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Communication

Communication with Autoware.Universe#

Subscribers#

topic type note
/autoware/state autoware_auto_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
/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