Stadia Maps Routing API

The Routing API from Stadia Maps — 3 operation(s) for routing.

OpenAPI Specification

stadia-maps-routing-api-openapi.yml Raw ↑
openapi: 3.0.3
info:
  description: 'Confidently create beautiful maps for all your users with our tools. Choose your style from our library or build your own. With a rich palette of choices to fit any context and support for dozens of languages and scripts, you can deliver a quality experience for your customers no matter what part of the globe they call home. '
  version: 7.1.0
  title: Stadia Maps Routing API
  contact:
    name: Stadia Maps Support
    url: https://www.stadiamaps.com
    email: support@stadiamaps.com
servers:
- url: https://api.stadiamaps.com
- url: https://api-eu.stadiamaps.com
tags:
- name: Routing
paths:
  /route/v1:
    post:
      tags:
      - Routing
      operationId: route
      summary: Get turn by turn routing instructions between two or more locations.
      description: The route (turn-by-turn) API computes routes between two or more locations. It supports a variety of tunable costing methods, and supports routing through intermediate waypoints and discontinuous multi-leg routes.
      security:
      - ApiKeyAuth: []
      requestBody:
        content:
          application/json:
            schema:
              $ref: '#/components/schemas/routeRequest'
      responses:
        '200':
          description: The computed route(s).
          content:
            application/json:
              schema:
                oneOf:
                - $ref: '#/components/schemas/routeResponse'
                - $ref: '#/components/schemas/osrmRouteResponse'
        '400':
          description: Bad request; more details will be included
        '500':
          description: An internal parse error occurred; more details will be included
  /matrix/v1:
    post:
      tags:
      - Routing
      operationId: time-distance-matrix
      summary: Calculate a time distance matrix for use in an optimizer.
      description: 'The time distance matrix API lets you compare travel times between a set of possible start and end points.

        See https://docs.stadiamaps.com/limits/ for documentation of our latest limits.'
      security:
      - ApiKeyAuth: []
      requestBody:
        content:
          application/json:
            schema:
              $ref: '#/components/schemas/matrixRequest'
      responses:
        '200':
          description: A matrix of times and distances between the start and end points.
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/matrixResponse'
        '400':
          description: 'Bad request; more details will be included. NOTE: failure to find suitable edges near a location will result in a 400.'
  /isochrone/v1:
    post:
      tags:
      - Routing
      operationId: isochrone
      summary: Calculate areas of equal travel time from a location.
      description: The isochrone API computes reachable areas within a time or distance constraint. The resulting polygon can be rendered on a map and used for assessing urban mobility, planning, or as a search filter of places within a constrained range.
      security:
      - ApiKeyAuth: []
      requestBody:
        content:
          application/json:
            schema:
              $ref: '#/components/schemas/isochroneRequest'
      responses:
        '200':
          description: A GeoJSON object which can be integrated into your geospatial application.
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/isochroneResponse'
        '400':
          description: Bad request; more details will be included
components:
  schemas:
    routingResponseWaypoint:
      allOf:
      - $ref: '#/components/schemas/simpleRoutingWaypoint'
      - type: object
        properties:
          original_index:
            type: integer
            description: The original index of the location (locations may be reordered for optimized routes)
            minimum: 0
    osrmWaypoint:
      type: object
      properties:
        name:
          type: string
        location:
          $ref: '#/components/schemas/osrmCoordinate'
        distance:
          type: number
          format: double
          description: The distance of the snapped point from the original location.
        hint:
          type: string
      required:
      - location
      - distance
    osrmSpeedLimit:
      type: object
      properties:
        speed:
          type: integer
        unit:
          type: string
          enum:
          - km/h
          - mph
          description: The unit of measure for the speed. Always included if speed is present.
        unknown:
          type: boolean
          description: True if the speed limit is not known.
        none:
          type: boolean
          description: 'True if there is no explicit speed limit (ex: some Autobahn sections)'
      description: The speed limit between the pair of coordinates.
    useHillsCostingOption:
      type: number
      format: double
      description: A measure of willingness to take tackle hills. Values near 0 attempt to avoid hills and steeper grades even if it means a longer route, and values near 1 indicates that the user does not fear them. Note that as some routes may be impossible without hills, 0 does not guarantee avoidance of them.
