diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml index 14edfb3aa6d..8c8b67efe79 100644 --- a/.github/sync-files.yaml +++ b/.github/sync-files.yaml @@ -28,3 +28,10 @@ - source: .prettierignore - source: .prettierrc.yaml - source: .yamllint.yaml + +- repository: autowarefoundation/autoware-documentation + files: + - source: mkdocs-base.yaml + dest: mkdocs.yaml + pre-commands: | + sd " - macros" " - macros:\n include_yaml:\n - autoware_interfaces: yaml/autoware-interfaces.yaml" {source} diff --git a/.github/workflows/pre-commit-optional.yaml b/.github/workflows/pre-commit-optional.yaml index 93e05dc2c79..e754ecab24f 100644 --- a/.github/workflows/pre-commit-optional.yaml +++ b/.github/workflows/pre-commit-optional.yaml @@ -9,8 +9,11 @@ jobs: steps: - name: Check out repository uses: actions/checkout@v3 + with: + fetch-depth: 0 - name: Run pre-commit uses: autowarefoundation/autoware-github-actions/pre-commit@v1 with: pre-commit-config: .pre-commit-config-optional.yaml + base-branch: origin/${{ github.base_ref }} diff --git a/.pre-commit-config-optional.yaml b/.pre-commit-config-optional.yaml index eb008730c15..3b43f9ae113 100644 --- a/.pre-commit-config-optional.yaml +++ b/.pre-commit-config-optional.yaml @@ -1,6 +1,6 @@ repos: - repo: https://github.com/tcort/markdown-link-check - rev: v3.11.1 + rev: v3.11.2 hooks: - id: markdown-link-check args: [--quiet, --config=.markdown-link-check.json] diff --git a/CODE_OF_CONDUCT.md b/CODE_OF_CONDUCT.md index c493cad4da5..8dbcfb8510a 100644 --- a/CODE_OF_CONDUCT.md +++ b/CODE_OF_CONDUCT.md @@ -60,7 +60,7 @@ representative at an online or offline event. Instances of abusive, harassing, or otherwise unacceptable behavior may be reported to the community leaders responsible for enforcement at -conduct@autoware.org. +. All complaints will be reviewed and investigated promptly and fairly. All community leaders are obligated to respect the privacy and security of the diff --git a/docs/.pages b/docs/.pages index 8b862c4651d..918e5a02a8f 100644 --- a/docs/.pages +++ b/docs/.pages @@ -4,6 +4,8 @@ nav: - tutorials - how-to-guides - design + - Reference HW: reference-hw - contributing - datasets - support + - Competitions: autoware-competitions diff --git a/docs/assets/js/mathjax.js b/docs/assets/js/mathjax.js new file mode 100644 index 00000000000..117b04607f2 --- /dev/null +++ b/docs/assets/js/mathjax.js @@ -0,0 +1,16 @@ +window.MathJax = { + tex: { + inlineMath: [["\\(", "\\)"]], + displayMath: [["\\[", "\\]"]], + processEscapes: true, + processEnvironments: true, + }, + options: { + ignoreHtmlClass: ".*|", + processHtmlClass: "arithmatex", + }, +}; + +document$.subscribe(() => { + MathJax.typesetPromise(); +}); diff --git a/docs/design/autoware-interfaces/ad-api/use-cases/.pages b/docs/autoware-competitions/.pages similarity index 100% rename from docs/design/autoware-interfaces/ad-api/use-cases/.pages rename to docs/autoware-competitions/.pages diff --git a/docs/autoware-competitions/images/ai_challenge_2023.png b/docs/autoware-competitions/images/ai_challenge_2023.png new file mode 100644 index 00000000000..7cde3090545 Binary files /dev/null and b/docs/autoware-competitions/images/ai_challenge_2023.png differ diff --git a/docs/autoware-competitions/images/autoware_challenge_2023.png b/docs/autoware-competitions/images/autoware_challenge_2023.png new file mode 100644 index 00000000000..ed7d0c317be Binary files /dev/null and b/docs/autoware-competitions/images/autoware_challenge_2023.png differ diff --git a/docs/autoware-competitions/index.md b/docs/autoware-competitions/index.md new file mode 100644 index 00000000000..641e7617967 --- /dev/null +++ b/docs/autoware-competitions/index.md @@ -0,0 +1,12 @@ +# Autoware Competitions + +This page is a collection of the links to the competitions that are related to the Autoware Foundation. + +| Title | Status | Description | +| :-----------------------------------------------------------: | :-----: | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| | Ongoing | **[Autoware / TIER IV Challenge 2023](https://autoware.org/autoware-challenge-2023)**
**Date:** May 15, 2023 - Nov. 1st, 2023

As one of the main contributors of Autoware, TIER IV has been facing many difficult challenges through development, and TIER IV would like to sponsor a challenge to solve such engineering challenges. Any researchers, students, individuals or organizations are welcome to participate and submit their solution to any of the challenges we propose. | +| | Ongoing | **[Japan Automotive AI Challenge 2023](https://www.jsae.or.jp/jaaic/)**
**Registration:** June 5, 2023 - July 14, 2023
**Qualifiers:** July 3, 2023 - Aug. 31, 2023
**Finals:** Nov. 12, 2023

In this competition, we focus on challenging tasks posed by autonomous driving in factory environments and aim to develop Autoware-based AD software that can overcome them. The qualifiers use the [digital twin autonomous driving simulator AWSIM](https://tier4.github.io/AWSIM/) to complete specific tasks within a virtual environment. Teams that make it to the finals have the opportunity to run their software on actual vehicles in a test course in Japan. | + +## Proposing New Competition + +If you want add a new competition to this page, please propose it in a TSC meeting and get confirmation from the AWF. diff --git a/docs/contributing/coding-guidelines/ros-nodes/directory-structure.md b/docs/contributing/coding-guidelines/ros-nodes/directory-structure.md index 653c8487942..3e4de9866a0 100644 --- a/docs/contributing/coding-guidelines/ros-nodes/directory-structure.md +++ b/docs/contributing/coding-guidelines/ros-nodes/directory-structure.md @@ -11,12 +11,17 @@ ├─ config │ ├─ foo_ros.param.yaml │ └─ foo_non_ros.yaml +├─ doc +│ ├─ foo_document.md +│ └─ foo_diagram.svg ├─ include │ └─ -│ └─ foo_public.hpp +│ └─ foo_public.hpp ├─ launch │ ├─ foo.launch.xml │ └─ foo.launch.py +├─ schema +│ └─ foo_node.schema.json ├─ src │ ├─ foo_node.cpp │ ├─ foo_node.hpp @@ -24,36 +29,46 @@ ├─ test │ └─ test_foo.cpp ├─ package.xml -└─ CMakeLists.txt +├─ CMakeLists.txt +└─ README.md ``` -### config directory +### Directory descriptions -Place configuration files such as node parameters. +#### `config` +Place configuration files such as node parameters. For ROS parameters, use the extension `.param.yaml`. For non-ROS parameters, use the extension `.yaml`. Rationale: Since ROS parameters files are type-sensitive, they should not be the target of some code formatters and linters. In order to distinguish the file type, we use different file extensions. -### include directory +#### `doc` + +Place document files and link from README. + +#### `include` Place header files exposed to other packages. Do not place files directly under the `include` directory, but place files under the directory with the package name. This directory is used for mostly library headers. Note that many headers do not need to be placed here. It is enough to place the headers under the `src` directory. Reference: -### launch directory +#### `launch` Place launch files (`.launch.xml` and `.launch.py`). -### src directory +#### `schema` + +Place parameter definition files. See [parameters](./parameters.md) for details. + +#### `src` Place source files and private header files. -### test directory +#### `test` -Place source files for testing. +Place source files for testing. See [unit testing](../../testing-guidelines/unit-testing.md) for details. ## Python package diff --git a/docs/contributing/coding-guidelines/ros-nodes/launch-files.md b/docs/contributing/coding-guidelines/ros-nodes/launch-files.md index 5e81bdd1ba1..be31983a9f2 100644 --- a/docs/contributing/coding-guidelines/ros-nodes/launch-files.md +++ b/docs/contributing/coding-guidelines/ros-nodes/launch-files.md @@ -2,7 +2,7 @@ ## Overview -Autoware use ROS2 launch system to startup the software. Please see the [official documentation](https://docs.ros.org/en/humble/Tutorials/Intermediate/Launch/Launch-Main.html) to get a basic understanding about ROS 2 Launch system if you are not familiar with it. +Autoware use ROS 2 launch system to startup the software. Please see the [official documentation](https://docs.ros.org/en/humble/Tutorials/Intermediate/Launch/Launch-Main.html) to get a basic understanding about ROS 2 Launch system if you are not familiar with it. ## Guideline @@ -60,7 +60,7 @@ In order to automatically load the newly added package when starting Autoware, y ## Parameter management -Another purpose of introducing the `autoware_launch` repository is to facilitate the parameter management of Autoware. Thinking about this situation: if we want to integrate Autoware to a specific vehicle and modify parameters, we have to fork `autoware.universe` which also has a lot of code other than parameters and is frequently updated by developers. By intergrating these parameters in `autoware_launch`, we can customize the Autoware parameters just by forking `autoware_launch` repository. Taking the localization module as an examples: +Another purpose of introducing the `autoware_launch` repository is to facilitate the parameter management of Autoware. Thinking about this situation: if we want to integrate Autoware to a specific vehicle and modify parameters, we have to fork `autoware.universe` which also has a lot of code other than parameters and is frequently updated by developers. By integrating these parameters in `autoware_launch`, we can customize the Autoware parameters just by forking `autoware_launch` repository. Taking the localization module as an examples: 1. all the “launch parameters” for localization component is listed in the files under `autoware_launch/autoware_launch/config/localization`. 2. the "launch parameters" file paths are set in the `autoware_launch/autoware_launch/launch/components/tier4_localization_component.launch.xml` file. diff --git a/docs/contributing/coding-guidelines/ros-nodes/parameters.md b/docs/contributing/coding-guidelines/ros-nodes/parameters.md index 2cb65ccedaa..45c437406dd 100644 --- a/docs/contributing/coding-guidelines/ros-nodes/parameters.md +++ b/docs/contributing/coding-guidelines/ros-nodes/parameters.md @@ -1,19 +1,85 @@ # Parameters -The ROS packages in Autoware have ROS parameters. You need to customize the parameters depending on your applications. -It is recommended not to set default values when declaring ROS parameters to avoid unintended behaviors due to accidental use of default values. -Instead, set parameters from configuration files named `*.param.yaml`. +Autoware ROS nodes have declared parameters which values are provided during the node start up in the form of a parameter file. All the expected parameters with corresponding values should exist in the parameter file. Depending on the application, the parameter values might need to be modified. -For understanding ROS 2 parameters, also check out the official documentation [Understanding parameters](https://docs.ros.org/en/humble/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Parameters/Understanding-ROS2-Parameters.html). +Find more information on parameters from the official ROS documentation: -## Parameter files +- [Understanding ROS 2 Parameters](https://docs.ros.org/en/humble/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Parameters/Understanding-ROS2-Parameters.html) +- [About ROS 2 Parameters](https://docs.ros.org/en/humble/Concepts/About-ROS-2-Parameters.html) + +## Workflow + +A ROS package which uses the [declare_parameter(...)](https://docs.ros.org/en/ros2_packages/humble/api/rclcpp/generated/classrclcpp_1_1Node.html#_CPPv4N6rclcpp4Node17declare_parameterERKNSt6stringERKN6rclcpp14ParameterValueERKN14rcl_interfaces3msg19ParameterDescriptorEb) function should: + +- use the [declare_parameter(...)](https://docs.ros.org/en/ros2_packages/humble/api/rclcpp/generated/classrclcpp_1_1Node.html#_CPPv4N6rclcpp4Node17declare_parameterERKNSt6stringERKN6rclcpp14ParameterValueERKN14rcl_interfaces3msg19ParameterDescriptorEb) with out a default value +- create a parameter file +- create a schema file + +The rationale behind this workflow is to have a verified single source of truth to pass to the ROS node and to be used in the web documentation. The approach reduces the risk of using invalid parameter values and makes maintenance of documentation easier. This is achieved by: + +- [declare_parameter(...)](https://docs.ros.org/en/ros2_packages/humble/api/rclcpp/generated/classrclcpp_1_1Node.html#_CPPv4N6rclcpp4Node17declare_parameterERKNSt6stringERKN6rclcpp14ParameterValueERKN14rcl_interfaces3msg19ParameterDescriptorEb) throws an exception if an expected parameter is missing in the parameter file +- the schema validates the parameter file in the CI and renders a parameter table, as depicted in the graphics below + + ```mermaid + flowchart TD + NodeSchema[Schema file: *.schema.json] + ParameterFile[Parameter file: *.param.yaml] + WebDocumentation[Web documentation table] + + NodeSchema -->|Validation| ParameterFile + NodeSchema -->|Generate| WebDocumentation + ``` + +Note: a parameter value can still be modified and bypass the validation, as there is no validation during runtime. + +## Declare Parameter Function + +It is the [declare_parameter(...)](https://docs.ros.org/en/ros2_packages/humble/api/rclcpp/generated/classrclcpp_1_1Node.html#_CPPv4N6rclcpp4Node17declare_parameterERKNSt6stringERKN6rclcpp14ParameterValueERKN14rcl_interfaces3msg19ParameterDescriptorEb) function which sets the parameter values during a node startup. + +```cpp +declare_parameter("INSERT_PARAMETER_1_NAME"), +declare_parameter("INSERT_PARAMETER_N_NAME") +``` + +As there is no _default_value_ provided, the function throws an exception if a parameter were to be missing in the provided `*.param.yaml` file. Use a type from the _C++ Type_ column in the table below for the [declare_parameter(...)](https://docs.ros.org/en/ros2_packages/humble/api/rclcpp/generated/classrclcpp_1_1Node.html#_CPPv4N6rclcpp4Node17declare_parameterERKNSt6stringERKN6rclcpp14ParameterValueERKN14rcl_interfaces3msg19ParameterDescriptorEb) function, replacing _INSERT_TYPE_. + +| ParameterType Enum | C++ Type | +| ------------------------- | -------------------------- | +| `PARAMETER_BOOL` | `bool` | +| `PARAMETER_INTEGER` | `int64_t` | +| `PARAMETER_DOUBLE` | `double` | +| `PARAMETER_STRING` | `std::string` | +| `PARAMETER_BYTE_ARRAY` | `std::vector` | +| `PARAMETER_BOOL_ARRAY` | `std::vector` | +| `PARAMETER_INTEGER_ARRAY` | `std::vector` | +| `PARAMETER_DOUBLE_ARRAY` | `std::vector` | +| `PARAMETER_STRING_ARRAY` | `std::vector` | + +The table has been derived from [Parameter Type](https://github.com/ros2/rcl_interfaces/blob/humble/rcl_interfaces/msg/ParameterType.msg) and [Parameter Value](https://github.com/ros2/rcl_interfaces/blob/humble/rcl_interfaces/msg/ParameterValue.msg). + +See example: _Lidar Apollo Segmentation TVM Nodes_ [declare function](https://github.com/autowarefoundation/autoware.universe/blob/f85c90b56ed4c7d6b52e787570e590cff786b28b/perception/lidar_apollo_segmentation_tvm_nodes/src/lidar_apollo_segmentation_tvm_node.cpp#L38) + +## Parameter File + +The parameter file is minimal as there is no need to provide the user with additional information, e.g., description or type. This is because the associated schema file provides the additional information. Use the template below as a starting point for a ROS node. + +```yaml +/**: + ros__parameters: + INSERT_PARAMETER_1_NAME: INSERT_PARAMETER_1_VALUE + INSERT_PARAMETER_N_NAME: INSERT_PARAMETER_N_VALUE +``` + +Note: `/**` is used instead of the explicit node namespace, this allows the parameter file to be passed to a ROS node which has been [remapped](https://design.ros2.org/articles/static_remapping.html). + +To adapt the template to the ROS node, replace each `INSERT_PARAMETER_..._NAME` and `INSERT_PARAMETER_..._VALUE` for all parameters. Each [declare_parameter(...)](https://docs.ros.org/en/ros2_packages/humble/api/rclcpp/generated/classrclcpp_1_1Node.html#_CPPv4N6rclcpp4Node17declare_parameterERKNSt6stringERKN6rclcpp14ParameterValueERKN14rcl_interfaces3msg19ParameterDescriptorEb) takes one parameter as input. All the parameter files should have the `.param.yaml` suffix so that the auto-format can be applied properly. Autoware has the following two types of parameter files for ROS packages: - **Node parameter file** - Node parameter files store the default parameters provided for each package in Autoware. - For example, [the parameter of `behavior_path_planner`](https://github.com/autowarefoundation/autoware.universe/tree/245242cee866de2d113e89c562353c5fc17f1f98/planning/behavior_path_planner/config) - - All nodes in Autoware must have a parameter file if one or more parameters that can be customized by the user are defined. + - All nodes in Autoware must have a parameter file if ROS parameters are declared in the node. - For `FOO_package`, the parameter is expected to be stored in `FOO_package/config`. - The launch file for individual packages must load node parameter by default: @@ -29,8 +95,100 @@ Autoware has the following two types of parameter files for ROS packages: ``` - **Launch parameter file** - - Launch parameter files store the customized parameters for user's vehicle. + - When a user creates a launch package for the user's vehicle, the user should copy node parameter files for the nodes that are called in the launch file as "launch parameter files". + - Launch parameter files are then customized specifically for user's vehicle. - For example, [the customized parameter of `behavior_path_planner` stored under `autoware_launch`](https://github.com/autowarefoundation/autoware_launch/tree/5fa613b9d80bf4f0db77efde03a43f7ede6bac86/autoware_launch/config) - - Launch parameter files are stored under `autoware_launch`. + - The examples for launch parameter files are stored under `autoware_launch`. + +## JSON Schema + +[JSON Schema](https://json-schema.org/understanding-json-schema/index.html) is used the validate the parameter file(s) ensuring that it has the correct structure and content. Using JSON Schema for this purpose is considered best practice for cloud-native development. The schema template below shall be used as a starting point when defining the schema for a ROS node. + +```json +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "INSERT_TITLE", + "type": "object", + "definitions": { + "INSERT_ROS_NODE_NAME": { + "type": "object", + "properties": { + "INSERT_PARAMETER_1_NAME": { + "type": "INSERT_TYPE", + "description": "INSERT_DESCRIPTION", + "default": "INSERT_DEFAULT", + "INSERT_BOUND_CONDITION(S)": INSERT_BOUND_VALUE(S) + }, + "INSERT_PARAMETER_N_NAME": { + "type": "INSERT_TYPE", + "description": "INSERT_DESCRIPTION", + "default": "INSERT_DEFAULT", + "INSERT_BOUND_CONDITION(S)": INSERT_BOUND_VALUE(S) + } + }, + "required": ["INSERT_PARAMETER_1_NAME", "INSERT_PARAMETER_N_NAME"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/INSERT_ROS_NODE_NAME" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} +``` + +The schema file path is `INSERT_PATH_TO_PACKAGE/schema/` and the schema file name is `INSERT_NODE_NAME.schema.json`. To adapt the template to the ROS node, replace each `INSERT_...` and add all parameters `1..N`. + +See example: _Lidar Apollo Segmentation TVM Nodes_ [schema](https://github.com/autowarefoundation/autoware.universe/blob/main/perception/lidar_apollo_segmentation_tvm_nodes/schema/lidar_apollo_segmentation_tvm_nodes.schema.json) + +### Attributes + +Parameters have several attributes, some are required and some optional. The optional attributes are highly encouraged when applicable, as they provide useful information about a parameter and can ensure the value of the parameter is within its bounds. + +#### Required + +- name +- type + - see [JSON Schema types](http://json-schema.org/understanding-json-schema/reference/type.html) +- description + +#### Optional + +- default + - a tested and verified value, see [JSON Schema default](https://json-schema.org/understanding-json-schema/reference/generic.html) +- bound(s) + - type dependent, e.g., [integer](https://json-schema.org/understanding-json-schema/reference/numeric.html#integer), [range](https://json-schema.org/understanding-json-schema/reference/numeric.html#range) and [size](https://json-schema.org/understanding-json-schema/reference/object.html#size) + +## Tips and Tricks + +Using well established standards enables the use of conventional tooling. Below is an example of how to link a schema to the parameter file(s) using VS Code. This enables a developer with convenient features such as auto-complete and parameter bound validation. + +In the root directory of where the project is hosted, create a `.vscode` folder with two files; `extensions.json` containing + +```json +{ + "recommendations": ["redhat.vscode-yaml"] +} +``` + +and `settings.json` containing + +```json +{ + "yaml.schemas": { + "./INSERT_PATH_TO_PACKAGE/schema/INSERT_NODE_NAME.schema.json": "**/INSERT_NODE_NAME/config/*.param.yaml" + } +} +``` -All the parameter files should have the `.param.yaml` suffix so that the auto-format can be applied properly. +The RedHat YAML extension enables validation of YAML files using JSON Schema and the `"yaml.schemas"` setting associates the `*.schema.json` file with all `*.param.yaml` files in the `config/` folder. diff --git a/docs/contributing/documentation-guidelines/index.md b/docs/contributing/documentation-guidelines/index.md index 6f39b1d7843..6933135115b 100644 --- a/docs/contributing/documentation-guidelines/index.md +++ b/docs/contributing/documentation-guidelines/index.md @@ -8,7 +8,7 @@ Examples of small changes include: - Fixing spelling or grammatical mistakes - Fixing broken links -- Making an addition to an existing, well-defined page, such as the [Troubleshooting](../../support/troubleshooting.md) guide. +- Making an addition to an existing, well-defined page, such as the [Troubleshooting](../../support/troubleshooting/index.md) guide. Examples of larger changes include: diff --git a/docs/contributing/testing-guidelines/unit-testing.md b/docs/contributing/testing-guidelines/unit-testing.md index 7adc7d9cad5..61c650ac5d4 100644 --- a/docs/contributing/testing-guidelines/unit-testing.md +++ b/docs/contributing/testing-guidelines/unit-testing.md @@ -41,12 +41,14 @@ if(BUILD_TESTING) ament_add_ros_isolated_gtest(test_my_cool_pkg test/test_my_cool_pkg.cpp) target_link_libraries(test_my_cool_pkg ${PROJECT_NAME}) + target_include_directories(test_my_cool_pkg PRIVATE src) # For private headers. ... endif() ``` This automatically links the test with the default main function provided by `gtest`. The code under test is usually in a different CMake target (`${PROJECT_NAME}` in the example) and its shared object for linking needs to be added. +If the test source files include private headers from the `src` directory, the directory needs to be added to the include path using `target_include_directories()` function. To register a new `gtest` item, wrap the test code with the macro `TEST ()`. `TEST ()` is a predefined macro that helps generate the final test code, diff --git a/docs/design/autoware-architecture/control/index.md b/docs/design/autoware-architecture/control/index.md index 65f977e5829..684878fac82 100644 --- a/docs/design/autoware-architecture/control/index.md +++ b/docs/design/autoware-architecture/control/index.md @@ -43,7 +43,7 @@ Note that vehicle-specific values such as pedal positions and low-level informat Autoware is designed to be an autonomous driving platform able to accommodate vehicles with various drivetrain types. -This is an explanation of how Autoware handles the standardization of systems with different vehicle drivetrains. The interfaces for vehicle drivetrains are diverse, including steering angle, steering angular velocity, steering torque, speed, accel/brake pedals, and brake pressure. To accommodate these differences, Autoware adds an adapter module between the control component and the vehicle interface. This module performs the conversion between the proprietary message types used by the vehicle (such as brake pressure) and the generic types used by Autoware (such as desired acceleration). By providing this conversion information, the differences in vehicle drivetrain can be accommodated. +This is an explanation of how Autoware handles the standardization of systems with different vehicle drivetrain. The interfaces for vehicle drivetrain are diverse, including steering angle, steering angular velocity, steering torque, speed, accel/brake pedals, and brake pressure. To accommodate these differences, Autoware adds an adapter module between the control component and the vehicle interface. This module performs the conversion between the proprietary message types used by the vehicle (such as brake pressure) and the generic types used by Autoware (such as desired acceleration). By providing this conversion information, the differences in vehicle drivetrain can be accommodated. If the information is not known in advance, an automatic calibration tool can be used. Calibration will occur within limited degrees of freedom, generating the information necessary for the drivetrain conversion automatically. @@ -61,7 +61,7 @@ This is an example of the several drivetrain types in the vehicle interface. | JPN TAXI | Steering angle | Accel/brake pedal position | Acceleration lookup table conversion for longitudinal | | GSM8 | Steering EPS voltage | Acceleration motor voltage, Deceleration brake hydraulic pressure | lookup table and PID conversion for lateral and longitudinal | | YMC Golfcart | Steering angle | Velocity | | -| Logiees | yaw rate | Velocity | | +| Logiee | yaw rate | Velocity | | | F1 TENTH | Steering angle | Motor RPM | [interface code](https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/blob/master/src/drivers/vesc_interface/src/vesc_interface.cpp) | ## Control Feature Design diff --git a/docs/design/autoware-architecture/map/image/high-level-map-diagram.drawio.svg b/docs/design/autoware-architecture/map/image/high-level-map-diagram.drawio.svg new file mode 100644 index 00000000000..6d8dfc5dd2a --- /dev/null +++ b/docs/design/autoware-architecture/map/image/high-level-map-diagram.drawio.svg @@ -0,0 +1,4 @@ + + + +
Projection loading
Projection loading
Map Component
Map Component
pointcloud map
pointcloud map
vector map
vector map
projection info
projection info
Pointcloud map loading
Pointcloud map loading
Vector map loading
Vector map loading
Localization Component
Localization Component
Perception Component
Perception Component
. . .
. . .Text is not SVG - cannot display \ No newline at end of file diff --git a/docs/design/autoware-architecture/map/index.md b/docs/design/autoware-architecture/map/index.md index ee27ab96a3a..b5607e5196d 100644 --- a/docs/design/autoware-architecture/map/index.md +++ b/docs/design/autoware-architecture/map/index.md @@ -17,17 +17,43 @@ A vector map contains highly accurate information about a road network, lane geo A 3D point cloud map is primarily used for LiDAR-based localization and part of perception in Autoware. In order to determine the current position and orientation of the vehicle, a live scan captured from one or more LiDAR units is matched against a pre-generated 3D point cloud map. Therefore, an accurate point cloud map is crucial for good localization results. However, if the vehicle has an alternate localization method with enough accuracy, for example using camera-based localization, point cloud map may not be required to use Autoware. +In addition to above two types of maps, Autoware also requires a supplemental file for specifying the coordinate system of the map in geodetic system. + ## 3. Architecture -!!! warning +This diagram describes the high-level architecture of Map component in Autoware. - Under Construction +![map component architecture](image/high-level-map-diagram.drawio.svg){width="800"} -## 4. Features +The Map component consists of the following sub-components: -!!! warning +- **Point Cloud Map Loading**: Load and publish point cloud map +- **Vector Map Loading**: Load and publish vector map +- **Projection Loading**: Load and publish projection information for conversion between local coordinate (x, y, z) and geodetic coordinate (latitude, longitude, altitude) - Under Construction +## 4. Component interface + +### Input to the map component + +- **From file system** + - Point cloud map and its metadata file + - Vector map + - Projection information + +### Output from the map component + +- **To Sensing** + - Projection information: Used to convert GNSS data from geodetic coordinate system to local coordinate system +- **To Localization** + - Point cloud map: Used for LiDAR-based localization + - Vector map: Used for localization methods based on road markings, etc +- **To Perception** + - Point cloud map: Used for obstacle segmentation by comparing LiDAR and point cloud map + - Vector map: Used for vehicle trajectory prediction +- **To Planning** + - Vector map: Used for behavior planning +- **To API layer** + - Projection information: Used to convert localization results from local coordinate system to geodetic coordinate system ## 5. Map Specification @@ -35,6 +61,7 @@ A 3D point cloud map is primarily used for LiDAR-based localization and part of The point cloud map must be supplied as a file with the following requirements: +- The point cloud map must be projected on the same coordinate defined in `map_projection_loader` in order to be consistent with the lanelet2 map and other packages that converts between local and geodetic coordinates. For more information, please refer to [the readme of `map_projection_loader`](https://github.com/autowarefoundation/autoware.universe/tree/main/map/map_projection_loader/README.md). - It must be in the [PCD (Point Cloud Data) file format](https://pointclouds.org/documentation/tutorials/pcd_file_format.html), but can be a single PCD file or divided into multiple PCD files. - Each point in the map must contain X, Y, and Z coordinates. - An intensity or RGB value for each point may be optionally included. @@ -42,52 +69,15 @@ The point cloud map must be supplied as a file with the following requirements: - Its resolution should be at least 0.2 m to yield reliable localization results. - It can be in either local or global coordinates, but must be in global coordinates (georeferenced) to use GNSS data for localization. +For more details on divided map format, please refer to [the readme of `map_loader` in Autoware Universe](https://github.com/autowarefoundation/autoware.universe/blob/main/map/map_loader/README.md). + !!! note Three global coordinate systems are currently supported by Autoware, including [Military Grid Reference System (MGRS)](https://en.wikipedia.org/wiki/Military_Grid_Reference_System), [Universal Transverse Mercator (UTM)](https://en.wikipedia.org/wiki/Universal_Transverse_Mercator_coordinate_system), and [Japan Rectangular Coordinate System](https://ja.wikipedia.org/wiki/%E5%B9%B3%E9%9D%A2%E7%9B%B4%E8%A7%92%E5%BA%A7%E6%A8%99%E7%B3%BB). However, MGRS is a preferred coordinate system for georeferenced maps. In a map with MGRS coordinate system, the X and Y coordinates of each point represent the point's location within the 100,000-meter square, while the Z coordinate represents the point's elevation. -If it is split into a single file, Autoware assumes the following directory structure by default. - -```bash -sample-map-rosbag -├── lanelet2_map.osm -├── pointcloud_map.pcd -``` - -If it is split into multiple files, Autoware assumes the following directory structure by default. - -```bash -sample-map-rosbag -├── lanelet2_map.osm -├── pointcloud_map -├── pcd_00.pcd -├── pcd_01.pcd -├── pcd_02.pcd -├── ... -└── pointcloud_map_metadata.yaml -``` - -Note that, if you split the map into multiple files, you must meet the following additional conditions: - -- It must be split by lines parallel to the x-y axis. -- Additional metadata must be provided as well. - -Metadata should look like as follows: - -```yaml -x_resolution: 100.0 -y_resolution: 150.0 -A.pcd: [1200, 2500] # -> 1200 < x < 1300, 2500 < y < 2650 -B.pcd: [1300, 2500] # -> 1300 < x < 1400, 2500 < y < 2650 -C.pcd: [1200, 2650] # -> 1200 < x < 1300, 2650 < y < 2800 -D.pcd: [1400, 2650] # -> 1400 < x < 1500, 2650 < y < 2800 -``` - -You may use [pointcloud_divider](https://github.com/MapIV/pointcloud_divider) from MAP IV for dividing pointcloud map as well as generating the compatible metadata.yaml. - -#### Vector Map +### Vector Map The vector cloud map must be supplied as a file with the following requirements: @@ -100,3 +90,14 @@ The vector cloud map must be supplied as a file with the following requirements: !!! warning Under Construction + +### Projection Information + +The projection information must be supplied as a file with the following requirements: + +- It must be in YAML format, provided into `map_projection_loader` in current Autoware Universe implementation. +- The file must contain the following information: + - The name of the projection method used to convert between local and global coordinates + - The parameters of the projection method (depending on the projection method) + +For further information, please refer to [the readme of `map_projection_loader` in Autoware Universe](https://github.com/autowarefoundation/autoware.universe/tree/main/map/map_projection_loader/README.md). diff --git a/docs/design/autoware-architecture/node-diagram/overall-node-diagram-autoware-universe.drawio.svg b/docs/design/autoware-architecture/node-diagram/overall-node-diagram-autoware-universe.drawio.svg index ec3ba93b27f..7023f2d0c67 100644 --- a/docs/design/autoware-architecture/node-diagram/overall-node-diagram-autoware-universe.drawio.svg +++ b/docs/design/autoware-architecture/node-diagram/overall-node-diagram-autoware-universe.drawio.svg @@ -1,4729 +1,4 @@ - - - - - - - -
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Planning
Planning
Control
Control
Perception
Perception
Vehicle
Vehicle
Sensing
Sensing
VehicleInterface
VehicleInterface
Localization
Localization
System
System
/diagnostics
/diagnostics
XX1
XX1
X2
X2
X1
X1
S1
S1
/vehicle/status/velocity_report
/vehicle/status/velocity_report
/autoware/engage [Engage]
/current_gate_mode [GateMode]
/autoware/engage [Engage]...
/planning/turn_indicators_cmd [TurnIndicatorsCommand]
/planning/hazard_lights_cmd [HazardLightsCommand]
/planning/turn_indicators_cmd [TurnIndicatorsCommand]...
/planning/scenario_planning/max_velocity_candidates
[tier4_planning_msgs/msg/VelocityLimit]
/planning/scenario_planning/max_velocity_candidates...
HMI
HMI
HMI
HMI
HMI
HMI
/api/external/set/command/remote/control: [tier4_external_api_msgs/msg/ControlCommandStamped]
/api/external/set/command/remote/heartbeat: [tier4_external_api_msgs/msg/Heartbeat]
/api/external/set/command/remote/shift: [tier4_external_api_msgs/msg/GearShiftStamped]
/api/external/set/command/remote/turn_signal: [tier4_external_api_msgs/msg/TurnSignalStamped]
/api/external/set/command/remote/control: [tier4_external_api_msgs/msg/ControlCommandStamped]...
HMI
HMI
/vehicle/engage
/vehicle/engage
HMI
HMI
/diagnostics_err
/diagnostics_err
/initialpose
/initialpose
<pose_initializer_srv>
<pose_initializer_srv>
vehicle_velocity_converter/
twist_with_covariance
vehicle_velocity_converter/...
HMI
HMI
pointcloud_map_
loader
pointcloud_map_...
<differential_map_loader_srv>
<differential_map_loader_srv>
<partial_map_loader_srv>
<partial_map_loader_srv>
voxel_grid_downsample/pointcloud
voxel_grid_downsample/pointcloud立体格子の点群密度が一様になるように点群を間引く。点群密度が正規化されるため、NDTのロバスト化に一役買っている。立体格子の点群密度が一様になるように点群を間引く。点群密度が正規化されるため、NDTのロバスト化に一役買っている。
voxel_grid_
downsample_filter
voxel_grid_...
pose_twist_fusion_filter/
pose_with_covariance_
no_yawbias
pose_twist_fusion_filter/...Estimate ego vehicle's position, orientation, and velocity by EKF algorithm.Estimate ego vehicle's position, orientation, and velocity by EKF algorithm.
ekf_localizer
ekf_localizer
pose_estimator/
pose_with_covariance
pose_estimator/...LiDARの点群とpointcloud_mapとのマッチングを行い、自己位置を計算するLiDARの点群とpointcloud_mapとのマッチングを行い、自己位置を計算する
ndt_scan_matcher
ndt_scan_matcher
downsample/pointcloud
downsample/pointcloud点群数が一定以下になるようにランダムに間引く。基本的にはvoxel grid filterで丁度いいくらい点群数になるように調整してあり、点群数のlimiter的な立ち位置が強い 点群数が一定以下になるようにランダムに間引く。基本的にはvoxel grid filterで丁度いいくらい点群数になるように調整してあり、点群数のlimiter的な立ち位置が強い
random_
downsample_filter
random_...
/initialpose3d
/initialpose3dGNSS / Userからラフな初期位置を受け取り、NDT+モンテカルロ法で正確な自己位置を推定して出力する。NDTとはserviceでやり取りする。GNSS / Userからラフな初期位置を受け取り、NDT+モンテカルロ法で正確な自己位置を推定して出力する。NDTとはserviceでやり取りする。
pose_initializer
pose_initializer
twist_estimator/twist_with_covariance
twist_estimator/twist_with_covariance車両速度とimuを統合する。いまは確か、ただ単にvx=vehicle, wz=imuだった気がする。車両速度とimuを統合する。いまは確か、ただ単にvx=vehicle, wz=imuだった気がする。
gyro_odometer
gyro_odometer
measurement_range/pointcloud
measurement_range/pointcloud一定範囲内のLiDAR点群のみを切り取って出力する。ホントは遠くまで見たいけど、歪みの影響が大きくなったり、そもそも遠方の点群地図がなかったりするので、近くだけを見てる。一定範囲内のLiDAR点群のみを切り取って出力する。ホントは遠くまで見たいけど、歪みの影響が大きくなったり、そもそも遠方の点群地図がなかったりするので、近くだけを見てる。
crop_box_filter_
measurement_range
crop_box_filter_...車両速度とimuを統合する。いまは確か、ただ単にvx=vehicle, wz=imuだった気がする。車両速度とimuを統合する。いまは確か、ただ単にvx=vehicle, wz=imuだった気がする。
vehicle_velocity_converter
vehicle_velocity_converter
/tf
(map to base_link)
/tf...
/localization/kinematic_state
[nav_msgs/msg/Odometry]
/localization/kinematic_state...Overwrite vx=0 and wz=0 when the vehicle wheel speed is zero to indicate the stop condition.Overwrite vx=0 and wz=0 when the vehicle wheel speed is zero to indicate the stop condition.
stop_filter
stop_filter
localization_error_monitor
localization_error_monitor
pose_twist_fusion_filter/
pose_with_covariance
pose_twist_fusion_filter/...
/diagnostics
/diagnostics
pose_twist_fusion_filter/
kinematic_state
pose_twist_fusion_filter/...
Map
Map Check the trajectory and stop publishing it if it is unsafe.Check the trajectory and stop publishing it if it is unsafe.
planning_validator
planning_validator規定された停止線で一時停止を行います規定された停止線で一時停止を行います
invalid_lanelet
invalid_lanelet
Perception
Perception
/perception/object_recognition/objects
/perception/object_recognition/objects
traffic_light_states
traffic_light_states
/perception/traffic_light_recognition/
/perception/traffic_light_...
/perception/object_recognition/
/perception/object_recognition/
/perception/object_recognition/detection/
/perception/object_recognition/detectio...
clustering/clusters
clustering/clusters
euclidean_cluster
euclidean_cluster
pointcloud_map_filtered/pointcloud
pointcloud...

detection_by
_tracker/objects

detection_by...
centerpoint/validation/objects
centerpoint/validation/objectsDNNベースでLiDAR点群に物体のクラス情報を付与するDNNベースでLiDAR点群に物体のクラス情報を付与する
lidar_centerpoint
lidar_centerpoint高精度地図情報を用いて、trackingされた動物体情報の移動経路予測を行う高精度地図情報を用いて、trackingされた動物体情報の移動経路予測を行う
map_based_
prediction
map_based_...
traffic_light_detection/rough/rois
traffic_light_detection/rough/rois自己位置および高精度地図情報、自身の走行ルート情報から、信号機のおおよその位置を計算する自己位置および高精度地図情報、自身の走行ルート情報から、信号機のおおよその位置を計算する
traffic_light_map_
based_detector
traffic_light_map_...
detection/objects
detection/objects画像に含まれる信号機の色を識別する画像に含まれる信号機の色を識別する
traffic_light_
classifier
traffic_light_...画像処理を用いて信号機の正確な位置を計算する画像処理を用いて信号機の正確な位置を計算する
traffic_light_
ssd_fine_detector
traffic_light_...
route,
vector_map
route,...クラス＋位置＋形状情報に対してtrackingを行う。（最近上流が速度情報も出せるようになってきたらしい）クラス＋位置＋形状情報に対してtrackingを行う。（最近上流が速度情報も出せるようになってきたらしい）
multi_object_
tracker
multi_object_...detection同士のassignmentを取り，confidenceが高い方を採用する．overlapしたunknown objectはmergeするdetection同士のassignmentを取り，confidenceが高い方を採用する．overlapしたunknown objectはmergeする
object_association
_merger
object_association...clustering結果の形状を推定するclustering結果の形状を推定する
shape_estimation
shape_estimation
/perception/occupancy_grid_map/
/perception/occupancy_grid_map/
/perception/obstacle_segmentation/
/perception/obstacle_segmentation/
no_ground/oneshot/pointcloud
no_ground/oneshot/pointcloud
range_cropped/pointcloud
range_cropped/pointcloudアルゴリズムを使って点群から地面を除去します。アルゴリズムを使って点群から地面を除去します。
common_
ground_filter
common_...
occupancy_grid
occupancy_grid
/perception/occupancy_grid_map/map
/perception/occupancy_grid_map/map全点群データ、地面除去済み点群、occupancy gridの情報を総合的に見て、障害物が存在するかどうかの確率をoccupancy gridマップの形式で計算します。全点群データ、地面除去済み点群、occupancy gridの情報を総合的に見て、障害物が存在するかどうかの確率をoccupancy gridマップの形式で計算します。
probabilistic_
occupancy_grid_map
probabilistic_...occupancy gridで与えられる障害物存在確率マップの情報をもとに、障害物点群をフィルタリングします。occupancy gridで与えられる障害物存在確率マップの情報をもとに、障害物点群をフィルタリングします。
occupancy_grid_
map_based_outlier_filter
occupancy_grid_...
/perception/obstacle_segmentation/pointcloud
/perception/obstacle_segmentation/pointcloud
crop_box_filter
crop_box_filter
/concatenated/pointcloud
/concatena...BBox内に存在するobstacle_segmentation後の点群数を用いて，false positiveを除くBBox内に存在するobstacle_segmentation後の点群数を用いて，false positiveを除く
obstacle_pointcloud _based_validator
obstacle_pointcloud _ba...detection同士のassignmentを取り，confidenceが高い方を採用する．overlapしたunknown objectはmergeするdetection同士のassignmentを取り，confidenceが高い方を採用する．overlapしたunknown objectはmergeする
object_association
_merger
object_association...DNNベースで画像に物体のクラス情報を付与するDNNベースで画像に物体のクラス情報を付与する
tensorrt_yolo
tensorrt_yolo
/perception/obstacle_segmentation/pointcloud
/perception/obstacle_segmentation/pointcloudclustering結果に画像のdetection結果をprojectionしてlabelを付与するclustering結果に画像のdetection結果をprojectionしてlabelを付与する
roi_cluster_fusion
roi_cluster_fusion
/rois*
/rois*clustering結果の形状を推定するclustering結果の形状を推定する
shape_estimation
shape_estimationtracker内部のclusterをマージし，shape fittingしたbboxを出力するtracker内部のclusterをマージし，shape fittingしたbboxを出力する
detection_by_
tracker_node
detection_by_...
clustering/camera_lidar_fusion
/objects
clustering/camera_lidar_fusion...
/sensing/camera/
camera*/image_rect_color
/sensing/camera/...vector mapの情報を用いて，unknown objectをfilterする．lane内のunknown objectのみを残す．vector mapの情報を用いて，unknown objectをfilterする．lane内のunknown objectのみを残す．
object_lanelet_filter
object_lanelet_filter
/map/vector_map
/map/vector_map
/map/vector_map
/map/vector_map
compare_map_filter
compare_map_filter
/perception/obstacle_segmentation/pointcloud
/perception/obstacle_segmentation/pointcloud
map
map交通ルールをもとに、経路上の最大速度を決定します。各モジュールは、自身の計算した最大速度と上段の結果を比較し、小さい速度を経路上に書き込みます。交通ルールをもとに、経路上の最大速度を決定します。各モジュールは、自身の計算した最大速度と上段の結果を比較し、小さい速度を経路上に書き込みます。
behavior_velocity_planner
behavior_velocity_planner
Planning
Planning
/planning/scenario_planning/trajectory [Trajectory]
/planning/scenario_planning/trajectory [Trajectory]
motion_planning/obstacle_avoidance_planner/trajectory [Trajectory]
motion_planning/obstacle_avoidance_planner/trajectory [Trajectory]車両形状や走行可能領域を考慮して、経路の平滑化を行う。障害物も避けるが、long historyで最近は回避機能はoffになっています。車両形状や走行可能領域を考慮して、経路の平滑化を行う。障害物も避けるが、long historyで最近は回避機能はoffになっています。
obstacle_
avoidance_planner
obstacle_...
motion_planning/obstacle_velocity_limiter/trajectory [Trajectory]
motion_planning/obstacle_velocity_limiter/trajectory [Trajectory]自車が停止しているときに、周囲の障害物を確認し、近くに障害物がいる場合は車両を発進させない。自車が停止しているときに、周囲の障害物を確認し、近くに障害物がいる場合は車両を発進させない。
obstacle_velocity_limiter
obstacle_velocity_limit...障害物停止・前車追従・近傍障害物減速の複数の機能を持ち、機能に応じて経路上に速度を埋め込む。 目標経路上に障害物点がある場合は停止、経路近くに障害物点群がある場合は減速、前方に車両が居る場合は前車追従。障害物停止・前車追従・近傍障害物減速の複数の機能を持ち、機能に応じて経路上に速度を埋め込む。 目標経路上に障害物点がある場合は停止、経路近くに障害物点群がある場合は減速、前方に車両が居る場合は前車追従。
obstacle_stop_
planner
obstacle_stop_...障害物点群や地図の走行可能エリアの情報から、駐車プランナー用のコストマップを生成する。障害物点群や地図の走行可能エリアの情報から、駐車プランナー用のコストマップを生成する。
costmap_generator
costmap_generatorapiとautoware.iv内部から送られてくる制約付き減速指示を受け取り、整合性をとるapiとautoware.iv内部から送られてくる制約付き減速指示を受け取り、整合性をとる
external_velocity_
limit_selector
external_velocity_...
/planning/scenario_planning/max_velocity
[tier4_planning_msgs/msg/VelocityLimit]
/planning/scenario_planning/max_velocity...
/planning/scenario_planning/max_velocity_candidates
[tier4_planning_msgs/msg/VelocityLimit]
/planning/scenario_planning/max_velocity_candidates...
lane_driving/trajectory [Trajectory]
lane_driving/trajectory [Trajectory]
trajectory [Trajectory]
trajectory [Trajectory]いまのrouteおよび地図情報から、LaneDriving / Parkingのシナリオを判断し、どちらの経路を使うかを切り替える。いまのrouteおよび地図情報から、LaneDriving / Parkingのシナリオを判断し、どちらの経路を使うかを切り替える。
scenario_selector
scenario_selector
/planning/scenario_planning/motion_velocity_smoother/trajectory [Trajectory]
/planning/scenario_planning/motion_velocity_smoother/trajectory [Trajectory]経路に埋め込まれた最大速度を超過しないように、うまい具合で速度を平滑化する。カーブでの減速もここで行う。経路に埋め込まれた最大速度を超過しないように、うまい具合で速度を平滑化する。カーブでの減速もここで行う。
motion_velocity_
smoother
motion_velocity_...交通ルールをもとに、経路上の最大速度を決定します。各モジュールは、自身の計算した最大速度と上段の結果を比較し、小さい速度を経路上に書き込みます。交通ルールをもとに、経路上の最大速度を決定します。各モジュールは、自身の計算した最大速度と上段の結果を比較し、小さい速度を経路上に書き込みます。
behavior_path_planner
behavior_path_plannerルート情報や障害物情報をもとに、障害物回避を実行します。ルート情報や障害物情報をもとに、障害物回避を実行します。
obstacle_avoidance
obstacle_avoidanceルート情報をもとに路肩への幅寄せ、路肩からの発進を行います。ルート情報をもとに路肩への幅寄せ、路肩からの発進を行います。
pull_over/out
pull_over/out遠隔からの司令をもとに幅寄せを行います。遠隔からの司令をもとに幅寄せを行います。
side_shift
side_shiftルート情報や障害物情報をもとに、レーンチェンジを実行します。ルート情報や障害物情報をもとに、レーンチェンジを実行します。
lane_change
lane_changeルート情報をもとに走行経路を作成します。ルート情報をもとに走行経路を作成します。
lane_following
lane_following
<Lane Driving>
<Lane Driving>停止禁止区域内で停止しないように、区域手前での進行・停止判断を行います。停止禁止区域内で停止しないように、区域手前での進行・停止判断を行います。
no_stopping_area
no_stopping_area地図情報および動物体情報から、死角手前での減速を行います。地図情報および動物体情報から、死角手前での減速を行います。
occlusion_spot
occlusion_spot地図情報および動物体情報から、交差点での停止/発進の判定を行います。地図情報および動物体情報から、交差点での停止/発進の判定を行います。
intersection
intersection信号の色に応じて停止/発進の指示をします信号の色に応じて停止/発進の指示をします
traffic_light
traffic_light横断歩道に人が居る、もしくは侵入しようとしてきている場合に、横断歩道手前で停止します。近くに人が居る場合は徐行します。横断歩道に人が居る、もしくは侵入しようとしてきている場合に、横断歩道手前で停止します。近くに人が居る場合は徐行します。
cross_walk
cross_walk右左折時に車両後方の巻き込み確認を行い、衝突の危険がある場合は停止します。右左折時に車両後方の巻き込み確認を行い、衝突の危険がある場合は停止します。
blind_spot
blind_spot規定エリア内の障害物点群がある場合に、対応する位置で停止します規定エリア内の障害物点群がある場合に、対応する位置で停止します
detection_area
detection_area規定された停止線で一時停止を行います規定された停止線で一時停止を行います
stop_line
stop_line
/planning/mission_planning/route
[autoware_auto_planning_msgs/HADMapRoute]
/planning/mission_planning/route...高精度地図情報をもとに、自己位置からゴールまでのルートを計算します。高精度地図情報をもとに、自己位置からゴールまでのルートを計算します。
mission_planner
mission_planner
behavior_planning/path_with_lane_id
behavior_planning/path_with_lane_id
behavior_planning/path
behavior_planning/pathコストマップとゴールから、自車の走行ルートを計算する。いまはHA*を使ってる。コストマップとゴールから、自車の走行ルートを計算する。いまはHA*を使ってる。
freespace_planner
freespace_planner
costmap_generator/occupancy_grid
costmap_generator/occupancy_grid
goal
goal規定された停止線で一時停止を行います規定された停止線で一時停止を行います
no_drivable_lane
no_drivable_lane
<Parking>
<Parking>
parking/trajectory [Trajectory]
parking/trajectory [Trajectory]自車が停止しているときに、周囲の障害物を確認し、近くに障害物がいる場合は車両を発進させない。自車が停止しているときに、周囲の障害物を確認し、近くに障害物がいる場合は車両を発進させない。
surround_obstacle_checker
surround_obstacle_checker規定された停止線で一時停止を行います規定された停止線で一時停止を行います
run_out
run_out信号の色に応じて停止/発進の指示をします信号の色に応じて停止/発進の指示をします
virtual_traffic_light
virtual_traffic_light規定された停止線で一時停止を行います規定された停止線で一時停止を行います
speed_bump
speed_bump
trajectory_follower
trajectory_follower
Control
Control縦横を分けて計算された制御コマンドを統合して出力します縦横を分けて計算された制御コマンドを統合して出力します
latlon_muxer
latlon_muxer
 /control/trajectory_follower/lateral/control_cmd
 [AckermannLateralControlCommand]

/control/trajectory_follower/lateral/control_cmd...
/control/trajectory_follower/longitudinal/control_cmd
[LongitudinalControlCommand]
/control/trajectory_follower/longitudinal/control_cmd...
/control/trajectory_follower/control_cmd
 [AckermannControlCommand]

