CaseSensitive: true
+  - Regex: .*_srvs/.*
+    Priority: 3
+    CaseSensitive: true
+  # Other Package headers
+  - Regex: <.*>
+    Priority: 2
+    CaseSensitive: true
+  # Local package headers
+  - Regex: '".*"'
+    Priority: 1
+    CaseSensitive: true

slave/src/Api/tier4_ad_api_adaptor/.github/PULL_REQUEST_TEMPLATE.md

@@ -0,0 +1,56 @@
+## PR Type
+
+<!-- Select one and remove others. If an appropriate one is not listed, please write by yourself. -->
+
+- New Feature
+- Improvement
+- Bug Fix
+
+## Related Links
+
+<!-- Please write related links to GitHub/Jira/Slack/etc. -->
+
+## Description
+
+<!-- Describe what this PR changes. -->
+
+## Review Procedure
+
+<!-- Explain how to review this PR. -->
+
+## Remarks
+
+<!-- Write remarks as you like if you need them. -->
+
+## Pre-Review Checklist for the PR Author
+
+**PR Author should check the checkboxes below when creating the PR.**
+
+- [ ] Code follows [coding guidelines][coding-guidelines]
+- [ ] Assign PR to reviewer
+
+## Checklist for the PR Reviewer
+
+**Reviewers should check the checkboxes below before approval.**
+
+- [ ] Commits are properly organized and messages are according to the guideline
+- [ ] Code follows [coding guidelines][coding-guidelines]
+- [ ] (Optional) Unit tests have been written for new behavior
+- [ ] PR title describes the changes
+
+## Post-Review Checklist for the PR Author
+
+**PR Author should check the checkboxes below before merging.**
+
+- [ ] All open points are addressed and tracked via issues or tickets
+- [ ] Write [release notes][release-notes]
+
+## CI Checks
+
+- **Build and test for PR / build-and-test-pr**: Required to pass before the merge.
+- **Build and test for PR / clang-tidy-pr**: NOT required to pass before the merge. It is up to the reviewer(s).
+- **Check spelling**: NOT required to pass before the merge. It is up to the reviewer(s). See [here][spell-check-dict] if you want to add some words to the spell check dictionary.
+
+[coding-guidelines]: https://tier4.atlassian.net/wiki/spaces/AIP/pages/1194394777/T4
+[release-notes]: https://tier4.atlassian.net/wiki/spaces/AIP/pages/563774416
+[spell-check-dict]: https://github.com/tier4/autoware-spell-check-dict#how-to-contribute

slave/src/Api/tier4_ad_api_adaptor/.github/dependabot.yaml

@@ -0,0 +1,10 @@
+version: 2
+updates:
+  - package-ecosystem: github-actions
+    directory: /
+    schedule:
+      interval: daily
+    open-pull-requests-limit: 1
+    labels:
+      - tag:bot
+      - type:github-actions

slave/src/Api/tier4_ad_api_adaptor/.github/sync-files.yaml

@@ -0,0 +1,20 @@
+- repository: autowarefoundation/autoware_common
+  files:
+    - source: .github/dependabot.yaml
+    - source: .github/workflows/build-and-test.yaml
+    - source: .github/workflows/build-and-test-differential.yaml
+    - source: .github/workflows/pre-commit.yaml
+    - source: .github/workflows/pre-commit-optional.yaml
+    - source: .github/workflows/semantic-pull-request.yaml
+    - source: .github/workflows/spell-check-differential.yaml
+    - source: .github/workflows/sync-files.yaml
+    - source: .clang-format
+    - source: .markdown-link-check.json
+    - source: .markdownlint.yaml
+    - source: .pre-commit-config.yaml
+    - source: .pre-commit-config-optional.yaml
+    - source: .prettierignore
+    - source: .prettierrc.yaml
+    - source: .yamllint.yaml
+    - source: CPPLINT.cfg
+    - source: setup.cfg

slave/src/Api/tier4_ad_api_adaptor/.github/workflows/build-and-test-differential.yaml