      default: 0.5
      minimum: 0
      maximum: 1
    matrixResponse:
      type: object
      properties:
        id:
          $ref: '#/components/schemas/requestId'
        sources:
          type: array
          items:
            $ref: '#/components/schemas/coordinate'
          description: The list of starting locations determined by snapping to the nearest appropriate point on the road network for the costing model. All locations appear in the same order as the input.
          minItems: 1
        targets:
          type: array
          items:
            $ref: '#/components/schemas/coordinate'
          description: The list of ending locations determined by snapping to the nearest appropriate point on the road network for the costing model. All locations appear in the same order as the input.
          minItems: 1
        sources_to_targets:
          type: array
          items:
            type: array
            items:
              $ref: '#/components/schemas/matrixDistance'
          description: The matrix of starting and ending locations, along with the computed distance and travel time. The array is row-ordered. This means that the time and distance from the first location to all others forms the first row of the array, followed by the time and distance from the second source location to all target locations, etc.
          minItems: 1
        warnings:
          type: array
          items:
            $ref: '#/components/schemas/warning'
        units:
          $ref: '#/components/schemas/valhallaLongUnits'
      required:
      - sources
      - targets
      - sources_to_targets
      - units
      example:
        targets:
        - - lon: -73.990508
            lat: 40.744014
          - lon: -73.979713
            lat: 40.739735
          - lon: -73.985015
            lat: 40.752522
          - lon: -73.983704
            lat: 40.750117
          - lon: -73.993519
            lat: 40.750552
        sources_to_targets:
        - - distance: 0
            time: 0
            to_index: 0
            from_index: 0
          - distance: 1.115
            time: 806
            to_index: 1
            from_index: 0
          - distance: 1.278
            time: 909
            to_index: 2
            from_index: 0
          - distance: 1.112
            time: 792
            to_index: 3
            from_index: 0
          - distance: 1.22
            time: 869
            to_index: 4
            from_index: 0
        sources:
        - - lon: -73.990508
            lat: 40.744014
        units: kilometers
    routeSummary:
      type: object
      properties:
        time:
          type: number
          format: double
          description: The estimated travel time, in seconds
        length:
          type: number
          format: double
          description: The estimated travel distance, in `units` (km or mi)
        min_lat:
          type: number
          format: double
          description: The minimum latitude of the bounding box containing the route.
        max_lat:
          type: number
          format: double
          description: The maximum latitude of the bounding box containing the route.
        min_lon:
          type: number
          format: double
          description: The minimum longitude of the bounding box containing the route.
        max_lon:
          type: number
          format: double
          description: The maximum longitude of the bounding box containing the route.
      required:
      - time
      - length
      - min_lat
      - min_lon
      - max_lat
      - max_lon
    valhallaLanguages:
      type: string
      enum:
      - bg-BG
      - ca-ES
      - cs-CZ
      - da-DK
      - de-DE
      - el-GR
      - en-GB
      - en-US-x-pirate
      - en-US
      - es-ES
      - et-EE
      - fi-FI
      - fr-FR
      - hi-IN
      - hu-HU
      - it-IT
      - ja-JP
      - nb-NO
      - nl-NL
      - pl-PL
      - pt-BR
      - pt-PT
      - ro-RO
      - ru-RU
      - sk-SK
      - sl-SI
      - sv-SE
      - tr-TR
      - uk-UA
      default: en-US
    osrmRouteLeg:
      type: object
      required:
      - distance
      - duration
      - steps
      properties:
        distance:
          type: number
          format: double
          description: The distance traveled by the route, in meters.
        duration:
          type: number
          format: double
          description: The estimated travel time, in number of seconds.
        weight:
          type: number
          format: double
          description: The total cost of the leg computed by the routing engine.
        summary:
          type: string
        steps:
          type: array
          items:
            $ref: '#/components/schemas/osrmRouteStep'
        annotation:
          $ref: '#/components/schemas/osrmAnnotation'
        via_waypoints:
          type: array
          nullable: true
          description: Indicates which waypoints are passed through rather than creating a new leg.
          items:
            $ref: '#/components/schemas/osrmViaWaypoint'
        admins:
          type: array
          description: Administrative regions visited along the leg.
