From 94cd1230fdb343a42c75714613faee590c8aba67 Mon Sep 17 00:00:00 2001 From: AhmedEbrahim Date: Tue, 21 Mar 2023 11:58:07 +0200 Subject: [PATCH] feat: invalid lanelet documentation Signed-off-by: AhmedEbrahim --- ...-node-diagram-autoware-universe.drawio.svg | 4733 +---------------- 1 file changed, 4 insertions(+), 4729 deletions(-) diff --git a/docs/design/autoware-architecture/node-diagram/overall-node-diagram-autoware-universe.drawio.svg b/docs/design/autoware-architecture/node-diagram/overall-node-diagram-autoware-universe.drawio.svg index ec3ba93b27f..42d691b3ee1 100644 --- a/docs/design/autoware-architecture/node-diagram/overall-node-diagram-autoware-universe.drawio.svg +++ b/docs/design/autoware-architecture/node-diagram/overall-node-diagram-autoware-universe.drawio.svg @@ -1,4729 +1,4 @@ - - - - - - - -
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- Planning -
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- Perception -
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- Vehicle -
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- VehicleInterface -
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- Localization -
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- /vehicle/status/velocity_report -
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- - - /vehicle/status/velocity_report - - - - - - - - -
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- /autoware/engage [Engage] -
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- /current_gate_mode [GateMode] -
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- - - /autoware/engage [Engage]... - - - - - - - - -
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- /planning/turn_indicators_cmd [TurnIndicatorsCommand] -
- /planning/hazard_lights_cmd [HazardLightsCommand] -
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- - - /planning/turn_indicators_cmd [TurnIndicatorsCommand]... - - - - - - - - -
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- /planning/scenario_planning/max_velocity_candidates -
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- - /api/external/set/command/remote/control: [tier4_external_api_msgs/msg/ControlCommandStamped] - -
- - /api/external/set/command/remote/heartbeat: [tier4_external_api_msgs/msg/Heartbeat] - -
- - /api/external/set/command/remote/shift: [tier4_external_api_msgs/msg/GearShiftStamped] - -
- - /api/external/set/command/remote/turn_signal: [tier4_external_api_msgs/msg/TurnSignalStamped] - -
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- - - /api/external/set/command/remote/control: [tier4_external_api_msgs/msg/ControlCommandStamped]... - - - - - - - -
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- HMI -
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- /vehicle/engage -
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- <pose_initializer_srv> -
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- vehicle_velocity_converter/ -
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- - - vehicle_velocity_converter/... - - - - - - - -
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- HMI -
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- - pointcloud_map_ -
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- <differential_map_loader_srv> -
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- <partial_map_loader_srv> -
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- voxel_grid_downsample/pointcloud -
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- ekf_localizer -
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- pose_estimator/ -
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- ndt_scan_matcher -
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- downsample/pointcloud -
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- /initialpose3d -
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- pose_initializer -
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- twist_estimator/twist_with_covariance -
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- gyro_odometer -
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- measurement_range/pointcloud -
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- crop_box_filter_ -
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- vehicle_velocity_converter -
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- /tf -
- (map to base_link) -
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- /localization/kinematic_state -
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- stop_filter -
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- localization_error_monitor -
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- pose_twist_fusion_filter/ -
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- - - pose_twist_fusion_filter/... - - - - - - - - -
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- /diagnostics -
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- - - /diagnostics - - - - - - - - -
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- pose_twist_fusion_filter/ -
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- - - pose_twist_fusion_filter/... - - - - - - - -
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- - Map -
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- - - Map - - - - - - - - -
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- planning_validator -
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- - - planning_validator - - - - - - - - -
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- trajectory_follower -
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- - - trajectory_follower - - - - - - - -
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- Control -
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- - - Control - - - - - - - - -
