From a66e7bea394ca0ea1c659d4a1661ae915520b3e4 Mon Sep 17 00:00:00 2001 From: Yutaka Kondo Date: Wed, 19 Mar 2025 17:22:09 +0900 Subject: [PATCH 1/3] rename autoware_universe Signed-off-by: Yutaka Kondo --- docs/autoware-competitions/index.md | 2 +- .../ros-nodes/launch-files.md | 14 +- .../coding-guidelines/ros-nodes/parameters.md | 6 +- .../ros-nodes/topic-message-handling/index.md | 2 +- .../pull-request-guidelines/ai-pr-review.md | 2 +- .../pull-request-guidelines/code-owners.md | 8 +- .../testing-guidelines/integration-testing.md | 16 +- .../testing-guidelines/unit-testing.md | 2 +- docs/datasets/index.md | 2 +- docs/design/autoware-architecture/index.md | 2 +- .../design/autoware-architecture/map/index.md | 6 +- .../category_area.md | 12 +- .../category_crosswalk.md | 8 +- .../category_intersection.md | 44 ++--- .../category_lane.md | 32 ++-- .../category_others.md | 4 +- .../category_stop_line.md | 2 +- .../category_traffic_light.md | 6 +- ...-node-diagram-autoware-universe.drawio.svg | 168 +++++++++--------- ...mplementaion-perception-diagram.drawio.svg | 36 ++-- .../faraway-object-detection.md | 12 +- .../radar-based-3d-detector.md | 2 +- .../image/planning-diagram-tmp.drawio.svg | 24 +-- .../image/planning-diagram.drawio.svg | 28 +-- ...-implementation-add-new-modules.drawio.svg | 24 +-- .../autoware-architecture/planning/index.md | 136 +++++++------- .../sensing/data-types/point-cloud.md | 4 +- .../radar-data/radar-objects-data.md | 10 +- .../radar-data/radar-pointcloud-data.md | 10 +- .../reference-implementations/data-message.md | 2 +- .../components/vehicle-interface.md | 2 +- .../creating-vector-map/crosswalk/index.md | 2 +- .../detection-area/index.md | 2 +- .../creating-vector-map/speed-bump/index.md | 2 +- .../creating-vector-map/stop-line/index.md | 2 +- .../traffic-light/index.md | 2 +- .../pointcloud-map-downsampling/index.md | 2 +- .../creating-sensor-model/index.md | 14 +- .../creating-vehicle-model/index.md | 6 +- .../images/autoware-vehicle-communication.svg | 2 +- .../vehicle-interface.md | 4 +- .../launch-autoware/control/index.md | 10 +- .../images/autoware_launch_overview.svg | 8 +- .../launch-autoware/index.md | 4 +- .../launch-autoware/localization/index.md | 18 +- .../launch-autoware/map/index.md | 2 +- .../launch-autoware/perception/index.md | 18 +- .../launch-autoware/planning/index.md | 14 +- .../launch-autoware/sensing/index.md | 2 +- .../launch-autoware/system/index.md | 20 +-- .../launch-autoware/vehicle/index.md | 2 +- .../evaluating-controller-performance.md | 6 +- .../evaluating-real-time-performance.md | 4 +- ...re-for-adding-and-evaluating-a-new-node.md | 4 +- .../fixing-dependent-package-versions.md | 4 +- .../others/reducing-start-delays.md | 12 +- .../others/running-autoware-without-cuda.md | 6 +- .../how-to-guides/others/using-divided-map.md | 2 +- .../training-models.md | 4 +- docs/index.md | 2 +- docs/support/docs-guide.md | 2 +- .../performance-troubleshooting.md | 2 +- .../digital-twin-simulation/carla-tutorial.md | 4 +- 63 files changed, 408 insertions(+), 408 deletions(-) diff --git a/docs/autoware-competitions/index.md b/docs/autoware-competitions/index.md index 93a7a831593..2e7317c2f19 100644 --- a/docs/autoware-competitions/index.md +++ b/docs/autoware-competitions/index.md @@ -6,7 +6,7 @@ This page is a collection of the links to the competitions that are related to t | :-----------------------------------------------------------: | :------: | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | | 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. | | | Finished | **[Japan Automotive AI Challenge 2023 (Integration)](https://www.jsae.or.jp/jaaic/2023_summary.php)**
**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. | -| | Ongoing | **[Japan Automotive AI Challenge 2023 (Simulation)](https://www.jsae.or.jp/jaaic/2023_simulation.php)**
**Registration:** Nov 6, 2023 - Dec 28, 2023
**Date:** Dec 4, 2023 - Jan. 31, 2024

This contest is a software development contest with a motorsports theme. Participants will develop autonomous driving software based on [Autoware.Universe](https://github.com/autowarefoundation/autoware.universe), and integrate it into a racing car that runs in the End to End simulation space (AWSIM). The goal is simple, win the race while driving safely! | +| | Ongoing | **[Japan Automotive AI Challenge 2023 (Simulation)](https://www.jsae.or.jp/jaaic/2023_simulation.php)**
**Registration:** Nov 6, 2023 - Dec 28, 2023
**Date:** Dec 4, 2023 - Jan. 31, 2024

This contest is a software development contest with a motorsports theme. Participants will develop autonomous driving software based on [Autoware.Universe](https://github.com/autowarefoundation/autoware_universe), and integrate it into a racing car that runs in the End to End simulation space (AWSIM). The goal is simple, win the race while driving safely! | ## Proposing New Competition diff --git a/docs/contributing/coding-guidelines/ros-nodes/launch-files.md b/docs/contributing/coding-guidelines/ros-nodes/launch-files.md index be31983a9f2..82197bce27d 100644 --- a/docs/contributing/coding-guidelines/ros-nodes/launch-files.md +++ b/docs/contributing/coding-guidelines/ros-nodes/launch-files.md @@ -8,15 +8,15 @@ Autoware use ROS 2 launch system to startup the software. Please see the [offici ### The organization of launch files in Autoware -Autoware mainly has two repositories related to launch file organization: the [autoware.universe](https://github.com/autowarefoundation/autoware.universe) and the [autoware_launch](https://github.com/autowarefoundation/autoware_launch). +Autoware mainly has two repositories related to launch file organization: the [autoware_universe](https://github.com/autowarefoundation/autoware_universe) and the [autoware_launch](https://github.com/autowarefoundation/autoware_launch). -#### autoware.universe +#### autoware_universe -the `autoware.universe` contains the code of the main Autoware modules, and its `launch` directory is responsible for launching the nodes of each module. Autoware software stack is organized based on the [architecture](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/#high-level-architecture-design), so you may find that we try to match the launch structure similar to the architecture (splitting of files, namespace). For example, the `tier4_map_launch` subdirectory corresponds to the map module, so do the other `tier4_*_launch` subdirectories. +the `autoware_universe` contains the code of the main Autoware modules, and its `launch` directory is responsible for launching the nodes of each module. Autoware software stack is organized based on the [architecture](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/#high-level-architecture-design), so you may find that we try to match the launch structure similar to the architecture (splitting of files, namespace). For example, the `tier4_map_launch` subdirectory corresponds to the map module, so do the other `tier4_*_launch` subdirectories. #### autoware_launch -The `autoware_launch` is a repository referring to `autoware.universe`. The mainly purpose of introducing this repository is to provide the general entrance to start the Autoware software stacks, i.e, calling the launch file of each module. +The `autoware_launch` is a repository referring to `autoware_universe`. The mainly purpose of introducing this repository is to provide the general entrance to start the Autoware software stacks, i.e, calling the launch file of each module. - The `autoware.launch.xml` is the basic launch file for road driving scenarios. @@ -56,12 +56,12 @@ A33-->A43[twist2accel.launch.xml] If a newly created package has executable node, we expect sample launch file and configuration within the package, just like the recommended structure shown in previous [directory structure](https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/directory-structure/) page. -In order to automatically load the newly added package when starting Autoware, you need to make some necessary changes to the corresponding launch file. For example, if using ICP instead of NDT as the pointcloud registration algorithm, you can modify the `autoware.universe/launch/tier4_localization_launch/launch/pose_estimator/pose_estimator.launch.xml` file to load the newly added ICP package. +In order to automatically load the newly added package when starting Autoware, you need to make some necessary changes to the corresponding launch file. For example, if using ICP instead of NDT as the pointcloud registration algorithm, you can modify the `autoware_universe/launch/tier4_localization_launch/launch/pose_estimator/pose_estimator.launch.xml` file to load the newly added ICP package. ## 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 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: +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. -3. in `autoware.universe/launch/tier4_localization_launch/launch`, the launch files loads the “launch parameters” if the argument is given in the parameter configuration file. You can still use the default parameters in each packages to launch `tier4_localization_launch` within `autoware.universe`. +3. in `autoware_universe/launch/tier4_localization_launch/launch`, the launch files loads the “launch parameters” if the argument is given in the parameter configuration file. You can still use the default parameters in each packages to launch `tier4_localization_launch` within `autoware_universe`. diff --git a/docs/contributing/coding-guidelines/ros-nodes/parameters.md b/docs/contributing/coding-guidelines/ros-nodes/parameters.md index 34de44ed42e..39dbd81f7bc 100644 --- a/docs/contributing/coding-guidelines/ros-nodes/parameters.md +++ b/docs/contributing/coding-guidelines/ros-nodes/parameters.md @@ -57,7 +57,7 @@ As there is no _default_value_ provided, the function throws an exception if a p 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) +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 @@ -78,7 +78,7 @@ 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) + - 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 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: @@ -149,7 +149,7 @@ Autoware has the following two types of parameter files for ROS packages: 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: _Image Projection Based Fusion - Pointpainting_ [schema](https://github.com/autowarefoundation/autoware.universe/blob/main/universe/perception/autoware_image_projection_based_fusion/schema/pointpainting.schema.json) +See example: _Image Projection Based Fusion - Pointpainting_ [schema](https://github.com/autowarefoundation/autoware_universe/blob/main/universe/perception/autoware_image_projection_based_fusion/schema/pointpainting.schema.json) ### Attributes diff --git a/docs/contributing/coding-guidelines/ros-nodes/topic-message-handling/index.md b/docs/contributing/coding-guidelines/ros-nodes/topic-message-handling/index.md index 3f119ba44e5..dc53a8aa71e 100644 --- a/docs/contributing/coding-guidelines/ros-nodes/topic-message-handling/index.md +++ b/docs/contributing/coding-guidelines/ros-nodes/topic-message-handling/index.md @@ -204,4 +204,4 @@ If `rclcpp::Executor` based object, an executor, is programmed to call a callbac As of May 2024, the recommended manners are beginning to be used in Autoware Universe. See the following PR if you want an example in Autoware Universe. -[_feat(tier4_autoware_utils, obstacle_cruise): change to read topic by polling #6702_](https://github.com/autowarefoundation/autoware.universe/pull/6702) +[_feat(tier4_autoware_utils, obstacle_cruise): change to read topic by polling #6702_](https://github.com/autowarefoundation/autoware_universe/pull/6702) diff --git a/docs/contributing/pull-request-guidelines/ai-pr-review.md b/docs/contributing/pull-request-guidelines/ai-pr-review.md index 704e5fdf105..9c58445bac5 100644 --- a/docs/contributing/pull-request-guidelines/ai-pr-review.md +++ b/docs/contributing/pull-request-guidelines/ai-pr-review.md @@ -4,7 +4,7 @@ We have [Codium-ai/pr-agent](https://github.com/Codium-ai/pr-agent/tree/main) en ## The workflow -Workflow: [pr-agent.yaml](https://github.com/autowarefoundation/autoware.universe/blob/main/.github/workflows/pr-agent.yaml) +Workflow: [pr-agent.yaml](https://github.com/autowarefoundation/autoware_universe/blob/main/.github/workflows/pr-agent.yaml) ### Additional links for the workflow maintainers diff --git a/docs/contributing/pull-request-guidelines/code-owners.md b/docs/contributing/pull-request-guidelines/code-owners.md index 75fb99821fd..be705094f33 100644 --- a/docs/contributing/pull-request-guidelines/code-owners.md +++ b/docs/contributing/pull-request-guidelines/code-owners.md @@ -20,16 +20,16 @@ Generally, repository maintainers handle the updates to `CODEOWNERS` files. To p ### Special case for the Autoware Universe repository -In the [autoware.universe](https://github.com/autowarefoundation/autoware.universe) repository, maintenance of the `CODEOWNERS` file is automated by the CI. +In the [autoware_universe](https://github.com/autowarefoundation/autoware_universe) repository, maintenance of the `CODEOWNERS` file is automated by the CI. -[This workflow](https://github.com/autowarefoundation/autoware.universe/actions/workflows/update-codeowners-from-packages.yaml) updates the `CODEOWNERS` file based on the `maintainer` information in the `package.xml` files of the packages in the repository. +[This workflow](https://github.com/autowarefoundation/autoware_universe/actions/workflows/update-codeowners-from-packages.yaml) updates the `CODEOWNERS` file based on the `maintainer` information in the `package.xml` files of the packages in the repository. -In order to change the code owners for a package in the `autoware.universe` repository: +In order to change the code owners for a package in the `autoware_universe` repository: 1. Modify the `maintainer` information in the `package.xml` file via a PR. 2. Once merged, the CI workflow runs at midnight UTC (or can be triggered manually by a maintainer) to update the `CODEOWNERS` file and create a PR. 3. A maintainer then needs to merge the CI-generated PR to finalize the update. - - **Example Automated PR:** [chore: update CODEOWNERS #6866](https://github.com/autowarefoundation/autoware.universe/pull/6866) + - **Example Automated PR:** [chore: update CODEOWNERS #6866](https://github.com/autowarefoundation/autoware_universe/pull/6866) ## Responsibilities of code owners diff --git a/docs/contributing/testing-guidelines/integration-testing.md b/docs/contributing/testing-guidelines/integration-testing.md index 3e4172e0033..3abff8f2f39 100644 --- a/docs/contributing/testing-guidelines/integration-testing.md +++ b/docs/contributing/testing-guidelines/integration-testing.md @@ -56,7 +56,7 @@ Doing so adds smoke tests that ensure that a node can be: 2. Terminated with a standard `SIGTERM` signal. For the full API documentation, -refer to the [package design page](https://github.com/autowarefoundation/autoware.universe/blob/main/common/autoware_testing/design/autoware_testing-design.md). +refer to the [package design page](https://github.com/autowarefoundation/autoware_universe/blob/main/common/autoware_testing/design/autoware_testing-design.md). !!! note @@ -70,16 +70,16 @@ The simplest scenario is a single node. In this case, the integration test is commonly referred to as a component test. To add a component test to an existing node, -you can follow the example of the `lanelet2_map_loader` in the [`autoware_map_loader` package](https://github.com/autowarefoundation/autoware.universe/tree/main/map/autoware_map_loader) -(added in [this PR](https://github.com/autowarefoundation/autoware.universe/pull/1056)). +you can follow the example of the `lanelet2_map_loader` in the [`autoware_map_loader` package](https://github.com/autowarefoundation/autoware_universe/tree/main/map/autoware_map_loader) +(added in [this PR](https://github.com/autowarefoundation/autoware_universe/pull/1056)). -In [`package.xml`](https://github.com/autowarefoundation/autoware.universe/blob/main/map/autoware_map_loader/package.xml), add: +In [`package.xml`](https://github.com/autowarefoundation/autoware_universe/blob/main/map/autoware_map_loader/package.xml), add: ```xml ros_testing ``` -In [`CMakeLists.txt`](https://github.com/autowarefoundation/autoware.universe/blob/main/map/autoware_map_loader/CMakeLists.txt), +In [`CMakeLists.txt`](https://github.com/autowarefoundation/autoware_universe/blob/main/map/autoware_map_loader/CMakeLists.txt), add or modify the `BUILD_TESTING` section: ```cmake @@ -106,7 +106,7 @@ To create a test, either read the [launch_testing quick-start example](https://github.com/ros2/launch/tree/master/launch_testing#quick-start-example), or follow the steps below. -Taking [`test/lanelet2_map_loader_launch.test.py`](https://github.com/autowarefoundation/autoware.universe/blob/main/map/autoware_map_loader/test/lanelet2_map_loader_launch.test.py) as an example, +Taking [`test/lanelet2_map_loader_launch.test.py`](https://github.com/autowarefoundation/autoware_universe/blob/main/map/autoware_map_loader/test/lanelet2_map_loader_launch.test.py) as an example, first dependencies are imported: ```python @@ -122,7 +122,7 @@ import pytest ``` Then a launch description is created to launch the node under test. -Note that the [`test_map.osm`](https://github.com/autowarefoundation/autoware.universe/blob/main/map/autoware_map_loader/test/data/test_map.osm) file path is found and passed to the node, +Note that the [`test_map.osm`](https://github.com/autowarefoundation/autoware_universe/blob/main/map/autoware_map_loader/test/data/test_map.osm) file path is found and passed to the node, something that cannot be done with the [smoke testing API](#smoke-tests): ```python @@ -184,7 +184,7 @@ source install/setup.bash Then either execute the component test manually: ```console -ros2 test src/universe/autoware.universe/map/autoware_map_loader/test/lanelet2_map_loader_launch.test.py +ros2 test src/universe/autoware_universe/map/autoware_map_loader/test/lanelet2_map_loader_launch.test.py ``` Or as part of testing the entire package: diff --git a/docs/contributing/testing-guidelines/unit-testing.md b/docs/contributing/testing-guidelines/unit-testing.md index 61c650ac5d4..9965e60f504 100644 --- a/docs/contributing/testing-guidelines/unit-testing.md +++ b/docs/contributing/testing-guidelines/unit-testing.md @@ -163,6 +163,6 @@ Total Test time (real) = 7.91 sec Loosely described, a code coverage metric is a measure of how much of the program code has been exercised (covered) during testing. -In the Autoware repositories, [Codecov](https://app.codecov.io/gh/autowarefoundation/autoware.universe/) is used to automatically calculate coverage of any open pull request. +In the Autoware repositories, [Codecov](https://app.codecov.io/gh/autowarefoundation/autoware_universe/) is used to automatically calculate coverage of any open pull request. More details about the code coverage metrics can be found in the [Codecov documentation](https://docs.codecov.com/docs/about-code-coverage). diff --git a/docs/datasets/index.md b/docs/datasets/index.md index 6be7ff8946c..ba26f2ffe1b 100644 --- a/docs/datasets/index.md +++ b/docs/datasets/index.md @@ -177,4 +177,4 @@ The pcap file and ros2 bag file is recorded in the same time with slight differe [Click here to download (~553MB)](https://autoware-files.s3.us-west-2.amazonaws.com/collected_data/2022-04-14_autocore-lidar-bag-pcap/Lidar_Data_220414_bag_pcap.zip) -[Reference Issue](https://github.com/autowarefoundation/autoware.universe/issues/562#issuecomment-1102662448) +[Reference Issue](https://github.com/autowarefoundation/autoware_universe/issues/562#issuecomment-1102662448) diff --git a/docs/design/autoware-architecture/index.md b/docs/design/autoware-architecture/index.md index 55c54b56ad7..7d4dbe821ac 100644 --- a/docs/design/autoware-architecture/index.md +++ b/docs/design/autoware-architecture/index.md @@ -34,7 +34,7 @@ Autoware's architecture consists of the following seven stacks. Each linked page ## Node diagram -A diagram showing Autoware's nodes in the default configuration can be found on the [Node diagram](node-diagram/index.md) page. Detailed documents for each node are available in the [Autoware Universe docs](https://autowarefoundation.github.io/autoware.universe/main/). +A diagram showing Autoware's nodes in the default configuration can be found on the [Node diagram](node-diagram/index.md) page. Detailed documents for each node are available in the [Autoware Universe docs](https://autowarefoundation.github.io/autoware_universe/main/). Note that Autoware configurations are scalable / selectable and will vary depending on the environment and required use cases. diff --git a/docs/design/autoware-architecture/map/index.md b/docs/design/autoware-architecture/map/index.md index 30c3f52b31d..2d7d87f4458 100644 --- a/docs/design/autoware-architecture/map/index.md +++ b/docs/design/autoware-architecture/map/index.md @@ -61,7 +61,7 @@ The Map component consists of the following sub-components: 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). +- 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. @@ -69,7 +69,7 @@ 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/autoware_map_loader/README.md). +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/autoware_map_loader/README.md). !!! note @@ -98,4 +98,4 @@ The projection information must be supplied as a file with the following require - 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). +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/map/map-requirements/vector-map-requirements-overview/category_area.md b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_area.md index 6e5be9c1e0e..5bf51114f3a 100644 --- a/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_area.md +++ b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_area.md @@ -33,8 +33,8 @@ None in particular. #### Related Autoware module -- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/) -- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/) +- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/) +- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/) --- @@ -64,7 +64,7 @@ None in particular. #### Related Autoware module -- [Goal Planner design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/) +- [Goal Planner design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/) --- @@ -94,7 +94,7 @@ None in particular. #### Related Autoware module -- [Goal Planner design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/) +- [Goal Planner design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/) --- @@ -124,7 +124,7 @@ None in particular. #### Related Autoware module -- [No Stopping Area design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/) +- [No Stopping Area design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/) --- @@ -148,4 +148,4 @@ None in particular. #### Related Autoware module -- [Detection Area - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/) +- [Detection Area - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/) diff --git a/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_crosswalk.md b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_crosswalk.md index 20c956d6f8f..1d5079df368 100644 --- a/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_crosswalk.md +++ b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_crosswalk.md @@ -39,7 +39,7 @@ None in particular. #### Related Autoware module -- [Crosswalk - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/) +- [Crosswalk - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/) --- @@ -69,7 +69,7 @@ None in particular. #### Related Autoware module -- [Crosswalk - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/) +- [Crosswalk - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/) --- @@ -92,7 +92,7 @@ None in particular. #### Related Autoware module -- [Crosswalk - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/) +- [Crosswalk - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/) --- @@ -116,4 +116,4 @@ None in particular. #### Related Autoware module -- [map_based_prediction - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/perception/autoware_map_based_prediction/) +- [map_based_prediction - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/perception/autoware_map_based_prediction/) diff --git a/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_intersection.md b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_intersection.md index 31ace0cfec7..2b2163daf1f 100644 --- a/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_intersection.md +++ b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_intersection.md @@ -33,10 +33,10 @@ None in particular. #### Related Autoware module -- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) -- [Blind Spot design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/) -- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/) -- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/) +- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) +- [Blind Spot design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/) +- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/) +- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/) --- @@ -71,9 +71,9 @@ None in particular. #### Related Autoware module -- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) -- [Blind Spot design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/) -- [virtual_traffic_light in behavior_velocity_planner - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/) +- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) +- [Blind Spot design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/) +- [virtual_traffic_light in behavior_velocity_planner - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/) --- @@ -121,7 +121,7 @@ Autoware uses lanelets to predict the movements of other vehicles and plan the v #### Related Autoware module -- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) +- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) --- @@ -143,7 +143,7 @@ Create the Lanelets in the intersection as a single object without dividing them #### Related Autoware module -- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) +- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) --- @@ -167,7 +167,7 @@ None in particular. #### Related Autoware module -- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) +- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) --- @@ -189,7 +189,7 @@ When connecting multiple lanes with Lanelets at an intersection, those Lanelets #### Related Autoware module -- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) +- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) --- @@ -212,10 +212,10 @@ None in particular. #### Related Autoware module -- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) -- [Blind Spot design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/) -- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/) -- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/) +- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) +- [Blind Spot design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/) +- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/) +- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/) --- @@ -241,7 +241,7 @@ None in particular. #### Related Autoware module -- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) +- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) --- @@ -275,7 +275,7 @@ None in particular. #### Related Autoware module -- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) +- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) --- @@ -309,7 +309,7 @@ None in particular. #### Related Autoware module -- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) +- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) --- @@ -333,7 +333,7 @@ None in particular. #### Related Autoware module -- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) +- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) --- @@ -362,7 +362,7 @@ None in particular. #### Related Autoware module -- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) +- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) --- @@ -390,7 +390,7 @@ None in particular. #### Related Autoware module -- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) +- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) --- @@ -420,4 +420,4 @@ None in particular. #### Related Autoware module -- [Blind Spot design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/) +- [Blind Spot design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/) diff --git a/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_lane.md b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_lane.md index c5e1177a5f2..29fa1bf4528 100644 --- a/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_lane.md +++ b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_lane.md @@ -47,10 +47,10 @@ Set the Linestring _subtype_ according to the type of line. #### Related Autoware module -- [Lane Change design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/) -- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/) -- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/) -- [Out of lane design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/) +- [Lane Change design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/) +- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/) +- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/) +- [Out of lane design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/) --- @@ -80,10 +80,10 @@ If the Lanelet adjacent to the one the vehicle is driving on shares a Linestring #### Related Autoware module -- [Lane Change design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/) -- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/) -- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/) -- [Out of lane design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/) +- [Lane Change design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/) +- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/) +- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/) +- [Out of lane design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/) --- @@ -362,9 +362,9 @@ Do not create a road shoulder Lanelet for roads without a shoulder. #### Related Autoware module -- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/) -- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/) -- [Goal Planner design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/) +- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/) +- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/) +- [Goal Planner design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/) --- @@ -386,9 +386,9 @@ None in particular. #### Related Autoware module -- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/) -- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/) -- [Goal Planner design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/) +- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/) +- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/) +- [Goal Planner design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/) --- @@ -450,5 +450,5 @@ None in particular. #### Related Autoware module -- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) -- [Walkway design- Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/) +- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) +- [Walkway design- Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/) diff --git a/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_others.md b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_others.md index c51a1f465cc..05d117f6baa 100644 --- a/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_others.md +++ b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_others.md @@ -55,7 +55,7 @@ None in particular. #### Related Autoware module -- [map_based_prediction - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/perception/autoware_map_based_prediction/) +- [map_based_prediction - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/perception/autoware_map_based_prediction/) --- @@ -77,7 +77,7 @@ Follow the same position guidelines for Linestrings of fences (_type:fence_). #### Related Autoware module -- [Drivable Area design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_drivable_area_design/) +- [Drivable Area design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_drivable_area_design/) --- diff --git a/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_stop_line.md b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_stop_line.md index d58ecb11c99..bf7520cf865 100644 --- a/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_stop_line.md +++ b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_stop_line.md @@ -42,4 +42,4 @@ None in particular. #### Related Autoware module -- [Stop Line design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/) +- [Stop Line design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/) diff --git a/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_traffic_light.md b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_traffic_light.md index a9e981be05d..28db8d6a3df 100644 --- a/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_traffic_light.md +++ b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_traffic_light.md @@ -29,7 +29,7 @@ If there is a crosswalk at the intersection, arrange for the road's Lanelet and #### Related Autoware module -- [Traffic Light design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/) +- [Traffic Light design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/) --- @@ -60,7 +60,7 @@ None in particular. #### Related Autoware module -- [Traffic Light design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/) +- [Traffic Light design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/) --- @@ -89,4 +89,4 @@ None in particular. 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<UserObject label="run_out" tooltip="規定された停止線で一時停止を行います" id="iM43lsEIwqhlJ7BxjptO-52"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;" parent="99" vertex="1"> <mxGeometry y="124" width="110" height="25" as="geometry" /> </mxCell> </UserObject> <UserObject label="merge_from_private" tooltip="規定された停止線で一時停止を行います" id="zEs4wxTr3dO1cdEekOQt-55"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;" parent="99" vertex="1"> <mxGeometry y="186.46341463414635" width="110" height="25" as="geometry" /> </mxCell> </UserObject> <UserObject label="occlusion_spot" tooltip="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。" id="34"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;flipV=0;flipH=1;" parent="huNNO2pCuBcXr_yaQgU9-41" vertex="1"> <mxGeometry x="-543" y="-341" width="110" height="25" as="geometry" /> </mxCell> </UserObject> <UserObject label="cross_walk" tooltip="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。" id="37"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;flipV=0;flipH=1;" parent="huNNO2pCuBcXr_yaQgU9-41" vertex="1"> <mxGeometry x="-543" y="-402" width="110" height="25" as="geometry" /> </mxCell> </UserObject> <UserObject label="detection_area" tooltip="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" id="39"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;flipV=0;flipH=1;" parent="huNNO2pCuBcXr_yaQgU9-41" vertex="1"> <mxGeometry x="-543" y="-433" width="110" height="25" as="geometry" /> </mxCell> </UserObject> <UserObject label="stop_line" tooltip="規定された停止線で一時停止を行います" id="40"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;flipV=0;flipH=1;" parent="huNNO2pCuBcXr_yaQgU9-41" vertex="1"> <mxGeometry x="-543" 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<UserObject label="cross_walk" tooltip="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。" id="37"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;flipV=0;flipH=1;" parent="huNNO2pCuBcXr_yaQgU9-41" vertex="1"> <mxGeometry x="-543" y="-402" width="110" height="25" as="geometry" /> </mxCell> </UserObject> <UserObject label="detection_area" tooltip="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" id="39"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;flipV=0;flipH=1;" parent="huNNO2pCuBcXr_yaQgU9-41" vertex="1"> <mxGeometry x="-543" y="-433" width="110" height="25" as="geometry" /> </mxCell> </UserObject> <UserObject label="stop_line" tooltip="規定された停止線で一時停止を行います" id="40"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;flipV=0;flipH=1;" parent="huNNO2pCuBcXr_yaQgU9-41" vertex="1"> <mxGeometry x="-543" 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Group-Fusion: performed on traffic light signals within the same group, which means traffic lights sharing the same regulatory element id defined in lanelet2 map. @@ -164,7 +164,7 @@ - + crosswalk_traffic_light_estimator is a module that estimates pedestrian traffic signals from HDMap and detected vehicle traffic signals. @@ -208,7 +208,7 @@ Traffic Light States - + This package receives traffic signals from perception and external (e.g., V2X) components and combines them using either a confidence-based or a external-preference based approach. @@ -456,7 +456,7 @@ Localization - + 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． @@ -504,7 +504,7 @@ - + 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 @@ -573,7 +573,7 @@ Interpolator - + tracker内部のclusterをマージし，shape fittingしたbboxを出力する @@ -623,7 +623,7 @@ - + BBox内に存在するobstacle_segmentation後の点群数を用いて，false positiveを除く @@ -646,7 +646,7 @@ - + DNNベースでLiDAR点群に物体のクラス情報を付与する @@ -713,7 +713,7 @@ Detection - + @@ -744,7 +744,7 @@ pointer-events="stroke" /> - + clustering結果に画像のdetection結果をprojectionしてlabelを付与する @@ -767,7 +767,7 @@ - + DNNベースで画像に物体のクラス情報を付与する @@ -839,7 +839,7 @@ This package contains a radar noise filter module for autoware_auto_perception_msgs/msg/DetectedObject. This package can filter the noise objects which cross to the ego vehicle. @@ -865,7 +865,7 @@ - + This package can make clustered objects from radar DetectedObjects, the objects which is converted from RadarTracks by radar_tracks_msgs_converter and is processed by noise filter. In other @@ -903,7 +903,7 @@ <path d="M 1152.47 1534 L 1162.47 1529 L 1159.97 1534 L 1162.47 1539 Z" fill="#82b366" stroke="#82b366" stroke-width="4" stroke-miterlimit="10" pointer-events="all"/> <path d="M 1068 1554 L 1068 1619.5 L 1068.65 1673.03" fill="none" stroke="#82b366" stroke-width="4" stroke-miterlimit="10" pointer-events="stroke"/> <path d="M 1068.74 1680.53 L 1063.62 1670.59 L 1068.65 1673.03 L 1073.62 1670.47 Z" fill="#82b366" stroke="#82b366" stroke-width="4" stroke-miterlimit="10" pointer-events="all"/> - <a xlink:href="https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_tracking_object_merger"> + <a xlink:href="https://github.com/autowarefoundation/autoware_universe/tree/main/perception/autoware_tracking_object_merger"> <rect x="988" y="1514" width="160" height="40" rx="6" ry="6" fill="#d5e8d4" stroke="#82b366" pointer-events="all"> <title>This package try to merge two tracking objects from different sensor. @@ -926,7 +926,7 @@ - + This package provides a radar object tracking node that processes sequences of detected objects to assign consistent identities to them and estimate their velocities. @@ -949,7 +949,7 @@ - + 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） @@ -1016,7 +1016,7 @@ Dynamic Objects - + 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 diff --git a/docs/design/autoware-architecture/perception/reference-implementations/radar-based-3d-detector/faraway-object-detection.md b/docs/design/autoware-architecture/perception/reference-implementations/radar-based-3d-detector/faraway-object-detection.md index 9d2cae150fe..fc83ee288ff 100644 --- a/docs/design/autoware-architecture/perception/reference-implementations/radar-based-3d-detector/faraway-object-detection.md +++ b/docs/design/autoware-architecture/perception/reference-implementations/radar-based-3d-detector/faraway-object-detection.md @@ -10,13 +10,13 @@ This diagram describes the pipeline for radar faraway dynamic object detection. ### Crossing filter -- [radar_crossing_objects_noise_filter](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_radar_crossing_objects_noise_filter) +- [radar_crossing_objects_noise_filter](https://github.com/autowarefoundation/autoware_universe/tree/main/perception/autoware_radar_crossing_objects_noise_filter) This package can filter the noise objects crossing to the ego vehicle, which are most likely ghost objects. ### Velocity filter -- [object_velocity_splitter](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_object_velocity_splitter) +- [object_velocity_splitter](https://github.com/autowarefoundation/autoware_universe/tree/main/perception/autoware_object_velocity_splitter) Static objects include many noise like the objects reflected from ground. In many cases for radars, dynamic objects can be detected stably. @@ -24,14 +24,14 @@ To filter out static objects, `object_velocity_splitter` can be used. ### Range filter -- [object_range_splitter](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_object_range_splitter) +- [object_range_splitter](https://github.com/autowarefoundation/autoware_universe/tree/main/perception/autoware_object_range_splitter) For some radars, ghost objects sometimes occur for near objects. To filter these objects, `object_range_splitter` can be used. ### Vector map filter -- [object-lanelet-filter](https://github.com/autowarefoundation/autoware.universe/blob/main/perception/autoware_detected_object_validation/object-lanelet-filter.md) +- [object-lanelet-filter](https://github.com/autowarefoundation/autoware_universe/blob/main/perception/autoware_detected_object_validation/object-lanelet-filter.md) In most cases, vehicles drive in drivable are. To filter objects that are out of drivable area, `object-lanelet-filter` can be used. @@ -41,12 +41,12 @@ Note that if you use `object-lanelet-filter` for radar faraway detection, you ne ### Radar object clustering -- [radar_object_clustering](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_radar_object_clustering) +- [radar_object_clustering](https://github.com/autowarefoundation/autoware_universe/tree/main/perception/autoware_radar_object_clustering) This package can combine multiple radar detections from one object into one and adjust class and size. It can suppress splitting objects in tracking module. -![radar_object_clustering](https://raw.githubusercontent.com/autowarefoundation/autoware.universe/main/perception/autoware_radar_object_clustering/docs/radar_clustering.drawio.svg) +![radar_object_clustering](https://raw.githubusercontent.com/autowarefoundation/autoware_universe/main/perception/autoware_radar_object_clustering/docs/radar_clustering.drawio.svg) ## Note diff --git a/docs/design/autoware-architecture/perception/reference-implementations/radar-based-3d-detector/radar-based-3d-detector.md b/docs/design/autoware-architecture/perception/reference-implementations/radar-based-3d-detector/radar-based-3d-detector.md index 7499e882067..a834785fce4 100644 --- a/docs/design/autoware-architecture/perception/reference-implementations/radar-based-3d-detector/radar-based-3d-detector.md +++ b/docs/design/autoware-architecture/perception/reference-implementations/radar-based-3d-detector/radar-based-3d-detector.md @@ -58,7 +58,7 @@ In detail, please see [this document](faraway-object-detection.md) ### Radar fusion to LiDAR-based 3D object detection -- [radar_fusion_to_detected_object](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_radar_fusion_to_detected_object) +- [radar_fusion_to_detected_object](https://github.com/autowarefoundation/autoware_universe/tree/main/perception/autoware_radar_fusion_to_detected_object) This package contains a sensor fusion module for radar-detected objects and 3D detected objects. The fusion node can: diff --git a/docs/design/autoware-architecture/planning/image/planning-diagram-tmp.drawio.svg b/docs/design/autoware-architecture/planning/image/planning-diagram-tmp.drawio.svg index ebc380d1a23..68178b5285a 100644 --- a/docs/design/autoware-architecture/planning/image/planning-diagram-tmp.drawio.svg +++ b/docs/design/autoware-architecture/planning/image/planning-diagram-tmp.drawio.svg @@ -57,7 +57,7 @@ route - + @@ -95,7 +95,7 @@ path_with_lane_id - + @@ -119,7 +119,7 @@ path - + @@ -143,7 +143,7 @@ Trajectory - + @@ -186,7 +186,7 @@ Trajectory - + @@ -227,7 +227,7 @@ Trajectory - + @@ -251,7 +251,7 @@ Trajectory - + @@ -292,7 +292,7 @@ Trajectory - + @@ -335,7 +335,7 @@ Trajectory - + @@ -376,7 +376,7 @@ occupancy_grid - + @@ -1414,7 +1414,7 @@ vector_map - + @@ -1535,7 +1535,7 @@ Trajectory - + diff --git a/docs/design/autoware-architecture/planning/image/planning-diagram.drawio.svg b/docs/design/autoware-architecture/planning/image/planning-diagram.drawio.svg index cf1c8cb7bde..e818b9bc298 100644 --- a/docs/design/autoware-architecture/planning/image/planning-diagram.drawio.svg +++ b/docs/design/autoware-architecture/planning/image/planning-diagram.drawio.svg @@ -50,7 +50,7 @@ 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。 @@ -91,7 +91,7 @@ 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。 @@ -114,7 +114,7 @@ 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。 @@ -140,7 +140,7 @@ 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。 @@ -184,7 +184,7 @@ 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。 @@ -228,7 +228,7 @@ 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。 @@ -255,7 +255,7 @@ 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。 @@ -299,7 +299,7 @@ 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。 @@ -345,7 +345,7 @@ 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。 @@ -389,7 +389,7 @@ 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。 @@ -1473,7 +1473,7 @@ 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。 @@ -1566,7 +1566,7 @@ Trajectory - + Check the trajectory and stop publishing it if it is unsafe. @@ -1790,7 +1790,7 @@ Modlue Plugin - + 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。 @@ -1831,7 +1831,7 @@ Trajectory - + module to stop or slowdown before ego overlaps an other lane where other vehicles are incoming diff --git a/docs/design/autoware-architecture/planning/image/reference-implementation-add-new-modules.drawio.svg b/docs/design/autoware-architecture/planning/image/reference-implementation-add-new-modules.drawio.svg index 58ee3ae074a..cea65b49dd3 100644 --- a/docs/design/autoware-architecture/planning/image/reference-implementation-add-new-modules.drawio.svg +++ b/docs/design/autoware-architecture/planning/image/reference-implementation-add-new-modules.drawio.svg @@ -37,7 +37,7 @@ Parking Scenario - + @@ -75,7 +75,7 @@ path_with_lane_id - + @@ -96,7 +96,7 @@ path - + @@ -120,7 +120,7 @@ Trajectory - + @@ -163,7 +163,7 @@ Trajectory - + @@ -204,7 +204,7 @@ Trajectory - + @@ -228,7 +228,7 @@ Trajectory - + @@ -269,7 +269,7 @@ Trajectory - + @@ -307,7 +307,7 @@ Trajectory - + @@ -345,7 +345,7 @@ occupancy_grid - + @@ -851,7 +851,7 @@ check_point - + @@ -916,7 +916,7 @@ Trajectory - + diff --git a/docs/design/autoware-architecture/planning/index.md b/docs/design/autoware-architecture/planning/index.md index ddb70a6ce40..930f553bac1 100644 --- a/docs/design/autoware-architecture/planning/index.md +++ b/docs/design/autoware-architecture/planning/index.md @@ -60,7 +60,7 @@ Key aspects of this high-level design include: #### Modulation of each function -Essential Planning functions, such as route generation, lane changes, and intersection management, are modularized. These modules come with standardized interfaces, enabling easy addition or modification. More details on these interfaces will be discussed in subsequent sections. You can see the details about how to enable/disable each module in [the implementation documentation of Planning](https://autowarefoundation.github.io/autoware.universe/main/planning/#how-to-enable-or-disable-planning-module). +Essential Planning functions, such as route generation, lane changes, and intersection management, are modularized. These modules come with standardized interfaces, enabling easy addition or modification. More details on these interfaces will be discussed in subsequent sections. You can see the details about how to enable/disable each module in [the implementation documentation of Planning](https://autowarefoundation.github.io/autoware_universe/main/planning/#how-to-enable-or-disable-planning-module). #### Separation of Mission Planning sub-component @@ -88,7 +88,7 @@ A significant feature of the Planning Component design is its ability to integra Users can augment or replace existing Planning functionalities with new modules. This approach is commonly used for extending features, allowing for the addition of capabilities absent in the desired ODD or simplification of existing features. -However, adding these functionalities requires well-organized module interfaces. As of November 2023, an ideal modular system is not fully established, presenting some limitations. For more information, please refer to the Reference Implementation section [Customize features in the current implementation](#customize-features-in-the-current-implementation) and [the implementation documentation of Planning](https://autowarefoundation.github.io/autoware.universe/main/planning/#how-to-enable-or-disable-planning-module). +However, adding these functionalities requires well-organized module interfaces. As of November 2023, an ideal modular system is not fully established, presenting some limitations. For more information, please refer to the Reference Implementation section [Customize features in the current implementation](#customize-features-in-the-current-implementation) and [the implementation documentation of Planning](https://autowarefoundation.github.io/autoware_universe/main/planning/#how-to-enable-or-disable-planning-module). ### 2. Replacing Sub-components of Planning @@ -155,43 +155,43 @@ This section describes the inputs and outputs of the Planning Component and of i | Feature | Description | Requirements | Figure | Demonstration | | -------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------- | ------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| 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/autoware_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/autoware_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 [Static Avoidance Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/), [Path Optimizer](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_path_optimizer/). Enable flag in parameter: `launch path_optimizer true` | - objects information | ![obstacle-avoidance](image/features-avoidance.drawio.svg) | [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) | -| Path Smoothing | Plan path to achieve smooth steering.

Reference implementation is in [Path Optimizer](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_path_optimizer/). | - Lanelet map (driving lanelet) | ![path-smoothing](image/features-path-smoothing.drawio.svg) | [Demonstration Video](https://youtu.be/RhyAF26Ppzs)
[![Demonstration Video](https://img.youtube.com/vi/RhyAF26Ppzs/0.jpg)](https://www.youtube.com/watch?v=RhyAF26Ppzs) | -| 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 [Path Optimizer](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_path_optimizer/). | - Lanelet map (high-precision lane boundaries) | ![narrow-space-driving](image/features-narrow-space-driving.drawio.svg) | [Demonstration Video](https://youtu.be/URzcLO2E1vY)
[![Demonstration Video](https://img.youtube.com/vi/URzcLO2E1vY/0.jpg)](https://www.youtube.com/watch?v=URzcLO2E1vY) | -| 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/autoware_behavior_path_lane_change_module/). | - Lanelet map (driving lanelets) | ![lane-change](image/features-lane-change.drawio.svg) | [Demonstration Video](https://youtu.be/0jRDGQ84cD4)
[![Demonstration Video](https://img.youtube.com/vi/0jRDGQ84cD4/0.jpg)](https://www.youtube.com/watch?v=0jRDGQ84cD4) | -| 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/autoware_behavior_path_goal_planner_module/). | - Lanelet map (shoulder lane) | ![pull-over](image/features-pull-over.drawio.svg) | 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) | -| Pull Out | Plan path for pull over to start from the road shoulder.

Reference implementation is in [Start Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/). | - Lanelet map (shoulder lane) | ![pull-out](image/features-pull-out.drawio.svg) | 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) | -| 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/autoware_behavior_path_side_shift_module/). | - 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/autoware_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) | [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) | -| 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/autoware_obstacle_cruise_planner/). | - objects information | ![obstacle-decel](image/features-obstacle-decel.drawio.svg) | [Demonstration Video](https://youtu.be/gvN1otgeaaw)
[![Demonstration Video](https://img.youtube.com/vi/gvN1otgeaaw/0.jpg)](https://www.youtube.com/watch?v=gvN1otgeaaw) | -| 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/autoware_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/autoware_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/autoware_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) < | - objects information | ![surround-check](image/features-surround-check.drawio.svg) | [Demonstration Video](https://youtu.be/bbGgtXN3lC4)
[![Demonstration Video](https://img.youtube.com/vi/bbGgtXN3lC4/0.jpg)](https://www.youtube.com/watch?v=bbGgtXN3lC4) | -| 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/autoware_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/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/). | - objects information
- Lanelet map (static obstacle) | ![decel-on-curve-obstacles](image/features-decel-on-curve-obstacles.drawio.svg) | [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) | -| 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/autoware_behavior_velocity_crosswalk_module/). | - objects information
- Lanelet map (pedestrian crossing) | ![crosswalk](image/features-crosswalk.drawio.svg) | [Demonstration Video](https://youtu.be/tUvthyIL2W8)
[![Demonstration Video](https://img.youtube.com/vi/tUvthyIL2W8/0.jpg)](https://www.youtube.com/watch?v=tUvthyIL2W8) | -| 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/autoware_behavior_velocity_intersection_module/). | - objects information
- Lanelet map (intersection lane and yield lane) | ![intersection](image/features-intersection.drawio.svg) | [Demonstration Video](https://youtu.be/SGD07Hqg4Hk)
[![Demonstration Video](https://img.youtube.com/vi/SGD07Hqg4Hk/0.jpg)](https://www.youtube.com/watch?v=SGD07Hqg4Hk) | -| 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_planner/autoware_behavior_velocity_blind_spot_module/). | - objects information
- Lanelet map (intersection lane) | ![blind-spot](image/features-blind-spot.drawio.svg) | [Demonstration Video](https://youtu.be/oaTCJRafDGA)
[![Demonstration Video](https://img.youtube.com/vi/oaTCJRafDGA/0.jpg)](https://www.youtube.com/watch?v=oaTCJRafDGA) | -| 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/autoware_behavior_velocity_intersection_module/). | - objects information
- Lanelet map (intersection lane) | ![intersection-occlusion](image/features-intersection-occlusion.drawio.svg) | [Demonstration Video](https://youtu.be/bAHXMB7kbFc)
[![Demonstration Video](https://img.youtube.com/vi/bAHXMB7kbFc/0.jpg)](https://www.youtube.com/watch?v=bAHXMB7kbFc) | -| 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/autoware_behavior_velocity_intersection_module/). | - objects information
- Lanelet map (intersection lane) | ![intersection-traffic-jam](image/features-intersection-traffic-jam.drawio.svg) | [Demonstration Video](https://youtu.be/negK4VbrC5o)
[![Demonstration Video](https://img.youtube.com/vi/negK4VbrC5o/0.jpg)](https://www.youtube.com/watch?v=negK4VbrC5o) | -| 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/autoware_behavior_velocity_traffic_light_module/). | - Traffic light color information | ![traffic-light](image/features-traffic-light.drawio.svg) | [Demonstration Video](https://youtu.be/lGA53KljQrM)
[![Demonstration Video](https://img.youtube.com/vi/lGA53KljQrM/0.jpg)](https://www.youtube.com/watch?v=lGA53KljQrM) | -| 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/autoware_behavior_velocity_run_out_module/). | - objects information | ![run-out](image/features-run-out.drawio.svg) | [Demonstration Video](https://youtu.be/9IDggldT2t0)
[![Demonstration Video](https://img.youtube.com/vi/9IDggldT2t0/0.jpg)](https://www.youtube.com/watch?v=9IDggldT2t0) | -| 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/autoware_behavior_velocity_stop_line_module/). | - Lanelet map (stop line) | ![stop-line](image/features-stop-line.drawio.svg) | [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) | -| 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/autoware_behavior_velocity_occlusion_spot_module/). | - objects information
- Lanelet map (private/public lane) | ![occlusion-spot](image/features-occlusion-spot.drawio.svg) | [Demonstration Video](https://youtu.be/3qs8Ivjh1fs)
[![Demonstration Video](https://img.youtube.com/vi/3qs8Ivjh1fs/0.jpg)](https://www.youtube.com/watch?v=3qs8Ivjh1fs) | -| 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/autoware_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_planner/autoware_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_planner/autoware_behavior_velocity_speed_bump_module/). | - Lanelet map (speed bump) | ![speed-bump](image/features-speed-bump.drawio.svg) | [Demonstration Video](https://youtu.be/FpX3q3YaaCw)
[![Demonstration Video](https://img.youtube.com/vi/FpX3q3YaaCw/0.jpg)](https://www.youtube.com/watch?v=FpX3q3YaaCw) | -| 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/autoware_behavior_velocity_detection_area_module/). | - Lanelet map (detection area) | ![detection-area](image/features-detection-area.drawio.svg) | [Demonstration Video](https://youtu.be/YzXF4U69lJs)
[![Demonstration Video](https://img.youtube.com/vi/YzXF4U69lJs/0.jpg)](https://www.youtube.com/watch?v=YzXF4U69lJs) | -| 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_planner/autoware_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/motion_velocity_planner/autoware_motion_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/autoware_freespace_planner/). | - objects information
- Lanelet map (parking area) | ![parking](image/features-parking.drawio.svg) | [Demonstration Video](https://youtu.be/rAIYmwpNWfA)
[![Demonstration Video](https://img.youtube.com/vi/rAIYmwpNWfA/0.jpg)](https://www.youtube.com/watch?v=rAIYmwpNWfA) | -| 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/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/). | - Primitive objects | ![aeb](image/features-aeb.drawio.svg) | | +| 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/autoware_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/autoware_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 [Static Avoidance Module](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/), [Path Optimizer](https://autowarefoundation.github.io/autoware_universe/main/planning/autoware_path_optimizer/). Enable flag in parameter: `launch path_optimizer true` | - objects information | ![obstacle-avoidance](image/features-avoidance.drawio.svg) | [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) | +| Path Smoothing | Plan path to achieve smooth steering.

