feat(dummy_operation_mode_publisher): add an adapi topic

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

Author: mkuri

dummy/dummy_operation_mode_publisher/launch/dummy_operation_mode_publisher.launch.xml

@@ -3,5 +3,6 @@
 
   <node pkg="dummy_operation_mode_publisher" exec="dummy_operation_mode_publisher_node" name="dummy_operation_mode_publisher" output="screen">
     <remap from="~/output/operation_mode_state" to="/system/operation_mode/state"/>
+    <remap from="~/output/operation_mode_state_adapi" to="/api/operation_mode/state"/>
   </node>
 </launch>

dummy/dummy_operation_mode_publisher/src/dummy_operation_mode_publisher.cpp

@@ -27,6 +27,8 @@ DummyOperationModePublisher::DummyOperationModePublisher(const rclcpp::NodeOptio
   // Publisher
   pub_operation_mode_state_ = create_publisher<autoware_adapi_v1_msgs::msg::OperationModeState>(
     "~/output/operation_mode_state", 10);
+  pub_operation_mode_state_adapi_ = create_publisher<autoware_adapi_v1_msgs::msg::OperationModeState>(
+    "~/output/operation_mode_state_adapi", 10);
 
   // Service
 
@@ -55,6 +57,7 @@ void DummyOperationModePublisher::onTimer()
   msg.is_remote_mode_available = true;
 
   pub_operation_mode_state_->publish(msg);
+  pub_operation_mode_state_adapi_->publish(msg);
 }
 
 }  // namespace dummy_operation_mode_publisher

dummy/dummy_operation_mode_publisher/src/dummy_operation_mode_publisher.hpp

@@ -37,6 +37,8 @@ class DummyOperationModePublisher : public rclcpp::Node
   // Publisher
   rclcpp::Publisher<autoware_adapi_v1_msgs::msg::OperationModeState>::SharedPtr
     pub_operation_mode_state_;
+  rclcpp::Publisher<autoware_adapi_v1_msgs::msg::OperationModeState>::SharedPtr
+    pub_operation_mode_state_adapi_;
 
   // Service