/control/trajectory_follower/control_cmd...経路追従のための目標ステア角とステア角速度を計算します。目標速度と加速度は経路に埋め込まれた値をそのまま出力します。経路追従のための目標ステア角とステア角速度を計算します。目標速度と加速度は経路に埋め込まれた値をそのまま出力します。
lateral_controller
lateral_controller経路の目標速度に沿うための目標加速度を計算します。遅延補正や停止時のブレーキ抜き操作も行います。経路の目標速度に沿うための目標加速度を計算します。遅延補正や停止時のブレーキ抜き操作も行います。
longitudinal_controller
longitudinal_controller指示モードに応じて、複数のコマンドの中から後段に渡すコマンドを選択します。指示モードに応じて、複数のコマンドの中から後段に渡すコマンドを選択します。
vehicle_cmd_gate
vehicle_cmd_gate
control/command/control_cmd
 [AckermannControlCommand]
control/command/control_cmd...
/control/shift_decider/gear_cmd
[GearCommand]
/control/shift_decider/gear_cmd...制御出力に応じてギア変更のコマンドを出力します制御出力に応じてギア変更のコマンドを出力します
shift_decider
shift_decider遠隔から来たコマンド（アクセル/ブレーキ）を目標速度/加速度の信号に変換します遠隔から来たコマンド（アクセル/ブレーキ）を目標速度/加速度の信号に変換します
external_cmd_
converter
external_cmd_...
/diagnostics
/diagnosticsMPCの出す予測経路と、laneletのレーン情報を用いて、車両がレーン外に出ようとしているかどうかを判定する。diag出力をerror_monitorに送り、逸脱判断字は停止する（option）MPCの出す予測経路と、laneletのレーン情報を用いて、車両がレーン外に出ようとしているかどうかを判定する。diag出力をerror_monitorに送り、逸脱判断字は停止する（option）
lane_departure_
checker
lane_departure_...
predicted_trajectory
predicted_trajectory
/external/selected/external_control_cmd
 [tier4_external_api_msgs/msg/ControlCommandStamped]
/external/selected/external_control_cmd...
external_cmd_
selector
external_cmd_...
/api/external/set/command/remote/control 
   [tier4_external_api_msgs/msg/ControlCommandStamped]
/api/external/set/command/remote/shift
   [tier4_external_api_msgs/msg/GearShiftStamped]
/api/external/set/command/remote/turn_signal
   [tier4_external_api_msgs/msg/TurnSignalStamped]
/api/external/set/command/remote/control...
z
z
/current_gate_mode [GateMode]
/gear_cmd [GearCommand]
/turn_indicators_cmd  [TurnIndicatorCommand]
/hazard_lights_cmd  [HazardLightsCommand]
/vehicle_emergency_cmd [VehicleEmergencyStamped]
/current_gate_mode [GateMode]...ヤマハのGCとのインターフェースヤマハのGCとのインターフェース
g30_interface
g30_interface速度・加速度の目標値を、車両特有の制御信号（アクセル/ブレーキ等）に変換します速度・加速度の目標値を、車両特有の制御信号（アクセル/ブレーキ等）に変換します
raw_vehicle_cmd_
converter
raw_vehicle_cmd_...
/vehicle/command/actuation_cmd
/vehicle/command/actuation_cmdpacmodとのinterfaced。LexusとかJapanTaxiとか。pacmodとのinterfaced。LexusとかJapanTaxiとか。
pacmod_interface
pacmod_interface
VehicleInterface
VehicleInterface
/vehicle/status/velocity_status
/vehicle/status/steering_status
/vehicle/status/turn_indicators_status
/vehicle/status/gear_status
/vehicle/status/control_mode
/vehicle/status/actuation_status
/vehicle/s...Autowareと車両のinterfaceです。データの変換が主なタスクです。Autowareと車両のinterfaceです。データの変換が主なタスクです。
    vehicle_interface
    vehicle_interface
accel_map_calibrator
accel_map_calibrator
/pacmod/**
/pacmod/**
Vehicle
Vehicle
<CAN>
<CAN>ASといろいろあったよASといろいろあったよ
JapanTaxi
JapanTaxi
pacmod3
pacmod3ゴルフカート！！ゴルフカート！！
YMC GolfCart
YMC GolfCart
top/velodyne_packets
top/velodyne_packetsvelodyneのdriverです。VLP16, VLP32, VLS128, Livoxなどなど、たくさん種類があります。velodyneのdriverです。VLP16, VLP32, VLS128, Livoxなどなど、たくさん種類があります。
lidar_driver
lidar_driver
top/rectified/pointcloud
top/rectified/pointcloud自車の回転によって生じたLiDAR点群の歪みを補正する。（リンクこれで合ってるっけ？）自車の回転によって生じたLiDAR点群の歪みを補正する。（リンクこれで合ってるっけ？）
fix_distortion
fix_distortion
top/pointcloud_raw
top/pointcloud_rawvelodyneのpacketをpointcloud型に変更するvelodyneのpacketをpointcloud型に変更する
packets_to_
pointcloud
packets_to_...
top/self_cropped/pointcloud
top/self_cropped/pointcloud自車の領域内にある点群を除去する。自車の領域内にある点群を除去する。
crop_box_
filter_self
crop_box_...
top/mirror_cropped/pointcloud
top/mirror_cropped/pointcloud自車のサイドミラーの部分に当たった点群を除去する自車のサイドミラーの部分に当たった点群を除去する
crop_box_
filter_mirror
crop_box_...点群のノイズ処理を行う （同一リングから得られたLiDARの点をクラスタリングし、点群数の少ないクラスタに属する点群はノイズとして除去される）点群のノイズ処理を行う （同一リングから得られたLiDARの点をクラスタリングし、点群数の少ないクラスタに属する点群はノイズとして除去される）
ring_outlier_filter
ring_outlier_filter
lidar/*/velodyne_packets
lidar/*/velodyne_packets
lidar_drivers
(left,right,front_right, front_left,rear)
lidar_drivers...
*/rectified/pointcloud
*/rectified/pointcloud自車の回転によって生じたLiDAR点群の歪みを補正する。（リンクこれで合ってるっけ？）自車の回転によって生じたLiDAR点群の歪みを補正する。（リンクこれで合ってるっけ？）
fix_distortion
fix_distortion
*/pointcloud_raw
*/pointcloud_rawvelodyneのpacketをpointcloud型に変更するvelodyneのpacketをpointcloud型に変更する
packets_to_
pointcloud
packets_to_...
*/self_cropped/pointcloud
*/self_cropped/pointcloud自車の領域内にある点群を除去する。自車の領域内にある点群を除去する。
crop_box_
filter_self
crop_box_...
*/mirror_cropped/pointcloud
*/mirror_cropped/pointcloud自車のサイドミラーの部分に当たった点群を除去する自車のサイドミラーの部分に当たった点群を除去する
crop_box_
filter_mirror
crop_box_...点群のノイズ処理を行う （同一リングから得られたLiDARの点をクラスタリングし、点群数の少ないクラスタに属する点群はノイズとして除去される）点群のノイズ処理を行う （同一リングから得られたLiDARの点をクラスタリングし、点群数の少ないクラスタに属する点群はノイズとして除去される）
ring_outlier_filter
ring_outlier_filter
concatenated/pointcloud
concatenated/pointcloud複数のLiDAR点群をまとめて1つにする複数のLiDAR点群をまとめて1つにする
concat_filter
concat_filterMGRS座標系への変換MGRS座標系への変換
gnss_poser
gnss_posergnssのdriverですgnssのdriverです
gnss_driver
gnss_driverimuのdriverですimuのdriverです
imu_driver
imu_driver
/sensing/imu/imu_raw
/sensing/imu/imu_raw
/sensing/lidar/pointcloud
/sensing/lidar/pointcloud
/sensing/lidar/
concatenated/pointcloud
/sensing/lidar/...
/sensing/gnss/
pose_with_covariance
/sensing/gnss/...ヨーレートのバイアス除去とかをするノードヨーレートのバイアス除去とかをするノード
imu_corrector
imu_corrector
/sensing/imu/imu_data
/sensing/imu/imu_data
Sensing
Sensing
Localization
Localization各々データを監視し、異常があればdiagで通知します各々データを監視し、異常があればdiagで通知します
system_monitors
system_monitors
System
System
autoware_process_
monitor
autoware_process_...
autoware_gpu_
monitor
autoware_gpu_...
autoware_mem_
monitor
autoware_mem_...
autoware_hdd_
monitor
autoware_hdd_...
autoware_net_
monitor
autoware_net_...
autoware_ntp_
monitor
autoware_ntp_...
/system/emergency/hazard_status
/system/emergency/hazard_status
system_error_
monitor
system_error_...
/system/emergency/control_cmd [AckermannControlCommand]
/system/emergency/gear_cmd [GearCommand]
/system/emergency/hazard_lights_cmd [HazardLightsCommand]
/system/emergency/emergency_state [EmergencyStateStamped]
/system/emergency/control_cmd [AckermannControlCommand]...なにかしてますなにかしてます
emergency_handler
emergency_handler
/autoware/state
/autoware/state
/diagnostics
/diagnosticsなにかしてますなにかしてます
ad_service_
state_monitor
ad_service_...
/control/current_gate_mode
/vehicle/status/control_mode
/autoware/state
/control/c...
    /control/command/control_cmd
    /control/trajectory_follower/control_cmd
    /initialpose2d
    /localization/kinematic_state
    /map/pointcloud_map
    /map/vector_map
    /perception/object_recognition/objects
    /planning/mission_planning/route
    /planning/scenario_planning/trajectory
    /system/emergency/control_cmd
    /vehicle/status/control_mode
    /vehicle/status/steering_status
    /vehicle/status/velocity_status
/contr...
/autoware/engage
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- - Trajectory - -
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- motion_velocity_ -
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- Trajectory -
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- freespace_planner -
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- occupancy_grid -
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- - - occupancy_grid - - - - - - - - -
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- costmap_generator -
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- - - costmap_generator - - - - - - - - -
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- behavior -
- velocity -
- planner -
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- slow_down -
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- - - slow_down - - - - - - - -
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- adaptive_cruise -
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- - - adaptive_cruise - - - - - - - -
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- stop -
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- LaneDriving Scenario -
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- - - LaneDriving Sce... - - - - - - - -
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- - - Behavior Planning - - -
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- - - Behavior Planning - - - - - - - -
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- - - Motion Planning - - -
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- - - Motion Planning - - - - - - - - - - -
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- vector_map -
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- - - vector_map - - - - - - - -
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- To Control -
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- - - To Control - - - - - - - - -
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- vector_map -
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- Dynamic Objects -
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- Dynamic Objects -
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- Obstacle Points -
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- Obstacle Points -
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- route (from mission_planner) -
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- map -
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- - - map - - - - - - - - - - -
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- map -
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- - - map - - - - - - - - -
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- vehicle_state -
- TF (map to baselink) -
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- - - vehicle_state... - - - - - - - -
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- Localization -
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- - - Localization - - - - - - - - -
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- approval, -
- force_approval -
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- - - approval,... - - - - - - - - -
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- external_crosswalk_states, -
- external_intersection_states, -
- external_traffic_light_states -
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- - - external_crosswalk_states,... - - - - - - - -
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- Planning -
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- - - Planning - - - - - - - - -
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- Traffic Light States -
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- expand_stop_range -
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- Perception -
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- - - Perception - - - - - - - - -
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- velocity_limit -
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- Human -
- Machine -
- Interface -
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- Perception -
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- external_velocity -
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- velocity_limit -
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Parking Scenario
Parking Scenario
route
route高精度地図情報をもとに、自己位置からゴールまでのルートを計算します。高精度地図情報をもとに、自己位置からゴールまでのルートを計算します。
mission_planner
mission_planner
path_with_lane_id
path_with_lane_idルート情報や障害物情報をもとに、レーンチェンジを実行します。
path
path交通ルールをもとに、経路上の最大速度を決定します。各モジュールは、自身の計算した最大速度と上段の結果を比較し、小さい速度を経路上に書き込みます。
Trajectory
Trajectory車両形状や走行可能領域を考慮して、経路の平滑化を行う。障害物も避けるが、long historyで最近は回避機能はoffになっています。車両形状や走行可能領域を考慮して、経路の平滑化を行う。障害物も避けるが、long historyで最近は回避機能はoffになっています。
obstacle_
avoidance_planner
obstacle_...
Trajectory
Trajectory自車が停止しているときに、周囲の障害物を確認し、近くに障害物がいる場合は車両を発進させない。自車が停止しているときに、周囲の障害物を確認し、近くに障害物がいる場合は車両を発進させない。
obstacle_velocity_limiter
obstacle_velocity_limiter
Trajectory
Trajectory障害物停止・前車追従・近傍障害物減速の複数の機能を持ち、機能に応じて経路上に速度を埋め込む。 目標経路上に障害物点がある場合は停止、経路近くに障害物点群がある場合は減速、前方に車両が居る場合は前車追従。
Trajectory
Trajectoryいまのrouteおよび地図情報から、LaneDriving / Parkingのシナリオを判断し、どちらの経路を使うかを切り替える。いまのrouteおよび地図情報から、LaneDriving / Parkingのシナリオを判断し、どちらの経路を使うかを切り替える。
scenario_selector
scenario_selector
Trajectory
Trajectory経路に埋め込まれた最大速度を超過しないように、うまい具合で速度を平滑化する。カーブでの減速もここで行う。経路に埋め込まれた最大速度を超過しないように、うまい具合で速度を平滑化する。カーブでの減速もここで行う。
motion_velocity_
smoother
motion_velocity_...
Trajectory
Trajectoryコストマップとゴールから、自車の走行ルートを計算する。いまはHA*を使ってる。コストマップとゴールから、自車の走行ルートを計算する。いまはHA*を使ってる。
freespace_planner
freespace_planner
occupancy_grid
occupancy_grid障害物点群や地図の走行可能エリアの情報から、駐車プランナー用のコストマップを生成する。障害物点群や地図の走行可能エリアの情報から、駐車プランナー用のコストマップを生成する。
costmap_generator
costmap_generator
behavior
velocity
planner
behavior...
behavior
path
planner
behavior...
goal
goal
obstacle
stop
planner
obstacle...障害物回避の可否判定と実行障害物回避の可否判定と実行
slow_down
slow_down入力シフト量に応じて経路を横方向にシフトさせる入力シフト量に応じて経路を横方向にシフトさせる
adaptive_cruise
adaptive_cruiseレーンチェンジの可否判定と実行レーンチェンジの可否判定と実行
stop
stop
LaneDriving Scenario
LaneDriving Sce...
Behavior Planning
Behavior Planning
Motion Planning
Motion Planning
vector_map
vector_map
To Control
To Control
vector_map
vector_map
Dynamic Objects
Dynamic Objects
Dynamic Objects
Dynamic Objects
Dynamic Objects
Dynamic Objects
Dynamic Objects
Dynamic Objects
Obstacle Points
Obstacle Points
Obstacle Points
Obstacle Points
Dynamic Objects
Dynamic Objects
Obstacle Points
Obstacle Points
route (from mission_planner)
route (from mission_planner)
map
map
map
map
vehicle_state
vehicle_state
Localization
Localization
approval,
force_approval
approval,...
external_crosswalk_states,
external_intersection_states,
external_traffic_light_states
external_crosswalk_states,...
Planning
Planning
Traffic Light States
Traffic Light States
expand_stop_range
expand_stop_range
Perception
Perception
velocity_limit
(from external modules)
velocity_limit...
Human
Machine
Interface
Human...
Perception
Perception
external_velocity
_limit_selector
external_velocity...
velocity_limit
velocity_l...障害物回避の可否判定と実行障害物回避の可否判定と実行
avoidance
avoidance入力シフト量に応じて経路を横方向にシフトさせる入力シフト量に応じて経路を横方向にシフトさせる
side_shift
side_shiftレーンチェンジの可否判定と実行レーンチェンジの可否判定と実行
lane_change
lane_change通常走行通常走行
lane_following
lane_following
pull_over
pull_over
pull_out
pull_out右左折時に車両後方の巻き込み確認を行い、衝突の危険がある場合は停止します。右左折時に車両後方の巻き込み確認を行い、衝突の危険がある場合は停止します。
blind_spot
blind_spot横断歩道に人が居る、もしくは侵入しようとしてきている場合に、横断歩道手前で停止します。近くに人が居る場合は徐行します。横断歩道に人が居る、もしくは侵入しようとしてきている場合に、横断歩道手前で停止します。近くに人が居る場合は徐行します。
cross_walk
cross_walk規定された停止線で一時停止を行います規定された停止線で一時停止を行います
stop_line
stop_line信号の色に応じて停止/発進の指示をします信号の色に応じて停止/発進の指示をします
traffic_light
traffic_light地図情報および動物体情報から、交差点での停止/発進の判定を行います。地図情報および動物体情報から、交差点での停止/発進の判定を行います。
intersection
intersection規定エリア内の障害物点群がある場合に、対応する位置で停止します規定エリア内の障害物点群がある場合に、対応する位置で停止します
detection_area
detection_area
no_stopping_area
no_stopping_area
virtual_traffic_light
virtual_traffic_light
occlusion_spot
occlusion_spot
run_out
run_out
check_point
check_point
vector_map
vector_map自車が停止しているときに、周囲の障害物を確認し、近くに障害物がいる場合は車両を発進させない。自車が停止しているときに、周囲の障害物を確認し、近くに障害物がいる場合は車両を発進させない。
surround_obstacle_checker
surround_obstacle_checker
(from other planning modules)
(from othe...
Obstacle Points
Obstacle Points
Dynamic Objects
Dynamic Objects
Trajectory
TrajectoryCheck the trajectory and stop publishing it if it is unsafe.Check the trajectory and stop publishing it if it is unsafe.
planning_validator
planning_validator
no_drivable_lane
no_drivable_laneText is not SVG - cannot display \ No newline at end of file diff --git a/docs/design/autoware-architecture/planning/index.md b/docs/design/autoware-architecture/planning/index.md index 48448b5a1cb..1cfbd97c1a2 100644 --- a/docs/design/autoware-architecture/planning/index.md +++ b/docs/design/autoware-architecture/planning/index.md @@ -33,14 +33,18 @@ The Planning component consists of the following sub-components: - **Mission Planning**: Calculates the route based on the given goal and map information. - **Scenario Planning**: Determines the trajectory based on the current scenario, such as Lane Driving or Parking. - **Lane Driving**: Calculates the trajectory for driving within constructed lanes. - - **Behavior Planner**: Calculates suitable trajectory based on safety considerations and traffic rules. + - **Behavior Planner**: Calculates suitable path based on safety considerations and traffic rules. - **Motion Planner**: Calculates suitable trajectory for the vehicle by taking into account safety factors, vehicle motion considerations, and instructions from the behavior planner. - - **Parking**: Calculates the trajectory for parking in unconstructed areas. + - **Parking**: Calculates the trajectory for parking in unstructured areas. - **Validation**: Verifies the safety of the trajectory. +Each component contains some modules that can be dynamically loaded and unloaded based on the situation. For instance, the Behavior Planning component includes modules such as lane change, intersection, and crosswalk modules. + +Our planning components are built based on the microautonomy architecture with Autoware. We adopt a modular system framework where the tasks are implemented as modules that can be dynamically loaded and unloaded to achieve different features depending on the given use cases. + ## Component interface -The following describes the input/output concept between Planning Component and other components. See [Planning Component Interface](/docs/design/autoware-interfaces/components/planning.md) for the current implementation. +This section describes the inputs and outputs of the Planning Component and of its internal modules. See the [Planning Component Interface](../../autoware-interfaces/components/planning.md) page for the current implementation. ### Input to the planning component @@ -75,53 +79,71 @@ The following describes the input/output concept between Planning Component and - **To API Layer** - Planning factors: Provides information about the reasoning behind the current planning behavior. This may include the position of target objects to avoid, obstacles that led to the decision to stop, and other relevant information. +### Internal interface in the planning component + +- **Mission Planning to Scenario Planning** + - Route: Offers guidance for the path that needs to be followed from the starting point to the destination. This path is determined based on information such as lane IDs defined on the map. At the route level, it doesn't explicitly indicate which specific lanes to take, and the route can contain multiple lanes. +- **Behavior Planning to Motion Planning** + - Path: Provides a rough position and velocity to be followed by the vehicle. These path points are usually defined with an interval of about 1 meter. Although other interval distances are possible, it may impact the precision or performance of the planning component. + - Drivable area: Defines regions where the vehicle can drive, such as within lanes or physically drivable areas. It assumes that the motion planner will calculate the final trajectory within this defined area. +- **Scenario Planning to Validation** + - Trajectory: Defines the desired positions, velocities, and accelerations which the Control Component will try to follow. Trajectory points are defined at intervals of approximately 0.1 seconds based on the trajectory velocities. +- **Validation to Control Component** + - Trajectory: Same as above but with some additional safety considerations. + +## How to add new modules (WIP) + +As mentioned in the goal session, this planning module is designed to be extensible by third-party components. For specific instructions on how to add new modules and expand its functionality, please refer to the provided documentation or guidelines (WIP). + ## Supported Functions -| Feature | Description | Requirements | Figure | -| -------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | --------------------------------------------------------------------------- | ------------------------------------------------------------------------------- | -| Route Planning | Plan route from the ego vehicle position to the destination.

Reference implementation is in [Mission Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/mission_planner/), enabled by launching the `mission_planner` node. | - Lanelet map (driving lanelets) | ![route-planning](image/features-route-planning.drawio.svg) | -| Path Planning from Route | Plan path to be followed from the given route.

Reference implementation is in [Behavior Path Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/). | - Lanelet map (driving lanelets) | ![lane-follow](image/features-lane-follow.drawio.svg) | -| Obstacle Avoidance | Plan path to avoid obstacles by steering operation.

Reference implementation is in [Avoidance](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/docs/behavior_path_planner_avoidance_design/), [Obstacle Avoidance Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_avoidance_planner/). Enable flag in parameter: `launch obstacle_avoidance_planner true` | - objects information | ![obstacle-avoidance](image/features-avoidance.drawio.svg) | -| Path Smoothing | Plan path to achieve smooth steering.

Reference implementation is in [Obstacle Avoidance Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_avoidance_planner/). | - Lanelet map (driving lanelet) | ![path-smoothing](image/features-path-smoothing.drawio.svg) | -| Narrow Space Driving | Plan path to drive within the drivable area. Furthermore, when it is not possible to drive within the drivable area, stop the vehicle to avoid exiting the drivable area.

Reference implementation is in [Obstacle Avoidance Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_avoidance_planner/). | - Lanelet map (high-precision lane boundaries) | ![narrow-space-driving](image/features-narrow-space-driving.drawio.svg) | -| Lane Change | Plan path for lane change to reach the destination.

Reference implementation is in [Lane Change](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/docs/behavior_path_planner_lane_change_design/).. Enable flag in both parameters: | - Lanelet map (driving lanelets) | ![lane-change](image/features-lane-change.drawio.svg) | -| Pull Over | Plan path for pull over to park at the road shoulder.

Reference implementation is in [Goal Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/docs/behavior_path_planner_goal_planner_design/). | - Lanelet map (shoulder lane) | ![pull-over](image/features-pull-over.drawio.svg) | -| Pull Out | Plan path for pull over to start from the road shoulder.

Reference implementation is in [Pull Out Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/docs/behavior_path_planner_pull_out_design/). | - Lanelet map (shoulder lane) | ![pull-out](image/features-pull-out.drawio.svg) | -| Path Shift | Plan path in lateral direction in response to external instructions.

Reference implementation is in [Side Shift Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/docs/behavior_path_planner_side_shift_design/). | - None | ![side-shift](image/features-side-shift.drawio.svg) | -| Obstacle Stop | Plan velocity to stop for an obstacle on the path.

Reference implementation is in [Obstacle Stop Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_stop_planner/), [Obstacle Cruise Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_cruise_planner/). `launch obstacle_stop_planner` and enable flag: `TODO`, `launch obstacle_cruise_planner` and enable flag: `TODO` | - objects information | ![obstacle-stop](image/features-obstacle-stop.drawio.svg) | -| Obstacle Deceleration | Plan velocity to decelerate for an obstacle located around the path.

Reference implementation is in [Obstacle Stop Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_stop_planner/), [Obstacle Cruise Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_cruise_planner/). | - objects information | ![obstacle-decel](image/features-obstacle-decel.drawio.svg) | -| Adaptive Cruise Control | Plan velocity to follow the vehicle driving in front of the ego vehicle.

Reference implementation is in [Obstacle Stop Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_stop_planner/), [Obstacle Cruise Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_cruise_planner/). | - objects information | ![adaptive-cruise](image/features-adaptive-cruise.drawio.svg) | -| Decelerate for cut-in vehicles | Plan velocity to avoid a risk for cutting-in vehicle to ego lane.

Reference implementation is in [Obstacle Cruise Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_cruise_planner/). | - objects information | ![cut-in](image/features-cut-in.drawio.svg) | -| Surround Check at starting | Plan velocity to prevent moving when an obstacle exists around the vehicle.

Reference implementation is in [Surround Obstacle Checker](https://autowarefoundation.github.io/autoware.universe/main/planning/surround_obstacle_checker/). | - objects information | ![surround-check](image/features-surround-check.drawio.svg) | -| Curve Deceleration | Plan velocity to decelerate the speed on a curve.

Reference implementation is in [Motion Velocity Smoother](https://autowarefoundation.github.io/autoware.universe/main/planning/motion_velocity_smoother/). | - None | ![decel-on-curve](image/features-decel-on-curve.drawio.svg) | -| Curve Deceleration for Obstacle | Plan velocity to decelerate the speed on a curve for a risk of obstacle collision around the path.

Reference implementation is in [Obstacle Velocity Limiter](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_velocity_limiter/). | - objects information
- Lanelet map (static obstacle) | ![decel-on-curve-obstacles](image/features-decel-on-curve-obstacles.drawio.svg) | -| Crosswalk | Plan velocity to stop or decelerate for pedestrians approaching or walking on a crosswalk.

Reference implementation is in [Crosswalk Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/crosswalk-design/). | - objects information
- Lanelet map (pedestrian crossing) | ![crosswalk](image/features-crosswalk.drawio.svg) | -| Intersection Oncoming Vehicle Check | Plan velocity for turning right/left at intersection to avoid a risk with oncoming other vehicles.

Reference implementation is in [Intersection Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/intersection-design/). | - objects information
- Lanelet map (intersection lane and yield lane) | ![intersection](image/features-intersection.drawio.svg) | -| Intersection Blind Spot Check | Plan velocity for turning right/left at intersection to avoid a risk with other vehicles or motorcycles coming from behind blind spot.

Reference implementation is in [Intersection Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/intersection-design/). | - objects information
- Lanelet map (intersection lane) | ![blind-spot](image/features-blind-spot.drawio.svg) | -| Intersection Occlusion Check | Plan velocity for turning right/left at intersection to avoid a risk with the possibility of coming vehicles from occlusion area.

Reference implementation is in [Intersection Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/intersection-design/). | - objects information
- Lanelet map (intersection lane) | WIP | -| Intersection Traffic Jam Detection | Plan velocity for intersection not to enter the intersection when a vehicle is stopped ahead for a traffic jam.

Reference implementation is in [Intersection Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/intersection-design/). | - objects information
- Lanelet map (intersection lane) | ![intersection-traffic-jam](image/features-intersection-traffic-jam.drawio.svg) | -| Traffic Light | Plan velocity for intersection according to a traffic light signal.

Reference implementation is in [Traffic Light Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/traffic-light-design/). | - Traffic light color information | ![traffic-light](image/features-traffic-light.drawio.svg) | -| Run-out Check | Plan velocity to decelerate for the possibility of nearby objects running out into the path.

Reference implementation is in [Run Out Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/run-out-design/). | - objects information | ![run-out](image/features-run-out.drawio.svg) | -| Stop Line | Plan velocity to stop at a stop line.

Reference implementation is in [Stop Line Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/stop-line-design/). | - Lanelet map (stop line) | ![stop-line](image/features-stop-line.drawio.svg) | -| Occlusion Spot Check | Plan velocity to decelerate for objects running out from occlusion area, for example, from behind a large vehicle.

Reference implementation is in [Occlusion Spot Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/occlusion-spot-design/). | - objects information
- Lanelet map (private/public lane) | ![occlusion-spot](image/features-occlusion-spot.drawio.svg) | -| No Stop Area | Plan velocity not to stop in areas where stopping is prohibited, such as in front of the fire station entrance.

Reference implementation is in [No Stopping Area Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/no-stopping-area-design/). | - Lanelet map (no stopping area) | ![no-stopping-area](image/features-no-stopping-area.drawio.svg) | -| Merge from Private Area to Public Road | Plan velocity for entering the public road from a private driveway to avoid a risk of collision with pedestrians or other vehicles.

Reference implementation is in [Merge from Private Area Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/merge-from-private-design/). | - objects information
- Lanelet map (private/public lane) | WIP | -| Speed Bump | Plan velocity to decelerate for speed bumps.

Reference implementation is in [Speed Bump Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/speed-bump-design/). | - Lanelet map (speed bump) | WIP | -| Detection Area | Plan velocity to stop at the corresponding stop when an object exist in the designated detection area.

Reference implementation is in [Detection Area Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/detection-area-design/). | - Lanelet map (detection area) | ![detection-area](image/features-detection-area.drawio.svg) | -| Out of ODD area | Plan velocity to stop before exiting the area designated by ODD (Operational Design Domain).

Reference implementation is in (WIP). | - Lanelet map (invalid lanelet) | WIP | -| Collision Detection when deviating from lane | Plan velocity to avoid conflict with other vehicles driving in the another lane when the ego vehicle is deviating from own lane.

Reference implementation is in [Out of Lane Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/out-of-lane-design/). | - objects information
- Lanelet map (driving lane) | WIP | -| Parking | Plan path and velocity for given goal in parking area.

Reference implementation is in [Free Space Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/freespace_planner/). | - objects information
- Lanelet map (parking area) | ![parking](image/features-parking.drawio.svg) | -| Autonomous Emergency Braking (AEB) | Perform an emergency stop if a collision with an object ahead is anticipated. It is noted that this function is expected as a final safety layer, and this should work even in the event of failures in the Localization or Perception system.

Reference implementation is in [Out of Lane Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/out-of-lane-design/). | - Primitive objects | WIP | -| Minimum Risk Maneuver (MRM) | Provide appropriate MRM (Minimum Risk Maneuver) instructions when a hazardous event occurs. For example, when a sensor trouble found, send an instruction for emergency braking, moderate stop, or pulling over to the shoulder, depending on the severity of the situation.

Reference implementation is in TODO | - TODO | WIP | -| Trajectory Validation | Check the planned trajectory is safe. If it is unsafe, take appropriate action, such as modify the trajectory, stop sending the trajectory or report to the autonomous driving system.

Reference implementation is in [Planning Validator](https://autowarefoundation.github.io/autoware.universe/main/planning/planning_validator/). | - None | WIP | -| Running Lane Map Generation | Generate lane map from localization data recorded in manual driving.

Reference implementation is in WIP | - None | WIP | -| Running Lane Optimization | Optimize the centerline (reference path) of the map to make it smooth considering the vehicle kinematics.

Reference implementation is in [Static Centerline Optimizer](https://autowarefoundation.github.io/autoware.universe/main/planning/static_centerline_optimizer/). | - Lanelet map (driving lanes) | WIP | +| Feature | Description | Requirements | Figure | +| -------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------- | ------------------------------------------------------------------------------- | +| Route Planning | Plan route from the ego vehicle position to the destination.

Reference implementation is in [Mission Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/mission_planner/), enabled by launching the `mission_planner` node. | - Lanelet map (driving lanelets) | ![route-planning](image/features-route-planning.drawio.svg) | +| Path Planning from Route | Plan path to be followed from the given route.

Reference implementation is in [Behavior Path Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/). | - Lanelet map (driving lanelets) | ![lane-follow](image/features-lane-follow.drawio.svg) | +| Obstacle Avoidance | Plan path to avoid obstacles by steering operation.

Reference implementation is in [Avoidance](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/docs/behavior_path_planner_avoidance_design/), [Obstacle Avoidance Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_avoidance_planner/). Enable flag in parameter: `launch obstacle_avoidance_planner true`

[Demonstration Video](https://youtu.be/A_V9yvfKZ4E)
[![Demonstration Video](https://img.youtube.com/vi/A_V9yvfKZ4E/0.jpg)](https://www.youtube.com/watch?v=A_V9yvfKZ4E) | - objects information | ![obstacle-avoidance](image/features-avoidance.drawio.svg) | +| Path Smoothing | Plan path to achieve smooth steering.

Reference implementation is in [Obstacle Avoidance Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_avoidance_planner/).

[Demonstration Video](https://youtu.be/RhyAF26Ppzs)
[![Demonstration Video](https://img.youtube.com/vi/RhyAF26Ppzs/0.jpg)](https://www.youtube.com/watch?v=RhyAF26Ppzs) | - Lanelet map (driving lanelet) | ![path-smoothing](image/features-path-smoothing.drawio.svg) | +| Narrow Space Driving | Plan path to drive within the drivable area. Furthermore, when it is not possible to drive within the drivable area, stop the vehicle to avoid exiting the drivable area.

Reference implementation is in [Obstacle Avoidance Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_avoidance_planner/).

[Demonstration Video](https://youtu.be/URzcLO2E1vY)
[![Demonstration Video](https://img.youtube.com/vi/URzcLO2E1vY/0.jpg)](https://www.youtube.com/watch?v=URzcLO2E1vY) | - Lanelet map (high-precision lane boundaries) | ![narrow-space-driving](image/features-narrow-space-driving.drawio.svg) | +| Lane Change | Plan path for lane change to reach the destination.

Reference implementation is in [Lane Change](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/docs/behavior_path_planner_lane_change_design/).

[Demonstration Video](https://youtu.be/0jRDGQ84cD4)
[![Demonstration Video](https://img.youtube.com/vi/0jRDGQ84cD4/0.jpg)](https://www.youtube.com/watch?v=0jRDGQ84cD4) | - Lanelet map (driving lanelets) | ![lane-change](image/features-lane-change.drawio.svg) | +| Pull Over | Plan path for pull over to park at the road shoulder.

Reference implementation is in [Goal Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/docs/behavior_path_planner_goal_planner_design/).

Demonstration Videos:
[Simple Pull Over](https://youtu.be/r3-kAmTb4hc)
[![Demonstration Video](https://img.youtube.com/vi/r3-kAmTb4hc/0.jpg)](https://www.youtube.com/watch?v=r3-kAmTb4hc)
[Arc Forward Pull Over](https://youtu.be/ornbzkWxRWU)
[![Demonstration Video](https://img.youtube.com/vi/ornbzkWxRWU/0.jpg)](https://www.youtube.com/watch?v=ornbzkWxRWU)
[Arc Backward Pull Over](https://youtu.be/if-0tG3AkLo)
[![Demonstration Video](https://img.youtube.com/vi/if-0tG3AkLo/0.jpg)](https://www.youtube.com/watch?v=if-0tG3AkLo) | - Lanelet map (shoulder lane) | ![pull-over](image/features-pull-over.drawio.svg) | +| Pull Out | Plan path for pull over to start from the road shoulder.

Reference implementation is in [Pull Out Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/docs/behavior_path_planner_start_planner_design/#:~:text=WIP-,Path%20Generation,-%23).

Demonstration Video:
[Simple Pull Out](https://youtu.be/xOjnPqoHup4)
[![Demonstration Video](https://img.youtube.com/vi/xOjnPqoHup4/0.jpg)](https://www.youtube.com/watch?v=xOjnPqoHup4)
[Backward Pull Out](https://youtu.be/iGieijPcPcQ)
[![Demonstration Video](https://img.youtube.com/vi/iGieijPcPcQ/0.jpg)](https://www.youtube.com/watch?v=iGieijPcPcQ) | - Lanelet map (shoulder lane) | ![pull-out](image/features-pull-out.drawio.svg) | +| Path Shift | Plan path in lateral direction in response to external instructions.

Reference implementation is in [Side Shift Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/docs/behavior_path_planner_side_shift_design/). | - None | ![side-shift](image/features-side-shift.drawio.svg) | +| Obstacle Stop | Plan velocity to stop for an obstacle on the path.

Reference implementation is in [Obstacle Stop Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_stop_planner/), [Obstacle Cruise Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_cruise_planner/). `launch obstacle_stop_planner` and enable flag: `TODO`, `launch obstacle_cruise_planner` and enable flag: `TODO`

[Demonstration Video](https://youtu.be/d8IRW_xArcE)
[![Demonstration Video](https://img.youtube.com/vi/d8IRW_xArcE/0.jpg)](https://www.youtube.com/watch?v=d8IRW_xArcE) | - objects information | ![obstacle-stop](image/features-obstacle-stop.drawio.svg) | +| Obstacle Deceleration | Plan velocity to decelerate for an obstacle located around the path.

Reference implementation is in [Obstacle Stop Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_stop_planner/), [Obstacle Cruise Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_cruise_planner/).

[Demonstration Video](https://youtu.be/gvN1otgeaaw)
[![Demonstration Video](https://img.youtube.com/vi/gvN1otgeaaw/0.jpg)](https://www.youtube.com/watch?v=gvN1otgeaaw) | - objects information | ![obstacle-decel](image/features-obstacle-decel.drawio.svg) | +| Adaptive Cruise Control | Plan velocity to follow the vehicle driving in front of the ego vehicle.

Reference implementation is in [Obstacle Stop Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_stop_planner/), [Obstacle Cruise Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_cruise_planner/). | - objects information | ![adaptive-cruise](image/features-adaptive-cruise.drawio.svg) | +| Decelerate for cut-in vehicles | Plan velocity to avoid a risk for cutting-in vehicle to ego lane.

Reference implementation is in [Obstacle Cruise Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_cruise_planner/). | - objects information | ![cut-in](image/features-cut-in.drawio.svg) | +| Surround Check at starting | Plan velocity to prevent moving when an obstacle exists around the vehicle.

Reference implementation is in [Surround Obstacle Checker](https://autowarefoundation.github.io/autoware.universe/main/planning/surround_obstacle_checker/). Enable flag in parameter: `use_surround_obstacle_check true` in [tier4_planning_component.launch.xml](https://github.com/autowarefoundation/autoware_launch/blob/2850d7f4e20b173fde2183d5323debbe0067a990/autoware_launch/launch/components/tier4_planning_component.launch.xml#L8)

[Demonstration Video](https://youtu.be/bbGgtXN3lC4)
[![Demonstration Video](https://img.youtube.com/vi/bbGgtXN3lC4/0.jpg)](https://www.youtube.com/watch?v=bbGgtXN3lC4) | - objects information | ![surround-check](image/features-surround-check.drawio.svg) | +| Curve Deceleration | Plan velocity to decelerate the speed on a curve.

Reference implementation is in [Motion Velocity Smoother](https://autowarefoundation.github.io/autoware.universe/main/planning/motion_velocity_smoother/). | - None | ![decel-on-curve](image/features-decel-on-curve.drawio.svg) | +| Curve Deceleration for Obstacle | Plan velocity to decelerate the speed on a curve for a risk of obstacle collision around the path.

Reference implementation is in [Obstacle Velocity Limiter](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_velocity_limiter/).

[Demonstration Video](https://youtu.be/I-oFgG6kIAs)
[![Demonstration Video](https://img.youtube.com/vi/I-oFgG6kIAs/0.jpg)](https://www.youtube.com/watch?v=I-oFgG6kIAs) | - objects information
- Lanelet map (static obstacle) | ![decel-on-curve-obstacles](image/features-decel-on-curve-obstacles.drawio.svg) | +| Crosswalk | Plan velocity to stop or decelerate for pedestrians approaching or walking on a crosswalk.

Reference implementation is in [Crosswalk Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_crosswalk_module/).

[Demonstration Video](https://youtu.be/tUvthyIL2W8)
[![Demonstration Video](https://img.youtube.com/vi/tUvthyIL2W8/0.jpg)](https://www.youtube.com/watch?v=tUvthyIL2W8) | - objects information
- Lanelet map (pedestrian crossing) | ![crosswalk](image/features-crosswalk.drawio.svg) | +| Intersection Oncoming Vehicle Check | Plan velocity for turning right/left at intersection to avoid a risk with oncoming other vehicles.

Reference implementation is in [Intersection Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_intersection_module/).

[Demonstration Video](https://youtu.be/SGD07Hqg4Hk)
[![Demonstration Video](https://img.youtube.com/vi/SGD07Hqg4Hk/0.jpg)](https://www.youtube.com/watch?v=SGD07Hqg4Hk) | - objects information
- Lanelet map (intersection lane and yield lane) | ![intersection](image/features-intersection.drawio.svg) | +| Intersection Blind Spot Check | Plan velocity for turning right/left at intersection to avoid a risk with other vehicles or motorcycles coming from behind blind spot.

Reference implementation is in [Blind Spot Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_blind_spot_module/).

[Demonstration Video](https://youtu.be/oaTCJRafDGA)
[![Demonstration Video](https://img.youtube.com/vi/oaTCJRafDGA/0.jpg)](https://www.youtube.com/watch?v=oaTCJRafDGA) | - objects information
- Lanelet map (intersection lane) | ![blind-spot](image/features-blind-spot.drawio.svg) | +| Intersection Occlusion Check | Plan velocity for turning right/left at intersection to avoid a risk with the possibility of coming vehicles from occlusion area.

Reference implementation is in [Intersection Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_intersection_module/).

[Demonstration Video](https://youtu.be/bAHXMB7kbFc)
[![Demonstration Video](https://img.youtube.com/vi/bAHXMB7kbFc/0.jpg)](https://www.youtube.com/watch?v=bAHXMB7kbFc) | - objects information
- Lanelet map (intersection lane) | ![intersection-occlusion](image/features-intersection-occlusion.drawio.svg) | +| Intersection Traffic Jam Detection | Plan velocity for intersection not to enter the intersection when a vehicle is stopped ahead for a traffic jam.

Reference implementation is in [Intersection Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_intersection_module/).

[Demonstration Video](https://youtu.be/negK4VbrC5o)
[![Demonstration Video](https://img.youtube.com/vi/negK4VbrC5o/0.jpg)](https://www.youtube.com/watch?v=negK4VbrC5o) | - objects information
- Lanelet map (intersection lane) | ![intersection-traffic-jam](image/features-intersection-traffic-jam.drawio.svg) | +| Traffic Light | Plan velocity for intersection according to a traffic light signal.

Reference implementation is in [Traffic Light Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_traffic_light_module/).

[Demonstration Video](https://youtu.be/lGA53KljQrM)
[![Demonstration Video](https://img.youtube.com/vi/lGA53KljQrM/0.jpg)](https://www.youtube.com/watch?v=lGA53KljQrM) | - Traffic light color information | ![traffic-light](image/features-traffic-light.drawio.svg) | +| Run-out Check | Plan velocity to decelerate for the possibility of nearby objects running out into the path.

Reference implementation is in [Run Out Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_run_out_module/).

[Demonstration Video](https://youtu.be/9IDggldT2t0)
[![Demonstration Video](https://img.youtube.com/vi/9IDggldT2t0/0.jpg)](https://www.youtube.com/watch?v=9IDggldT2t0) | - objects information | ![run-out](image/features-run-out.drawio.svg) | +| Stop Line | Plan velocity to stop at a stop line.

Reference implementation is in [Stop Line Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_stop_line_module/).

[Demonstration Video](https://youtu.be/eej9jYt-GSE)
[![Demonstration Video](https://img.youtube.com/vi/eej9jYt-GSE/0.jpg)](https://www.youtube.com/watch?v=eej9jYt-GSE) | - Lanelet map (stop line) | ![stop-line](image/features-stop-line.drawio.svg) | +| Occlusion Spot Check | Plan velocity to decelerate for objects running out from occlusion area, for example, from behind a large vehicle.

Reference implementation is in [Occlusion Spot Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_occlusion_spot_module/).

[Demonstration Video](https://youtu.be/3qs8Ivjh1fs)
[![Demonstration Video](https://img.youtube.com/vi/3qs8Ivjh1fs/0.jpg)](https://www.youtube.com/watch?v=3qs8Ivjh1fs) | - objects information
- Lanelet map (private/public lane) | ![occlusion-spot](image/features-occlusion-spot.drawio.svg) | +| No Stop Area | Plan velocity not to stop in areas where stopping is prohibited, such as in front of the fire station entrance.

Reference implementation is in [No Stopping Area Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_no_stopping_area_module/). | - Lanelet map (no stopping area) | ![no-stopping-area](image/features-no-stopping-area.drawio.svg) | +| Merge from Private Area to Public Road | Plan velocity for entering the public road from a private driveway to avoid a risk of collision with pedestrians or other vehicles.

Reference implementation is in [Merge from Private Area Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_intersection_module/). | - objects information
- Lanelet map (private/public lane) | WIP | +| Speed Bump | Plan velocity to decelerate for speed bumps.

Reference implementation is in [Speed Bump Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_speed_bump_module/).

[Demonstration Video](https://youtu.be/FpX3q3YaaCw)
[![Demonstration Video](https://img.youtube.com/vi/FpX3q3YaaCw/0.jpg)](https://www.youtube.com/watch?v=FpX3q3YaaCw) | - Lanelet map (speed bump) | ![speed-bump](image/features-speed-bump.drawio.svg) | +| Detection Area | Plan velocity to stop at the corresponding stop when an object exist in the designated detection area.

Reference implementation is in [Detection Area Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_detection_area_module/).

[Demonstration Video](https://youtu.be/YzXF4U69lJs)
[![Demonstration Video](https://img.youtube.com/vi/YzXF4U69lJs/0.jpg)](https://www.youtube.com/watch?v=YzXF4U69lJs) | - Lanelet map (detection area) | ![detection-area](image/features-detection-area.drawio.svg) | +| No Drivable Lane | Plan velocity to stop before exiting the area designated by ODD (Operational Design Domain) or stop the vehicle if autonomous mode started in out of ODD lane.

Reference implementation is in [No Drivable Lane Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_no_drivable_lane_module/). | - Lanelet map (no drivable lane) | ![no-drivable-lane](image/features-no-drivable-lane.drawio.svg) | +| Collision Detection when deviating from lane | Plan velocity to avoid conflict with other vehicles driving in the another lane when the ego vehicle is deviating from own lane.

Reference implementation is in [Out of Lane Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_out_of_lane_module/). | - objects information
- Lanelet map (driving lane) | WIP | +| Parking | Plan path and velocity for given goal in parking area.

Reference implementation is in [Free Space Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/freespace_planner/).

[Demonstration Video](https://youtu.be/rAIYmwpNWfA)
[![Demonstration Video](https://img.youtube.com/vi/rAIYmwpNWfA/0.jpg)](https://www.youtube.com/watch?v=rAIYmwpNWfA) | - objects information
- Lanelet map (parking area) | ![parking](image/features-parking.drawio.svg) | +| Autonomous Emergency Braking (AEB) | Perform an emergency stop if a collision with an object ahead is anticipated. It is noted that this function is expected as a final safety layer, and this should work even in the event of failures in the Localization or Perception system.

Reference implementation is in [Out of Lane Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_out_of_lane_module/). | - Primitive objects | ![aeb](image/features-aeb.drawio.svg) | +| Minimum Risk Maneuver (MRM) | Provide appropriate MRM (Minimum Risk Maneuver) instructions when a hazardous event occurs. For example, when a sensor trouble found, send an instruction for emergency braking, moderate stop, or pulling over to the shoulder, depending on the severity of the situation.

Reference implementation is in TODO | - TODO | WIP | +| Trajectory Validation | Check the planned trajectory is safe. If it is unsafe, take appropriate action, such as modify the trajectory, stop sending the trajectory or report to the autonomous driving system.

Reference implementation is in [Planning Validator](https://autowarefoundation.github.io/autoware.universe/main/planning/planning_validator/). | - None | ![trajectory-validation](image/features-trajectory-validation.drawio.svg) | +| Running Lane Map Generation | Generate lane map from localization data recorded in manual driving.

Reference implementation is in WIP | - None | WIP | +| Running Lane Optimization | Optimize the centerline (reference path) of the map to make it smooth considering the vehicle kinematics.