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- latlon_muxer -
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- - - latlon_muxer - - - - - - - - - -
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- /control/trajectory_follower/lateral/control_cmd -
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- [AckermannLateralControlCommand] -
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- - - /control/trajectory_follower/lateral/control_cmd... - - - - - - - - -
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- /control/trajectory_follower/longitudinal/control_cmd -
- [LongitudinalControlCommand] -
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- - - /control/trajectory_follower/longitudinal/control_cmd... - - - - - - - - -
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- /control/trajectory_follower/control_cmd -
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- [AckermannControlCommand] -
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- - - /control/trajectory_follower/control_cmd... - - - - - - - - -
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- lateral_controller -
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- - - lateral_controller - - - - - - - - - -
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- longitudinal_controller -
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- - - longitudinal_controller - - - - - - - - - -
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- vehicle_cmd_gate -
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- - - vehicle_cmd_gate - - - - - - - - - -
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- control/command/control_cmd -
- [AckermannControlCommand] -
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- - - control/command/control_cmd... - - - - - - - - -
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- /control/shift_decider/gear_cmd -
- [GearCommand] -
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- - - /control/shift_decider/gear_cmd... - - - - - - - - -
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- shift_decider -
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- external_cmd_ -
- converter -
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- /diagnostics -
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- - - /diagnostics - - - - - - - - -
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- lane_departure_ -
- checker -
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- - - lane_departure_... - - - - - - - - - -
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- predicted_trajectory -
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- - - predicted_trajectory - - - - - - - - -
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- /external/selected/external_control_cmd -
- [tier4_external_api_msgs/msg/ControlCommandStamped] -
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- - - /external/selected/external_control_cmd... - - - - - - - - -
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- external_cmd_ -
- selector -
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- - - external_cmd_... - - - - - - - - - -
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- - /api/external/set/command/remote/control -
- -
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- - [tier4_external_api_msgs/msg/ControlCommandStamped] - -
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- - /api/external/set/command/remote/shift - -
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- - [tier4_external_api_msgs/msg/GearShiftStamped] - -
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- - /api/external/set/command/remote/turn_signal - -
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- - [tier4_external_api_msgs/msg/TurnSignalStamped] - -
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- - - /api/external/set/command/remote/control... - - - - - - - - - - -
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- z -
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- - - z - - - - - - - - -
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- /current_gate_mode [GateMode] -
- /gear_cmd [GearCommand] -
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- /turn_indicators_cmd  [TurnIndicatorCommand] -
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- /hazard_lights_cmd  [HazardLightsCommand] -
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- /vehicle_emergency_cmd [VehicleEmergencyStamped] -
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- - - /current_gate_mode [GateMode]... - - - - - - - - - -
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- behavior_velocity_planner -
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- - - behavior_velocity_planner - - - - - - - - -
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- Planning -
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- - - Planning - - - - - - - - -
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- - /planning/scenario_planning/trajectory [Trajectory] - -
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- - - /planning/scenario_planning/trajectory [Trajectory] - - - - - - - - - - -
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- motion_planning/obstacle_avoidance_planner/trajectory [Trajectory] -
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- - - motion_planning/obstacle_avoidance_planner/trajectory [Trajectory] - - - - - - - - -
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- obstacle_ -
- avoidance_planner -
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- motion_planning/obstacle_velocity_limiter/trajectory [Trajectory] -
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- - - motion_planning/obstacle_velocity_limiter/trajectory [Trajectory] - - - - - - - - -
