Merge pull request autowarefoundation#208 from tier4/cherry-pick-rviz…

…-state-plugin

chore: cherry pick adapi support for rviz state plugin

common/tier4_state_rviz_plugin/README.md

@@ -2,31 +2,47 @@
 
 ## Purpose
 
-This plugin displays the current status of autoware.  
+This plugin displays the current status of autoware.
 This plugin also can engage from the panel.
 
 ## Inputs / Outputs
 
 ### Input
 
-| Name                          | Type                                            | Description                                        |
-| ----------------------------- | ----------------------------------------------- | -------------------------------------------------- |
-| `/control/current_gate_mode`  | `tier4_control_msgs::msg::GateMode`             | The topic represents the state of AUTO or EXTERNAL |
-| `/autoware/state`             | `autoware_auto_system_msgs::msg::AutowareState` | The topic represents the state of Autoware         |
-| `/vehicle/status/gear_status` | `autoware_auto_vehicle_msgs::msg::GearReport`   | The topic represents the state of Gear             |
-| `/api/external/get/engage`    | `tier4_external_api_msgs::msg::EngageStatus`    | The topic represents the state of Engage           |
+| Name                                     | Type                                                           | Description                                                   |
+| ---------------------------------------- | -------------------------------------------------------------- | ------------------------------------------------------------- |
+| `/api/operation_mode/state`              | `autoware_adapi_v1_msgs::msg::OperationModeState`              | The topic represents the state of operation mode              |
+| `/api/routing/state`                     | `autoware_adapi_v1_msgs::msg::RouteState`                      | The topic represents the state of route                       |
+| `/api/localization/initialization_state` | `autoware_adapi_v1_msgs::msg::LocalizationInitializationState` | The topic represents the state of localization initialization |
+| `/api/motion/state`                      | `autoware_adapi_v1_msgs::msg::MotionState`                     | The topic represents the state of motion                      |
+| `/api/autoware/get/emergency`            | `tier4_external_api_msgs::msg::Emergency`                      | The topic represents the state of external emergency          |
+| `/vehicle/status/gear_status`            | `autoware_auto_vehicle_msgs::msg::GearReport`                  | The topic represents the state of gear                        |
 
 ### Output
 
-| Name                       | Type                                   | Description                    |
-| -------------------------- | -------------------------------------- | ------------------------------ |
-| `/api/external/set/engage` | `tier4_external_api_msgs::srv::Engage` | The service inputs engage true |
+| Name                                               | Type                                               | Description                                        |
+| -------------------------------------------------- | -------------------------------------------------- | -------------------------------------------------- |
+| `/api/operation_mode/change_to_autonomous`         | `autoware_adapi_v1_msgs::srv::ChangeOperationMode` | The service to change operation mode to autonomous |
+| `/api/operation_mode/change_to_stop`               | `autoware_adapi_v1_msgs::srv::ChangeOperationMode` | The service to change operation mode to stop       |
+| `/api/operation_mode/change_to_local`              | `autoware_adapi_v1_msgs::srv::ChangeOperationMode` | The service to change operation mode to local      |
+| `/api/operation_mode/change_to_remote`             | `autoware_adapi_v1_msgs::srv::ChangeOperationMode` | The service to change operation mode to remote     |
+| `/api/operation_mode/enable_autoware_control`      | `autoware_adapi_v1_msgs::srv::ChangeOperationMode` | The service to enable vehicle control by Autoware  |
+| `/api/operation_mode/disable_autoware_control`     | `autoware_adapi_v1_msgs::srv::ChangeOperationMode` | The service to disable vehicle control by Autoware |
+| `/api/routing/clear_route`                         | `autoware_adapi_v1_msgs::srv::ClearRoute`          | The service to clear route state                   |
+| `/api/motion/accept_start`                         | `autoware_adapi_v1_msgs::srv::AcceptStart`         | The service to accept the vehicle to start         |
+| `/api/autoware/set/emergency`                      | `tier4_external_api_msgs::srv::SetEmergency`       | The service to set external emergency              |
+| `/planning/scenario_planning/max_velocity_default` | `tier4_planning_msgs::msg::VelocityLimit`          | The topic to set maximum speed of the vehicle      |
 
 ## HowToUse
 
 1. Start rviz and select panels/Add new panel.
+
    ![select_panel](./images/select_panels.png)
+
 2. Select tier4_state_rviz_plugin/AutowareStatePanel and press OK.
+
    ![select_state_plugin](./images/select_state_plugin.png)
-3. If the AutowareState is WaitingForEngage, can engage by clicking the Engage button.
-   ![select_engage](./images/select_engage.png)
+
+3. If the auto button is activated, can engage by clicking it.
+
+   ![select_auto](./images/select_auto.png)

common/tier4_state_rviz_plugin/package.xml

@@ -11,6 +11,7 @@
 
   <build_depend>autoware_cmake</build_depend>
 
+  <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_auto_system_msgs</depend>
   <depend>autoware_auto_vehicle_msgs</depend>
   <depend>libqt5-core</depend>