TIER IV Autoware API Extension

This repository provides TIER IV Autoware API that specialized for use cases in TIER IV. Some pages in this documentation are only in Japanese.

Schedule

• v0.5.0: Remove APIs with EOL 2025/09
• v1.0.0: Remove APIs with EOL 2025/12

Note

TIER IV Autoware API is sometimes called High-level API or TIER IV External API.

TIER IV Autoware API

These APIs are specialized for use cases in TIER IV. There are currently no plans to move to AD API, but this may be done if there are many requests from the community. If the version is empty, it means version v0.4.0 or earlier.

Version	Type	Name	Message/Service
-	service	/api/external/get/version	autoware_external_api_msgs/srv/GetVersion
-	service	/api/external/get/metadata/packages	tier4_external_api_msgs/srv/GetMetadataPackages
v0.4.1	topic	/api/external/get/planning_factors	tier4_external_api_msgs/msg/PlanningFactorArray
v0.4.1	topic	/api/external/get/route_distance	tier4_external_api_msgs/msg/RouteDistance
v0.4.1	topic	/api/external/get/nearest_traffic_light_group	tier4_external_api_msgs/msg/TrafficLightGroup
v0.4.1	topic	/api/external/set/virtual_traffic_light/states	tier4_v2x_msgs/msg/VirtualTrafficLightStateArray
v0.4.1	topic	/api/external/get/virtual_traffic_light/commands	tier4_v2x_msgs/msg/InfrastructureCommandArray
-	service	/api/external/set/velocity_limit	tier4_external_api_msgs/srv/SetVelocityLimit
-	topic	/api/external/get/localization_scores	tier4_external_api_msgs/msg/LocalizationScoreArray
-	topic	/api/external/get/map/info/hash	tier4_external_api_msgs/msg/MapHash
-	service	/api/external/get/map/lanelet/xml	tier4_external_api_msgs/srv/GetTextFile
-	service	/api/external/set/rosbag_logging_mode	tier4_external_api_msgs/srv/SetRosbagLoggingMode
-	topic	/api/external/get/rosbag_logging_mode	tier4_external_api_msgs/msg/RosbagLoggingMode
-	topic	/api/external/get/calibration_status	tier4_external_api_msgs/msg/CalibrationStatusArray
-	service	/api/external/get/accel_brake_map_calibrator/data	tier4_external_api_msgs/srv/GetAccelBrakeMapCalibrationData

Deprecated API

These are old implementations used internally by TIER IV. Please use AD API instead.

EOL	Type	Name	Migration Guide
2025/09	service	/api/external/set/service	This API is not used.
2025/09	topic	/api/external/get/service	This API is not used.
2025/12	service	/api/external/set/initialize_pose	Migrate to Localization API
2025/12	service	/api/external/set/initialize_pose_auto	Migrate to Localization API
2025/12	service	/api/external/set/route	Migrate to Routing API
2025/12	topic	/api/external/get/route	Migrate to Routing API
2025/12	service	/api/external/set/clear_route	Migrate to Routing API
2025/12	service	/api/external/set/engage	Migrate to Operation Mode API
2025/12	topic	/api/external/get/engage	Migrate to Operation Mode API
2025/12	service	/api/external/set/operator	Migrate to Operation Mode API
2025/12	topic	/api/external/get/operator	Migrate to Operation Mode API
2025/12	service	/api/external/set/observer	Migrate to Operation Mode API
2025/12	topic	/api/external/get/observer	Migrate to Operation Mode API
2025/12	service	/api/external/set/pause_driving	Migrate to Operation Mode API
2025/12	service	/api/autoware/set/start_request	Migrate to Motion API
2025/12	service	/api/external/set/emergency	Migrate to Fail-safe API
2025/12	topic	/api/external/get/emergency	Migrate to Fail-safe API
2025/12	topic	/api/external/get/diagnostics	Migrate to Diagnostics API
2025/12	topic	/api/external/get/vehicle/status	Migrate to Vehicle Status API
2025/12	service	/api/external/set/door	Migrate to Vehicle Doors API
2025/12	topic	/api/external/get/door	Migrate to Vehicle Doors API
2025/12	topic	/api/external/set/command/local/control	Migrate to Manual Control API
2025/12	topic	/api/external/set/command/local/shift	Migrate to Manual Control API
2025/12	topic	/api/external/set/command/local/turn_signal	Migrate to Manual Control API
2025/12	topic	/api/external/set/command/local/heartbeat	Migrate to Manual Control API
2025/12	topic	/api/external/set/command/remote/control	Migrate to Manual Control API
2025/12	topic	/api/external/set/command/remote/shift	Migrate to Manual Control API
2025/12	topic	/api/external/set/command/remote/turn_signal	Migrate to Manual Control API
2025/12	topic	/api/external/set/command/remote/heartbeat	Migrate to Manual Control API
2025/12	topic	/api/external/get/command/selected/control	Migrate to Control API
2025/12	topic	/api/external/get/command/selected/vehicle	Migrate to Control API
2025/12	topic	/api/iv_msgs/planning/scenario_planning/trajectory	Migrate to Evaluation Interface
2025/12	topic	/api/iv_msgs/perception/object_recognition/tracking/objects	Migrate to Evaluation Interface
2025/12	topic	/api/iv_msgs/autoware/state	Make Autoware State from AD API

