Determining component dependencies

For any developers who wish to try and deploy Autoware as a microservices architecture, it is necessary to understand the software dependencies, communication, and implemented features of each ROS package/node.

As an example, the commands necessary to determine the dependencies for the Perception component are shown below.

Perception component dependencies

To generate a graph of package dependencies, use the following colcon command:

bash colcon graph --dot --packages-up-to tier4_perception_launch | dot -Tpng -o graph.png

To generate a list of dependencies, use:

bash colcon list --packages-up-to tier4_perception_launch --names-only

colcon list output

txt autoware_auto_geometry_msgs autoware_auto_mapping_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs autoware_auto_vehicle_msgs autoware_cmake autoware_lint_common autoware_point_types compare_map_segmentation detected_object_feature_remover detected_object_validation detection_by_tracker euclidean_cluster grid_map_cmake_helpers grid_map_core grid_map_cv grid_map_msgs grid_map_pcl grid_map_ros ground_segmentation image_projection_based_fusion image_transport_decompressor interpolation kalman_filter lanelet2_extension lidar_apollo_instance_segmentation map_based_prediction multi_object_tracker mussp object_merger object_range_splitter occupancy_grid_map_outlier_filter pointcloud_preprocessor pointcloud_to_laserscan shape_estimation tensorrt_yolo tier4_autoware_utils tier4_debug_msgs tier4_pcl_extensions tier4_perception_launch tier4_perception_msgs traffic_light_classifier traffic_light_map_based_detector traffic_light_ssd_fine_detector traffic_light_visualization vehicle_info_util

Tip

To output a list of modules with their respective paths, run the command above without the --names-only parameter.

To see which ROS topics are being subscribed and published to, use rqt_graph as follows:

bash ros2 launch tier4_perception_launch perception.launch.xml mode:=lidar ros2 run rqt_graph rqt_graph