          items:
            $ref: '#/components/schemas/osrmAdmin'
    routeResponse:
      type: object
      required:
      - trip
      properties:
        id:
          $ref: '#/components/schemas/requestId'
        trip:
          $ref: '#/components/schemas/routeTrip'
        alternates:
          type: array
          items:
            type: object
            properties:
              trip:
                $ref: '#/components/schemas/routeTrip'
      example:
        trip:
          locations:
          - type: break
            lat: 60.534715
            lon: -149.543469
            original_index: 0
          - type: break
            lat: 60.53499
            lon: -149.54858
            original_index: 1
          legs:
          - maneuvers:
            - type: 1
              instruction: Drive west on AK 1/Seward Highway.
              verbal_pre_transition_instruction: Drive west on Alaska 1, Seward Highway. Then You will arrive at your destination.
              verbal_post_transition_instruction: Continue for 900 feet.
              street_names:
              - AK 1
              - Seward Highway
              time: 11.487
              length: 0.176
              cost: 15.508
              begin_shape_index: 0
              end_shape_index: 9
              verbal_multi_cue: true
              travel_mode: drive
              travel_type: car
            - type: 4
              instruction: You have arrived at your destination.
              verbal_transition_alert_instruction: You will arrive at your destination.
              verbal_pre_transition_instruction: You have arrived at your destination.
              time: 0
              length: 0
              cost: 0
              begin_shape_index: 9
              end_shape_index: 9
              travel_mode: drive
              travel_type: car
            summary:
              has_time_restrictions: false
              min_lat: 60.534715
              min_lon: -149.54858
              max_lat: 60.535008
              max_lon: -149.543469
              time: 11.487
              length: 0.176
              cost: 15.508
            shape: wzvmrBxalf|GcCrX}A|Nu@jI}@pMkBtZ{@x^_Afj@Inn@`@veB
          summary:
            has_time_restrictions: false
            min_lat: 60.534715
            min_lon: -149.54858
            max_lat: 60.535008
            max_lon: -149.543469
            time: 11.487
            length: 0.176
            cost: 15.508
          status_message: Found route between points
          status: 0
          units: miles
          language: en-US
    routeTrip:
      type: object
      properties:
        status:
          type: integer
          description: The response status code
        status_message:
          type: string
          description: The response status message
        units:
          $ref: '#/components/schemas/valhallaLongUnits'
        language:
          $ref: '#/components/schemas/valhallaLanguages'
        locations:
          type: array
          items:
            $ref: '#/components/schemas/routingResponseWaypoint'
        legs:
          type: array
          items:
            $ref: '#/components/schemas/routeLeg'
        summary:
          $ref: '#/components/schemas/routeSummary'
      required:
      - status
      - status_message
      - units
      - language
      - locations
      - legs
      - summary
    elevation_interval:
      type: number
      format: float
      description: 'If greater than zero, attempts to include elevation along the route at regular intervals. The "native" internal resolution is 30m, so we recommend you use this when possible. This number is interpreted as either meters or feet depending on the unit parameter.

        Elevation for route sections containing a bridge or tunnel is interpolated linearly. This doesn''t always match the true elevation of the bridge/tunnel, but it prevents sharp artifacts from the surrounding terrain. This functionality is unique to the routing endpoints and is not available via the elevation API.

        NOTE: This has no effect on the OSRM response format.'
      default: 0
    motorcycleCostingOptions:
      allOf:
      - $ref: '#/components/schemas/autoCostingOptions'
      - type: object
        properties:
          use_highways:
            type: number
            format: double
            description: A measure of willingness to use highways. Values near 0 attempt to avoid highways and stay on roads with lower speeds, and values near 1 indicate the rider is more comfortable on these roads.
            default: 1
            minimum: 0
            maximum: 1
          use_trails:
            type: number
            format: double
            description: A measure of the rider's sense of adventure. Values near 0 attempt to avoid highways and stay on roads with potentially unsuitable terrain (trails, tracks, unclassified, or bad surfaces), and values near 1 will tend to avoid major roads and route on secondary roads.