Deprecated API (AWAPI)

EOL	Name (Field)
2025/12	/awapi/autoware/get/status (autoware_state)
2025/12	/awapi/autoware/get/status (control_mode)
2025/12	/awapi/autoware/get/status (gate_mode)
2025/12	/awapi/autoware/get/status (emergency_stopped)
2025/12	/awapi/autoware/get/status (current_max_velocity)
2025/12	/awapi/autoware/get/status (hazard_status)
2025/12	/awapi/autoware/get/status (stop_reason)
2025/12	/awapi/autoware/get/status (diagnostics)
2025/12	/awapi/autoware/get/status (error_diagnostics)
2025/12	/awapi/autoware/get/status (autonomous_overridden)
2025/12	/awapi/autoware/get/status (arrived_goal)
2025/12	/awapi/vehicle/get/status (pose)
2025/12	/awapi/vehicle/get/status (eulerangle)
2025/12	/awapi/vehicle/get/status (geo_point)
2025/12	/awapi/vehicle/get/status (velocity)
2025/12	/awapi/vehicle/get/status (acceleration)
2025/12	/awapi/vehicle/get/status (steering)
2025/12	/awapi/vehicle/get/status (steering_velocity)
2025/12	/awapi/vehicle/get/status (angular_velocity)
2025/12	/awapi/vehicle/get/status (gear)
2025/12	/awapi/vehicle/get/status (energy_level)
2025/12	/awapi/vehicle/get/status (turn_signal)
2025/12	/awapi/vehicle/get/status (target_velocity)
2025/12	/awapi/vehicle/get/status (target_acceleration)
2025/12	/awapi/vehicle/get/status (target_steering)
2025/12	/awapi/vehicle/get/status (target_steering_velocity)
2025/12	/awapi/tmp/infrastructure_commands
2025/09	/awapi/autoware/put/engage
2025/09	/awapi/autoware/put/route
2025/09	/awapi/autoware/put/goal
2025/09	/awapi/autoware/get/route
2025/09	/awapi/autoware/put/pose_initialization_request
2025/09	/awapi/vehicle/put/stop
2025/09	/awapi/vehicle/put/velocity
2025/09	/awapi//tmp/virtual_traffic_light_states
2025/09	/awapi/prediction/get/objects
2025/09	/awapi/autoware/get/stop_speed_exceeded
2025/09	/awapi/autoware/put/expand_stop_range
2025/09	/awapi/traffic_light/get/traffic_signals
2025/09	/awapi/traffic_light/get/nearest_traffic_signal
2025/09	/awapi/path_change/get/ready_module
2025/09	/awapi/path_change/get/force_available
2025/09	/awapi/path_change/get/running_modules
2025/09	/awapi/path_change/put/approval
2025/09	/awapi/path_change/put/force
2025/09	/awapi/lane_change/put/approval
2025/09	/awapi/lane_change/put/force
2025/09	/awapi/object_avoidance/put/approval
2025/09	/awapi/object_avoidance/put/force
2025/09	/awapi/traffic_light/put/traffic_signals
2025/09	/awapi/autoware/put/crosswalk_states
2025/09	/awapi/autoware/put/intersection_states
2025/09	/awapi/lane_change/get/status
2025/09	/awapi/object_avoidance/get/status

Removed API

These APIs are removed. Please use AD API instead.

Type	Name	AD API
topic	/api/iv_msgs/vehicle/status/control_mode	Operation mode API