feat(ad-api): add vehicle metrics (#651)

Signed-off-by: Takagi, Isamu <[email protected]>

Author: isamu-takagi

docs/design/autoware-interfaces/ad-api/features/vehicle-status.md

@@ -4,6 +4,7 @@
 
 - {{ link_ad_api('/api/vehicle/kinematics') }}
 - {{ link_ad_api('/api/vehicle/status') }}
+- {{ link_ad_api('/api/vehicle/metrics') }}
 - {{ link_ad_api('/api/vehicle/dimensions') }}
 
 ## Kinematics
@@ -13,8 +14,13 @@ Also, using velocity and acceleration, applications can find vehicles that need
 
 ## Status
 
-This is the status provided by the vehicle. The indicators and steering are mainly used for visualization and remote control.
-The remaining energy can be also used for vehicle scheduling.
+This is the status provided by the vehicle, such as indicators and steering.
+These are mainly used for visualization and remote control.
+
+## Metrics
+
+This is metrics data provided by the vehicle, such as remaining energy
+The remaining energy can be used for vehicle dispatch scheduling.
 
 ## Dimensions
 

docs/design/autoware-interfaces/ad-api/list/api/vehicle/metrics.md

@@ -0,0 +1,15 @@
+---
+title: /api/vehicle/metrics
+status: not released
+method: reliable stream
+type:
+  name: autoware_adapi_v1_msgs/msg/VehicleMetrics
+  msg:
+    - name: energy
+      text: The remaining vehicle fuel or battery. Ratio with the maximum as 1.0.
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
+{% block description %}
+Publish vehicle metrics.
+{% endblock %}

docs/design/autoware-interfaces/ad-api/list/index.md

@@ -59,4 +59,5 @@
 | [/api/vehicle/doors/layout](./api/vehicle/doors/layout.md)                                       | v1.2.0       | function call   |
 | [/api/vehicle/doors/status](./api/vehicle/doors/status.md)                                       | v1.2.0       | notification    |
 | [/api/vehicle/kinematics](./api/vehicle/kinematics.md)                                           | v1.1.0       | realtime stream |
+| [/api/vehicle/metrics](./api/vehicle/metrics.md)                                                 | not released | reliable stream |
 | [/api/vehicle/status](./api/vehicle/status.md)                                                   | v1.4.0       | realtime stream |

docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VehicleMetrics.md

@@ -0,0 +1,14 @@
+---
+# This file is generated by tools/autoware-interfaces/generate.py
+title: autoware_adapi_v1_msgs/msg/VehicleMetrics
+---
+
+{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %}
+{% block definition %}
+
+```txt
+builtin_interfaces/Time stamp
+float32 energy  # The remaining vehicle fuel or battery. Ratio with the maximum as 1.0.
+```
+
+{% endblock %}

docs/design/autoware-interfaces/ad-api/types/index.md

@@ -47,6 +47,7 @@
 - [autoware_adapi_v1_msgs/msg/TurnIndicatorsCommand](./autoware_adapi_v1_msgs/msg/TurnIndicatorsCommand.md)
 - [autoware_adapi_v1_msgs/msg/VehicleDimensions](./autoware_adapi_v1_msgs/msg/VehicleDimensions.md)
 - [autoware_adapi_v1_msgs/msg/VehicleKinematics](./autoware_adapi_v1_msgs/msg/VehicleKinematics.md)
+- [autoware_adapi_v1_msgs/msg/VehicleMetrics](./autoware_adapi_v1_msgs/msg/VehicleMetrics.md)
 - [autoware_adapi_v1_msgs/msg/VehicleStatus](./autoware_adapi_v1_msgs/msg/VehicleStatus.md)
 - [autoware_adapi_v1_msgs/msg/VelocityCommand](./autoware_adapi_v1_msgs/msg/VelocityCommand.md)
 - [autoware_adapi_v1_msgs/msg/VelocityFactor](./autoware_adapi_v1_msgs/msg/VelocityFactor.md)

yaml/autoware-interfaces.yaml

@@ -218,6 +218,10 @@ types:
       geographic_pose: geographic_msgs/msg/GeoPointStamped
       pose: geometry_msgs/msg/PoseWithCovarianceStamped
       twist: geometry_msgs/msg/TwistWithCovarianceStamped
+  autoware_adapi_v1_msgs/msg/VehicleMetrics:
+    msg:
+      energy: float32
+      stamp: builtin_interfaces/msg/Time
   autoware_adapi_v1_msgs/msg/VehicleStatus:
     msg:
       gear: autoware_adapi_v1_msgs/msg/Gear