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6 changes: 3 additions & 3 deletions docs/design/autoware-interfaces/components/perception-interface.md
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Expand Up @@ -85,9 +85,9 @@ map of the environment. See [outputs of Map](https://autowarefoundation.github.i
- [geometry_msgs::msg::TwistWithCovariance](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/TwistWithCovariance.html)
- [geometry_msgs::msg::AccelWithCovariance](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/AccelWithCovariance.html) initial_acceleration
- sequence<[autoware_perception_msgs::msg::PredictedPath](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/PredictedPath.msg), 10> predicted_paths
- sequence<[geometry_msgs::msg::Pose](https://docs.ros.org/en/lunar/api/geometry_msgs/html/msg/Pose.html), 100> path
- builtin_interfaces::msg::Duration time_step
- float confidence
- sequence<[geometry_msgs::msg::Pose](https://docs.ros.org/en/lunar/api/geometry_msgs/html/msg/Pose.html), 100> path
- builtin_interfaces::msg::Duration time_step
- float confidence
- sequence<[autoware_perception_msgs::msg::Shape](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/Shape.msg), 5> shape
- [geometry_msgs::msg::Polygon](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/Polygon.html) polygon
- float height
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24 changes: 12 additions & 12 deletions docs/design/autoware-interfaces/components/perception.md
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Expand Up @@ -9,7 +9,7 @@ Please refer to [the perception architecture reference implementation design](..

| Name | Topic / Service | Type | Description |
| --------------- | ----------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------- |
| Vector Map | `/map/vector_map` | [autoware_map_msgs/msg/LaneletMapBin](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_map_msgs/msg/LaneletMapBin.msg) | HD Map including the information about lanes |
| Vector Map | `/map/vector_map` | [autoware_map_msgs/msg/LaneletMapBin](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_map_msgs/msg/LaneletMapBin.msg) | HD Map including the information about lanes |
| Point Cloud Map | `/service/get_differential_pcd_map` | [autoware_map_msgs/srv/GetDifferentialPointCloudMap](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_map_msgs/srv/GetDifferentialPointCloudMap.srv) | Point Cloud Map |

Notes:
Expand All @@ -19,11 +19,11 @@ Notes:

### From Sensing Component

| Name | Topic | Type | Description |
| ------------ | ------------------------------------------ | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------- |
| Camera Image | `/sensing/camera/camera*/image_rect_color` | [sensor_msgs/Image](https://github.com/ros2/common_interfaces/blob/humble/sensor_msgs/msg/Image.msg) | Camera image data, processed with Lens Distortion Correction (LDC) |
| Camera Image | `/sensing/camera/camera*/image_raw` | [sensor_msgs/Image](https://github.com/ros2/common_interfaces/blob/humble/sensor_msgs/msg/Image.msg) | Camera image data, not processed with Lens Distortion Correction (LDC) |
| Point Cloud | `/sensing/lidar/concatenated/pointcloud` | [sensor_msgs/PointCloud2](https://github.com/ros2/common_interfaces/blob/humble/sensor_msgs/msg/PointCloud2.msg) | Concatenated point cloud from multiple LiDAR sources |
| Name | Topic | Type | Description |
| ------------ | ------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------- |
| Camera Image | `/sensing/camera/camera*/image_rect_color` | [sensor_msgs/Image](https://github.com/ros2/common_interfaces/blob/humble/sensor_msgs/msg/Image.msg) | Camera image data, processed with Lens Distortion Correction (LDC) |
| Camera Image | `/sensing/camera/camera*/image_raw` | [sensor_msgs/Image](https://github.com/ros2/common_interfaces/blob/humble/sensor_msgs/msg/Image.msg) | Camera image data, not processed with Lens Distortion Correction (LDC) |
| Point Cloud | `/sensing/lidar/concatenated/pointcloud` | [sensor_msgs/PointCloud2](https://github.com/ros2/common_interfaces/blob/humble/sensor_msgs/msg/PointCloud2.msg) | Concatenated point cloud from multiple LiDAR sources |
| Radar Object | `/sensing/radar/detected_objects` | [autoware_perception_msgs/msg/DetectedObject](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/DetectedObjects.msg) | Radar objects |

### From Localization Component
Expand All @@ -44,9 +44,9 @@ Notes:

Please refer to [the perception component design](../../autoware-architecture/perception/index.md#high-level-architecture) for detailed definitions of each output."

| Name | Topic | Type | Description |
| ------------------ | ------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| Dynamic Objects | `/perception/object_recognition/objects` | [autoware_perception_msgs/msg/PredictedObjects](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/PredictedObjects.msg) | Set of dynamic objects with information such as a object class and a shape of the objects. These objects did not exist when the map was generated and are not contained within the map. |
| Obstacles | `/perception/obstacle_segmentation/pointcloud` | [sensor_msgs/PointCloud2](https://github.com/ros2/common_interfaces/blob/humble/sensor_msgs/msg/PointCloud2.msg) | Obstacles, including both dynamic objects and static obstacles that requires the ego vehicle either steer clear of them or come to a stop in front of the obstacles. |
| Occupancy Grid Map | `/perception/occupancy_grid_map/map` | [nav_msgs/msg/OccupancyGrid](https://docs.ros.org/en/latest/api/nav_msgs/html/msg/OccupancyGrid.html) | The map with the information about the presence of obstacles and blind spot |
| Traffic Signal | `/perception/traffic_light_recognition/traffic_signals` | [autoware_perception_msgs::msg::TrafficLightGroupArray](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/TrafficLightGroupArray.msg) | The traffic signal information such as a color (green, yellow, read) and an arrow (right, left, straight) |
| Name | Topic | Type | Description |
| ------------------ | ------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| Dynamic Objects | `/perception/object_recognition/objects` | [autoware_perception_msgs/msg/PredictedObjects](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/PredictedObjects.msg) | Set of dynamic objects with information such as a object class and a shape of the objects. These objects did not exist when the map was generated and are not contained within the map. |
| Obstacles | `/perception/obstacle_segmentation/pointcloud` | [sensor_msgs/PointCloud2](https://github.com/ros2/common_interfaces/blob/humble/sensor_msgs/msg/PointCloud2.msg) | Obstacles, including both dynamic objects and static obstacles that requires the ego vehicle either steer clear of them or come to a stop in front of the obstacles. |
| Occupancy Grid Map | `/perception/occupancy_grid_map/map` | [nav_msgs/msg/OccupancyGrid](https://docs.ros.org/en/latest/api/nav_msgs/html/msg/OccupancyGrid.html) | The map with the information about the presence of obstacles and blind spot |
| Traffic Signal | `/perception/traffic_light_recognition/traffic_signals` | [autoware_perception_msgs::msg::TrafficLightGroupArray](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/TrafficLightGroupArray.msg) | The traffic signal information such as a color (green, yellow, read) and an arrow (right, left, straight) |
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