@@ -0,0 +1,91 @@
+name: build-and-test-differential
+
+on:
+  pull_request:
+
+jobs:
+  build-and-test-differential:
+    runs-on: ubuntu-latest
+    container: ${{ matrix.container }}
+    strategy:
+      fail-fast: false
+      matrix:
+        rosdistro:
+          - humble
+        include:
+          - rosdistro: humble
+            container: ros:humble
+            build-depends-repos: build_depends.repos
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+
+      - name: Remove exec_depend
+        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
+
+      - name: Get modified packages
+        id: get-modified-packages
+        uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
+
+      - name: Build
+        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/colcon-build@v1
+        with:
+          rosdistro: ${{ matrix.rosdistro }}
+          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          build-depends-repos: ${{ matrix.build-depends-repos }}
+
+      - name: Test
+        id: test
+        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/colcon-test@v1
+        with:
+          rosdistro: ${{ matrix.rosdistro }}
+          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          build-depends-repos: ${{ matrix.build-depends-repos }}
+
+      - name: Upload coverage to CodeCov
+        if: ${{ steps.test.outputs.coverage-report-files != '' }}
+        uses: codecov/codecov-action@v3
+        with:
+          files: ${{ steps.test.outputs.coverage-report-files }}
+          fail_ci_if_error: false
+          verbose: true
+          flags: differential
+
+  clang-tidy-differential:
+    runs-on: ubuntu-latest
+    container: ros:humble
+    needs: build-and-test-differential
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+
+      - name: Remove exec_depend
+        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
+
+      - name: Get modified packages
+        id: get-modified-packages
+        uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
+
+      - name: Get modified files
+        id: get-modified-files
+        uses: tj-actions/changed-files@v42
+        with:
+          files: |
+            **/*.cpp
+            **/*.hpp
+
+      - name: Run clang-tidy
+        if: ${{ steps.get-modified-files.outputs.all_changed_files != '' }}
+        uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
+        with:
+          rosdistro: humble
+          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          target-files: ${{ steps.get-modified-files.outputs.all_changed_files }}
+          clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy
+          build-depends-repos: build_depends.repos

slave/src/Api/tier4_ad_api_adaptor/.github/workflows/build-and-test.yaml

@@ -0,0 +1,69 @@
+name: build-and-test
+
+on:
+  push:
+  schedule:
+    - cron: 0 0 * * *
+  workflow_dispatch:
+
+jobs:
+  build-and-test:
+    if: ${{ github.event_name != 'push' || github.ref_name == github.event.repository.default_branch }}
+    runs-on: ubuntu-latest
+    container: ${{ matrix.container }}
+    strategy:
+      fail-fast: false
+      matrix:
+        rosdistro:
+          - humble
+        include:
+          - rosdistro: humble
+            container: ros:humble
+            build-depends-repos: build_depends.repos
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v3
+
+      - name: Free disk space (Ubuntu)
+        uses: jlumbroso/free-disk-space@v1.3.1
+        with:
+          tool-cache: false
+          dotnet: false
+          swap-storage: false
+          large-packages: false
+
+      - name: Remove exec_depend
+        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
+
+      - name: Get self packages
+        id: get-self-packages
+        uses: autowarefoundation/autoware-github-actions/get-self-packages@v1
+
+      - name: Build
+        if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/colcon-build@v1
+        with:
+          rosdistro: ${{ matrix.rosdistro }}
+          target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
+          build-depends-repos: ${{ matrix.build-depends-repos }}
+
+      - name: Test
+        if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
+        id: test
+        uses: autowarefoundation/autoware-github-actions/colcon-test@v1
+        with:
+          rosdistro: ${{ matrix.rosdistro }}
+          target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
+          build-depends-repos: ${{ matrix.build-depends-repos }}
+
+      - name: Upload coverage to CodeCov
+        if: ${{ steps.test.outputs.coverage-report-files != '' }}
+        uses: codecov/codecov-action@v3
+        with:
+          files: ${{ steps.test.outputs.coverage-report-files }}
+          fail_ci_if_error: false
+          verbose: true
+          flags: total
+
+      - name: Show disk space after the tasks
+        run: df -h