Reference implementation is in [Static Centerline Optimizer](https://autowarefoundation.github.io/autoware.universe/main/planning/static_centerline_optimizer/). | - Lanelet map (driving lanes) | WIP | -## Implementation +## Reference Implementation + +The following diagram describes the reference implementation of the Planning component. By adding new modules or extending the functionalities, various ODDs can be supported. -The implementation of the planning module in the latest version is shown as below. +_Note that some implementation does not adhere to the high-level architecture design and require updating._ ![reference-implementation](image/planning-diagram.drawio.svg) @@ -136,16 +158,17 @@ For more details, please refer to the design documents in each package. - [_pull_out_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/#pull-out) - _side_shift_ - [_behavior_velocity_planner_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/): calculates max speed based on the traffic rules. - - [_detection_area_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/detection-area-design/) - - [_blind_spot_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/blind-spot-design/) - - [_cross_walk_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/crosswalk-design/) - - [_stop_line_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/stop-line-design/) - - [_traffic_light_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/traffic-light-design/) - - [_intersection_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/intersection-design/) - - [_no_stopping_area_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/no-stopping-area-design/) - - [_virtual_traffic_light_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/virtual-traffic-light-design/) - - [_occlusion_spot_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/occlusion-spot-design/) - - [_run_out_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/run-out-design/) + - [_detection_area_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_detection_area_module/) + - [_blind_spot_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_blind_spot_module/) + - [_cross_walk_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_crosswalk_module/) + - [_stop_line_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_stop_line_module/) + - [_traffic_light_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_traffic_light_module/) + - [_intersection_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_intersection_module/) + - [_no_stopping_area_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_no_stopping_area_module/) + - [_virtual_traffic_light_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_virtual_traffic_light_module/) + - [_occlusion_spot_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_occlusion_spot_module/) + - [_run_out_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_run_out_module/) + - [_no_drivable_lane_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_no_drivable_lane_module) - [_obstacle_avoidance_planner_](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_avoidance_planner/): calculate path shape under obstacle and drivable area constraints - [_surround_obstacle_checker_](https://autowarefoundation.github.io/autoware.universe/main/planning/surround_obstacle_checker/): keeps the vehicle being stopped when there are obstacles around the ego-vehicle. It works only when the vehicle is stopped. - [_obstacle_stop_planner_](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_stop_planner/): When there are obstacles on or near the trajectory, it calculates the maximum velocity of the trajectory points depending on the situation: stopping, slowing down, or adaptive cruise (following the car). @@ -158,7 +181,7 @@ For more details, please refer to the design documents in each package. - [_external_velocity_limit_selector_](https://autowarefoundation.github.io/autoware.universe/main/planning/external_velocity_limit_selector/): takes an appropriate velocity limit from multiple candidates. - [_motion_velocity_smoother_](https://autowarefoundation.github.io/autoware.universe/main/planning/motion_velocity_smoother/): calculates final velocity considering velocity, acceleration, and jerk constraints. -## Important Parameters +### Important Parameters | Package | Parameter | Type | Description | | ---------------------------- | ------------------------------------------------------------- | ------ | ------------------------------------------------------------------------------------------------------------------ | @@ -168,9 +191,9 @@ For more details, please refer to the design documents in each package. | `behavior_path_planner` | `avoidance.avoidance.lateral.lateral_collision_safety_buffer` | double | additional lateral margin to obstacle if possible on avoidance | | `obstacle_avoidance_planner` | `option.enable_outside_drivable_area_stop` | bool | If set true, a stop point will be inserted before the path footprint is outside the drivable area. | -## Notation +### Notation -### [1] self-crossing road and overlapped +#### [1] self-crossing road and overlapped To support the self-crossing road and overlapped road in the opposite direction, each planning module has to meet the [specifications](https://autowarefoundation.github.io/autoware.universe/main/common/motion_utils/) @@ -184,6 +207,6 @@ Currently, the supported modules are as follows. - obstacle_stop_planner - motion_velocity_smoother -### [2] Size of Path Points +#### [2] Size of Path Points Some functions do not support paths with only one point. Therefore, each modules should generate the path with more than two path points. diff --git a/docs/design/autoware-interfaces/ad-api/.pages b/docs/design/autoware-interfaces/ad-api/.pages index bba6450af8c..5e2a85e21fc 100644 --- a/docs/design/autoware-interfaces/ad-api/.pages +++ b/docs/design/autoware-interfaces/ad-api/.pages @@ -1,4 +1,5 @@ nav: - index.md - - use-cases + - features - list + - types diff --git a/docs/design/autoware-interfaces/ad-api/list/api/fail_safe/index.md b/docs/design/autoware-interfaces/ad-api/features/fail-safe.md similarity index 91% rename from docs/design/autoware-interfaces/ad-api/list/api/fail_safe/index.md rename to docs/design/autoware-interfaces/ad-api/features/fail-safe.md index 58b14a9c060..355c402bac8 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/fail_safe/index.md +++ b/docs/design/autoware-interfaces/ad-api/features/fail-safe.md @@ -1,4 +1,6 @@ -# Fail-safe API +# Fail-safe + +## Related API - {{ link_ad_api('/api/fail_safe/mrm_state') }} @@ -11,14 +13,14 @@ For safety, Autoware switches the operation to MRM when an abnormality is detect Since the required behavior differs depending on the situation, MRM is implemented in various places as a specific mode in a normal module or as an independent module. The fail-safe module selects the behavior of MRM according to the abnormality and switches the gate output to that command. -![fail-safe-architecture](./architecture.drawio.svg) +![fail-safe-architecture](./fail-safe/architecture.drawio.svg) ## States The MRM state indicates whether MRM is operating. This state also provides success or failure. Generally, MRM will switch to another behavior if it fails. -![mrm-state](./mrm-state.drawio.svg) +![mrm-state](./fail-safe/mrm-state.drawio.svg) | State | Description | | --------- | ---------------------------------------------------------- | @@ -32,7 +34,7 @@ Generally, MRM will switch to another behavior if it fails. There is a dependency between MRM behaviors. For example, it switches from a comfortable stop to a emergency stop, but not the other way around. This is service dependent. Autoware supports the following transitions by default. -![mrm-behavior](./mrm-behavior.drawio.svg) +![mrm-behavior](./fail-safe/mrm-behavior.drawio.svg) | State | Description | | ---------------- | ------------------------------------------------------------------------- | diff --git a/docs/design/autoware-interfaces/ad-api/list/api/fail_safe/architecture.drawio.svg b/docs/design/autoware-interfaces/ad-api/features/fail-safe/architecture.drawio.svg similarity index 100% rename from docs/design/autoware-interfaces/ad-api/list/api/fail_safe/architecture.drawio.svg rename to docs/design/autoware-interfaces/ad-api/features/fail-safe/architecture.drawio.svg diff --git a/docs/design/autoware-interfaces/ad-api/list/api/fail_safe/mrm-behavior.drawio.svg b/docs/design/autoware-interfaces/ad-api/features/fail-safe/mrm-behavior.drawio.svg similarity index 100% rename from docs/design/autoware-interfaces/ad-api/list/api/fail_safe/mrm-behavior.drawio.svg rename to docs/design/autoware-interfaces/ad-api/features/fail-safe/mrm-behavior.drawio.svg diff --git a/docs/design/autoware-interfaces/ad-api/list/api/fail_safe/mrm-state.drawio.svg b/docs/design/autoware-interfaces/ad-api/features/fail-safe/mrm-state.drawio.svg similarity index 100% rename from docs/design/autoware-interfaces/ad-api/list/api/fail_safe/mrm-state.drawio.svg rename to docs/design/autoware-interfaces/ad-api/features/fail-safe/mrm-state.drawio.svg diff --git a/docs/design/autoware-interfaces/ad-api/list/api/interface/index.md b/docs/design/autoware-interfaces/ad-api/features/interface.md similarity index 91% rename from docs/design/autoware-interfaces/ad-api/list/api/interface/index.md rename to docs/design/autoware-interfaces/ad-api/features/interface.md index 186fa2bf3f2..c472bdd3737 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/interface/index.md +++ b/docs/design/autoware-interfaces/ad-api/features/interface.md @@ -1,4 +1,6 @@ -# Interface API +# Interface + +## Related API - {{ link_ad_api('/api/interface/version') }} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/localization/index.md b/docs/design/autoware-interfaces/ad-api/features/localization.md similarity index 88% rename from docs/design/autoware-interfaces/ad-api/list/api/localization/index.md rename to docs/design/autoware-interfaces/ad-api/features/localization.md index 6caa6952b5c..dab03f6c843 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/localization/index.md +++ b/docs/design/autoware-interfaces/ad-api/features/localization.md @@ -1,4 +1,6 @@ -# Localization API +# Localization + +## Related API - {{ link_ad_api('/api/localization/initialization_state') }} - {{ link_ad_api('/api/localization/initialize') }} @@ -9,7 +11,7 @@ This API manages the initialization of localization. Autoware requires a global ## States -![localization-initialization_state-state](./state.drawio.svg) +![localization-initialization-state](./localization/state.drawio.svg) | State | Description | | ------------- | -------------------------------------------------------------------------------- | diff --git a/docs/design/autoware-interfaces/ad-api/list/api/localization/state.drawio.svg b/docs/design/autoware-interfaces/ad-api/features/localization/state.drawio.svg similarity index 100% rename from docs/design/autoware-interfaces/ad-api/list/api/localization/state.drawio.svg rename to docs/design/autoware-interfaces/ad-api/features/localization/state.drawio.svg diff --git a/docs/design/autoware-interfaces/ad-api/list/api/motion/index.md b/docs/design/autoware-interfaces/ad-api/features/motion.md similarity index 94% rename from docs/design/autoware-interfaces/ad-api/list/api/motion/index.md rename to docs/design/autoware-interfaces/ad-api/features/motion.md index 999ff244a4d..5edf6631df5 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/motion/index.md +++ b/docs/design/autoware-interfaces/ad-api/features/motion.md @@ -1,4 +1,6 @@ -# Motion API +# Motion + +## Related API - {{ link_ad_api('/api/motion/state') }} - {{ link_ad_api('/api/motion/accept_start') }} @@ -17,7 +19,7 @@ In this state, calling the start API changes the state to MOVING and the vehicle This mechanism can add processing such as announcements before the vehicle starts. Depending on the configuration, the state may transition directly from STOPPED to MOVING. -![motion-state](./docs/state.drawio.svg) +![motion-state](./motion/state.drawio.svg) | State | Description | | ---------------- | ----------------------------------------------- | diff --git a/docs/design/autoware-interfaces/ad-api/list/api/motion/docs/state.drawio.svg b/docs/design/autoware-interfaces/ad-api/features/motion/state.drawio.svg similarity index 100% rename from docs/design/autoware-interfaces/ad-api/list/api/motion/docs/state.drawio.svg rename to docs/design/autoware-interfaces/ad-api/features/motion/state.drawio.svg diff --git a/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/index.md b/docs/design/autoware-interfaces/ad-api/features/operation_mode.md similarity index 95% rename from docs/design/autoware-interfaces/ad-api/list/api/operation_mode/index.md rename to docs/design/autoware-interfaces/ad-api/features/operation_mode.md index 47c9eb31f84..d8337692be8 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/index.md +++ b/docs/design/autoware-interfaces/ad-api/features/operation_mode.md @@ -1,4 +1,6 @@ -# Operation Mode API +# Operation mode + +## Related API - {{ link_ad_api('/api/operation_mode/state') }} - {{ link_ad_api('/api/operation_mode/change_to_autonomous') }} @@ -22,7 +24,7 @@ Autoware control mode has four operation modes. | Local | Manually control the vehicle from nearby with some device such as a joystick. | | Remote | Manually control the vehicle from a web application on the cloud. | -![operation-mode-architecture](./architecture.drawio.svg) +![operation-mode-architecture](./operation_mode/architecture.drawio.svg) ## States diff --git a/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/architecture.drawio.svg b/docs/design/autoware-interfaces/ad-api/features/operation_mode/architecture.drawio.svg similarity index 100% rename from docs/design/autoware-interfaces/ad-api/list/api/operation_mode/architecture.drawio.svg rename to docs/design/autoware-interfaces/ad-api/features/operation_mode/architecture.drawio.svg diff --git a/docs/design/autoware-interfaces/ad-api/features/perception.md b/docs/design/autoware-interfaces/ad-api/features/perception.md new file mode 100644 index 00000000000..6cc4a6c3b2b --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/features/perception.md @@ -0,0 +1,9 @@ +# Perception + +## Related API + +- {{ link_ad_api('/api/perception/objects') }} + +## Description + +API for perception related topic. diff --git a/docs/design/autoware-interfaces/ad-api/list/api/planning/index.md b/docs/design/autoware-interfaces/ad-api/features/planning-factors.md similarity index 95% rename from docs/design/autoware-interfaces/ad-api/list/api/planning/index.md rename to docs/design/autoware-interfaces/ad-api/features/planning-factors.md index fc7632cbb63..eff614ae230 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/planning/index.md +++ b/docs/design/autoware-interfaces/ad-api/features/planning-factors.md @@ -1,4 +1,6 @@ -# Planning API +# Planning factors + +## Related API - {{ link_ad_api('/api/planning/velocity_factors') }} - {{ link_ad_api('/api/planning/steering_factors') }} @@ -16,7 +18,7 @@ As the vehicle approaches the stop position, this factor appears with a status o And when the vehicle reaches that position and stops, the status will be STOPPED. The pose indicates the stop position or the base link if the stop position cannot be calculated. -![velocity-factors](./docs/velocity-factors.drawio.svg) +![velocity-factors](./planning-factors/velocity-factors.drawio.svg) | Factor Type | Description | | --------------------------- | ------------------------------------------------------------------------ | @@ -45,7 +47,7 @@ As the vehicle approaches the position to start steering, this factor appears wi And when the vehicle reaches that position, the status will be TURNING. The pose indicates the start position when APPROACHING and the end position when TURNING. -![steering-factors-1](./docs/steering-factors-1.drawio.svg) +![steering-factors-1](./planning-factors/steering-factors-1.drawio.svg) In cases such as lane change and avoidance, the vehicle will start steering at any position in the range depending on the situation. As the vehicle approaches the start position of the range, this factor appears with a status of APPROACHING. @@ -54,7 +56,7 @@ Then, when it is possible, the vehicle will start steering and the status will b The pose indicates the start of the range (A) when APPROACHING and the end of the range (B) when TRYING. The position to end steering (C to D) for TURNING depends on the position to start steering. -![steering-factors-2](./docs/steering-factors-2.drawio.svg) +![steering-factors-2](./planning-factors/steering-factors-2.drawio.svg) | Factor Type | Description | | --------------------- | ------------------------------------------------------------------------ | diff --git a/docs/design/autoware-interfaces/ad-api/list/api/planning/docs/steering-factors-1.drawio.svg b/docs/design/autoware-interfaces/ad-api/features/planning-factors/steering-factors-1.drawio.svg similarity index 100% rename from docs/design/autoware-interfaces/ad-api/list/api/planning/docs/steering-factors-1.drawio.svg rename to docs/design/autoware-interfaces/ad-api/features/planning-factors/steering-factors-1.drawio.svg diff --git a/docs/design/autoware-interfaces/ad-api/list/api/planning/docs/steering-factors-2.drawio.svg b/docs/design/autoware-interfaces/ad-api/features/planning-factors/steering-factors-2.drawio.svg similarity index 100% rename from docs/design/autoware-interfaces/ad-api/list/api/planning/docs/steering-factors-2.drawio.svg rename to docs/design/autoware-interfaces/ad-api/features/planning-factors/steering-factors-2.drawio.svg diff --git a/docs/design/autoware-interfaces/ad-api/list/api/planning/docs/velocity-factors.drawio.svg b/docs/design/autoware-interfaces/ad-api/features/planning-factors/velocity-factors.drawio.svg similarity index 100% rename from docs/design/autoware-interfaces/ad-api/list/api/planning/docs/velocity-factors.drawio.svg rename to docs/design/autoware-interfaces/ad-api/features/planning-factors/velocity-factors.drawio.svg diff --git a/docs/design/autoware-interfaces/ad-api/list/api/routing/index.md b/docs/design/autoware-interfaces/ad-api/features/routing.md similarity index 62% rename from docs/design/autoware-interfaces/ad-api/list/api/routing/index.md rename to docs/design/autoware-interfaces/ad-api/features/routing.md index 903e711efd1..bc13a4dabd6 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/routing/index.md +++ b/docs/design/autoware-interfaces/ad-api/features/routing.md @@ -1,4 +1,6 @@ -# Route API +# Routing + +## Related API - {{ link_ad_api('/api/routing/state') }} - {{ link_ad_api('/api/routing/route') }} @@ -14,7 +16,7 @@ There are two ways to set the route. The one is a generic method that uses pose, ## States -![route-state](./state.drawio.svg) +![route-state](./routing/state.drawio.svg) | State | Description | | -------- | -------------------------------------------------- | @@ -22,3 +24,11 @@ There are two ways to set the route. The one is a generic method that uses pose, | SET | The route is set. | | ARRIVED | The vehicle has arrived at the destination. | | CHANGING | Trying to change the route. Not implemented yet. | + +## Goal modification + +Autoware tries to look for an alternate goal when goal is unreachable (e.g., when there is an obstacle on the given goal). When setting a route from the API, applications can choose whether they allow Autoware to adjust goal pose in such situation. When set false, Autoware may get stuck until the given goal becomes reachable. + +| Option | Description | +| ----------------------- | --------------------------------- | +| allow_goal_modification | If true, allow goal modification. | diff --git a/docs/design/autoware-interfaces/ad-api/list/api/routing/state.drawio.svg b/docs/design/autoware-interfaces/ad-api/features/routing/state.drawio.svg similarity index 100% rename from docs/design/autoware-interfaces/ad-api/list/api/routing/state.drawio.svg rename to docs/design/autoware-interfaces/ad-api/features/routing/state.drawio.svg diff --git a/docs/design/autoware-interfaces/ad-api/features/vehicle-doors.md b/docs/design/autoware-interfaces/ad-api/features/vehicle-doors.md new file mode 100644 index 00000000000..9079a3c0eb7 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/features/vehicle-doors.md @@ -0,0 +1,38 @@ +# Vehicle doors + +## Related API + +- {{ link_ad_api('/api/vehicle/doors/layout') }} +- {{ link_ad_api('/api/vehicle/doors/status') }} +- {{ link_ad_api('/api/vehicle/doors/command') }} + +## Description + +This feature is available if the vehicle provides a software interface for the doors. +It can be used to create user interfaces for passengers or to control sequences at bus stops. + +## Layout + +Each door in a vehicle is assigned an array index. This assignment is vehicle dependent. +The layout API returns this information. +The description field is a string to display in the user interface, etc. +This is an arbitrary string and is not recommended to use for processing in applications. +Use the roles field to know doors for getting on and off. +Below is an example of the information returned by the layout API. + +| Index | Description | Roles | +| ----- | ----------- | --------------- | +| 0 | front right | - | +| 1 | front left | GET_ON | +| 2 | rear right | GET_OFF | +| 3 | rear left | GET_ON, GET_OFF | + +## Status + +The status API provides an array of door status. This array order is consistent with the layout API. + +## Control + +Use the command API to control doors. +Unlike the status and layout APIs, array index do not correspond to doors. +The command has a field to specify the target door index. diff --git a/docs/design/autoware-interfaces/ad-api/features/vehicle-status.md b/docs/design/autoware-interfaces/ad-api/features/vehicle-status.md new file mode 100644 index 00000000000..306429a1de4 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/features/vehicle-status.md @@ -0,0 +1,21 @@ +# Vehicle status + +## Related API + +- {{ link_ad_api('/api/vehicle/kinematics') }} +- {{ link_ad_api('/api/vehicle/status') }} +- {{ link_ad_api('/api/vehicle/dimensions') }} + +## Kinematics + +This is an estimate of the vehicle kinematics. The vehicle position is necessary for applications to schedule dispatches. +Also, using velocity and acceleration, applications can find vehicles that need operator assistance, such as stuck or brake suddenly. + +## Status + +This is the status provided by the vehicle. The indicators and steering are mainly used for visualization and remote control. +The remaining energy can be also used for vehicle scheduling. + +## Dimensions + +The vehicle dimensions are used to know the actual distance between the vehicle and objects because the vehicle position in kinematics is the coordinates of the base link. This is necessary for visualization when supporting vehicles remotely. diff --git a/docs/design/autoware-interfaces/ad-api/index.md b/docs/design/autoware-interfaces/ad-api/index.md index 69247ea8a3d..d530255f586 100644 --- a/docs/design/autoware-interfaces/ad-api/index.md +++ b/docs/design/autoware-interfaces/ad-api/index.md @@ -1,7 +1,41 @@ -# AD API +# Autoware AD API -!!! warning +## Overview - Under Construction +Autoware AD API is the interface for operating the vehicle from outside the autonomous driving system. +[See here for the overall interface design of Autoware.](../index.md) -See [here](../index.md) for an overview. +## User stories + +The user stories are service scenarios that AD API assumes. AD API is designed based on these scenarios. +Each scenario is realized by a combination of use cases described later. +If there are scenarios that cannot be covered, please discuss adding a user story. + +- [Bus service](./stories/bus-service.md) +- [Taxi service](./stories/taxi-service.md) + +## Use cases + +Use cases are partial scenarios derived from the user story and generically designed. +Service providers can combine these use cases to define user stories and check if AD API can be applied to their own scenarios. + +- [Launch and terminate](./use-cases/launch-terminate.md) +- [Initialize the pose](./use-cases/initialize-pose.md) +- [Change the operation mode](./use-cases/change-operation-mode.md) +- [Drive to the designated position](./use-cases/drive-designated-position.md) +- [Get on and get off](./use-cases/get-on-off.md) +- [Vehicle monitoring](./use-cases/vehicle-monitoring.md) +- [Request to cooperate](./use-cases/request-to-cooperate.md) + +## Features + +- [Interface](./features/interface.md) +- [Operation Mode](./features/operation_mode.md) +- [Routing](./features/routing.md) +- [Localization](./features/localization.md) +- [Motion](./features/motion.md) +- [Planning](./features/planning-factors.md) +- [Perception](./features/perception.md) +- [Fail-safe](./features/fail-safe.md) +- [Vehicle status](./features/vehicle-status.md) +- [Vehicle doors](./features/vehicle-doors.md) diff --git a/docs/design/autoware-interfaces/ad-api/list/api/fail_safe/mrm_state.md b/docs/design/autoware-interfaces/ad-api/list/api/fail_safe/mrm_state.md index 790a89c1a96..55fde2bc529 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/fail_safe/mrm_state.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/fail_safe/mrm_state.md @@ -1,17 +1,18 @@ - +--- +title: /api/fail_safe/mrm_state +status: not released +method: notification +type: + name: autoware_adapi_v1_msgs/msg/MrmState + msg: + - name: state + text: The state of MRM operation. + - name: behavior + text: The currently selected behavior of MRM. +--- -# /api/fail_safe/mrm_state - -- Method: notification -- Type: [autoware_adapi_v1_msgs/msg/MrmState](../../../types/autoware_adapi_v1_msgs/msg/mrm_state.md) - -## Description - -Get the MRM state. For details, see the [fail-safe](./index.md). - -## Message - -| Name | Type | Description | -| -------- | ------ | --------------------------------------- | -| state | uint16 | The state of MRM operation. | -| behavior | uint16 | The currently selected behavior of MRM. | +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +Get the MRM state. +For details, see the [fail-safe](../../../features/fail-safe.md). +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/interface/version.md b/docs/design/autoware-interfaces/ad-api/list/api/interface/version.md index 3f9e3a86cad..f61f18ef487 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/interface/version.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/interface/version.md @@ -1,22 +1,19 @@ - - -# /api/interface/version - -- Method: function call -- Type: [autoware_adapi_version_msgs/srv/InterfaceVersion](../../../types/autoware_adapi_version_msgs/srv/interface_version.md) - -## Description - +--- +title: /api/interface/version +status: v1.0.0 +method: function call +type: + name: autoware_adapi_version_msgs/srv/InterfaceVersion + res: + - name: major + text: major version + - name: minor + text: minor version + - name: patch + text: patch version +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} Get the interface version. The version follows Semantic Versioning. - -## Request - -None - -## Response - -| Name | Type | Description | -| ----- | ------ | ------------- | -| major | uint16 | major version | -| minor | uint16 | minor version | -| patch | uint16 | patch version | +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/localization/initialization_state.md b/docs/design/autoware-interfaces/ad-api/list/api/localization/initialization_state.md index 5b4a1ae9023..1cfebed297e 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/localization/initialization_state.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/localization/initialization_state.md @@ -1,16 +1,16 @@ - +--- +title: /api/localization/initialization_state +status: v1.0.0 +method: notification +type: + name: autoware_adapi_v1_msgs/msg/LocalizationInitializationState + msg: + - name: state + text: A value of the localization initialization state. +--- -# /api/localization/initialization_state - -- Method: notification -- Type: [autoware_adapi_v1_msgs/msg/LocalizationInitializationState](../../../types/autoware_adapi_v1_msgs/msg/localization_initialization_state.md) - -## Description - -Get the initialization state of localization. For details, see the [localization initialization state](./index.md). - -## Message - -| Name | Type | Description | -| ----- | ------ | --------------------------------------------------------------- | -| state | uint16 | A value of the [localization initialization state](./index.md). | +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +Get the initialization state of localization. +For details, see the [localization](../../../features/localization.md). +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/localization/initialize.md b/docs/design/autoware-interfaces/ad-api/list/api/localization/initialize.md index e3b1c57b451..167dd033a56 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/localization/initialize.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/localization/initialize.md @@ -1,22 +1,19 @@ - - -# /api/localization/initialize - -- Method: function call -- Type: [autoware_adapi_v1_msgs/srv/InitializeLocalization](../../../types/autoware_adapi_v1_msgs/srv/initialize_localization.md) - -## Description - -Request to initialize localization. For details, see the [pose state](./index.md). - -## Request - -| Name | Type | Description | -| ---- | ------------------------------------------------ | --------------------------------------------------------------------------- | -| pose | geometry_msgs/msg/PoseWithCovarianceStamped[<=1] | A global pose as the initial guess. If omitted, the GNSS pose will be used. | - -## Response - -| Name | Type | Description | -| ------ | ----------------------------------------- | --------------- | -| status | autoware_adapi_v1_msgs/msg/ResponseStatus | response status | +--- +title: /api/localization/initialize +status: v1.0.0 +method: function call +type: + name: autoware_adapi_v1_msgs/srv/InitializeLocalization + req: + - name: pose + text: A global pose as the initial guess. If omitted, the GNSS pose will be used. + res: + - name: status + text: response status +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +Request to initialize localization. +For details, see the [localization](../../../features/localization.md). +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/motion/accept_start.md b/docs/design/autoware-interfaces/ad-api/list/api/motion/accept_start.md index 46a1b52ce3b..896cb9f6bbb 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/motion/accept_start.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/motion/accept_start.md @@ -1,20 +1,15 @@ - - -# /api/motion/accept_start - -- Method: function call -- Type: [autoware_adapi_v1_msgs/srv/AcceptStart](../../../types/autoware_adapi_v1_msgs/srv/accept_start.md) - -## Description - -Accept the vehicle to start. This API can be used when the [motion state](./index.md) is STARTING. - -## Request - -None - -## Response - -| Name | Type | Description | -| ------ | ----------------------------------------- | --------------- | -| status | autoware_adapi_v1_msgs/msg/ResponseStatus | response status | +--- +title: /api/motion/accept_start +status: not released +method: function call +type: + name: autoware_adapi_v1_msgs/srv/AcceptStart + res: + - name: status + text: response status +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +Accept the vehicle to start. This API can be used when the [motion state](../../../features/motion.md) is STARTING. +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/motion/state.md b/docs/design/autoware-interfaces/ad-api/list/api/motion/state.md index c77112ecfd9..80e4f6715d6 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/motion/state.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/motion/state.md @@ -1,16 +1,16 @@ - +--- +title: /api/motion/state +status: not released +method: notification +type: + name: autoware_adapi_v1_msgs/msg/MotionState + msg: + - name: state + text: A value of the motion state. +--- -# /api/motion/state - -- Method: notification -- Type: [autoware_adapi_v1_msgs/msg/MotionState](../../../types/autoware_adapi_v1_msgs/msg/motion_state.md) - -## Description - -Get the motion state. For details, see the [motion state](./index.md). - -## Message - -| Name | Type | Description | -| ----- | ------ | ---------------------------- | -| state | uint16 | A value of the motion state. | +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +Get the motion state. +For details, see the [motion state](../../../features/motion.md). +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/change_to_autonomous.md b/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/change_to_autonomous.md index 7a5f6226380..12921080c04 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/change_to_autonomous.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/change_to_autonomous.md @@ -1,20 +1,16 @@ - - -# /api/operation_mode/change_to_autonomous - -- Method: function call -- Type: [autoware_adapi_v1_msgs/srv/ChangeOperationMode](../../../types/autoware_adapi_v1_msgs/srv/change_operation_mode.md) - -## Description - -Change the operation mode to autonomous. For details, see the [operation mode](./index.md). - -## Request - -None - -## Response - -| Name | Type | Description | -| ------ | ----------------------------------------- | --------------- | -| status | autoware_adapi_v1_msgs/msg/ResponseStatus | response status | +--- +title: /api/operation_mode/change_to_autonomous +status: v1.0.0 +method: function call +type: + name: autoware_adapi_v1_msgs/srv/ChangeOperationMode + res: + - name: status + text: response status +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +Change the operation mode to autonomous. +For details, see the [operation mode](../../../features/operation_mode.md). +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/change_to_local.md b/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/change_to_local.md index dd1bdc02d43..f908f58b939 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/change_to_local.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/change_to_local.md @@ -1,20 +1,16 @@ - - -# /api/operation_mode/change_to_local - -- Method: function call -- Type: [autoware_adapi_v1_msgs/srv/ChangeOperationMode](../../../types/autoware_adapi_v1_msgs/srv/change_operation_mode.md) - -## Description - -Change the operation mode to local. For details, see the [operation mode](./index.md). - -## Request - -None - -## Response - -| Name | Type | Description | -| ------ | ----------------------------------------- | --------------- | -| status | autoware_adapi_v1_msgs/msg/ResponseStatus | response status | +--- +title: /api/operation_mode/change_to_local +status: v1.0.0 +method: function call +type: + name: autoware_adapi_v1_msgs/srv/ChangeOperationMode + res: + - name: status + text: response status +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +Change the operation mode to local. +For details, see the [operation mode](../../../features/operation_mode.md). +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/change_to_remote.md b/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/change_to_remote.md index 689f66510af..e3dd05974f5 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/change_to_remote.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/change_to_remote.md @@ -1,20 +1,16 @@ - - -# /api/operation_mode/change_to_remote - -- Method: function call -- Type: [autoware_adapi_v1_msgs/srv/ChangeOperationMode](../../../types/autoware_adapi_v1_msgs/srv/change_operation_mode.md) - -## Description - -Change the operation mode to remote. For details, see the [operation mode](./index.md). - -## Request - -None - -## Response - -| Name | Type | Description | -| ------ | ----------------------------------------- | --------------- | -| status | autoware_adapi_v1_msgs/msg/ResponseStatus | response status | +--- +title: /api/operation_mode/change_to_remote +status: v1.0.0 +method: function call +type: + name: autoware_adapi_v1_msgs/srv/ChangeOperationMode + res: + - name: status + text: response status +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +Change the operation mode to remote. +For details, see the [operation mode](../../../features/operation_mode.md). +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/change_to_stop.md b/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/change_to_stop.md index d590a42330e..919f571b010 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/change_to_stop.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/change_to_stop.md @@ -1,20 +1,16 @@ - - -# /api/operation_mode/change_to_stop - -- Method: function call -- Type: [autoware_adapi_v1_msgs/srv/ChangeOperationMode](../../../types/autoware_adapi_v1_msgs/srv/change_operation_mode.md) - -## Description - -Change the operation mode to stop. For details, see the [operation mode](./index.md). - -## Request - -None - -## Response - -| Name | Type | Description | -| ------ | ----------------------------------------- | --------------- | -| status | autoware_adapi_v1_msgs/msg/ResponseStatus | response status | +--- +title: /api/operation_mode/change_to_stop +status: v1.0.0 +method: function call +type: + name: autoware_adapi_v1_msgs/srv/ChangeOperationMode + res: + - name: status + text: response status +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +Change the operation mode to stop. +For details, see the [operation mode](../../../features/operation_mode.md). +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/disable_autoware_control.md b/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/disable_autoware_control.md index 7372ac7e2ed..bcf12b52602 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/disable_autoware_control.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/disable_autoware_control.md @@ -1,21 +1,17 @@ - - -# /api/operation_mode/disable_autoware_control - -- Method: function call -- Type: [autoware_adapi_v1_msgs/srv/ChangeOperationMode](../../../types/autoware_adapi_v1_msgs/srv/change_operation_mode.md) - -## Description - -Disable vehicle control by Autoware. For details, see the [operation mode](./index.md). +--- +title: /api/operation_mode/disable_autoware_control +status: v1.0.0 +method: function call +type: + name: autoware_adapi_v1_msgs/srv/ChangeOperationMode + res: + - name: status + text: response status +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +Disable vehicle control by Autoware. +For details, see the [operation mode](../../../features/operation_mode.md). This API fails if the vehicle does not support mode change by software. - -## Request - -None - -## Response - -| Name | Type | Description | -| ------ | ----------------------------------------- | --------------- | -| status | autoware_adapi_v1_msgs/msg/ResponseStatus | response status | +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/enable_autoware_control.md b/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/enable_autoware_control.md index ec8b0b6220e..2c83455d30a 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/enable_autoware_control.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/enable_autoware_control.md @@ -1,21 +1,17 @@ - - -# /api/operation_mode/enable_autoware_control - -- Method: function call -- Type: [autoware_adapi_v1_msgs/srv/ChangeOperationMode](../../../types/autoware_adapi_v1_msgs/srv/change_operation_mode.md) - -## Description - -Enable vehicle control by Autoware. For details, see the [operation mode](./index.md). +--- +title: /api/operation_mode/enable_autoware_control +status: v1.0.0 +method: function call +type: + name: autoware_adapi_v1_msgs/srv/ChangeOperationMode + res: + - name: status + text: response status +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +Enable vehicle control by Autoware. +For details, see the [operation mode](../../../features/operation_mode.md). This API fails if the vehicle does not support mode change by software. - -## Request - -None - -## Response - -| Name | Type | Description | -| ------ | ----------------------------------------- | --------------- | -| status | autoware_adapi_v1_msgs/msg/ResponseStatus | response status | +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/state.md b/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/state.md index 2342efacb5a..d1e39bb4522 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/state.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/state.md @@ -1,22 +1,28 @@ - +--- +title: /api/operation_mode/state +status: v1.0.0 +method: notification +type: + name: autoware_adapi_v1_msgs/msg/OperationModeState + msg: + - name: mode + text: The selected command for Autoware control. + - name: is_autoware_control_enabled + text: True if vehicle control by Autoware is enabled. + - name: is_in_transition + text: True if the operation mode is in transition. + - name: is_stop_mode_available + text: True if the operation mode can be changed to stop. + - name: is_autonomous_mode_available + text: True if the operation mode can be changed to autonomous. + - name: is_local_mode_available + text: True if the operation mode can be changed to local. + - name: is_remote_mode_available + text: True if the operation mode can be changed to remote. +--- -# /api/operation_mode/state - -- Method: notification -- Type: [autoware_adapi_v1_msgs/msg/OperationModeState](../../../types/autoware_adapi_v1_msgs/msg/operation_mode_state.md) - -## Description - -Get the operation mode state. For details, see the [operation mode](./index.md). - -## Message - -| Name | Type | Description | -| ---------------------------- | ----- | -------------------------------------------------------- | -| mode | uint8 | The selected command for Autoware control. | -| is_autoware_control_enabled | bool | True if vehicle control by Autoware is enabled. | -| is_in_transition | bool | True if the operation mode is in transition. | -| is_stop_mode_available | bool | True if the operation mode can be changed to stop. | -| is_autonomous_mode_available | bool | True if the operation mode can be changed to autonomous. | -| is_local_mode_available | bool | True if the operation mode can be changed to local. | -| is_remote_mode_available | bool | True if the operation mode can be changed to remote. | +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +Get the operation mode state. +For details, see the [operation mode](../../../features/operation_mode.md). +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/perception/objects.md b/docs/design/autoware-interfaces/ad-api/list/api/perception/objects.md new file mode 100644 index 00000000000..ee0e27d414a --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/perception/objects.md @@ -0,0 +1,24 @@ +--- +title: /api/perception/objects +status: v1.0.0 +method: realtime stream +type: + name: autoware_adapi_v1_msgs/msg/DynamicObjectArray + msg: + - name: objects.id + text: The UUID of each object + - name: objects.existence_probability + text: The probability of the object exits + - name: objects.classification + text: The type of the object recognized and the confidence level + - name: objects.kinematics + text: Consist of the object pose, twist, acceleration and the predicted_paths + - name: objects.shape + text: escribe the shape of the object with dimension, and polygon +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +Get the recognized objects array with label, shape, current position and predicted path +For details, see the [perception](../../../features/perception.md). +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/planning/steering_factors.md b/docs/design/autoware-interfaces/ad-api/list/api/planning/steering_factors.md index 5580ebf8353..55afd3720b0 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/planning/steering_factors.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/planning/steering_factors.md @@ -1,22 +1,26 @@ - - -# /api/planning/steering_factors - -- Method: realtime stream -- Type: [autoware_adapi_v1_msgs/msg/SteeringFactorArray](../../../types/autoware_adapi_v1_msgs/msg/steering_factor_array.md) - -## Description +--- +title: /api/planning/steering_factors +status: not released +method: realtime stream +type: + name: autoware_adapi_v1_msgs/msg/SteeringFactorArray + msg: + - name: factors.pose + text: The base link pose related to the steering factor. + - name: factors.distance + text: The distance from the base link to the above pose. + - name: factors.type + text: The type of the steering factor. + - name: factors.direction + text: The direction of the steering factor. + - name: factors.status + text: The status of the steering factor. + - name: factors.detail + text: The additional information of the steering factor. +--- +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} Get the steering factors, sorted in ascending order of distance. -For details, see the [planning](./index.md). - -## Message - -| Name | Type | Description | -| ----------------- | ------------------------- | -------------------------------------------------- | -| factors.pose | geometry_msgs/msg/Pose[2] | The base link pose related to the steering factor. | -| factors.distance | float32[2] | The distance from the base link to the above pose. | -| factors.type | uint16 | The type of the steering factor. | -| factors.direction | uint16 | The direction of the steering factor. | -| factors.status | uint16 | The status of the steering factor. | -| factors.detail | string | The additional information of the steering factor. | +For details, see the [planning factors](../../../features/planning-factors.md). +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/planning/velocity_factors.md b/docs/design/autoware-interfaces/ad-api/list/api/planning/velocity_factors.md index c73303a43ad..8758e6016e5 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/planning/velocity_factors.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/planning/velocity_factors.md @@ -1,21 +1,24 @@ - - -# /api/planning/velocity_factors - -- Method: realtime stream -- Type: [autoware_adapi_v1_msgs/msg/VelocityFactorArray](../../../types/autoware_adapi_v1_msgs/msg/velocity_factor_array.md) - -## Description +--- +title: /api/planning/velocity_factors +status: not released +method: realtime stream +type: + name: autoware_adapi_v1_msgs/msg/VelocityFactorArray + msg: + - name: factors.pose + text: The base link pose related to the velocity factor. + - name: factors.distance + text: The distance from the base link to the above pose. + - name: factors.type + text: The type of the velocity factor. + - name: factors.status + text: The status of the velocity factor. + - name: factors.detail + text: The additional information of the velocity factor. +--- +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} Get the velocity factors, sorted in ascending order of distance. -For details, see the [planning](./index.md). - -## Message - -| Name | Type | Description | -| ---------------- | ---------------------- | -------------------------------------------------- | -| factors.pose | geometry_msgs/msg/Pose | The base link pose related to the velocity factor. | -| factors.distance | float32 | The distance from the base link to the above pose. | -| factors.type | uint16 | The type of the velocity factor. | -| factors.status | uint16 | The status of the velocity factor. | -| factors.detail | string | The additional information of the velocity factor. | +For details, see the [planning factors](../../../features/planning-factors.md). +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/routing/clear_route.md b/docs/design/autoware-interfaces/ad-api/list/api/routing/clear_route.md index 77252199605..7648b5b5a09 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/routing/clear_route.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/routing/clear_route.md @@ -1,20 +1,15 @@ - - -# /api/routing/clear_route - -- Method: function call -- Type: [autoware_adapi_v1_msgs/srv/ClearRoute](../../../types/autoware_adapi_v1_msgs/srv/clear_route.md) - -## Description - +--- +title: /api/routing/clear_route +status: v1.0.0 +method: function call +type: + name: autoware_adapi_v1_msgs/srv/ClearRoute + res: + - name: status + text: response status +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} Clear the route. - -## Request - -None - -## Response - -| Name | Type | Description | -| ------ | ----------------------------------------- | --------------- | -| status | autoware_adapi_v1_msgs/msg/ResponseStatus | response status | +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/routing/route.md b/docs/design/autoware-interfaces/ad-api/list/api/routing/route.md index 3075fb09200..840ca4ae9ef 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/routing/route.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/routing/route.md @@ -1,17 +1,17 @@ - - -# /api/routing/route - -- Method: notification -- Type: [autoware_adapi_v1_msgs/msg/Route](../../../types/autoware_adapi_v1_msgs/msg/route.md) - -## Description +--- +title: /api/routing/route +status: v1.0.0 +method: notification +type: + name: autoware_adapi_v1_msgs/msg/Route + msg: + - name: header + text: header for pose transformation + - name: data + text: The route in lanelet format +--- +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} Get the route with the waypoint segments in lanelet format. It is empty if route is not set. - -## Message - -| Name | Type | Description | -| ------ | ----------------------------------------- | ------------------------------ | -| header | std_msgs/msg/Header | header for pose transformation | -| data | autoware_adapi_v1_msgs/msg/RouteData[<=1] | The route in lanelet format | +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/routing/set_route.md b/docs/design/autoware-interfaces/ad-api/list/api/routing/set_route.md index 370ba365a4e..d80b8ac5138 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/routing/set_route.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/routing/set_route.md @@ -1,24 +1,22 @@ - - -# /api/routing/set_route - -- Method: function call -- Type: [autoware_adapi_v1_msgs/srv/SetRoute](../../../types/autoware_adapi_v1_msgs/srv/set_route.md) - -## Description - +--- +title: /api/routing/set_route +status: v1.0.0 +method: function call +type: + name: autoware_adapi_v1_msgs/srv/SetRoute + req: + - name: header + text: header for pose transformation + - name: goal + text: goal pose + - name: segments + text: waypoint segments in lanelet format + res: + - name: status + text: response status +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} Set the route with the waypoint segments in lanelet format. If start pose is not specified, the current pose will be used. - -## Request - -| Name | Type | Description | -| -------- | ----------------------------------------- | ----------------------------------- | -| header | std_msgs/msg/Header | header for pose transformation | -| goal | geometry_msgs/msg/Pose | goal pose | -| segments | autoware_adapi_v1_msgs/msg/RouteSegment[] | waypoint segments in lanelet format | - -## Response - -| Name | Type | Description | -| ------ | ----------------------------------------- | --------------- | -| status | autoware_adapi_v1_msgs/msg/ResponseStatus | response status | +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/routing/set_route_points.md b/docs/design/autoware-interfaces/ad-api/list/api/routing/set_route_points.md index 79e2f26af0e..0b80cf71ecd 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/routing/set_route_points.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/routing/set_route_points.md @@ -1,24 +1,22 @@ - - -# /api/routing/set_route_points - -- Method: function call -- Type: [autoware_adapi_v1_msgs/srv/SetRoutePoints](../../../types/autoware_adapi_v1_msgs/srv/set_route_points.md) - -## Description - +--- +title: /api/routing/set_route_points +status: v1.0.0 +method: function call +type: + name: autoware_adapi_v1_msgs/srv/SetRoutePoints + req: + - name: header + text: header for pose transformation + - name: goal + text: goal pose + - name: waypoints + text: waypoint poses + res: + - name: status + text: response status +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} Set the route with the waypoint poses. If start pose is not specified, the current pose will be used. - -## Request - -| Name | Type | Description | -| --------- | ------------------------ | ------------------------------ | -| header | std_msgs/msg/Header | header for pose transformation | -| goal | geometry_msgs/msg/Pose | goal pose | -| waypoints | geometry_msgs/msg/Pose[] | waypoint poses | - -## Response - -| Name | Type | Description | -| ------ | ----------------------------------------- | --------------- | -| status | autoware_adapi_v1_msgs/msg/ResponseStatus | response status | +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/routing/state.md b/docs/design/autoware-interfaces/ad-api/list/api/routing/state.md index e574c9a9445..c73952ce2ea 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/routing/state.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/routing/state.md @@ -1,16 +1,16 @@ - +--- +title: /api/routing/state +status: v1.0.0 +method: notification +type: + name: autoware_adapi_v1_msgs/msg/RouteState + msg: + - name: state + text: A value of the route state. +--- -# /api/routing/state - -- Method: notification -- Type: [autoware_adapi_v1_msgs/msg/RouteState](../../../types/autoware_adapi_v1_msgs/msg/route_state.md) - -## Description - -Get the route state. For details, see the [route state](./index.md). - -## Message - -| Name | Type | Description | -| ----- | ------ | ----------------------------------------- | -| state | uint16 | A value of the [route state](./index.md). | +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +Get the route state. +For details, see the [routing](../../../features/routing.md). +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/dimensions.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/dimensions.md new file mode 100644 index 00000000000..e4f1d37c52b --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/dimensions.md @@ -0,0 +1,17 @@ +--- +title: /api/vehicle/dimensions +status: not released +method: function call +type: + name: autoware_adapi_v1_msgs/srv/GetVehicleDimensions + res: + - name: status + text: response status + - name: dimensions + text: vehicle dimensions +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +Get the vehicle dimensions. See [here](../../../../components/vehicle-dimensions.md) for the definition of each value. +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/doors/command.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/doors/command.md new file mode 100644 index 00000000000..c623615032a --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/doors/command.md @@ -0,0 +1,20 @@ +--- +title: /api/vehicle/doors/command +status: not released +method: function call +type: + name: autoware_adapi_v1_msgs/srv/SetDoorCommand + req: + - name: doors.index + text: The index of the target door. + - name: doors.command + text: The command for the target door. + res: + - name: status + text: response status +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +Set the door command. This API is only available if the vehicle supports software door control. +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/doors/layout.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/doors/layout.md new file mode 100644 index 00000000000..df2ccb5b6f9 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/doors/layout.md @@ -0,0 +1,19 @@ +--- +title: /api/vehicle/doors/layout +status: not released +method: function call +type: + name: autoware_adapi_v1_msgs/srv/GetDoorLayout + res: + - name: status + text: response status + - name: doors.roles + text: The roles of the door in the service the vehicle provides. + - name: doors.description + text: The description of the door for display in the interface. +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +Get the door layout. It is an array of roles and descriptions for each door. +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/doors/status.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/doors/status.md new file mode 100644 index 00000000000..cd64a3da0f1 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/doors/status.md @@ -0,0 +1,15 @@ +--- +title: /api/vehicle/doors/status +status: not released +method: notification +type: + name: autoware_adapi_v1_msgs/msg/DoorStatusArray + msg: + - name: doors.status + text: current door status +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +The status of each door such as opened or closed. +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/kinematics.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/kinematics.md new file mode 100644 index 00000000000..62513339560 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/kinematics.md @@ -0,0 +1,21 @@ +--- +title: /api/vehicle/kinematics +status: not released +method: realtime stream +type: + name: autoware_adapi_v1_msgs/msg/VehicleKinematics + msg: + - name: geographic_pose + text: The longitude and latitude of the vehicle. If the map uses local coordinates, it will not be available. + - name: pose + text: The pose with covariance from the base link. + - name: twist + text: Vehicle current twist with covariance. + - name: accel + text: Vehicle current acceleration with covariance. +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +Publish vehicle kinematics. +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/status.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/status.md new file mode 100644 index 00000000000..0f3e22f7bb4 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/status.md @@ -0,0 +1,23 @@ +--- +title: /api/vehicle/status +status: not released +method: notification +type: + name: autoware_adapi_v1_msgs/msg/VehicleStatus + msg: + - name: gear + text: Gear status. + - name: turn_indicators + text: Turn indicators status, only either left or right will be enabled. + - name: hazard_lights + text: Hazard lights status. + - name: steering_tire_angle + text: Vehicle current tire angle in radian. + - name: energy_percentage + text: Battery percentage or fuel percentage, it will depends on the vehicle. +--- + +{% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %} +{% block description %} +Publish vehicle state information. +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/list/index.md b/docs/design/autoware-interfaces/ad-api/list/index.md index 65ee7e0efd7..9005e34f5ad 100644 --- a/docs/design/autoware-interfaces/ad-api/list/index.md +++ b/docs/design/autoware-interfaces/ad-api/list/index.md @@ -1,9 +1,29 @@ # List of Autoware AD API -- [Interface](./api/interface/index.md) -- [Operation Mode](./api/operation_mode/index.md) -- [Routing](./api/routing/index.md) -- [Localization](./api/localization/index.md) -- [Motion](./api/motion/index.md) -- [Planning](./api/planning/index.md) -- [Fail-safe](./api/fail_safe/index.md) +- [/api/fail_safe/mrm_state](./api/fail_safe/mrm_state.md) +- [/api/interface/version](./api/interface/version.md) +- [/api/localization/initialization_state](./api/localization/initialization_state.md) +- [/api/localization/initialize](./api/localization/initialize.md) +- [/api/motion/accept_start](./api/motion/accept_start.md) +- [/api/motion/state](./api/motion/state.md) +- [/api/operation_mode/change_to_autonomous](./api/operation_mode/change_to_autonomous.md) +- [/api/operation_mode/change_to_local](./api/operation_mode/change_to_local.md) +- [/api/operation_mode/change_to_remote](./api/operation_mode/change_to_remote.md) +- [/api/operation_mode/change_to_stop](./api/operation_mode/change_to_stop.md) +- [/api/operation_mode/disable_autoware_control](./api/operation_mode/disable_autoware_control.md) +- [/api/operation_mode/enable_autoware_control](./api/operation_mode/enable_autoware_control.md) +- [/api/operation_mode/state](./api/operation_mode/state.md) +- [/api/perception/objects](./api/perception/objects.md) +- [/api/planning/steering_factors](./api/planning/steering_factors.md) +- [/api/planning/velocity_factors](./api/planning/velocity_factors.md) +- [/api/routing/clear_route](./api/routing/clear_route.md) +- [/api/routing/route](./api/routing/route.md) +- [/api/routing/set_route](./api/routing/set_route.md) +- [/api/routing/set_route_points](./api/routing/set_route_points.md) +- [/api/routing/state](./api/routing/state.md) +- [/api/vehicle/dimensions](./api/vehicle/dimensions.md) +- [/api/vehicle/doors/command](./api/vehicle/doors/command.md) +- [/api/vehicle/doors/layout](./api/vehicle/doors/layout.md) +- [/api/vehicle/doors/status](./api/vehicle/doors/status.md) +- [/api/vehicle/kinematics](./api/vehicle/kinematics.md) +- [/api/vehicle/status](./api/vehicle/status.md) diff --git a/docs/design/autoware-interfaces/ad-api/use-cases/bus-service.md b/docs/design/autoware-interfaces/ad-api/stories/bus-service.md similarity index 57% rename from docs/design/autoware-interfaces/ad-api/use-cases/bus-service.md rename to docs/design/autoware-interfaces/ad-api/stories/bus-service.md index a222a2335bb..77e091befaa 100644 --- a/docs/design/autoware-interfaces/ad-api/use-cases/bus-service.md +++ b/docs/design/autoware-interfaces/ad-api/stories/bus-service.md @@ -6,14 +6,14 @@ This user story is a bus service that goes around the designated stops. ## Scenario -| Step | Operation | Use Case | -| ---- | ---------------------------------------------------------- | ---------------------------------------------------------------- | -| 1 | Startup the autonomous driving system. | [Launch and terminate](launch-terminate.md) | -| 2 | Drive the vehicle from the garage to the waiting position. | [Change the operation mode](change-operation-mode.md) | -| 3 | Enable autonomous control. | [Change the operation mode](change-operation-mode.md) | -| 4 | Drive the vehicle to the next bus stop. | [Drive to the designated position](drive-designated-position.md) | -| 5 | Get on and off the vehicle. | [Get on and get off](get-on-off.md) | -| 6 | Return to step 4 unless it's the last bus stop. | | -| 7 | Drive the vehicle to the waiting position. | [Drive to the designated position](drive-designated-position.md) | -| 8 | Drive the vehicle from the waiting position to the garage. | [Change the operation mode](change-operation-mode.md) | -| 9 | Shutdown the autonomous driving system. | [Launch and terminate](launch-terminate.md) | +| Step | Operation | Use Case | +| ---- | ---------------------------------------------------------- | ----------------------------------------------------------------------------- | +| 1 | Startup the autonomous driving system. | [Launch and terminate](../use-cases/launch-terminate.md) | +| 2 | Drive the vehicle from the garage to the waiting position. | [Change the operation mode](../use-cases/change-operation-mode.md) | +| 3 | Enable autonomous control. | [Change the operation mode](../use-cases/change-operation-mode.md) | +| 4 | Drive the vehicle to the next bus stop. | [Drive to the designated position](../use-cases/drive-designated-position.md) | +| 5 | Get on and off the vehicle. | [Get on and get off](../use-cases/get-on-off.md) | +| 6 | Return to step 4 unless it's the last bus stop. | | +| 7 | Drive the vehicle to the waiting position. | [Drive to the designated position](../use-cases/drive-designated-position.md) | +| 8 | Drive the vehicle from the waiting position to the garage. | [Change the operation mode](../use-cases/change-operation-mode.md) | +| 9 | Shutdown the autonomous driving system. | [Launch and terminate](../use-cases/launch-terminate.md) | diff --git a/docs/design/autoware-interfaces/ad-api/use-cases/taxi-service.md b/docs/design/autoware-interfaces/ad-api/stories/taxi-service.md similarity index 55% rename from docs/design/autoware-interfaces/ad-api/use-cases/taxi-service.md rename to docs/design/autoware-interfaces/ad-api/stories/taxi-service.md index b1d1a543eb1..4ce34d63866 100644 --- a/docs/design/autoware-interfaces/ad-api/use-cases/taxi-service.md +++ b/docs/design/autoware-interfaces/ad-api/stories/taxi-service.md @@ -6,16 +6,16 @@ This user story is a taxi service that picks up passengers and drives them to th ## Scenario -| Step | Operation | Use Case | -| ---- | ---------------------------------------------------------- | ---------------------------------------------------------------- | -| 1 | Startup the autonomous driving system. | [Launch and terminate](launch-terminate.md) | -| 2 | Drive the vehicle from the garage to the waiting position. | [Change the operation mode](change-operation-mode.md) | -| 3 | Enable autonomous control. | [Change the operation mode](change-operation-mode.md) | -| 4 | Drive the vehicle to the position to pick up. | [Drive to the designated position](drive-designated-position.md) | -| 5 | Get on the vehicle. | [Get on and get off](get-on-off.md) | -| 6 | Drive the vehicle to the destination. | [Drive to the designated position](drive-designated-position.md) | -| 7 | Get off the vehicle. | [Get on and get off](get-on-off.md) | -| 8 | Drive the vehicle to the waiting position. | [Drive to the designated position](drive-designated-position.md) | -| 9 | Return to step 4 if there is another request. | | -| 10 | Drive the vehicle from the waiting position to the garage. | [Change the operation mode](change-operation-mode.md) | -| 11 | Shutdown the autonomous driving system. | [Launch and terminate](launch-terminate.md) | +| Step | Operation | Use Case | +| ---- | ---------------------------------------------------------- | ----------------------------------------------------------------------------- | +| 1 | Startup the autonomous driving system. | [Launch and terminate](../use-cases/launch-terminate.md) | +| 2 | Drive the vehicle from the garage to the waiting position. | [Change the operation mode](../use-cases/change-operation-mode.md) | +| 3 | Enable autonomous control. | [Change the operation mode](../use-cases/change-operation-mode.md) | +| 4 | Drive the vehicle to the position to pick up. | [Drive to the designated position](../use-cases/drive-designated-position.md) | +| 5 | Get on the vehicle. | [Get on and get off](../use-cases/get-on-off.md) | +| 6 | Drive the vehicle to the destination. | [Drive to the designated position](../use-cases/drive-designated-position.md) | +| 7 | Get off the vehicle. | [Get on and get off](../use-cases/get-on-off.md) | +| 8 | Drive the vehicle to the waiting position. | [Drive to the designated position](../use-cases/drive-designated-position.md) | +| 9 | Return to step 4 if there is another request. | | +| 10 | Drive the vehicle from the waiting position to the garage. | [Change the operation mode](../use-cases/change-operation-mode.md) | +| 11 | Shutdown the autonomous driving system. | [Launch and terminate](../use-cases/launch-terminate.md) | diff --git a/docs/design/autoware-interfaces/ad-api/types/.pages b/docs/design/autoware-interfaces/ad-api/types/.pages new file mode 100644 index 00000000000..35fd5a113be --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/.pages @@ -0,0 +1,2 @@ +nav: + - index.md diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DoorCommand.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DoorCommand.md new file mode 100644 index 00000000000..63978ac936e --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DoorCommand.md @@ -0,0 +1,19 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/DoorCommand +used: + - autoware_adapi_v1_msgs/srv/SetDoorCommand +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +uint8 OPEN = 1 +uint8 CLOSE = 2 + +uint32 index +uint8 command +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DoorLayout.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DoorLayout.md new file mode 100644 index 00000000000..dbcc95c097a --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DoorLayout.md @@ -0,0 +1,19 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/DoorLayout +used: + - autoware_adapi_v1_msgs/srv/GetDoorLayout +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +uint8 GET_ON = 1 +uint8 GET_OFF = 2 + +uint8[] roles +string description +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DoorStatus.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DoorStatus.md new file mode 100644 index 00000000000..4cb91fad785 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DoorStatus.md @@ -0,0 +1,22 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/DoorStatus +used: + - autoware_adapi_v1_msgs/msg/DoorStatusArray +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +uint8 UNKNOWN = 0 +uint8 NOT_AVAILABLE = 1 +uint8 OPENED = 2 +uint8 CLOSED = 3 +uint8 OPENING = 4 +uint8 CLOSING = 5 + +uint8 status +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DoorStatusArray.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DoorStatusArray.md new file mode 100644 index 00000000000..cd83a4b8950 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DoorStatusArray.md @@ -0,0 +1,16 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/DoorStatusArray +uses: + - autoware_adapi_v1_msgs/msg/DoorStatus +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +builtin_interfaces/Time stamp +autoware_adapi_v1_msgs/DoorStatus[] doors +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DynamicObject.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DynamicObject.md new file mode 100644 index 00000000000..08e665e2973 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DynamicObject.md @@ -0,0 +1,22 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/DynamicObject +used: + - autoware_adapi_v1_msgs/msg/DynamicObjectArray +uses: + - autoware_adapi_v1_msgs/msg/DynamicObjectKinematics + - autoware_adapi_v1_msgs/msg/ObjectClassification +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +unique_identifier_msgs/UUID id +float64 existence_probability +autoware_adapi_v1_msgs/ObjectClassification[] classification +autoware_adapi_v1_msgs/DynamicObjectKinematics kinematics +shape_msgs/SolidPrimitive shape +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DynamicObjectArray.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DynamicObjectArray.md new file mode 100644 index 00000000000..1b56045ef3a --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DynamicObjectArray.md @@ -0,0 +1,16 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/DynamicObjectArray +uses: + - autoware_adapi_v1_msgs/msg/DynamicObject +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +std_msgs/Header header +autoware_adapi_v1_msgs/DynamicObject[] objects +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DynamicObjectKinematics.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DynamicObjectKinematics.md new file mode 100644 index 00000000000..c6081500574 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DynamicObjectKinematics.md @@ -0,0 +1,21 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/DynamicObjectKinematics +used: + - autoware_adapi_v1_msgs/msg/DynamicObject +uses: + - autoware_adapi_v1_msgs/msg/DynamicObjectPath +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +geometry_msgs/Pose pose +geometry_msgs/Twist twist +geometry_msgs/Accel accel + +autoware_adapi_v1_msgs/DynamicObjectPath[] predicted_paths +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DynamicObjectPath.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DynamicObjectPath.md new file mode 100644 index 00000000000..7978dc32263 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/DynamicObjectPath.md @@ -0,0 +1,17 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/DynamicObjectPath +used: + - autoware_adapi_v1_msgs/msg/DynamicObjectKinematics +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +geometry_msgs/Pose[] path +builtin_interfaces/Duration time_step +float64 confidence +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/Gear.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/Gear.md new file mode 100644 index 00000000000..6c79186e63c --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/Gear.md @@ -0,0 +1,23 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/Gear +used: + - autoware_adapi_v1_msgs/msg/VehicleStatus +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +# constants +uint8 UNKNOWN = 0 +uint8 NEUTRAL = 1 +uint8 DRIVE = 2 +uint8 REVERSE = 3 +uint8 PARK = 4 +uint8 LOW = 5 + +uint8 status +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/HazardLights.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/HazardLights.md new file mode 100644 index 00000000000..b7d3846de04 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/HazardLights.md @@ -0,0 +1,20 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/HazardLights +used: + - autoware_adapi_v1_msgs/msg/VehicleStatus +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +# constants +uint8 UNKNOWN = 0 +uint8 DISABLE = 1 +uint8 ENABLE = 2 + +uint8 status +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/LocalizationInitializationState.