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- obstacle_velocity_limiter -
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- - - obstacle_velocity_limit... - - - - - - - - - -
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- obstacle_stop_ -
- planner -
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- costmap_generator -
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- external_velocity_ -
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- /planning/scenario_planning/max_velocity -
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- - - /planning/scenario_planning/max_velocity... - - - - - - - - -
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- /planning/scenario_planning/max_velocity_candidates -
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- lane_driving/trajectory [Trajectory] -
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- trajectory [Trajectory] -
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- motion_velocity_ -
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- obstacle_avoidance -
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- pull_over/out -
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- side_shift -
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- lane_change -
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- lane_following -
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- intersection -
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- traffic_light -
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- cross_walk -
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- blind_spot -
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- detection_area -
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- /planning/mission_planning/route -
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- mission_planner -
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- freespace_planner -
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- goal -
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- <Parking> -
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- - - <Parking> - - - - - - - - -
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- - parking/trajectory [Trajectory] - -
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- - - parking/trajectory [Trajectory] - - - - - - - - -
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- surround_obstacle_checker -
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- - - surround_obstacle_checker - - - - - - - - - - -
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- Perception -
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- - - Perception - - - - - - - - -
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- /perception/object_recognition/objects -
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- traffic_light_states -
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- - - traffic_light_states - - - - - - - -
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- /perception/traffic_light_recognition/ -
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- clustering/downsampled/pointcloud -
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- voxel_grid_filter -
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- clustering/downsampled/concatenated/pointcloud -
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- outlier_filter -
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- clustering/cluster -
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- euclidean_cluster -
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- clustering/short_range/pointcloud -
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- - - clustering... - - - - - - - - -
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- detection_by -
- _tracker/objects -

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- - - detection_by... - - - - - - - - - - - - -
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- centerpoint/validation/objects -
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- lidar_centerpoint -
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- - - lidar_centerpoint - - - - - - - - - -
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- map_based_ -
- prediction -
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- - - map_based_... - - - - - - - - - -
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- traffic_light_detection/rough/rois -
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- - - traffic_light_detection/rough/rois - - - - - - - - -
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- traffic_light_map_ -
- based_detector -
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- detection/objects -
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- - - detection/objects - - - - - - - - -
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- traffic_light_ -
- classifier -
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- - - traffic_light_... - - - - - - - - - -
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- traffic_light_ -
- ssd_fine_detector -
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- - - traffic_light_... - - - - - - - - - - - -
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- route, -
- vector_map -
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- - - route,... - - - - - - - - -
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- multi_object_ -
- tracker -
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- - - multi_object_... - - - - - - - - - -
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- object_association -
- _merger -
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- - - object_association... - - - - - - - - - -
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- shape_estimation -