            default: 0
            minimum: 0
            maximum: 1
    osrmRouteResponse:
      allOf:
      - $ref: '#/components/schemas/osrmBaseApiResponse'
      - type: object
        properties:
          waypoints:
            type: array
            items:
              $ref: '#/components/schemas/osrmWaypoint'
          routes:
            type: array
            items:
              $ref: '#/components/schemas/osrmRoute'
    motorScooterCostingOptions:
      allOf:
      - $ref: '#/components/schemas/autoCostingOptions'
      - type: object
        properties:
          use_primary:
            type: number
            format: double
            description: A measure of willingness to use primary roads. Values near 0 attempt to avoid primary roads and stay on roads with lower speeds, and values near 1 indicate the rider is more comfortable on these roads.
            default: 0.5
            minimum: 0
            maximum: 1
          use_hills:
            type: number
            format: double
            description: A measure of willingness to take tackle hills. Values near 0 attempt to avoid hills and steeper grades even if it means a longer route, and values near 1 indicates that the rider does not fear them. Note that as some routes may be impossible without hills, 0 does not guarantee avoidance of them.
            default: 0.5
            minimum: 0
            maximum: 1
    osrmRouteStep:
      type: object
      description: A maneuver such as a turn or merge, followed by travel along a single road or path.
      required:
      - distance
      - duration
      - geometry
      - mode
      - maneuver
      properties:
        distance:
          type: number
          format: double
          description: The distance traveled by the route, in meters.
        duration:
          type: number
          format: double
          description: The estimated travel time, in number of seconds.
        geometry:
          type: string
          description: An encoded polyline (https://developers.google.com/maps/documentation/utilities/polylinealgorithm) with 6 digits of decimal precision.
        weight:
          type: number
          format: double
        name:
          type: string
          description: 'The name of the segment (ex: road) being traversed'
        ref:
          type: string
          description: A reference number of code for the segment being traversed.
        pronunciation:
          type: string
          description: Pronunciation of the name (if available). The format of this varies by implementation/vendor.
        destinations:
          type: string
        exits:
          type: string
        mode:
          type: string
          description: The mode of travel.
        maneuver:
          $ref: '#/components/schemas/osrmStepManeuver'
        intersections:
          type: array
          items:
            $ref: '#/components/schemas/osrmIntersection'
        rotary_name:
          type: string
          description: The name of the traffic circle.
        rotary_pronunciation:
          type: string
          description: Pronunciation of the rotary name (if available). The format of this varies by implementation/vendor.
        driving_side:
          type: string
          enum:
          - left
          - right
          description: The side of the road on which driving is legal for this step.
        voiceInstructions:
          type: array
          items:
            $ref: '#/components/schemas/osrmVoiceInstruction'
          description: A list of announcements which should be spoken at various points along the maneuver.
        bannerInstructions:
          type: array
          items:
            $ref: '#/components/schemas/osrmBannerInstruction'
          description: A list of announcements which should be displayed prominently on screen at various points along the maneuver.
        speedLimitSign:
          type: string
          enum:
          - mutcd
          - vienna
          description: The style of speed limit signs used along the step.
        speedLimitUnit:
          type: string
          description: The unit of measure that is used locally along the step. This may be different from the unit used in maxspeed annotations, and is provided so that apps can localize their display.
    osrmAnnotation:
      type: object
      properties:
        distance:
          type: array
          items:
            type: number
            format: double
          description: The distance, in meters, between each pair of coordinates.
        duration:
          type: array
          items:
            type: number
            format: double
          description: The duration between each pair of coordinates, in seconds.
        weight:
          type: array
          items:
            type: integer
        speed:
          type: array
          items:
            type: number
            format: double
          description: The estimated speed of travel between each pair of coordinates in meters/sec.
        maxspeed:
          type: array
          items:
            $ref: '#/components/schemas/osrmSpeedLimit'
    costingOptions:
      type: object
      properties:
        auto:
          $ref: '#/components/schemas/autoCostingOptions'
        bus:
          $ref: '#/components/schemas/autoCostingOptions'
        taxi:
          $ref: '#/components/schemas/autoCostingOptions'
        truck:
          $ref: '#/components/schemas/truckCostingOptions'
        bicycle:
          $ref: '#/components/schemas/bicycleCostingOptions'
        motor_scooter:
          $ref: '#/components/schemas/motorScooterCostingOptions'
        motorcycle:
          $ref: '#/components/schemas/motorcycleCostingOptions'
        pedestrian:
          $ref: '#/components/schemas/pedestrianCostingOptions'
        low_speed_vehicle:
          $ref: '#/components/schemas/lowSpeedVehicleCostingOptions'
    osrmBaseApiResponse:
      type: object
      required:
      - code
      properties:
        code:
          type: string
          enum:
          - Ok
          - InvalidUrl
          - InvalidService
          - InvalidVersion
          - InvalidOptions
          - InvalidQuery
          - InvalidValue
          - NoSegment
          - TooBig
          - NoRoute
          - NoTable
          - NotImplemented
          - NoTrips
        message:
          type: string
        data_version:
          type: string
    maneuverSign:
      type: object
      properties:
        exit_number_elements:
          type: array
          description: A list of exit number elements. This is typically just a single value.