Reference implementation is in [Path Optimizer](https://autowarefoundation.github.io/autoware_universe/main/planning/autoware_path_optimizer/). | - Lanelet map (driving lanelet) | ![path-smoothing](image/features-path-smoothing.drawio.svg) | [Demonstration Video](https://youtu.be/RhyAF26Ppzs)
[![Demonstration Video](https://img.youtube.com/vi/RhyAF26Ppzs/0.jpg)](https://www.youtube.com/watch?v=RhyAF26Ppzs) | +| 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 [Path Optimizer](https://autowarefoundation.github.io/autoware_universe/main/planning/autoware_path_optimizer/). | - Lanelet map (high-precision lane boundaries) | ![narrow-space-driving](image/features-narrow-space-driving.drawio.svg) | [Demonstration Video](https://youtu.be/URzcLO2E1vY)
[![Demonstration Video](https://img.youtube.com/vi/URzcLO2E1vY/0.jpg)](https://www.youtube.com/watch?v=URzcLO2E1vY) | +| 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/autoware_behavior_path_lane_change_module/). | - Lanelet map (driving lanelets) | ![lane-change](image/features-lane-change.drawio.svg) | [Demonstration Video](https://youtu.be/0jRDGQ84cD4)
[![Demonstration Video](https://img.youtube.com/vi/0jRDGQ84cD4/0.jpg)](https://www.youtube.com/watch?v=0jRDGQ84cD4) | +| 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/autoware_behavior_path_goal_planner_module/). | - Lanelet map (shoulder lane) | ![pull-over](image/features-pull-over.drawio.svg) | 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) | +| Pull Out | Plan path for pull over to start from the road shoulder.

Reference implementation is in [Start Planner](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/). | - Lanelet map (shoulder lane) | ![pull-out](image/features-pull-out.drawio.svg) | 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) | +| 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/autoware_behavior_path_side_shift_module/). | - 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/autoware_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) | [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) | +| 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/autoware_obstacle_cruise_planner/). | - objects information | ![obstacle-decel](image/features-obstacle-decel.drawio.svg) | [Demonstration Video](https://youtu.be/gvN1otgeaaw)
[![Demonstration Video](https://img.youtube.com/vi/gvN1otgeaaw/0.jpg)](https://www.youtube.com/watch?v=gvN1otgeaaw) | +| 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/autoware_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/autoware_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/autoware_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) < | - objects information | ![surround-check](image/features-surround-check.drawio.svg) | [Demonstration Video](https://youtu.be/bbGgtXN3lC4)
[![Demonstration Video](https://img.youtube.com/vi/bbGgtXN3lC4/0.jpg)](https://www.youtube.com/watch?v=bbGgtXN3lC4) | +| 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/autoware_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/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/). | - objects information
- Lanelet map (static obstacle) | ![decel-on-curve-obstacles](image/features-decel-on-curve-obstacles.drawio.svg) | [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) | +| 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/autoware_behavior_velocity_crosswalk_module/). | - objects information
- Lanelet map (pedestrian crossing) | ![crosswalk](image/features-crosswalk.drawio.svg) | [Demonstration Video](https://youtu.be/tUvthyIL2W8)
[![Demonstration Video](https://img.youtube.com/vi/tUvthyIL2W8/0.jpg)](https://www.youtube.com/watch?v=tUvthyIL2W8) | +| 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/autoware_behavior_velocity_intersection_module/). | - objects information
- Lanelet map (intersection lane and yield lane) | ![intersection](image/features-intersection.drawio.svg) | [Demonstration Video](https://youtu.be/SGD07Hqg4Hk)
[![Demonstration Video](https://img.youtube.com/vi/SGD07Hqg4Hk/0.jpg)](https://www.youtube.com/watch?v=SGD07Hqg4Hk) | +| 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_planner/autoware_behavior_velocity_blind_spot_module/). | - objects information
- Lanelet map (intersection lane) | ![blind-spot](image/features-blind-spot.drawio.svg) | [Demonstration Video](https://youtu.be/oaTCJRafDGA)
[![Demonstration Video](https://img.youtube.com/vi/oaTCJRafDGA/0.jpg)](https://www.youtube.com/watch?v=oaTCJRafDGA) | +| 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/autoware_behavior_velocity_intersection_module/). | - objects information
- Lanelet map (intersection lane) | ![intersection-occlusion](image/features-intersection-occlusion.drawio.svg) | [Demonstration Video](https://youtu.be/bAHXMB7kbFc)
[![Demonstration Video](https://img.youtube.com/vi/bAHXMB7kbFc/0.jpg)](https://www.youtube.com/watch?v=bAHXMB7kbFc) | +| 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/autoware_behavior_velocity_intersection_module/). | - objects information
- Lanelet map (intersection lane) | ![intersection-traffic-jam](image/features-intersection-traffic-jam.drawio.svg) | [Demonstration Video](https://youtu.be/negK4VbrC5o)
[![Demonstration Video](https://img.youtube.com/vi/negK4VbrC5o/0.jpg)](https://www.youtube.com/watch?v=negK4VbrC5o) | +| 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/autoware_behavior_velocity_traffic_light_module/). | - Traffic light color information | ![traffic-light](image/features-traffic-light.drawio.svg) | [Demonstration Video](https://youtu.be/lGA53KljQrM)
[![Demonstration Video](https://img.youtube.com/vi/lGA53KljQrM/0.jpg)](https://www.youtube.com/watch?v=lGA53KljQrM) | +| 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/autoware_behavior_velocity_run_out_module/). | - objects information | ![run-out](image/features-run-out.drawio.svg) | [Demonstration Video](https://youtu.be/9IDggldT2t0)
[![Demonstration Video](https://img.youtube.com/vi/9IDggldT2t0/0.jpg)](https://www.youtube.com/watch?v=9IDggldT2t0) | +| 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/autoware_behavior_velocity_stop_line_module/). | - Lanelet map (stop line) | ![stop-line](image/features-stop-line.drawio.svg) | [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) | +| 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/autoware_behavior_velocity_occlusion_spot_module/). | - objects information
- Lanelet map (private/public lane) | ![occlusion-spot](image/features-occlusion-spot.drawio.svg) | [Demonstration Video](https://youtu.be/3qs8Ivjh1fs)
[![Demonstration Video](https://img.youtube.com/vi/3qs8Ivjh1fs/0.jpg)](https://www.youtube.com/watch?v=3qs8Ivjh1fs) | +| 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/autoware_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_planner/autoware_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_planner/autoware_behavior_velocity_speed_bump_module/). | - Lanelet map (speed bump) | ![speed-bump](image/features-speed-bump.drawio.svg) | [Demonstration Video](https://youtu.be/FpX3q3YaaCw)
[![Demonstration Video](https://img.youtube.com/vi/FpX3q3YaaCw/0.jpg)](https://www.youtube.com/watch?v=FpX3q3YaaCw) | +| 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/autoware_behavior_velocity_detection_area_module/). | - Lanelet map (detection area) | ![detection-area](image/features-detection-area.drawio.svg) | [Demonstration Video](https://youtu.be/YzXF4U69lJs)
[![Demonstration Video](https://img.youtube.com/vi/YzXF4U69lJs/0.jpg)](https://www.youtube.com/watch?v=YzXF4U69lJs) | +| 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_planner/autoware_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/motion_velocity_planner/autoware_motion_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/autoware_freespace_planner/). | - objects information
- Lanelet map (parking area) | ![parking](image/features-parking.drawio.svg) | [Demonstration Video](https://youtu.be/rAIYmwpNWfA)
[![Demonstration Video](https://img.youtube.com/vi/rAIYmwpNWfA/0.jpg)](https://www.youtube.com/watch?v=rAIYmwpNWfA) | +| 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/motion_velocity_planner/autoware_motion_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/autoware_planning_validator/). | - None | ![trajectory-validation](image/features-trajectory-validation.drawio.svg) | | +| 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/autoware_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/autoware_static_centerline_generator/). | - Lanelet map (driving lanes) | 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/autoware_static_centerline_generator/). | - Lanelet map (driving lanes) | WIP | | @@ -205,36 +205,36 @@ _Note that some implementation does not adhere to the high-level architecture de For more details, please refer to the design documents in each package. -- [_mission_planner_](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_mission_planner/): calculate route from start to goal based on the map information. -- [_behavior_path_planner_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_planner/): calculates path and drivable area based on the traffic rules. - - [_lane_following_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_planner#lane-following) - - [_lane_change_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/) - - [_static_obstacle_avoidance_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/) - - [_pull_over_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/) - - [_pull_out_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/) - - [_side_shift_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/) -- [_behavior_velocity_planner_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/): calculates max speed based on the traffic rules. - - [_detection_area_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/) - - [_blind_spot_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/) - - [_cross_walk_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/) - - [_stop_line_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/) - - [_traffic_light_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/) - - [_intersection_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) - - [_no_stopping_area_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/) - - [_virtual_traffic_light_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/) - - [_occlusion_spot_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/) - - [_run_out_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/) -- [_obstacle_avoidance_planner_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/): calculate path shape under obstacle and drivable area constraints -- [_surround_obstacle_checker_](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_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). - - [_stop_](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_stop_planner/#obstacle-stop-planner_1) - - [_slow_down_](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_stop_planner/#slow-down-planner) - - [_adaptive_cruise_](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_stop_planner/#adaptive-cruise-controller) -- [_costmap_generator_](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_costmap_generator): generates a costmap for path generation from dynamic objects and lane information. -- [_freespace_planner_](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_freespace_planner/): calculates trajectory considering the feasibility (e.g. curvature) for the freespace scene. Algorithms are described [here](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_freespace_planning_algorithms/). +- [_mission_planner_](https://autowarefoundation.github.io/autoware_universe/main/planning/autoware_mission_planner/): calculate route from start to goal based on the map information. +- [_behavior_path_planner_](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_planner/): calculates path and drivable area based on the traffic rules. + - [_lane_following_](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_planner#lane-following) + - [_lane_change_](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/) + - [_static_obstacle_avoidance_](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/) + - [_pull_over_](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/) + - [_pull_out_](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/) + - [_side_shift_](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/) +- [_behavior_velocity_planner_](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/): calculates max speed based on the traffic rules. + - [_detection_area_](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/) + - [_blind_spot_](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/) + - [_cross_walk_](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/) + - [_stop_line_](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/) + - [_traffic_light_](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/) + - [_intersection_](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) + - [_no_stopping_area_](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/) + - [_virtual_traffic_light_](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/) + - [_occlusion_spot_](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/) + - [_run_out_](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/) +- [_obstacle_avoidance_planner_](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/): calculate path shape under obstacle and drivable area constraints +- [_surround_obstacle_checker_](https://autowarefoundation.github.io/autoware_universe/main/planning/autoware_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). + - [_stop_](https://autowarefoundation.github.io/autoware_universe/main/planning/obstacle_stop_planner/#obstacle-stop-planner_1) + - [_slow_down_](https://autowarefoundation.github.io/autoware_universe/main/planning/obstacle_stop_planner/#slow-down-planner) + - [_adaptive_cruise_](https://autowarefoundation.github.io/autoware_universe/main/planning/obstacle_stop_planner/#adaptive-cruise-controller) +- [_costmap_generator_](https://autowarefoundation.github.io/autoware_universe/main/planning/autoware_costmap_generator): generates a costmap for path generation from dynamic objects and lane information. +- [_freespace_planner_](https://autowarefoundation.github.io/autoware_universe/main/planning/autoware_freespace_planner/): calculates trajectory considering the feasibility (e.g. curvature) for the freespace scene. Algorithms are described [here](https://autowarefoundation.github.io/autoware_universe/main/planning/autoware_freespace_planning_algorithms/). - _scenario_selector_ : chooses a trajectory according to the current scenario. -- [_external_velocity_limit_selector_](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_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_planner/autoware_motion_velocity_planner_node/): calculates final velocity considering velocity, acceleration, and jerk constraints. +- [_external_velocity_limit_selector_](https://autowarefoundation.github.io/autoware_universe/main/planning/autoware_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_planner/autoware_motion_velocity_planner_node/): calculates final velocity considering velocity, acceleration, and jerk constraints. ### Important information in the current implementation @@ -258,7 +258,7 @@ While it is possible to add module-level functionalities in the current implemen #### Add new modules in behavior_velocity_planner or behavior_path_planner -ROS nodes such as [behavior_path_planner](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_planner/) and [behavior_velocity_planner](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/) have a module interface available through plugins. By adding modules in accordance with the module interfaces defined in these ROS nodes, dynamic loading/unloading of modules becomes possible. For specific methods of adding modules, please refer to the documentation of each package. +ROS nodes such as [behavior_path_planner](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_planner/) and [behavior_velocity_planner](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/) have a module interface available through plugins. By adding modules in accordance with the module interfaces defined in these ROS nodes, dynamic loading/unloading of modules becomes possible. For specific methods of adding modules, please refer to the documentation of each package. #### Add a new ros node in the planning component @@ -285,7 +285,7 @@ By creating a scenario as a ros node and aligning the scenario_selector ros node #### [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/) +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/) Currently, the supported modules are as follows. diff --git a/docs/design/autoware-architecture/sensing/data-types/point-cloud.md b/docs/design/autoware-architecture/sensing/data-types/point-cloud.md index df5d0d6b0fe..5a2c671ac5b 100644 --- a/docs/design/autoware-architecture/sensing/data-types/point-cloud.md +++ b/docs/design/autoware-architecture/sensing/data-types/point-cloud.md @@ -27,9 +27,9 @@ graph TD ## List of modules -The modules used here are from [pointcloud_preprocessor package](https://github.com/autowarefoundation/autoware.universe/tree/main/sensing/pointcloud_preprocessor). +The modules used here are from [pointcloud_preprocessor package](https://github.com/autowarefoundation/autoware_universe/tree/main/sensing/pointcloud_preprocessor). -For details about the modules, see [the following table](https://github.com/autowarefoundation/autoware.universe/tree/main/sensing/pointcloud_preprocessor#inner-workings--algorithms). +For details about the modules, see [the following table](https://github.com/autowarefoundation/autoware_universe/tree/main/sensing/pointcloud_preprocessor#inner-workings--algorithms). It is recommended that these modules are used in a single container as components. For details see [ROS 2 Composition](https://docs.ros.org/en/rolling/Tutorials/Intermediate/Composition.html) diff --git a/docs/design/autoware-architecture/sensing/data-types/radar-data/radar-objects-data.md b/docs/design/autoware-architecture/sensing/data-types/radar-data/radar-objects-data.md index 19a4fc74032..3c31b11a1eb 100644 --- a/docs/design/autoware-architecture/sensing/data-types/radar-data/radar-objects-data.md +++ b/docs/design/autoware-architecture/sensing/data-types/radar-data/radar-objects-data.md @@ -37,26 +37,26 @@ In detail, please see [Device driver for radars](reference-implementations/devic ### Noise filter -- [radar_tracks_noise_filter](https://github.com/autowarefoundation/autoware.universe/tree/main/sensing/radar_tracks_noise_filter) +- [radar_tracks_noise_filter](https://github.com/autowarefoundation/autoware_universe/tree/main/sensing/radar_tracks_noise_filter) Radar can detect x-axis velocity as doppler velocity, but cannot detect y-axis velocity. Some radar can estimate y-axis velocity inside the device, but it sometimes lack precision. This package treats these objects as noise by y-axis threshold filter. ### Message converter -- [radar_tracks_msgs_converter](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_radar_tracks_msgs_converter) +- [radar_tracks_msgs_converter](https://github.com/autowarefoundation/autoware_universe/tree/main/perception/autoware_radar_tracks_msgs_converter) This package converts from `radar_msgs/msg/RadarTracks` into `autoware_auto_perception_msgs/msg/DetectedObject` with ego vehicle motion compensation and coordinate transform. ### Object merger -- [object_merger](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_object_merger) +- [object_merger](https://github.com/autowarefoundation/autoware_universe/tree/main/perception/autoware_object_merger) This package can merge 2 topics of `autoware_auto_perception_msgs/msg/DetectedObject`. -- [simple_object_merger](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_simple_object_merger) +- [simple_object_merger](https://github.com/autowarefoundation/autoware_universe/tree/main/perception/autoware_simple_object_merger) This package can merge simply multiple topics of `autoware_auto_perception_msgs/msg/DetectedObject`. -Different from [object_merger](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_object_merger), this package doesn't use association algorithm and can merge with low calculation cost. +Different from [object_merger](https://github.com/autowarefoundation/autoware_universe/tree/main/perception/autoware_object_merger), this