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/LocalizationInitializationState.md new file mode 100644 index 00000000000..504b192dea9 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/LocalizationInitializationState.md @@ -0,0 +1,19 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/LocalizationInitializationState +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +uint16 UNKNOWN = 0 +uint16 UNINITIALIZED = 1 +uint16 INITIALIZING = 2 +uint16 INITIALIZED = 3 + +builtin_interfaces/Time stamp +uint16 state +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/MotionState.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/MotionState.md new file mode 100644 index 00000000000..05a9f4f18cd --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/MotionState.md @@ -0,0 +1,19 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/MotionState +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +uint16 UNKNOWN = 0 +uint16 STOPPED = 1 +uint16 STARTING = 2 +uint16 MOVING = 3 + +builtin_interfaces/Time stamp +uint16 state +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/mrm_state.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/MrmState.md similarity index 56% rename from docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/mrm_state.md rename to docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/MrmState.md index 7322cc7f883..992090f6cfb 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/mrm_state.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/MrmState.md @@ -1,8 +1,10 @@ - +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/MrmState +--- -# autoware_adapi_v1_msgs/msg/MrmState - -## Definition +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} ```txt builtin_interfaces/Time stamp @@ -25,10 +27,4 @@ uint16 state uint16 behavior ``` -## This type uses - -None - -## This type is used by - -None +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ObjectClassification.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ObjectClassification.md new file mode 100644 index 00000000000..69a66623c32 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ObjectClassification.md @@ -0,0 +1,25 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/ObjectClassification +used: + - autoware_adapi_v1_msgs/msg/DynamicObject +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +uint8 UNKNOWN=0 +uint8 CAR=1 +uint8 TRUCK=2 +uint8 BUS=3 +uint8 TRAILER = 4 +uint8 MOTORCYCLE = 5 +uint8 BICYCLE = 6 +uint8 PEDESTRIAN = 7 + +uint8 label +float64 probability +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/operation_mode_state.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/OperationModeState.md similarity index 59% rename from docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/operation_mode_state.md rename to docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/OperationModeState.md index 23405e2aea2..ea56c87c38b 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/operation_mode_state.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/OperationModeState.md @@ -1,8 +1,10 @@ - +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/OperationModeState +--- -# autoware_adapi_v1_msgs/msg/OperationModeState - -## Definition +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} ```txt # constants for mode @@ -23,10 +25,4 @@ bool is_local_mode_available bool is_remote_mode_available ``` -## This type uses - -None - -## This type is used by - -None +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ResponseStatus.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ResponseStatus.md new file mode 100644 index 00000000000..9918fa9323a --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/ResponseStatus.md @@ -0,0 +1,37 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/ResponseStatus +used: + - autoware_adapi_v1_msgs/srv/AcceptStart + - autoware_adapi_v1_msgs/srv/ChangeOperationMode + - autoware_adapi_v1_msgs/srv/ClearRoute + - autoware_adapi_v1_msgs/srv/GetDoorLayout + - autoware_adapi_v1_msgs/srv/GetVehicleDimensions + - autoware_adapi_v1_msgs/srv/InitializeLocalization + - autoware_adapi_v1_msgs/srv/SetDoorCommand + - autoware_adapi_v1_msgs/srv/SetRoute + - autoware_adapi_v1_msgs/srv/SetRoutePoints +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +# error code +uint16 UNKNOWN = 50000 +uint16 SERVICE_UNREADY = 50001 +uint16 SERVICE_TIMEOUT = 50002 +uint16 TRANSFORM_ERROR = 50003 +uint16 PARAMETER_ERROR = 50004 + +# warning code +uint16 DEPRECATED = 60000 +uint16 NO_EFFECT = 60001 + +# variables +bool success +uint16 code +string message +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/Route.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/Route.md new file mode 100644 index 00000000000..f4455b42ccf --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/Route.md @@ -0,0 +1,16 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/Route +uses: + - autoware_adapi_v1_msgs/msg/RouteData +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +std_msgs/Header header +autoware_adapi_v1_msgs/RouteData[<=1] data +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/RouteData.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/RouteData.md new file mode 100644 index 00000000000..1e27e8aa4da --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/RouteData.md @@ -0,0 +1,19 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/RouteData +used: + - autoware_adapi_v1_msgs/msg/Route +uses: + - autoware_adapi_v1_msgs/msg/RouteSegment +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +geometry_msgs/Pose start +geometry_msgs/Pose goal +autoware_adapi_v1_msgs/RouteSegment[] segments +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/RouteOption.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/RouteOption.md new file mode 100644 index 00000000000..25deed8faf8 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/RouteOption.md @@ -0,0 +1,16 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/RouteOption +used: + - autoware_adapi_v1_msgs/srv/SetRoute + - autoware_adapi_v1_msgs/srv/SetRoutePoints +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +bool allow_goal_modification +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/RoutePrimitive.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/RoutePrimitive.md new file mode 100644 index 00000000000..cc3b5bae5b0 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/RoutePrimitive.md @@ -0,0 +1,16 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/RoutePrimitive +used: + - autoware_adapi_v1_msgs/msg/RouteSegment +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +int64 id +string type # The same id may be used for each type. +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/RouteSegment.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/RouteSegment.md new file mode 100644 index 00000000000..c4171c24b87 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/RouteSegment.md @@ -0,0 +1,19 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/RouteSegment +used: + - autoware_adapi_v1_msgs/msg/RouteData + - autoware_adapi_v1_msgs/srv/SetRoute +uses: + - autoware_adapi_v1_msgs/msg/RoutePrimitive +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +autoware_adapi_v1_msgs/RoutePrimitive preferred +autoware_adapi_v1_msgs/RoutePrimitive[] alternatives # Does not include the preferred primitive. +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/RouteState.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/RouteState.md new file mode 100644 index 00000000000..d4985ebe361 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/RouteState.md @@ -0,0 +1,20 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/RouteState +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +uint16 UNKNOWN = 0 +uint16 UNSET = 1 +uint16 SET = 2 +uint16 ARRIVED = 3 +uint16 CHANGING = 4 + +builtin_interfaces/Time stamp +uint16 state +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/steering_factor.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/SteeringFactor.md similarity index 53% rename from docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/steering_factor.md rename to docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/SteeringFactor.md index 8c7a6f3d67c..1b35ddeb8a3 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/steering_factor.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/SteeringFactor.md @@ -1,8 +1,12 @@ - +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/SteeringFactor +used: + - autoware_adapi_v1_msgs/msg/SteeringFactorArray +--- -# autoware_adapi_v1_msgs/msg/SteeringFactor - -## Definition +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} ```txt # constants for common use @@ -14,8 +18,10 @@ uint16 LANE_CHANGE = 2 uint16 AVOIDANCE_PATH_CHANGE = 3 uint16 AVOIDANCE_PATH_RETURN = 4 uint16 STATION = 5 -uint16 PULL_OUT = 6 -uint16 PULL_OVER = 7 +uint16 PULL_OUT = 6 # Deprecated. Use START_PLANNER. +uint16 START_PLANNER = 6 +uint16 PULL_OVER = 7 # Deprecated. Use GOAL_PLANNER. +uint16 GOAL_PLANNER = 7 uint16 EMERGENCY_OPERATION = 8 # constants for direction @@ -37,10 +43,4 @@ uint16 status string detail ``` -## This type uses - -None - -## This type is used by - -- [autoware_adapi_v1_msgs/msg/SteeringFactorArray](../../autoware_adapi_v1_msgs/msg/steering_factor_array.md) +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/SteeringFactorArray.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/SteeringFactorArray.md new file mode 100644 index 00000000000..ceafe541958 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/SteeringFactorArray.md @@ -0,0 +1,16 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/SteeringFactorArray +uses: + - autoware_adapi_v1_msgs/msg/SteeringFactor +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +std_msgs/Header header +autoware_adapi_v1_msgs/SteeringFactor[] factors +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/TurnIndicators.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/TurnIndicators.md new file mode 100644 index 00000000000..f27fb2c2f0f --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/TurnIndicators.md @@ -0,0 +1,21 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/TurnIndicators +used: + - autoware_adapi_v1_msgs/msg/VehicleStatus +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +# constants +uint8 UNKNOWN = 0 +uint8 DISABLE = 1 +uint8 LEFT = 2 +uint8 RIGHT = 3 + +uint8 status +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VehicleDimensions.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VehicleDimensions.md new file mode 100644 index 00000000000..ec69bf6e741 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VehicleDimensions.md @@ -0,0 +1,24 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/VehicleDimensions +used: + - autoware_adapi_v1_msgs/srv/GetVehicleDimensions +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +float32 wheel_radius +float32 wheel_width +float32 wheel_base +float32 wheel_tread +float32 front_overhang +float32 rear_overhang +float32 left_overhang +float32 right_overhang +float32 height +geometry_msgs/Polygon footprint +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VehicleKinematics.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VehicleKinematics.md new file mode 100644 index 00000000000..b82e24735bc --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VehicleKinematics.md @@ -0,0 +1,20 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/VehicleKinematics +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +# Geographic point, using the WGS 84 reference ellipsoid. +# This data will be invalid If Autoware does not provide projection information between geographic coordinates and local coordinates. +geographic_msgs/GeoPointStamped geographic_pose + +# Local coordinate from the autoware +geometry_msgs/PoseWithCovarianceStamped pose +geometry_msgs/TwistWithCovarianceStamped twist +geometry_msgs/AccelWithCovarianceStamped accel +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VehicleStatus.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VehicleStatus.md new file mode 100644 index 00000000000..224f1999d1a --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VehicleStatus.md @@ -0,0 +1,22 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/VehicleStatus +uses: + - autoware_adapi_v1_msgs/msg/Gear + - autoware_adapi_v1_msgs/msg/HazardLights + - autoware_adapi_v1_msgs/msg/TurnIndicators +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +builtin_interfaces/Time stamp +autoware_adapi_v1_msgs/Gear gear +autoware_adapi_v1_msgs/TurnIndicators turn_indicators +autoware_adapi_v1_msgs/HazardLights hazard_lights +float64 steering_tire_angle +float32 energy_percentage # Battery percentage or fuel percentage, it will depends on the vehicle. +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/velocity_factor.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VelocityFactor.md similarity index 67% rename from docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/velocity_factor.md rename to docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VelocityFactor.md index 4e2fd039ea9..7cb4125992f 100644 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/velocity_factor.md +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VelocityFactor.md @@ -1,8 +1,12 @@ - +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/VelocityFactor +used: + - autoware_adapi_v1_msgs/msg/VelocityFactorArray +--- -# autoware_adapi_v1_msgs/msg/VelocityFactor - -## Definition +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} ```txt # constants for common use @@ -25,6 +29,7 @@ uint16 SIDEWALK = 13 uint16 LANE_CHANGE = 14 uint16 AVOIDANCE = 15 uint16 EMERGENCY_STOP_OPERATION = 16 +uint16 NO_DRIVABLE_LANE = 17 # constants for status uint16 APPROACHING = 1 @@ -38,10 +43,4 @@ uint16 status string detail ``` -## This type uses - -None - -## This type is used by - -- [autoware_adapi_v1_msgs/msg/VelocityFactorArray](../../autoware_adapi_v1_msgs/msg/velocity_factor_array.md) +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VelocityFactorArray.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VelocityFactorArray.md new file mode 100644 index 00000000000..da90bfa1280 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/VelocityFactorArray.md @@ -0,0 +1,16 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/msg/VelocityFactorArray +uses: + - autoware_adapi_v1_msgs/msg/VelocityFactor +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +std_msgs/Header header +autoware_adapi_v1_msgs/VelocityFactor[] factors +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/localization_initialization_state.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/localization_initialization_state.md deleted file mode 100644 index 5954ec26bd3..00000000000 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/localization_initialization_state.md +++ /dev/null @@ -1,23 +0,0 @@ - - -# autoware_adapi_v1_msgs/msg/LocalizationInitializationState - -## Definition - -```txt -uint16 UNKNOWN = 0 -uint16 UNINITIALIZED = 1 -uint16 INITIALIZING = 2 -uint16 INITIALIZED = 3 - -builtin_interfaces/Time stamp -uint16 state -``` - -## This type uses - -None - -## This type is used by - -None diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/motion_state.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/motion_state.md deleted file mode 100644 index 091099499a8..00000000000 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/motion_state.md +++ /dev/null @@ -1,23 +0,0 @@ - - -# autoware_adapi_v1_msgs/msg/MotionState - -## Definition - -```txt -uint16 UNKNOWN = 0 -uint16 STOPPED = 1 -uint16 STARTING = 2 -uint16 MOVING = 3 - -builtin_interfaces/Time stamp -uint16 state -``` - -## This type uses - -None - -## This type is used by - -None diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/response_status.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/response_status.md deleted file mode 100644 index 625c19cc14a..00000000000 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/response_status.md +++ /dev/null @@ -1,36 +0,0 @@ - - -# autoware_adapi_v1_msgs/msg/ResponseStatus - -## Definition - -```txt -# error code -uint16 UNKNOWN = 50000 -uint16 SERVICE_UNREADY = 50001 -uint16 SERVICE_TIMEOUT = 50002 -uint16 TRANSFORM_ERROR = 50003 -uint16 PARAMETER_ERROR = 50004 - -# warning code -uint16 DEPRECATED = 60000 -uint16 NO_EFFECT = 60001 - -# variables -bool success -uint16 code -string message -``` - -## This type uses - -None - -## This type is used by - -- [autoware_adapi_v1_msgs/srv/AcceptStart](../../autoware_adapi_v1_msgs/srv/accept_start.md) -- [autoware_adapi_v1_msgs/srv/ChangeOperationMode](../../autoware_adapi_v1_msgs/srv/change_operation_mode.md) -- [autoware_adapi_v1_msgs/srv/ClearRoute](../../autoware_adapi_v1_msgs/srv/clear_route.md) -- [autoware_adapi_v1_msgs/srv/InitializeLocalization](../../autoware_adapi_v1_msgs/srv/initialize_localization.md) -- [autoware_adapi_v1_msgs/srv/SetRoute](../../autoware_adapi_v1_msgs/srv/set_route.md) -- [autoware_adapi_v1_msgs/srv/SetRoutePoints](../../autoware_adapi_v1_msgs/srv/set_route_points.md) diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/route.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/route.md deleted file mode 100644 index 1d2cc6ef815..00000000000 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/route.md +++ /dev/null @@ -1,18 +0,0 @@ - - -# autoware_adapi_v1_msgs/msg/Route - -## Definition - -```txt -std_msgs/Header header -autoware_adapi_v1_msgs/RouteData[<=1] data -``` - -## This type uses - -- [autoware_adapi_v1_msgs/msg/RouteData](../../autoware_adapi_v1_msgs/msg/route_data.md) - -## This type is used by - -None diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/route_data.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/route_data.md deleted file mode 100644 index 6a2f729b1c4..00000000000 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/route_data.md +++ /dev/null @@ -1,19 +0,0 @@ - - -# autoware_adapi_v1_msgs/msg/RouteData - -## Definition - -```txt -geometry_msgs/Pose start -geometry_msgs/Pose goal -autoware_adapi_v1_msgs/RouteSegment[] segments -``` - -## This type uses - -- [autoware_adapi_v1_msgs/msg/RouteSegment](../../autoware_adapi_v1_msgs/msg/route_segment.md) - -## This type is used by - -- [autoware_adapi_v1_msgs/msg/Route](../../autoware_adapi_v1_msgs/msg/route.md) diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/route_primitive.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/route_primitive.md deleted file mode 100644 index 61ac8402b88..00000000000 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/route_primitive.md +++ /dev/null @@ -1,18 +0,0 @@ - - -# autoware_adapi_v1_msgs/msg/RoutePrimitive - -## Definition - -```txt -int64 id -string type # The same id may be used for each type. -``` - -## This type uses - -None - -## This type is used by - -- [autoware_adapi_v1_msgs/msg/RouteSegment](../../autoware_adapi_v1_msgs/msg/route_segment.md) diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/route_segment.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/route_segment.md deleted file mode 100644 index 7ae77e6b46d..00000000000 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/route_segment.md +++ /dev/null @@ -1,19 +0,0 @@ - - -# autoware_adapi_v1_msgs/msg/RouteSegment - -## Definition - -```txt -autoware_adapi_v1_msgs/RoutePrimitive preferred -autoware_adapi_v1_msgs/RoutePrimitive[] alternatives # Does not include the preferred primitive. -``` - -## This type uses - -- [autoware_adapi_v1_msgs/msg/RoutePrimitive](../../autoware_adapi_v1_msgs/msg/route_primitive.md) - -## This type is used by - -- [autoware_adapi_v1_msgs/msg/RouteData](../../autoware_adapi_v1_msgs/msg/route_data.md) -- [autoware_adapi_v1_msgs/srv/SetRoute](../../autoware_adapi_v1_msgs/srv/set_route.md) diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/route_state.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/route_state.md deleted file mode 100644 index 86922126556..00000000000 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/route_state.md +++ /dev/null @@ -1,24 +0,0 @@ - - -# autoware_adapi_v1_msgs/msg/RouteState - -## Definition - -```txt -uint16 UNKNOWN = 0 -uint16 UNSET = 1 -uint16 SET = 2 -uint16 ARRIVED = 3 -uint16 CHANGING = 4 - -builtin_interfaces/Time stamp -uint16 state -``` - -## This type uses - -None - -## This type is used by - -None diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/steering_factor_array.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/steering_factor_array.md deleted file mode 100644 index e7c357c43bf..00000000000 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/steering_factor_array.md +++ /dev/null @@ -1,18 +0,0 @@ - - -# autoware_adapi_v1_msgs/msg/SteeringFactorArray - -## Definition - -```txt -std_msgs/Header header -autoware_adapi_v1_msgs/SteeringFactor[] factors -``` - -## This type uses - -- [autoware_adapi_v1_msgs/msg/SteeringFactor](../../autoware_adapi_v1_msgs/msg/steering_factor.md) - -## This type is used by - -None diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/velocity_factor_array.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/velocity_factor_array.md deleted file mode 100644 index e1924e103d5..00000000000 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/velocity_factor_array.md +++ /dev/null @@ -1,18 +0,0 @@ - - -# autoware_adapi_v1_msgs/msg/VelocityFactorArray - -## Definition - -```txt -std_msgs/Header header -autoware_adapi_v1_msgs/VelocityFactor[] factors -``` - -## This type uses - -- [autoware_adapi_v1_msgs/msg/VelocityFactor](../../autoware_adapi_v1_msgs/msg/velocity_factor.md) - -## This type is used by - -None diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/AcceptStart.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/AcceptStart.md new file mode 100644 index 00000000000..e80d4e780f5 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/AcceptStart.md @@ -0,0 +1,17 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/srv/AcceptStart +uses: + - autoware_adapi_v1_msgs/msg/ResponseStatus +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +--- +uint16 ERROR_NOT_STARTING = 1 +autoware_adapi_v1_msgs/ResponseStatus status +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/ChangeOperationMode.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/ChangeOperationMode.md new file mode 100644 index 00000000000..e16cbda7eec --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/ChangeOperationMode.md @@ -0,0 +1,18 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/srv/ChangeOperationMode +uses: + - autoware_adapi_v1_msgs/msg/ResponseStatus +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +--- +uint16 ERROR_NOT_AVAILABLE = 1 +uint16 ERROR_IN_TRANSITION = 2 +autoware_adapi_v1_msgs/ResponseStatus status +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/ClearRoute.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/ClearRoute.md new file mode 100644 index 00000000000..e7d10672b0d --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/ClearRoute.md @@ -0,0 +1,16 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/srv/ClearRoute +uses: + - autoware_adapi_v1_msgs/msg/ResponseStatus +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +--- +autoware_adapi_v1_msgs/ResponseStatus status +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/GetDoorLayout.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/GetDoorLayout.md new file mode 100644 index 00000000000..aebb1b2dc77 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/GetDoorLayout.md @@ -0,0 +1,18 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/srv/GetDoorLayout +uses: + - autoware_adapi_v1_msgs/msg/DoorLayout + - autoware_adapi_v1_msgs/msg/ResponseStatus +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +--- +autoware_adapi_v1_msgs/ResponseStatus status +autoware_adapi_v1_msgs/DoorLayout[] doors +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/GetVehicleDimensions.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/GetVehicleDimensions.md new file mode 100644 index 00000000000..5e5884a823d --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/GetVehicleDimensions.md @@ -0,0 +1,18 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/srv/GetVehicleDimensions +uses: + - autoware_adapi_v1_msgs/msg/ResponseStatus + - autoware_adapi_v1_msgs/msg/VehicleDimensions +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +--- +autoware_adapi_v1_msgs/ResponseStatus status +autoware_adapi_v1_msgs/VehicleDimensions dimensions +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/InitializeLocalization.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/InitializeLocalization.md new file mode 100644 index 00000000000..a43875336bd --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/InitializeLocalization.md @@ -0,0 +1,21 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/srv/InitializeLocalization +uses: + - autoware_adapi_v1_msgs/msg/ResponseStatus +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +geometry_msgs/PoseWithCovarianceStamped[<=1] pose +--- +uint16 ERROR_UNSAFE = 1 +uint16 ERROR_GNSS_SUPPORT = 2 +uint16 ERROR_GNSS = 3 +uint16 ERROR_ESTIMATION = 4 +autoware_adapi_v1_msgs/ResponseStatus status +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/SetDoorCommand.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/SetDoorCommand.md new file mode 100644 index 00000000000..2879fa223bb --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/SetDoorCommand.md @@ -0,0 +1,18 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/srv/SetDoorCommand +uses: + - autoware_adapi_v1_msgs/msg/DoorCommand + - autoware_adapi_v1_msgs/msg/ResponseStatus +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +autoware_adapi_v1_msgs/DoorCommand[] doors +--- +autoware_adapi_v1_msgs/ResponseStatus status +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/SetRoute.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/SetRoute.md new file mode 100644 index 00000000000..8a61fa7a7ee --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/SetRoute.md @@ -0,0 +1,27 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/srv/SetRoute +uses: + - autoware_adapi_v1_msgs/msg/ResponseStatus + - autoware_adapi_v1_msgs/msg/RouteOption + - autoware_adapi_v1_msgs/msg/RouteSegment +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +std_msgs/Header header +autoware_adapi_v1_msgs/RouteOption option +geometry_msgs/Pose goal +autoware_adapi_v1_msgs/RouteSegment[] segments +--- +uint16 ERROR_ROUTE_EXISTS = 1 # Deprecated. Use ERROR_INVALID_STATE. +uint16 ERROR_INVALID_STATE = 1 +uint16 ERROR_PLANNER_UNREADY = 2 +uint16 ERROR_PLANNER_FAILED = 3 +uint16 ERROR_REROUTE_FAILED = 4 +autoware_adapi_v1_msgs/ResponseStatus status +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/SetRoutePoints.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/SetRoutePoints.md new file mode 100644 index 00000000000..e73b86b62f4 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/SetRoutePoints.md @@ -0,0 +1,26 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_v1_msgs/srv/SetRoutePoints +uses: + - autoware_adapi_v1_msgs/msg/ResponseStatus + - autoware_adapi_v1_msgs/msg/RouteOption +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +std_msgs/Header header +autoware_adapi_v1_msgs/RouteOption option +geometry_msgs/Pose goal +geometry_msgs/Pose[] waypoints +--- +uint16 ERROR_ROUTE_EXISTS = 1 # Deprecated. Use ERROR_INVALID_STATE. +uint16 ERROR_INVALID_STATE = 1 +uint16 ERROR_PLANNER_UNREADY = 2 +uint16 ERROR_PLANNER_FAILED = 3 +uint16 ERROR_REROUTE_FAILED = 4 +autoware_adapi_v1_msgs/ResponseStatus status +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/accept_start.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/accept_start.md deleted file mode 100644 index f8f1f683884..00000000000 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/accept_start.md +++ /dev/null @@ -1,19 +0,0 @@ - - -# autoware_adapi_v1_msgs/srv/AcceptStart - -## Definition - -```txt ---- -uint16 ERROR_NOT_STARTING = 1 -autoware_adapi_v1_msgs/ResponseStatus status -``` - -## This type uses - -- [autoware_adapi_v1_msgs/msg/ResponseStatus](../../autoware_adapi_v1_msgs/msg/response_status.md) - -## This type is used by - -None diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/change_operation_mode.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/change_operation_mode.md deleted file mode 100644 index 274daae3dad..00000000000 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/change_operation_mode.md +++ /dev/null @@ -1,20 +0,0 @@ - - -# autoware_adapi_v1_msgs/srv/ChangeOperationMode - -## Definition - -```txt ---- -uint16 ERROR_NOT_AVAILABLE = 1 -uint16 ERROR_IN_TRANSITION = 2 -autoware_adapi_v1_msgs/ResponseStatus status -``` - -## This type uses - -- [autoware_adapi_v1_msgs/msg/ResponseStatus](../../autoware_adapi_v1_msgs/msg/response_status.md) - -## This type is used by - -None diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/clear_route.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/clear_route.md deleted file mode 100644 index ac280e5f125..00000000000 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/clear_route.md +++ /dev/null @@ -1,18 +0,0 @@ - - -# autoware_adapi_v1_msgs/srv/ClearRoute - -## Definition - -```txt ---- -autoware_adapi_v1_msgs/ResponseStatus status -``` - -## This type uses - -- [autoware_adapi_v1_msgs/msg/ResponseStatus](../../autoware_adapi_v1_msgs/msg/response_status.md) - -## This type is used by - -None diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/initialize_localization.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/initialize_localization.md deleted file mode 100644 index 272446ff6a1..00000000000 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/initialize_localization.md +++ /dev/null @@ -1,23 +0,0 @@ - - -# autoware_adapi_v1_msgs/srv/InitializeLocalization - -## Definition - -```txt -geometry_msgs/PoseWithCovarianceStamped[<=1] pose ---- -uint16 ERROR_UNSAFE = 1 -uint16 ERROR_GNSS_SUPPORT = 2 -uint16 ERROR_GNSS = 3 -uint16 ERROR_ESTIMATION = 4 -autoware_adapi_v1_msgs/ResponseStatus status -``` - -## This type uses - -- [autoware_adapi_v1_msgs/msg/ResponseStatus](../../autoware_adapi_v1_msgs/msg/response_status.md) - -## This type is used by - -None diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/set_route.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/set_route.md deleted file mode 100644 index 074dc375daf..00000000000 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/set_route.md +++ /dev/null @@ -1,25 +0,0 @@ - - -# autoware_adapi_v1_msgs/srv/SetRoute - -## Definition - -```txt -std_msgs/Header header -geometry_msgs/Pose goal -autoware_adapi_v1_msgs/RouteSegment[] segments ---- -uint16 ERROR_ROUTE_EXISTS = 1 -uint16 ERROR_PLANNER_UNREADY = 2 -uint16 ERROR_PLANNER_FAILED = 3 -autoware_adapi_v1_msgs/ResponseStatus status -``` - -## This type uses - -- [autoware_adapi_v1_msgs/msg/ResponseStatus](../../autoware_adapi_v1_msgs/msg/response_status.md) -- [autoware_adapi_v1_msgs/msg/RouteSegment](../../autoware_adapi_v1_msgs/msg/route_segment.md) - -## This type is used by - -None diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/set_route_points.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/set_route_points.md deleted file mode 100644 index 9236ec8e02e..00000000000 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/set_route_points.md +++ /dev/null @@ -1,24 +0,0 @@ - - -# autoware_adapi_v1_msgs/srv/SetRoutePoints - -## Definition - -```txt -std_msgs/Header header -geometry_msgs/Pose goal -geometry_msgs/Pose[] waypoints ---- -uint16 ERROR_ROUTE_EXISTS = 1 -uint16 ERROR_PLANNER_UNREADY = 2 -uint16 ERROR_PLANNER_FAILED = 3 -autoware_adapi_v1_msgs/ResponseStatus status -``` - -## This type uses - -- [autoware_adapi_v1_msgs/msg/ResponseStatus](../../autoware_adapi_v1_msgs/msg/response_status.md) - -## This type is used by - -None diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_version_msgs/srv/InterfaceVersion.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_version_msgs/srv/InterfaceVersion.md new file mode 100644 index 00000000000..7caf613d6ed --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_version_msgs/srv/InterfaceVersion.md @@ -0,0 +1,16 @@ +--- +# This file is generated by tools/autoware-interfaces/generate.py +title: autoware_adapi_version_msgs/srv/InterfaceVersion +--- + +{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %} +{% block definition %} + +```txt +--- +uint16 major +uint16 minor +uint16 patch +``` + +{% endblock %} diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_version_msgs/srv/interface_version.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_version_msgs/srv/interface_version.md deleted file mode 100644 index 54d5242c670..00000000000 --- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_version_msgs/srv/interface_version.md +++ /dev/null @@ -1,20 +0,0 @@ - - -# autoware_adapi_version_msgs/srv/InterfaceVersion - -## Definition - -```txt ---- -uint16 major -uint16 minor -uint16 patch -``` - -## This type uses - -None - -## This type is used by - -None diff --git a/docs/design/autoware-interfaces/ad-api/types/index.md b/docs/design/autoware-interfaces/ad-api/types/index.md new file mode 100644 index 00000000000..fc2a043a3ac --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/types/index.md @@ -0,0 +1,42 @@ +# Types of Autoware AD API + +- [autoware_adapi_v1_msgs/msg/DoorCommand](./autoware_adapi_v1_msgs/msg/DoorCommand.md) +- [autoware_adapi_v1_msgs/msg/DoorLayout](./autoware_adapi_v1_msgs/msg/DoorLayout.md) +- [autoware_adapi_v1_msgs/msg/DoorStatus](./autoware_adapi_v1_msgs/msg/DoorStatus.md) +- [autoware_adapi_v1_msgs/msg/DoorStatusArray](./autoware_adapi_v1_msgs/msg/DoorStatusArray.md) +- [autoware_adapi_v1_msgs/msg/DynamicObject](./autoware_adapi_v1_msgs/msg/DynamicObject.md) +- [autoware_adapi_v1_msgs/msg/DynamicObjectArray](./autoware_adapi_v1_msgs/msg/DynamicObjectArray.md) +- [autoware_adapi_v1_msgs/msg/DynamicObjectKinematics](./autoware_adapi_v1_msgs/msg/DynamicObjectKinematics.md) +- [autoware_adapi_v1_msgs/msg/DynamicObjectPath](./autoware_adapi_v1_msgs/msg/DynamicObjectPath.md) +- [autoware_adapi_v1_msgs/msg/Gear](./autoware_adapi_v1_msgs/msg/Gear.md) +- [autoware_adapi_v1_msgs/msg/HazardLights](./autoware_adapi_v1_msgs/msg/HazardLights.md) +- [autoware_adapi_v1_msgs/msg/LocalizationInitializationState](./autoware_adapi_v1_msgs/msg/LocalizationInitializationState.md) +- [autoware_adapi_v1_msgs/msg/MotionState](./autoware_adapi_v1_msgs/msg/MotionState.md) +- [autoware_adapi_v1_msgs/msg/MrmState](./autoware_adapi_v1_msgs/msg/MrmState.md) +- [autoware_adapi_v1_msgs/msg/ObjectClassification](./autoware_adapi_v1_msgs/msg/ObjectClassification.md) +- [autoware_adapi_v1_msgs/msg/OperationModeState](./autoware_adapi_v1_msgs/msg/OperationModeState.md) +- [autoware_adapi_v1_msgs/msg/ResponseStatus](./autoware_adapi_v1_msgs/msg/ResponseStatus.md) +- [autoware_adapi_v1_msgs/msg/Route](./autoware_adapi_v1_msgs/msg/Route.md) +- [autoware_adapi_v1_msgs/msg/RouteData](./autoware_adapi_v1_msgs/msg/RouteData.md) +- [autoware_adapi_v1_msgs/msg/RouteOption](./autoware_adapi_v1_msgs/msg/RouteOption.md) +- [autoware_adapi_v1_msgs/msg/RoutePrimitive](./autoware_adapi_v1_msgs/msg/RoutePrimitive.md) +- [autoware_adapi_v1_msgs/msg/RouteSegment](./autoware_adapi_v1_msgs/msg/RouteSegment.md) +- [autoware_adapi_v1_msgs/msg/RouteState](./autoware_adapi_v1_msgs/msg/RouteState.md) +- [autoware_adapi_v1_msgs/msg/SteeringFactor](./autoware_adapi_v1_msgs/msg/SteeringFactor.md) +- [autoware_adapi_v1_msgs/msg/SteeringFactorArray](./autoware_adapi_v1_msgs/msg/SteeringFactorArray.md) +- [autoware_adapi_v1_msgs/msg/TurnIndicators](./autoware_adapi_v1_msgs/msg/TurnIndicators.md) +- [autoware_adapi_v1_msgs/msg/VehicleDimensions](./autoware_adapi_v1_msgs/msg/VehicleDimensions.md) +- [autoware_adapi_v1_msgs/msg/VehicleKinematics](./autoware_adapi_v1_msgs/msg/VehicleKinematics.md) +- [autoware_adapi_v1_msgs/msg/VehicleStatus](./autoware_adapi_v1_msgs/msg/VehicleStatus.md) +- [autoware_adapi_v1_msgs/msg/VelocityFactor](./autoware_adapi_v1_msgs/msg/VelocityFactor.md) +- [autoware_adapi_v1_msgs/msg/VelocityFactorArray](./autoware_adapi_v1_msgs/msg/VelocityFactorArray.md) +- [autoware_adapi_v1_msgs/srv/AcceptStart](./autoware_adapi_v1_msgs/srv/AcceptStart.md) +- [autoware_adapi_v1_msgs/srv/ChangeOperationMode](./autoware_adapi_v1_msgs/srv/ChangeOperationMode.md) +- [autoware_adapi_v1_msgs/srv/ClearRoute](./autoware_adapi_v1_msgs/srv/ClearRoute.md) +- [autoware_adapi_v1_msgs/srv/GetDoorLayout](./autoware_adapi_v1_msgs/srv/GetDoorLayout.md) +- [autoware_adapi_v1_msgs/srv/GetVehicleDimensions](./autoware_adapi_v1_msgs/srv/GetVehicleDimensions.md) +- [autoware_adapi_v1_msgs/srv/InitializeLocalization](./autoware_adapi_v1_msgs/srv/InitializeLocalization.md) +- [autoware_adapi_v1_msgs/srv/SetDoorCommand](./autoware_adapi_v1_msgs/srv/SetDoorCommand.md) +- [autoware_adapi_v1_msgs/srv/SetRoute](./autoware_adapi_v1_msgs/srv/SetRoute.md) +- [autoware_adapi_v1_msgs/srv/SetRoutePoints](./autoware_adapi_v1_msgs/srv/SetRoutePoints.md) +- [autoware_adapi_version_msgs/srv/InterfaceVersion](./autoware_adapi_version_msgs/srv/InterfaceVersion.md) diff --git a/docs/design/autoware-interfaces/ad-api/use-cases/index.md b/docs/design/autoware-interfaces/ad-api/use-cases/index.md deleted file mode 100644 index 96dfb0f9536..00000000000 --- a/docs/design/autoware-interfaces/ad-api/use-cases/index.md +++ /dev/null @@ -1,21 +0,0 @@ -# Use cases of Autoware AD API - -## User stories - -The user stories are service scenarios that AD API assumes. AD API is designed based on these scenarios. -Each scenario is realized by a combination of use cases described later. -If there are scenarios that cannot be covered, please discuss adding a user story. - -- [Bus service](bus-service.md) -- [Taxi service](taxi-service.md) - -## Use cases - -Use cases are partial scenarios derived from the user story and generically designed. -Service providers can combine these use cases to define user stories and check if AD API can be applied to their own scenarios. - -- [Launch and terminate](launch-terminate.md) -- [Initialize the pose](initialize-pose.md) -- [Change the operation mode](change-operation-mode.md) -- [Drive to the designated position](drive-designated-position.md) -- [Get on and get off](get-on-off.md) diff --git a/docs/design/autoware-interfaces/ad-api/use-cases/request-to-cooperate.md b/docs/design/autoware-interfaces/ad-api/use-cases/request-to-cooperate.md new file mode 100644 index 00000000000..7b0dc2385d3 --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/use-cases/request-to-cooperate.md @@ -0,0 +1,7 @@ +# Request to cooperate + +!!! warning + + Under Construction + +AD API supports operator cooperation for vehicle decisions. diff --git a/docs/design/autoware-interfaces/ad-api/use-cases/vehicle-monitoring.md b/docs/design/autoware-interfaces/ad-api/use-cases/vehicle-monitoring.md new file mode 100644 index 00000000000..b3c5795f88e --- /dev/null +++ b/docs/design/autoware-interfaces/ad-api/use-cases/vehicle-monitoring.md @@ -0,0 +1,21 @@ +# Vehicle monitoring + +AD API provides current vehicle status for remote monitoring, visualization for passengers, etc. +Use the API below depending on the data you want to monitor. + +## Vehicle status + +The [vehicle status](../features/vehicle-status.md) provides basic information such as kinematics, indicators, and dimensions. +This allows a remote operator to know the position and velocity of the vehicle. +For applications such as FMS, it can help find vehicles that need assistance, such as vehicles that are stuck or brake suddenly. +It is also possible to determine the actual distance to an object from the vehicle dimensions. + +## Planning factors + +The [planning factors](../features/planning-factors.md) provides the planning status of the vehicle. +HMI can use this to warn of sudden movements of the vehicle, and to share the stop reason with passengers for comfortable driving. + +## Detected objects + +The [perception](../features/perception.md) provides the objects detected by Autoware. +HMI can use this to visualize objects around the vehicle. diff --git a/docs/design/autoware-interfaces/components/.pages b/docs/design/autoware-interfaces/components/.pages index e06a4052a0e..68f43c4559e 100644 --- a/docs/design/autoware-interfaces/components/.pages +++ b/docs/design/autoware-interfaces/components/.pages @@ -4,5 +4,7 @@ nav: - control.md - localization.md - map.md + - sensing.md + - perception-interface.md - vehicle-interface.md - vehicle-dimensions.md diff --git a/docs/design/autoware-interfaces/components/images/Perception-Architecture.drawio.svg b/docs/design/autoware-interfaces/components/images/Perception-Architecture.drawio.svg new file mode 100644 index 00000000000..ad575df3274 --- /dev/null +++ b/docs/design/autoware-interfaces/components/images/Perception-Architecture.drawio.svg @@ -0,0 +1,1064 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Planning + + + + Planning + + + + + + + + + + + + + Perception + + + + + + Perception + + + + + + + + + + 3D Object Predictions + + + autoware_auto_perception_msgs/ + PredictedObjects + + + + + + + + + + + + + + + + + Localization + + + + Localization + + + + + + + Vehicle Kinematic State + + + nav_msgs/Odometry + + + + + + + + + + + + + + + + Traffic Light Query + + + + 🚦 + + + + + + + + + + + + + Map Server + + + + Map Server + + + + + + + Lanelet2 Map + + + autoware_auto_mapping_msgs/ + HADMapBin + + + + + Camera + + + + + + + + + Image + + + + sensor_msgs/Image + + + + + + + + + + + Lidar + + + + + + + + + + PointCloud + + sensor_msgs/PointCloud2 + + + + + + + + + Text is not SVG - cannot display + + + + + + + + + + + + Traffic Light Response + + + + + + + + + + + 🚦 + + + + + diff --git a/docs/design/autoware-interfaces/components/images/planning-interface-input.drawio.svg b/docs/design/autoware-interfaces/components/images/planning-interface-input.drawio.svg new file mode 100644 index 00000000000..621ede46902 --- /dev/null +++ b/docs/design/autoware-interfaces/components/images/planning-interface-input.drawio.svg @@ -0,0 +1,72 @@ + + + + + + + +
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See [output of Localization](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/components/localization/#vehicle-kinematic-state). + +### Lanelet2 Map + +map of the environment. See [outputs of Map](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/components/map/#outputs). + +## Output + +### 3D Object Predictions + +3D Objects detected, tracked and predicted by sensor fusing. + +- [autoware_auto_perception_msgs/msg/PredictedObjects](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/PredictedObjects.idl) + - [std_msgs/Header](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Header.html) header + - sequence<[autoware_auto_perception_msgs::msg::PredictedObject](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/PredictedObject.idl)> objects + - unique_identifier_msgs::msg::UUID uuid + - float existence_probability + - sequence<[autoware_auto_perception_msgs::msg::ObjectClassification](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/ObjectClassification.idl)> classification + - uint8 classification + - float probability + - [autoware_auto_perception_msgs::msg::PredictedObjectKinematics](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/PredictedObjectKinematics.idl) kinematics + - [geometry_msgs::msg::PoseWithCovariance](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseWithCovariance.html) initial_pose + - [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_auto_perception_msgs::msg::PredictedPath](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/PredictedPath.idl), 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<[autoware_auto_perception_msgs::msg::Shape](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/Shape.idl), 5> shape + - [geometry_msgs::msg::Polygon](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/Polygon.html) polygon + - float height + +### Traffic Signals + +traffic signals recognized by object detection model. + +- [autoware_perception_msgs::msg::TrafficSignalArray](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/TrafficSignalArray.msg) + - [autoware_perception_msgs::msg::TrafficSignal](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/TrafficSignal.msg) signals + - [autoware_perception_msgs::msg::TrafficSignalElement](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/TrafficSignalElement.msg) elements + - unint8 UNKNOWN = 0 + - uint8 Red = 1 + - uint8 AMBER = 2 + - uint8 WHITE = 4 + - uint8 CIRCLE = 1 + - uint8 LEFT_ARROW = 2 + - uint8 RIGHT_ARROW = 3 + - uint8 UP_ARROW = 4 + - uint8 UP_LEFT_ARROW=5 + - uint8 UP_RIGHT_ARROW=6 + - uint8 DOWN_ARROW = 7 + - uint8 DOWN_LEFT_ARROW = 8 + - uint8 DOWN_RIGHT_ARROW = 9 + - uint8 CROSS = 10 + - uint8 SOLID_OFF = 1 + - uint8 SOLID_ON = 2 + - uint8 FLASHING = 3 + - uint8 color + - uint8 shape + - uint8 status + - float32 confidence + - int64 traffic_signal_id + - [builtin_interfaces::msg::Time](https://github.com/ros2/rcl_interfaces/blob/rolling/builtin_interfaces/msg/Time.msg) stamp diff --git a/docs/design/autoware-interfaces/components/planning.md b/docs/design/autoware-interfaces/components/planning.md index 84f22163b40..8b4ba097934 100644 --- a/docs/design/autoware-interfaces/components/planning.md +++ b/docs/design/autoware-interfaces/components/planning.md @@ -1,152 +1,99 @@ # Planning -![Node diagram](images/Planning-Bus-ODD-Architecture.drawio.svg) +This page provides specific specifications about the Interface of the Planning Component. Please refer to the [planning architecture design document](../../autoware-architecture/planning/index.md) for high-level concepts and data flow. -## Inputs +**TODO: The detailed definitions (meanings of elements included in each topic) are not described yet, need to be updated.** -### 3D Object Predictions +## Input -set of perceived objects around ego that need to be avoided when planning a trajectory. Published by the Perception module. +![planning-input](images/planning-interface-input.drawio.svg) -- [autoware_auto_perception_msgs/msg/PredictedObjects](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/PredictedObjects.idl) - - [std_msgs/Header](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Header.html) header - - sequence<[autoware_auto_perception_msgs::msg::PredictedObject](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/PredictedObject.idl)> objects - - unique_identifier_msgs::msg::UUID uuid - - float existence_probability - - sequence<[autoware_auto_perception_msgs::msg::ObjectClassification](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/ObjectClassification.idl)> classification - - uint8 classification - - float probability - - [autoware_auto_perception_msgs::msg::PredictedObjectKinematics](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/PredictedObjectKinematics.idl) kinematics - - [geometry_msgs::msg::PoseWithCovariance](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseWithCovariance.html) initial_pose - - [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_auto_perception_msgs::msg::PredictedPath](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/PredictedPath.idl), 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<[autoware_auto_perception_msgs::msg::Shape](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/Shape.idl), 5> shape - - [geometry_msgs::msg::Polygon](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/Polygon.html) polygon - - float height +### From Map Component -### Traffic Light Response +| Name | Topic | Type | Description | +| ---------- | ----------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------ | +| Vector Map | `/map/vector_map` | [autoware_auto_mapping_msgs/msg/HADMapBin](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_mapping_msgs/msg/HADMapBin.idl) | Map of the environment where the planning takes place. | -Service response with traffic light information. **The message definition is under discussion.** +### From Localization Component -- TrafficLightResponse - - uint64 traffic_light_id - - uint8 traffic_light_state +| Name | Topic | Type | Description | +| ----------------------- | ------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------- | +| Vehicle Kinematic State | `/localization/kinematic_state` | [nav_msgs/msg/Odometry](https://docs.ros.org/en/latest/api/nav_msgs/html/msg/Odometry.html) | Current position, orientation and velocity of ego. | +| Vehicle Acceleration | `/localization/acceleration` | [geometry_msgs/msg/AccelWithCovarianceStamped](https://docs.ros.org/en/latest/api/geometry_msgs/html/msg/AccelWithCovarianceStamped.html) | Current acceleration of ego. | -With the traffic_light_state being one of the following +**TODO**: acceleration information should be merged into the kinematic state. -- GREEN = 1 -- GREEN_BLINKING = 2 -- YELLOW = 3 -- YELLOW_BLINKING = 4 -- RED = 5 -- RED_BLINKING = 6 -- OFF = 7 -- UNKNOWN = 8 +### From Perception Component -### Vehicle kinematic state +| Name | Topic | Type | Description | +| ------------------ | ------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| Objects | `/perception/object_recognition/objects` | [autoware_auto_perception_msgs/msg/PredictedObjects](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_perception_msgs/msg/PredictedObjects.idl) | 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_auto_perception_msgs/msg/TrafficSignalArray](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_perception_msgs/msg/TrafficSignalArray.idl) | Contains the traffic signal information such as a color (green, yellow, read) and an arrow (right, left, straight). | -current position and orientation of ego. Published by the Localization module. +**TODO**: The type of the `Obstacles` information should not depend on the specific sensor message type (now `PointCloud`). It needs to be fixed. -- VehicleKinematicState - - [nav_msgs/Odometry](https://docs.ros.org/en/noetic/api/nav_msgs/html/msg/Odometry.html) - - std_msgs/Header header - - string child_frame_id - - [geometry_msgs/PoseWithCovariance pose](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseWithCovariance.html) - - [geometry_msgs/TwistWithCovariance twist](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/TwistWithCovariance.html) +### From API -### Lanelet2 Map +| Name | Topic | Type | Description | +| -------------------- | ---------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------- | +| Max Velocity | `/planning/scenario_planning/max_velocity_default` | [autoware_adapi_v1_msgs/srv/SetRoutePoints](https://github.com/autowarefoundation/autoware_adapi_msgs/blob/main/autoware_adapi_v1_msgs/routing/srv/SetRoutePoints.srv) | Indicate the maximum value of the vehicle speed plan | +| Operation Mode | `/system/operation_mode/state` | [autoware_adapi_v1_msgs/msg/OperationModeState](https://github.com/autowarefoundation/autoware_adapi_msgs/blob/main/autoware_adapi_v1_msgs/operation_mode/msg/OperationModeState.msg) | Indicates the current operation mode (automatic/manual, etc.). | +| Route Set | `/planning/mission_planning/set_route` | [autoware_adapi_v1_msgs/srv/SetRoute](https://github.com/autowarefoundation/autoware_adapi_msgs/blob/main/autoware_adapi_v1_msgs/routing/srv/SetRoute.srv) | Indicates to set the route when the vehicle is stopped. | +| Route Points Set | `/planning/mission_planning/set_route_points` | [autoware_adapi_v1_msgs/srv/SetRoutePoints](https://github.com/autowarefoundation/autoware_adapi_msgs/blob/main/autoware_adapi_v1_msgs/routing/srv/SetRoutePoints.srv) | Indicates to set the route with points when the vehicle is stopped. | +| Route Change | `/planning/mission_planning/change_route` | [autoware_adapi_v1_msgs/srv/SetRoute](https://github.com/autowarefoundation/autoware_adapi_msgs/blob/main/autoware_adapi_v1_msgs/routing/srv/SetRoute.srv) | Indicates to change the route when the vehicle is moving. | +| Route Points Change | `/planning/mission_planning/change_route_points` | [autoware_adapi_v1_msgs/srv/SetRoutePoints](https://github.com/autowarefoundation/autoware_adapi_msgs/blob/main/autoware_adapi_v1_msgs/routing/srv/SetRoutePoints.srv) | Indicates to change the route with points when the vehicle is moving. | +| Route Clear | `/planning/mission_planning/clear_route` | [autoware_adapi_v1_msgs/srv/ClearRoute](https://github.com/autowarefoundation/autoware_adapi_msgs/blob/main/autoware_adapi_v1_msgs/routing/srv/ClearRoute.srv) | Indicates to clear the route information. | +| MRM Route Set Points | `/planning/mission_planning/mission_planner/srv/set_mrm_route` | [autoware_adapi_v1_msgs/srv/SetRoutePoints](https://github.com/autowarefoundation/autoware_adapi_msgs/blob/main/autoware_adapi_v1_msgs/routing/srv/SetRoutePoints.srv) | Indicates to set the emergency route. | +| MRM Route Clear | `/planning/mission_planning/mission_planner/srv/clear_mrm_route` | [autoware_adapi_v1_msgs/srv/SetRoutePoints](https://github.com/autowarefoundation/autoware_adapi_msgs/blob/main/autoware_adapi_v1_msgs/routing/srv/SetRoutePoints.srv) | Indicates to clear the emergency route. | -map of the environment where the planning takes place. Published by the Map Server. +## Output -- [autoware_auto_mapping_msgs/msg/HADMapBin](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_mapping_msgs/msg/HADMapBin.idl) - - std_msgs::msg::Header header - - uint8 map_format - - string format_version - - string map_version - - sequence < uint8 > data +![planning-output](images/planning-interface-output.drawio.svg) -### Goal Pose +### To Control -target pose of ego. Published by the User Interface. +| Name | Topic | Type | Description | +| -------------- | ------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------ | +| Trajectory | `/planning/trajectory` | [autoware_auto_planning_msgs/msg/Trajectory](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_planning_msgs/msg/Trajectory.idl) | A sequence of space and velocity and acceleration points to be followed by the controller. | +| Turn Indicator | `/planning/turn_indicators_cmd` | [autoware_auto_vehicle_msgs/msg/TurnIndicatorsCommand](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_vehicle_msgs/msg/TurnIndicatorsCommand.idl) | Turn indicator signal to be followed by the vehicle. | +| Hazard Light | `/planning/hazard_lights_cmd` | [autoware_auto_vehicle_msgs/msg/HazardLightsCommand](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_vehicle_msgs/msg/HazardLightsCommand.idl) | Hazard light signal to be followed by the vehicle. | -- [geometry_msgs/PoseStamped](https://docs.ros.org/en/lunar/api/geometry_msgs/html/msg/PoseStamped.html) +### To System -### Engagement Response +| Name | Topic | Type | Description | +| ----------- | ----------------------------- | ---------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------- | +| Diagnostics | `/planning/hazard_lights_cmd` | [diagnostic_msgs/msg/DiagnosticArray](http://docs.ros.org/en/latest/api/diagnostic_msgs/html/msg/DiagnosticArray.html) | Diagnostic status of the Planning component reported to the System component. | -TBD. +### To API -**The message definition is under discussion.** +| Name | Topic | Type | Description | +| --------------- | ------------------------------ | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------- | +| Path Candidate | `/planning/path_candidate/*` | [autoware_auto_planning_msgs/msg/Path](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_planning_msgs/msg/Path.idl) | 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.) | -### Error status +## Planning internal interface -a status corresponding to the current state of Autoware. Used by the Vehicle Interface to switch between different modes in case of emergency. Published by the Diagnostic Manager. +This section explains the communication between the different planning modules shown in the [Planning Architecture Design](../../autoware-architecture/planning/index.md#high-level-architecture). -- [autoware_auto_system_msgs/msg/EmergencyState](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_system_msgs/msg/EmergencyState.idl) - - builtin_interfaces::msg::Time stamp - - uint8 state +![planning-internal](images/planning-interface-internal.drawio.svg) -With the state being one of the following: +### From Mission Planning to Scenario Planning -- NORMAL = 1 -- OVERRIDE_REQUESTING = 2 -- MRM_OPERATING = 3 -- MRM_SUCCEEDED = 4 -- MRM_FAILED = 5 +| Name | Topic | Type | Description | +| ----- | ---------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------ | +| Route | `/planning/mission_planning/route` | [autoware_planning_msgs/msg/LaneletRoute](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_planning_msgs/msg/LaneletRoute.msg) | A sequence of lane IDs on a Lanelet map, from the starting point to the destination. | -[TODO] original design for these messages: diagnostic manager also publishes an overriding emergency control command ([Add the monitoring system related messages - Autoware.Auto](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/merge_requests/38)). Possible new design: gate of the vehicle interface switches to the emergency control command (generated by another controller) when receiving an OVERRIDE_REQUESTING message. +### From Behavior Planning to Motion Planning -**The message definition is under discussion.** +| Name | Topic | Type | Description | +| ---- | ----------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| Path | `/planning/scenario_planning/lane_driving/behavior_planning/path` | [autoware_auto_planning_msgs/msg/Path](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_planning_msgs/msg/Path.idl) | 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. | -## Outputs +### From Scenario Planning to Validation -### Traffic Light Query - -service request for the state of a specific traffic light. Sent to the Perception module. - -- uint64 traffic_light_id - -**The message definition is under discussion.** - -### Trajectory - -A sequence of space and velocity points to be followed by the controller. - -- [autoware_auto_planning_msgs/Trajectory](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_planning_msgs/msg/Trajectory.idl) - - [std_msgs/Header](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Header.html) header - - sequence<[autoware_auto_planning_msgs::msg::TrajectoryPoint](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_planning_msgs/msg/TrajectoryPoint.idl), 100> points - - builtin_interfaces::msg::Duration time_from_start - - [geometry_msgs::msg::Pose](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/Pose.html) pose - - float longitudinal_velocity_mps - - float lateral_velocity_mps - - float acceleration_mps2 - - float heading_rate_rps - - float front_wheel_angle_rad - - float rear_wheel_angle_rad - -### Vehicle Signal Commands - -Commands for various elements of the vehicle unrelated to motion. Sent to the Vehicle Interface. (For the definition, see [autoware_auto_vehicle_msgs](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/tree/master/autoware_auto_vehicle_msgs/msg).) - -- HandBrake Command -- Hazard Lights Command -- Headlights Command -- Horn Command -- Stationary Locking Command -- Turn Indicator Command -- Wipers Command - -### Missions Status - -TBD. - -**The message definition is under discussion.** - -### Engagement Request - -TBD, - -**The message definition is under discussion.** +| Name | Topic | Type | Description | +| ---------- | ---------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------- | +| Trajectory | `/planning/scenario_planning/trajectory` | [autoware_auto_planning_msgs/msg/Trajectory](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_planning_msgs/msg/Trajectory.idl) | 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/sensing.md b/docs/design/autoware-interfaces/components/sensing.md new file mode 100644 index 00000000000..b1f71d233fc --- /dev/null +++ b/docs/design/autoware-interfaces/components/sensing.md @@ -0,0 +1,191 @@ +# Sensing + +```mermaid +graph TD + cmp_drv("Drivers"):::cls_drv + cmp_loc("Localization"):::cls_loc + cmp_per("Perception"):::cls_per + cmp_sen("Preprocessors"):::cls_sen + msg_ult("Ultrasonics + sensor_msgs/Range"):::cls_drv + msg_img("Camera Image + sensor_msgs/Image"):::cls_drv + msg_ldr("Lidar Point Cloud + sensor_msgs/PointCloud2"):::cls_drv + msg_rdr_t("Radar Tracks + radar_msgs/RadarTracks"):::cls_drv + msg_rdr_s("Radar Scan + radar_msgs/RadarScan"):::cls_drv + msg_gnss("GNSS-INS Position + sensor_msgs/NavSatFix"):::cls_drv + msg_gnssori("GNSS-INS Orientation + autoware_sensing_msgs/GnssInsOrientationStamped"):::cls_drv + msg_gnssvel("GNSS Velocity + geometry_msgs/TwistWithCovarianceStamped"):::cls_drv + msg_gnssacc("GNSS Acceleration + geometry_msgs/AccelWithCovarianceStamped"):::cls_drv + msg_ult_sen("Ultrasonics + sensor_msgs/Range"):::cls_sen + msg_img_sen("Camera Image + sensor_msgs/Image"):::cls_sen + msg_pc_combined_rdr("Combined Radar Tracks + radar_msgs/RadarTracks"):::cls_sen + msg_pc_rdr("Radar Pointcloud + radar_msgs/RadarScan"):::cls_sen + msg_pc_combined_ldr("Combined Lidar Point Cloud + sensor_msgs/PointCloud2"):::cls_sen + msg_pose_gnss("GNSS-INS Pose + geometry_msgs/PoseWithCovarianceStamped"):::cls_sen + msg_gnssori_sen("GNSS-INS Orientation + sensor_msgs/Imu"):::cls_sen + msg_gnssvel_sen("GNSS Velocity + geometry_msgs/TwistWithCovarianceStamped"):::cls_sen + msg_gnssacc_sen("GNSS-INS Acceleration + geometry_msgs/AccelWithCovarianceStamped"):::cls_sen + + cmp_drv --> msg_ult --> cmp_sen + cmp_drv --> msg_img --> cmp_sen + cmp_drv --> msg_rdr_t --> cmp_sen + cmp_drv --> msg_rdr_s --> cmp_sen + cmp_drv --> msg_ldr --> cmp_sen + cmp_drv --> msg_gnss --> cmp_sen + cmp_drv --> msg_gnssori --> cmp_sen + cmp_drv --> msg_gnssvel --> cmp_sen + cmp_drv --> msg_gnssacc --> cmp_sen + + cmp_sen --> msg_ult_sen + cmp_sen --> msg_img_sen + cmp_sen --> msg_gnssori_sen + cmp_sen --> msg_gnssvel_sen + cmp_sen --> msg_pc_combined_rdr + cmp_sen --> msg_pc_rdr + cmp_sen --> msg_pc_combined_ldr + cmp_sen --> msg_pose_gnss + cmp_sen --> msg_gnssacc_sen + msg_ult_sen --> cmp_per + msg_img_sen --> cmp_per + msg_pc_combined_rdr --> cmp_per + msg_pc_rdr --> cmp_per + msg_pc_combined_ldr --> cmp_per + msg_pc_combined_ldr --> cmp_loc + msg_pose_gnss --> cmp_loc + msg_gnssori_sen --> cmp_loc + msg_gnssvel_sen --> cmp_loc + msg_gnssacc_sen --> cmp_loc +classDef cls_drv fill:#F8CECC,stroke:#999,stroke-width:1px; +classDef cls_loc fill:#D5E8D4,stroke:#999,stroke-width:1px; +classDef cls_per fill:#FFF2CC,stroke:#999,stroke-width:1px; +classDef cls_sen fill:#FFE6CC,stroke:#999,stroke-width:1px; +``` + +## Inputs + +### Ultrasonics + +Distance data from ultrasonic radar driver. + +- [sensor_msgs/Range](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Range.msg) + +### Camera Image + +Image data from camera driver. + +- [sensor_msgs/Image](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Image.msg) + +### Radar Tracks + +Tracks from radar driver. + +- [radar_msgs/RadarTracks](https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarTracks.msg) + +### Radar Scan + +Scan from radar driver. + +- [radar_msgs/RadarScan](https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarScan.msg) + +### Lidar Point Cloud + +Pointcloud from lidar driver. + +- [sensor_msgs/PointCloud2](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/PointCloud2.msg) + +### GNSS-INS Position + +Initial pose from GNSS driver. + +- [geometry_msgs/NavSatFix](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/NavSatFix.msg) + +### GNSS-INS Orientation + +Initial orientation from GNSS driver. + +- [autoware_sensing_msgs/GnssInsOrientationStamped](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_sensing_msgs/msg/GnssInsOrientationStamped.msg) + +### GNSS Velocity + +Initial velocity from GNSS driver. + +- [geometry_msgs/TwistWithCovarianceStamped](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/TwistWithCovarianceStamped.msg) + +### GNSS Acceleration + +Initial acceleration from GNSS driver. + +- [geometry_msgs/AccelWithCovarianceStamped](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/AccelWithCovarianceStamped.msg) + +## Output + +### Ultrasonics + +Distance data from ultrasonic radar. Used by the Perception. + +- [sensor_msgs/Range](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Range.msg) + +### Camera Image + +Image data from camera. Used by the Perception. + +- [sensor_msgs/Image](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Image.msg) + +### Combined Radar Tracks + +Radar tracks from radar. Used by the Perception. + +- [radar_msgs/RadarTracks.msg](https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarTracks.msg) + +### Radar Point Cloud + +Pointcloud from radar. Used by the Perception. + +- [radar_msgs/RadarScan.msg](https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarScan.msg) + +### Combined Lidar Point Cloud + +Lidar pointcloud after preprocessing. Used by the Perception and Localization. + +- [sensor_msgs/PointCloud2](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/PointCloud2.msg) + +### GNSS-INS pose + +Initial pose of the ego vehicle from GNSS. Used by the Localization. + +- [geometry_msgs/PoseWithCovarianceStamped](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/PoseWithCovarianceStamped.msg) + +### GNSS-INS Orientation + +Orientation info from GNSS. Used by the Localization. + +- [sensor_msgs/Imu](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Imu.msg) + +### GNSS velocity + +Velocity of the ego vehicle from GNSS. Used by the Localization. + +- [geometry_msgs/TwistWithCovarianceStamped](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/TwistWithCovarianceStamped.msg) + +### GNSS Acceleration + +Acceleration of the ego vehicle from GNSS. Used by the Localization. + +- [geometry_msgs/AccelWithCovarianceStamped](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/AccelWithCovarianceStamped.msg) diff --git a/docs/design/autoware-interfaces/templates/autoware-data-type.jinja2 b/docs/design/autoware-interfaces/templates/autoware-data-type.jinja2 new file mode 100644 index 00000000000..3acf494d8e1 --- /dev/null +++ b/docs/design/autoware-interfaces/templates/autoware-data-type.jinja2 @@ -0,0 +1,26 @@ +# {{ title }} + +## Definition + +{%- block definition %} +{%- endblock %} + +## This type uses + +{%- if uses %} +{%- for name in uses %} +- {{ create_relative_link(name, 'design/autoware-interfaces/ad-api/types/' + name) }} +{%- endfor %} +{%- else %} +- None +{%- endif %} + +## This type is used by + +{%- if used %} +{%- for name in used %} +- {{ create_relative_link(name, 'design/autoware-interfaces/ad-api/types/' + name) }} +{%- endfor %} +{%- else %} +- None +{%- endif %} diff --git a/docs/design/autoware-interfaces/templates/autoware-interface.jinja2 b/docs/design/autoware-interfaces/templates/autoware-interface.jinja2 new file mode 100644 index 00000000000..f57daa463d5 --- /dev/null +++ b/docs/design/autoware-interfaces/templates/autoware-interface.jinja2 @@ -0,0 +1,49 @@ +# {{ title }} + +## Status + +- Latest Version: {{ status }} +- Method: {{ method }} +- Data Type: {{ create_relative_link(type.name, 'design/autoware-interfaces/ad-api/types/' + type.name) }} + +## Description + +{%- block description %} +{%- endblock %} + +{%- if method != 'function call' %} +## Message +{%- if type.msg %} +| Name | Type | Description | +| ---- | ---- | ----------- | +{%- for field in type.msg %} +| {{ field.name }} | {{ resolve_msg_field(type.name, field.name, 'msg') }} | {{ field.text }} | +{%- endfor %} +{%- else %} +None +{%- endif %} +{%- endif %} + +{%- if method == 'function call' %} +## Request +{%- if type.req %} +| Name | Type | Description | +| ---- | ---- | ----------- | +{%- for field in type.req %} +| {{ field.name }} | {{ resolve_msg_field(type.name, field.name, 'req') }} | {{ field.text }} | +{%- endfor %} +{%- else %} +None +{%- endif %} + +## Response +{%- if type.res %} +| Name | Type | Description | +| ---- | ---- | ----------- | +{%- for field in type.res %} +| {{ field.name }} | {{ resolve_msg_field(type.name, field.name, 'res') }} | {{ field.text }} | +{%- endfor %} +{%- else %} +None +{%- endif %} +{%- endif %} diff --git a/docs/how-to-guides/index.md b/docs/how-to-guides/index.md index 8d5aabb0274..dc05cd725cb 100644 --- a/docs/how-to-guides/index.md +++ b/docs/how-to-guides/index.md @@ -13,7 +13,8 @@ - [Determining component dependencies](others/determining-component-dependencies.md) - [Advanced usage of colcon](others/advanced-usage-of-colcon.md) - [Applying Clang-Tidy to ROS packages](others/applying-clang-tidy-to-ros-packages.md) -- [Using Eagleye in Autoware](others/eagleye-integration-guide.md) +- [Defining temporal performance metrics on components](others/defining-temporal-performance-metrics.md) +- [An example procedure for adding and evaluating a new node](others/an-example-procedure-for-adding-and-evaluating-a-new-node.md) TODO: Write the following contents. diff --git a/docs/how-to-guides/integrating-autoware/.pages b/docs/how-to-guides/integrating-autoware/.pages index 7b7f62f439f..29eb42aa464 100644 --- a/docs/how-to-guides/integrating-autoware/.pages +++ b/docs/how-to-guides/integrating-autoware/.pages @@ -1,8 +1,8 @@ nav: - overview.md - - 1. Creating your Autoware meta repository: creating-your-autoware-meta-repository.md + - 1. Creating your Autoware meta repository: creating-your-autoware-meta-repository - 2. Creating vehicle and sensor description: creating-vehicle-and-sensor-description - 3. Creating vehicle interface: creating-vehicle-interface-package - 4. Creating maps: creating-maps - - 5. Launch Autoware: launch-autoware.md + - 5. Launch Autoware: launch-autoware - 6. Tuning parameters and performance: tuning-parameters-and-performance diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/index.md b/docs/how-to-guides/integrating-autoware/creating-maps/index.md index 415a38b157a..2421c2a8662 100644 --- a/docs/how-to-guides/integrating-autoware/creating-maps/index.md +++ b/docs/how-to-guides/integrating-autoware/creating-maps/index.md @@ -8,7 +8,7 @@ This page explains how users can create maps that can be used for Autoware. Traditionally, a Mobile Mapping System (MMS) is used in order to create highly accurate large-scale point cloud maps. However, since a MMS requires high-end sensors for precise positioning, its operational cost can be very expensive and may not be suitable for a relatively small driving environment. Alternatively, a Simultaneous Localization And Mapping (SLAM) algorithm can be used to create a point cloud map from recorded LiDAR scans. Some of the useful open-source SLAM implementations are listed in this [page](open-source-slam/index.md). -If you prefer proprietary software that is easy to use, you can try a fully automatic mapping tool from [MAP IV, Inc.](https://www.map4.jp/), [_MapIV Engine_](https://www.map4.jp/solutions/mapping_localization/map-%e2%85%b3-engine/). They currently provide a trial license for Autoware users free of charge. +If you prefer proprietary software that is easy to use, you can try a fully automatic mapping tool from [MAP IV, Inc.](https://www.map4.jp/), [_MapIV Engine_](https://www.map4.jp/solutions/mapping_localization/map4engine/). They currently provide a trial license for Autoware users free of charge. ## Creating a vector map diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/fast-lio-lc/images/fastlio_lc_example1.png b/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/fast-lio-lc/images/fast-lio-lc-example1.png similarity index 100% rename from docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/fast-lio-lc/images/fastlio_lc_example1.png rename to docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/fast-lio-lc/images/fast-lio-lc-example1.png diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/fast-lio-lc/images/fastlio_lc_example2.png b/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/fast-lio-lc/images/fast-lio-lc-example2.png similarity index 100% rename from docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/fast-lio-lc/images/fastlio_lc_example2.png rename to docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/fast-lio-lc/images/fast-lio-lc-example2.png diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/fast-lio-lc/index.md b/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/fast-lio-lc/index.md index eae8bfd74ec..fee8f784d83 100644 --- a/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/fast-lio-lc/index.md +++ b/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/fast-lio-lc/index.md @@ -52,6 +52,8 @@ ### 2) Set parameters + + - After downloading the repository, change topic and sensor settings on the config file (`workspace/src/FAST_LIO_LC/FAST_LIO/config/ouster64_mulran.yaml`) with the lidar topic name in your bag file. @@ -64,6 +66,8 @@ ### 3) Run + + - For Ouster OS1-64 # open new terminal: run FAST-LIO @@ -79,8 +83,8 @@ ## Example Result -