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- - - shape_estimation - - - - - - - - -
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- /perception/occupancy_grid_map/ -
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- - - /perception/occupancy_grid_map/ - - - - - - - -
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- /perception/obstacle_segmentation/ -
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- - - /perception/obstacle_segmentation/ - - - - - - - - - - - - -
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- no_ground/oneshot/pointcloud -
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- - - no_ground/oneshot/pointcloud - - - - - - - - -
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- range_cropped/pointcloud -
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- - - range_cropped/pointcloud - - - - - - - - -
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- common_ -
- ground_filter -
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- - - common_... - - - - - - - - - -
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- occupancy_grid -
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- - - occupancy_grid - - - - - - - - -
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- /perception/occupancy_grid_map/map -
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- - - /perception/occupancy_grid_map/map - - - - - - - - -
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- probabilistic_ -
- occupancy_grid_map -
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- - - probabilistic_... - - - - - - - - - -
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- occupancy_grid_ -
- map_based_outlier_filter -
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- - - occupancy_grid_... - - - - - - - - - -
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- /perception/obstacle_segmentation/pointcloud -
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- - - /perception/obstacle_segmentation/pointcloud - - - - - - - - -
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- crop_box_filter -
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- - - crop_box_filter - - - - - - - - - -
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- /concatenated/pointcloud -
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- - - /concatena... - - - - - - - - -
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-
- obstacle_pointcloud _based_validator -
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- - - obstacle_pointcloud _ba... - - - - - - - - - - - -
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- object_association -
- _merger -
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- - - object_association... - - - - - - - - - -
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- tensorrt_yolo -
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- - - tensorrt_yolo - - - - - - - - - -
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- /perception/obstacle_segmentation/pointcloud -
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- - - /perception/obstacle_segmentation/pointcloud - - - - - - - - -
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- roi_cluster_fusion -
-
-
- - - roi_cluster_fusion - - - - - - - - - - - -
-
-
- /rois* -
-
-
- - - /rois* - - - - - - - - -
-
-
- shape_estimation -
-
-
- - - shape_estimation - - - - - - - - - - - -
-
-
- detection_by_ -
- tracker_node -
-
-
- - - detection_by_... - - - - - - - - - - - -
-
-
- clustering/camera_lidar_fusion -
- /objects -
-
-
- - - clustering/camera_lidar_fusion... - - - - - - - - - - -
-
-
- /sensing/camera/ -
- camera*/image_rect_color -
-
-
- - - /sensing/camera/... - - - - - - - - -
-
-
- object_lanelet_filter -
-
-
- - - object_lanelet_filter - - - - - - - - - - - -
-
-
- /map/vector_map -
-
-
- - - /map/vector_map - - - - - - - - -
-
-
- /map/vector_map -
-
-
- - - /map/vector_map - - - - - - - -
-
-
- outliter_cropbox_filter -
-
-
- - - outliter_cropbox_fil... - - - - - - - - -
-
-
- /perception/obstacle_segmentation/pointcloud -
-
-
- - - /perception/obstacle_segmentation/pointcloud - - - - - - - -
-
-
- concat_filter -
-
-
- - - concat_filter - - - - - - - - -
-
-
- clustering/outlier_filter/pointcloud -
-
-
- - - clustering/outlier_filter/pointcloud - - - - - - - - -
-
-
- clustering/long_range/pointcloud -
-
-
- - - clustering/long_range/pointcloud - - - - - - - -
-
-
- g30_interface -
-
-
- - - g30_interface - - - - - - - - -
-
-
- raw_vehicle_cmd_ -
- converter -
-
-
- - - raw_vehicle_cmd_... - - - - - - - - - -
-
-
- /vehicle/command/actuation_cmd -
-
-
- - - /vehicle/command/actuation_cmd - - - - - - - - -
-
-
- pacmod_interface -
-
-
- - - pacmod_interface - - - - - - - - -
-
-
- VehicleInterface -
-
-
- - - VehicleInterface - - - - - - - - -
-
-
- /vehicle/status/velocity_status -
- /vehicle/status/steering_status -
- /vehicle/status/turn_indicators_status -
- /vehicle/status/gear_status -
- /vehicle/status/control_mode -
- /vehicle/status/ - - actuation_status - -
-
-
- - - /vehicle/s... - - - - - - - -
-
-
- vehicle_interface -
-
-
- - - vehicle_interface - - - - - - - - -
-
-
- accel_map_calibrator -
-
-
- - - accel_map_calibrator - - - - - - - - - - -
-
-
- /pacmod/** -
-
-
- - - /pacmod/** - - - - - - - -
-
-
- Vehicle -
-
-
- - - Vehicle - - - - - - - - -
-
-
- <CAN> -
-
-
- - - <CAN> - - - - - - - -
-
-
- JapanTaxi -
-
-
- - - JapanTaxi - - - - - - - - -
-
-
- pacmod3 -
-
-
- - - pacmod3 - - - - - - - - -
-
-
- YMC GolfCart -
-
-
- - - YMC GolfCart - - - - - - - - -
-
-
- top/velodyne_packets -
-
-
- - - top/velodyne_packets - - - - - - - -
-
-
- lidar_driver -
-
-
- - - lidar_driver - - - - - - - - -
-
-
- top/rectified/pointcloud -
-
-
- - - top/rectified/pointcloud - - - - - - - - -
-
-