slave/src/Api/tier4_ad_api_adaptor/.github/workflows/pre-commit-optional.yaml

@@ -0,0 +1,19 @@
+name: pre-commit-optional
+
+on:
+  pull_request:
+
+jobs:
+  pre-commit-optional:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: Run pre-commit
+        uses: autowarefoundation/autoware-github-actions/pre-commit@v1
+        with:
+          pre-commit-config: .pre-commit-config-optional.yaml
+          base-branch: origin/${{ github.base_ref }}

slave/src/Api/tier4_ad_api_adaptor/.github/workflows/pre-commit.yaml

@@ -0,0 +1,27 @@
+name: pre-commit
+
+on:
+  pull_request:
+
+jobs:
+  pre-commit:
+    if: ${{ github.event.repository.private }} # Use pre-commit.ci for public repositories
+    runs-on: ubuntu-latest
+    steps:
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v2
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
+      - name: Check out repository
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ github.event.pull_request.head.ref }}
+
+      - name: Run pre-commit
+        uses: autowarefoundation/autoware-github-actions/pre-commit@v1
+        with:
+          pre-commit-config: .pre-commit-config.yaml
+          token: ${{ steps.generate-token.outputs.token }}

slave/src/Api/tier4_ad_api_adaptor/.github/workflows/semantic-pull-request.yaml

@@ -0,0 +1,12 @@
+name: semantic-pull-request
+
+on:
+  pull_request_target:
+    types:
+      - opened
+      - edited
+      - synchronize
+
+jobs:
+  semantic-pull-request:
+    uses: autowarefoundation/autoware-github-actions/.github/workflows/semantic-pull-request.yaml@v1

slave/src/Api/tier4_ad_api_adaptor/.github/workflows/spell-check-differential.yaml

@@ -0,0 +1,16 @@
+name: spell-check-differential
+
+on:
+  pull_request:
+
+jobs:
+  spell-check-differential:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+
+      - name: Run spell-check
+        uses: autowarefoundation/autoware-github-actions/spell-check@v1
+        with:
+          cspell-json-url: https://raw.githubusercontent.com/tier4/autoware-spell-check-dict/main/.cspell.json

slave/src/Api/tier4_ad_api_adaptor/.github/workflows/sync-files.yaml

@@ -0,0 +1,33 @@
+name: sync-files
+
+on:
+  schedule:
+    - cron: 0 0 * * *
+  workflow_dispatch:
+
+jobs:
+  check-secret:
+    uses: autowarefoundation/autoware-github-actions/.github/workflows/check-secret.yaml@v1
+    secrets:
+      secret: ${{ secrets.APP_ID }}
+
+  sync-files:
+    needs: check-secret
+    if: ${{ needs.check-secret.outputs.set == 'true' }}
+    runs-on: ubuntu-latest
+    steps:
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v2
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
+      - name: Run sync-files
+        uses: autowarefoundation/autoware-github-actions/sync-files@v1
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          pr-labels: |
+            tag:bot
+            tag:sync-files
+          auto-merge-method: squash

slave/src/Api/tier4_ad_api_adaptor/.github/workflows/sync-micro-bus.yaml

@@ -0,0 +1,30 @@
+name: sync-micro-bus
+
+on:
+  schedule:
+    - cron: 0 0 * * *
+  workflow_dispatch:
+
+jobs:
+  sync-micro-bus:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v1
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
+      - name: Run sync-branches
+        uses: autowarefoundation/autoware-github-actions/sync-branches@v1
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          base-branch: micro-bus
+          sync-pr-branch: sync-micro-bus
+          sync-target-repository: https://github.com/tier4/tier4_ad_api_adaptor
+          sync-target-branch: tier4/universe
+          pr-title: "chore: sync-micro-bus"
+          pr-labels: |
+            bot
+            sync-micro-bus