package doesn't use association algorithm and can merge with low calculation cost. - [topic_tools](https://github.com/ros-tooling/topic_tools) diff --git a/docs/design/autoware-architecture/sensing/data-types/radar-data/radar-pointcloud-data.md b/docs/design/autoware-architecture/sensing/data-types/radar-data/radar-pointcloud-data.md index a227196c5dd..f0084ad9904 100644 --- a/docs/design/autoware-architecture/sensing/data-types/radar-data/radar-pointcloud-data.md +++ b/docs/design/autoware-architecture/sensing/data-types/radar-data/radar-pointcloud-data.md @@ -37,21 +37,21 @@ In detail, please see [Device driver for radars](reference-implementations/devic ### Basic noise filter -- [radar_threshold_filter](https://github.com/autowarefoundation/autoware.universe/tree/main/sensing/radar_threshold_filter) +- [radar_threshold_filter](https://github.com/autowarefoundation/autoware_universe/tree/main/sensing/radar_threshold_filter) This package removes pointcloud noise with low amplitude, edge angle, too near pointcloud by threshold. The noise depends on the radar devices and installation location. ### Filter to static/dynamic pointcloud -- [radar_static_pointcloud_filter](https://github.com/autowarefoundation/autoware.universe/tree/main/sensing/radar_static_pointcloud_filter) +- [radar_static_pointcloud_filter](https://github.com/autowarefoundation/autoware_universe/tree/main/sensing/radar_static_pointcloud_filter) This package extracts static/dynamic radar pointcloud by using doppler velocity and ego motion. The static radar pointcloud can be used for localization like NDT scan matching, and the dynamic radar pointcloud can be used for dynamic object detection. ### Message converter from RadarScan to Pointcloud2 -- [radar_scan_to_pointcloud2](https://github.com/autowarefoundation/autoware.universe/tree/main/sensing/radar_scan_to_pointcloud2) +- [radar_scan_to_pointcloud2](https://github.com/autowarefoundation/autoware_universe/tree/main/sensing/radar_scan_to_pointcloud2) For convenient use of radar pointcloud within existing LiDAR packages, we suggest a `radar_scan_to_pointcloud2_convertor` package for conversion from `ros-perception/radar_msgs/msg/RadarScan.msg` to `sensor_msgs/msg/Pointcloud2.msg`. @@ -63,8 +63,8 @@ For convenient use of radar pointcloud within existing LiDAR packages, we sugges For considered use cases, -- Use [pointcloud_preprocessor](https://github.com/autowarefoundation/autoware.universe/tree/main/sensing/pointcloud_preprocessor) for radar scan. -- Apply obstacle segmentation like [ground segmentation](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_ground_segmentation) to radar points for LiDAR-less (camera + radar) systems. +- Use [pointcloud_preprocessor](https://github.com/autowarefoundation/autoware_universe/tree/main/sensing/pointcloud_preprocessor) for radar scan. +- Apply obstacle segmentation like [ground segmentation](https://github.com/autowarefoundation/autoware_universe/tree/main/perception/autoware_ground_segmentation) to radar points for LiDAR-less (camera + radar) systems. ## Appendix diff --git a/docs/design/autoware-architecture/sensing/data-types/radar-data/reference-implementations/data-message.md b/docs/design/autoware-architecture/sensing/data-types/radar-data/reference-implementations/data-message.md index 5b1d50f7ec6..91d4bdf4039 100644 --- a/docs/design/autoware-architecture/sensing/data-types/radar-data/reference-implementations/data-message.md +++ b/docs/design/autoware-architecture/sensing/data-types/radar-data/reference-implementations/data-message.md @@ -78,7 +78,7 @@ uint16 BICYCLE = 32006; uint16 PEDESTRIAN = 32007; ``` -For detail implementation, please see [radar_tracks_msgs_converter](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_radar_tracks_msgs_converter). +For detail implementation, please see [radar_tracks_msgs_converter](https://github.com/autowarefoundation/autoware_universe/tree/main/perception/autoware_radar_tracks_msgs_converter). ## Note diff --git a/docs/design/autoware-interfaces/components/vehicle-interface.md b/docs/design/autoware-interfaces/components/vehicle-interface.md index a5e88df435f..7ee665e2631 100644 --- a/docs/design/autoware-interfaces/components/vehicle-interface.md +++ b/docs/design/autoware-interfaces/components/vehicle-interface.md @@ -25,7 +25,7 @@ This may not be suitable for all vehicles and we thus distinguish between two ty For vehicles of type 2, a vehicle adapter is necessary to convert the Autoware control command into the vehicle specific commands. -For an example, see the [raw_vehicle_cmd_converter](https://autowarefoundation.github.io/autoware.universe/main/vehicle/raw_vehicle_cmd_converter/) +For an example, see the [raw_vehicle_cmd_converter](https://autowarefoundation.github.io/autoware_universe/main/vehicle/raw_vehicle_cmd_converter/) which converts the target speed and steering angle to acceleration, steering, and brake mechanical inputs. ## Inputs from Autoware diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/crosswalk/index.md b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/crosswalk/index.md index d7c0f24875c..07cfe623720 100644 --- a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/crosswalk/index.md +++ b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/crosswalk/index.md @@ -1,6 +1,6 @@ # Crosswalk attribute -Behavior velocity planner's [crosswalk module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_crosswalk_module/) plans velocity +Behavior velocity planner's [crosswalk module](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_crosswalk_module/) plans velocity to stop or decelerate for pedestrians approaching or walking on a crosswalk. In order to operate that, we will add crosswalk attribute to our lanelet2 map. diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/detection-area/index.md b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/detection-area/index.md index a708004db1e..dc7818b4f9a 100644 --- a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/detection-area/index.md +++ b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/detection-area/index.md @@ -1,6 +1,6 @@ # Detection area element -Behavior velocity planner's [detection area](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_detection_area_module/) plans velocity +Behavior velocity planner's [detection area](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_detection_area_module/) plans velocity when if pointcloud is detected in a detection area defined on a map, the stop planning will be executed at the predetermined point. In order to operate that, we will add a detection area element to our lanelet2 map. diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/speed-bump/index.md b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/speed-bump/index.md index 8e36ae1171d..c2a0dee2a54 100644 --- a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/speed-bump/index.md +++ b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/speed-bump/index.md @@ -1,6 +1,6 @@ # Speed bump -Behavior velocity planner's [speed bump module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_crosswalk_module/) plans velocity +Behavior velocity planner's [speed bump module](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_crosswalk_module/) plans velocity to slow down before speed bump for comfortable and safety driving. In order to operate that, we will add speed bumps to our lanelet2 map. diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/stop-line/index.md b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/stop-line/index.md index 7342ea0ab96..92c316c246c 100644 --- a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/stop-line/index.md +++ b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/stop-line/index.md @@ -1,6 +1,6 @@ # Stop Line -Behavior velocity planner's [stop line module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_stop_line_module/) plans velocity +Behavior velocity planner's [stop line module](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_stop_line_module/) plans velocity to stop right before stop lines and restart driving after stopped. In order to operate that, we will add stop line attribute to our lanelet2 map. diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/traffic-light/index.md b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/traffic-light/index.md index 4acbe78a01b..efe487c9f74 100644 --- a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/traffic-light/index.md +++ b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/traffic-light/index.md @@ -1,6 +1,6 @@ # Traffic light -Behavior velocity planner's [traffic light module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_traffic_light_module/) plans velocity +Behavior velocity planner's [traffic light module](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_traffic_light_module/) plans velocity according to the traffic light status. In order to operate that, we will add traffic light attribute to our lanelet2 map. diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/pointcloud-map-downsampling/index.md b/docs/how-to-guides/integrating-autoware/creating-maps/pointcloud-map-downsampling/index.md index 1e08c6b15de..d9edc4623cb 100644 --- a/docs/how-to-guides/integrating-autoware/creating-maps/pointcloud-map-downsampling/index.md +++ b/docs/how-to-guides/integrating-autoware/creating-maps/pointcloud-map-downsampling/index.md @@ -5,7 +5,7 @@ When your created point cloud map is either too dense or too large (i.e., exceeding 300 MB), you may want to downsample it for improved computational and memory efficiency. Also, you can consider using dynamic map loading with partial loading, -please check [autoware_map_loader package](https://github.com/autowarefoundation/autoware.universe/tree/main/map/autoware_map_loader) for more information. +please check [autoware_map_loader package](https://github.com/autowarefoundation/autoware_universe/tree/main/map/autoware_map_loader) for more information. At tutorial_vehicle implementation we will use the whole map, so we will downsample it with using [CloudCompare](https://www.cloudcompare.org/main.html). diff --git a/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-sensor-model/index.md b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-sensor-model/index.md index 0512b40962f..72de1863126 100644 --- a/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-sensor-model/index.md +++ b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-sensor-model/index.md @@ -522,7 +522,7 @@ You can create .launch.xml for common sensor launch, please check [`hesai_PandarQT64.launch.xml`](https://github.com/leo-drive/tutorial_vehicle_sensor_kit_launch/blob/main/common_sensor_launch/launch/hesai_PandarQT64.launch.xml) as an example. The [nebula_node_container.py](https://github.com/autowarefoundation/sample_sensor_kit_launch/blob/main/common_sensor_launch/launch/nebula_node_container.launch.py) creates the Lidar pipeline for autoware, -the pointcloud preprocessing pipeline is constructed for each lidar please check [autoware_pointcloud_preprocessor](https://github.com/autowarefoundation/autoware.universe/tree/main/sensing/autoware_pointcloud_preprocessor) package for filters information as well. +the pointcloud preprocessing pipeline is constructed for each lidar please check [autoware_pointcloud_preprocessor](https://github.com/autowarefoundation/autoware_universe/tree/main/sensing/autoware_pointcloud_preprocessor) package for filters information as well. For example, If you want to change your `outlier_filter` method, you can modify the pipeline components like this way: @@ -578,7 +578,7 @@ After that, you can just add your camera driver at `camera.launch.xml`: Then, you can launch tensorrt_yolo node via adding yolo.launch.xml on your design like that: (i.e., -it is included in [tier4_perception_launch](https://github.com/autowarefoundation/autoware.universe/blob/ad69c2851b7b84e12c9f0c3b177fb6a9032bf284/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml#L49-L59) package in autwoare.universe) +it is included in [tier4_perception_launch](https://github.com/autowarefoundation/autoware_universe/blob/ad69c2851b7b84e12c9f0c3b177fb6a9032bf284/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml#L49-L59) package in autwoare.universe) `image_number` argument defines your camera number ```xml @@ -788,7 +788,7 @@ if you decided to use container for 2D detection pipeline are: for example, we will use `/perception/object_detection` as tensorrt_yolo node namespace, it will be explained in autoware usage section. For more information, - please check [image_projection_based_fusion](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_image_projection_based_fusion) package. + please check [image_projection_based_fusion](https://github.com/autowarefoundation/autoware_universe/tree/main/perception/autoware_image_projection_based_fusion) package. After the preparing `camera_node_container.launch.py` to our forked `common_sensor_launch` package, we need to build the package: @@ -915,11 +915,11 @@ We will set up the GNSS/INS sensor launches at `gnss.launch.xml`. The default GNSS sensor options at [`sample_sensor_kit_launch`](https://github.com/autowarefoundation/sample_sensor_kit_launch/blob/main/sample_sensor_kit_launch/launch/gnss.launch.xml) for [u-blox](https://www.u-blox.com/en/) and [septentrio](https://www.septentrio.com/en) is included in `gnss.launch.xml`, so If we use other sensors as GNSS/INS receiver, we need to add it here. -Moreover, [gnss_poser](https://github.com/autowarefoundation/autoware.universe/tree/main/sensing/autoware_gnss_poser) package launches here, +Moreover, [gnss_poser](https://github.com/autowarefoundation/autoware_universe/tree/main/sensing/autoware_gnss_poser) package launches here, we will use this package for the pose source of our vehicle at localization initialization but remember, your sensor_driver must provide [autoware gnss orientation message](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_sensing_msgs/msg/GnssInsOrientationStamped.msg) for this node. If you are ready with your GNSS/INS driver, -you must set `navsatfix_topic_name` and `orientation_topic_name` variables at this launch file for [gnss_poser](https://github.com/autowarefoundation/autoware.universe/tree/main/sensing/autoware_gnss_poser) arguments. +you must set `navsatfix_topic_name` and `orientation_topic_name` variables at this launch file for [gnss_poser](https://github.com/autowarefoundation/autoware_universe/tree/main/sensing/autoware_gnss_poser) arguments. For Example, necessary modifications for should be like this: ```diff @@ -1030,8 +1030,8 @@ At the [sample_sensor_kit](https://github.com/autowarefoundation/sample_sensor_k there is [Tamagawa IMU sensor](https://mems.tamagawa-seiki.com/en/) used as a IMU sensor. You can add your IMU driver instead of the Tamagawa IMU driver. Also, -we will launch [gyro_bias_estimator](https://github.com/autowarefoundation/autoware.universe/tree/main/sensing/autoware_imu_corrector#gyro_bias_estimator) and -[imu_corrector](https://github.com/autowarefoundation/autoware.universe/tree/main/sensing/autoware_imu_corrector#imu_corrector) at `imu.launch.xml` file. +we will launch [gyro_bias_estimator](https://github.com/autowarefoundation/autoware_universe/tree/main/sensing/autoware_imu_corrector#gyro_bias_estimator) and +[imu_corrector](https://github.com/autowarefoundation/autoware_universe/tree/main/sensing/autoware_imu_corrector#imu_corrector) at `imu.launch.xml` file. Please refer these documentations for more information (We added imu_corrector and gyro_bias_estimator at gnss.launch.xml at tutorial_vehicle, so we will not create and use `imu.launch.xml` for tutorial_vehicle). diff --git a/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-vehicle-model/index.md b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-vehicle-model/index.md index 9c07f8ac15a..95a0c662ef8 100644 --- a/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-vehicle-model/index.md +++ b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-vehicle-model/index.md @@ -105,7 +105,7 @@ Now, we will modify these files according to our vehicle design. ### mirror.param.yaml This file describes your vehicle mirror dimension for -[CropBox 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). +[CropBox 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). This is important for cropping mirrors from your lidar's point cloud. The `mirror.param.yaml` consist of the following parameters: @@ -139,10 +139,10 @@ it could be negative value like the mirror dimension figure below. ### simulator_model.param.yaml -This file is a configuration file for the [simulator environment](https://autowarefoundation.github.io/autoware.universe/main/simulator/simple_planning_simulator/). +This file is a configuration file for the [simulator environment](https://autowarefoundation.github.io/autoware_universe/main/simulator/simple_planning_simulator/). Please update these parameters according to your vehicle specifications. For detailed information about variables, -please check the [simple_planning_simulator](https://github.com/autowarefoundation/autoware.universe/tree/main/simulator/simple_planning_simulator) package. +please check the [simple_planning_simulator](https://github.com/autowarefoundation/autoware_universe/tree/main/simulator/simple_planning_simulator) package. The file consists of these parameters: ```yaml diff --git a/docs/how-to-guides/integrating-autoware/creating-vehicle-interface-package/images/autoware-vehicle-communication.svg b/docs/how-to-guides/integrating-autoware/creating-vehicle-interface-package/images/autoware-vehicle-communication.svg index d252179c853..572e40c657b 100644 --- a/docs/how-to-guides/integrating-autoware/creating-vehicle-interface-package/images/autoware-vehicle-communication.svg +++ b/docs/how-to-guides/integrating-autoware/creating-vehicle-interface-package/images/autoware-vehicle-communication.svg @@ -32,7 +32,7 @@ - autoware.universe + autoware_universe diff --git a/docs/how-to-guides/integrating-autoware/creating-vehicle-interface-package/vehicle-interface.md b/docs/how-to-guides/integrating-autoware/creating-vehicle-interface-package/vehicle-interface.md index 24ad28031b2..6843ea33f24 100644 --- a/docs/how-to-guides/integrating-autoware/creating-vehicle-interface-package/vehicle-interface.md +++ b/docs/how-to-guides/integrating-autoware/creating-vehicle-interface-package/vehicle-interface.md @@ -56,11 +56,11 @@ allowing for a more intuitive and human-like driving experience. If you use your own vehicle like this way (i.e., controlling gas and brake pedal), you need -to use [raw_vehicle_cmd_converter](https://github.com/autowarefoundation/autoware.universe/tree/main/vehicle/raw_vehicle_cmd_converter) package +to use [raw_vehicle_cmd_converter](https://github.com/autowarefoundation/autoware_universe/tree/main/vehicle/raw_vehicle_cmd_converter) package to convert autoware output control cmd to brake, gas and steer map. In order to do that, you will need brake, gas and steering calibration. So, -you can get the calibration with using [accel_brake_map_calibrator](https://github.com/autowarefoundation/autoware.universe/tree/main/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator) package. +you can get the calibration with using [accel_brake_map_calibrator](https://github.com/autowarefoundation/autoware_universe/tree/main/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator) package. Please follow the steps for calibration your vehicle actuation. The choice between these control interfaces profoundly influences the design and development process. diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/control/index.md b/docs/how-to-guides/integrating-autoware/launch-autoware/control/index.md index f6453e431b5..0c576c836ef 100644 --- a/docs/how-to-guides/integrating-autoware/launch-autoware/control/index.md +++ b/docs/how-to-guides/integrating-autoware/launch-autoware/control/index.md @@ -6,7 +6,7 @@ The Autoware control stacks start launching at `autoware_launch.xml` as mentioned on the [Launch Autoware](../index.md) page. The `autoware_launch` package includes `tier4_control_component.launch.xml` for initiating control launch files invocation from `autoware_launch.xml`. -The diagram below illustrates the flow of Autoware control launch files within the autoware_launch and autoware.universe packages. +The diagram below illustrates the flow of Autoware control launch files within the autoware_launch and autoware_universe packages.
