Create API to request manual operation

[isamu-takagi]

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

This issue is from tier4/tier4_ad_api_adaptor#95 (comment). Create an API that requests switching to manual driving when the vehicle becomes unable to drive.

Related to:

• Fail-safe API
• Operation mode API

Purpose

Resolve vehicle stuck.

Possible approaches

Create an API that requests switching of operation mode.

API name (RTI = request to intervene).

/api/fail_safe/rti/state

API type.

# RtiState.msg
uint16 state
string message

Definition of done

• message design
• implementation

[isamu-takagi]

@mitsudome-r @yukkysaito cc: @tkhmy, @yabuta for UI, @mkuri for MRM
I think that the message type should have at least a bool variable. Any other information you need (e.g. text message)?

[yukkysaito]

Can we use an existing RTC(Request to corporate) Interface?

[isamu-takagi]

Can we use an existing RTC(Request to corporate) Interface?

@yukkysaito RTC is a function that the operator supports Autoware decisions during autonomous driving, so it is assumed that autonomous driving can continue. On the other hand, since this is a function that requests mode switching when autonomous driving cannot continue, we concluded that it would be better to use a different API in this PR discussion.

[yabuta]

@isamu-takagi In RTI, there are situations such as OR for a stuck vehicle or an emergency vehicle passing by.
In such cases, I think it would be better to notify the operator of what caused the request for OR, so I think it would be better to have a section that describes what happened.

[isamu-takagi]

@yabuta Thank you for comment. Add message field. Also, I feel that a stuck vehicle or an emergency vehicle passing have different priorities when supporting multiple vehicles remotely, so I changed from bool to uint to support that.

[xmfcx]

@isamu-takagi -san, are there any updates on this task?

[isamu-takagi]

@xmfcx Since it may include notifications such as RTC as well as MRM, I will change it to a more generic message.