slave/src/Api/tier4_ad_api_adaptor/.markdown-link-check.json

@@ -0,0 +1,16 @@
+{
+  "aliveStatusCodes": [200, 206, 403],
+  "ignorePatterns": [
+    {
+      "pattern": "^http://localhost"
+    },
+    {
+      "pattern": "^http://127\\.0\\.0\\.1"
+    },
+    {
+      "pattern": "^https://github.com/.*/discussions/new"
+    }
+  ],
+  "retryOn429": true,
+  "retryCount": 10
+}

slave/src/Api/tier4_ad_api_adaptor/.markdownlint.yaml

@@ -0,0 +1,11 @@
+# See https://github.com/DavidAnson/markdownlint/blob/main/doc/Rules.md for all rules.
+default: true
+MD013: false
+MD024:
+  siblings_only: true
+MD029:
+  style: ordered
+MD033: false
+MD041: false
+MD046: false
+MD049: false

slave/src/Api/tier4_ad_api_adaptor/.pre-commit-config-optional.yaml

@@ -0,0 +1,6 @@
+repos:
+  - repo: https://github.com/tcort/markdown-link-check
+    rev: v3.11.2
+    hooks:
+      - id: markdown-link-check
+        args: [--quiet, --config=.markdown-link-check.json]

slave/src/Api/tier4_ad_api_adaptor/.pre-commit-config.yaml

@@ -0,0 +1,95 @@
+ci:
+  autofix_commit_msg: "style(pre-commit): autofix"
+
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.4.0
+    hooks:
+      - id: check-json
+      - id: check-merge-conflict
+      - id: check-toml
+      - id: check-xml
+      - id: check-yaml
+        args: [--unsafe]
+      - id: detect-private-key
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+      - id: trailing-whitespace
+        args: [--markdown-linebreak-ext=md]
+
+  - repo: https://github.com/igorshubovych/markdownlint-cli
+    rev: v0.33.0
+    hooks:
+      - id: markdownlint
+        args: [-c, .markdownlint.yaml, --fix]
+
+  - repo: https://github.com/pre-commit/mirrors-prettier
+    rev: v3.0.0-alpha.6
+    hooks:
+      - id: prettier
+
+  - repo: https://github.com/adrienverge/yamllint
+    rev: v1.30.0
+    hooks:
+      - id: yamllint
+
+  - repo: https://github.com/tier4/pre-commit-hooks-ros
+    rev: v0.8.0
+    hooks:
+      - id: flake8-ros
+      - id: prettier-xacro
+      - id: prettier-launch-xml
+      - id: prettier-package-xml
+      - id: ros-include-guard
+      - id: sort-package-xml
+
+  - repo: https://github.com/shellcheck-py/shellcheck-py
+    rev: v0.9.0.2
+    hooks:
+      - id: shellcheck
+
+  - repo: https://github.com/scop/pre-commit-shfmt
+    rev: v3.6.0-2
+    hooks:
+      - id: shfmt
+        args: [-w, -s, -i=4]
+
+  - repo: https://github.com/pycqa/isort
+    rev: 5.12.0
+    hooks:
+      - id: isort
+
+  - repo: https://github.com/psf/black
+    rev: 23.3.0
+    hooks:
+      - id: black
+        args: [--line-length=100]
+
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v16.0.0
+    hooks:
+      - id: clang-format
+        types_or: [c++, c, cuda]
+
+  - repo: https://github.com/cpplint/cpplint
+    rev: 1.6.1
+    hooks:
+      - id: cpplint
+        args: [--quiet]
+        exclude: .cu
+
+  - repo: https://github.com/python-jsonschema/check-jsonschema
+    rev: 0.23.2
+    hooks:
+      - id: check-metaschema
+        files: ^.+/schema/.*schema\.json$
+
+  - repo: local
+    hooks:
+      - id: prettier-svg
+        name: prettier svg
+        description: Apply Prettier with plugin-xml to svg.
+        entry: prettier --write --list-different --ignore-unknown --print-width 200 --xml-self-closing-space false --xml-whitespace-sensitivity ignore
+        language: node
+        files: .svg$
+        additional_dependencies: [prettier@2.7.1, "@prettier/plugin-xml@2.2.0"]

