Create api for vehicle status

[tkhmy]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

Hi, currently autoware do not have any api that can monitor the vehicle status, if an user or application want to get the information, they will need to get from different topic.
I suggest to create an api that combine the vehicle status and output into 1 topic.

Purpose

Hi, I'm thinking to port the vehicle status to autoware.
https://github.com/tier4/tier4_ad_api_adaptor/tree/tier4/universe/awapi_awiv_adapter#awapivehiclegetstatus

Here will the layout

• position
• geo_point
• velocity
  - target_velocity
• acceleration
  - target_acceleration
• gear
• turn_indicators
• hazard_lights
• door
• energy

Possible approaches

The documentation PR
autowarefoundation/autoware-documentation#312

https://autowarefoundation.github.io/autoware-documentation/pr-312/design/autoware-interfaces/ad-api/list/api/vehicle/

Definition of done

An api that combine the vehicle status and output to the user and application is created

[isamu-takagi]

For target_velocity and target_acceleration, It might be better to separate these as vehicle command message.
For geo_point, this cannot be provided if the map only has local coordinates.

[tkhmy]

For target_velocity and target_acceleration, It might be better to separate these as vehicle command message. For geo_point, this cannot be provided if the map only has local coordinates.

Sorry for late reply, I miss the message.
I agree that we should move the target_velocity and target_acceleration to vehicle_command.
We should just put in the current vehicle status data

For the geo_point I think we might able to convert from MGRS to the global longitude and latitude

[tkhmy]

I created the document for vehicle status
https://autowarefoundation.github.io/autoware-documentation/pr-312/design/autoware-interfaces/ad-api/list/api/vehicle/

[isamu-takagi]

For the geo_point I think we might able to convert from MGRS to the global longitude and latitude

According to the lanelet2_extension documentation, Autoware works in a local coordinate system independent of MGRS by setting local_x and local_y.

[isamu-takagi]

I forgot the API to control doors. I have three suggestions.

1. array command

message:
  - NONE
  - CLOSE
  - CLOSE
  - NONE

2. index command

message:
  - { index: 1, command: CLOSE }
  - { index: 2, command: CLOSE }

3. role command

message:
  - { role: GET_ON, command: CLOSE }