![control-launch-flow](images/control_launch_flow.svg){ align=center } @@ -29,8 +29,8 @@ The diagram below illustrates the flow of Autoware control launch files within t ## tier4_control_component.launch.xml The tier4_control_component.launch.xml launch file is the main control component launch in the autoware_launch package. -This launch file calls control.launch.xml from the [tier4_control_launch](https://github.com/autowarefoundation/autoware.universe/tree/main/launch/tier4_control_launch) package -within the autoware.universe repository. +This launch file calls control.launch.xml from the [tier4_control_launch](https://github.com/autowarefoundation/autoware_universe/tree/main/launch/tier4_control_launch) package +within the autoware_universe repository. We can modify control launch arguments in tier4_control_component.launch.xml. Additionally, we can add any other necessary arguments @@ -50,7 +50,7 @@ Here are some predefined control launch arguments: - **`enable_autonomous_emergency_braking:`** This argument enables autonomous emergency braking under specific conditions. - Please refer to the [Autonomous emergency braking (AEB)](https://autowarefoundation.github.io/autoware.universe/main/control/autonomous_emergency_braking/) page for + Please refer to the [Autonomous emergency braking (AEB)](https://autowarefoundation.github.io/autoware_universe/main/control/autonomous_emergency_braking/) page for more information. To enable it, update the value in the `tier4_control_component.launch.xml` file: @@ -60,7 +60,7 @@ Here are some predefined control launch arguments: ``` - **`enable_predicted_path_checker:`** This argument enables the predicted path checker module. - Please refer to the [Predicted Path Checker](https://autowarefoundation.github.io/autoware.universe/main/control/predicted_path_checker/) page for + Please refer to the [Predicted Path Checker](https://autowarefoundation.github.io/autoware_universe/main/control/predicted_path_checker/) page for more information. To enable it, update the value in the `tier4_control_component.launch.xml` file: diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/images/autoware_launch_overview.svg b/docs/how-to-guides/integrating-autoware/launch-autoware/images/autoware_launch_overview.svg index 8790e8c405e..77d57acbf22 100644 --- a/docs/how-to-guides/integrating-autoware/launch-autoware/images/autoware_launch_overview.svg +++ b/docs/how-to-guides/integrating-autoware/launch-autoware/images/autoware_launch_overview.svg @@ -24,12 +24,12 @@
- autoware.universe + autoware_universe
- autoware.universe + autoware_universe
    -
  • autoware.universe parameter (config) files
    • +
  • autoware_universe parameter (config) files
@@ -331,7 +331,7 @@
- autoware.universe parameter (config) files... + autoware_universe parameter (config) files... diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/index.md b/docs/how-to-guides/integrating-autoware/launch-autoware/index.md index 7b8b2c8e674..ff3ffd3ed5a 100644 --- a/docs/how-to-guides/integrating-autoware/launch-autoware/index.md +++ b/docs/how-to-guides/integrating-autoware/launch-autoware/index.md @@ -161,7 +161,7 @@ but if you want to use `camera-lidar fusion` you need to change your perception If you want to use traffic light recognition and visualization, you can set `traffic_light_recognition/enable_fine_detection` as true (default). Please check -[traffic_light_fine_detector](https://autowarefoundation.github.io/autoware.universe/main/perception/autoware_traffic_light_fine_detector/) +[traffic_light_fine_detector](https://autowarefoundation.github.io/autoware_universe/main/perception/autoware_traffic_light_fine_detector/) page for more information. If you don't want to use traffic light classifier, then you can disable it: @@ -191,7 +191,7 @@ ros2 launch autoware_launch autoware_launch.launch.xml map_path:= ``` After launching Autoware, we need to initialize our vehicle on our map. -If you set [gnss_poser](https://autowarefoundation.github.io/autoware.universe/main/sensing/autoware_gnss_poser/) for your GNSS/INS sensor at `gnss.launch.xml`, +If you set [gnss_poser](https://autowarefoundation.github.io/autoware_universe/main/sensing/autoware_gnss_poser/) for your GNSS/INS sensor at `gnss.launch.xml`, then gnss_poser will send pose for initialization. If you don't have a GNSS sensor, then you need to set initial pose manually. diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/localization/index.md b/docs/how-to-guides/integrating-autoware/launch-autoware/localization/index.md index 1daa54f11f1..f17f1943e28 100644 --- a/docs/how-to-guides/integrating-autoware/launch-autoware/localization/index.md +++ b/docs/how-to-guides/integrating-autoware/launch-autoware/localization/index.md @@ -6,7 +6,7 @@ The Autoware localization stacks start launching at `autoware_launch.xml` as we mentioned at [Launch Autoware](../index.md) page. The `autoware_launch` package includes `tier4_localization_component.launch.xml` for starting localization launch files invocation from `autoware_launch.xml`. -This diagram describes some of the Autoware localization launch files flow at `autoware_launch` and `autoware.universe` packages. +This diagram describes some of the Autoware localization launch files flow at `autoware_launch` and `autoware_universe` packages.
![localization-launch-flow](images/localization_launch_flow.svg){ align=center } @@ -29,17 +29,17 @@ This diagram describes some of the Autoware localization launch files flow at `a ## tier4_localization_component.launch.xml The `tier4_localization_component.launch.xml` launch file is the main localization component launch at the `autoware_launch` package. -This launch file calls `localization.launch.xml` at [tier4_localization_launch](https://github.com/autowarefoundation/autoware.universe/tree/main/launch/tier4_localization_launch) package from `autoware.universe` repository. +This launch file calls `localization.launch.xml` at [tier4_localization_launch](https://github.com/autowarefoundation/autoware_universe/tree/main/launch/tier4_localization_launch) package from `autoware_universe` repository. We can modify localization launch arguments at tier4_localization_component.launch.xml. The 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:`** This argument specifies the pose_estimator, currently supporting `ndt` (default), `yabloc`, `artag` and `eagleye` for localization. - By default, Autoware launches [ndt_scan_matcher](https://github.com/autowarefoundation/autoware.universe/tree/main/localization/autoware_ndt_scan_matcher) for pose estimator. + By default, Autoware launches [ndt_scan_matcher](https://github.com/autowarefoundation/autoware_universe/tree/main/localization/autoware_ndt_scan_matcher) for 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. + please refer to the [README of YabLoc](https://github.com/autowarefoundation/autoware_universe/blob/main/localization/yabloc/README.md) in autoware_universe. Also, you can use Eagleye as a GNSS & IMU & wheel odometry-based localization method. For more details on Eagleye, please refer to the [Eagleye](./eagleye/index.md). You can set `pose_source` argument on `tier4_localization_component.launch.xml`, @@ -59,7 +59,7 @@ The current localization launcher implemented by TIER IV supports multiple local - **`twist_source:`** This argument specifies the twist_estimator, currently supporting `gyro_odom` (default), and `eagleye`. By default, - Autoware launches [gyro_odometer](https://github.com/autowarefoundation/autoware.universe/tree/main/localization/autoware_gyro_odometer) for twist estimator. + Autoware launches [gyro_odometer](https://github.com/autowarefoundation/autoware_universe/tree/main/localization/autoware_gyro_odometer) for twist estimator. Also, you can use eagleye for the twist source, please refer to the [Eagleye](./eagleye/index.md). If you want to change your twist source to eagleye, you can update `tier4_localization_component.launch.xml` like: @@ -76,7 +76,7 @@ The current localization launcher implemented by TIER IV supports multiple local - **`input_pointcloud:`** This argument specifies the input pointcloud of the localization pointcloud pipeline. The default value is `/sensing/lidar/top/outlier_filtered/pointcloud` which - is output of the [pointcloud pre-processing](https://autowarefoundation.github.io/autoware.universe/main/sensing/autoware_pointcloud_preprocessor/) pipeline from sensing. + is output of the [pointcloud pre-processing](https://autowarefoundation.github.io/autoware_universe/main/sensing/autoware_pointcloud_preprocessor/) pipeline from sensing. You can change this value according to your LiDAR topic name, or you can choose to use concatenated point cloud: @@ -95,7 +95,7 @@ you can add this argument on `tier4_localization_component.launch.xml` launch fi ``` **Note:** Gyro odometer input topic provided from velocity converter package. This package will be launched at sensor_kit. For more information, -please check [velocity converter package](https://github.com/autowarefoundation/autoware.universe/tree/main/sensing/autoware_vehicle_velocity_converter). +please check [velocity converter package](https://github.com/autowarefoundation/autoware_universe/tree/main/sensing/autoware_vehicle_velocity_converter). ## Note when using non NDT pose estimator @@ -106,6 +106,6 @@ please check [velocity converter package](https://github.com/autowarefoundation/ Depending on the parameters of emergencies, this could escalate to a full emergency, preventing autonomous driving. To work around this, please modify the configuration file of the system_error_monitor. -In the [system_error_monitor.param.yaml](https://github.com/autowarefoundation/autoware.universe/blob/main/system/system_error_monitor/config/system_error_monitor.param.yaml) file, `/autoware/localization/performance_monitoring/matching_score` represents the aggregated diagnostics for NDT. +In the [system_error_monitor.param.yaml](https://github.com/autowarefoundation/autoware_universe/blob/main/system/system_error_monitor/config/system_error_monitor.param.yaml) file, `/autoware/localization/performance_monitoring/matching_score` represents the aggregated diagnostics for NDT. To prevent emergencies even when NDT is not launched, remove this entry from the configuration. -Note that the module name `/performance_monitoring/matching_score` is specified in [diagnostics_aggregator/localization.param.yaml](https://github.com/autowarefoundation/autoware.universe/blob/main/system/system_error_monitor/config/diagnostic_aggregator/localization.param.yaml). +Note that the module name `/performance_monitoring/matching_score` is specified in [diagnostics_aggregator/localization.param.yaml](https://github.com/autowarefoundation/autoware_universe/blob/main/system/system_error_monitor/config/diagnostic_aggregator/localization.param.yaml). diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/map/index.md b/docs/how-to-guides/integrating-autoware/launch-autoware/map/index.md index 9c0c842b1db..cc2544e6400 100644 --- a/docs/how-to-guides/integrating-autoware/launch-autoware/map/index.md +++ b/docs/how-to-guides/integrating-autoware/launch-autoware/map/index.md @@ -7,7 +7,7 @@ launching at `autoware_launch.xml` as we mentioned at [Launch Autoware](../index The `autoware_launch` package includes `tier4_map_component.launch.xml` for starting map launch files invocation from `autoware_launch.xml`. This diagram describes some of the Autoware map launch files flow at `autoware_launch` -and `autoware.universe` packages. +and `autoware_universe` packages.
![map-launch-flow](images/map_launch_flow.svg){ align=center } diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/perception/index.md b/docs/how-to-guides/integrating-autoware/launch-autoware/perception/index.md index 3052f04b783..98c322aad43 100644 --- a/docs/how-to-guides/integrating-autoware/launch-autoware/perception/index.md +++ b/docs/how-to-guides/integrating-autoware/launch-autoware/perception/index.md @@ -6,7 +6,7 @@ The Autoware perception stacks start launching at `autoware_launch.xml` as we mentioned at [Launch Autoware](../index.md) page. The `autoware_launch` package includes `tier4_perception_component.launch.xml` for starting perception launch files invocation from `autoware_launch.xml`. -This diagram describes some of the Autoware perception launch files flow at `autoware_launch` and `autoware.universe` packages. +This diagram describes some of the Autoware perception launch files flow at `autoware_launch` and `autoware_universe` packages.