slave/src/Api/tier4_ad_api_adaptor/.prettierignore

@@ -0,0 +1,2 @@
+*.param.yaml
+*.rviz

slave/src/Api/tier4_ad_api_adaptor/.prettierrc.yaml

@@ -0,0 +1,20 @@
+printWidth: 100
+tabWidth: 2
+overrides:
+  - files: package.xml
+    options:
+      printWidth: 1000
+      xmlSelfClosingSpace: false
+      xmlWhitespaceSensitivity: ignore
+
+  - files: "*.launch.xml"
+    options:
+      printWidth: 200
+      xmlSelfClosingSpace: false
+      xmlWhitespaceSensitivity: ignore
+
+  - files: "*.xacro"
+    options:
+      printWidth: 200
+      xmlSelfClosingSpace: false
+      xmlWhitespaceSensitivity: ignore

slave/src/Api/tier4_ad_api_adaptor/.yamllint.yaml

@@ -0,0 +1,22 @@
+extends: default
+
+ignore: |
+  *.param.yaml
+
+rules:
+  braces:
+    level: error
+    max-spaces-inside: 1 # To format with Prettier
+  comments:
+    level: error
+    min-spaces-from-content: 1 # To be compatible with C++ and Python
+  document-start:
+    level: error
+    present: false # Don't need document start markers
+  line-length: disable # Delegate to Prettier
+  truthy:
+    level: error
+    check-keys: false # To allow 'on' of GitHub Actions
+  quoted-strings:
+    level: error
+    required: only-when-needed # To keep consistent style

slave/src/Api/tier4_ad_api_adaptor/CPPLINT.cfg

@@ -0,0 +1,14 @@
+# Modified from https://github.com/ament/ament_lint/blob/ebd524bb9973d5ec1dc48a670ce54f958a5a0243/ament_cpplint/ament_cpplint/main.py#L64-L120
+set noparent
+linelength=100
+includeorder=standardcfirst
+filter=-build/c++11               # we do allow C++11
+filter=-build/namespaces_literals # we allow using namespace for literals
+filter=-runtime/references        # we consider passing non-const references to be ok
+filter=-whitespace/braces         # we wrap open curly braces for namespaces, classes and functions
+filter=-whitespace/indent         # we don't indent keywords like public, protected and private with one space
+filter=-whitespace/parens         # we allow closing parenthesis to be on the next line
+filter=-whitespace/semicolon      # we allow the developer to decide about whitespace after a semicolon
+filter=-build/header_guard        # we automatically fix the names of header guards using pre-commit
+filter=-build/include_order       # we use the custom include order
+filter=-build/include_subdir      # we allow the style of "foo.hpp"

slave/src/Api/tier4_ad_api_adaptor/README.md

@@ -0,0 +1 @@
+# Autoware High Level API

slave/src/Api/tier4_ad_api_adaptor/build_depends.repos

@@ -0,0 +1,25 @@
+repositories:
+  core/common:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_common.git
+    version: main
+  msgs/autoware_msgs:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_msgs.git
+    version: main
+  msgs/autoware_adapi_msgs:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_adapi_msgs.git
+    version: main
+  msg/autoware_internal_msgs:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_internal_msgs.git
+    version: main
+  universe/tier4_autoware_msgs:
+    type: git
+    url: https://github.com/tier4/tier4_autoware_msgs.git
+    version: tier4/universe
+  universe/universe:
+    type: git
+    url: https://github.com/autowarefoundation/autoware.universe
+    version: main

