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.

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	~/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.