feat(default_ad_api): release adapi v1.3.0 (#7139)

* feat(default_ad_api): release adapi v1.3.0

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* fix qos for diagnostics

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

---------

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

Author: isamu-takagi

system/default_ad_api/src/diagnostics.cpp

@@ -27,7 +27,7 @@ DiagnosticsNode::DiagnosticsNode(const rclcpp::NodeOptions & options) : Node("di
   pub_struct_ = create_publisher<autoware_adapi_v1_msgs::msg::DiagGraphStruct>(
     "/api/system/diagnostics/struct", rclcpp::QoS(1).transient_local());
   pub_status_ = create_publisher<autoware_adapi_v1_msgs::msg::DiagGraphStatus>(
-    "/api/system/diagnostics/status", rclcpp::QoS(1));
+    "/api/system/diagnostics/status", rclcpp::QoS(1).best_effort());
 
   sub_graph_.register_create_callback(std::bind(&DiagnosticsNode::on_create, this, _1));
   sub_graph_.register_update_callback(std::bind(&DiagnosticsNode::on_update, this, _1));

system/default_ad_api/src/interface.cpp

@@ -21,7 +21,7 @@ InterfaceNode::InterfaceNode(const rclcpp::NodeOptions & options) : Node("interf
 {
   const auto on_interface_version = [](auto, auto res) {
     res->major = 1;
-    res->minor = 2;
+    res->minor = 3;
     res->patch = 0;
   };
 

system/default_ad_api/test/node/interface_version.py

@@ -30,7 +30,7 @@
 
 if response.major != 1:
     exit(1)
-if response.minor != 2:
+if response.minor != 3:
     exit(1)
 if response.patch != 0:
     exit(1)