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Autoware Documentation

Node diagram

Autoware Documentation

Introduction
Installation
Installation
- Autoware
  Autoware
  - Docker installation
  - Source installation
- Related tools
  Related tools
- Additional settings for developers
  Additional settings for developers
Tutorials
Tutorials
- Ad hoc simulation
  Ad hoc simulation
  - Planning simulation
  - Rosbag replay simulation
  - Digital twin simulation
    Digital twin simulation
    
    AWSIM simulator
    
    MORAI Sim: Drive
- Scenario simulation
  Scenario simulation
  - Planning simulation
    Planning simulation
    
    Installation
    
    Scenario test simulation
    
    Random test simulation
  - Rosbag replay simulation
    Rosbag replay simulation
    
    Driving Log Replayer
How to guides
How to guides
- Integrating Autoware
  Integrating Autoware
  - Overview
  - 1. Creating your Autoware meta repository
    1. Creating your Autoware meta repository
    
    Creating Autoware meta-repository
  - 2. Creating vehicle and sensor description
    2. Creating vehicle and sensor description
    
    Calibrating your sensors
    
    Creating vehicle and sensor description
  - 3. Creating vehicle interface
    3. Creating vehicle interface
    
    Creating a vehicle interface for an Ackermann kinematic model
    
    Customizing for differential drive vehicle
  - 4. Creating maps
    
    4. Creating maps
    
    Open-source SLAM algorithms
    
    Open-source SLAM algorithms
    
    FAST-LIO-LC
    
    FAST-LIO-LC
    
    FAST_LIO_SLAM
    
    FAST_LIO_SLAM
    
    FD-SLAM
    
    FD-SLAM
    
    hdl_graph_slam
    
    hdl_graph_slam
    
    IA_LIO_SAM
    
    IA_LIO_SAM
    
    iscloam
    
    iscloam
    
    LeGO-LOAM-BOR
    
    LeGO-LOAM-BOR
    
    LIO-SAM
    
    LIO-SAM
    
    Optimized-SC-F-LOAM
    
    Optimized-SC-F-LOAM
    
    SC-A-LOAM
    
    SC-A-LOAM
    
    SC-LeGO-LOAM
    
    SC-LeGO-LOAM
  - 5. Launch Autoware
    
    5. Launch Autoware
    
    Localization methods
    
    Localization methods
    
    Eagleye
    
    Perception mode
  - 6. Tuning parameters and performance
    6. Tuning parameters and performance
    
    Evaluating the controller performance
    
    Evaluating real-time performance
- Others
  Others
Design
Design
- Autoware concepts
  Autoware concepts
  - How is Autoware Core/Universe different from Autoware.AI and Autoware.Auto?
- Autoware architecture
  Autoware architecture
  - Sensing
    
    Sensing
    
    Data types
    Data types
    
    GNSS/INS data pre-processing design
    
    Image pre-processing design
    
    Point cloud pre-processing design
    
    Radar data pre-processing design
    
    Ultrasonics data pre-processing design
  - Map
    
    Map
  - Localization
    
    Localization
  - Perception
    
    Perception
  - Planning
    
    Planning
  - Control
    
    Control
  - Vehicle
    
    Vehicle
  - Node diagram
    
    Node diagram
- Autoware interfaces
  Autoware interfaces
  - TIER IV API
    
    TIER IV API
  - AD API
    
    AD API
    
    Features
    Features
    
    Fail-safe
    
    Interface
    
    Localization
    
    Motion
    
    Operation mode
    
    Perception
    
    Planning factors
    
    Routing
    
    Vehicle doors
    
    Vehicle status
    
    List
    
    List
    
    Types
    
    Types
  - Components
    
    Components
    
    Interfaces
    
    Planning
    
    Control
    
    Localization
    
    Map
    
    Sensing
    
    Perception
    
    Vehicle Interface
    
    Vehicle dimensions
- Configuration management
  Configuration management
- Node diagram
  Node diagram
Reference HW
Reference HW
Contributing
Contributing
- License
- Coding guidelines
  Coding guidelines
  - Language-specific guidelines
    Language-specific guidelines
    
    C++
    
    Python
    
    Shell scripts
    
    Markdown
    
    CMake
    
    package.xml
    
    Docker
    
    GitHub Actions
  - ROS nodes guidelines
    ROS nodes guidelines
    
    Class design
    
    Console logging
    
    Coordinate system
    
    Directory structure
    
    Launch files
    
    Message guidelines
    
    Parameters
    
    Task scheduling
    
    Topic namespaces
- Testing guidelines
  Testing guidelines
  - Unit testing
  - Integration testing
- Documentation guidelines
  Documentation guidelines
- Pull request guidelines
  Pull request guidelines
- Discussion guidelines
  Discussion guidelines
Datasets
Datasets
Support
Support
- Support guidelines
- Troubleshooting
  Troubleshooting
  - Performance Troubleshooting
- Docs guide
Competitions
Competitions

Node diagram#

This page depicts the node diagram designs for Autoware Core/Universe architecture.

Autoware Core#

TBD.

Autoware Universe#

Node diagram

Open in draw.io for fullscreen