From 9da670f08d7962b95efc36f85bc0608dc81ea898 Mon Sep 17 00:00:00 2001
From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com>
Date: Thu, 23 May 2024 19:02:01 +0900
Subject: [PATCH] feat: add autoware interface (#18)

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
---
 docs/specifications/interface.ja.md | 82 +++++++++++++++++++++++++++++
 1 file changed, 82 insertions(+)

diff --git a/docs/specifications/interface.ja.md b/docs/specifications/interface.ja.md
index a9ef523..2460046 100644
--- a/docs/specifications/interface.ja.md
+++ b/docs/specifications/interface.ja.md
@@ -1 +1,83 @@
 # インターフェース
+
+## 一覧
+
+| Interface    | Name                                 | Type                                                     |
+| ------------ | ------------------------------------ | -------------------------------------------------------- |
+| Subscription | `/control/command/control_cmd`       | `autoware_auto_control_msgs/msg/AckermannControlCommand` |
+| Publisher    | `/vehicle/status/velocity_status`    | `autoware_auto_vehicle_msgs/msg/VelocityReport`          |
+| Publisher    | `/vehicle/status/steering_status`    | `autoware_auto_vehicle_msgs/msg/SteeringReport`          |
+| Subscription | `/control/command/gear_cmd`          | `autoware_auto_vehicle_msgs/msg/GearCommand`             |
+| Publisher    | `/vehicle/status/gear_status`        | `autoware_auto_vehicle_msgs/msg/GearReport`              |
+| Publisher    | `/sensing/gnss/pose_with_covariance` | `geometry_msgs/msg/PoseWithCovarianceStamped`            |
+| Publisher    | `/sensing/imu/imu_data`              | `sensor_msgs/msg/Imu`                                    |
+
+<!--
+| Service      | `/control/control_mode_request`      | `autoware_auto_vehicle_msgs/srv/ControlModeCommand`      |
+| Publisher    | `/vehicle/status/control_mode`       | `autoware_auto_vehicle_msgs/msg/ControlModeReport`       |
+| Publisher    | `/vehicle/status/actuation_status`   | `tier4_vehicle_msgs/msg/ActuationStatusStamped`          |
+-->
+
+### `/control/command/control_cmd`
+
+| Name                                | Description          |
+| ----------------------------------- | -------------------- |
+| stamp                               | メッセージの送信時刻 |
+| lateral.stamp                       | 未使用               |
+| lateral.steering_tire_angle         | T.B.D.               |
+| lateral.steering_tire_rotation_rate | T.B.D.               |
+| longitudinal.stamp                  | 未使用               |
+| longitudinal.speed                  | T.B.D.               |
+| longitudinal.acceleration           | T.B.D.               |
+| longitudinal.jerk                   | 未使用               |
+
+### `/vehicle/status/velocity_status`
+
+| Name                  | Description              |
+| --------------------- | ------------------------ |
+| header.stamp          | データの取得時刻         |
+| header.frame_id       | フレームID (`base_link`) |
+| longitudinal_velocity | 速度                     |
+| lateral_velocity      | T.B.D.                   |
+| heading_rate          | T.B.D                    |
+
+### `/vehicle/status/steering_status`
+
+| Name                | Description      |
+| ------------------- | ---------------- |
+| stamp               | データの取得時刻 |
+| steering_tire_angle | タイヤ角度       |
+
+### `/control/command/gear_cmd`
+
+| Name    | Description          |
+| ------- | -------------------- |
+| stamp   | メッセージの送信時刻 |
+| command | ギアの種類           |
+
+### `/vehicle/status/gear_status`
+
+| Name   | Description      |
+| ------ | ---------------- |
+| stamp  | データの取得時刻 |
+| report | ギアの種類       |
+
+### `/sensing/gnss/pose_with_covariance`
+
+| Name                  | Description                                  |
+| --------------------- | -------------------------------------------- |
+| header.stamp          | データの取得時刻                             |
+| header.frame_id       | フレームID (`map`)                           |
+| pose.pose.position    | 車両位置 (フレームID `base_link` 原点の位置) |
+| pose.pose.orientation | 未使用                                       |
+| pose.covariance       | 位置精度                                     |
+
+### `/sensing/imu/imu_data`
+
+| Name                | Description              |
+| ------------------- | ------------------------ |
+| header.stamp        | データの取得時刻         |
+| header.frame_id     | フレームID (`base_link`) |
+| orientation         | 方位                     |
+| angular_velocity    | 角速度                   |
+| linear_acceleration | 加速度                   |