slave/src/Api/tier4_ad_api_adaptor/setup.cfg

@@ -0,0 +1,15 @@
+[flake8]
+# Modified from https://github.com/ament/ament_lint/blob/ebd524bb9973d5ec1dc48a670ce54f958a5a0243/ament_flake8/ament_flake8/configuration/ament_flake8.ini
+extend-ignore = B902,C816,D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404,I202,CNL100,E203,E501,Q000
+import-order-style = pep8
+max-line-length = 100
+show-source = true
+statistics = true
+
+[isort]
+profile=black
+line_length=100
+force_sort_within_sections=true
+force_single_line=true
+reverse_relative=true
+known_third_party=launch

slave/src/Api/tier4_api_utils/CMakeLists.txt

@@ -0,0 +1,13 @@
+cmake_minimum_required(VERSION 3.14)
+project(tier4_api_utils)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+if(BUILD_TESTING)
+  include_directories(include)
+  ament_add_ros_isolated_gtest(${PROJECT_NAME}_test test/test.cpp)
+  ament_target_dependencies(${PROJECT_NAME}_test rclcpp tier4_external_api_msgs)
+endif()
+
+ament_auto_package()

slave/src/Api/tier4_api_utils/README.md

@@ -0,0 +1,4 @@
+# tier4_api_utils
+
+This is an old implementation of a class that logs when calling a service.
+Please use [component_interface_utils](../component_interface_utils/README.md) instead.

slave/src/Api/tier4_api_utils/include/tier4_api_utils/rclcpp/client.hpp

@@ -0,0 +1,70 @@
+// Copyright 2021 Tier IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef TIER4_API_UTILS__RCLCPP__CLIENT_HPP_
+#define TIER4_API_UTILS__RCLCPP__CLIENT_HPP_
+
+#include "rclcpp/client.hpp"
+#include "tier4_api_utils/types/response.hpp"
+
+#include <chrono>
+#include <utility>
+
+namespace tier4_api_utils
+{
+template <typename ServiceT>
+class Client
+{
+public:
+  RCLCPP_SMART_PTR_DEFINITIONS(Client)
+
+  using ResponseStatus = tier4_external_api_msgs::msg::ResponseStatus;
+  using AutowareServiceResult = std::pair<ResponseStatus, typename ServiceT::Response::SharedPtr>;
+
+  Client(typename rclcpp::Client<ServiceT>::SharedPtr client, const rclcpp::Logger & logger)
+  : client_(client), logger_(logger)
+  {
+  }
+
+  AutowareServiceResult call(
+    const typename ServiceT::Request::SharedPtr & request,
+    const std::chrono::nanoseconds & timeout = std::chrono::seconds(2))
+  {
+    RCLCPP_DEBUG(logger_, "client request");
+
+    if (!client_->service_is_ready()) {
+      RCLCPP_DEBUG(logger_, "client available");
+      return {response_error("Internal service is not available."), nullptr};
+    }
+
+    auto future = client_->async_send_request(request);
+    if (future.wait_for(timeout) != std::future_status::ready) {
+      RCLCPP_DEBUG(logger_, "client timeout");
+      return {response_error("Internal service has timed out."), nullptr};
+    }
+
+    RCLCPP_DEBUG(logger_, "client response");
+    return {response_success(), future.get()};
+  }
+
+private:
+  RCLCPP_DISABLE_COPY(Client)
+
+  typename rclcpp::Client<ServiceT>::SharedPtr client_;
+  rclcpp::Logger logger_;
+};
+
+}  // namespace tier4_api_utils
+
+#endif  // TIER4_API_UTILS__RCLCPP__CLIENT_HPP_