          items:
            $ref: '#/components/schemas/maneuverSignElement'
        exit_branch_elements:
          type: array
          description: A list of exit branch elements. The text is a subsequent road name or route number after the sign.
          items:
            $ref: '#/components/schemas/maneuverSignElement'
        exit_toward_elements:
          type: array
          description: A list of exit name elements. The text is the interchange identifier (used more frequently outside the US).
          items:
            $ref: '#/components/schemas/maneuverSignElement'
        exit_name_elements:
          type: array
          description: A list of exit name elements. The text is the location where the road ahead goes (typically a city, but occasionally a road name or route number).
          items:
            $ref: '#/components/schemas/maneuverSignElement'
    autoCostingOptions:
      allOf:
      - $ref: '#/components/schemas/baseCostingOptions'
      - type: object
        properties:
          height:
            type: number
            format: double
            description: The height of the automobile (in meters).
            default: 1.9
          width:
            type: number
            format: double
            description: The width of the automobile (in meters).
            default: 1.6
          toll_booth_cost:
            type: integer
            description: The estimated cost (in seconds) when a toll booth is encountered.
            default: 15
          toll_booth_penalty:
            type: integer
            description: A penalty (in seconds) applied to the route cost when a toll booth is encountered. This penalty can be used to reduce the likelihood of suggesting a route with toll booths unless absolutely necessary.
            default: 0
          ferry_cost:
            type: integer
            description: The estimated cost (in seconds) when a ferry is encountered.
            default: 300
          use_highways:
            type: number
            format: double
            description: A measure of willingness to take highways. Values near 0 attempt to avoid highways, and values near 1 will favour them. Note that as some routes may be impossible without highways, 0 does not guarantee avoidance of them.
            default: 0.5
            minimum: 0
            maximum: 1
          use_tolls:
            type: number
            format: double
            description: A measure of willingness to take toll roads. Values near 0 attempt to avoid tolls, and values near 1 will favour them. Note that as some routes may be impossible without tolls, 0 does not guarantee avoidance of them.
            default: 0.5
            minimum: 0
            maximum: 1
          use_tracks:
            $ref: '#/components/schemas/useTracksCostingOption'
          top_speed:
            type: integer
            description: The top speed (in kph) that the vehicle is capable of travelling.
            default: 140
            minimum: 10
            maximum: 252
          shortest:
            type: boolean
            description: If true changes the cost metric to be quasi-shortest (pure distance-based) costing. This will disable ALL other costing factors.
            default: false
          ignore_closures:
            type: boolean
            description: If true, ignores all known closures. This option cannot be set if `location.search_filter.exclude_closures` is also specified.
            default: false
          include_hov2:
            type: boolean
            description: If true, indicates the desire to include HOV roads with a 2-occupant requirement in the route when advantageous.
            default: false
          include_hov3:
            type: boolean
            description: If true, indicates the desire to include HOV roads with a 3-occupant requirement in the route when advantageous.
            default: false
          include_hot:
            type: boolean
            description: If true, indicates the desire to include toll roads which require the driver to pay a toll if the occupant requirement isn't met
            default: false
          alley_factor:
            type: number
            format: double
            description: A factor that multiplies the cost when alleys are encountered.
            default: 1
    isochroneFeature:
      type: object
      properties:
        properties:
          $ref: '#/components/schemas/isochroneProperties'
        geometry:
          type: object
          additionalProperties: true
        type:
          type: string
          enum:
          - Feature
    osrmLane:
      type: object
      properties:
        indications:
          type: array
          items:
            type: string
            enum:
            - none
            - uturn
            - sharp right
            - right
            - slight right
            - straight
            - slight left
            - left
            - sharp left
          description: A list of indication (e.g. marking on the road) specifying the turn lane. A road can have multiple indications (e.g. an arrow pointing straight and left).