example_results1

-

example_results2

+

example_results1

+

example_results2

## Other Examples @@ -92,6 +96,8 @@ Check original repository link for example dataset. ## Contact + + - Maintainer: Yanliang Wang (`wyl410922@qq.com`) ## Acknowledgements diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/fast-lio-slam/index.md b/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/fast-lio-slam/index.md index 82488cd4e34..d9f3d919eb3 100644 --- a/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/fast-lio-slam/index.md +++ b/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/fast-lio-slam/index.md @@ -24,7 +24,7 @@ - ROS - PCL -- Gtsam +- GTSAM ```bash wget -O ~/Downloads/gtsam.zip https://github.com/borglab/gtsam/archive/4.0.0-alpha2.zip @@ -83,15 +83,17 @@ sudo make install - Example result captures

- - [download the KAIST03 pcd map](https://www.dropbox.com/s/w599ozdg7h6215q/KAIST03.pcd?dl=0) made by FAST-LIO-SLAM, 500MB + - [download the KAIST 03 pcd map](https://www.dropbox.com/s/w599ozdg7h6215q/KAIST03.pcd?dl=0) made by FAST-LIO-SLAM, 500MB - [Example Video 2](https://youtu.be/94mC05PesvQ) (Riverside 02 sequence of [MulRan dataset](https://sites.google.com/view/mulran-pr/dataset)) - Example result captures

- - [download the Riverisde02 pcd map](https://www.dropbox.com/s/1aolth7ry4odxo4/Riverside02.pcd?dl=0) made by FAST-LIO-SLAM, 400MB + - [download the Riverside 02 pcd map](https://www.dropbox.com/s/1aolth7ry4odxo4/Riverside02.pcd?dl=0) made by FAST-LIO-SLAM, 400MB ## Acknowledgements + + - Thanks for [FAST_LIO](https://github.com/hku-mars/FAST_LIO) authors. - You may have an interest in [this version of FAST-LIO + Loop closure](https://github.com/yanliang-wang/FAST_LIO_LC), implemented by [yanliang-wang](https://github.com/yanliang-wang) - Maintainer: Giseop Kim (`paulgkim@kaist.ac.kr`) diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/fd-slam/index.md b/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/fd-slam/index.md index 4d3ac4df902..37137e7483b 100644 --- a/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/fd-slam/index.md +++ b/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/fd-slam/index.md @@ -2,6 +2,8 @@ ## What is FD-SLAM? + + - FD_SLAM is Feature&Distribution-based 3D LiDAR SLAM method based on Surface Representation Refinement. In this algorithm novel feature-based Lidar odometry used for fast scan-matching, and used a proposed UGICP method for keyframe matching. ## Repository Information diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/ia-lio-slam/index.md b/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/ia-lio-slam/index.md index 6a7b5ea2799..626a46db732 100644 --- a/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/ia-lio-slam/index.md +++ b/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/ia-lio-slam/index.md @@ -41,7 +41,7 @@ ``` - [GTSAM](https://github.com/borglab/gtsam/releases) (Georgia Tech Smoothing and Mapping library) - + ```bash wget -O ~/Downloads/gtsam.zip https://github.com/borglab/gtsam/archive/4.0.2.zip cd ~/Downloads/ && unzip gtsam.zip -d ~/Downloads/ @@ -96,7 +96,9 @@ Check original repo link for example dataset. ## Contact -- Maintainer: Kevin Jung (`Github: minwoo0611`) + + +- Maintainer: Kevin Jung (`GitHub: minwoo0611`) ## Paper @@ -117,4 +119,6 @@ Part of the code is adapted from [LIO-SAM (IROS-2020)](https://github.com/Tixiao ## Acknowledgements + + - IA-LIO-SAM is based on LIO-SAM (T. Shan, B. Englot, D. Meyers, W. Wang, C. Ratti, and D. Rus. LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping). diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/index.md b/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/index.md index 05ed2066cdc..1c4a8a5bf78 100644 --- a/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/index.md +++ b/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/index.md @@ -1,6 +1,6 @@ # Available Open Source SLAM -This page provides the list of available open source Simultaneous Localization And Mapping (SLAM) implementation that can be used to generete a point cloud (.pcd) map file. +This page provides the list of available open source Simultaneous Localization And Mapping (SLAM) implementation that can be used to generate a point cloud (.pcd) map file. ## Selecting which implementation to use @@ -8,7 +8,7 @@ Lidar odometry drifts accumulatively as time goes by and there is solutions to s ## Tips -Commonly used open-source SLAM implementations are [lidarslam-ros2](https://github.com/rsasaki0109/lidarslam_ros2) (LiDAR, IMU\*) and [LIO-SAM](https://github.com/TixiaoShan/LIO-SAM/tree/ros2) (LiDAR, IMU, GNSS). The required sensor data for each algorithm is specified in the parentheses, where an asterisk (\*) indicates that such sensor data is optional. For supported LiDAR models, please check the Github repository of each algorithm. While these ROS 2-based SLAM implementations can be easily installed and used directly on the same machine that runs Autoware, it is important to note that they may not be as well-tested or as mature as ROS 1-based alternatives. +Commonly used open-source SLAM implementations are [lidarslam-ros2](https://github.com/rsasaki0109/lidarslam_ros2) (LiDAR, IMU\*) and [LIO-SAM](https://github.com/TixiaoShan/LIO-SAM/tree/ros2) (LiDAR, IMU, GNSS). The required sensor data for each algorithm is specified in the parentheses, where an asterisk (\*) indicates that such sensor data is optional. For supported LiDAR models, please check the GitHub repository of each algorithm. While these ROS 2-based SLAM implementations can be easily installed and used directly on the same machine that runs Autoware, it is important to note that they may not be as well-tested or as mature as ROS 1-based alternatives. The notable open-source SLAM implementations that are based on ROS 1 include [hdl-graph-slam](https://github.com/koide3/hdl_graph_slam) (LiDAR, IMU\*, GNSS\*), [LeGO-LOAM](https://github.com/facontidavide/LeGO-LOAM-BOR) (LiDAR, IMU\*), [LeGO-LOAM-BOR](https://github.com/RobustFieldAutonomyLab/LeGO-LOAM) (LiDAR), and [LIO-SAM](https://github.com/TixiaoShan/LIO-SAM) (LiDAR, IMU, GNSS). @@ -16,19 +16,21 @@ Most of these algorithms already have a built-in loop-closure and pose graph opt ## List of Third Party SLAM Implementations + +

-| Package Name | Explanation | Repository Link | Loop Closure | Sensors | ROS Version | Dependencies | -| ------------------- | :---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :------------------------------------------------------------------------------------------------------: | :----------: | :---------------------------------------: | :----------: | :------------------------------------------------------------: | -| FAST-LIO-LC | A computationally efficient and robust LiDAR-inertial odometry package with loop closure module and graph optimization | [https://github.com/yanliang-wang/FAST_LIO_LC](https://github.com/yanliang-wang/FAST_LIO_LC) | ✓ | Lidar
IMU
GPS [Optional] | ROS1 | ROS Melodic
PCL >= 1.8
Eigen >= 3.3.4
GTSAM >= 4.0.0 | -| FAST_LIO_SLAM | FAST_LIO_SLAM is the integration of FAST_LIO and SC-PGO which is scan context based loop detection and GTSAM based pose-graph optimization | [https://github.com/gisbi-kim/FAST_LIO_SLAM](https://github.com/gisbi-kim/FAST_LIO_SLAM) | ✓ | Lidar
IMU
GPS [Optional] | ROS1 | PCL >= 1.8
Eigen >= 3.3.4 | -| FD-SLAM | FD_SLAM is Feature&Distribution-based 3D LiDAR SLAM method based on Surface Representation Refinement. In this algorithm novel feature-based Lidar odometry used for fast scan-matching, and used a proposed UGICP method for keyframe matching | [https://github.com/SLAMWang/FD-SLAM](https://github.com/SLAMWang/FD-SLAM) | ✓ | Lidar
IMU [Optional]
GPS | ROS1 | PCL
g2o
Suitesparse | -| hdl_graph_slam | An open source ROS package for real-time 6DOF SLAM using a 3D LIDAR. It is based on 3D Graph SLAM with NDT scan matching-based odometry estimation and loop detection. It also supports several graph constraints, such as GPS, IMU acceleration (gravity vector), IMU orientation (magnetic sensor), and floor plane (detected in a point cloud) | [https://github.com/koide3/hdl_graph_slam](https://github.com/koide3/hdl_graph_slam) | ✓ | Lidar
IMU [Optional]
GPS [Optional] | ROS1 | PCL
g2o
OpenMP | -| IA-LIO-SAM | IA_LIO_SLAM is created for data acquisition in unstructured environment and it is a framework for Intensity and Ambient Enhanced Lidar Inertial Odometry via Smoothing and Mapping that achieves highly accurate robot trajectories and mapping | [https://github.com/minwoo0611/IA_LIO_SAM](https://github.com/minwoo0611/IA_LIO_SAM) | ✓ | Lidar
IMU
GPS | ROS1 | GTSAM | -| ISCLOAM | ISCLOAM presents a robust loop closure detection approach by integrating both geometry and intensity information | [https://github.com/wh200720041/iscloam](https://github.com/wh200720041/iscloam) | ✓ | Lidar | ROS1 | Ubuntu 18.04
ROS Melodic
Ceres
PCL
GTSAM
OpenCV | -| LeGO-LOAM-BOR | LeGO-LOAM-BOR is improved version of the LeGO-LOAM by improving quality of the code, making it more readable and consistent. Also, performance is improved by converting processes to multi-threaded approach | [https://github.com/facontidavide/LeGO-LOAM-BOR](https://github.com/facontidavide/LeGO-LOAM-BOR) | ✓ | Lidar
IMU | ROS1 | ROS Melodic
PCL
GTSAM | -| LIO_SAM | A framework that achieves highly accurate, real-time mobile robot trajectory estimation and map-building. It formulates lidar-inertial odometry atop a factor graph, allowing a multitude of relative and absolute measurements, including loop closures, to be incorporated from different sources as factors into the system | [https://github.com/TixiaoShan/LIO-SAM](https://github.com/TixiaoShan/LIO-SAM) | ✓ | Lidar
IMU
GPS [Optional] | ROS1
ROS2 | PCL
GTSAM | -| Optimized-SC-F-LOAM | An improved version of F-LOAM and uses an adaptive threshold to further judge the loop closure detection results and reducing false loop closure detections. Also it uses feature point-based matching to calculate the constraints between a pair of loop closure frame point clouds and decreases time consumption of constructing loop frame constraints | [https://github.com/SlamCabbage/Optimized-SC-F-LOAM](https://github.com/SlamCabbage/Optimized-SC-F-LOAM) | ✓ | Lidar | ROS1 | PCL
GTSAM
Ceres | -| SC-A-LOAM | A real-time LiDAR SLAM package that integrates A-LOAM and ScanContext. | [https://github.com/gisbi-kim/SC-A-LOAM](https://github.com/gisbi-kim/SC-A-LOAM) | ✓ | Lidar | ROS1 | GTSAM >= 4.0 | -| SC-LeGO-LOAM | SC-LeGO-LOAM integrated LeGO-LOAM for lidar odometry and 2 different loop closure methods: ScanContext and Radius search based loop closure. While ScanContext is correcting large drifts, radius search based method is good for fine-stitching | [https://github.com/irapkaist/SC-LeGO-LOAM](https://github.com/irapkaist/SC-LeGO-LOAM) | ✓ | Lidar
IMU | ROS1 | PCL
GTSAM | +| Package Name | Explanation | Repository Link | Loop Closure | Sensors | ROS Version | Dependencies | +| ------------------- | :---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :------------------------------------------------------------------------------------------------------: | :----------: | :---------------------------------------: | :------------: | :------------------------------------------------------------: | +| FAST-LIO-LC | A computationally efficient and robust LiDAR-inertial odometry package with loop closure module and graph optimization | [https://github.com/yanliang-wang/FAST_LIO_LC](https://github.com/yanliang-wang/FAST_LIO_LC) | ✓ | Lidar
IMU
GPS [Optional] | ROS 1 | ROS Melodic
PCL >= 1.8
Eigen >= 3.3.4
GTSAM >= 4.0.0 | +| FAST_LIO_SLAM | FAST_LIO_SLAM is the integration of FAST_LIO and SC-PGO which is scan context based loop detection and GTSAM based pose-graph optimization | [https://github.com/gisbi-kim/FAST_LIO_SLAM](https://github.com/gisbi-kim/FAST_LIO_SLAM) | ✓ | Lidar
IMU
GPS [Optional] | ROS 1 | PCL >= 1.8
Eigen >= 3.3.4 | +| FD-SLAM | FD_SLAM is Feature&Distribution-based 3D LiDAR SLAM method based on Surface Representation Refinement. In this algorithm novel feature-based Lidar odometry used for fast scan-matching, and used a proposed UGICP method for keyframe matching | [https://github.com/SLAMWang/FD-SLAM](https://github.com/SLAMWang/FD-SLAM) | ✓ | Lidar
IMU [Optional]
GPS | ROS 1 | PCL
g2o
Suitesparse | +| hdl_graph_slam | An open source ROS package for real-time 6DOF SLAM using a 3D LIDAR. It is based on 3D Graph SLAM with NDT scan matching-based odometry estimation and loop detection. It also supports several graph constraints, such as GPS, IMU acceleration (gravity vector), IMU orientation (magnetic sensor), and floor plane (detected in a point cloud) | [https://github.com/koide3/hdl_graph_slam](https://github.com/koide3/hdl_graph_slam) | ✓ | Lidar
IMU [Optional]
GPS [Optional] | ROS 1 | PCL
g2o
OpenMP | +| IA-LIO-SAM | IA_LIO_SLAM is created for data acquisition in unstructured environment and it is a framework for Intensity and Ambient Enhanced Lidar Inertial Odometry via Smoothing and Mapping that achieves highly accurate robot trajectories and mapping | [https://github.com/minwoo0611/IA_LIO_SAM](https://github.com/minwoo0611/IA_LIO_SAM) | ✓ | Lidar
IMU
GPS | ROS 1 | GTSAM | +| ISCLOAM | ISCLOAM presents a robust loop closure detection approach by integrating both geometry and intensity information | [https://github.com/wh200720041/iscloam](https://github.com/wh200720041/iscloam) | ✓ | Lidar | ROS 1 | Ubuntu 18.04
ROS Melodic
Ceres
PCL
GTSAM
OpenCV | +| LeGO-LOAM-BOR | LeGO-LOAM-BOR is improved version of the LeGO-LOAM by improving quality of the code, making it more readable and consistent. Also, performance is improved by converting processes to multi-threaded approach | [https://github.com/facontidavide/LeGO-LOAM-BOR](https://github.com/facontidavide/LeGO-LOAM-BOR) | ✓ | Lidar
IMU | ROS 1 | ROS Melodic
PCL
GTSAM | +| LIO_SAM | A framework that achieves highly accurate, real-time mobile robot trajectory estimation and map-building. It formulates lidar-inertial odometry atop a factor graph, allowing a multitude of relative and absolute measurements, including loop closures, to be incorporated from different sources as factors into the system | [https://github.com/TixiaoShan/LIO-SAM](https://github.com/TixiaoShan/LIO-SAM) | ✓ | Lidar
IMU
GPS [Optional] | ROS 1
ROS 2 | PCL
GTSAM | +| Optimized-SC-F-LOAM | An improved version of F-LOAM and uses an adaptive threshold to further judge the loop closure detection results and reducing false loop closure detections. Also it uses feature point-based matching to calculate the constraints between a pair of loop closure frame point clouds and decreases time consumption of constructing loop frame constraints | [https://github.com/SlamCabbage/Optimized-SC-F-LOAM](https://github.com/SlamCabbage/Optimized-SC-F-LOAM) | ✓ | Lidar | ROS 1 | PCL
GTSAM
Ceres | +| SC-A-LOAM | A real-time LiDAR SLAM package that integrates A-LOAM and ScanContext. | [https://github.com/gisbi-kim/SC-A-LOAM](https://github.com/gisbi-kim/SC-A-LOAM) | ✓ | Lidar | ROS 1 | GTSAM >= 4.0 | +| SC-LeGO-LOAM | SC-LeGO-LOAM integrated LeGO-LOAM for lidar odometry and 2 different loop closure methods: ScanContext and Radius search based loop closure. While ScanContext is correcting large drifts, radius search based method is good for fine-stitching | [https://github.com/irapkaist/SC-LeGO-LOAM](https://github.com/irapkaist/SC-LeGO-LOAM) | ✓ | Lidar
IMU | ROS 1 | PCL
GTSAM | diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/iscloam/index.md b/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/iscloam/index.md index 6f79c40d248..6274ebf87ab 100644 --- a/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/iscloam/index.md +++ b/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/iscloam/index.md @@ -1,3 +1,5 @@ + + # ISCLOAM ## What is ISCLOAM? diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/lio-sam/index.md b/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/lio-sam/index.md index 535875fc0ce..c8854637498 100644 --- a/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/lio-sam/index.md +++ b/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/lio-sam/index.md @@ -27,7 +27,7 @@ - ROS - PCL -- [Gtsam](https://gtsam.org/get_started/) (Georgia Tech Smoothing and Mapping library) +- [GTSAM](https://gtsam.org/get_started/) (Georgia Tech Smoothing and Mapping library) ```bash sudo add-apt-repository ppa:borglab/gtsam-release-4.0 diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/optimized-sc-f-loam/index.md b/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/optimized-sc-f-loam/index.md index b1e588a418c..eb4a0228310 100644 --- a/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/optimized-sc-f-loam/index.md +++ b/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/optimized-sc-f-loam/index.md @@ -22,7 +22,7 @@ - [ROS](http://wiki.ros.org/noetic/Installation/Ubuntu) - [PCL](https://pointclouds.org/downloads/#linux) -- [Gtsam](https://gtsam.org/get_started/) +- [GTSAM](https://gtsam.org/get_started/) - [Ceres Solver](http://www.ceres-solver.org/installation.html) - For visualization purpose, this package uses hector trajectory sever, you may install the package by diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/sc-a-loam/images/scancontext.png b/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/sc-a-loam/images/scan_context.png similarity index 100% rename from docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/sc-a-loam/images/scancontext.png rename to docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/sc-a-loam/images/scan_context.png diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/sc-a-loam/index.md b/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/sc-a-loam/index.md index 49449341e1e..7b4b330406e 100644 --- a/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/sc-a-loam/index.md +++ b/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/sc-a-loam/index.md @@ -20,7 +20,7 @@ - GTSAM version 4.x. - If GTSAM is not installed, follow the steps below. - + ```bash wget -O ~/Downloads/gtsam.zip https://github.com/borglab/gtsam/archive/4.0.2.zip cd ~/Downloads/ && unzip gtsam.zip -d ~/Downloads/ @@ -38,7 +38,8 @@ ### 1) Build -- First, install the abovementioned dependencies and follow below lines. +- First, install the above mentioned dependencies and follow below lines. + ```bash mkdir -p ~/catkin_scaloam_ws/src @@ -59,7 +60,7 @@ - If encountering ghosting error or loop is not closed, change the scan context parameters. - Adjust the scan context settings with the parameters in the marked area. -

+

### 3) Run @@ -79,7 +80,7 @@ roslaunch aloam_velodyne aloam_mulran.launch ### Riverside 01, MulRan dataset -- The MulRan dataset provides lidar scans (Ouster OS1-64, horizontally mounted, 10Hz) and consumer level gps (U-Blox EVK-7P, 4Hz) data. +- The MulRan dataset provides lidar scans (Ouster OS1-64, horizontally mounted, 10Hz) and consumer level gps (u-blox EVK-7P, 4Hz) data. - About how to use (publishing data) data: see here [https://github.com/irapkaist/file_player_mulran](https://github.com/irapkaist/file_player_mulran) - example videos on Riverside 01 sequence. @@ -95,6 +96,7 @@ roslaunch aloam_velodyne aloam_mulran.launch ### KITTI 05 - For KITTI (HDL-64 sensor), run using the command + ```bash roslaunch aloam_velodyne aloam_velodyne_HDL_64.launch # for KITTI dataset setting diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/sc-lego-loam/images/mulran_merged.png b/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/sc-lego-loam/images/MulRan_merged.png similarity index 100% rename from docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/sc-lego-loam/images/mulran_merged.png rename to docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/sc-lego-loam/images/MulRan_merged.png diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/sc-lego-loam/index.md b/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/sc-lego-loam/index.md index b250ebeca5e..791bfb8dea6 100644 --- a/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/sc-lego-loam/index.md +++ b/docs/how-to-guides/integrating-autoware/creating-maps/open-source-slam/sc-lego-loam/index.md @@ -23,7 +23,7 @@ - ROS - PCL -- Gtsam +- GTSAM ```bash wget -O ~/Downloads/gtsam.zip https://github.com/borglab/gtsam/archive/4.0.0-alpha2.zip @@ -47,9 +47,11 @@ catkin_make ### 2) Set parameters + + - Set imu and lidar topic on `include/utility.h` - Set lidar properties on `include/utility.h` -- Set scancontex settings on `include/Scancontext.h` +- Set scan context settings on `include/Scancontext.h` (Do not forget to rebuild after setting parameters.) @@ -69,9 +71,9 @@ roslaunch lego_loam run.launch - Video 1: DCC (MulRan dataset) - Video 2: Riverside (MulRan dataset) - Video 3: KAIST (MulRan dataset) - -