slave/src/Api/tier4_api_utils/include/tier4_api_utils/rclcpp/proxy.hpp

@@ -0,0 +1,63 @@
+// Copyright 2021 Tier IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef TIER4_API_UTILS__RCLCPP__PROXY_HPP_
+#define TIER4_API_UTILS__RCLCPP__PROXY_HPP_
+
+#include "rclcpp/rclcpp.hpp"
+#include "tier4_api_utils/rclcpp/client.hpp"
+#include "tier4_api_utils/rclcpp/service.hpp"
+
+#include <string>
+#include <utility>
+
+namespace tier4_api_utils
+{
+template <class NodeT>
+class ServiceProxyNodeInterface
+{
+public:
+  // Use a raw pointer because shared_from_this cannot be used in constructor.
+  explicit ServiceProxyNodeInterface(NodeT * node) { node_ = node; }
+
+  template <typename ServiceT, typename CallbackT>
+  typename Service<ServiceT>::SharedPtr create_service(
+    const std::string & service_name, CallbackT && callback,
+    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_services_default,
+    rclcpp::CallbackGroup::SharedPtr group = nullptr)
+  {
+    auto wrapped_callback = Service<ServiceT>::template wrap<CallbackT>(
+      std::forward<CallbackT>(callback), node_->get_logger());
+    return Service<ServiceT>::make_shared(node_->template create_service<ServiceT>(
+      service_name, std::move(wrapped_callback), qos_profile, group));
+  }
+
+  template <typename ServiceT>
+  typename Client<ServiceT>::SharedPtr create_client(
+    const std::string & service_name,
+    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_services_default,
+    rclcpp::CallbackGroup::SharedPtr group = nullptr)
+  {
+    return Client<ServiceT>::make_shared(
+      node_->template create_client<ServiceT>(service_name, qos_profile, group),
+      node_->get_logger());
+  }
+
+private:
+  NodeT * node_;
+};
+
+}  // namespace tier4_api_utils
+
+#endif  // TIER4_API_UTILS__RCLCPP__PROXY_HPP_

slave/src/Api/tier4_api_utils/include/tier4_api_utils/rclcpp/service.hpp

@@ -0,0 +1,51 @@
+// Copyright 2021 Tier IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef TIER4_API_UTILS__RCLCPP__SERVICE_HPP_
+#define TIER4_API_UTILS__RCLCPP__SERVICE_HPP_
+
+#include "rclcpp/service.hpp"
+
+namespace tier4_api_utils
+{
+template <typename ServiceT>
+class Service
+{
+public:
+  RCLCPP_SMART_PTR_DEFINITIONS(Service)
+
+  explicit Service(typename rclcpp::Service<ServiceT>::SharedPtr service) : service_(service) {}
+
+  template <typename CallbackT>
+  static auto wrap(CallbackT && callback, const rclcpp::Logger & logger)
+  {
+    auto wrapped_callback = [logger, callback](
+                              typename ServiceT::Request::SharedPtr request,
+                              typename ServiceT::Response::SharedPtr response) {
+      RCLCPP_INFO(logger, "service request");
+      callback(request, response);
+      RCLCPP_INFO(logger, "service response");
+    };
+    return wrapped_callback;
+  }
+
+private:
+  RCLCPP_DISABLE_COPY(Service)
+
+  typename rclcpp::Service<ServiceT>::SharedPtr service_;
+};
+
+}  // namespace tier4_api_utils
+
+#endif  // TIER4_API_UTILS__RCLCPP__SERVICE_HPP_

slave/src/Api/tier4_api_utils/include/tier4_api_utils/tier4_api_utils.hpp

@@ -0,0 +1,21 @@
+// Copyright 2021 Tier IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef TIER4_API_UTILS__TIER4_API_UTILS_HPP_
+#define TIER4_API_UTILS__TIER4_API_UTILS_HPP_
+
+#include "tier4_api_utils/rclcpp/proxy.hpp"
+#include "tier4_api_utils/types/response.hpp"
+
+#endif  // TIER4_API_UTILS__TIER4_API_UTILS_HPP_