- fix_distortion -
-
-
- - - fix_distortion - - - - - - - - - -
-
-
- top/pointcloud_raw -
-
-
- - - top/pointcloud_raw - - - - - - - -
-
-
- packets_to_ -
- pointcloud -
-
-
- - - packets_to_... - - - - - - - - -
-
-
- top/self_cropped/pointcloud -
-
-
- - - top/self_cropped/pointcloud - - - - - - - - -
-
-
- crop_box_ -
- filter_self -
-
-
- - - crop_box_... - - - - - - - - - -
-
-
- top/mirror_cropped/pointcloud -
-
-
- - - top/mirror_cropped/pointcloud - - - - - - - - -
-
-
- crop_box_ -
- filter_mirror -
-
-
- - - crop_box_... - - - - - - - - - -
-
-
- ring_outlier_filter -
-
-
- - - ring_outlier_filter - - - - - - - - - -
-
-
- lidar/*/velodyne_packets -
-
-
- - - lidar/*/velodyne_packets - - - - - - - -
-
-
- lidar_drivers -
- (left,right,front_right, front_left,rear) -
-
-
- - - lidar_drivers... - - - - - - - - -
-
-
- - */rectified/pointcloud - -
-
-
- - - */rectified/pointcloud - - - - - - - - -
-
-
- fix_distortion -
-
-
- - - fix_distortion - - - - - - - - - -
-
-
- - */pointcloud_raw - -
-
-
- - - */pointcloud_raw - - - - - - - -
-
-
- packets_to_ -
- pointcloud -
-
-
- - - packets_to_... - - - - - - - - -
-
-
- - */self_cropped/pointcloud - -
-
-
- - - */self_cropped/pointcloud - - - - - - - - -
-
-
- crop_box_ -
- filter_self -
-
-
- - - crop_box_... - - - - - - - - - -
-
-
- - */mirror_cropped/pointcloud - -
-
-
- - - */mirror_cropped/pointcloud - - - - - - - - -
-
-
- crop_box_ -
- filter_mirror -
-
-
- - - crop_box_... - - - - - - - - - -
-
-
- ring_outlier_filter -
-
-
- - - ring_outlier_filter - - - - - - - - - -
-
-
- concatenated/pointcloud -
-
-
- - - concatenated/pointcloud - - - - - - - - -
-
-
- concat_filter -
-
-
- - - concat_filter - - - - - - - - - - - - - -
-
-
- gnss_poser -
-
-
- - - gnss_poser - - - - - - - - - - -
-
-
- gnss_driver -
-
-
- - - gnss_driver - - - - - - - -
-
-
- imu_driver -
-
-
- - - imu_driver - - - - - - - - -
-
-
- /sensing/imu/imu_raw -
-
-
- - - /sensing/imu/imu_raw - - - - - - - - -
-
-
- /sensing/lidar/pointcloud -
-
-
- - - /sensing/lidar/pointcloud - - - - - - - - -
-
-
- - /sensing/lidar/ -
- concatenated/pointcloud - -
-
-
- - - /sensing/lidar/... - - - - - - - - -
-
-
- /sensing/gnss/ -
- pose_with_covariance -
-
-
- - - /sensing/gnss/... - - - - - - - - -
-
-
- imu_corrector -
-
-
- - - imu_corrector - - - - - - - - - -
-
-
- /sensing/imu/imu_data -
-
-
- - - /sensing/imu/imu_data - - - - - - - -
-
-
- Sensing -
-
-
- - - Sensing - - - - - - - -
-
-
- Localization -
-
-
- - - Localization - - - - - - - - -
-
-
- system_monitors -
-
-
- - - system_monitors - - - - - - - - -
-
-
- System -
-
-
- - - System - - - - - - - -
-
-
- autoware_process_ -
- monitor -
-
-
- - - autoware_process_... - - - - - - - -
-
-
- autoware_gpu_ -
- monitor -
-
-
- - - autoware_gpu_... - - - - - - - -
-
-
- autoware_mem_ -
- monitor -
-
-
- - - autoware_mem_... - - - - - - - -
-
-
- autoware_hdd_ -
- monitor -
-
-
- - - autoware_hdd_... - - - - - - - -
-
-
- autoware_net_ -
- monitor -
-
-
- - - autoware_net_... - - - - - - - -
-
-
- autoware_ntp_ -
- monitor -
-
-
- - - autoware_ntp_... - - - - - - - - -
-
-
- /system/emergency/hazard_status -
-
-
- - - /system/emergency/hazard_status - - - - - - - - -
-
-
- system_error_ -
- monitor -
-
-
- - - system_error_... - - - - - - - - - -
-
-
-
- /system/emergency/control_cmd [AckermannControlCommand] -
-
- /system/emergency/gear_cmd [GearCommand] -
-
- /system/emergency/hazard_lights_cmd [HazardLightsCommand] -
- /system/emergency/emergency_state [EmergencyStateStamped] -
-
-
- - - /system/emergency/control_cmd [AckermannControlCommand]... - - - - - - - - -
-
-
- emergency_handler -
-
-
- - - emergency_handler - - - - - - - - - -
-
-
- /autoware/state -
-
-
- - - /autoware/state - - - - - - - - -
-
-
- /diagnostics -
-
-
- - - /diagnostics - - - - - - - - -
-
-
- ad_service_ -
- state_monitor -
-
-
- - - ad_service_... - - - - - - - - - -
-
-
-
- - /control/current_gate_mode - -
-
- - /vehicle/status/control_mode - -
-
- - /autoware/state - -
-
-
-
- - - /control/c... - - - - - - - - -
-
-
- /control/command/control_cmd -
- /control/trajectory_follower/control_cmd -
- /initialpose2d -
- /localization/kinematic_state -
- /map/pointcloud_map -
- /map/vector_map -
- /perception/object_recognition/objects -
- /planning/mission_planning/route -
- /planning/scenario_planning/trajectory -
- /system/emergency/control_cmd -
- /vehicle/status/control_mode -
- /vehicle/status/steering_status -
- /vehicle/status/velocity_status -
-
-
- - - /contr... - - - - - - - - -
-
-
- /autoware/engage -
-
-
- - - /autoware/engage - - - - - - - - - Text is not SVG - cannot display - - - - \ No newline at end of file + + + +
Planning
Planning
Control
Control
Perception
Perception
Vehicle
Vehicle
Sensing
Sensing
VehicleInterface
VehicleInterface
Localization
Localization
System
System
/diagnostics
/diagnostics
XX1
XX1
X2
X2
X1
X1
S1
S1
/vehicle/status/velocity_report
/vehicle/status/velocity_report
/autoware/engage [Engage]
/current_gate_mode [GateMode]
/autoware/engage [Engage]...
/planning/turn_indicators_cmd [TurnIndicatorsCommand]
/planning/hazard_lights_cmd [HazardLightsCommand]
/planning/turn_indicators_cmd [TurnIndicatorsCommand]...
/planning/scenario_planning/max_velocity_candidates
[tier4_planning_msgs/msg/VelocityLimit]
/planning/scenario_planning/max_velocity_candidates...
HMI
HMI
HMI
HMI
HMI
HMI
/api/external/set/command/remote/control: [tier4_external_api_msgs/msg/ControlCommandStamped]
/api/external/set/command/remote/heartbeat: [tier4_external_api_msgs/msg/Heartbeat]
/api/external/set/command/remote/shift: [tier4_external_api_msgs/msg/GearShiftStamped]
/api/external/set/command/remote/turn_signal: [tier4_external_api_msgs/msg/TurnSignalStamped]
/api/external/set/command/remote/control: [tier4_external_api_msgs/msg/ControlCommandStamped]...
