Add vehicle state in plan_maneuvers service call request (usdot-fhwa-…

…stol#129)

cav_srvs/srv/PlanManeuvers.srv

@@ -6,9 +6,38 @@
 
 #request
 
+# Header
+# Stamp for the header should match time that vehicle state was computed. 
+std_msgs/Header header 
+
 # Maneuvers planned prior to the current planning request.
 # These maneuvers must not be modified by this process
 cav_msgs/ManeuverPlan prior_plan
+
+### Vehicle Initial State
+# The following vehicle state values represent the state of the vehicle at the time specified by header 
+# These values should match the start conditions for the first maneuver in prior_plan
+# Therefore for planners called after prior_plan is populated these fields should be ignored
+# Instead the end conditions of the last maneuver in prior_plan should fill this role
+###
+
+# Vehicle initial 2d position in the frame specified by header at the time specified by header
+# Units: m
+float64 veh_x
+float64 veh_y
+
+# Vehicle initial position in the route frame. This must match the veh_x, veh_y values.
+# Units: m
+float64 veh_downtrack
+
+# Vehicle initial logitudinal velocity 
+# Units: m/s
+float64 veh_logitudinal_velocity
+
+# Vehicle initial lane id
+string veh_lane_id
+
+
 ---
 
 #response