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docs(design/autoware-interfaces): add sensing interface (#328)
* docs(design/autoware-interfaces): add sensing interface Signed-off-by: beginningfan <beginning.fan@autocore.ai> * style(pre-commit): autofix * fix(design/autoware-interfaces): fix typo(date) Signed-off-by: beginningfan <beginning.fan@autocore.ai> * docs(design/autoware-interfaces): delete input topics Signed-off-by: beginningfan <beginning.fan@autocore.ai> * docs(design/autoware-interfaces): Fix typos found by spell-check Signed-off-by: beginningfan <beginning.fan@autocore.ai> * docs(design/autoware-interfaces):fix description of vehicle velocity and pose Signed-off-by: beginningfan <beginning.fan@autocore.ai> * docs(design/autoware-interfaces): fix lidar output Signed-off-by: beginningfan <beginning.fan@autocore.ai> * docs(design/autoware-interfaces): add radar tracks Signed-off-by: beginningfan <beginning.fan@autocore.ai> * docs(design/autoware-interfaces): Modify the repo of msg type Signed-off-by: beginningfan <beginning.fan@autocore.ai> * docs(design/autoware-interfaces): add driver related content Signed-off-by: beginningfan <beginning.fan@autocore.ai> * style(pre-commit): autofix * docs(design/autoware-interfaces): add radar description Signed-off-by: beginningfan <beginning.fan@autocore.ai> * docs(design/autoware-interfaces): replace svg image with mermaid code Signed-off-by: beginningfan <beginning.fan@autocore.ai> * style(pre-commit): autofix --------- Signed-off-by: beginningfan <beginning.fan@autocore.ai> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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| # Sensing | ||
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| ```mermaid | ||
| graph TD | ||
| cmp_drv("Drivers"):::cls_drv | ||
| cmp_loc("Localization"):::cls_loc | ||
| cmp_per("Perception"):::cls_per | ||
| cmp_sen("Preprocessors"):::cls_sen | ||
| msg_ult("<font size=2><b>Ultrasonics</b></font size> | ||
| <font size=1>sensor_msgs/Range</font size>"):::cls_drv | ||
| msg_img("<font size=2><b>Camera Image</b></font size> | ||
| <font size=1>sensor_msgs/Image</font size>"):::cls_drv | ||
| msg_ldr("<font size=2><b>Lidar Point Cloud</b></font size> | ||
| <font size=1>sensor_msgs/PointCloud2</font size>"):::cls_drv | ||
| msg_rdr_t("<font size=2><b>Radar Tracks</b></font size> | ||
| <font size=1>radar_msgs/RadarTracks</font size>"):::cls_drv | ||
| msg_rdr_s("<font size=2><b>Radar Scan</b></font size> | ||
| <font size=1>radar_msgs/RadarScan</font size>"):::cls_drv | ||
| msg_gnss("<font size=2><b>GNSS-INS Position</b></font size> | ||
| <font size=1>sensor_msgs/NavSatFix</font size>"):::cls_drv | ||
| msg_gnssori("<font size=2><b>GNSS-INS Orientation</b></font size> | ||
| <font size=1>autoware_sensing_msgs/GnssInsOrientationStamped</font size>"):::cls_drv | ||
| msg_gnssvel("<font size=2><b>GNSS Velocity</b></font size> | ||
| <font size=1>geometry_msgs/TwistWithCovarianceStamped</font size>"):::cls_drv | ||
| msg_gnssacc("<font size=2><b>GNSS Acceleration</b></font size> | ||
| <font size=1>geometry_msgs/AccelWithCovarianceStamped</font size>"):::cls_drv | ||
| msg_ult_sen("<font size=2><b>Ultrasonics</b></font size> | ||
| <font size=1>sensor_msgs/Range</font size>"):::cls_sen | ||
| msg_img_sen("<font size=2><b>Camera Image</b></font size> | ||
| <font size=1>sensor_msgs/Image</font size>"):::cls_sen | ||
| msg_pc_combined_rdr("<font size=2><b>Combined Radar Tracks</b></font size> | ||
| <font size=1>radar_msgs/RadarTracks</font size>"):::cls_sen | ||
| msg_pc_rdr("<font size=2><b>Radar Pointcloud</b></font size> | ||
| <font size=1>radar_msgs/RadarScan</font size>"):::cls_sen | ||
| msg_pc_combined_ldr("<font size=2><b>Combined Lidar Point Cloud</b></font size> | ||
| <font size=1>sensor_msgs/PointCloud2</font size>"):::cls_sen | ||
| msg_pose_gnss("<font size=2><b>GNSS-INS Pose</b></font size> | ||
| <font size=1>geometry_msgs/PoseWithCovarianceStamped</font size>"):::cls_sen | ||
| msg_gnssori_sen("<font size=2><b>GNSS-INS Orientation</b></font size> | ||
| <font size=1>sensor_msgs/Imu</font size>"):::cls_sen | ||
| msg_gnssvel_sen("<font size=2><b>GNSS Velocity</b></font size> | ||
| <font size=1>geometry_msgs/TwistWithCovarianceStamped</font size>"):::cls_sen | ||
| msg_gnssacc_sen("<font size=2><b>GNSS-INS Acceleration</b></font size> | ||
| <font size=1>geometry_msgs/AccelWithCovarianceStamped</font size>"):::cls_sen | ||
| cmp_drv --> msg_ult --> cmp_sen | ||
| cmp_drv --> msg_img --> cmp_sen | ||
| cmp_drv --> msg_rdr_t --> cmp_sen | ||
| cmp_drv --> msg_rdr_s --> cmp_sen | ||
| cmp_drv --> msg_ldr --> cmp_sen | ||
| cmp_drv --> msg_gnss --> cmp_sen | ||
| cmp_drv --> msg_gnssori --> cmp_sen | ||
| cmp_drv --> msg_gnssvel --> cmp_sen | ||
| cmp_drv --> msg_gnssacc --> cmp_sen | ||
| cmp_sen --> msg_ult_sen | ||
| cmp_sen --> msg_img_sen | ||
| cmp_sen --> msg_gnssori_sen | ||
| cmp_sen --> msg_gnssvel_sen | ||
| cmp_sen --> msg_pc_combined_rdr | ||
| cmp_sen --> msg_pc_rdr | ||
| cmp_sen --> msg_pc_combined_ldr | ||
| cmp_sen --> msg_pose_gnss | ||
| cmp_sen --> msg_gnssacc_sen | ||
| msg_ult_sen --> cmp_per | ||
| msg_img_sen --> cmp_per | ||
| msg_pc_combined_rdr --> cmp_per | ||
| msg_pc_rdr --> cmp_per | ||
| msg_pc_combined_ldr --> cmp_per | ||
| msg_pc_combined_ldr --> cmp_loc | ||
| msg_pose_gnss --> cmp_loc | ||
| msg_gnssori_sen --> cmp_loc | ||
| msg_gnssvel_sen --> cmp_loc | ||
| msg_gnssacc_sen --> cmp_loc | ||
| classDef cls_drv fill:#F8CECC,stroke:#999,stroke-width:1px; | ||
| classDef cls_loc fill:#D5E8D4,stroke:#999,stroke-width:1px; | ||
| classDef cls_per fill:#FFF2CC,stroke:#999,stroke-width:1px; | ||
| classDef cls_sen fill:#FFE6CC,stroke:#999,stroke-width:1px; | ||
| ``` | ||
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| ## Inputs | ||
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| ### Ultrasonics | ||
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| Distance data from ultrasonic radar driver. | ||
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| - [sensor_msgs/Range](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Range.msg) | ||