HMI
HMI
/vehicle/engage
/vehicle/engage
HMI
HMI
/diagnostics_err
/diagnostics_err
/initialpose
/initialpose
<pose_initializer_srv>
<pose_initializer_srv>
vehicle_velocity_converter/
twist_with_covariance
vehicle_velocity_converter/...
HMI
HMI
pointcloud_map_
loader
pointcloud_map_...
<differential_map_loader_srv>
<differential_map_loader_srv>
<partial_map_loader_srv>
<partial_map_loader_srv>
voxel_grid_downsample/pointcloud
voxel_grid_downsample/pointcloud
voxel_grid_
downsample_filter
voxel_grid_...
pose_twist_fusion_filter/
pose_with_covariance_
no_yawbias
pose_twist_fusion_filter/...
ekf_localizer
ekf_localizer
pose_estimator/
pose_with_covariance
pose_estimator/...
ndt_scan_matcher
ndt_scan_matcher
downsample/pointcloud
downsample/pointcloud
random_
downsample_filter
random_...
/initialpose3d
/initialpose3d
pose_initializer
pose_initializer
twist_estimator/twist_with_covariance
twist_estimator/twist_with_covariance
gyro_odometer
gyro_odometer
measurement_range/pointcloud
measurement_range/pointcloud
crop_box_filter_
measurement_range
crop_box_filter_...
vehicle_velocity_converter
vehicle_velocity_converter
/tf
(map to base_link)
/tf...
/localization/kinematic_state
[nav_msgs/msg/Odometry]
/localization/kinematic_state...
stop_filter
stop_filter
localization_error_monitor
localization_error_monitor
pose_twist_fusion_filter/
pose_with_covariance
pose_twist_fusion_filter/...
/diagnostics
/diagnostics
pose_twist_fusion_filter/
kinematic_state
pose_twist_fusion_filter/...
Map
Map
planning_validator
planning_validator
invalid_lanelet
invalid_lanelet
Perception
Perception
/perception/object_recognition/objects
/perception/object_recognition/objects
traffic_light_states
traffic_light_states
/perception/traffic_light_recognition/
/perception/traffic_light_...
/perception/object_recognition/
/perception/object_recognition/
/perception/object_recognition/detection/
/perception/object_recognition/detection/
clustering/downsampled/pointcloud
clustering/downsampled/pointcloud
voxel_grid_filter
voxel_grid_filter
clustering/downsampled/concatenated/pointcloud
clustering/downsampled/concatenated/pointcloud
outlier_filter
outlier_filter
clustering/cluster
clustering/cluster
euclidean_cluster
euclidean_cluster
clustering/short_range/pointcloud
clustering...

detection_by
_tracker/objects

detection_by...
centerpoint/validation/objects
centerpoint/validation/objects
lidar_centerpoint
lidar_centerpoint
map_based_
prediction
map_based_...
traffic_light_detection/rough/rois
traffic_light_detection/rough/rois
traffic_light_map_
based_detector
traffic_light_map_...
detection/objects
detection/objects
traffic_light_
classifier
traffic_light_...
traffic_light_
ssd_fine_detector
traffic_light_...
route,
vector_map
route,...
multi_object_
tracker
multi_object_...
object_association
_merger
object_association...
shape_estimation
shape_estimation
/perception/occupancy_grid_map/
/perception/occupancy_grid_map/
/perception/obstacle_segmentation/
/perception/obstacle_segmentation/
no_ground/oneshot/pointcloud
no_ground/oneshot/pointcloud
range_cropped/pointcloud
range_cropped/pointcloud
common_
ground_filter
common_...
occupancy_grid
occupancy_grid
/perception/occupancy_grid_map/map
/perception/occupancy_grid_map/map
probabilistic_
occupancy_grid_map
probabilistic_...
occupancy_grid_
map_based_outlier_filter
occupancy_grid_...
/perception/obstacle_segmentation/pointcloud
/perception/obstacle_segmentation/pointcloud
crop_box_filter
crop_box_filter
/concatenated/pointcloud
/concatena...
obstacle_pointcloud _based_validator
obstacle_pointcloud _ba...
object_association
_merger
object_association...
tensorrt_yolo
tensorrt_yolo
/perception/obstacle_segmentation/pointcloud
/perception/obstacle_segmentation/pointcloud
roi_cluster_fusion
roi_cluster_fusion
/rois*
/rois*
shape_estimation
shape_estimation
detection_by_
tracker_node
detection_by_...
clustering/camera_lidar_fusion
/objects
clustering/camera_lidar_fusion...
