From b0cf6e99d9a71d2c81a5a2a6d5a247d8e2303c20 Mon Sep 17 00:00:00 2001
From: Makoto Kurihara <mkuri8m@gmail.com>
Date: Wed, 4 Sep 2024 16:22:52 +0900
Subject: [PATCH] feat(dummy_operation_mode_publisher): add an adapi topic

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>
---
 .../launch/dummy_operation_mode_publisher.launch.xml           | 1 +
 .../src/dummy_operation_mode_publisher.cpp                     | 3 +++
 .../src/dummy_operation_mode_publisher.hpp                     | 2 ++
 3 files changed, 6 insertions(+)

diff --git a/dummy/dummy_operation_mode_publisher/launch/dummy_operation_mode_publisher.launch.xml b/dummy/dummy_operation_mode_publisher/launch/dummy_operation_mode_publisher.launch.xml
index ba1525699940b..4c49835a57e5b 100644
--- a/dummy/dummy_operation_mode_publisher/launch/dummy_operation_mode_publisher.launch.xml
+++ b/dummy/dummy_operation_mode_publisher/launch/dummy_operation_mode_publisher.launch.xml
@@ -3,5 +3,6 @@
 
   <node pkg="dummy_operation_mode_publisher" exec="dummy_operation_mode_publisher_node" name="dummy_operation_mode_publisher" output="screen">
     <remap from="~/output/operation_mode_state" to="/system/operation_mode/state"/>
+    <remap from="~/output/operation_mode_state_adapi" to="/api/operation_mode/state"/>
   </node>
 </launch>
diff --git a/dummy/dummy_operation_mode_publisher/src/dummy_operation_mode_publisher.cpp b/dummy/dummy_operation_mode_publisher/src/dummy_operation_mode_publisher.cpp
index b8840e0d3ebb7..fb8ca1e85a3b8 100644
--- a/dummy/dummy_operation_mode_publisher/src/dummy_operation_mode_publisher.cpp
+++ b/dummy/dummy_operation_mode_publisher/src/dummy_operation_mode_publisher.cpp
@@ -27,6 +27,8 @@ DummyOperationModePublisher::DummyOperationModePublisher(const rclcpp::NodeOptio
   // Publisher
   pub_operation_mode_state_ = create_publisher<autoware_adapi_v1_msgs::msg::OperationModeState>(
     "~/output/operation_mode_state", 10);
+  pub_operation_mode_state_adapi_ = create_publisher<autoware_adapi_v1_msgs::msg::OperationModeState>(
+    "~/output/operation_mode_state_adapi", 10);
 
   // Service
 
@@ -55,6 +57,7 @@ void DummyOperationModePublisher::onTimer()
   msg.is_remote_mode_available = true;
 
   pub_operation_mode_state_->publish(msg);
+  pub_operation_mode_state_adapi_->publish(msg);
 }
 
 }  // namespace dummy_operation_mode_publisher
diff --git a/dummy/dummy_operation_mode_publisher/src/dummy_operation_mode_publisher.hpp b/dummy/dummy_operation_mode_publisher/src/dummy_operation_mode_publisher.hpp
index 43ee5b756451b..7e7f574d8b4db 100644
--- a/dummy/dummy_operation_mode_publisher/src/dummy_operation_mode_publisher.hpp
+++ b/dummy/dummy_operation_mode_publisher/src/dummy_operation_mode_publisher.hpp
@@ -37,6 +37,8 @@ class DummyOperationModePublisher : public rclcpp::Node
   // Publisher
   rclcpp::Publisher<autoware_adapi_v1_msgs::msg::OperationModeState>::SharedPtr
     pub_operation_mode_state_;
+  rclcpp::Publisher<autoware_adapi_v1_msgs::msg::OperationModeState>::SharedPtr
+    pub_operation_mode_state_adapi_;
 
   // Service