-

+ +

+

## MulRan dataset @@ -105,4 +107,6 @@ and ## Contact + + - Maintainer: Giseop Kim (`paulgkim@kaist.ac.kr`) diff --git a/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-description/calibrating-sensors.md b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-description/calibrating-sensors.md index dc107e73bc6..57d0a868011 100644 --- a/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-description/calibrating-sensors.md +++ b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-description/calibrating-sensors.md @@ -15,7 +15,7 @@ Autoware expects to have multiple sensors attached to the vehicle as input to pe ### Lidar-Lidar Calibration tool from Autocore -[LL-Calib on Github](https://github.com/autocore-ai/calibration_tools/tree/main/lidar-lidar-calib), provided by [AutoCore](https://autocore.ai/), is a lightweight toolkit for online/offline 3D LiDAR to LiDAR calibration. It's based on local mapping and "GICP" method to derive the relation between main and sub lidar. Information on how to use the tool, troubleshooting tips and example rosbags can be found at the above link. +[LL-Calib on GitHub](https://github.com/autocore-ai/calibration_tools/tree/main/lidar-lidar-calib), provided by [AutoCore](https://autocore.ai/), is a lightweight toolkit for online/offline 3D LiDAR to LiDAR calibration. It's based on local mapping and "GICP" method to derive the relation between main and sub lidar. Information on how to use the tool, troubleshooting tips and example rosbags can be found at the above link. ## Lidar-camera calibration @@ -37,4 +37,4 @@ Developed by [AutoCore](https://autocore.ai/), an easy-to-use lightweight toolki Developed by [APRIL Lab](https://github.com/APRIL-ZJU) at Zhejiang University in China, the LI-Calib calibration tool is a toolkit for calibrating the 6DoF rigid transformation and the time offset between a 3D LiDAR and an IMU, based on continuous-time batch optimization. IMU-based cost and LiDAR point-to-surfel (surfel = surface element) distance are minimized jointly, which renders the calibration problem well-constrained in general scenarios. -[AutoCore](https://autocore.ai/) has forked the original LI-Calib tool and overwritten the Lidar input for more general usage. Information on how to use the tool, troubleshooting tips and example rosbags can be found at the [LI-Calib fork on Github](https://github.com/autocore-ai/calibration_tools/tree/main/li_calib). +[AutoCore](https://autocore.ai/) has forked the original LI-Calib tool and overwritten the Lidar input for more general usage. Information on how to use the tool, troubleshooting tips and example rosbags can be found at the [LI-Calib fork on GitHub](https://github.com/autocore-ai/calibration_tools/tree/main/li_calib). diff --git a/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-description/creating-vehicle-and-sensor-description.md b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-description/creating-vehicle-and-sensor-description.md index 7587e587b83..ab1b801fe54 100644 --- a/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-description/creating-vehicle-and-sensor-description.md +++ b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-description/creating-vehicle-and-sensor-description.md @@ -1,5 +1,204 @@ # Creating vehicle and sensor description -!!! warning +## Introduction - Under Construction +This page introduce following topics. + +1. YOUR_VEHICLE_description +2. YOUR_SENSOR_KIT_description +3. individual_parameter +4. YOUR_VEHICLE_launch +5. YOUR_SENSOR_KIT_launch + +## 1. YOUR_VEHICLE_description + +In `YOUR_VEHICLE_description`, the following configurations are set: + +1. vehicle_info.param.yaml (must be changed) +2. mesh file (\*.dae) +3. mirror.param.yaml(must be changed) +4. simulator_model.param.yaml +5. vehicle.xacro + +### 1. vehicle_info.param.yaml + +Defines the vehicle dimensions. For more details on each parameter, please click [here](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/components/vehicle-dimensions). + +### 2. mesh file + +A 3D model file used for visualization in rviz. + +### 3. mirror.param.yaml + +Set according to the vehicle dimensions. Used in the [crop-box-filter](https://autowarefoundation.github.io/autoware.universe/main/sensing/pointcloud_preprocessor/docs/crop-box-filter) of [PointCloudPreprocessor](../../../design/autoware-architecture/sensing/data-types/point-cloud.md). + +### 4. simulator_model.param.yaml + +Configuration file for the [simulator environment](https://autowarefoundation.github.io/autoware.universe/main/simulator/simple_planning_simulator/design/simple_planning_simulator-design/). + +### 5. vehicle.xacro + +The entry point file that defines the entire URDF of the vehicle. It refers to `sensors.xacro`, which specifies the sensor mounting positions. + +## 2. YOUR_SENSOR_KIT_description + +In sensor_kit_description, the following files are configured: + +1. sensors.xacro (must be changed) +2. sensor_kit.xacro (must be changed) + +### 1. sensors.xacro + +Resolves the positions of sensors with `base_link` as the parent frame and defines the positions and orientations based on `sensors_calibration.yaml` in individual_params. + +> In Autoware, `/config/sensors_calibration.yaml` is not used. + +#### About sensor_kit_base_link + +A `sensor_kit` refers to a subset that includes multiple sensors, and `sensor_kit_base_link` is the name of its frame. +The positions and orientations within the kit are defined in `sensor_kit.xacro`. + +### 2. sensor_kit.xacro + +Resolves the positions of sensors with `sensor_kit_base_link` as the parent and defines the positions and orientations based on `sensor_kit_calibration.yaml` in individual_params. + +> In Autoware, `/config/sensor_kit_calibration.yaml` is not used. + +## 3. individual_parameter + +The `individual_parameter` is where parameters referenced by `sensors.xacro` and `sensor_kit.xacro` are stored. As the name imply, it is intended to manage parameters for multiple individual instances. + +### Introduction to Various Parameters + +1. sensors_calibration.yaml (must be changed) +2. sensor_kit_calibration.yaml (must be changed) +3. imu_corrector.param.yaml + +### 1. sensors_calibration.yaml + +A file that defines the mounting positions and orientations of sensors with `base_link` as the parent frame. + +### 2. sensor_kit_calibration.yaml + +A file that defines the mounting positions and orientations of sensors with `sensor_kit_base_link` as the parent frame. + +### 3. imu_corrector.param.yaml + +A file used by `imu_corrector`. + +### 4. Folder Structure + +Below is the default directory structure. + +```diff +individual_params/ +└─ config/ + └─ default/ + └─ sample_sensor_kit/ + ├─ imu_corrector.param.yaml + ├─ sensor_kit_calibration.yaml + └─ sensors_calibration.yaml +``` + +Copy and create a folder based on your `YOUR_SENSOR_KIT` name. + +```diff +individual_params/ +└─ config/ + └─ default/ +- └─ sample_sensor_kit/ ++ └─ / + ├─ imu_corrector.param.yaml + ├─ sensor_kit_calibration.yaml + └─ sensors_calibration.yaml +``` + +#### 4.1 Sample Usage + +Here is an example of managing parameters for multiple instances. +Add a `` directory and switch parameters using options at startup. + +```bash +# example1 (do not set vehicle_id) +$ ros2 launch autoware_launch autoware.launch.xml sensor_model:= vehicle_mode:= +# example2 (set vehicle_id as VEHICLE_1) +$ ros2 launch autoware_launch autoware.launch.xml sensor_model:= vehicle_mode:= vehicle_id:=VEHICLE_1 +# example3 (set vehicle_id as VEHICLE_2) +$ ros2 launch autoware_launch autoware.launch.xml sensor_model:= vehicle_mode:= vehicle_id:=VEHICLE_2 +``` + +##### Sample Directory Structure + +```diff +individual_params/ +└─ config/ + ├─ default/ + │ └─ / # example1 + │ ├─ imu_corrector.param.yaml + │ ├─ sensor_kit_calibration.yaml + │ └─ sensors_calibration.yaml ++ ├─ VEHICLE_1/ ++ │ └─ / # example2 ++ │ ├─ imu_corrector.param.yaml ++ │ ├─ sensor_kit_calibration.yaml ++ │ └─ sensors_calibration.yaml ++ └─ VEHICLE_2/ ++ └─ / # example3 ++ ├─ imu_corrector.param.yaml ++ ├─ sensor_kit_calibration.yaml ++ └─ sensors_calibration.yaml +``` + +## 4.YOUR_VEHICLE_launch + +`YOUR_VEHICLE_launch` is where the launch file for starting the drive system devices is stored. + +1. vehicle_interface.launch.xml (must be changed) + +### 1. vehicle_interface.launch.xml + +`vehicle_interface.launch.xml` is the launch file related to the drive system. Please modify it according to the configuration of your vehicle's drive system. + +If you are operating multiple vehicles, use the `vehicle_id` to switch to the corresponding configuration for each vehicle. + +## 5. YOUR_SENSOR_KIT_launch + +`YOUR_SENSOR_KIT_launch` is where the launch files related to sensor startup are stored. + +1. sensing.launch.xml (must be changed) +2. lidar.launch.xml (must be changed) +3. camera.launch.xml +4. imu.launch.xml (must be changed) +5. gnss.launch.xml +6. pointcloud_preprocessor.launch.py (must be changed) + +### 1. sensing.launch.xml + +`sensing.launch.xml` is the entry point that calls the launch files for all sensors. Modify it according to your sensor configuration. + +### 2. lidar.launch.xml + +`lidar.launch.xml` is the launch file related to starting the LiDAR driver. Modify it according to your LiDAR configuration. + +> In Autoware's initial configuration, it assumes converting the acquired data using `pointcloud_preprocessor.launch.py`. + +#### Example Configuration Items + +- Setting the frame_id defined in `YOUR_SENSOR_KIT_description`. +- Connection information for each device. + +### 3. camera.launch.xml + +`camera.launch.xml` is the launch file related to starting the camera driver. + +### 4. imu.launch.xml + +`imu.launch.xml` is the launch file related to starting the IMU driver. + +### 5. gnss.launch.xml + +`gnss.launch.xml` is the launch file related to starting the GNSS driver. + +### 6. pointcloud_preprocessor.launch.py + +`pointcloud_preprocessor.launch.py` is the launch file to convert the raw sensor data. For more information, please click [here](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/sensing/data-types/point-cloud/). diff --git a/docs/how-to-guides/integrating-autoware/creating-vehicle-interface-package/.pages b/docs/how-to-guides/integrating-autoware/creating-vehicle-interface-package/.pages new file mode 100644 index 00000000000..b8ce748b7cf --- /dev/null +++ b/docs/how-to-guides/integrating-autoware/creating-vehicle-interface-package/.pages @@ -0,0 +1,3 @@ +nav: + - Creating a vehicle interface for an Ackermann kinematic model: creating-a-vehicle-interface-for-an-ackermann-kinematic-model.md + - customizing-for-differential-drive-model.md diff --git a/docs/how-to-guides/integrating-autoware/creating-vehicle-interface-package/creating-a-vehicle-interface-for-an-ackermann-kinematic-model.md b/docs/how-to-guides/integrating-autoware/creating-vehicle-interface-package/creating-a-vehicle-interface-for-an-ackermann-kinematic-model.md new file mode 100644 index 00000000000..58eb276071f --- /dev/null +++ b/docs/how-to-guides/integrating-autoware/creating-vehicle-interface-package/creating-a-vehicle-interface-for-an-ackermann-kinematic-model.md @@ -0,0 +1,244 @@ +# Creating a vehicle interface for an Ackermann kinematic model + +This page introduces a module vehicle interface and explains how to implement it. + +## What is a vehicle interface + +Vehicle interface is an interface that connects the control commands and your vehicle's control device. +Autoware publishes control commands such as: + +- Velocity control +- Steering control +- Car light commands + +Then, the vehicle interface converts these commands into actuation such like: + +- Motor and brake activation +- Steering wheel operation +- Lighting control + +So think of the vehicle interface as a module that runs the vehicle's control device to realize the input commands provided by Autoware. + +
+ ![vehicle_interface_IO](images/Vehicle-Interface-Bus-ODD-Architecture.drawio.svg){ align=center } +
+ An example of inputs and outputs for vehicle interface +
+
+ +This page shows you a brief explanation how to implement your vehicle interface, but [you can see further information of vehicle interface in the "design" page](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/components/vehicle-interface/). + +**Note that there is no package named "vehicle interface" prepared in Autoware.** +**It is a necessary package to actuate your vehicle, but you have to create one by yourself since it is very specific to your vehicle's control device.** + +For example, if you are using a by-wire kit [PACMod](https://autonomoustuff.com/platform/pacmod), a vehicle interface named [`pacmod_interface` published by TIER IV, Inc.](https://github.com/tier4/pacmod_interface/tree/main) is available. +However, if you have constructed something original and haven't found an open source vehicle interface applicable, you have to implement your own vehicle interface from scratch. + +--- + +## How to implement a vehicle interface + +The following instructions describe how to create a vehicle interface. + +### 1. Create a directory for vehicle interface + +It is recommended to create your vehicle interface at `/src/vehicle/external` + +```bash +cd /src/vehicle/external +``` + +### 2. Install or implement your own vehicle interface + +If there is an already complete vehicle interface package (like [`pacmod_interface`](https://github.com/tier4/pacmod_interface/tree/main)), you can install it to your environment. +If not, you have to implement your own vehicle interface by yourself. +Let's create a new package by `ros2 pkg create`. +The following example will show you how to create a vehicle interface package named `my_vehicle_interface`. + +```bash +ros2 pkg create --build-type ament_cmake my_vehicle_interface +``` + +Then, you should write your implementation of vehicle interface in `my_vehicle_interface/src`. +Again, since this implementation is so specific to the control device of your vehicle, it is beyond the scope of this document to describe how to implement your vehicle interface in detail. +Here are some factors that might be considered. + +- Subscription of control command topics from Autoware +- Communication between the vehicle interface and your vehicle's control device +- Modification of control values if needed + +### 3. Prepare a launch file + +After you implement your vehicle interface or you want to debug it by launching it, create a launch file of your vehicle interface, and include it to `vehicle_interface.launch.xml`. + +Do not get confused. First, you need to create a launch file for your own vehicle interface module (like `my_vehicle_interface.launch.xml`) **and then include that to `vehicle_interface.launch.xml` which exists in another directory.** Here are the details. + +1. Add a `launch` directory in the `my_vehicle_interface` directory, and create a launch file of your own vehicle interface in it. Take a look at [Creating a launch file](https://docs.ros.org/en/humble/Tutorials/Intermediate/Launch/Launch-Main.html) in the ROS 2 documentation. + +2. Next, go to `/src/vehicle`, copy the directory `/sample_vehicle_launch/`, and paste it to the same place (which means it should be lined up with `external` and `sample_vehicle_launch`). + +3. You have to rename each "sample_vehicle" to something else. For example, if you want to rename "sample_vehicle" to "my_vehicle_name", you need to change the following. Note that it is restricted to keep the "\_launch" and "\_description" part. + + - **Rename the directories** + - `sample_vehicle_launch` → `my_vehicle_name_launch` + - `my_vehicle_name_launch/sample_vehicle_launch` → `my_vehicle_name_launch/my_vehicle_name_launch` + - `my_vehicle_name_launch/sample_vehicle_description` → `my_vehicle_name_launch/my_vehicle_name_description` + - **After you rename your directories, rename each "sample_vehicle" to "my_vehicle_name" in the source code.** + - `my_vehicle_name_description/CMakeLists.txt` + - `my_vehicle_name_description/package.xml` + - `my_vehicle_name_description/urdf/vehicle.xacro` (there are two parts) + - `my_vehicle_name_launch/CMakeLists.txt` + - `my_vehicle_name_launch/package.xml` + - `README.md` + +4. Include your launch file to `my_vehicle_name_launch/my_vehicle_name_launch/launch/vehicle_interface.launch.xml` by opening it and add the include terms like below. + +```xml title="vehicle_interface.launch.xml" + + + + + + + +``` + +Finally, your directory structure may look like below. + Most of the files are omitted for clarity, but the files shown here needs modification as said in the previous and current process. + +```diff +/ +└─ src/ + └─ vehicle/ + ├─ external/ ++ │ └─ my_vehicle_interface/ ++ │ ├─ src/ ++ │ └─ launch/ ++ │ └─ my_vehicle_interface.launch.xml + ├─ sample_vehicle_launch/ ++ └─ my_vehicle_name_launch/ (COPIED FROM sample_vehicle_launch) ++ ├─ my_vehicle_name_launch/ ++ │ ├─ launch/ ++ │ │ └─ vehicle_interface.launch.xml ++ │ ├─ CMakeLists.txt ++ │ └─ package.xml ++ ├─ my_vehicle_name_description/ ++ │ ├─ config/ ++ │ ├─ mesh/ ++ │ ├─ urdf/ ++ │ │ └─ vehicle.xacro ++ │ ├─ CMakeLists.txt ++ │ └─ package.xml ++ └─ README.md +``` + +### 4. Build the vehicle interface package and the launch package + +Build three packages `my_vehicle_interface`, `my_vehicle_name_launch` and `my_vehicle_name_description` by `colcon build`, or you can just build the entire Autoware if you have done other things. + +```bash +colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-select my_vehicle_interface my_vehicle_name_launch my_vehicle_name_description +``` + +### 5. When you launch Autoware + +Finally, you are done implementing your vehicle interface module! Be careful that you need to launch Autoware with the proper `vehicle_model` option like the example below. This example is launching planning simulator. + +```bash +ros2 launch autoware_launch planning.launch.xml map_path:=$HOME/autoware_map/sample-map-planning vehicle_model:=my_vehicle_name sensor_model:=sample_sensor_kit +``` + +### Tips + +There are some tips that may help you. + +- You can subdivide your vehicle interface into smaller packages if you want. Then your directory structure may look like below (not the only way though). Do not forget to launch all packages in `my_vehicle_interface.launch.xml`. + + ```diff + / + └─ src/ + └─ vehicle/ + ├─ external/ + │ └─ my_vehicle_interface/ + │ ├─ src/ + │ │ ├─ package1/ + │ │ ├─ package2/ + │ │ └─ package3/ + │ └─ launch/ + │ └─ my_vehicle_interface.launch.xml + ├─ sample_vehicle_launch/ + └─ my_vehicle_name_launch/ + ``` + +- If you are using a vehicle interface and launch package from a open git repository, or created your own as a git repository, it is highly recommended to add those repositories to your `autoware.repos` file which is located to directly under your autoware folder like the example below. You can specify the branch or commit hash by the version tag. + + ```yaml title="autoware.repos" + # vehicle (this section should be somewhere in autoware.repos and add the below) + vehicle/my_vehicle_name_launch: + type: git + url: https://github.com//my_vehicle_name_launch.git + version: main + vehicle/external/my_vehicle_interface: + type: git + url: https://github.com//my_vehicle_interface.git + version: main + ``` + + Then you can import your entire environment easily to another local device by using the `vcs import` command. (See [the source installation guide](https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/source-installation/#how-to-set-up-a-workspace)) + +--- + +## Ackermann kinematic model + +Autoware now supports control inputs for vehicles based on an Ackermann kinematic model. +This section introduces you a brief concept of Ackermann kinematic model and explains how Autoware controls it. + +- If your vehicle does not suit the Ackermann kinematic model, you have to modified the control commands. [Another document gives you an example how to convert your Ackermann kinematic model control inputs into a differential drive model.](https://autowarefoundation.github.io/autoware-documentation/main/how-to-guides/integrating-autoware/creating-vehicle-interface-package/customizing-for-differential-drive-model/) + +### Geometry + +The basic style of Ackermann kinematic model has four wheels with an Ackermann link on the front, and it is powered by the rear wheels. +The key point of Ackermann kinematic model is that the axes of all wheels intersect at a same point, which means all wheels will trace a circular trajectory with a different radii but a common center point (See the figure below). +Therefore, this model has a great advantage that it minimizes the slippage of the wheels, and prevent tires to get worn soon. + +In general, Ackermann kinematic model accepts the longitudinal speed $v$ and the steering angle $\phi$ as inputs. +In autoware, $\phi$ is positive if it is steered counter clockwise, so the steering angle in the figure below is actually negative. + +
+ ![ackermann_link](images/Ackermann_WB.png){ align=center } +
+ The basic style of an Ackermann kinematic model. The left figure shows a vehicle facing straight forward, while the right figure shows a vehicle steering to the right. +
+
+ +### Control + +Autoware publishes a ROS 2 topic named `control_cmd` from several types of publishers. +A `control_cmd` topic is a [`AckermannControlCommand`](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_control_msgs/msg/AckermannControlCommand.idl) type message that contains + +```bash title="AckermannControlCommand" + builtin_interfaces/Time stamp + autoware_auto_control_msgs/AckermannLateralCommand lateral + autoware_auto_control_msgs/LongitudinalCommand longitudinal +``` + +where, + +```bash title="AckermannLateralCommand" + builtin_interfaces/Time stamp + float32 steering_tire_angle + float32 steering_tire_rotation_rate +``` + +```bash title="LongitudinalCommand" + builtin_interfaces/Time stamp + float32 speed + float32 accelaration + float32 jerk +``` + +See the [AckermannLateralCommand.idl](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_control_msgs/msg/AckermannLateralCommand.idl) and [LongitudinalCommand.idl](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_control_msgs/msg/LongitudinalCommand.idl) for details. + +The vehicle interface should realize these control commands through your vehicle's control device. + +Moreover, Autoware also provides brake commands, light commands, and more (see [vehicle interface design](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/components/vehicle-interface/)), so the vehicle interface module should be applicable to these commands as long as there are devices available to handle them. diff --git a/docs/how-to-guides/integrating-autoware/creating-vehicle-interface-package/creating-vehicle-interface-for-ackerman-kinematic-model.md b/docs/how-to-guides/integrating-autoware/creating-vehicle-interface-package/creating-vehicle-interface-for-ackerman-kinematic-model.md deleted file mode 100644 index 6f68e0b2163..00000000000 --- a/docs/how-to-guides/integrating-autoware/creating-vehicle-interface-package/creating-vehicle-interface-for-ackerman-kinematic-model.md +++ /dev/null @@ -1,5 +0,0 @@ -# Creating vehicle interface for ackerman kinematic model - -!!! warning - - Under Construction diff --git a/docs/how-to-guides/integrating-autoware/creating-vehicle-interface-package/images/Ackermann_WB.png b/docs/how-to-guides/integrating-autoware/creating-vehicle-interface-package/images/Ackermann_WB.png new file mode 100644 index 00000000000..fb810380493 Binary files /dev/null and b/docs/how-to-guides/integrating-autoware/creating-vehicle-interface-package/images/Ackermann_WB.png differ diff --git a/docs/how-to-guides/integrating-autoware/creating-vehicle-interface-package/images/Vehicle-Interface-Bus-ODD-Architecture.drawio.svg b/docs/how-to-guides/integrating-autoware/creating-vehicle-interface-package/images/Vehicle-Interface-Bus-ODD-Architecture.drawio.svg new file mode 100644 index 00000000000..ab30e1c47c0 --- /dev/null +++ b/docs/how-to-guides/integrating-autoware/creating-vehicle-interface-package/images/Vehicle-Interface-Bus-ODD-Architecture.drawio.svg @@ -0,0 +1,4 @@ + + + +
Planning
Planning
Localization
Localization
Control
Control
Vehicle Interface
Vehicle InterfaceTrajectoryautoware_auto_planning_msgs/TrajectoryVehicle Signal Commandsautoware_auto_vehicle_msgs/- HandBrakeCommand- HazardLightsCommand- HeadlightsCommand- HornCommand- StationaryLockingCommand- TurnIndicatorsCommand- WipersCommandVehicle Control Commandautoware_auto_vehicle_msgs/AckermannControlCommandVehicle Signal Reportsautoware_auto_vehicle_msgs/- GearReport- HandBrakeReport- HazardLightsReport- HeadlightsReport- HornReport- TurnIndicatorsReport- WipersReportVehicle Odometrygeometry_msgs/TwistWithCovarianceStamped
Diagnostics Manager
Diagnostics ManagerError StatusActuation Status
acceleration, brake, steering
acceleration, brake, steeringVehicle CommunicationVehicle Specific Protocol
Adapter
AdapterSteering Status
steering_angle
steering_angle
Gate
Gate
Other Controls
(emergency, external, joystick, ...)
Other Controls...Actuation Command
acceleration, brake, steering
acceleration, brake, steeringText is not SVG - cannot display \ No newline at end of file diff --git a/docs/how-to-guides/integrating-autoware/creating-your-autoware-meta-repository.md b/docs/how-to-guides/integrating-autoware/creating-your-autoware-meta-repository.md deleted file mode 100644 index eacfbe35c53..00000000000 --- a/docs/how-to-guides/integrating-autoware/creating-your-autoware-meta-repository.md +++ /dev/null @@ -1,5 +0,0 @@ -# Creating your Autoware meta repository - -!!! warning - - Under Construction diff --git a/docs/how-to-guides/integrating-autoware/creating-your-autoware-meta-repository/creating-autoware-meta-repository.md b/docs/how-to-guides/integrating-autoware/creating-your-autoware-meta-repository/creating-autoware-meta-repository.md new file mode 100644 index 00000000000..71b128ba18f --- /dev/null +++ b/docs/how-to-guides/integrating-autoware/creating-your-autoware-meta-repository/creating-autoware-meta-repository.md @@ -0,0 +1,57 @@ +# Creating Autoware meta-repository + +## What is Meta-repository? + +A meta-repository is a repository that manages multiple repositories, and [Autoware](https://github.com/autowarefoundation/autoware) is one of them. +It serves as a centralized control point for referencing, configuring, and versioning other repositories. + +By using Ansible and VCS, you can automatically set up your Autoware. +`autoware.repos` file manages the configuration of multiple repositories. + +Note: VCS stands for Version Control System, such as Git or Subversion. + +## How to create and customize your autoware meta-repository + +### 1. Create autoware repository + +If you want to integrate Autoware into your vehicle, the first step is to create an Autoware meta-repository. + +One easy way is to fork [autowarefoundation/autoware](https://github.com/autowarefoundation/autoware) and clone it. +For how to fork a repository, refer to [GitHub Docs](https://docs.github.com/en/get-started/quickstart/fork-a-repo). + +```bash +git clone https://github.com/YOUR_NAME/autoware.git +``` + +If you set up multiple types of vehicles, adding a suffix like `autoware.vehicle_A` or `autoware.vehicle_B` is recommended + +### 2. Customize your autoware.repos for your environment + +You need to customize `autoware.repos` for your own vehicle's Autoware. + +For example, if you want to customize the parameters in your `individual_params` or `autoware_launch` package to fit your vehicle, you can modify the configuration of each package and use them accordingly. + +Please edit the parameters in Autoware's `autoware_individual_params` and `autoware_launch` packages to match your vehicle's specific requirements, as these packages provide sample parameters and may not be tailored to your vehicle by default. + +If you want to fork `autoware_individual_params` and make modifications, it would be as follows: + +Example: If you fork `individual_params` and rename `autoware_individual_params.vehicle_A`: + +```diff +- param/autoware_individual_params: +- type: git +- url: https://github.com/autowarefoundation/autoware_individual_params +- version: main ++ param/autoware_individual_params.vehicle_A: ++ type: git ++ url: https://github.com/YOUR_NAME/autoware_individual_params.vehicle_A ++ version: main +``` + +Please refer to the following documentation link for instructions on how to create and customize each `vehicle_interface`: + +- [creating-vehicle-and-sensor-description](https://autowarefoundation.github.io/autoware-documentation/main/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-description/creating-vehicle-and-sensor-description) +- [creating-vehicle-interface-package](https://autowarefoundation.github.io/autoware-documentation/main/how-to-guides/integrating-autoware/creating-vehicle-interface-package/creating-a-vehicle-interface-for-an-ackermann-kinematic-model/) +- [customizing-for-differential-drive-model](https://autowarefoundation.github.io/autoware-documentation/main/how-to-guides/integrating-autoware/creating-vehicle-interface-package/customizing-for-differential-drive-model/) + +Please remember to add all your custom packages, such as interfaces and descriptions, to your `autoware.repos` to ensure that your packages are properly included and managed within the Autoware repository. diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware.md b/docs/how-to-guides/integrating-autoware/launch-autoware.md deleted file mode 100644 index 7c3aab759c8..00000000000 --- a/docs/how-to-guides/integrating-autoware/launch-autoware.md +++ /dev/null @@ -1,5 +0,0 @@ -# Launch Autoware - -!!! warning - - Under Construction diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/.pages b/docs/how-to-guides/integrating-autoware/launch-autoware/.pages new file mode 100644 index 00000000000..f3708e7a449 --- /dev/null +++ b/docs/how-to-guides/integrating-autoware/launch-autoware/.pages @@ -0,0 +1,4 @@ +nav: + - index.md + - Localization methods: localization-methods + - Perception mode: perception.md diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/images/2d_goal_pose.png b/docs/how-to-guides/integrating-autoware/launch-autoware/images/2d_goal_pose.png new file mode 100644 index 00000000000..5f394ce73ce Binary files /dev/null and b/docs/how-to-guides/integrating-autoware/launch-autoware/images/2d_goal_pose.png differ diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/images/2d_pose_estimate.png b/docs/how-to-guides/integrating-autoware/launch-autoware/images/2d_pose_estimate.png new file mode 100644 index 00000000000..e6ebf3197ec Binary files /dev/null and b/docs/how-to-guides/integrating-autoware/launch-autoware/images/2d_pose_estimate.png differ diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/images/autoware_state_panel_after.png b/docs/how-to-guides/integrating-autoware/launch-autoware/images/autoware_state_panel_after.png new file mode 100644 index 00000000000..687cd150d2e Binary files /dev/null and b/docs/how-to-guides/integrating-autoware/launch-autoware/images/autoware_state_panel_after.png differ diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/images/autoware_state_panel_before.png b/docs/how-to-guides/integrating-autoware/launch-autoware/images/autoware_state_panel_before.png new file mode 100644 index 00000000000..7d9147521dd Binary files /dev/null and b/docs/how-to-guides/integrating-autoware/launch-autoware/images/autoware_state_panel_before.png differ diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/images/route_planning_is_complete.png b/docs/how-to-guides/integrating-autoware/launch-autoware/images/route_planning_is_complete.png new file mode 100644 index 00000000000..59557f912c3 Binary files /dev/null and b/docs/how-to-guides/integrating-autoware/launch-autoware/images/route_planning_is_complete.png differ diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/index.md b/docs/how-to-guides/integrating-autoware/launch-autoware/index.md new file mode 100644 index 00000000000..1877a2cc39f --- /dev/null +++ b/docs/how-to-guides/integrating-autoware/launch-autoware/index.md @@ -0,0 +1,87 @@ +# Launch Autoware + +!!! warning + + Under Construction + +This section explains how to run your vehicle with Autoware. + +## Install Autoware + +Follow the [installation steps of Autoware](../../../installation/). + +## Launch Autoware + +Launch Autoware with the following command: + +```bash +ros2 launch autoware_launch autoware.launch.xml vehicle_model:=YOUR_VEHICLE sensor_kit:=YOUR_SENSOR_KIT map_path:=/PATH/TO/YOUR/MAP +``` + +It is possible to specify which components to launch using command-line arguments. +For example, if you don't need to launch perception, planning, and control for localization debug, you can launch the following: + +```bash +ros2 launch autoware_launch autoware.launch.xml vehicle_model:=YOUR_VEHICLE sensor_kit:=YOUR_SENSOR_KIT map_path:=/PATH/TO/YOUR/MAP \ + launch_perception:=false \ + launch_planning:=false \ + launch_control:=false +``` + +The basic command-line options are documented in [autoware.launch.xml](https://github.com/autowarefoundation/autoware_launch/blob/main/autoware_launch/launch/autoware.launch.xml). + +There are options available to switch between different methods for some component. +For example, by specifying `pose_source`/`twist_source` or `perception_mode`, you can switch localization and perception methods, respectively. +These options allow you to choose the desired algorithms or sensor configurations for the respective functionalities. + +For options on eagleye component, please refer to the sub-pages. + +- [localization-mode](localization-methods/index.md) +- [perception-mode](perception.md) + +## Set initial pose + +If GNSS is available, Autoware automatically initializes the vehicle's pose. + +If not or if the automatic initialization returns an incorrect position, you need to set the initial pose using the RViz GUI. + +1. Click the 2D Pose estimate button in the toolbar, or hit the P key + + ![2D Pose estimate](images/2d_pose_estimate.png) + +2. In the 3D View pane, click and hold the left mouse button, and then drag to set the direction for the initial pose. + +## Set goal pose + +Set a goal pose for the ego vehicle. + +1. Click the 2D Nav Goal button in the toolbar, or hit the G key + + ![2D Pose estimate](images/2d_goal_pose.png) + +2. In the 3D View pane, click and hold the left mouse button, and then drag to set the direction for the goal pose. + If successful, you will see the calculated planning path on RViz. + + ![route planning](images/route_planning_is_complete.png){width="800"} + +## Engage + +In your terminal, execute the following command. + +```bash +source ~/autoware.YOURS/install/setup.bash +ros2 topic pub /autoware.YOURS/engage autoware_auto_vehicle_msgs/msg/Engage "engage: true" -1 +``` + +You can also engage via RViz with "AutowareStatePanel". +The panel can be found in `Panels > Add New Panel > tier4_state_rviz_plugin > AutowareStatePanel`. + +Once the route is computed, the "AUTO" button becomes active. Pressing the AUTO button engages the autonomous driving mode. + +![autoware state panel](images/autoware_state_panel_before.png) + +Now the vehicle should drive along the calculated path! + +During the autonomous driving, the StatePanel appears as shown in the image below. Pressing the "STOP" button allows you to stop the vehicle. + +![autoware state panel](images/autoware_state_panel_after.png) diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/localization-methods/.pages b/docs/how-to-guides/integrating-autoware/launch-autoware/localization-methods/.pages new file mode 100644 index 00000000000..24441b7323f --- /dev/null +++ b/docs/how-to-guides/integrating-autoware/launch-autoware/localization-methods/.pages @@ -0,0 +1,3 @@ +nav: + - index.md + - Eagleye: eagleye-guide.md diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/localization-methods/eagleye-guide.md b/docs/how-to-guides/integrating-autoware/launch-autoware/localization-methods/eagleye-guide.md new file mode 100644 index 00000000000..38eacf7f53b --- /dev/null +++ b/docs/how-to-guides/integrating-autoware/launch-autoware/localization-methods/eagleye-guide.md @@ -0,0 +1,120 @@ +# Using Eagleye with Autoware + +This page will show you how to set up [Eagleye](https://github.com/MapIV/eagleye) in order to use it with Autoware. +For the details of the integration proposal, please refer to [this discussion](https://github.com/orgs/autowarefoundation/discussions/3257). + +## What is Eagleye? + +Eagleye is an open-source GNSS/IMU-based localizer initially developed by [MAP IV. Inc](https://map4.jp/). It provides a cost-effective alternative to LiDAR and point cloud-based localization by using low-cost GNSS and IMU sensors to provide vehicle position, orientation, and altitude information. + +### Dependencies + +The below packages are automatically installed during the setup of Autoware as they are listed in [autoware.repos](https://github.com/autowarefoundation/autoware/blob/main/autoware.repos). + +1. [Eagleye](https://github.com/MapIV/eagleye.git) (autoware-main branch) +2. [RTKLIB ROS Bridge](https://github.com/MapIV/rtklib_ros_bridge.git) (ros2-v0.1.0 branch) +3. [LLH Converter](https://github.com/MapIV/llh_converter.git) (ros2 branch) + +## Architecture + +Eagleye can be utilized in the Autoware localization stack in two ways: + +1. Feed only twist into the EKF localizer. + + ![Eagleye twist integration](images/eagleye-integration-guide/eagleye_twist.drawio.svg) + +2. Feed both twist and pose from Eagleye into the EKF localizer (twist can also be used with regular `gyro_odometry`). + + ![Eagleye pose twist integration](images/eagleye-integration-guide/eagleye_pose_twist.drawio.svg) + +**Note: RTK positioning is required when using Eagleye as the pose estimator.** +On the other hand, it is not mandatory when using it as the twist estimator. + +## Requirements + +Eagleye requires GNSS, IMU and vehicle speed as inputs. + +### IMU topic + +`sensor_msgs/msg/Imu` is supported for Eagleye IMU input. + +### Vehicle speed topic + +`geometry_msgs/msg/TwistStamped` and `geometry_msgs/msg/TwistWithCovarianceStamped` are supported for the input vehicle speed. + +### GNSS topic + +Eagleye requires latitude/longitude height and doppler velocity generated by the GNSS receiver. +Your GNSS ROS driver must publish the following messages: + +- `sensor_msgs/msg/NavSatFix`: This message contains latitude, longitude, and height information. +- `geometry_msgs/msg/TwistWithCovarianceStamped`: This message contains gnss doppler velocity information. + + Eagleye has been tested with the following example GNSS ROS drivers: ublox_gps and septentrio_gnss_driver. The settings needed for each of these drivers are as follows: + +| GNSS ROS drivers | modification | +| --------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| [ublox_gps](https://github.com/KumarRobotics/ublox/tree/ros2/ublox_gps) | No additional settings are required. It publishes `sensor_msgs/msg/NavSatFix` and `geometry_msgs/msg/TwistWithCovarianceStamped` required by Eagleye with default settings. | +| [septentrio_gnss_driver](https://github.com/septentrio-gnss/septentrio_gnss_driver/tree/ros2) | Set `publish.navsatfix` and `publish.twist` in the config file [`gnss.yaml`](https://github.com/septentrio-gnss/septentrio_gnss_driver/blob/ros2/config/gnss.yaml#L90) to `true` | + +## Parameter Modifications for Integration into Your Vehicle + +### topic name & topic type + +The users must correctly specify input topics for GNSS latitude, longitude, and height , GNSS doppler speed , IMU , and vehicle speed in the [`eagleye_config.yaml`](https://github.com/MapIV/autoware_launch/blob/3f04a9dd7bc4a4c49d4ec790e3f6b9958ab822da/autoware_launch/config/localization/eagleye_config.param.yaml#L7-L16). + +```yaml +# Topic +twist: + twist_type: 1 # TwistStamped : 0, TwistWithCovarianceStamped: 1 + twist_topic: /sensing/vehicle_velocity_converter/twist_with_covariance +imu_topic: /sensing/imu/tamagawa/imu_raw +gnss: + velocity_source_type: 2 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, ublox_msgs/NavPVT: 2, geometry_msgs/TwistWithCovarianceStamped: 3 + velocity_source_topic: /sensing/gnss/ublox/navpvt + llh_source_type: 2 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, sensor_msgs/NavSatFix: 2 + llh_source_topic: /sensing/gnss/ublox/nav_sat_fix +``` + +### sensor frequency + +Also, the frequency of GNSS and IMU must be set in [`eagleye_config.yaml`](https://github.com/MapIV/autoware_launch/blob/3f04a9dd7bc4a4c49d4ec790e3f6b9958ab822da/autoware_launch/config/localization/eagleye_config.param.yaml#L36) + +```yaml +common: + imu_rate: 50 + gnss_rate: 5 +``` + +### Conversion from fix to pose + +The parameters for converting `sensor_msgs/msg/NavSatFix` to `geometry_msgs/msg/PoseWithCovarianceStamped` is listed in [`fix2pose.yaml`](https://github.com/MapIV/eagleye/blob/autoware-main/eagleye_util/fix2pose/launch/fix2pose.xml). +If you use a different geoid or projection type, change these parameters. + +### Other parameters + +The other parameters are described [here](https://github.com/MapIV/eagleye/tree/autoware-main/eagleye_rt/config). +Basically, these do not need to be changed . + +## Notes on initialization + +Eagleye requires an initialization process for proper operation. **Without initialization, the output for twist will be in the raw value, and the pose data will not be available.** + +### 1. Static Initialization + +The first step is static initialization, which involves allowing the Eagleye to remain stationary for approximately 5 seconds after startup to estimate the yaw-rate offset. + +### 2. Dynamic initialization + +The next step is dynamic initialization, which involves running the Eagleye in a straight line for approximately 30 seconds. This process estimates the scale factor of wheel speed and azimuth angle. + +Once dynamic initialization is complete, the Eagleye will be able to provide corrected twist and pose data. + +### How to check the progress of initialization + +- **TODO** + +## Note on georeferenced maps + +Note that the output position might not appear to be in the point cloud maps if you are using maps that are not properly georeferenced. +In the case of a single GNSS antenna, initial position estimation (dynamic initialization) can take several seconds to complete after starting to run in an environment where GNSS positioning is available. diff --git a/docs/how-to-guides/others/images/eagleye-integration-guide/eagleye_pose_twist.drawio.svg b/docs/how-to-guides/integrating-autoware/launch-autoware/localization-methods/images/eagleye-integration-guide/eagleye_pose_twist.drawio.svg similarity index 100% rename from docs/how-to-guides/others/images/eagleye-integration-guide/eagleye_pose_twist.drawio.svg rename to docs/how-to-guides/integrating-autoware/launch-autoware/localization-methods/images/eagleye-integration-guide/eagleye_pose_twist.drawio.svg diff --git a/docs/how-to-guides/others/images/eagleye-integration-guide/eagleye_twist.drawio.svg b/docs/how-to-guides/integrating-autoware/launch-autoware/localization-methods/images/eagleye-integration-guide/eagleye_twist.drawio.svg similarity index 100% rename from docs/how-to-guides/others/images/eagleye-integration-guide/eagleye_twist.drawio.svg rename to docs/how-to-guides/integrating-autoware/launch-autoware/localization-methods/images/eagleye-integration-guide/eagleye_twist.drawio.svg diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/localization-methods/index.md b/docs/how-to-guides/integrating-autoware/launch-autoware/localization-methods/index.md new file mode 100644 index 00000000000..c508d7cb589 --- /dev/null +++ b/docs/how-to-guides/integrating-autoware/launch-autoware/localization-methods/index.md @@ -0,0 +1,65 @@ +# Localization methods + +Current localization launcher implemented by TIER IV supports multiple localization methods, both pose estimators and twist estimators. +`tier4_localization_component.launch.xml` has two arguments to select which estimators to launch: + +- `pose_source` : an argument to select pose_estimator, currently supporting `ndt` (default), `yabloc`, and `eagleye` +- `twist_source` : an argument to select twist_estimator, currently supporting `gyro_odom` (default), and `eagleye` + +## NDT scan matcher: a LiDAR and pointcloud map based pose estimator (default) + +By default, Autoware launches [ndt_scan_matcher](https://github.com/autowarefoundation/autoware.universe/tree/main/localization/ndt_scan_matcher) for pose estimator. +In order to launch this explicitly, you need to specify as follows: + +```bash +ros2 launch autoware_launch autoware.launch.xml ... pose_source:=ndt ... +``` + +Note that currently `pose_source` is set to NDT as default, so you can skip this argument. + +## Gyro Odometer: an IMU & wheel odometry based twist estimator (default) + +By default, Autoware launches [gyro_odometer](https://github.com/autowarefoundation/autoware.universe/tree/main/localization/gyro_odometer) for twist estimator. +In order to launch this explicitly, you need to specify as follows: + +```bash +ros2 launch autoware_launch autoware.launch.xml ... twist_source:=gyro_odom ... +``` + +Note that currently `twist_source` is set to Gyro Odometer as default, so you can skip this argument. + +## YabLoc: a camera and vector map based pose estimator + +You can use YabLoc as a camera-based localization method. +For more details on YabLoc, please refer to the [README of YabLoc](https://github.com/autowarefoundation/autoware.universe/blob/main/localization/yabloc/README.md) in autoware.universe. + +To use YabLoc as a pose_estimator, add `pose_source:=yabloc` when launching Autoware. +By default, the `pose_source` is set to `ndt`. +By specifying this command-line argument, YabLoc nodes will be automatically launched while the NDT nodes will not be started. + +Here is an example of a launch command: + +```bash +ros2 launch autoware_launch autoware.launch.xml ... pose_source:=yabloc ... +``` + +## Eagleye: a GNSS & IMU & wheel odometry based pose and twist estimator + +You can use Eagleye as a GNSS & IMU & wheel odometry-based localization method. For more details on Eagleye, please refer to the [Eagleye](eagleye-guide.md). + +Eagleye has a function for position estimation and twist estimation, namely `pose_estimator` and `twist_estimator`, respectively. +When running Eagleye in twist_estimator mode with other pose_estimator such as ndt_scan_matcher, Eagleye is still helpful since it can improve scan matching by providing accurate twists using GNSS doppler. + +You can use Eagleye by specifying the `pose_source` and `twist_source` accordingly through command-line arguments. + +**Example of using Eagleye as the pose twist estimator:** + +```bash +ros2 launch autoware_launch autoware.launch.xml ... pose_source:=eagleye twist_source:=eagleye ... +``` + +**Example of using Eagleye as the twist estimator:** + +```bash +ros2 launch autoware_launch autoware.launch.xml ... twist_source:=eagleye ... +``` diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/perception.md b/docs/how-to-guides/integrating-autoware/launch-autoware/perception.md new file mode 100644 index 00000000000..708715e6b43 --- /dev/null +++ b/docs/how-to-guides/integrating-autoware/launch-autoware/perception.md @@ -0,0 +1,33 @@ +# Perception mode + +!!! warning + + Under Construction + +By specifying the `perception_mode`, users can switch between different sensor configurations for perception. +This allows you to choose the specific sensor setup that you want to use for the perception tasks. + +```bash +ros2 launch autoware_launch autoware.launch.xml vehicle_model:=YOUR_VEHICLE sensor_kit:=YOUR_SENSOR_KIT map_path:=/PATH/TO/YOUR/MAP \ + perception_mode:=lidar +``` + +## LiDAR + +`perception_mode:=lidar` + +## Radar + +`perception_mode:=radar` + +## Camera LiDAR fusion + +`perception_mode:=camera_lidar_fusion` + +## Camera LiDAR Radar fusion + +`perception_mode:=camera_lidar_radar_fusion` + +## LiDAR Radar fusion + +`perception_mode:=lidar_radar_fusion` diff --git a/docs/how-to-guides/others/add-a-custom-ros-message.md b/docs/how-to-guides/others/add-a-custom-ros-message.md index 3ef3eaddfbc..f15ffd00b3a 100644 --- a/docs/how-to-guides/others/add-a-custom-ros-message.md +++ b/docs/how-to-guides/others/add-a-custom-ros-message.md @@ -12,7 +12,7 @@ During the Autoware development, you will probably need to define your own messa - [tier4_autoware_msgs](https://github.com/tier4/tier4_autoware_msgs) is an example of that. -The following is a simple tutorial of adding a message package to `autoware_msgs`. For the general ROS2 tutorial, see [Create custom msg and srv files](http://docs.ros.org/en/galactic/Tutorials/Beginner-Client-Libraries/Custom-ROS2-Interfaces.html). +The following is a simple tutorial of adding a message package to `autoware_msgs`. For the general ROS 2 tutorial, see [Create custom msg and srv files](http://docs.ros.org/en/galactic/Tutorials/Beginner-Client-Libraries/Custom-ROS2-Interfaces.html). ## How to create custom message diff --git a/docs/how-to-guides/others/an-example-procedure-for-adding-and-evaluating-a-new-node.md b/docs/how-to-guides/others/an-example-procedure-for-adding-and-evaluating-a-new-node.md new file mode 100644 index 00000000000..3f82819b61a --- /dev/null +++ b/docs/how-to-guides/others/an-example-procedure-for-adding-and-evaluating-a-new-node.md @@ -0,0 +1,78 @@ +# An example procedure for adding and evaluating a new node + +## Overview + +This page provides a guide for evaluating Autoware when a new node is implemented, especially about developing a novel localization node. + +The workflow involves initial testing and rosbag recording using a real vehicle or AWSIM, implementing the new node, subsequent testing using the recorded rosbag, and finally evaluating with a real vehicle or AWSIM. + +It is assumed that the method intended for addition has already been verified well with public datasets and so on. + +## 1. Running Autoware in its standard configuration + +First of all, it is important to be able to run the standard Autoware to establish a basis for performance and behavior comparison. + +Autoware constantly incorporates new features. +It is crucial to initially confirm that it operates as expected with the current version, which helps in problem troubleshooting. + +In this context, AWSIM is presumed. +Therefore, [AWSIM simulator](https://autowarefoundation.github.io/autoware-documentation/main/tutorials/ad-hoc-simulation/digital-twin-simulation/awsim-tutorial/) can be useful. +If you are using actual hardware, please refer to the [How-to guides](https://autowarefoundation.github.io/autoware-documentation/main/how-to-guides/). + +## 2. Recording a rosbag using Autoware + +Before developing a new node, it is recommended to record a rosbag in order to evaluate. +If you need a new sensor, you should add it to your vehicle or AWSIM. + +In this case, it is recommended to save all topics regardless of whether they are necessary or not. +For example, in Localization, since the initial position estimation service is triggered by the input to rviz and the GNSS topic, the initial position estimation does not start when playing back data unless those topics are saved. + +Consider the use of the [mcap format](https://mcap.dev/) if data capacity becomes a concern. + +It is worth noting that using `ros2 bag record` increases computational load and might affect performance. +After data recording, verifying the smooth flow of sensor data and unchanged time series is advised. +This verification can be accomplished, for example, by inspecting the image data with `rqt_image_view` during `ros2 bag play`. + +## 3. Developing the new node + +When developing a new node, it could be beneficial to reference a package that is similar to the one you intend to create. + +It is advisable to thoroughly read the [Design page](https://autowarefoundation.github.io/autoware-documentation/main/design/), contemplate the addition or replacement of nodes in Autoware, and then implement your solution. + +For example, a node doing NDT, a LiDAR-based localization method, is [ndt_scan_matcher](https://github.com/autowarefoundation/autoware.universe/tree/main/localization/ndt_scan_matcher). +If you want to replace this with a different approach, implement a node which produces the same topics and provides the same services. + +`ndt_scan_matcher` is launched as [pose_estimator](https://github.com/autowarefoundation/autoware.universe/blob/main/launch/tier4_localization_launch/launch/pose_estimator/pose_estimator.launch.xml), so it is necessary to replace the launch file as well. + +## 4. Evaluating by a rosbag-based simulator + +Once the new node is implemented, it is time to evaluate it. +[logging_simulator](https://autowarefoundation.github.io/autoware-documentation/main/tutorials/ad-hoc-simulation/rosbag-replay-simulation/) is a tool of how to evaluate the new node using the rosbag captured in step 2. + +When you run the logging_simulator, you can set `planning:=false` or `control:=false` to disable the launch of specific component nodes. + +`ros2 launch autoware_launch logging_simulator.launch.xml ... planning:=false control:=false` + +After launching logging_simulator, the rosbag file obtained in step 2 should be replayed using `ros2 bag play `. + +If you remap the topics related to the localization that you want to verify this time, Autoware will use the data it is calculating this time instead of the data it recorded. +Also, using the `--topics` option of `ros2 bag play`, you can publish only specific topics in rosbag. + +There is [ros2bag_extensions](https://github.com/tier4/ros2bag_extensions) available to filter the rosbag file and create a new rosbag file that contains only the topics you need. + +## 5. Evaluating in a realtime environment + +Once you have sufficiently verified the behavior in the logging_simulator, let's run it as Autoware with new nodes added in the realtime environment. + +To debug Autoware, the method described at [debug-autoware](https://autowarefoundation.github.io/autoware-documentation/main/how-to-guides/others/debug-autoware/) is useful. + +For reproducibility, you may want to fix the GoalPose. +In such cases, consider using the [tier4_automatic_goal_rviz_plugin](https://github.com/autowarefoundation/autoware.universe/tree/main/common/tier4_automatic_goal_rviz_plugin). + +## 6. Sharing the results + +If your implementation works successfully, please consider a pull request to Autoware. + +It is also a good idea to start by presenting your ideas in Discussion at [Show and tell](https://github.com/orgs/autowarefoundation/discussions/categories/show-and-tell). + +For localization, [YabLoc's Proposal](https://github.com/orgs/autowarefoundation/discussions/3484) may provide valuable insights. diff --git