Autoware Heartbeat API

[yabuta]

Background

There are situations where the application wants to know whether data is communicating normally with Autoware.
However, ADAPI does not have a Heartbeat API, nor does it provide a substitute API, so there is a delay in understanding when communication with Autoware, the ECU, or the LAN is not working properly.

Proposal

I would like to have Heartbeat's API in ADAPI.

[isamu-takagi]

Thank you for the request. Is a heartbeat rate of 10 Hz sufficient?
autowarefoundation/autoware_adapi_msgs#50

[yabuta]

Thank you.I think so.

[xmfcx]

Upon your request, @isamu-takagi -san is implementing this here:

• feat(autoware_adapi_v1_msgs): add heartbeat autoware_adapi_msgs#50

[isamu-takagi]

Add API specification.
autowarefoundation/autoware-documentation#536

[isamu-takagi]

@yabuta Heartbeat API has been released in AD API v1.3.0
https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/heartbeat/

Related PRs:
autowarefoundation/autoware.universe#7139
autowarefoundation/autoware.universe#6969