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| ### Camera Image | ||
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| Image data from camera driver. | ||
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| - [sensor_msgs/Image](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Image.msg) | ||
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| ### Radar Tracks | ||
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| Tracks from radar driver. | ||
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| - [radar_msgs/RadarTracks](https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarTracks.msg) | ||
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| ### Radar Scan | ||
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| Scan from radar driver. | ||
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| - [radar_msgs/RadarScan](https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarScan.msg) | ||
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| ### Lidar Point Cloud | ||
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| Pointcloud from lidar driver. | ||
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| - [sensor_msgs/PointCloud2](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/PointCloud2.msg) | ||
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| ### GNSS-INS Position | ||
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| Initial pose from GNSS driver. | ||
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| - [geometry_msgs/NavSatFix](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/NavSatFix.msg) | ||
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| ### GNSS-INS Orientation | ||
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| Initial orientation from GNSS driver. | ||
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| - [autoware_sensing_msgs/GnssInsOrientationStamped](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_sensing_msgs/msg/GnssInsOrientationStamped.msg) | ||
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| ### GNSS Velocity | ||
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| Initial velocity from GNSS driver. | ||
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| - [geometry_msgs/TwistWithCovarianceStamped](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/TwistWithCovarianceStamped.msg) | ||
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| ### GNSS Acceleration | ||
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| Initial acceleration from GNSS driver. | ||
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| - [geometry_msgs/AccelWithCovarianceStamped](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/AccelWithCovarianceStamped.msg) | ||
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| ## Output | ||
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| ### Ultrasonics | ||
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| Distance data from ultrasonic radar. Used by the Perception. | ||
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| - [sensor_msgs/Range](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Range.msg) | ||
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| ### Camera Image | ||
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| Image data from camera. Used by the Perception. | ||
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| - [sensor_msgs/Image](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Image.msg) | ||
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| ### Combined Radar Tracks | ||
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| Radar tracks from radar. Used by the Perception. | ||
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| - [radar_msgs/RadarTracks.msg](https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarTracks.msg) | ||
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| ### Radar Point Cloud | ||
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| Pointcloud from radar. Used by the Perception. | ||
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| - [radar_msgs/RadarScan.msg](https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarScan.msg) | ||
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| ### Combined Lidar Point Cloud | ||
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| Lidar pointcloud after preprocessing. Used by the Perception and Localization. | ||
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| - [sensor_msgs/PointCloud2](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/PointCloud2.msg) | ||
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| ### GNSS-INS pose | ||
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| Initial pose of the ego vehicle from GNSS. Used by the Localization. | ||
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| - [geometry_msgs/PoseWithCovarianceStamped](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/PoseWithCovarianceStamped.msg) | ||
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| ### GNSS-INS Orientation | ||
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| Orientation info from GNSS. Used by the Localization. | ||
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| - [sensor_msgs/Imu](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Imu.msg) | ||
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| ### GNSS velocity | ||
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| Velocity of the ego vehicle from GNSS. Used by the Localization. | ||
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| - [geometry_msgs/TwistWithCovarianceStamped](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/TwistWithCovarianceStamped.msg) | ||
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| ### GNSS Acceleration | ||
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| Acceleration of the ego vehicle from GNSS. Used by the Localization. | ||
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| - [geometry_msgs/AccelWithCovarianceStamped](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/AccelWithCovarianceStamped.msg) |