a/docs/how-to-guides/others/defining-temporal-performance-metrics.md b/docs/how-to-guides/others/defining-temporal-performance-metrics.md new file mode 100644 index 00000000000..b95d2c68e23 --- /dev/null +++ b/docs/how-to-guides/others/defining-temporal-performance-metrics.md @@ -0,0 +1,152 @@ +# Defining temporal performance metrics on components + +## Motivation to defining temporal performance metrics + +### Objective of the page + +This page introduces policies to define metrics to evaluate temporal performance on components of Autoware. The term "temporal performance" is often used throughout the page in order to distinguish between functional performance, which referred to as accuracy as well, and time-related performance. + +It is expected that most algorithms employed for Autoware are executed with as high frequency and short response time as possible. In order to achieve safe autonomous driving, one of the desired outcomes is no time gap between perceived and actual situation. The time gap is commonly referred to as delay. If the delay is significant, the system may determine trajectory and maneuver based on outdated situation. Consequently, if the actual situation differs from the perceived one due to the delay, the system may make unexpected decisions. + +As mentioned above, this page presents the policies to define metrics. Besides, the page contains lists of sample metrics that are crucial for the main functionalities of Autoware: Localization, Perception, Planning, and Control. + +!!! note + + Other functionalities, such as system components for diagnosis, are excluded currently. However they will be taken into account in the near future. + +### Contribution of the temporal performance metrics + +Temporal performance metrics are important for evaluating Autoware. These metrics are particularly useful for assessing delays caused by new algorithms and logic. They can be employed when comparing the temporal performance of software on a desktop computer with that on a vehicle during the vehicle integration phase. + +In addition, these metrics are useful for designers and evaluators of middleware, operating systems, and computers. They are selected based on user and product requirements. One of these requirements is to provide sufficient temporal performance for executing Autoware. "Sufficient temporal performance" is defined as a temporal performance requirement, but it can be challenging to define the requirement because it varies depending on the product type, Operational Design Domain (ODD), and other factors. Then, this page specifically focuses on temporal performance metrics rather than requirements. + +Temporal performance metrics are important for evaluating the reliability of Autoware. However, ensuring the reliability of Autoware requires consideration of not only temporal performance metrics but also other metrics. + +### Tools for evaluating the metrics + +There are several tools available for evaluating Autoware according to the metrics listed in the page. For example, both [CARET](https://github.com/tier4/caret) and [ros2_tracing](https://github.com/ros2/ros2_tracing) are recommended options when evaluating Autoware on Linux and ROS 2. If you want to measure the metrics with either of these tools, refer to the corresponding user guide for instructions. It's important to note that if you import Autoware to a platform other than Linux and ROS 2, you will need to choose a supported tool for evaluation. + +!!! note + + TIER IV plans to measure Autoware, which is running according to [the tutorial](../../tutorials/), and provide a performance evaluation report periodically. An example of such a report can be found [here](https://tier4.github.io/CARET_report/), although it may not include all of the metrics listed. + +The page does not aim to provide instructions on how to use these tools or measure the metrics. Its primary focus is on the metrics themselves, as they are more important than the specific tools used. These metrics retain their relevance regardless of the employed platform. + +## Policies to define temporal performance metrics + +As mentioned above, the configuration of Autoware varies by the product type, ODD, and other factors. The variety of configurations makes it difficult to define the uniform metrics for evaluating Autoware. +However, the policies used to define them are basically reused even when the configuration changes. Each of temporal performance metrics is categorized into two types: **execution frequency** and **response time**. Although there are many types of metrics, such as communication latency, the only two types are considered for simplicity. +Execution frequency is observed using rate of Inter-Process Communication (IPC) messages. You will find an enormous number of messages in Autoware, but you don't have to take care of all. Some messages might be critical to functionality and they should be chosen for evaluation. +Response time is duration elapsed through a series of processing. A series of processing is referred to as a path. Response time is calculated from timestamps of start and end of a path. Although many paths can be defined in Autoware, you have to choose significant paths. + +As a hint, here are some characteristics of message and path in order to choose metrics. + +1. Messages and paths on boundaries where observed values from sensors are consumed +2. Messages and paths on boundaries of functions, e.g., a boundary of perception and planning +3. Messages and paths on boundaries where timer-based frequency is switched +4. Messages and paths on boundaries where two different messages are synchronized and merged +5. Messages that must be transmitted at expected frequency, e.g., vehicle command messages + +Those hints would be helpful for most configurations but there may be exclusions. Defining metrics precisely requires an understanding of configuration. + +In addition, it is recommended that metrics be determined incrementally from the architectural level to the detailed design and implementation level. Mixing metrics at different levels of granularity can be confusing. + +## List of sample metrics + +This section demonstrates how to define metrics according to the policies explained and has lists of the metrics for Autoware launched according to [the tutorial](../../tutorials/). The section is divided into multiple subsections, each containing a model diagram and an accompanying list that explains the important temporal performance metrics. Each model is equipped with checkpoints that serve as indicators for these metrics. + +The first subsection presents the top-level temporal performance metrics, which are depicted in the abstract structure of Autoware as a whole. The detailed metrics are not included in the model as they would add complexity to it. Instead, the subsequent section introduces the detailed metrics. The detailed metrics are subject to more frequent updates compared to the top-level ones, which is another reason for categorizing them separately. + +Each list includes a column for the reference value. The reference value represents the observed value of each metric when Autoware is running according to [the tutorial](../../tutorials/). It is important to note that the reference value is not a required value, meaning that Autoware does not necessarily fail in [the tutorial](../../tutorials/) execution if certain metrics do not fulfill the reference value. + +### Top-level temporal performance metrics for Autoware + +The diagram below introduces the model for top-level temporal performance metrics. + +![Model for top-level temporal performance metrics](./images/important-temporal-performance-metrics/model-for-top-level-metrics.svg) + +The following three policies assist in selecting the top-level performance metrics: + +- Splitting Autoware based on components that consume observed values, such as sensor data, and considering the processing frequency and response time around these components +- Dividing Autoware based on the entry point of Planning and Control and considering the processing frequency and response time around these components +- Showing the minimum metrics for the Vehicle Interface, as they may vary depending on the target vehicle + +Additionally, it is assumed that algorithms are implemented as multiple nodes and function as a pipeline processing system. + + + +| ID | Representation in the model | Metric meaning | Related functionality | Reference value | Reason to choose it as a metric | Note | +| -------- | ---------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------- | --------------------- | --------------- | ------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------ | +| AWOV-001 | **Message rate** from CPA #9 to CPA #18 | Update rate of result from Prediction to Planning. | Perception | 10 Hz | Planning relies on fresh and up-to-date perceived data from Perception for creating accurate trajectory. | | +| AWOV-002 | **Response time** from CPA #0 to CPA #20 via CPA #18 | Response time in main body of Perception. | Perception | N/A | Planning relies on fresh and up-to-date perceived data from Perception for creating accurate trajectory. | The metric is used if delay compensation is disabled in Tracking. | +| AWOV-003 | **Response time** from CPA #7 to CPA #20 | Response time from Tracking output of Tracking to its data consumption in Planning. | Perception | N/A | Planning relies on fresh and up-to-date perceived data from Perception for creating accurate trajectory. | The metric is used if delay compensation is enabled in Tracking. | +| AWOV-004 | **Response time** from CPA #0 to CPA #6 | Duration to process pointcloud data in Sensing and Detection. | Perception | N/A | Tracking relies on detection to provide real-time and up-to-date sensed data for accurate tracking. | The metric is used if delay compensation is enabled in Tracking. | +| AWOV-005 | **Message rate** from CPA #4 to CPA #5 | Update rate of Detection result received by Tracking. | Perception | 10 Hz | Tracking relies on detection to provide real-time and up-to-date sensed data for accurate tracking. | | +| AWOV-006 | **Response time** from CPA #0 to CPA #14 | Response time from output of observed data from LiDARs to its consumption in EKF Localizer via NDT Scan Matcher. | Localization | N/A | EKF Localizer relies on fresh and up-to-date observed data from sensors for accurate estimation of self pose. | | +| AWOV-007 | **Message rate** from CPA #11 to CPA #13 | Update rate of pose estimated by NDT Scan Matcher. | Localization | 10 Hz | EKF Localizer relies on fresh and up-to-date observed data from sensors for accurate estimation of self pose. | | +| AWOV-008 | **Message rate** from CPA #15 to CPA #12 | Update rate of feed backed pose estimated by EKF Localizer. | Localization | 50 Hz | NDT Scan Matcher relies on receiving estimated pose from EKF Localizer smoothly for linear interpolation. | | +| AWOV-009 | **Message rate** from CPA #17 to CPA #19 | Update rate of Localization result received by Planning. | Localization | 50 Hz | Planning relies on Localization to update the estimated pose frequently. | | +| AWOV-010 | **Response time** from CPA #20 to CPA #23 | Processing time from beginning of Planning to consumption of Trajectory message in Control. | Planning | N/A | A vehicle relies on Planning to update trajectory within a short time frame to achieve safe driving behavior. | | +| AWOV-011 | **Message rate** from CPA #21 to CPA #22 | Update rate of Trajectory message from Planning. | Planning | 10 Hz | A vehicle relies on Planning to update trajectory frequently to achieve safe driving behavior. | | +| AWOV-012 | **Message rate** from CPA #24 to CPA #25 | Update rate of Control command. | Control | 33 Hz | Control stability and comfort relies on sampling frequency of Control. | | +| AWOV-013 | **Message rate** between CPA #26 and Vehicle | Communication rate between Autoware and Vehicle. | Vehicle Interface | N/A | A vehicle requires Autoware to communicate with each other at predetermined frequency. | Temporal performance requirement varies depending on vehicle type. | + +!!! note + + There is an assumption that each of sensors, such as LiDARs and cameras, outputs a set of pointcloud with a timestamp. CPA #0 is observed with the timestamp. If the sensors are not configured to output the timestamp, the time when Autoware receives the pointcloud is used instead. That is represented by CPA #1 in the model. The detailed metrics employs the idea as well. + +### Detailed temporal performance metrics for Perception + +The diagram below introduces the model for temporal performance metrics for Perception. + +![Model for Perception temporal performance metrics](./images/important-temporal-performance-metrics/model-for-perception-metrics.svg) + +The following two policies assist in selecting the performance metrics: + +- Regarding the frequency and response time at which Recognition results from Object Recognition and Traffic Light Recognition are consumed in Planning +- Splitting Perception component on merging points of data from multiple processing paths and considering the frequency and response time around that point + +The following list shows the temporal performance metrics for Perception. + +| ID | Representation in the model | Metric meaning | Related functionality | Reference value | Reason to choose it as a metric | Note | +| -------- | ---------------------------------------------------- | ---------------------------------------------------------------------------------------------------- | ------------------------- | --------------- | ------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------- | +| APER-001 | **Message rate** from CPP #2 to CPP #26 | Update rate of Traffic Light Recognition. | Traffic Light Recognition | 10 Hz | Planning relies on fresh and up-to-date perceived data from Traffic Light Recognition for making precise decisions. | | +| APER-002 | **Response time** from CPP #0 to CPP #30 | Response time from camera input to consumption of the result in Planning. | Traffic Light Recognition | N/A | Planning relies on fresh and up-to-date perceived data from Traffic Light Recognition for making precise decisions. | | +| APER-003 | **Message rate** from CPP #25 to CPP #28 | Update rate of result from Prediction (Object Recognition) to Planning. | Object Recognition | 10 Hz | Planning relies on fresh and up-to-date perceived data from Perception for creating accurate trajectory. | The metric is same as AWOV-001. | +| APER-004 | **Response time** from CPP #6 to CPP #30 | Response time from Tracking output of Tracking to its data consumption in Planning. | Object Recognition | N/A | Planning relies on fresh and up-to-date perceived data from Perception for creating accurate trajectory. | The metric is same as AWOV-002 and used if delay compensation is disabled in Tracking. | +| APER-005 | **Response time** from CPP #23 to CPP #30 | Response time from Tracking output of Tracking to its data consumption in Planning. | Object Recognition | N/A | Planning relies on fresh and up-to-date perceived data from Perception for creating accurate trajectory. | The metric is same as AWOV-003 and used if delay compensation is enabled in Tracking. | +| APER-006 | **Response time** from CPP #6 to CPP #21 | Duration to process pointcloud data in Sensing and Detection. | Object Recognition | N/A | Tracking relies on Detection to provide real-time and up-to-date perceived data. | The metrics is same as AWOV-004 and used if delay compensation is enabled in Tracking. | +| APER-007 | **Message rate** from CPP #20 to CPP #21 | Update rate of Detection result received by Tracking. | Object Recognition | 10 Hz | Tracking relies on detection to provide real-time and up-to-date sensed data for accurate tracking. | The metric is same as AWOV-005 | +| APER-008 | **Message rate** from CPP #14 to CPP #19 | Update rate of data sent from Sensor Fusion. | Object Recognition | 10 Hz | Association Merger relies on the data to be updated at expected frequency for data synchronization. | | +| APER-009 | **Message rate** from CPP #16 to CPP #19 | Update rate of data sent from Detection by Tracker. | Object Recognition | 10 Hz | Association Merger relies on the data to be updated at expected frequency for data synchronization. | | +| APER-010 | **Message rate** from CPP #18 to CPP #19 | Update rate of data sent from Validation | Object Recognition. | 10 Hz | Association Merger relies on the data to be updated at expected frequency for data synchronization. | +| APER-011 | **Response time** from CPP #6 to CPP #19 via CPP #14 | Response time to consume data sent from Sensor Fusion after LiDARs output pointcloud. | Object Recognition | N/A | Association Merger relies on fresh and up-to-date data for data synchronization. | | +| APER-012 | **Response time** from CPP #6 to CPP #19 via CPP #16 | Response time to consume data sent from Detection by Tracker after LiDARs output pointcloud. | Object Recognition | N/A | Association Merger relies on fresh and up-to-date data for data synchronization. | | +| APER-013 | **Response time** from CPP #6 to CPP #19 via CPP #18 | Response time to consume data sent from Validator after LiDARs output pointcloud. | Object Recognition | N/A | Association Merger relies on fresh and up-to-date data for data synchronization. | | +| APER-014 | **Message rate** from CPP #10 to CPP #13 | Update rate of data sent from Clustering. | Object Recognition | 10 Hz | Sensor Fusion relies on the data to be updated at expected frequency for data synchronization. | | +| APER-015 | **Message rate** from CPP #5 to CPP #13 | Update rate of data sent from Camera-based Object detection. | Object Recognition | 10 Hz | Sensor Fusion relies on the data to be updated at expected frequency for data synchronization. | | +| APER-016 | **Response time** from CPP #6 to CPP #13 | Response time to consume data sent from Clustering after LiDARs output pointcloud. | Object Recognition | N/A | Sensor Fusion relies on fresh and up-to-date data for data synchronization. | | +| APER-017 | **Response time** from CPP #3 to CPP #13 | Response time to consume data sent from Camera-based Object detection after Cameras output images. | Object Recognition | N/A | Sensor Fusion relies on fresh and up-to-date data for data synchronization. | | +| APER-018 | **Message rate** from CPP #10 to CPP #17 | Update rate of data sent from Clustering. | Object Recognition | 10 Hz | Validator relies on the data to be updated at expected frequency for data synchronization. | It seems similar to APER-014, but the topic message is different. | +| APER-019 | **Message rate** from CPP #12 to CPP #17 | Update rate of data sent from DNN-based Object Recognition. | Object Recognition | 10 Hz | Validator relies on the data to be updated at expected frequency for data synchronization. | +| APER-020 | **Response time** from CPP #6 to CPP #17 via CPP #10 | Response time to consume data sent from Clustering after LiDARs output pointcloud. | Object Recognition | N/A | Validator relies on fresh and update-date data for data synchronization. | It seems similar to APER-015, but the topic message is different. | +| APER-021 | **Response time** from CPP #6 to CPP #17 via CPP #12 | Response time to consume data sent from DNN-based Object Recognition after LiDARs output pointcloud. | Object Recognition | N/A | Validator relies on fresh and update-date data for data synchronization. | | + +### Detailed temporal performance metrics for Paths between Obstacle segmentation and Planning + +Obstacle segmentation, which is a crucial part of Perception, transmits data to Planning. The figure below illustrates the model that takes into account performance metrics related to Obstacle segmentation and Planning. + +![Model for Obstacle segmentation temporal performance metrics](./images/important-temporal-performance-metrics/model-for-obstacle-segmentation-metrics.svg) + +!!! note + + Both the Obstacle grid map and Obstacle segmentation transmit data to multiple sub-components of Planning. However, not all of these sub-components are described in the model. This is because our primary focus is on the paths from LiDAR to Planning via Obstacle segmentation. + +The following list shows the temporal performance metrics around Obstacle segmentation and Planning. + +| ID | Representation in the model | Metric meaning | Related functionality | Reference value | Reason to choose it as a metric | Note | +| -------- | ---------------------------------------------------- | ---------------------------------------------------------------------------------------- | --------------------- | --------------- | -------------------------------------------------------------------------------------------------------------------- | ---- | +| OSEG-001 | **Message rate** from CPS #4 to CPS #7 | Update rate of Occupancy grid map received by Planning (`behavior_path_planner`) | Obstacle segmentation | 10 Hz | Planning relies on Occupancy grid map to be updated frequently and smoothly for creating accurate trajectory. | | +| OSEG-002 | **Response time** from CPS #0 to CPS #9 via CPS #7 | Response time to consume Occupancy grid map after LiDARs output sensing data. | Obstacle segmentation | N/A | Planning relies on fresh and up-to-date perceived data from Occupancy grid map for creating accurate trajectory.. | | +| OSEG-003 | **Message rate** from CPS #6 to CPS #11 | Update rate of obstacle segmentation received by Planning (`behavior_velocity_planner`). | Obstacle segmentation | 10 Hz | Planning relies on Obstacle segmentation to be updated frequently and smoothly for creating accurate trajectory. | | +| OSEG-004 | **Response time** from CPS #0 to CPS #13 via CPS #11 | Response time to consume Obstacle segmentation after LiDARs output sensing data. | Obstacle segmentation | N/A | Planning relies on fresh and up-to-date perceived data from Obstacle segmentation for creating accurate trajectory.. | | diff --git a/docs/how-to-guides/others/eagleye-integration-guide.md b/docs/how-to-guides/others/eagleye-integration-guide.md deleted file mode 100644 index 8a4a29b0bae..00000000000 --- a/docs/how-to-guides/others/eagleye-integration-guide.md +++ /dev/null @@ -1,128 +0,0 @@ -# Using Eagleye with Autoware - -This page will show you how to set up [Eagleye](https://github.com/MapIV/eagleye) in order to use it with Autoware. -For the details of the integration proposal, please refer to [this](https://github.com/orgs/autowarefoundation/discussions/3257) Discussion. - -## What is Eagleye? - -Eagleye is an open-source GNSS/IMU-based localizer initially developed by [MAP IV. Inc](https://map4.jp/). It provides a cost-effective alternative to LiDAR and point cloud-based localization by using low-cost GNSS and IMU sensors to provide vehicle position, orientation, and altitude information. By integrating Eagleye into Autoware, users can choose between LiDAR and point cloud-based localization stacks or GNSS/IMU-based Eagleye localizer, depending on their specific needs and operating environment. - -## Architecture - -Eagleye can be utilized in the Autoware localization stack in two ways: - -1. Feed only twist into the EKF localizer. - - ![Eagleye twist integration](images/eagleye-integration-guide/eagleye_twist.drawio.svg) - -2. Feed both twist and pose from Eagleye into the EKF localizer (twist can also be used with regular `gyro_odometry`). - - ![Eagleye pose twist integration](images/eagleye-integration-guide/eagleye_pose_twist.drawio.svg) - -Note that RTK positioning is only required for localization using the Eagleye pose. RTK positioning is not required for twist. - -## Requirements - -GNSS/IMU/vehicle speed is required for Eagleye input. - -### IMU topic - -`sensor_msgs/msg/Imu` are supported for IMU. - -### Vehicle speed topic - -`geometry_msgs/msg/TwistStamped` and `geometry_msgs/msg/TwistWithCovarianceStamped` are supported for the input vehicle speed. - -### GNSS topic - -Eagleye requires latitude/longitude height information and velocity information generated by the GNSS receiver. -Your GNSS ROS driver must publish the following messages: - -- `sensor_msgs/msg/NavSatFix`: This message contains latitude, longitude, and height information. -- `geometry_msgs/msg/TwistWithCovarianceStamped`: This message contains gnss doppler velocity information. - -Eagleye has been tested with the following example GNSS ROS drivers: ublox_gps and septentrio_gnss_driver. The settings needed for each of these drivers are as follows: - -- [ublox_gps](https://github.com/KumarRobotics/ublox/tree/ros2/ublox_gps): This ROS driver publishes `sensor_msgs/msg/NavSatFix` and `geometry_msgs/msg/TwistWithCovarianceStamped` required by Eagleye with default settings. Therefore, no additional settings are required. -- [septentrio_gnss_driver](https://github.com/septentrio-gnss/septentrio_gnss_driver/tree/ros2): Set `publish.navsatfix` and `publish.twist` in the config file [`gnss.yaml`](https://github.com/septentrio-gnss/septentrio_gnss_driver/blob/ros2/config/gnss.yaml#L90) to `true` - -## Eagleye Setup - -### Install dependencies - -Clone the following three packages for Eagleye: - -1. [Eagleye](https://github.com/MapIV/eagleye.git) (autoware-main branch) -2. [RTKLIB ROS Bridge](https://github.com/MapIV/rtklib_ros_bridge.git) (ros2-v0.1.0 branch) -3. [LLH Converter](https://github.com/MapIV/llh_converter.git) (ros2 branch) - -### Modifying Autoware Launch files - -You need to install Eagleye-related packages and change Autoware's launcher. Four files are required in the Autoware localization launcher to run Eagleye: `eagleye_rt.launch.xml`, `eagleye_config.yaml`, `gnss_converter.launch.xml`, and `fix2pose.launch.xml`. - -You must correctly specify input topics for GNSS latitude, longitude, and height information, GNSS speed information, IMU information, and vehicle speed information in the [`eagleye_config.yaml`](https://github.com/MapIV/autoware_launch/blob/3f04a9dd7bc4a4c49d4ec790e3f6b9958ab822da/autoware_launch/config/localization/eagleye_config.param.yaml#L7-L16). - -```yaml -# Topic -twist: - twist_type: 1 # TwistStamped : 0, TwistWithCovarianceStamped: 1 - twist_topic: /sensing/vehicle_velocity_converter/twist_with_covariance -imu_topic: /sensing/imu/tamagawa/imu_raw -gnss: - velocity_source_type: 2 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, ublox_msgs/NavPVT: 2, geometry_msgs/TwistWithCovarianceStamped: 3 - velocity_source_topic: /sensing/gnss/ublox/navpvt - llh_source_type: 2 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, sensor_msgs/NavSatFix: 2 - llh_source_topic: /sensing/gnss/ublox/nav_sat_fix -``` - -Also, the frequency of GNSS and IMU must be set in [`eagleye_config.yaml`](https://github.com/MapIV/autoware_launch/blob/3f04a9dd7bc4a4c49d4ec790e3f6b9958ab822da/autoware_launch/config/localization/eagleye_config.param.yaml#L36) - -```yaml -common: - imu_rate: 50 - gnss_rate: 5 -``` - -The basic parameters that do not need to be changed except those mentioned above, i.e., topic names and sensors' frequency, are described below [here](https://github.com/MapIV/eagleye/tree/autoware-main/eagleye_rt/config). -Additionally, the parameters for converting `sensor_msgs/msg/NavSatFix` to `geometry_msgs/msg/PoseWithCovarianceStamped` is listed in [`fix2pose.yaml`](https://github.com/MapIV/eagleye/blob/autoware-main/eagleye_util/fix2pose/launch/fix2pose.xml). - -Please refer to `map4_localization_launch` in the `autoware.universe` package and `map4_localization_component.launch.xml` in `autoware_launch` package for information on how to modify the localization launch. - -Eagleye has a function for position estimation and a function for twist estimation, namely `pose_estimator` and `twist_estimator`, respectively. - -| localization launch | twist estimator | pose estimator | -| ----------------------------------------------------------------- | ----------------------------------- | ----------------------------------- | -| `tier4_localization_launch` | `gyro_odometry` | `ndt_scan_matcher` | -| `map4_localization_launch/eagleye_twist_localization_launch` | `eagleye_rt`(gyro/odom/gnss fusion) | `ndt_scan_matcher` | -| `map4_localization_launch/eagleye_pose_twist_localization_launch` | `eagleye_rt`(gyro/odom/gnss fusion) | `eagleye_rt`(gyro/odom/gnss fusion) | - -In Autoware, you can set the pose estimator to GNSS by setting `pose_estimator_mode:=gnss` in `map4_localization_component.launch.xml` in `autoware_launch` package. -Note that the output position might not appear to be in the point cloud maps if you are using maps that are not properly georeferenced. -In the case of a single GNSS antenna, initial position estimation (dynamic initialization) can take several seconds to complete after starting to run in an environment where GNSS positioning is available. - -Alternatively, the twist estimator can be set to Eagleye and the pose estimator to NDT by specifying `pose_estimator_mode:=lidar` in the same launch file. -Unlike Eagleye position estimation, Eagleye twist estimation first outputs uncorrected raw values when activated, and then outputs corrected twists as soon as static initialization is complete. - -## Executing Launch files - -### Execution command - -Enable Eagleye in Autoware by switching the localization module in autoware.launch.xml and the `pose_estimator_mode` parameter in `map4_localization_component.launch.xml` in `autoware.launch.xml`. - -When using Eagleye, comment out `tier4_localization_component.launch.xml` and start `map4_localization_component.launch.xml` in `autoware.launch.xml`. - -```xml - - - - - -``` - -#### Notes with initialization - -Eagleye requires an initialization process for proper operation. Without initialization, the output for twist will be in the raw value, and the pose data will not be available. - -The first step is static initialization, which involves allowing the Eagleye to remain stationary for approximately 5 seconds after startup to estimate the yaw-rate offset. - -The next step is dynamic initialization, which involves running the Eagleye in a straight line for approximately 30 seconds. This process estimates the scale factor of wheel speed and azimuth angle. Once dynamic initialization is complete, the Eagleye will be able to provide corrected twist and pose data. diff --git a/docs/how-to-guides/others/images/important-temporal-performance-metrics/model-for-obstacle-segmentation-metrics.svg b/docs/how-to-guides/others/images/important-temporal-performance-metrics/model-for-obstacle-segmentation-metrics.svg new file mode 100644 index 00000000000..4b294e262c6 --- /dev/null +++ b/docs/how-to-guides/others/images/important-temporal-performance-metrics/model-for-obstacle-segmentation-metrics.svg @@ -0,0 +1,4 @@ + + + +
LiDARs
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Sensing
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a chain of callback dr...Text is not SVG - cannot display \ No newline at end of file diff --git a/docs/how-to-guides/others/images/start-delays/manual_driving.png b/docs/how-to-guides/others/images/start-delays/manual_driving.png new file mode 100644 index 00000000000..e070d162b31 Binary files /dev/null and b/docs/how-to-guides/others/images/start-delays/manual_driving.png differ diff --git a/docs/how-to-guides/others/reducing-start-delays.md b/docs/how-to-guides/others/reducing-start-delays.md new file mode 100644 index 00000000000..f3d14dd29b0 --- /dev/null +++ b/docs/how-to-guides/others/reducing-start-delays.md @@ -0,0 +1,125 @@ +# Reducing start delays on real vehicles + +In simulation, the ego vehicle reacts nearly instantly to the control commands generated by Autoware. +However, with a real vehicle, some delays occur that may make ego feel less responsive. + +This page presents start delays experienced when using Autoware on a real vehicle. +We define the start delay as the time between +(a) when Autoware decides to make the ego vehicle start and +(b) when the vehicle actually starts moving. +More precisely: + +- (a) is the time when the speed or acceleration command output by Autoware switches to a non-zero value. +- (b) is the time when the measured velocity of the ego vehicle switches to a positive value. + +## Start delay with manual driving + +First, let us look at the start delay when a human is driving. + +The following figure shows the start delay when a human driver switches the gear +from _parked_ to _drive_ and instantly releases the brake to push the throttle pedal and make the velocity of the vehicle increase. + +![Manual driving delays](./images/start-delays/manual_driving.png) + +There are multiple things to note from this figure. + +- Brake (red): despite the driver instantly releasing the brake pedal, + we see that the measured brake takes around `150ms` to go from `100%` to `0%`. +- Gear (orange): the driver switches gear _before_ releasing the brake pedal, but the gear is measured to switch _after_ + the brake is released. +- Throttle (green) and velocity (blue): the driver pushes the throttle pedal and the vehicle is measured to start moving around `500ms` later. + +## Filter delay + +To guarantee passenger comfort, +some Autoware modules implement filters on the jerk of the vehicle, preventing sudden changes in acceleration. + +For example, +the [`vehicle_cmd_gate`](https://autowarefoundation.github.io/autoware.universe/main/control/vehicle_cmd_gate/) +filters the acceleration command generated by the controller +and [was previously introducing significant delays](https://github.com/autowarefoundation/autoware.universe/pull/3385) +when transitioning between a stop command where the acceleration is negative, +and a move command where the acceleration is positive. +Because of the jerk filter, the transition between negative and positive was not instantaneous and would take several hundreds of milliseconds. + +## Gear delay + +In many vehicles, it is necessary to change gear before first starting to move the vehicle. +When performed autonomously, this gear change can take some significant time. +Moreover, as seen from the data recorded with manual driving, the measured gear value may be delayed. + +In Autoware, the controller sends a stopping control command until the gear is changed to the _drive_ state. +This means that delays in the gear change and its reported value can greatly impact the start delay. +Note that this is only an issue when the vehicle is initially in the _parked_ gear. + +The only way to reduce this delay is by tuning the vehicle to increase the gear change speed +or to reduce the delay in the gear change report. + +## Brake delay + +In vehicles with a brake pedal, +the braking system will often be made of several moving parts which cannot move instantly. +Thus, when Autoware sends brake commands to a vehicle, +some delays should be expected in the actual brake applied to the wheels. + +This lingering brake may prevent or delay the initial motion of the ego vehicle. + +This delay can be reduced by tuning the vehicle. + +## Throttle response + +For vehicles with throttle control, +one of the main cause of start delays is due to the +[throttle response](https://en.wikipedia.org/wiki/Throttle_response) of the vehicle. +When pushing the throttle pedal, the wheels of the vehicle do not instantly start rotating. +This is partly due to the inertia of the vehicle, +but also to the motor which may take a significant time to start applying +some torque to the wheels. + +It may be possible to tune some vehicle side parameters to reduce this delay, +but it is often done at the cost of reduced energy efficiency. + +On the Autoware side, the only way to decrease this delay is to increase the initial throttle +but this can cause uncomfortably high initial accelerations. + +## Initial acceleration and throttle + +As we just discussed, for vehicles with throttle control, an increased initial throttle value can reduce the start delay. + +Since Autoware outputs an acceleration value, the conversion module +[`raw_vehicle_cmd_converter`](https://autowarefoundation.github.io/autoware.universe/main/vehicle/raw_vehicle_cmd_converter/) +is used to map the acceleration value from Autoware to a throttle value to be sent to the vehicle. +Such mapping is usually calibrated automatically using the +[`accel_brake_map_calibrator`](https://autowarefoundation.github.io/autoware.universe/main/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/) module, +but it may produce a low initial throttle which leads to high start delays. + +In order to increase the initial throttle, there are two options: +increase the initial acceleration output by Autoware, +or modify the acceleration to throttle mapping. + +The initial acceleration output by Autoware can be tuned in the +[`motion_velocity_smoother`](https://autowarefoundation.github.io/autoware.universe/main/planning/motion_velocity_smoother/) +with parameters `engage_velocity` and `engage_acceleration`. +However, the [`vehicle_cmd_gate`](https://autowarefoundation.github.io/autoware.universe/main/control/vehicle_cmd_gate/) +applies a filter on the control command to prevent too sudden changes in jerk and acceleration, +limiting the maximum allowed acceleration while the ego vehicle is stopped. + +Alternatively, the mapping of acceleration can be tuned to increase the throttle corresponding to the initial acceleration. +If we look at an example +[acceleration map](https://github.com/tier4/autoware_individual_params/blob/main/individual_params/config/default/pacmod/accel_map.csv), +it does the following conversion: +when the ego velocity is `0` (first column), acceleration values between `0.631` (first row) and `0.836` (second row) +are converted to a throttle between `0%` and `10%`. +This means that any initial acceleration bellow `0.631m/s²` will not produce any throttle. +Keep in mind that after tuning the acceleration map, +it may be necessary to also update the +[`brake map`](https://github.com/tier4/autoware_individual_params/blob/main/individual_params/config/default/pacmod/brake_map.csv). + +| default | _0_ | 1.39 | 2.78 | 4.17 | 5.56 | 6.94 | 8.33 | 9.72 | 11.11 | 12.5 | 13.89 | +| ------- | ------- | ----- | ----- | ----- | ------ | ------ | ------ | ------ | ------ | ------ | ------ | +| 0 | _0.631_ | 0.11 | -0.04 | -0.04 | -0.041 | -0.096 | -0.137 | -0.178 | -0.234 | -0.322 | -0.456 | +| 0.1 | _0.836_ | 0.57 | 0.379 | 0.17 | 0.08 | 0.07 | 0.068 | 0.027 | -0.03 | -0.117 | -0.251 | +| 0.2 | _1.129_ | 0.863 | 0.672 | 0.542 | 0.4 | 0.38 | 0.361 | 0.32 | 0.263 | 0.176 | 0.042 | +| 0.3 | _1.559_ | 1.293 | 1.102 | 0.972 | 0.887 | 0.832 | 0.791 | 0.75 | 0.694 | 0.606 | 0.472 | +| 0.4 | _2.176_ | 1.909 | 1.718 | 1.588 | 1.503 | 1.448 | 1.408 | 1.367 | 1.31 | 1.222 | 1.089 | +| 0.5 | _3.027_ | 2.76 | 2.57 | 2.439 | 2.354 | 2.299 | 2.259 | 2.218 | 2.161 | 2.074 | 1.94 | diff --git a/docs/index.md b/docs/index.md index b0b97658b21..5ddf5639734 100644 --- a/docs/index.md +++ b/docs/index.md @@ -21,3 +21,4 @@ For detailed documents of Autoware Universe components, see [Autoware Universe D - [Contributing](contributing) pages explain how to contribute to Autoware. - [Datasets](datasets) pages contain information about datasets that can be used with Autoware. - [Support](support) pages explain several support resources. +- [Competitions](autoware-competitions) pages explain on-going challenges related to AWF diff --git a/docs/installation/additional-settings-for-developers/index.md b/docs/installation/additional-settings-for-developers/index.md index 9252690775b..1379d9c2992 100644 --- a/docs/installation/additional-settings-for-developers/index.md +++ b/docs/installation/additional-settings-for-developers/index.md @@ -95,16 +95,28 @@ Unless customized, CycloneDDS is adopted by default. For example, to execute Aut ```xml - - + + + + + + + default + 65500B + + + 500kB + ``` +This configuration is mostly taken from [Eclipse Cyclone DDS:Run-time configuration documentation](https://github.com/eclipse-cyclonedds/cyclonedds/tree/a10ced3c81cc009e7176912190f710331a4d6caf#run-time-configuration). +You can see why each value is set as such under the documentation link. + Set the config file path and enlarge the Linux kernel maximum buffer size before launching Autoware. ```bash @@ -119,6 +131,6 @@ For more information, Refer to [ROS 2 documentation](https://docs.ros.org/en/hum When Autoware runs on multiple host computers, IP Fragmentation should be taken into account. As [ROS 2 documentation](https://docs.ros.org/en/humble/How-To-Guides/DDS-tuning.html#cross-vendor-tuning) recommends, parameters for IP Fragmentation should be set as shown in the following example. ```bash -sudo sysctl net.ipv4.ipfrag_time=3 -sudo sysctl net.ipv4.ipfrag_high_thresh=134217728 # (128 MB) +sudo sysctl -w net.ipv4.ipfrag_time=3 +sudo sysctl -w net.ipv4.ipfrag_high_thresh=134217728 # (128 MB) ``` diff --git a/docs/installation/autoware/docker-installation-devel.md b/docs/installation/autoware/docker-installation-devel.md index 688aaefecde..0dd77b04a2f 100644 --- a/docs/installation/autoware/docker-installation-devel.md +++ b/docs/installation/autoware/docker-installation-devel.md @@ -107,7 +107,7 @@ You might need to log out and log back to make the current user able to use dock colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release ``` - If there is any build issue, refer to [Troubleshooting](../../support/troubleshooting.md#build-issues). + If there is any build issue, refer to [Troubleshooting](../../support/troubleshooting/index.md#build-issues). ## How to update a workspace diff --git a/docs/installation/autoware/source-installation.md b/docs/installation/autoware/source-installation.md index 48135006ccd..900833b7bb8 100644 --- a/docs/installation/autoware/source-installation.md +++ b/docs/installation/autoware/source-installation.md @@ -37,7 +37,7 @@ sudo apt-get -y install git ./setup-dev-env.sh ``` - If you encounter any build issues, please consult the [Troubleshooting](../../support/troubleshooting.md#build-issues) section for assistance. + If you encounter any build issues, please consult the [Troubleshooting](../../support/troubleshooting/index.md#build-issues) section for assistance. !!! info @@ -93,7 +93,7 @@ sudo apt-get -y install git colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release ``` - If there is any build issue, refer to [Troubleshooting](../../support/troubleshooting.md#build-issues). + If there is any build issue, refer to [Troubleshooting](../../support/troubleshooting/index.md#build-issues). ## How to update a workspace @@ -101,9 +101,11 @@ sudo apt-get -y install git ```bash cd autoware - git pull + git pull ``` + `` is usually `git@github.com:autowarefoundation/autoware.git` + 2. Update the repositories. ```bash diff --git a/docs/reference-hw/.pages b/docs/reference-hw/.pages new file mode 100644 index 00000000000..adb1a5ea36a --- /dev/null +++ b/docs/reference-hw/.pages @@ -0,0 +1,12 @@ +nav: + - index.md + - ad-computers.md + - lidars.md + - radars.md + - cameras.md + - thermal_cameras.md + - imu_ahrs_gnss_ins.md + - vehicle_drive_by_wire_suppliers.md + - vehicle_platform_suppliers.md + - remote_drive.md + - full_drivers_list.md diff --git a/docs/reference-hw/ad-computers.md b/docs/reference-hw/ad-computers.md new file mode 100644 index 00000000000..af39cbd9bb9 --- /dev/null +++ b/docs/reference-hw/ad-computers.md @@ -0,0 +1,47 @@ +# AD Computers + +## **ADLINK In-Vehicle Computers** + +ADLINK solutions which is used for autonomous driving and tested by one or more community members are listed below: + + + +| Supported Products List | CPU | GPU | RAM, Interfaces | Environmental | Autoware Tested (Y/N) | +| ------------------------------- | ------------------------------ | ------------------------ | ------------------------------------------------------------ | ---------------------------------------------- | --------------------- | +| AVA-351001 | Intel® Xeon® E-2278GE | Dual RTX 5000 | 64GB RAM,CAN, USB, 10G Ethernet, DIO, Hot-Swap SSD, USIM | 9~36 VDC, MIL-STD-810H,ISO 7637-2 & SAE 113-11 | Y | +| SOAFEE’s AVA Developer Platform | Ampere Altra ARMv8 | optional | USB, Ethernet, DIO, M.2 NVMe SSDs | 110/220 AC | Y | +| RQX-58G | Carmel ARMv8.2 2.26GHz | Nvidia Jetson AGX Xavier | USB, Ethernet, M.2 NVME SSD, CAN, USIM, GMSL2 Camera support | 9~36VDC | Y | +| RQX-59G | 8-core Arm® Cortex®-A78AE v8.2 | Nvidia Jetson AGX Orin | USB, Ethernet, M.2 NVME SSD, CAN, USIM, GMSL2 Camera support | 9~36VDC | N | +| SOAFEE’s AVA AP1 | Ampere Altra ARMv8 | optional | CAN, USB, Ethernet, DIO, M.2 NVMe SSDs | 12 Volt | Y | + +Link to company website is [here.](https://www.adlinktech.com/en/Connected-Autonomous-Vehicle-Solutions) + +## **NXP In-Vehicle Computers** + +NXP solutions which is used for autonomous driving and tested by one or more community members are listed below: + +| Supported Products List | CPU | GPU | RAM, Interfaces | Environmental | Autoware Tested (Y/N) | +| ----------------------- | --------------------- | -------------------------- | ----------------------------------------------- | ------------- | --------------------- | +| BLUEBOX 3.0 | 16 x Arm® Cortex®-A72 | Dual RTX 8000 or RTX A6000 | 16 GB RAM CAN, FlexRay, USB, Ethernet, DIO, SSD | ASIL-D | - | + +Link to company website is [here.](https://www.nxp.com/design/designs/bluebox-3-0-automotive-high-performance-compute-ahpc-development-platform:BlueBox) + +## **Neousys In-Vehicle Computers** + +Neousys solutions which is used for autonomous driving and tested by one or more community members are listed below: + +| Supported Products List | CPU | GPU | RAM, Interfaces | Environmental | Autoware Tested (Y/N) | +| ----------------------- | --------------------- | --------------------------- | --------------------------------------------------- | ----------------------------------------------- | --------------------- | +| 8208-GC | Intel® Xeon® E-2278GE | Dual RTX 2080ti or RTX 3070 | 128 GB RAM,CAN, USB, Ethernet, Serial, Hot-Swap SSD | 8-35 VoltVibration:MIL-STD810G 5-500 Hz, 3 axes | - | + +Link to company website is [here.](http://bit.ly/neousys8208GC) + +## **Crystal Rugged In-Vehicle Computers** + +Crystal Rugged solutions which is used for autonomous driving and tested by one or more community members are listed below: + +| Supported Products List | CPU | GPU | RAM, Interfaces | Environmental | Autoware Tested (Y/N) | +| ----------------------- | --------------------- | ------------------- | ------------------------------------------------ | ---------------------------------------------- | --------------------- | +| AVC 0161-AC | Intel® Xeon® Scalable | Dual GPU RTX Series | 2TB RAM,CAN, USB, Ethernet, Serial, Hot-Swap SSD | 10-32 VoltVibration:2 G RMS 10-1000 Hz, 3 axes | - | + +Link to company website is [here.](https://www.crystalrugged.com/product/AVC0161-Ai-Autonomy-Solution/) diff --git a/docs/reference-hw/cameras.md b/docs/reference-hw/cameras.md new file mode 100644 index 00000000000..3f5faaf1d1c --- /dev/null +++ b/docs/reference-hw/cameras.md @@ -0,0 +1,44 @@ +# CAMERAs + +## **FLIR Machine Vision Cameras** + +FLIR Machine Vision cameras which has ROS 2 driver and tested by one or more community members are listed below: + +| Supported Products List | MP | FPS | Interface | Sensor Format | Lens | ROS 2 Driver | Autoware Tested (Y/N) | +| ----------------------- | ------------ | ---------- | --------- | ------------- | ------ | ------------ | --------------------- | +| Blackfly S | 2.0
5.0 | 22
95 | USB-GigE | 1” - ⅔” | C & CS | Y | - | +| Grasshopper3 | 2.3
5.0 | 26
90 | USB-GigE | 1” - ⅔” | C & CS | Y | - | + +Link to ROS 2 driver: +[https://github.com/berndpfrommer/flir_spinnaker_ros2](https://github.com/berndpfrommer/flir_spinnaker_ros2) + +Link to company website: +[https://www.flir.eu/iis/machine-vision/](https://www.flir.eu/iis/machine-vision/) + +## **Lucid Vision Cameras** + +Lucid Vision cameras which has ROS 2 driver and tested by one or more community members are listed below: + +| Supported Products List | MP | FPS | Interface | Sensor Format | Lens | ROS 2 Driver | Autoware Tested (Y/N) | +| ----------------------- | --- | ---- | --------- | ------------- | ------- | ------------ | --------------------- | +| TRITON 054S | 5.4 | 22 | GigE | 1/1.55” | C Mount | Y | Y | +| TRITON 032S | 3.2 | 35.4 | GigE | 1/1.8” | C Mount | Y | Y | + +Link to ROS 2 driver: +[https://gitlab.com/leo-drive/Drivers/arena_camera](https://gitlab.com/leo-drive/Drivers/arena_camera) +Link to company website: +[https://thinklucid.com/triton-gige-machine-vision/](https://thinklucid.com/triton-gige-machine-vision/) + +## **Allied Vision Cameras** + +Allied Vision cameras which has ROS 2 driver and tested by one or more community members are listed below: + +| Supported Products List | MP | FPS | Interface | Sensor Format | Lens | ROS 2 Driver | Autoware Tested (Y/N) | +| ----------------------- | --- | ---- | --------- | ------------- | ------- | ------------ | --------------------- | +| Mako G319 | 3.2 | 37.6 | GigE | 1/1.8” | C Mount | Y | - | + +Link to ROS 2 driver: +[https://github.com/neil-rti/avt_vimba_camera](https://github.com/neil-rti/avt_vimba_camera) + +Link to company website: +[https://www.alliedvision.com/en/products/camera-series/mako-g](https://www.alliedvision.com/en/products/camera-series/mako-g) diff --git a/docs/reference-hw/full_drivers_list.md b/docs/reference-hw/full_drivers_list.md new file mode 100644 index 00000000000..46a4cb00f30 --- /dev/null +++ b/docs/reference-hw/full_drivers_list.md @@ -0,0 +1,20 @@ +# Drivers List + +The list of all drivers listed above for easy access as a table with additional information: + +| Type | Maker | Driver links | License | Maintainer | +| ------ | ----------------- | ------------------------------------------------------------------------------ | -------- | ---------------------------------------------- | +| Lidar | Velodyne
Hesai | [Link](https://github.com/tier4/nebula) | Apache 2 | david.wong@tier4.jp
abraham.monrroy@map4.jp | +| Lidar | Velodyne | [Link](https://github.com/ros-drivers/velodyne/tree/ros2/velodyne_pointcloud) | BSD | jwhitley@autonomoustuff.com | +| Lidar | Robosense | [Link](https://github.com/RoboSense-LiDAR/rslidar_sdk) | BSD | zdxiao@robosense.cn | +| Lidar | Hesai | [Link](https://github.com/HesaiTechnology/HesaiLidar_General_ROS) | Apache 2 | wuxiaozhou@hesaitech.com | +| Lidar | Leishen | [Link](https://github.com/leishen-lidar) | - | - | +| Lidar | Livox | [Link](https://github.com/Livox-SDK/livox_ros2_driver) | MIT | dev@livoxtech.com | +| Lidar | Ouster | [Link](https://github.com/ros-drivers/ros2_ouster_drivers) | Apache 2 | stevenmacenski@gmail.com
tom@boxrobotics.ai | +| Radar | smartmicro | [Link](https://github.com/smartmicro/smartmicro_ros2_radars) | Apache 2 | opensource@smartmicro.de | +| Camera | Flir | [Link](https://github.com/berndpfrommer/flir_spinnaker_ros2) | Apache 2 | bernd.pfrommer@gmail.com | +| Camera | Lucid Vision | [Link](https://gitlab.com/leo-drive/Drivers/arena_camera) | - | kcolak@leodrive.ai | +| Camera | Allied Vision | [Link](https://github.com/neil-rti/avt_vimba_camera) | Apache 2 | at@email.com | +| GNSS | NovAtel | [Link](https://github.com/swri-robotics/novatel_gps_driver/tree/dashing-devel) | BSD | preed@swri.org | +| GNSS | SBG Systems | [Link](https://github.com/SBG-Systems/sbg_ros2_driver) | MIT | support@sbg-systems.com | +| GNSS | PolyExplore | [Link](https://github.com/polyexplore/ROS2_Driver) | - | support@polyexplore.com | diff --git a/docs/reference-hw/images/platforms.png b/docs/reference-hw/images/platforms.png new file mode 100644 index 00000000000..195c976f4cd Binary files /dev/null and b/docs/reference-hw/images/platforms.png differ diff --git a/docs/reference-hw/imu_ahrs_gnss_ins.md b/docs/reference-hw/imu_ahrs_gnss_ins.md new file mode 100644 index 00000000000..082d6e93610 --- /dev/null +++ b/docs/reference-hw/imu_ahrs_gnss_ins.md @@ -0,0 +1,78 @@ +# IMU, AHRS & GNSS/INS + +## **NovAtel GNSS/INS Sensors** + +NovAtel GNSS/INS sensors which has ROS 2 driver and tested by one or more community members are listed below: + +| Supported Products List | INS Rate | Roll, Pitch, Yaw Acc. | GNSS | ROS 2 Driver  | Autoware Tested (Y/N) | +| ----------------------- | -------- | -------------------------------------- | --------------------------------------- | ------------- | --------------------- | +| PwrPak7D-E2 | 200 Hz | R (0.013°)
P (0.013°)
Y (0.070°) | 20 Hz
L1 / L2 / L5
555 Channels | Y | - | +| Span CPT7 | 200 Hz | R (0.01°) 
P (0.01°) 
Y (0.03°) | 20 Hz
L1 / L2 / L5
555 Channels | Y | - | + +Link to ROS 2 driver: +[https://github.com/swri-robotics/novatel_gps_driver/tree/dashing-devel](https://github.com/swri-robotics/novatel_gps_driver/tree/dashing-devel) + +Link to company website: +[https://hexagonpositioning.com/](https://hexagonpositioning.com/) + +## **XSens GNSS/INS & IMU Sensors** + +XSens GNSS/INS sensors which has ROS 2 driver and tested by one or more community members are listed below: + +| Supported Products List | INS/IMU Rate | Roll, Pitch, Yaw Acc. | GNSS | ROS 2 Driver  | Autoware Tested (Y/N) | +| ----------------------- | ------------ | -------------------------------- | -------------------------------- | ------------- | --------------------- | +| MTi-680G | 2 kHz | R (0.2°)
P (0.2°)
Y (0.5°) | 5 Hz
L1 / L2 
184 Channels | Y | - | +| MTi-300 AHRS | 2 kHz | R (0.2°)
P (0.2°)
Y (1°) | Not Applicable | Y | - | + +Link to ROS 2 driver: +[http://wiki.ros.org/xsens_mti_driver](http://wiki.ros.org/xsens_mti_driver) + +Link to company website: +[https://www.xsens.com/](https://www.xsens.com/) + +## **SBG GNSS/INS & IMU Sensors** + +SBG GNSS/INS sensors which has ROS 2 driver and tested by one or more community members are listed below: + +| Supported Products List | INS/IMU Rate | Roll, Pitch, Yaw Acc. | GNSS | ROS 2 Driver  | Autoware Tested (Y/N) | +| ----------------------- | ------------------- | --------------------------------- | ------------------------------- | ------------- | --------------------- | +| Ellipse-D | 200 Hz, 1 kHz (IMU) | R (0.1°)
P (0.1°)
Y (0.05°) | 5 Hz
L1 / L2
184 Channels | Y | Y | +| Ellipse-A (AHRS) | 200 Hz, 1 kHz (IMU) | R (0.1°)
P (0.1°)
Y (0.8°) | Not Applicable | Y | - | + +Link to ROS 2 driver: +[https://github.com/SBG-Systems/sbg_ros2](https://github.com/SBG-Systems/sbg_ros2) + +Link to company website: +[https://www.sbg-systems.com/products/ellipse-series/](https://www.sbg-systems.com/products/ellipse-series/) + +## **Applanix GNSS/INS Sensors** + + + +SBG GNSS/INS sensors which has ROS 2 driver and tested by one or more community members are listed below: + +| Supported Products List | INS/IMU Rate | Roll, Pitch, Yaw Acc. | GNSS | ROS 2 Driver  | Autoware Tested (Y/N) | +| ----------------------- | ------------ | ----------------------------------- | ---------------------------- | ------------- | --------------------- | +| POSLVX | 200 Hz | R (0.03°)