![perception-launch-flow](images/perception_launch_flow.svg){ align=center } @@ -29,7 +29,7 @@ This diagram describes some of the Autoware perception launch files flow at `aut ## tier4_perception_component.launch.xml The `tier4_perception_component.launch.xml` launch file is the main perception component launch at the `autoware_launch` package. -This launch file calls `perception.launch.xml` at [tier4_perception_launch](https://github.com/autowarefoundation/autoware.universe/tree/main/launch/tier4_perception_launch) package from `autoware.universe` repository. +This launch file calls `perception.launch.xml` at [tier4_perception_launch](https://github.com/autowarefoundation/autoware_universe/tree/main/launch/tier4_perception_launch) package from `autoware_universe` repository. We can modify perception launch arguments at tier4_perception_component.launch.xml. Also, we can add any other necessary arguments @@ -37,7 +37,7 @@ that we want to change it since `tier4_perception_component.launch.xml` is the top-level launch file of other perception launch files. Here are some predefined perception launch arguments: -- **`occupancy_grid_map_method:`** This argument determines the occupancy grid map method for perception stack. Please check [probabilistic_occupancy_grid_map](https://autowarefoundation.github.io/autoware.universe/main/perception/autoware_probabilistic_occupancy_grid_map/) package for detailed information. +- **`occupancy_grid_map_method:`** This argument determines the occupancy grid map method for perception stack. Please check [probabilistic_occupancy_grid_map](https://autowarefoundation.github.io/autoware_universe/main/perception/autoware_probabilistic_occupancy_grid_map/) package for detailed information. The default probabilistic occupancy grid map method is `pointcloud_based_occupancy_grid_map`. If you want to change it to the `laserscan_based_occupancy_grid_map`, you can change it here: @@ -47,7 +47,7 @@ Here are some predefined perception launch arguments: ``` - **`detected_objects_filter_method:`** This argument determines the filter method for detected objects. - Please check [detected_object_validation](https://autowarefoundation.github.io/autoware.universe/main/perception/autoware_detected_object_validation/) package for detailed information about lanelet and position filter. + Please check [detected_object_validation](https://autowarefoundation.github.io/autoware_universe/main/perception/autoware_detected_object_validation/) package for detailed information about lanelet and position filter. The default detected object filter method is `lanelet_filter`. If you want to change it to the `position_filter`, you can change it here: @@ -57,7 +57,7 @@ Here are some predefined perception launch arguments: ``` - **`detected_objects_validation_method:`** This argument determines the validation method for detected objects. - Please check [detected_object_validation](https://autowarefoundation.github.io/autoware.universe/main/perception/autoware_detected_object_validation/) package for detailed information about validation methods. + Please check [detected_object_validation](https://autowarefoundation.github.io/autoware_universe/main/perception/autoware_detected_object_validation/) package for detailed information about validation methods. The default detected object filter method is `obstacle_pointcloud`. If you want to change it to the `occupancy_grid`, you can change it here, but remember it requires `laserscan_based_occupancy_grid_map` method as `occupancy_grid_map_method`: @@ -82,14 +82,14 @@ Here are some predefined perception launch arguments: The predefined `tier4_perception_component.launch.xml` arguments explained above, but there is the lot of perception arguments -included in `perception.launch.xml` launch file at [tier4_perception_launch](https://github.com/autowarefoundation/autoware.universe/tree/main/launch/tier4_perception_launch). -Since we didn't fork `autoware.universe` repository, +included in `perception.launch.xml` launch file at [tier4_perception_launch](https://github.com/autowarefoundation/autoware_universe/tree/main/launch/tier4_perception_launch). +Since we didn't fork `autoware_universe` repository, we can add the necessary launch argument to tier4_perception_component.launch.xml file. Please follow the guidelines for some examples. ## perception.launch.xml -The `perception.launch.xml` launch file is the main perception launch at the `autoware.universe`. +The `perception.launch.xml` launch file is the main perception launch at the `autoware_universe`. This launch file calls necessary perception launch files as we mentioned [`Autoware perception launch flow diagram`](#overview) above. The top-level launch file of `perception.launch.xml` is `tier4_perception_component.launch.xml`, @@ -99,7 +99,7 @@ we will apply these changes `tier4_perception_component.launch.xml` instead of ` Here are some example changes for the perception pipeline: - **`remove_unknown:`** This parameter determines the remove unknown objects at camera-lidar fusion. - Please check [roi_cluster_fusion](https://github.com/autowarefoundation/autoware.universe/blob/main/perception/autoware_image_projection_based_fusion/docs/roi-cluster-fusion.md) node for detailed information. + Please check [roi_cluster_fusion](https://github.com/autowarefoundation/autoware_universe/blob/main/perception/autoware_image_projection_based_fusion/docs/roi-cluster-fusion.md) node for detailed information. The default value is `true`. If you want to change it to the `false`, you can add this argument to `tier4_perception_component.launch.xml`, diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/planning/index.md b/docs/how-to-guides/integrating-autoware/launch-autoware/planning/index.md index fed90b465b4..dd4f14ea205 100644 --- a/docs/how-to-guides/integrating-autoware/launch-autoware/planning/index.md +++ b/docs/how-to-guides/integrating-autoware/launch-autoware/planning/index.md @@ -6,7 +6,7 @@ The Autoware planning stacks start launching at `autoware_launch.xml` as mentioned on the [Launch Autoware](../index.md) page. The `autoware_launch` package includes `tier4_planning_component.launch.xml` for initiating planning launch files invocation from `autoware_launch.xml`. -The diagram below illustrates the flow of Autoware planning launch files within the autoware_launch and autoware.universe packages. +The diagram below illustrates the flow of Autoware planning launch files within the autoware_launch and autoware_universe packages.
![planning-launch-flow](images/planning_launch_flow.svg){ align=center } @@ -29,7 +29,7 @@ The diagram below illustrates the flow of Autoware planning launch files within ## tier4_planning_component.launch.xml The `tier4_planning_component.launch.xml` launch file is the main planning component launch at the `autoware_launch` package. -This launch file calls `planning.launch.xml` at [tier4_planning_launch](https://github.com/autowarefoundation/autoware.universe/tree/main/launch/tier4_planning_launch) package from `autoware.universe` repository. +This launch file calls `planning.launch.xml` at [tier4_planning_launch](https://github.com/autowarefoundation/autoware_universe/tree/main/launch/tier4_planning_launch) package from `autoware_universe` repository. We can modify planning launch arguments at tier4_planning_component.launch.xml. Also, we can add any other necessary arguments @@ -40,7 +40,7 @@ Here are some predefined planning launch arguments: - **`use_experimental_lane_change_function:`** This argument enables `enable_collision_check_at_prepare_phase`, `use_predicted_path_outside_lanelet`, and `use_all_predicted_path` options for Autoware for experimental lane changing - (for more information, please refer to [lane_change documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/docs/behavior_path_planner_lane_change_design/)). + (for more information, please refer to [lane_change documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/docs/behavior_path_planner_lane_change_design/)). The default value is True. To set it to False, make the following change in the `tier4_planning_component.launch.xml` file: @@ -49,8 +49,8 @@ Here are some predefined planning launch arguments: + ``` -- **`cruise_planner_type:`** There are two types of cruise planners in Autoware: [obstacle_stop_planner](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_stop_planner/) - and [obstacle_cruise_planner](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_cruise_planner/). For specifications on these cruise planner types, +- **`cruise_planner_type:`** There are two types of cruise planners in Autoware: [obstacle_stop_planner](https://autowarefoundation.github.io/autoware_universe/main/planning/obstacle_stop_planner/) + and [obstacle_cruise_planner](https://autowarefoundation.github.io/autoware_universe/main/planning/obstacle_cruise_planner/). For specifications on these cruise planner types, please refer to the package documentation. The default cruise planner is `obstacle_stop_planner`. To change it to obstacle_cruise_planner, update the argument value in the `tier4_planning_component.launch.xml` file: @@ -59,7 +59,7 @@ Here are some predefined planning launch arguments: + ``` -- **`use_surround_obstacle_check:`** This argument enables the [surround_obstacle_checker](https://autowarefoundation.github.io/autoware.universe/main/planning/surround_obstacle_checker/) +- **`use_surround_obstacle_check:`** This argument enables the [surround_obstacle_checker](https://autowarefoundation.github.io/autoware_universe/main/planning/surround_obstacle_checker/) for Autoware. If you want to disable it, you can do in the `tier4_planning_component.launch.xml` file: @@ -69,7 +69,7 @@ Here are some predefined planning launch arguments: ``` - **`velocity_smoother_type:`** This argument specifies the type of smoother - for the [motion_velocity_smoother](https://autowarefoundation.github.io/autoware.universe/main/planning/motion_velocity_smoother/) package. Please consult the documentation + for the [motion_velocity_smoother](https://autowarefoundation.github.io/autoware_universe/main/planning/motion_velocity_smoother/) package. Please consult the documentation for detailed information about available smoother types. For instance, if you wish to change your smoother type from JerkFiltered to L2, you can do in the tier4_planning_component.launch.xml file.: diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/sensing/index.md b/docs/how-to-guides/integrating-autoware/launch-autoware/sensing/index.md index d512eadda94..403e57fd5d3 100644 --- a/docs/how-to-guides/integrating-autoware/launch-autoware/sensing/index.md +++ b/docs/how-to-guides/integrating-autoware/launch-autoware/sensing/index.md @@ -6,7 +6,7 @@ The Autoware sensing stacks start launching at `autoware_launch.xml` as we mentioned at [Launch Autoware](../index.md) page. The `autoware_launch` package includes `tier4_sensing_component.launch.xml` for starting sensing launch files invocation from `autoware_launch.xml`. -This diagram describes some of the Autoware sensing launch files flow at `autoware_launch` and `autoware.universe` packages. +This diagram describes some of the Autoware sensing launch files flow at `autoware_launch` and `autoware_universe` packages.
![sensing-launch-flow](images/sensing_launch_flow.svg){ align=center } diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/system/index.md b/docs/how-to-guides/integrating-autoware/launch-autoware/system/index.md index 871c15e8ab5..70da66de94f 100644 --- a/docs/how-to-guides/integrating-autoware/launch-autoware/system/index.md +++ b/docs/how-to-guides/integrating-autoware/launch-autoware/system/index.md @@ -6,7 +6,7 @@ The Autoware system stacks start launching at `autoware_launch.xml` as we mentioned at [Launch Autoware](../index.md) page. The `autoware_launch` package includes `tier4_system_component.launch.xml` for starting system launch files invocation from `autoware_launch.xml`. -This diagram describes some of the Autoware system launch files flow at `autoware_launch` and `autoware.universe` packages. +This diagram describes some of the Autoware system launch files flow at `autoware_launch` and `autoware_universe` packages.
![system-launch-flow](images/system_launch_flow.svg){ align=center } @@ -29,15 +29,15 @@ This diagram describes some of the Autoware system launch files flow at `autowar As described in the flow diagram of the system launch pipeline, the `system.launch.xml` from the `tier4_system_launch` package directly launches the following packages: -- [system_monitor](https://autowarefoundation.github.io/autoware.universe/main/system/system_monitor/) -- [component_interface_tools](https://autowarefoundation.github.io/autoware.universe/main/common/component_interface_tools/) -- [component_state_monitor](https://autowarefoundation.github.io/autoware.universe/main/system/component_state_monitor/) -- [system_error_monitor](https://autowarefoundation.github.io/autoware.universe/main/system/system_error_monitor/) -- [emergency_handler](https://autowarefoundation.github.io/autoware.universe/main/system/emergency_handler/) -- [duplicated_node_checker](https://autowarefoundation.github.io/autoware.universe/main/system/duplicated_node_checker/) -- [mrm_comfortable_stop_operator](https://autowarefoundation.github.io/autoware.universe/main/system/mrm_comfortable_stop_operator/) -- [mrm_emergency_stop_operator](https://autowarefoundation.github.io/autoware.universe/main/system/mrm_emergency_stop_operator/) -- [dummy_diag_publisher](https://autowarefoundation.github.io/autoware.universe/main/system/dummy_diag_publisher/) +- [system_monitor](https://autowarefoundation.github.io/autoware_universe/main/system/system_monitor/) +- [component_interface_tools](https://autowarefoundation.github.io/autoware_universe/main/common/component_interface_tools/) +- [component_state_monitor](https://autowarefoundation.github.io/autoware_universe/main/system/component_state_monitor/) +- [system_error_monitor](https://autowarefoundation.github.io/autoware_universe/main/system/system_error_monitor/) +- [emergency_handler](https://autowarefoundation.github.io/autoware_universe/main/system/emergency_handler/) +- [duplicated_node_checker](https://autowarefoundation.github.io/autoware_universe/main/system/duplicated_node_checker/) +- [mrm_comfortable_stop_operator](https://autowarefoundation.github.io/autoware_universe/main/system/mrm_comfortable_stop_operator/) +- [mrm_emergency_stop_operator](https://autowarefoundation.github.io/autoware_universe/main/system/mrm_emergency_stop_operator/) +- [dummy_diag_publisher](https://autowarefoundation.github.io/autoware_universe/main/system/dummy_diag_publisher/) We don't have many modification options in the system launching files (as the parameters are included in config files), diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/vehicle/index.md b/docs/how-to-guides/integrating-autoware/launch-autoware/vehicle/index.md index 468cf7948a1..39df0b7dd7c 100644 --- a/docs/how-to-guides/integrating-autoware/launch-autoware/vehicle/index.md +++ b/docs/how-to-guides/integrating-autoware/launch-autoware/vehicle/index.md @@ -5,7 +5,7 @@ The Autoware vehicle stacks begin launching with autoware_launch.xml as mentioned on the [Launch Autoware](../index.md) page, and the tier4_vehicle.launch.xml is called in this context. The following diagram describes some of -the Autoware vehicle launch file flow within the `autoware_launch` and `autoware.universe` packages. +the Autoware vehicle launch file flow within the `autoware_launch` and `autoware_universe` packages.
