simplify message

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
autowarefoundation · Mar 7, 2025 · 463f345 · 463f345
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diff --git a/docs/design/autoware-interfaces/ad-api/features/fail-safe.md b/docs/design/autoware-interfaces/ad-api/features/fail-safe.md
@@ -45,10 +45,3 @@ This is service dependent. Autoware supports the following transitions by defaul
 ## RTI state
 
 The RTI state indicates whether RTI is requested. If for some reason autonomous driving cannot continue, Autoware will request a change to manual driving.
-The following states are provided to properly handle RTI from multiple vehicles.
-
-| State         | Description                                                                               |
-| ------------- | ----------------------------------------------------------------------------------------- |
-| NONE          | RTI is not requested.                                                                     |
-| MRM_OPERATING | MRM is operating. Since MRC has not been achieved, immediate intervention is recommended. |
-| MRM_COMPLETED | MRM is completed. Since MRC has been achieved, give priority to vehicles with urgency.    |
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/fail_safe/rti_state.md b/docs/design/autoware-interfaces/ad-api/list/api/fail_safe/rti_state.md
@@ -5,8 +5,8 @@ method: notification
 type:
   name: autoware_adapi_v1_msgs/msg/RtiState
   msg:
-    - name: state
-      text: The state of RTI.
+    - name: request
+      text: The flag for whether RTI is requested.
     - name: message
       text: The message such as reasons for RTI.
 ---

diff --git a/.../design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/RtiState.md b/.../design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/RtiState.md
@@ -7,13 +7,8 @@ title: autoware_adapi_v1_msgs/msg/RtiState
 {% block definition %}
 
 ```txt
-uint16 UNKNOWN = 0
-uint16 NONE = 1
-uint16 MRM_OPERATING = 2
-uint16 MRM_COMPLETED = 3
-
 builtin_interfaces/Time stamp
-uint16 state
+bool request
 string message
 ```
 

diff --git a/yaml/autoware-interfaces.yaml b/yaml/autoware-interfaces.yaml
@@ -144,8 +144,8 @@ types:
   autoware_adapi_v1_msgs/msg/RtiState:
     msg:
       message: string
+      request: bool
       stamp: builtin_interfaces/msg/Time
-      state: uint16
   autoware_adapi_v1_msgs/msg/SteeringFactor:
     msg:
       behavior: string