P (0.03°)
Y (0.09°) | L1 / L2 / L5
336 Channels | Y | Y | +| POSLV220 | 200 Hz | R (0.02°)
P (0.02°)
Y (0.05°) | L1 / L2 / L5
336 Channels | Y | Y | + +Link to ROS 2 driver: +[http://wiki.ros.org/applanix_driver](http://wiki.ros.org/applanix_driver) + +Link to company website: +[https://www.applanix.com/products/poslv.htm](https://www.applanix.com/products/poslv.htm) + +## **PolyExplore GNSS/INS Sensors** + +PolyExplore GNSS/INS sensors which has ROS 2 driver and tested by one or more community members are listed below: + +| Supported Products List | INS/IMU Rate | Roll, Pitch, Yaw Acc. | GNSS | ROS 2 Driver  | Autoware Tested (Y/N) | +| ----------------------- | ------------ | ------------------------------------- | ----------------------- | ------------- | --------------------- | +| POLYNAV 2000P | 100 Hz | R (0.01°)
P (0.01°)
Y (0.1°) | L1 / L2
240 Channels | Y | - | +| POLYNAV 2000S | 100 Hz | R (0.015°)
P (0.015°)
Y (0.08°) | L1 / L2
40 Channels | Y | - | + +Link to ROS 2 driver: +[https://github.com/polyexplore/ROS2_Driver](https://github.com/polyexplore/ROS2_Driver) + +Link to company website: +[https://www.polyexplore.com/](https://www.polyexplore.com/) diff --git a/docs/reference-hw/index.md b/docs/reference-hw/index.md new file mode 100644 index 00000000000..ead8e0a6188 --- /dev/null +++ b/docs/reference-hw/index.md @@ -0,0 +1,71 @@ +# Reference HW Design + +This document is created to describe and give additional information of the sensors and systems supported by Autoware.Auto software. + +All equipment listed in this document has available ROS 2 drivers and has been tested by one or more of the community members on field in autonomous vehicle and robotics applications. + +The listed sensors and systems are not sold, developed or given direct technical support by the Autoware community. Having said that any ROS 2 and Autoware related issue regarding the hardware usage could be asked using the community guidelines which found [here.](https://answers.ros.org/questions/ask/?tags=autoware) + +The documents consists of the sections listed below: + +- AD COMPUTERs + + - ADLINK In-Vehicle Computers + - NXP In-Vehicle Computers + - Neousys In-Vehicle Computers + - Crystal Rugged In-Vehicle Computers + +- LiDARs + + - Velodyne 3D LiDAR Sensors + - Robosense 3D LiDAR Sensors + - HESAI 3D LiDAR Sensors + - Leishen 3D LiDAR Sensors + - Livox 3D LiDAR Sensors + - Ouster 3D LiDAR Sensors + +- RADARs + + - Smartmicro Automotive Radars + - Aptiv Automotive Radars + - Continental Engineering Radars + +- CAMERAs + + - FLIR Machine Vision Cameras + - Lucid Vision Cameras + - Allied Vision Cameras + +- Thermal CAMERAs + + - FLIR Thermal Automotive Dev. Kit + +- IMU, AHRS & GNSS/INS + + - NovAtel GNSS/INS Sensors + - XSens GNSS/INS & IMU Sensors + - SBG GNSS/INS & IMU Sensors + - Applanix GNSS/INS Sensors + - PolyExplore GNSS/INS Sensors + +- Vehicle Drive By Wire Suppliers + + + - New Eagle DBW Solutions + - Dataspeed DBW Solutions + - AStuff Pacmod DBW Solutions + - Schaeffler-Paravan Space Drive DBW Solutions + +- Vehicle Platform Suppliers + + - PIX MOVING Autonomous Vehicle Solutions + - Autonomoustuff AV Solutions + - NAVYA AV Solutions + - ZING ROBOTICS AV Solutions + +- Remote Drive + + - FORT ROBOTICS + - LOGITECH + +- Full Drivers List diff --git a/docs/reference-hw/lidars.md b/docs/reference-hw/lidars.md new file mode 100644 index 00000000000..1e650bc0230 --- /dev/null +++ b/docs/reference-hw/lidars.md @@ -0,0 +1,107 @@ +# LIDARs + +## **Velodyne 3D LIDAR Sensors** + +Velodyne Lidars which has ROS 2 driver and tested by one or more community members are listed below: + +| Supported Products List | Range | FOV (V), (H) | ROS 2 Driver | Autoware Tested (Y/N) | +| ----------------------- | ----- | --------------------- | ------------ | --------------------- | +| Alpha Prime | 245m | (+15°)/(-25°), (360°) | Y | Y | +| Ultra Puck | 200m | (+15°)/(-25°), (360°) | Y | Y | +| Puck | 100m | (+15°)/(-15°), (360°) | Y | Y | +| Puck Hi-res | 100m | (+10°)/(-10°), (360°) | Y | Y | + +Link to ROS 2 drivers: +[https://github.com/tier4/nebula](https://github.com/tier4/nebula) +[https://github.com/ros-drivers/velodyne/tree/ros2/velodyne_pointcloud](https://github.com/ros-drivers/velodyne/tree/ros2/velodyne_pointcloud) +[https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/tree/master/src/drivers/velodyne_nodes](https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/tree/master/src/drivers/velodyne_nodes) +[https://github.com/autowarefoundation/awf_velodyne/tree/tier4/universe](https://github.com/autowarefoundation/awf_velodyne/tree/tier4/universe) + +Link to company website: +[https://velodynelidar.com/](https://velodynelidar.com/) + +## **RoboSense 3D LIDAR Sensors** + +RoboSense Lidars which has ROS 2 driver and tested by one or more community members are listed below: + +| Supported Products List | Range | FOV (V), (H) | ROS 2 Driver | Autoware Tested (Y/N) | +| ----------------------- | ----- | -------------------- | ------------ | --------------------- | +| RS-Ruby | 250m | (+15°)/(-25°), (360) | Y | - | +| RS-Ruby-Lite | 230m | (+15°)/(-25°), (360) | Y | - | +| RS-LiDAR-32 | 200m | (+15°)/(-25°), (360) | Y | - | +| RS-LiDAR-16 | 150m | (+15°)/(-15), (360) | Y | - | + +Link to ROS 2 driver: +[https://github.com/RoboSense-LiDAR/rslidar_sdk](https://github.com/RoboSense-LiDAR/rslidar_sdk) + +Link to company website: +[https://www.robosense.ai/](https://www.robosense.ai/) + +## **HESAI 3D LIDAR Sensors** + +Hesai Lidars which has ROS 2 driver and tested by one or more community members are listed below: + +| Supported Products List | Range | FOV (V), (H) | ROS 2 Driver | Autoware Tested (Y/N) | +| ----------------------- | ----- | ---------------------- | ------------ | --------------------- | +| Pandar 128 | 200m | (+15°)/(-25°), (360°) | Y | - | +| Pandar 64 | 200m | (+15°)/(-25°), (360°) | Y | Y | +| Pandar 40P | 200m | (+15°)/(-25°), (360°) | Y | Y | +| Pandar XT | 120m | (+15°)/(-16°), (360°) | Y | Y | +| Pandar QT | 20m | (-52.1°/+52.1°)/(360°) | Y | Y | + +Link to ROS 2 drivers: +[https://github.com/tier4/nebula](https://github.com/tier4/nebula) +[https://github.com/HesaiTechnology/HesaiLidar_General_ROS](https://github.com/HesaiTechnology/HesaiLidar_General_ROS) + +Link to company website: +[https://www.hesaitech.com/en/](https://www.hesaitech.com/en/) + +## **Leishen 3D LIDAR Sensors** + +Leishen Lidars which has ROS 2 driver and tested by one or more community members are listed below: + +| Supported Products List | Range | FOV (V), (H) | ROS 2 Driver | Autoware Tested (Y/N) | +| ----------------------- | ----- | -------------------- | ------------ | --------------------- | +| LS C16 | 150m | (+15°/-15°), (360°) | Y | - | +| LS C32  | 150m | (+15°/-15°), (360°) | Y | - | +| CH 32 | 120m | (+3.7°/-6.7°),(120°) | Y | - | +| CH 128 | 20m | (+14°/-17°)/(150°) | Y | - | + +Link to ROS 2 driver: +[https://github.com/leishen-lidar](https://github.com/leishen-lidar) + +Link to company website: +[http://www.lslidar.com/](http://www.lslidar.com/) + +## **Livox 3D LIDAR Sensors** + +Livox Lidars which has ROS 2 driver and tested by one or more community members are listed below: + +| Supported Products List | Range | FOV (V), (H) | ROS 2 Driver | Autoware Tested (Y/N) | +| ----------------------- | ----- | ----------------- | ------------ | --------------------- | +| Horizon | 260m | (81.7°), (25.1°) | Y | Y | +| Mid-70 | 90m | (70.4°), (77.2°) | Y | - | +| Avia | 190m | (70.4°), Circular | Y | - | +| HAP | 150m | (25°), (120°) | - | - | + +Link to ROS 2 driver: +[https://github.com/Livox-SDK/livox_ros2_driver](https://github.com/Livox-SDK/livox_ros2_driver) + +Link to company website: +[https://www.livoxtech.com/](https://www.livoxtech.com/) + +## **Ouster 3D LIDAR Sensors** + +Ouster Lidars which has ROS 2 driver and tested by one or more community members are listed below: + +| Supported Products List | Range | FOV (V), (H) | ROS 2 Driver | Autoware Tested (Y/N) | +| ----------------------- | ----- | --------------- | ------------ | --------------------- | +| OS0 | 50m | (90°), (360°) | Y | - | +| OS1 | 120m | (45°), (360°) | Y | - | +| OS2 | 240m | (22,5°), (360°) | Y | Y | + +Link to ROS 2 driver: +[https://github.com/ros-drivers/ros2_ouster_drivers](https://github.com/ros-drivers/ros2_ouster_drivers) + +Link to company website: +[https://ouster.com/](https://ouster.com/) diff --git a/docs/reference-hw/radars.md b/docs/reference-hw/radars.md new file mode 100644 index 00000000000..4dceecde24b --- /dev/null +++ b/docs/reference-hw/radars.md @@ -0,0 +1,39 @@ +# RADARs + +## **Smartmicro Automotive Radars** + +Smartmicro Radars which has ROS 2 driver and tested by one or more community members are listed below: + +| Supported Products List | Range | FOV (Azimuth), (Elevation) | ROS 2 Driver | Autoware Tested (Y/N) | +| ----------------------------------------- | --------------------------------------- | ---------------------------------------------------------------- | ------------ | --------------------- | +| Type 153 (Triple Mode Short, Medium Long) | S:0.2...19 m M:0.4...55 m L:0.8...120 m | Short: (130°), (15°) Medium: (130°), (15°)
Long: (100°),(15°) | Y | Y | +| Type 132 ,(Dual Mode ,Medium, Long) | M:0.5...64 m  L:1...175 m | Medium: (100°), (15°) Long: (32°), (15°) | Y | Y | + +Link to ROS 2 driver: +[https://github.com/smartmicro/smartmicro_ros2_radars](https://github.com/smartmicro/smartmicro_ros2_radars) + +Link to company website: +[https://www.smartmicro.com/automotive-radar](https://www.smartmicro.com/automotive-radar) + +## **Aptiv Automotive Radars** + +Aptiv Radars which has ROS 2 driver and tested by one or more community members are listed below: + +| Supported Products List | Range | FOV (Azimuth), (Elevation) | ROS 2 Driver | Autoware Tested (Y/N) | +| ---------------------------------------- | ------------------------ | --------------------------------------- | ------------ | --------------------- | +| Aptiv MMR (Dual Mode Short, Long) | S: 1...40 m L: 3...160 m | Short.: (90), (90°) Long: (90°), (90°) | Y | - | +| Aptiv ESR 2.5 (Dual Mode (Medium, Long)) | M: 1...60 m L: 1...175 m | Med.: (90°), (4.4°) Long: (20°), (4.4°) | Y | - | + +Link to company website: +[https://autonomoustuff.com/products](https://autonomoustuff.com/products) + +## **Continental Engineering Radars** + +Continental Engineering Radars which has ROS 2 driver and tested by one or more community members are listed below: + +| Supported Products List | Range | FOV (Azimuth), (Elevation) | ROS 2 Driver | Autoware Tested (Y/N) | +| ----------------------- | ----- | -------------------------- | ------------ | --------------------- | +| ARS430DI | 250m | (120), (18°) | - | - | + +Link to company website: +[https://conti-engineering.com/components/ars430/](https://conti-engineering.com/components/ars430/) diff --git a/docs/reference-hw/remote_drive.md b/docs/reference-hw/remote_drive.md new file mode 100644 index 00000000000..376a75dedad --- /dev/null +++ b/docs/reference-hw/remote_drive.md @@ -0,0 +1,26 @@ +# Remote Drive + +## **FORT ROBOTICS** + +Fort Robotics remote control & E-stop devices which are used for autonomous driving and tested by one or more community members are listed below: + +| Supported Products | Op.Frequency | Controller | ROS 2 Support | Autoware Tested (Y/N) | +| ------------------------------------- | ------------------------------------------------------------ | ---------------------------------------------------------------------------------------------------------------------------- | ------------- | --------------------- | +| Vehicle Safety Controller with E-stop | 900 Mhz radio: up to 2km LOS
2.4Ghz radio: up to 500m LOS | IP 66 Enclosure
Built-in emergency stop safety control
(2) 2-axis joysticks
(2) 1-axis finger sticks
(8) buttons | - | - | + +Link to company website: +[https://fortrobotics.com/vehicle-safety-controller/](https://fortrobotics.com/vehicle-safety-controller/) + +## **LOGITECH** + +Logitech joysticks which are used for autonomous driving and tested by one or more community members are listed below: + +| Supported Products | Op.Frequency | Controller | ROS 2 Support | Autoware Tested (Y/N) | | +| ------------------ | --------------------------- | ------------------------ | ------------- | --------------------- | --- | +| Logitech F-710 | 2.4 GHz Wireless, 10m range | (2) 2-axis joysticks
| (18) buttons | Y | Y | + +Link to ROS driver: +[http://wiki.ros.org/joy](http://wiki.ros.org/joy) + +Link to company website: +[https://www.logitechg.com/en-us/products/gamepads/f710-wireless-gamepad.html](https://www.logitechg.com/en-us/products/gamepads/f710-wireless-gamepad.html) diff --git a/docs/reference-hw/thermal_cameras.md b/docs/reference-hw/thermal_cameras.md new file mode 100644 index 00000000000..9102aee893b --- /dev/null +++ b/docs/reference-hw/thermal_cameras.md @@ -0,0 +1,9 @@ +# Thermal CAMERAs + +## **FLIR Thermal Automotive Dev. Kit** + +FLIR ADK Thermal Vision cameras which has ROS 2 driver and tested by one or more community members are listed below: + +| Supported Products List | MP | FPS | Interface | Spectral Band | FOV | ROS 2 Driver | Autoware Tested (Y/N) | +| ----------------------- | ------- | --- | ----------------- | -------------- | ---------------------- | ------------ | --------------------- | +| FLIR ADK | 640x512 | 30 | USB-GMSL,Ethernet | 8-14 um (LWIR) | 75˚, 50˚, 32˚, and 24˚ | - | - | diff --git a/docs/reference-hw/vehicle_drive_by_wire_suppliers.md b/docs/reference-hw/vehicle_drive_by_wire_suppliers.md new file mode 100644 index 00000000000..a515b9121bb --- /dev/null +++ b/docs/reference-hw/vehicle_drive_by_wire_suppliers.md @@ -0,0 +1,47 @@ +# Vehicle Drive By Wire Suppliers + +## **New Eagle DBW Solutions** + +New Eagle DBW Controllers which is used for autonomous driving and tested by one or more community members are listed below: + +| Supported Vehicles | Power | Remote Control | ROS 2 Support | Autoware Tested (Y/N) | +| ------------------------------------------------------------------------------------------------------- | ------------------------------------------------- | ------------------- | ------------- | --------------------- | +| Jeep Cherokee
Chrysler Pacifica
Toyota Prius
Chevy Bolt
Ford Transit
RAM 1500
Custom  | 500W Sine Inverter
2000 Watts
8 Channel PDS | Optional, Available | Y | Y | + +Link to company website: +[https://neweagle.net/autonomous-machines/](https://neweagle.net/autonomous-machines/) + +## **Dataspeed DBW Solutions** + +Dataspeed DBW Controllers which is used for autonomous driving and tested by one or more community members are listed below: + +| Supported Vehicles | Power | Remote Control | ROS 2 Support | Autoware Tested (Y/N) | +| ----------------------------------------------------------------------------------------------------------------------------- | -------------------------------- | ------------------- | ------------- | --------------------- | +| Lincoln MKZ, Nautilus
Ford Fusion, F150, Transit Connect, Ranger
Chrysler Pacifica
Jeep Cherokee
Polaris GEM, RZR | 12 Channel PDS,15 A Each at 12 V | Optional, Available | Y | - | + +Link to company website: +[https://www.dataspeedinc.com/](https://www.dataspeedinc.com/) + +## **AStuff Pacmod DBW Solutions** + +Autonomous Stuff Pacmod DBW Controllers which is used for autonomous driving and tested by one or more community members are listed below: + +| Supported Vehicles | Power | Remote Control | ROS 2 Support | Autoware Tested (Y/N) | +| ------------------------------------------------------------------------------------------------------------------------------------------------ | ------------------------ | ------------------- | ------------- | --------------------- | +| Polaris GEM Series
Polaris eLXD MY 2016+
Polaris Ranger X900
International ProStar
Lexus RX-450h MY
Ford Ranger
Toyota Minivan | Power distribution panel | Optional, Available | Y | Y | + +Link to company website: +[https://autonomoustuff.com/platform/pacmod](https://autonomoustuff.com/platform/pacmod) + + + +## **Schaeffler-Paravan Space Drive DBW Solutions** + +Schaeffler-Paravan Space Drive DBW Controllers which is used for autonomous driving and tested by one or more community members are listed below: + +| Supported Vehicles | Power | Remote Control | ROS 2 Support | Autoware Tested (Y/N) | +| --------------------------------- | ----- | ------------------- | ------------- | --------------------- | +| Custom Integration with Actuators | - | Optional, Available | Y | Y | + +Link to company website: +[https://www.schaeffler-paravan.de/en/products/space-drive-system/](https://www.schaeffler-paravan.com/en/space-drive/space-drive-2-already-home-streets-world) diff --git a/docs/reference-hw/vehicle_platform_suppliers.md b/docs/reference-hw/vehicle_platform_suppliers.md new file mode 100644 index 00000000000..e7880700265 --- /dev/null +++ b/docs/reference-hw/vehicle_platform_suppliers.md @@ -0,0 +1,49 @@ +# Vehicle Platform Suppliers + +## **PIX MOVING Autonomous Vehicle Solutions** + +PIX Moving AV solutions which is used for autonomous development and tested by one or more community members are listed below: + +| Vehicle Types | Sensors Integrated | Autoware Installed | ROS 2 Support | Autoware Tested (Y/N) | +| ---------------------------------- | ------------------ | ------------------ | ------------- | --------------------- | +| Electric DBW Chassis and Platforms | Y | Y | Y | - | + +Link to company website: +[https://www.pixmoving.com/pixkit](https://www.pixmoving.com/pixkit) + +Different sizes of platforms + +![platforms.png](images/platforms.png) + +## **Autonomoustuff AV Solutions** + +Autonomoustuff platform solutions which is used for autonomous development and tested by one or more community members are listed below: + +| Vehicle Types | Sensors Integrated | Autoware Installed | ROS 2 Support | Autoware Tested (Y/N) | +| ---------------------------------- | ------------------ | ------------------ | ------------- | --------------------- | +| Road Vehicles, Golf Carts & Trucks | Y | Y | Y | - | + +Link to company website: +[https://autonomoustuff.com/platform](https://autonomoustuff.com/platform) + +## **NAVYA AV Solutions** + +NAVYA platform solutions which is used for autonomous development and tested by one or more community members are listed below: + +| Vehicle Types | Sensors Integrated | Autoware Installed | ROS 2 Support | Autoware Tested (Y/N) | +| ---------------------------------- | ------------------ | ------------------ | ------------- | --------------------- | +| Shuttle Bus, Taxi and Tow Tractors | Y | Y | - | - | + +Link to company website: +[https://navya.tech/en](https://navya.tech/en) + +## **ZING ROBOTICS AV Solutions** + +ZING Robotics platform solutions which is used for autonomous development and tested by one or more community members are listed below: + +| Vehicle Types | Sensors Integrated | Autoware Installed | ROS 2 Support | Autoware Tested (Y/N) | +| ---------------------------------------------------------------------- | ------------------ | ------------------ | ------------- | --------------------- | +| Purpose built electric autonomous vehicles for aviation, military etc. | Y | Y | - | - | + +Link to company website: +[https://www.zingrobotics.com/](https://www.zingrobotics.com/) diff --git a/docs/support/.pages b/docs/support/.pages index 9a9ce05db53..514c94b63c3 100644 --- a/docs/support/.pages +++ b/docs/support/.pages @@ -1,5 +1,5 @@ nav: - index.md - support-guidelines.md - - troubleshooting.md + - troubleshooting - docs-guide.md diff --git a/docs/support/index.md b/docs/support/index.md index 53e3a5c0cd5..ca56b3236cf 100644 --- a/docs/support/index.md +++ b/docs/support/index.md @@ -3,5 +3,5 @@ This page explains several support resources. - [Support guidelines](support-guidelines.md) pages explain the support mechanisms and guidelines. -- [Troubleshooting](troubleshooting.md) pages explain solutions for common issues. +- [Troubleshooting](troubleshooting/index.md) pages explain solutions for common issues. - [Docs guide](docs-guide.md) pages explain related documentation sites. diff --git a/docs/support/troubleshooting/.pages b/docs/support/troubleshooting/.pages new file mode 100644 index 00000000000..f854e9816fc --- /dev/null +++ b/docs/support/troubleshooting/.pages @@ -0,0 +1,3 @@ +nav: + - index.md + - performance-troubleshooting.md diff --git a/docs/support/troubleshooting.md b/docs/support/troubleshooting/index.md similarity index 73% rename from docs/support/troubleshooting.md rename to docs/support/troubleshooting/index.md index d175f418dfd..0262637a256 100644 --- a/docs/support/troubleshooting.md +++ b/docs/support/troubleshooting/index.md @@ -112,7 +112,7 @@ rm -rf build/ install/ log/ colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release ``` -If the error is not resolved, remove `src/` and update your workspace according to installation type ([Docker](../installation/autoware/docker-installation.md#how-to-update-a-workspace) / [source](../installation/autoware/source-installation.md#how-to-update-a-workspace)). +If the error is not resolved, remove `src/` and update your workspace according to installation type ([Docker](../../installation/autoware/docker-installation.md#how-to-update-a-workspace) / [source](../../installation/autoware/source-installation.md#how-to-update-a-workspace)). !!! Warning @@ -177,48 +177,21 @@ docker run --rm -it ghcr.io/autowarefoundation/autoware-universe:latest ## Runtime issues -### Map does not display when running the Planning Simulator - -When running the Planning Simulator, the most common reason for the map not being displayed in RViz is because [the map path has not been specified correctly in the launch command](../tutorials/ad-hoc-simulation/planning-simulation.md#how-to-run-a-planning-simulation). You can confirm if this is the case by searching for `Could not find lanelet map under {path-to-map-dir}/lanelet2_map.osm` errors in the log. - -Another possible reason is that map loading is taking a long time due to poor DDS performance. To address this issue, first enable localhost-only communication to reduce network traffic, and then [tune DDS settings](https://docs.ros.org/en/rolling/How-To-Guides/DDS-tuning.html) if the problem continues to occur. - -Simply put, add the following settings to `.bashrc` and reboot the terminal. In many cases this is not a problem. - -```bash -export ROS_LOCALHOST_ONLY=1 -if [ ! -e /tmp/cycloneDDS_configured ]; then - sudo sysctl -w net.core.rmem_max=2147483647 - sudo ip link set lo multicast on - touch /tmp/cycloneDDS_configured -fi -``` - -!!! note - - DDS configuration can be determined by running the following command. +### Performance related issues - ```bash - echo $RMW_IMPLEMENTATION // if Cyclone DDS is configured, this command will return "rmw_cyclonedds_cpp" - ``` +Symptoms: -If that does not work or you need more information, read the following documents. +- Autoware is running slower than expected +- Messages show up late in RViz2 +- Point clouds are lagging +- Camera images are lagging behind +- Point clouds or markers flicker on RViz2 +- When multiple subscribers use the same publishers, the message rate drops -1. [Enable localhost-only communication](../installation/additional-settings-for-developers/index.md#enabling-localhost-only-communication) -2. [DDS settings](../installation/additional-settings-for-developers/index.md#tuning-dds) +If you have any of these symptoms, please the [Performance Troubleshooting](performance-troubleshooting.md) page. -### Multicast is disabled - -If you get the error message `selected interface "{your-interface-name}" is not multicast-capable: disabling multicast`, run the following command to allow multicast. - -```bash -sudo ip link set multicast on {your-interface-name} -``` - -### Node performance degradation +### Map does not display when running the Planning Simulator -If you notice a decrease in the running performance of a node, such as [issue2597](https://github.com/autowarefoundation/autoware.universe/issues/2597#issuecomment-1491789081), you need to check if your compilation instructions use `Release` or `RelWithDebInfo` tags. If not, recompile the project using the following instructions: +When running the Planning Simulator, the most common reason for the map not being displayed in RViz is because [the map path has not been specified correctly in the launch command](../../tutorials/ad-hoc-simulation/planning-simulation.md#how-to-run-a-planning-simulation). You can confirm if this is the case by searching for `Could not find lanelet map under {path-to-map-dir}/lanelet2_map.osm` errors in the log. -```bash -colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -``` +Another possible reason is that map loading is taking a long time due to poor DDS performance. For this, please visit the [Performance Troubleshooting](performance-troubleshooting.md) page. diff --git a/docs/support/troubleshooting/performance-troubleshooting.md b/docs/support/troubleshooting/performance-troubleshooting.md new file mode 100644 index 00000000000..6fee15d21ce --- /dev/null +++ b/docs/support/troubleshooting/performance-troubleshooting.md @@ -0,0 +1,220 @@ +# Performance Troubleshooting + +Overall symptoms: + +- Autoware is running slower than expected +- Messages show up late in RViz2 +- Point clouds are lagging +- Camera images are lagging behind +- Point clouds or markers flicker on RViz2 +- When multiple subscribers use the same publishers, the message rate drops + +## Diagnostic Steps + +### Check if multicast is enabled + +#### Target symptoms + +- When multiple subscribers use the same publishers, the message rate drops + +#### Diagnosis + +Make sure that the multicast is enabled for your interface. + +For example when you run following: + +```bash +source /opt/ros/humble/setup.bash +ros2 run demo_nodes_cpp talker +``` + +If you get the error message `selected interface "{your-interface-name}" is not multicast-capable: disabling multicast`, this should be fixed. + +#### Solution + +Run the following command to allow multicast: + +```bash +sudo ip link set multicast on {your-interface-name} +``` + +This way DDS will function as intended and multiple subscribers can receive data from a single publisher without any significant degradation in performance. + +This is a temporary solution. And will be reverted once the computer restarts. + +To make it permanent either, + +- Create a service to run this on startup (recommended) +- **OR** put following lines to the `~/.bashrc` file: + + ```bash + if [ ! -e /tmp/multicast_is_set ]; then + sudo ip link set lo multicast on + touch /tmp/multicast_is_set + fi + ``` + + - This will probably ask for password on the terminal every time you restart the computer. + +### Check the compilation flags + +#### Target symptoms + +- Autoware is running slower than expected +- Point clouds are lagging +- When multiple subscribers use the same publishers, the message rate drops even further + +#### Diagnosis + +Check the `~/.bash_history` file to see if there are any `colcon build` directives without `-DCMAKE_BUILD_TYPE=Release` or `-DCMAKE_BUILD_TYPE=RelWithDebInfo` flags at all. + +Even if a build starts with these flags but same workspace gets compiled without these flags, it will still be a slow build in the end. + +In addition, the nodes will run slow in general, especially the `pointcloud_preprocessor` nodes. + +Example issue: [issue2597](https://github.com/autowarefoundation/autoware.universe/issues/2597#issuecomment-1491789081) + +#### Solution + +- Remove the `build`, `install` and optionally `log` folders in the main `autoware` folder. +- Compile the Autoware with either `Release` or `RelWithDebInfo` tags: + + ```bash + colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release + # Or build with debug flags too (comparable performance but you can debug too) + colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo + ``` + +### Check the DDS settings + +#### Target symptoms + +- Autoware is running slower than expected +- Messages show up late in RViz2 +- Point clouds are lagging +- Camera images are lagging behind +- When multiple subscribers use the same publishers, the message rate drops + +#### Check the RMW (ROS Middleware) implementation + +##### Diagnosis + +Run following to check the middleware used: + +```bash +echo $RMW_IMPLEMENTATION +``` + +The return line should be `rmw_cyclonedds_cpp`. If not, apply the solution. + +If you are using a different DDS middleware, we might not have official support for it just yet. + +##### Solution + +Add `export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp` as a separate line in you `~/.bashrc` file. + +#### Check if the CycloneDDS is configured correctly + +##### Diagnosis + +Run following to check the configuration `.xml` file of the `CycloneDDS`: + +```bash +echo $CYCLONEDDS_URI +``` + +The return line should be a valid path pointing to an `.xml` file with `CycloneDDS` configuration. + +Also check if the file is configured correctly: + +```bash +cat !{echo $CYCLONEDDS_URI} +``` + +This should print the `.xml` file on the terminal. + +##### Solution + +Follow [DDS settings:Tuning DDS documentation](../../installation/additional-settings-for-developers/index.md#tuning-dds) and make sure: + +- you have `export CYCLONEDDS_URI=/absolute_path_to_your/cyclonedds_config.xml` as a line on your `~/.bashrc` file. +- you have the `cyclonedds_config.xml` with the configuration provided in the documentation. + +#### Check the Linux kernel maximum buffer size + +##### Diagnosis + +- Run: `sysctl net.core.rmem_max`, it should return at least `net.core.rmem_max = 2147483647`. + - This parameter specifies the maximum size of the "receive buffer" for each network connection, which determines the maximum amount of data that can be held in memory at any given time. By increasing the maximum buffer size, the operating system can accommodate larger bursts of data, which can help prevent network congestion and reduce packet loss, resulting in faster and more reliable data transfers. +- Run: `sysctl net.ipv4.ipfrag_time`, it should return around: `net.ipv4.ipfrag_time = 3` + - The "net.ipv4.ipfrag_time" parameter specifies the maximum time in seconds that the kernel should retain partially fragmented IP packets before discarding them. The default value for this parameter is usually set to 30 seconds, but it may vary depending on the specific operating system and configuration. + - By setting this parameter to a lower value, such as 3 seconds, the kernel can free up memory resources more quickly by discarding partially fragmented packets that are no longer needed, which can help improve the overall performance and stability of the system. +- Run: `sysctl net.ipv4.ipfrag_high_thresh`, it should return at around: `net.ipv4.ipfrag_high_thresh = 134217728` + - The "net.ipv4.ipfrag_high_thresh" parameter specifies the high watermark threshold for the number of partially fragmented packets allowed in the kernel IP packet reassembly queue. When the number of partially fragmented packets in the queue exceeds this threshold, the kernel will start to drop newly arrived packets until the number of partially fragmented packets drops below the threshold. + - By setting this parameter to a higher value, such as 134217728 (128 MB), the kernel can accommodate a larger number of partially fragmented packets in the queue, which can help improve the performance of network applications that transfer large amounts of data, such as file transfer protocols and multimedia streaming applications. + +More info on these values: [Cross-vendor tuning](https://docs.ros.org/en/humble/How-To-Guides/DDS-tuning.html#cross-vendor-tuning) + +##### Solution + +Either: + +- Create the following file: `sudo touch /etc/sysctl.d/10-cyclone-max.conf` (recommended) + + - Edit the file to contain (`sudo gedit /etc/sysctl.d/10-cyclone-max.conf`): + + ```bash + net.core.rmem_max=2147483647 + net.ipv4.ipfrag_time=3 + net.ipv4.ipfrag_high_thresh=134217728 # (128 MB) + ``` + + - Either restart the computer or run following to enable the changes: + + ```bash + sudo sysctl -w net.core.rmem_max=2147483647 + sudo sysctl -w net.ipv4.ipfrag_time=3 + sudo sysctl -w net.ipv4.ipfrag_high_thresh=134217728 + ``` + +- **OR** put following lines to the `~/.bashrc` file: + + ```bash + if [ ! -e /tmp/kernel_network_conf_is_set ]; then + sudo sysctl -w net.core.rmem_max=2147483647 + sudo sysctl -w net.ipv4.ipfrag_time=3 + sudo sysctl -w net.ipv4.ipfrag_high_thresh=134217728 # (128 MB) + fi + ``` + + - This will probably ask for password on the terminal every time you restart the computer. + +### Check if ROS localhost only communication is enabled + +- If you are using multi computer setup, please skip this check. +- Enabling ROS localhost only communication can help improve the performance of ROS by reducing network traffic and avoiding potential conflicts with other devices on the network. +- Also check [Enable localhost-only communication](../../installation/additional-settings-for-developers/index.md#enabling-localhost-only-communication) + +#### Target symptoms + +- You see topics that shouldn't exist +- You see point clouds that don't belong to your machine + - They might be from another computer running ROS 2 on your network +- Point clouds or markers flicker on RViz2 + - Another publisher (on another machine) may be publishing on the same topic as your node does. + - Causing the flickering. + +#### Diagnosis + +Run following to check it: + +```bash +echo $ROS_LOCALHOST_ONLY +``` + +The return line should be `1`. If not, apply the solution. + +#### Solution + +- Add `export $ROS_LOCALHOST_ONLY=1` as a separate line in you `~/.bashrc` file. + - This environment variable tells ROS to only use the `loopback` network interface (i.e., localhost) for communication, rather than using the network interface card (NIC) for Ethernet or Wi-Fi. This can reduce network traffic and potential conflicts with other devices on the network, resulting in better performance and stability. diff --git a/docs/tutorials/ad-hoc-simulation/digital-twin-simulation/MORAI_Sim-tutorial.md b/docs/tutorials/ad-hoc-simulation/digital-twin-simulation/MORAI_Sim-tutorial.md index f304b89f552..fa10ec27263 100644 --- a/docs/tutorials/ad-hoc-simulation/digital-twin-simulation/MORAI_Sim-tutorial.md +++ b/docs/tutorials/ad-hoc-simulation/digital-twin-simulation/MORAI_Sim-tutorial.md @@ -41,6 +41,8 @@ Be aware that the following manuals are for _ver.22.R2_ ## Technical Support + + Hyeongseok Jeon will give full technical support - hsjeon@morai.ai diff --git a/docs/tutorials/ad-hoc-simulation/images/planning/avoidance/set-dummy-bus.png b/docs/tutorials/ad-hoc-simulation/images/planning/avoidance/set-dummy-bus.png new file mode 100644 index 00000000000..d3aaf85a2cf Binary files /dev/null and b/docs/tutorials/ad-hoc-simulation/images/planning/avoidance/set-dummy-bus.png differ diff --git a/docs/tutorials/ad-hoc-simulation/images/planning/avoidance/set-position-and-goal.png b/docs/tutorials/ad-hoc-simulation/images/planning/avoidance/set-position-and-goal.png new file mode 100644 index 00000000000..83072f02dd0 Binary files /dev/null and b/docs/tutorials/ad-hoc-simulation/images/planning/avoidance/set-position-and-goal.png differ diff --git a/docs/tutorials/ad-hoc-simulation/images/planning/lane-change/lane-changing.png b/docs/tutorials/ad-hoc-simulation/images/planning/lane-change/lane-changing.png new file mode 100644 index 00000000000..3d110bafbfb Binary files /dev/null and b/docs/tutorials/ad-hoc-simulation/images/planning/lane-change/lane-changing.png differ diff --git a/docs/tutorials/ad-hoc-simulation/images/planning/lane-change/open-nishishinjuku-map.png b/docs/tutorials/ad-hoc-simulation/images/planning/lane-change/open-nishishinjuku-map.png new file mode 100644 index 00000000000..91030eca0b5 Binary files /dev/null and b/docs/tutorials/ad-hoc-simulation/images/planning/lane-change/open-nishishinjuku-map.png differ diff --git a/docs/tutorials/ad-hoc-simulation/images/planning/lane-change/set-position-and-goal.png b/docs/tutorials/ad-hoc-simulation/images/planning/lane-change/set-position-and-goal.png new file mode 100644 index 00000000000..a5b83bee665 Binary files /dev/null and b/docs/tutorials/ad-hoc-simulation/images/planning/lane-change/set-position-and-goal.png differ diff --git a/docs/tutorials/ad-hoc-simulation/planning-simulation.md b/docs/tutorials/ad-hoc-simulation/planning-simulation.md index 0c562a06d1b..eda90349010 100644 --- a/docs/tutorials/ad-hoc-simulation/planning-simulation.md +++ b/docs/tutorials/ad-hoc-simulation/planning-simulation.md @@ -81,6 +81,44 @@ After that, you can see `AUTONOMOUS` sign on `OperationMode` and `AUTO` button i ![parking-maneuver](images/planning/parking/parking-maneuver.png) +### Lane change scenario + +1. Download and unpack Nishishinjuku map. + + ```bash + gdown -O ~/autoware_map/ 'https://github.com/tier4/AWSIM/releases/download/v1.1.0/nishishinjuku_autoware_map.zip' + unzip -d ~/autoware_map ~/autoware_map/nishishinjuku_autoware_map.zip + ``` + +2. Launch autoware with Nishishinjuku map with following command: + + ```bash + source ~/autoware/install/setup.bash + ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/autoware_map/nishishinjuku_autoware_map vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit + ``` + + ![open-nishishinjuku-map](images/planning/lane-change/open-nishishinjuku-map.png) + +3. Set an initial pose and a goal pose in adjacent lanes. + + ![set-position-and-goal](images/planning/lane-change/set-position-and-goal.png) + +4. Engage the ego vehicle. It will make a lane change along the planned path. + + ![lane-changing](images/planning/lane-change/lane-changing.png) + +### Avoidance scenario + +1. Set an initial pose and a goal pose in the same lane. A path will be planned. + + ![set-position-and-goal](images/planning/avoidance/set-position-and-goal.png) + +2. Set a "2D Dummy Bus" on the roadside. A new path will be planned. + + ![set-dummy-bus](images/planning/avoidance/set-dummy-bus.png) + +3. Engage the ego vehicle. It will avoid the obstacle along the newly planned path. + ## Advanced Simulations ### Placing dummy objects diff --git a/main.py b/main.py index 13663ff2212..6952a83155e 100644 --- a/main.py +++ b/main.py @@ -8,8 +8,20 @@ def drawio(image_path): image_url = urllib.parse.quote(f"{env.conf['site_url']}{image_path}", "") return f"https://app.diagrams.net/?lightbox=1#U{image_url}" + @env.macro + def create_relative_link(text, root_path): + path = os.path.relpath(root_path, env.page.url) + return f"[{text}]({path})" + @env.macro def link_ad_api(name): - root_path = "design/autoware-interfaces/ad-api" - base_path = os.path.relpath(root_path, env.page.url) + "/list" - return f"[{name}]({base_path}{name})" + return create_relative_link(name, f"design/autoware-interfaces/ad-api/list/{name}") + + @env.macro + def resolve_msg_field(type, name, ext): + specs = env.variables["autoware_interfaces"]["types"] + for field in name.split("."): + type = type.split("[")[0] + type = specs[type][ext][field] + ext = "msg" + return type diff --git a/mkdocs-base.yaml b/mkdocs-base.yaml new file mode 100644 index 00000000000..56c51cbb64f --- /dev/null +++ b/mkdocs-base.yaml @@ -0,0 +1,95 @@ +site_name: Autoware Documentation +site_url: https://autowarefoundation.github.io/autoware-documentation +repo_url: https://github.com/autowarefoundation/autoware +edit_uri: https://github.com/autowarefoundation/autoware-documentation/edit/main/docs/ +docs_dir: docs +copyright: Copyright © 2023 The Autoware Foundation + +theme: + name: material + features: + - navigation.expand + - navigation.indexes + - navigation.instant + - navigation.sections + - navigation.tabs + - navigation.tabs.sticky + - navigation.top + - navigation.footer + favicon: assets/images/autoware-foundation.png + icon: + logo: fontawesome/solid/car + repo: fontawesome/brands/github + language: en + palette: + - scheme: default + primary: white + toggle: + icon: material/weather-sunny + name: Switch to dark mode + - scheme: slate + primary: grey + toggle: + icon: material/weather-night + name: Switch to light mode + +extra: + font: + text: Roboto + code: Roboto Mono + version: + provider: mike + +extra_css: + - assets/css/extra.css + - https://use.fontawesome.com/releases/v5.15.4/css/all.css + +extra_javascript: + - assets/js/mathjax.js + - https://polyfill.io/v3/polyfill.min.js?features=es6 + - https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js + +plugins: + - awesome-pages + - exclude: + regex: + - ^(?!(.*/)?assets/).*\.(?!(.*\.)?md|(.*\.)?svg|(.*\.)?png|(.*\.)?gif|(.*\.)?jpg).*$ + - ^(.*/)?[^.]*$ + - macros + - mkdocs-video + - same-dir + - search + +markdown_extensions: + - abbr + - admonition + - attr_list + - codehilite: + guess_lang: false + - fontawesome_markdown + - footnotes + - md_in_html + - mdx_math + - mdx_truly_sane_lists: + nested_indent: 2 + - plantuml_markdown: + server: http://www.plantuml.com/plantuml + format: svg + - pymdownx.arithmatex: + generic: true + - pymdownx.details + - pymdownx.emoji: + emoji_index: !!python/name:materialx.emoji.twemoji + emoji_generator: !!python/name:materialx.emoji.to_svg + - pymdownx.highlight + - pymdownx.snippets: + auto_append: + - includes/abbreviations.md + - pymdownx.superfences: + custom_fences: + - name: mermaid + class: mermaid + format: !!python/name:pymdownx.superfences.fence_code_format + - toc: + permalink: "#" + toc_depth: 3 diff --git a/mkdocs.yaml b/mkdocs.yaml index 20e39c85a8f..19e8c22b726 100644 --- a/mkdocs.yaml +++ b/mkdocs.yaml @@ -45,7 +45,9 @@ extra_css: - https://use.fontawesome.com/releases/v5.15.4/css/all.css extra_javascript: - - https://cdn.jsdelivr.net/npm/mathjax@2/MathJax.js?config=TeX-AMS-MML_HTMLorMML + - assets/js/mathjax.js + - https://polyfill.io/v3/polyfill.min.js?features=es6 + - https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js plugins: - awesome-pages @@ -53,7 +55,9 @@ plugins: regex: - ^(?!(.*/)?assets/).*\.(?!(.*\.)?md|(.*\.)?svg|(.*\.)?png|(.*\.)?gif|(.*\.)?jpg).*$ - ^(.*/)?[^.]*$ - - macros + - macros: + include_yaml: + - autoware_interfaces: yaml/autoware-interfaces.yaml - mkdocs-video - same-dir - search @@ -73,7 +77,8 @@ markdown_extensions: - plantuml_markdown: server: http://www.plantuml.com/plantuml format: svg - - pymdownx.arithmatex + - pymdownx.arithmatex: + generic: true - pymdownx.details - pymdownx.emoji: emoji_index: !!python/name:materialx.emoji.twemoji diff --git a/tools/autoware-interfaces/README.md b/tools/autoware-interfaces/README.md new file mode 100644 index 00000000000..b7d8ffdb9e6 --- /dev/null +++ b/tools/autoware-interfaces/README.md @@ -0,0 +1,31 @@ +# Document generation for autoware interfaces + +Some of the documents under the `docs/design/autoware-interfaces` are generated by scripts. +If you would like to update these documents, please follow the steps below. + +## Usage + +Create a workspace anywhere and source the dependent message packages. + +```bash +mkdir -p workspace/src +cd workspace/src +git clone https://github.com/autowarefoundation/autoware_adapi_msgs.git +cd .. +colcon build +source install/setup.bash +``` + +Execute the script from the root of this repository. + +```bash +cd "repository root" +python3 tools/autoware-interfaces/generate.py +``` + +A document will be generated in the following paths. + +```txt +yaml/autoware-interfaces.yaml +docs/design/autoware-interfaces/ad-api/types/**/*.md +``` diff --git a/tools/autoware-interfaces/generate.py b/tools/autoware-interfaces/generate.py new file mode 100755 index 00000000000..c0f6fceb392 --- /dev/null +++ b/tools/autoware-interfaces/generate.py @@ -0,0 +1,162 @@ +#!/usr/bin/env python3 + +# Copyright 2023 The Autoware Contributors +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# This script requires "source install/setup.bash" for dependent messages/services. + +import shutil +import yaml +from pathlib import Path + +from rosidl_adapter.parser import MessageSpecification +from rosidl_adapter.parser import parse_message_file +from rosidl_adapter.parser import parse_service_file +from ament_index_python.packages import get_package_share_directory + + +# cSpell:words indentless +class MyDumper(yaml.SafeDumper): + def increase_indent(self, flow=False, *args, **kwargs): + return super().increase_indent(flow=flow, indentless=False) + + +def load_markdown_metadata(path: Path): + lines = path.read_text().splitlines() + if (2 < len(lines)) and (lines[0] == "---"): + data = lines[1:lines.index("---", 1)] + data = yaml.safe_load("\n".join(data)) + return test_markdown_metadata(data, path) + return None + + +def test_markdown_metadata(data, path): + if "status" not in data: + raise KeyError(f"status in {path}") + return data + + +def is_documentation_msg(name: str): + targets = set(["autoware_adapi_version_msgs", "autoware_adapi_v1_msgs"]) + return name.split("/")[0] in targets + + +def strip_array_suffix(name: str): + return name.split("[")[0] + + +def resolve_msg_file_path(name: str): + pkg, ext, msg = name.split("/") + return Path(get_package_share_directory(pkg)).joinpath(ext, msg).with_suffix("." + ext) + + +def normalize_msg_name(name: str): + parts = str(name).split("/") + return parts[0] if len(parts) == 1 else f"{parts[0]}/msg/{parts[1]}" + + +def parse_rosidl_spec(depends: set, visited: set, spec: MessageSpecification): + fields = {field.name: normalize_msg_name(field.type) for field in spec.fields} + for name in fields.values(): + name = strip_array_suffix(name) + if name not in visited: + depends.add(name) + return fields + + +def parse_rosidl_file(depends: set, visited: set, specs: dict, name: str): + visited.add(name) + if is_documentation_msg(name): + pkg, ext, msg = name.split("/") + if ext == "msg": + msg = parse_message_file(pkg, resolve_msg_file_path(name)) + msg = parse_rosidl_spec(depends, visited, msg) + specs[name] = {"msg": msg} + specs[name] = {k: v for k, v in specs[name].items() if v} + if ext == "srv": + srv = parse_service_file(pkg, resolve_msg_file_path(name)) + req = parse_rosidl_spec(depends, visited, srv.request) + res = parse_rosidl_spec(depends, visited, srv.response) + specs[name] = {"req": req, "res": res} + specs[name] = {k: v for k, v in specs[name].items() if v} + +def main(): + # Create a list of data types used in adapi. + adapi = Path("docs/design/autoware-interfaces/ad-api/list/api") + pages = (load_markdown_metadata(path) for path in adapi.glob("**/*.md")) + pages = [page for page in pages if page] + + # Create a field list for each data type. + names = (page["type"]["name"] for page in pages) + specs = {} + visited = set() + depends = set(names) + while depends: + name = depends.pop() + parse_rosidl_file(depends, visited, specs, name) + + # Export a field list. + data = {"types": specs} + Path("yaml/autoware-interfaces.yaml").write_text(yaml.dump(data, Dumper=MyDumper)) + + # Create data type dependencies. + type_uses = {name: set() for name in specs} + type_used = {name: set() for name in specs} + for user, spec in specs.items(): + for field in spec.values(): + for name in field.values(): + name = strip_array_suffix(name) + if is_documentation_msg(name): + type_uses[user].add(name) + type_used[name].add(user) + + # Clean up data type pages. + base = Path("docs/design/autoware-interfaces/ad-api/types") + for path in base.iterdir(): + if path.is_dir(): + shutil.rmtree(path) + + # Generate data type pages. + for name in specs: + uses = list(sorted(type_uses[name])) + used = list(sorted(type_used[name])) + data = {"title": name, "uses": uses, "used": used} + data = {k: v for k, v in data.items() if v} + text = "---\n" + text += "# This file is generated by tools/autoware-interfaces/generate.py\n" + text += yaml.dump(data, Dumper=MyDumper).strip() + "\n" + text += "---\n\n" + text += "{% extends 'design/autoware-interfaces/templates/autoware-data-type.jinja2' %}\n" + text += "{% block definition %}\n" + text += "\n```txt\n" + text += resolve_msg_file_path(name).read_text().strip() + "\n" + text += "```\n\n" + text += "{% endblock %}\n" + path = base.joinpath(name).with_suffix(".md") + path.parent.mkdir(parents=True, exist_ok=True) + path.write_text(text) + + ## Generate api list page. + text = "# List of Autoware AD API\n\n" + for title in sorted(page["title"] for page in pages): + text += f"- [{title}](.{title}.md)\n" + Path("docs/design/autoware-interfaces/ad-api/list/index.md").write_text(text) + + ## Generate api type page. + text = "# Types of Autoware AD API\n\n" + for spec in sorted(specs): + text += f"- [{spec}](./{spec}.md)\n" + Path("docs/design/autoware-interfaces/ad-api/types/index.md").write_text(text) + +main() diff --git a/yaml/autoware-interfaces.yaml b/yaml/autoware-interfaces.yaml new file mode 100644 index 00000000000..a86ed502e4d --- /dev/null +++ b/yaml/autoware-interfaces.yaml @@ -0,0 +1,200 @@ +types: + autoware_adapi_v1_msgs/msg/DoorCommand: + msg: + command: uint8 + index: uint32 + autoware_adapi_v1_msgs/msg/DoorLayout: + msg: + description: string + roles: uint8[] + autoware_adapi_v1_msgs/msg/DoorStatus: + msg: + status: uint8 + autoware_adapi_v1_msgs/msg/DoorStatusArray: + msg: + doors: autoware_adapi_v1_msgs/msg/DoorStatus[] + stamp: builtin_interfaces/msg/Time + autoware_adapi_v1_msgs/msg/DynamicObject: + msg: + classification: autoware_adapi_v1_msgs/msg/ObjectClassification[] + existence_probability: float64 + id: unique_identifier_msgs/msg/UUID + kinematics: autoware_adapi_v1_msgs/msg/DynamicObjectKinematics + shape: shape_msgs/msg/SolidPrimitive + autoware_adapi_v1_msgs/msg/DynamicObjectArray: + msg: + header: std_msgs/msg/Header + objects: autoware_adapi_v1_msgs/msg/DynamicObject[] + autoware_adapi_v1_msgs/msg/DynamicObjectKinematics: + msg: + accel: geometry_msgs/msg/Accel + pose: geometry_msgs/msg/Pose + predicted_paths: autoware_adapi_v1_msgs/msg/DynamicObjectPath[] + twist: geometry_msgs/msg/Twist + autoware_adapi_v1_msgs/msg/DynamicObjectPath: + msg: + confidence: float64 + path: geometry_msgs/msg/Pose[] + time_step: builtin_interfaces/msg/Duration + autoware_adapi_v1_msgs/msg/Gear: + msg: + status: uint8 + autoware_adapi_v1_msgs/msg/HazardLights: + msg: + status: uint8 + autoware_adapi_v1_msgs/msg/LocalizationInitializationState: + msg: + stamp: builtin_interfaces/msg/Time + state: uint16 + autoware_adapi_v1_msgs/msg/MotionState: + msg: + stamp: builtin_interfaces/msg/Time + state: uint16 + autoware_adapi_v1_msgs/msg/MrmState: + msg: + behavior: uint16 + stamp: builtin_interfaces/msg/Time + state: uint16 + autoware_adapi_v1_msgs/msg/ObjectClassification: + msg: + label: uint8 + probability: float64 + autoware_adapi_v1_msgs/msg/OperationModeState: + msg: + is_autonomous_mode_available: bool + is_autoware_control_enabled: bool + is_in_transition: bool + is_local_mode_available: bool + is_remote_mode_available: bool + is_stop_mode_available: bool + mode: uint8 + stamp: builtin_interfaces/msg/Time + autoware_adapi_v1_msgs/msg/ResponseStatus: + msg: + code: uint16 + message: string + success: bool + autoware_adapi_v1_msgs/msg/Route: + msg: + data: autoware_adapi_v1_msgs/msg/RouteData[<=1] + header: std_msgs/msg/Header + autoware_adapi_v1_msgs/msg/RouteData: + msg: + goal: geometry_msgs/msg/Pose + segments: autoware_adapi_v1_msgs/msg/RouteSegment[] + start: geometry_msgs/msg/Pose + autoware_adapi_v1_msgs/msg/RouteOption: + msg: + allow_goal_modification: bool + autoware_adapi_v1_msgs/msg/RoutePrimitive: + msg: + id: int64 + type: string + autoware_adapi_v1_msgs/msg/RouteSegment: + msg: + alternatives: autoware_adapi_v1_msgs/msg/RoutePrimitive[] + preferred: autoware_adapi_v1_msgs/msg/RoutePrimitive + autoware_adapi_v1_msgs/msg/RouteState: + msg: + stamp: builtin_interfaces/msg/Time + state: uint16 + autoware_adapi_v1_msgs/msg/SteeringFactor: + msg: + detail: string + direction: uint16 + distance: float32[2] + pose: geometry_msgs/msg/Pose[2] + status: uint16 + type: uint16 + autoware_adapi_v1_msgs/msg/SteeringFactorArray: + msg: + factors: autoware_adapi_v1_msgs/msg/SteeringFactor[] + header: std_msgs/msg/Header + autoware_adapi_v1_msgs/msg/TurnIndicators: + msg: + status: uint8 + autoware_adapi_v1_msgs/msg/VehicleDimensions: + msg: + footprint: geometry_msgs/msg/Polygon + front_overhang: float32 + height: float32 + left_overhang: float32 + rear_overhang: float32 + right_overhang: float32 + wheel_base: float32 + wheel_radius: float32 + wheel_tread: float32 + wheel_width: float32 + autoware_adapi_v1_msgs/msg/VehicleKinematics: + msg: + accel: geometry_msgs/msg/AccelWithCovarianceStamped + geographic_pose: geographic_msgs/msg/GeoPointStamped + pose: geometry_msgs/msg/PoseWithCovarianceStamped + twist: geometry_msgs/msg/TwistWithCovarianceStamped + autoware_adapi_v1_msgs/msg/VehicleStatus: + msg: + energy_percentage: float32 + gear: autoware_adapi_v1_msgs/msg/Gear + hazard_lights: autoware_adapi_v1_msgs/msg/HazardLights + stamp: builtin_interfaces/msg/Time + steering_tire_angle: float64 + turn_indicators: autoware_adapi_v1_msgs/msg/TurnIndicators + autoware_adapi_v1_msgs/msg/VelocityFactor: + msg: + detail: string + distance: float32 + pose: geometry_msgs/msg/Pose + status: uint16 + type: uint16 + autoware_adapi_v1_msgs/msg/VelocityFactorArray: + msg: + factors: autoware_adapi_v1_msgs/msg/VelocityFactor[] + header: std_msgs/msg/Header + autoware_adapi_v1_msgs/srv/AcceptStart: + res: + status: autoware_adapi_v1_msgs/msg/ResponseStatus + autoware_adapi_v1_msgs/srv/ChangeOperationMode: + res: + status: autoware_adapi_v1_msgs/msg/ResponseStatus + autoware_adapi_v1_msgs/srv/ClearRoute: + res: + status: autoware_adapi_v1_msgs/msg/ResponseStatus + autoware_adapi_v1_msgs/srv/GetDoorLayout: + res: + doors: autoware_adapi_v1_msgs/msg/DoorLayout[] + status: autoware_adapi_v1_msgs/msg/ResponseStatus + autoware_adapi_v1_msgs/srv/GetVehicleDimensions: + res: + dimensions: autoware_adapi_v1_msgs/msg/VehicleDimensions + status: autoware_adapi_v1_msgs/msg/ResponseStatus + autoware_adapi_v1_msgs/srv/InitializeLocalization: + req: + pose: geometry_msgs/msg/PoseWithCovarianceStamped[<=1] + res: + status: autoware_adapi_v1_msgs/msg/ResponseStatus + autoware_adapi_v1_msgs/srv/SetDoorCommand: + req: + doors: autoware_adapi_v1_msgs/msg/DoorCommand[] + res: + status: autoware_adapi_v1_msgs/msg/ResponseStatus + autoware_adapi_v1_msgs/srv/SetRoute: + req: + goal: geometry_msgs/msg/Pose + header: std_msgs/msg/Header + option: autoware_adapi_v1_msgs/msg/RouteOption + segments: autoware_adapi_v1_msgs/msg/RouteSegment[] + res: + status: autoware_adapi_v1_msgs/msg/ResponseStatus + autoware_adapi_v1_msgs/srv/SetRoutePoints: + req: + goal: geometry_msgs/msg/Pose + header: std_msgs/msg/Header + option: autoware_adapi_v1_msgs/msg/RouteOption + waypoints: geometry_msgs/msg/Pose[] + res: + status: autoware_adapi_v1_msgs/msg/ResponseStatus + autoware_adapi_version_msgs/srv/InterfaceVersion: + res: + major: uint16 + minor: uint16 + patch: uint16