Communication

Communication with Autoware.Universe

Subscribers

topic	type	note
/autoware/state	autoware_auto_system_msgs/msg/AutowareState or autoware_system_msgs/msg/AutowareState	Used in UserDefinedValueCondition : currentAutowareState
/control/command/control_cmd	autoware_auto_control_msgs/msg/AckermannControlCommand
/control/command/gear_cmd	autoware_auto_vehicle_msgs/msg/GearCommand
/control/command/turn_indicators_cmd	autoware_auto_vehicle_msgs/msg/TurnIndicatorsCommand	Used in UserDefinedValueCondition : currentTurnIndicatorsState
/parameter_events	rcl_interfaces/msg/ParameterEvent
/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id	autoware_auto_planning_msgs/msg/PathWithLaneId
/planning/scenario_planning/trajectory	autoware_auto_planning_msgs/msg/Trajectory
/system/emergency/emergency_state	autoware_auto_system_msgs/msg/EmergencyState	Used in UserDefinedValueCondition : currentEmergencyState
/api/fail_safe/mrm_state	autoware_adapi_v1_msgs/msg/MrmState	Used in UserDefinedValueCondition : currentMinimumRiskManeuverState
/planning/scenario_planning/motion_velocity_optimizer/closest_jerk	tier4_debug_msgs/msg/Float32Stamped	Used in /simulation/openscenario_interpreter
/api/external/get/rtc_status	tier4_rtc_msgs::msg::CooperateStatusArray

Publishers

topic	type	note
/clock	rcl_interfaces/msg/Clock
/initialpose	geometry_msgs/msg/PoseWithCovarianceStamped
/localization/kinematic_state	nav_msgs/msg/Odometry
/localization/acceleration	geometry_msgs::msg::AccelWithCovarianceStamped
/planning/mission_planning/checkpoint	geometry_msgs/msg/PoseStamped
/planning/mission_planning/goal	geometry_msgs/msg/PoseStamped
/vehicle/status/control_mode	autoware_auto_vehicle_msgs/msg/ControlModeReport
/vehicle/status/gear_status	autoware_auto_vehicle_msgs/msg/GearReport
/vehicle/status/steering_status	autoware_auto_vehicle_msgs/msg/SteeringReport
/vehicle/status/turn_indicators_status	autoware_auto_vehicle_msgs/msg/TurnIndicatorsReport
/vehicle/status/velocity_status	autoware_auto_vehicle_msgs/msg/VelocityReport
/perception/object_recognition/detection/objects	autoware_auto_perception_msgs/msg/DetectedObjects	Simulated by simple_sensor_simulator
/perception/object_recognition/ground_truth/objects	autoware_auto_perception_msgs/msg/TrackedObjects	Simulated by simple_sensor_simulator
/perception/obstacle_segmentation/pointcloud	sensor_msgs/msg/PointCloud2	Simulated by simple_sensor_simulator
/perception/occupancy_grid_map/map	nav_msgs/msg/OccupancyGrid	Simulated by simple_sensor_simulator
/sensing/imu/imu_data	sensor_msgs/msg/Imu
/perception/traffic_light_recognition/traffic_signals	autoware_auto_perception_msgs/msg/TrafficSignalArray	for architecture_type equal to awf/universe
/perception/traffic_light_recognition/internal/traffic_signals	autoware_perception_msgs/msg/TrafficSignalArray	for architecture_type greater or equal to awf/universe/20230906
/perception/traffic_light_recognition/external/traffic_signals	autoware_perception_msgs/msg/TrafficSignalArray
/v2x/traffic_signals	autoware_perception_msgs/msg/TrafficSignalArray

Service Clients

service name	type	note
/api/autoware/set/velocity_limit	tier4_external_api_msgs/srv/SetVelocityLimit
/api/external/set/engage	tier4_external_api_msgs/srv/Engage
/api/external/set/rtc_commands	tier4_rtc_msgs/srv/CooperateCommands
/api/external/set/rtc_auto_mode	tier4_rtc_msgs/srv/AutoModeWithModule
/api/operation_mode/enable_autoware_control	autoware_adapi_v1_msgs/srv/ChangeOperationMode

Service Servers

service name	type	note
/control/control_mode_request	autoware_auto_vehicle_msgs/srv/ControlModeCommand	Simulated by simple_sensor_simulator for a manual override