Communication

Communication with Autoware.Universe

Subscribers

topic	type	note
/api/external/get/emergency	tier4_external_api_msgs/msg/Emergency	Used in UserDefinedValueCondition currentEmergencyState
/api/external/get/rtc_status	tier4_rtc_msgs/msg/CooperateStatusArray
/api/fail_safe/mrm_state	autoware_adapi_v1_msgs/msg/MrmState	Used in UserDefinedValueCondition currentMinimumRiskManeuverState
/api/iv_msgs/planning/scenario_planning/trajectory	tier4_planning_msgs/msg/Trajectory
/autoware/state	autoware_system_msgs/msg/AutowareState	Used in UserDefinedValueCondition currentAutowareState
/control/command/control_cmd	autoware_control_msgs/msg/Control
/control/command/gear_cmd	autoware_vehicle_msgs/msg/GearCommand
/control/command/turn_indicators_cmd	autoware_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	tier4_planning_msgs/msg/PathWithLaneId
/planning/scenario_planning/motion_velocity_optimizer/closest_jerk	tier4_debug_msgs/msg/Float32Stamped	Used in /simulation/openscenario_interpreter

Publishers

topic	type	note
/clock	rcl_interfaces/msg/Clock
/initialpose	geometry_msgs/msg/PoseWithCovarianceStamped
/localization/acceleration	geometry_msgs/msg/AccelWithCovarianceStamped	Available if option simulate_localization is true (default is true).
/localization/kinematic_state	nav_msgs/msg/Odometry	Available if option simulate_localization is true (default is true).
/localization/pose_estimator/pose_with_covariance	geometry_msgs/msg/PoseWithCovarianceStamped	Available if option simulate_localization is false (default is true).
/perception/object_recognition/detection/objects	autoware_perception_msgs/msg/DetectedObjects	Simulated by simple_sensor_simulator
/perception/object_recognition/ground_truth/objects	autoware_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
/perception/traffic_light_recognition/external/traffic_signals	autoware_perception_msgs/msg/TrafficLightGroupArray	V2I traffic light interface for architecture_type equal to awf/universe/20240605
/perception/traffic_light_recognition/external/traffic_signals	autoware_perception_msgs/msg/TrafficSignalArray	V2I traffic light interface for architecture_type equal to awf/universe/20230906
/perception/traffic_light_recognition/internal/traffic_signals	autoware_perception_msgs/msg/TrafficLightGroupArray	Optical traffic light interface for architecture_type equal to awf/universe/20240605
/perception/traffic_light_recognition/internal/traffic_signals	autoware_perception_msgs/msg/TrafficSignalArray	Optical traffic light interface for architecture_type equal to awf/universe/20230906
/planning/mission_planning/checkpoint	geometry_msgs/msg/PoseStamped
/planning/mission_planning/goal	geometry_msgs/msg/PoseStamped
/sensing/imu/imu_data	sensor_msgs/msg/Imu
/v2x/traffic_signals	autoware_perception_msgs/msg/TrafficLightGroupArray	Additional V2I traffic light interface for architecture_type equal to awf/universe/20240605
/v2x/traffic_signals	autoware_perception_msgs/msg/TrafficSignalArray	Additional V2I traffic light interface for architecture_type equal to awf/universe/20230906
/vehicle/status/control_mode	autoware_vehicle_msgs/msg/ControlModeReport
/vehicle/status/gear_status	autoware_vehicle_msgs/msg/GearReport
/vehicle/status/steering_status	autoware_vehicle_msgs/msg/SteeringReport
/vehicle/status/turn_indicators_status	autoware_vehicle_msgs/msg/TurnIndicatorsReport
/vehicle/status/velocity_status	autoware_vehicle_msgs/msg/VelocityReport

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_auto_mode	tier4_rtc_msgs/srv/AutoModeWithModule
/api/external/set/rtc_commands	tier4_rtc_msgs/srv/CooperateCommands
/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