diff --git a/docs/design/autoware-interfaces/components/perception-interface.md b/docs/design/autoware-interfaces/components/perception-interface.md index 3c72c80988..fc663b6340 100644 --- a/docs/design/autoware-interfaces/components/perception-interface.md +++ b/docs/design/autoware-interfaces/components/perception-interface.md @@ -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 diff --git a/docs/design/autoware-interfaces/components/perception.md b/docs/design/autoware-interfaces/components/perception.md index b5b42f2181..6309eac495 100644 --- a/docs/design/autoware-interfaces/components/perception.md +++ b/docs/design/autoware-interfaces/components/perception.md @@ -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: @@ -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 @@ -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) | diff --git a/docs/design/autoware-interfaces/components/planning.md b/docs/design/autoware-interfaces/components/planning.md index 7676e0cb1e..ebb02453c1 100644 --- a/docs/design/autoware-interfaces/components/planning.md +++ b/docs/design/autoware-interfaces/components/planning.md @@ -10,8 +10,8 @@ This page provides specific specifications about the Interface of the Planning C ### From Map Component -| Name | Topic | Type | Description | -| ---------- | ----------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------ | +| Name | Topic | 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) | Map of the environment where the planning takes place. | ### From Localization Component @@ -25,11 +25,11 @@ This page provides specific specifications about the Interface of the Planning C ### From Perception Component -| Name | Topic | Type | Description | -| ------------------ | ------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| 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 perceived objects around ego that need to be avoided or followed when planning a trajectory. This contains semantics information such as a object class (e.g. vehicle, pedestrian, etc) or a shape of the objects. | -| Obstacles | `/perception/obstacle_segmentation/pointcloud` | [sensor_msgs/msg/PointCloud2](https://docs.ros.org/en/latest/api/sensor_msgs/html/msg/PointCloud2.html) | Set of perceived obstacles around ego that need to be avoided or followed when planning a trajectory. This only contains a primitive information of the obstacle. No shape nor velocity information. | -| 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) | Contains the presence of obstacles and blind spot information (represented as UNKNOWN). | +| Name | Topic | Type | Description | +| ------------------ | ------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| 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 perceived objects around ego that need to be avoided or followed when planning a trajectory. This contains semantics information such as a object class (e.g. vehicle, pedestrian, etc) or a shape of the objects. | +| Obstacles | `/perception/obstacle_segmentation/pointcloud` | [sensor_msgs/msg/PointCloud2](https://docs.ros.org/en/latest/api/sensor_msgs/html/msg/PointCloud2.html) | Set of perceived obstacles around ego that need to be avoided or followed when planning a trajectory. This only contains a primitive information of the obstacle. No shape nor velocity information. | +| 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) | Contains the presence of obstacles and blind spot information (represented as UNKNOWN). | | 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) | Contains the traffic signal information such as a color (green, yellow, read) and an arrow (right, left, straight). | **TODO**: The type of the `Obstacles` information should not depend on the specific sensor message type (now `PointCloud`). It needs to be fixed. @@ -54,8 +54,8 @@ This page provides specific specifications about the Interface of the Planning C ### To Control -| Name | Topic | Type | Description | -| -------------- | ------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------ | +| Name | Topic | Type | Description | +| -------------- | ------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------ | | Trajectory | `/planning/trajectory` | [autoware_planning_msgs/msg/Trajectory](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_planning_msgs/msg/Trajectory.msg) | A sequence of space and velocity and acceleration points to be followed by the controller. | | Turn Indicator | `/planning/turn_indicators_cmd` | [autoware_vehicle_msgs/msg/TurnIndicatorsCommand](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_vehicle_msgs/msg/TurnIndicatorsCommand.msg) | Turn indicator signal to be followed by the vehicle. | | Hazard Light | `/planning/hazard_lights_cmd` | [autoware_vehicle_msgs/msg/HazardLightsCommand](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_vehicle_msgs/msg/HazardLightsCommand.msg) | Hazard light signal to be followed by the vehicle. | @@ -70,7 +70,7 @@ This page provides specific specifications about the Interface of the Planning C | Name | Topic | Type | Description | | --------------- | ------------------------------ | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------- | -| Path Candidate | `/planning/path_candidate/*` | [autoware_planning_msgs/msg/Path](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_planning_msgs/msg/Path.msg) | The path Autoware is about to take. Users can interrupt the operation based on the path candidate information. | +| Path Candidate | `/planning/path_candidate/*` | [autoware_planning_msgs/msg/Path](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_planning_msgs/msg/Path.msg) | The path Autoware is about to take. Users can interrupt the operation based on the path candidate information. | | Steering Factor | `/planning/steering_factor/*` | [autoware_adapi_v1_msgs/msg/SteeringFactorArray](https://github.com/autowarefoundation/autoware_adapi_msgs/blob/main/autoware_adapi_v1_msgs/planning/msg/SteeringFactorArray.msg) | Information about the steering maneuvers performed by Autoware (e.g., steering to the right for a right turn, etc.) | | Velocity Factor | `/planning/velocity_factors/*` | [autoware_adapi_v1_msgs/msg/VelocityFactorArray](https://github.com/autowarefoundation/autoware_adapi_msgs/blob/main/autoware_adapi_v1_msgs/planning/msg/VelocityFactorArray.msg) | Information about the velocity maneuvers performed by Autoware (e.g., stop for an obstacle, etc.) | @@ -88,12 +88,12 @@ This section explains the communication between the different planning modules s ### From Behavior Planning to Motion Planning -| Name | Topic | Type | Description | -| ---- | ----------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| Name | Topic | Type | Description | +| ---- | ----------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------ | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | Path | `/planning/scenario_planning/lane_driving/behavior_planning/path` | [autoware_planning_msgs/msg/Path](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_planning_msgs/msg/Path.msg) | A sequence of approximate vehicle positions for driving, along with information on the maximum speed and the drivable areas. Modules receiving this message are expected to make changes to the path within the constraints of the drivable areas and the maximum speed, generating the desired final trajectory. | ### From Scenario Planning to Validation -| Name | Topic | Type | Description | -| ---------- | ---------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------- | +| Name | Topic | Type | Description | +| ---------- | ---------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------ | ----------------------------------------------------------------------------------------------------------------------------------------------------- | | Trajectory | `/planning/scenario_planning/trajectory` | [autoware_planning_msgs/msg/Trajectory](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_planning_msgs/msg/Trajectory.msg) | A sequence of precise vehicle positions, speeds, and accelerations required for driving. It is expected that the vehicle will follow this trajectory. | diff --git a/docs/design/autoware-interfaces/components/vehicle-interface.md b/docs/design/autoware-interfaces/components/vehicle-interface.md index 6720dcef39..a5e88df435 100644 --- a/docs/design/autoware-interfaces/components/vehicle-interface.md +++ b/docs/design/autoware-interfaces/components/vehicle-interface.md @@ -30,21 +30,21 @@ which converts the target speed and steering angle to acceleration, steering, an ## Inputs from Autoware -| Name | Topic | Type | Description | -| ---------------------- | -------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------- | -| Control command | `/control/command/control_cmd` | [autoware_control_msgs/msg/Control](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_control_msgs/msg/Control.msg) | Target controls of the vehicle (steering angle, velocity, ...) | -| Control mode command | `/control/control_mode_request` | [autoware_vehicle_msgs/srv/ControlModeCommand](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_vehicle_msgs/srv/ControlModeCommand.srv) | Request to switch between manual and autonomous driving | -| Gear command | `/control/command/gear_cmd` | [autoware_vehicle_msgs/msg/GearCommand](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_vehicle_msgs/msg/GearCommand.msg) | Target gear of the vehicle | -| Hazard lights command | `/control/command/hazard_lights_cmd` | [autoware_vehicle_msgs/msg/HazardLightsCommand](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_vehicle_msgs/msg/HazardLightsCommand.msg) | Target values of the hazard lights | -| Turn indicator command | `/control/command/turn_indicators_cmd` | [autoware_vehicle_msgs/msg/TurnIndicatorsCommand](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_vehicle_msgs/msg/TurnIndicatorsCommand.msg) | Target values of the turn signals | +| Name | Topic | Type | Description | +| ---------------------- | -------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------- | +| Control command | `/control/command/control_cmd` | [autoware_control_msgs/msg/Control](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_control_msgs/msg/Control.msg) | Target controls of the vehicle (steering angle, velocity, ...) | +| Control mode command | `/control/control_mode_request` | [autoware_vehicle_msgs/srv/ControlModeCommand](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_vehicle_msgs/srv/ControlModeCommand.srv) | Request to switch between manual and autonomous driving | +| Gear command | `/control/command/gear_cmd` | [autoware_vehicle_msgs/msg/GearCommand](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_vehicle_msgs/msg/GearCommand.msg) | Target gear of the vehicle | +| Hazard lights command | `/control/command/hazard_lights_cmd` | [autoware_vehicle_msgs/msg/HazardLightsCommand](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_vehicle_msgs/msg/HazardLightsCommand.msg) | Target values of the hazard lights | +| Turn indicator command | `/control/command/turn_indicators_cmd` | [autoware_vehicle_msgs/msg/TurnIndicatorsCommand](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_vehicle_msgs/msg/TurnIndicatorsCommand.msg) | Target values of the turn signals | ## Outputs to Autoware -| Name | Topic | Type | Optional ? | Description | -| ---------------------- | ---------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------ | ----------------------------------------------------------------------- | -| Actuation status | `/vehicle/status/actuation_status` | [tier4_vehicle_msgs/msg/ActuationStatusStamped](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_vehicle_msgs/msg/ActuationStatusStamped.msg) | Yes (vehicle with mechanical inputs) | Current acceleration, brake, and steer values reported by the vehicle | +| Name | Topic | Type | Optional ? | Description | +| ---------------------- | ---------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------ | ----------------------------------------------------------------------- | +| Actuation status | `/vehicle/status/actuation_status` | [tier4_vehicle_msgs/msg/ActuationStatusStamped](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_vehicle_msgs/msg/ActuationStatusStamped.msg) | Yes (vehicle with mechanical inputs) | Current acceleration, brake, and steer values reported by the vehicle | | Control mode | `/vehicle/status/control_mode` | [autoware_vehicle_msgs/msg/ControlModeReport](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_vehicle_msgs/msg/ControlModeReport.msg) | | Current control mode (manual, autonomous, ...) | -| Door status | `/vehicle/status/door_status` | [tier4_api_msgs/msg/DoorStatus](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_api_msgs/msg/DoorStatus.msg) | Yes | Current door status | +| Door status | `/vehicle/status/door_status` | [tier4_api_msgs/msg/DoorStatus](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_api_msgs/msg/DoorStatus.msg) | Yes | Current door status | | Gear report | `/vehicle/status/gear_status` | [autoware_vehicle_msgs/msg/GearReport](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_vehicle_msgs/msg/GearReport.msg) | | Current gear of the vehicle | | Hazard light status | `/vehicle/status/hazard_lights_status` | [autoware_vehicle_msgs/msg/HazardLightsReport](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_vehicle_msgs/msg/HazardLightsReport.msg) | | Current hazard lights status | | Steering status | `/vehicle/status/steering_status` | [autoware_vehicle_msgs/msg/SteeringReport](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_vehicle_msgs/msg/SteeringReport.msg) | | Current steering angle of the steering tire |