![vehicle-launch-flow](images/vehicle_launch_flow.svg){ align=center width=720} diff --git a/docs/how-to-guides/integrating-autoware/tuning-parameters-and-performance/evaluating-controller-performance.md b/docs/how-to-guides/integrating-autoware/tuning-parameters-and-performance/evaluating-controller-performance.md index 7f6d202269a..d41fa011350 100644 --- a/docs/how-to-guides/integrating-autoware/tuning-parameters-and-performance/evaluating-controller-performance.md +++ b/docs/how-to-guides/integrating-autoware/tuning-parameters-and-performance/evaluating-controller-performance.md @@ -5,7 +5,7 @@ This page shows how to use `control_performance_analysis` package to evaluate th `control_performance_analysis` is the package to analyze the tracking performance of a control module and monitor the driving status of the vehicle. -If you need more detailed information about package, refer to the [control_performance_analysis](https://github.com/autowarefoundation/autoware.universe/tree/main/control/control_performance_analysis). +If you need more detailed information about package, refer to the [control_performance_analysis](https://github.com/autowarefoundation/autoware_universe/tree/main/control/control_performance_analysis). ## How to use @@ -37,7 +37,7 @@ ros2 run plotjuggler plotjuggler - If you do not have PlotJuggler in your computer, please refer [here](https://github.com/facontidavide/PlotJuggler#installation) for installation guideline. -#### 5. Increase the buffer size (maximum is 100), and import the layout from `/autoware.universe/control/control_performance_analysis/config/controller_monitor.xml` +#### 5. Increase the buffer size (maximum is 100), and import the layout from `/autoware_universe/control/control_performance_analysis/config/controller_monitor.xml` - After import the layout, please specify the topics that are listed below. @@ -72,4 +72,4 @@ ros2 run plotjuggler plotjuggler ![Plot XY Curve](images/evaluating-controller-performance/plot-xy.png) -- If you see too much noised curve in plots, you can adjust the `odom_interval` and `low_pass_filter_gain` from [here](https://github.com/autowarefoundation/autoware.universe/blob/main/control/control_performance_analysis/config/control_performance_analysis.param.yaml) to avoid noised data. +- If you see too much noised curve in plots, you can adjust the `odom_interval` and `low_pass_filter_gain` from [here](https://github.com/autowarefoundation/autoware_universe/blob/main/control/control_performance_analysis/config/control_performance_analysis.param.yaml) to avoid noised data. diff --git a/docs/how-to-guides/integrating-autoware/tuning-parameters-and-performance/evaluating-real-time-performance.md b/docs/how-to-guides/integrating-autoware/tuning-parameters-and-performance/evaluating-real-time-performance.md index 5005973432f..5b09ebcbfe7 100644 --- a/docs/how-to-guides/integrating-autoware/tuning-parameters-and-performance/evaluating-real-time-performance.md +++ b/docs/how-to-guides/integrating-autoware/tuning-parameters-and-performance/evaluating-real-time-performance.md @@ -114,7 +114,7 @@ In this section, we will present several case studies that demonstrate the perfo ### Sensing component First, we will explain the procedure for performance improvement, taking the node `ring_outlier_filter` as an example. -Refer to the [Pull Request](https://github.com/autowarefoundation/autoware.universe/pull/3014) for details. +Refer to the [Pull Request](https://github.com/autowarefoundation/autoware_universe/pull/3014) for details. The following figure is a time-series plot of the turnaround time of the main processing part of `ring_outlier_filter`, analyzed as described in the "Performance Measurement" section above. @@ -200,6 +200,6 @@ for ( area : detection_areas ) ``` By using O(N) algorithm for minimum enclosing circle, the computational complexity of this program is reduced to almost O(N \* (N + M)) (note that the exact computational complexity does not really change). -If you are interested, refer to the [Pull Request](https://github.com/autowarefoundation/autoware.universe/pull/2846). +If you are interested, refer to the [Pull Request](https://github.com/autowarefoundation/autoware_universe/pull/2846). Similar to this example, in the planning component, we take into consideration thousands to tens of thousands of point clouds, thousands of points in a path representing our own route, and polygons representing obstacles and detection areas in the surroundings, and we repeatedly create paths based on them. Therefore, we access the contents of the point clouds and paths multiple times using for-loops. In most cases, the bottleneck lies in these naive for-loops. Here, understanding Big O notation and reducing the order of computational complexity directly leads to performance improvements. 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 index 7eecfc8560c..e558b4908a5 100644 --- 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 @@ -39,10 +39,10 @@ When developing a new node, it could be beneficial to reference a package that i 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/autoware_ndt_scan_matcher). +For example, a node doing NDT, a LiDAR-based localization method, is [ndt_scan_matcher](https://github.com/autowarefoundation/autoware_universe/tree/main/localization/autoware_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_twist_estimator/ndt_scan_matcher.launch.xml), so it is necessary to replace the launch file as well. +`ndt_scan_matcher` is launched as [pose_estimator](https://github.com/autowarefoundation/autoware_universe/blob/main/launch/tier4_localization_launch/launch/pose_twist_estimator/ndt_scan_matcher.launch.xml), so it is necessary to replace the launch file as well. ## 4. Evaluating by a rosbag-based simulator diff --git a/docs/how-to-guides/others/fixing-dependent-package-versions.md b/docs/how-to-guides/others/fixing-dependent-package-versions.md index c496a05969e..35edb0c62c7 100644 --- a/docs/how-to-guides/others/fixing-dependent-package-versions.md +++ b/docs/how-to-guides/others/fixing-dependent-package-versions.md @@ -1,8 +1,8 @@ # Fixing dependent package versions Autoware manages dependent package versions in autoware.repos. -For example, let's say you make a branch in autoware.universe and add new features. -Suppose you update other dependencies with `vcs pull` after cutting a branch from autoware.universe. Then the version of autoware.universe you are developing and other dependencies will become inconsistent, and the entire Autoware build will fail. +For example, let's say you make a branch in autoware_universe and add new features. +Suppose you update other dependencies with `vcs pull` after cutting a branch from autoware_universe. Then the version of autoware_universe you are developing and other dependencies will become inconsistent, and the entire Autoware build will fail. We recommend saving the dependent package versions by executing the following command when starting the development. ```bash diff --git a/docs/how-to-guides/others/reducing-start-delays.md b/docs/how-to-guides/others/reducing-start-delays.md index f3d14dd29b0..66b6ead888c 100644 --- a/docs/how-to-guides/others/reducing-start-delays.md +++ b/docs/how-to-guides/others/reducing-start-delays.md @@ -35,9 +35,9 @@ 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/) +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) +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. @@ -87,10 +87,10 @@ but this can cause uncomfortably high initial accelerations. 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/) +[`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, +[`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: @@ -98,9 +98,9 @@ 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/) +[`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/) +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. diff --git a/docs/how-to-guides/others/running-autoware-without-cuda.md b/docs/how-to-guides/others/running-autoware-without-cuda.md index 294eb4626c8..ad20673afc6 100644 --- a/docs/how-to-guides/others/running-autoware-without-cuda.md +++ b/docs/how-to-guides/others/running-autoware-without-cuda.md @@ -13,7 +13,7 @@ Autoware Universe's object detection can be run using one of five possible confi - `lidar-centerpoint` + `tensorrt_yolo` - `euclidean_cluster` -Of these five configurations, only the last one (`euclidean_cluster`) can be run without CUDA. For more details, refer to the [`euclidean_cluster` module's README file](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_euclidean_cluster). +Of these five configurations, only the last one (`euclidean_cluster`) can be run without CUDA. For more details, refer to the [`euclidean_cluster` module's README file](https://github.com/autowarefoundation/autoware_universe/tree/main/perception/autoware_euclidean_cluster). ## Running traffic light detection without CUDA @@ -22,6 +22,6 @@ For traffic light recognition (both detection and classification), there are two - `traffic_light_ssd_fine_detector` - `traffic_light_classifier` -To run traffic light detection without CUDA, set [`enable_fine_detection` to `false` in the traffic light launch file](https://github.com/autowarefoundation/autoware.universe/blob/9445f3a7acd645d12a64507c3d3bfa57e74a3634/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml#L3). Doing so disables the `traffic_light_ssd_fine_detector` such that traffic light detection is handled by the `map_based_traffic_light_detector` module instead. +To run traffic light detection without CUDA, set [`enable_fine_detection` to `false` in the traffic light launch file](https://github.com/autowarefoundation/autoware_universe/blob/9445f3a7acd645d12a64507c3d3bfa57e74a3634/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml#L3). Doing so disables the `traffic_light_ssd_fine_detector` such that traffic light detection is handled by the `map_based_traffic_light_detector` module instead. -To run traffic light classification without CUDA, set [`use_gpu` to `false` in the traffic light classifier launch file](https://github.com/autowarefoundation/autoware.universe/blob/9445f3a7acd645d12a64507c3d3bfa57e74a3634/perception/traffic_light_classifier/launch/traffic_light_classifier.launch.xml#L7). Doing so will force the `traffic_light_classifier` to use a different classification algorithm that does not require CUDA or a GPU. +To run traffic light classification without CUDA, set [`use_gpu` to `false` in the traffic light classifier launch file](https://github.com/autowarefoundation/autoware_universe/blob/9445f3a7acd645d12a64507c3d3bfa57e74a3634/perception/traffic_light_classifier/launch/traffic_light_classifier.launch.xml#L7). Doing so will force the `traffic_light_classifier` to use a different classification algorithm that does not require CUDA or a GPU. diff --git a/docs/how-to-guides/others/using-divided-map.md b/docs/how-to-guides/others/using-divided-map.md index 459f37464d8..849a053a6d3 100644 --- a/docs/how-to-guides/others/using-divided-map.md +++ b/docs/how-to-guides/others/using-divided-map.md @@ -26,5 +26,5 @@ For playing rosbag to simulate Autoware, please refer to the instruction in [the ## Related links - For specific format definition of the divided map, please refer to [Map component design page](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/map/) -- [The Readme of map_loader](https://github.com/autowarefoundation/autoware.universe/tree/main/map/autoware_map_loader) may be useful specific instructions for dividing maps +- [The Readme of map_loader](https://github.com/autowarefoundation/autoware_universe/tree/main/map/autoware_map_loader) may be useful specific instructions for dividing maps - When dividing your own pointcloud map, you may use [pointcloud_divider](https://github.com/autowarefoundation/autoware_tools/tree/main/map/autoware_pointcloud_divider), which can divide the map as well as generating the compatible metadata diff --git a/docs/how-to-guides/training-machine-learning-models/training-models.md b/docs/how-to-guides/training-machine-learning-models/training-models.md index 22b87787b64..8d5ca729f24 100644 --- a/docs/how-to-guides/training-machine-learning-models/training-models.md +++ b/docs/how-to-guides/training-machine-learning-models/training-models.md @@ -26,14 +26,14 @@ the readme file accompanying **"traffic_light_classifier"** package. These instr the process of training the model using your own dataset. To facilitate your training, we have also provided an example dataset containing three distinct classes (green, yellow, red), which you can leverage during the training process. -Detailed instructions for training the traffic light classifier model can be found **[here](https://github.com/autowarefoundation/autoware.universe/blob/main/perception/autoware_traffic_light_classifier/README.md)**. +Detailed instructions for training the traffic light classifier model can be found **[here](https://github.com/autowarefoundation/autoware_universe/blob/main/perception/autoware_traffic_light_classifier/README.md)**. ## Training CenterPoint 3D object detection model The CenterPoint 3D object detection model within the Autoware has been trained using the **[autowarefoundation/mmdetection3d](https://github.com/autowarefoundation/mmdetection3d/blob/main/projects/AutowareCenterPoint/README.md)** repository. To train custom CenterPoint models and convert them into ONNX format for deployment in Autoware, please refer to the instructions provided in the README file included with Autoware's -**[lidar_centerpoint](https://autowarefoundation.github.io/autoware.universe/main/perception/autoware_lidar_centerpoint/)** package. These instructions will provide a step-by-step guide for training the CenterPoint model. +**[lidar_centerpoint](https://autowarefoundation.github.io/autoware_universe/main/perception/autoware_lidar_centerpoint/)** package. These instructions will provide a step-by-step guide for training the CenterPoint model. In order to assist you with your training process, we have also included an example dataset in the TIER IV dataset format. diff --git a/docs/index.md b/docs/index.md index bb1b77a3f88..06998e79502 100644 --- a/docs/index.md +++ b/docs/index.md @@ -44,5 +44,5 @@ Autoware is the world’s leading open-source project dedicated to autonomous dr In addition to this page, there are several related documentations to further your knowledge and understanding of Autoware: -- [Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/) contains technical documentations of each component/function such as localization, planning, etc. +- [Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/) contains technical documentations of each component/function such as localization, planning, etc. - [Autoware Tools Documentation](https://autowarefoundation.github.io/autoware_tools/main/) contains technical documentations of each tools for autonomous driving such as performance analysis, calibration, etc. diff --git a/docs/support/docs-guide.md b/docs/support/docs-guide.md index 7b4341e8a8b..8b8aa9c7de6 100644 --- a/docs/support/docs-guide.md +++ b/docs/support/docs-guide.md @@ -4,5 +4,5 @@ This page explains several documentation sites that are useful for Autoware and - [The Autoware Foundation](https://www.autoware.org/) is the official site of the Autoware Foundation. You can learn about the Autoware community here. - [Autoware Documentation](https://autowarefoundation.github.io/autoware-documentation) (this site) is the central documentation site for Autoware maintained by the Autoware community. General software-related information of Autoware is aggregated here. -- [Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe) has READMEs and design documents of software components. +- [Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe) has READMEs and design documents of software components. - [ROS Docs Guide](https://docs.ros.org/en/rolling/Docs-Guide.html) explains the ROS 1 and ROS 2 documentation infrastructure. diff --git a/docs/support/troubleshooting/performance-troubleshooting.md b/docs/support/troubleshooting/performance-troubleshooting.md index 5f4ca4b3864..2255d1f6138 100644 --- a/docs/support/troubleshooting/performance-troubleshooting.md +++ b/docs/support/troubleshooting/performance-troubleshooting.md @@ -52,7 +52,7 @@ Even if a build starts with these flags but same workspace gets compiled without 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) +Example issue: [issue2597](https://github.com/autowarefoundation/autoware_universe/issues/2597#issuecomment-1491789081) #### Solution diff --git a/docs/tutorials/ad-hoc-simulation/digital-twin-simulation/carla-tutorial.md b/docs/tutorials/ad-hoc-simulation/digital-twin-simulation/carla-tutorial.md index a82566d3fbb..345cd1ae19c 100644 --- a/docs/tutorials/ad-hoc-simulation/digital-twin-simulation/carla-tutorial.md +++ b/docs/tutorials/ad-hoc-simulation/digital-twin-simulation/carla-tutorial.md @@ -10,9 +10,9 @@ You can report issues to each project if there is any problem. ## autoware_carla_interface Autoware ROS package to enables communication between Autoware and CARLA simulator for autonomous driving simulation. -It is integrated in autoware.universe and actively maintained to stay compatible with the latest Autoware updates. +It is integrated in autoware_universe and actively maintained to stay compatible with the latest Autoware updates. -- Package Link and Tutorial: [autoware_carla_interface](https://github.com/autowarefoundation/autoware.universe/tree/main/simulator/autoware_carla_interface). +- Package Link and Tutorial: [autoware_carla_interface](https://github.com/autowarefoundation/autoware_universe/tree/main/simulator/autoware_carla_interface). ### carla_autoware_bridge From c834692c09986e239c8569d8d9c7f2a4105f743c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mete=20Fatih=20C=C4=B1r=C4=B1t?= Date: Wed, 19 Mar 2025 18:22:41 +0900 Subject: [PATCH 2/3] rename Autoware Universe MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Mete Fatih Cırıt --- docs/autoware-competitions/index.md | 4 ++-- docs/reference-hw/index.md | 2 +- .../digital-twin-simulation/carla-tutorial.md | 2 +- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/docs/autoware-competitions/index.md b/docs/autoware-competitions/index.md index 2e7317c2f19..3b02f79edcf 100644 --- a/docs/autoware-competitions/index.md +++ b/docs/autoware-competitions/index.md @@ -3,10 +3,10 @@ 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. | | | Finished | **[Japan Automotive AI Challenge 2023 (Integration)](https://www.jsae.or.jp/jaaic/2023_summary.php)**
**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. | -| | Ongoing | **[Japan Automotive AI Challenge 2023 (Simulation)](https://www.jsae.or.jp/jaaic/2023_simulation.php)**
**Registration:** Nov 6, 2023 - Dec 28, 2023
**Date:** Dec 4, 2023 - Jan. 31, 2024

This contest is a software development contest with a motorsports theme. Participants will develop autonomous driving software based on [Autoware.Universe](https://github.com/autowarefoundation/autoware_universe), and integrate it into a racing car that runs in the End to End simulation space (AWSIM). The goal is simple, win the race while driving safely! | +| | Ongoing | **[Japan Automotive AI Challenge 2023 (Simulation)](https://www.jsae.or.jp/jaaic/2023_simulation.php)**
**Registration:** Nov 6, 2023 - Dec 28, 2023
**Date:** Dec 4, 2023 - Jan. 31, 2024

This contest is a software development contest with a motorsports theme. Participants will develop autonomous driving software based on [Autoware Universe](https://github.com/autowarefoundation/autoware_universe), and integrate it into a racing car that runs in the End to End simulation space (AWSIM). The goal is simple, win the race while driving safely! | ## Proposing New Competition diff --git a/docs/reference-hw/index.md b/docs/reference-hw/index.md index 46eecc3e8a9..d9e6579960c 100644 --- a/docs/reference-hw/index.md +++ b/docs/reference-hw/index.md @@ -1,6 +1,6 @@ # Reference HW Design -This document is created to describe and give additional information of the sensors and systems supported by Autoware.Universe software. +This document is created to describe and give additional information of the sensors and systems supported by Autoware Universe 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. diff --git a/docs/tutorials/ad-hoc-simulation/digital-twin-simulation/carla-tutorial.md b/docs/tutorials/ad-hoc-simulation/digital-twin-simulation/carla-tutorial.md index 345cd1ae19c..c94bc868fcc 100644 --- a/docs/tutorials/ad-hoc-simulation/digital-twin-simulation/carla-tutorial.md +++ b/docs/tutorials/ad-hoc-simulation/digital-twin-simulation/carla-tutorial.md @@ -1,7 +1,7 @@ # CARLA simulator [CARLA](https://carla.org) is a famous open-source simulator for the autonomous driving research. -Now there is no official support to Autoware.universe, but some projects from communities support it. +Now there is no official support to Autoware Universe, but some projects from communities support it. The document is to list these projects for anyone who wants to run Autoware with Carla. You can report issues to each project if there is any problem. From ed41e2da1579efea73e0ec89469fd26e224ca75d Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Wed, 19 Mar 2025 09:25:40 +0000 Subject: [PATCH 3/3] style(pre-commit): autofix --- docs/autoware-competitions/index.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/autoware-competitions/index.md b/docs/autoware-competitions/index.md index 3b02f79edcf..986f5ca1da7 100644 --- a/docs/autoware-competitions/index.md +++ b/docs/autoware-competitions/index.md @@ -3,7 +3,7 @@ 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. | | | Finished | **[Japan Automotive AI Challenge 2023 (Integration)](https://www.jsae.or.jp/jaaic/2023_summary.php)**
**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. | | | Ongoing | **[Japan Automotive AI Challenge 2023 (Simulation)](https://www.jsae.or.jp/jaaic/2023_simulation.php)**
**Registration:** Nov 6, 2023 - Dec 28, 2023
**Date:** Dec 4, 2023 - Jan. 31, 2024

This contest is a software development contest with a motorsports theme. Participants will develop autonomous driving software based on [Autoware Universe](https://github.com/autowarefoundation/autoware_universe), and integrate it into a racing car that runs in the End to End simulation space (AWSIM). The goal is simple, win the race while driving safely! |