slave/src/Api/tier4_api_utils/include/tier4_api_utils/types/response.hpp

@@ -0,0 +1,78 @@
+// Copyright 2021 Tier IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef TIER4_API_UTILS__TYPES__RESPONSE_HPP_
+#define TIER4_API_UTILS__TYPES__RESPONSE_HPP_
+
+#include "rclcpp/rclcpp.hpp"
+
+#include "tier4_external_api_msgs/msg/response_status.hpp"
+
+#include <string>
+
+namespace tier4_api_utils
+{
+using ResponseStatus = tier4_external_api_msgs::msg::ResponseStatus;
+
+inline bool is_success(const tier4_external_api_msgs::msg::ResponseStatus & status)
+{
+  return status.code == tier4_external_api_msgs::msg::ResponseStatus::SUCCESS;
+}
+
+inline bool is_ignored(const tier4_external_api_msgs::msg::ResponseStatus & status)
+{
+  return status.code == tier4_external_api_msgs::msg::ResponseStatus::IGNORED;
+}
+
+inline bool is_warn(const tier4_external_api_msgs::msg::ResponseStatus & status)
+{
+  return status.code == tier4_external_api_msgs::msg::ResponseStatus::WARN;
+}
+
+inline bool is_error(const tier4_external_api_msgs::msg::ResponseStatus & status)
+{
+  return status.code == tier4_external_api_msgs::msg::ResponseStatus::ERROR;
+}
+
+inline ResponseStatus response_success(const std::string & message = "")
+{
+  return tier4_external_api_msgs::build<tier4_external_api_msgs::msg::ResponseStatus>()
+    .code(tier4_external_api_msgs::msg::ResponseStatus::SUCCESS)
+    .message(message);
+}
+
+inline ResponseStatus response_ignored(const std::string & message = "")
+{
+  return tier4_external_api_msgs::build<tier4_external_api_msgs::msg::ResponseStatus>()
+    .code(tier4_external_api_msgs::msg::ResponseStatus::IGNORED)
+    .message(message);
+}
+
+inline ResponseStatus response_warn(const std::string & message = "")
+{
+  return tier4_external_api_msgs::build<tier4_external_api_msgs::msg::ResponseStatus>()
+    .code(tier4_external_api_msgs::msg::ResponseStatus::WARN)
+    .message(message);
+}
+
+inline ResponseStatus response_error(const std::string & message = "")
+{
+  return tier4_external_api_msgs::build<tier4_external_api_msgs::msg::ResponseStatus>()
+    .code(tier4_external_api_msgs::msg::ResponseStatus::ERROR)
+    .message(message);
+}
+
+}  // namespace tier4_api_utils
+
+#endif  // TIER4_API_UTILS__TYPES__RESPONSE_HPP_

slave/src/Api/tier4_api_utils/package.xml

@@ -0,0 +1,27 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>tier4_api_utils</name>
+  <version>0.0.0</version>
+  <description>The tier4_api_utils package</description>
+  <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>autoware_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>tier4_external_api_msgs</depend>
+
+  <test_depend>ament_cmake_ros</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+  <test_depend>rclcpp</test_depend>
+  <test_depend>tier4_external_api_msgs</test_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

slave/src/Api/tier4_api_utils/test/test.cpp

@@ -0,0 +1,32 @@
+// Copyright 2021 Tier IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "gtest/gtest.h"
+#include "rclcpp/rclcpp.hpp"
+#include "tier4_api_utils/tier4_api_utils.hpp"
+
+TEST(tier4_api_utils, instantiate)
+{
+  rclcpp::Node node("tier4_api_utils_test");
+  tier4_api_utils::ServiceProxyNodeInterface proxy(&node);
+}
+
+int main(int argc, char ** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  rclcpp::init(argc, argv);
+  bool result = RUN_ALL_TESTS();
+  rclcpp::shutdown();
+  return result;
+}