/sensing/camera/
camera*/image_rect_color
/sensing/camera/...
object_lanelet_filter
object_lanelet_filter
/map/vector_map
/map/vector_map
/map/vector_map
/map/vector_map
outliter_cropbox_filter
outliter_cropbox_fil...
/perception/obstacle_segmentation/pointcloud
/perception/obstacle_segmentation/pointcloud
concat_filter
concat_filter
clustering/outlier_filter/pointcloud
clustering/outlier_filter/pointcloud
clustering/long_range/pointcloud
clustering/long_range/pointcloud
behavior_velocity_planner
behavior_velocity_planner
Planning
Planning
/planning/scenario_planning/trajectory [Trajectory]
/planning/scenario_planning/trajectory [Trajectory]
motion_planning/obstacle_avoidance_planner/trajectory [Trajectory]
motion_planning/obstacle_avoidance_planner/trajectory [Trajectory]
obstacle_
avoidance_planner
obstacle_...
motion_planning/obstacle_velocity_limiter/trajectory [Trajectory]
motion_planning/obstacle_velocity_limiter/trajectory [Trajectory]
obstacle_velocity_limiter
obstacle_velocity_limit...
obstacle_stop_
planner
obstacle_stop_...
costmap_generator
costmap_generator
external_velocity_
limit_selector
external_velocity_...
/planning/scenario_planning/max_velocity
[tier4_planning_msgs/msg/VelocityLimit]
/planning/scenario_planning/max_velocity...
/planning/scenario_planning/max_velocity_candidates
[tier4_planning_msgs/msg/VelocityLimit]
/planning/scenario_planning/max_velocity_candidates...
lane_driving/trajectory [Trajectory]
lane_driving/trajectory [Trajectory]
trajectory [Trajectory]
trajectory [Trajectory]
scenario_selector
scenario_selector
/planning/scenario_planning/motion_velocity_smoother/trajectory [Trajectory]
/planning/scenario_planning/motion_velocity_smoother/trajectory [Trajectory]
motion_velocity_
smoother
motion_velocity_...
behavior_path_planner
behavior_path_planner
obstacle_avoidance
obstacle_avoidance
pull_over/out
pull_over/out
side_shift
side_shift
lane_change
lane_change
lane_following
lane_following
<Lane Driving>
<Lane Driving>
no_stopping_area
no_stopping_area
occlusion_spot
occlusion_spot
intersection
intersection
traffic_light
traffic_light
cross_walk
cross_walk
blind_spot
blind_spot
detection_area
detection_area
stop_line
stop_line
/planning/mission_planning/route
[autoware_auto_planning_msgs/HADMapRoute]
/planning/mission_planning/route...
mission_planner
mission_planner
behavior_planning/path_with_lane_id
behavior_planning/path_with_lane_id
behavior_planning/path
behavior_planning/path
freespace_planner
freespace_planner
costmap_generator/occupancy_grid
costmap_generator/occupancy_grid
goal
goal
invalid_lanelet
invalid_lanelet
<Parking>
<Parking>
parking/trajectory [Trajectory]
parking/trajectory [Trajectory]
surround_obstacle_checker
surround_obstacle_checker
run_out
run_out
virtual_traffic_light
virtual_traffic_light
speed_bump
speed_bump
trajectory_follower
trajectory_follower
Control
Control
latlon_muxer
latlon_muxer
 /control/trajectory_follower/lateral/control_cmd
 [AckermannLateralControlCommand]

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

/control/trajectory_follower/control_cmd...
lateral_controller
lateral_controller
longitudinal_controller
longitudinal_controller
vehicle_cmd_gate
vehicle_cmd_gate
control/command/control_cmd
 [AckermannControlCommand]
control/command/control_cmd...
/control/shift_decider/gear_cmd
[GearCommand]
/control/shift_decider/gear_cmd...
shift_decider
shift_decider
external_cmd_
converter
external_cmd_...
/diagnostics
/diagnostics
lane_departure_
checker
lane_departure_...
predicted_trajectory
predicted_trajectory
/external/selected/external_control_cmd
 [tier4_external_api_msgs/msg/ControlCommandStamped]
/external/selected/external_control_cmd...
external_cmd_
selector
external_cmd_...