        valid:
          type: boolean
          description: True if the lane is a valid choice for the current maneuver.
      required:
      - indications
      - valid
    osrmGuidanceModifier:
      type: string
      nullable: true
      enum:
      - uturn
      - sharp right
      - right
      - slight right
      - straight
      - slight left
      - left
      - sharp left
      description: An optional value indicating the directional change of the maneuver (further clarifying type).
    osrmRoute:
      type: object
      required:
      - distance
      - duration
      - geometry
      - legs
      properties:
        distance:
          type: number
          format: double
          description: The distance traveled by the route, in meters.
        duration:
          type: number
          format: double
          description: The estimated travel time, in number of seconds.
        geometry:
          type: string
          description: An encoded polyline (https://developers.google.com/maps/documentation/utilities/polylinealgorithm).
        weight:
          type: number
          format: double
          description: The total cost of the route computed by the routing engine.
        weight_name:
          type: string
          description: The costing model used for the route.
        legs:
          type: array
          items:
            $ref: '#/components/schemas/osrmRouteLeg'
    osrmViaWaypoint:
      type: object
      properties:
        distance_from_start:
          type: number
          format: double
          description: The distance from the start of the leg, in meters.
        geometry_index:
          type: integer
          description: The index of the waypoint's location in the route geometry.
        waypoint_index:
          type: integer
          description: The index of the associated waypoint.
      required:
      - distance_from_start
      - geometry_index
      - waypoint_index
    travelMode:
      type: string
      enum:
      - drive
      - pedestrian
      - bicycle
      - transit
    distanceUnit:
      type: string
      enum:
      - km
      - mi
      default: km
    valhallaLongUnits:
      type: string
      enum:
      - miles
      - kilometers
      default: kilometers
    routeLeg:
      type: object
      properties:
        maneuvers:
          type: array
          items:
            $ref: '#/components/schemas/routeManeuver'
          minItems: 1
        shape:
          type: string
          description: An encoded polyline (https://developers.google.com/maps/documentation/utilities/polylinealgorithm) with 6 digits of decimal precision.
        summary:
          $ref: '#/components/schemas/routeSummary'
        elevation_interval:
          type: number
          format: float
          description: The sampling distance between elevation values along the route. This echoes the request parameter having the same name (converted to `units` if necessary).
        elevation:
          type: array
          items:
            type: number
            format: float
          description: An array of elevation values sampled every `elevation_interval`. Units are either metric or imperial depending on the value of `units`.
      required:
      - maneuvers
      - shape
      - summary
    routingWaypoint:
      allOf:
      - $ref: '#/components/schemas/simpleRoutingWaypoint'
      - type: object
        properties:
          heading:
            type: integer
            description: The preferred direction of travel when starting the route, in integer clockwise degrees from north. North is 0, south is 180, east is 90, and west is 270.
            minimum: 0
            maximum: 360
          heading_tolerance:
            type: integer
            description: The tolerance (in degrees) determining whether a street is considered the same direction.
            minimum: 0
            maximum: 360
            default: 60
          minimum_reachability:
            type: integer
            description: The minimum number of nodes that must be reachable for a given edge to consider that edge as belonging to a connected region. If a candidate edge has fewer connections, it will be considered a disconnected island.
            minimum: 0
            default: 50
          radius:
            type: integer
            description: The distance (in meters) to look for candidate edges around the location for purposes of snapping locations to the route graph. If there are no candidates within this distance, the closest candidate within a reasonable search distance will be used. This is subject to clamping by internal limits.
            minimum: 0
            default: 0
          rank_candidates:
            type: boolean
            description: If true, candidates will be ranked according to their distance from the target location as well as other factors. If false, candidates will only be ranked using their distance from the target.
            default: true
          preferred_side:
            type: string
            enum:
            - same
            - opposite
            - either
            description: If the location is not offset from the road centerline or is closest to an intersection, this option has no effect. Otherwise, the preferred side of street is used to determine wheth

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# Full source: https://raw.githubusercontent.com/api-evangelist/stadia-maps/refs/heads/main/openapi/stadia-maps-routing-api-openapi.yml