diff --git a/docs/design/autoware-architecture/sensing/image/overall-sensing-architecture.drawio.svg b/docs/design/autoware-architecture/sensing/image/overall-sensing-architecture.drawio.svg index 9bfdfc68005..9d4039ec287 100644 --- a/docs/design/autoware-architecture/sensing/image/overall-sensing-architecture.drawio.svg +++ b/docs/design/autoware-architecture/sensing/image/overall-sensing-architecture.drawio.svg @@ -1,357 +1,4 @@ - - - - - - - - - - -
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Radar
Radar Preprocess
radar_msgs
/RadarScan
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Camera Preprocess
LiDAR
LiDAR Preprocess
sensor_msgs
/Pointcloud2
Perception
radar_msgs
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Sensing
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sensor_msgs
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 \ No newline at end of file diff --git a/docs/design/autoware-architecture/sensing/index.md b/docs/design/autoware-architecture/sensing/index.md index 3102baf3f5c..1b5d2751063 100644 --- a/docs/design/autoware-architecture/sensing/index.md +++ b/docs/design/autoware-architecture/sensing/index.md @@ -31,6 +31,7 @@ This diagram describes the high-level architecture of the Sensing Component. | GNSS-INS orientation | [autoware_sensing_msgs/GnssInsOrientationStamped.msg](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_sensing_msgs/msg/GnssInsOrientationStamped.msg) | | GNSS-INS velocity | [geometry_msgs/msg/TwistWithCovarianceStamped.msg](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/TwistWithCovarianceStamped.msg) | | GNSS-INS acceleration | [geometry_msgs/msg/AccelWithCovarianceStamped.msg](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/AccelWithCovarianceStamped.msg) | +| IMU | [sensor_msgs/msg/Imu.msg](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Imu.msg) | | Ultrasonics | [sensor_msgs/msg/Range.msg](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Range.msg) | ## Design by data-types