/api/external/set/command/remote/control 
   [tier4_external_api_msgs/msg/ControlCommandStamped]
/api/external/set/command/remote/shift
   [tier4_external_api_msgs/msg/GearShiftStamped]
/api/external/set/command/remote/turn_signal
   [tier4_external_api_msgs/msg/TurnSignalStamped]
/api/external/set/command/remote/control...
z
z
/current_gate_mode [GateMode]
/gear_cmd [GearCommand]
/turn_indicators_cmd  [TurnIndicatorCommand]
/hazard_lights_cmd  [HazardLightsCommand]
/vehicle_emergency_cmd [VehicleEmergencyStamped]
/current_gate_mode [GateMode]...
g30_interface
g30_interface
raw_vehicle_cmd_
converter
raw_vehicle_cmd_...
/vehicle/command/actuation_cmd
/vehicle/command/actuation_cmd
pacmod_interface
pacmod_interface
VehicleInterface
VehicleInterface
/vehicle/status/velocity_status
/vehicle/status/steering_status
/vehicle/status/turn_indicators_status
/vehicle/status/gear_status
/vehicle/status/control_mode
/vehicle/status/actuation_status
/vehicle/s...
    vehicle_interface
    vehicle_interface
accel_map_calibrator
accel_map_calibrator
/pacmod/**
/pacmod/**
Vehicle
Vehicle
<CAN>
<CAN>
JapanTaxi
JapanTaxi
pacmod3
pacmod3
YMC GolfCart
YMC GolfCart
top/velodyne_packets
top/velodyne_packets
lidar_driver
lidar_driver
top/rectified/pointcloud
top/rectified/pointcloud
fix_distortion
fix_distortion
top/pointcloud_raw
top/pointcloud_raw
packets_to_
pointcloud
packets_to_...
top/self_cropped/pointcloud
top/self_cropped/pointcloud
crop_box_
filter_self
crop_box_...
top/mirror_cropped/pointcloud
top/mirror_cropped/pointcloud
crop_box_
filter_mirror
crop_box_...
ring_outlier_filter
ring_outlier_filter
lidar/*/velodyne_packets
lidar/*/velodyne_packets
lidar_drivers
(left,right,front_right, front_left,rear)
lidar_drivers...
*/rectified/pointcloud
*/rectified/pointcloud
fix_distortion
fix_distortion
*/pointcloud_raw
*/pointcloud_raw
packets_to_
pointcloud
packets_to_...
*/self_cropped/pointcloud
*/self_cropped/pointcloud
crop_box_
filter_self
crop_box_...
*/mirror_cropped/pointcloud
*/mirror_cropped/pointcloud
crop_box_
filter_mirror
crop_box_...
ring_outlier_filter
ring_outlier_filter
concatenated/pointcloud
concatenated/pointcloud
concat_filter
concat_filter
gnss_poser
gnss_poser
gnss_driver
gnss_driver
imu_driver
imu_driver
/sensing/imu/imu_raw
/sensing/imu/imu_raw
/sensing/lidar/pointcloud
/sensing/lidar/pointcloud
/sensing/lidar/
concatenated/pointcloud
/sensing/lidar/...
/sensing/gnss/
pose_with_covariance
/sensing/gnss/...
imu_corrector
imu_corrector
/sensing/imu/imu_data
/sensing/imu/imu_data
Sensing
Sensing
Localization
Localization
system_monitors
system_monitors
System
System
autoware_process_
monitor
autoware_process_...
autoware_gpu_
monitor
autoware_gpu_...
autoware_mem_
monitor
autoware_mem_...
autoware_hdd_
monitor
autoware_hdd_...
autoware_net_
monitor
autoware_net_...
autoware_ntp_
monitor
autoware_ntp_...
/system/emergency/hazard_status
/system/emergency/hazard_status
system_error_
monitor
system_error_...
/system/emergency/control_cmd [AckermannControlCommand]
/system/emergency/gear_cmd [GearCommand]
/system/emergency/hazard_lights_cmd [HazardLightsCommand]
/system/emergency/emergency_state [EmergencyStateStamped]
/system/emergency/control_cmd [AckermannControlCommand]...
emergency_handler
emergency_handler
/autoware/state
/autoware/state
/diagnostics
/diagnostics
ad_service_
state_monitor
ad_service_...
/control/current_gate_mode
/vehicle/status/control_mode
/autoware/state
/control/c...
    /control/command/control_cmd
    /control/trajectory_follower/control_cmd
    /initialpose2d
    /localization/kinematic_state
    /map/pointcloud_map
    /map/vector_map
    /perception/object_recognition/objects
    /planning/mission_planning/route
    /planning/scenario_planning/trajectory
    /system/emergency/control_cmd
    /vehicle/status/control_mode
    /vehicle/status/steering_status
    /vehicle/status/velocity_status
/contr...
/autoware/engage
/autoware/engageText is not SVG - cannot display \ No newline at end of file