Autoware Documentation
Home
Initializing search
    GitHub
    • Home
    • Installation
    • Demos
    • Tutorials
    • Architecture design
    • Reference design
    • Simulation & Evaluation
    • Contributing
    • Datasets
    • Community
    GitHub
    • Home
      • Vision, Mission, and Core Values
          • Humble to Jazzy
          • Point cloud type transition
        • Autoware Multi-Year Roadmap
    • Installation
        • Open AD Kit: Containerized workloads for Autoware
        • Source installation
      • Related tools
        • Additional settings for developers
          • Console settings for ROS 2
          • Network configuration
            • DDS settings for ROS 2 and Autoware
            • Zenoh settings for ROS 2 and Autoware
            • Enable multicast on lo
            • Communicating across multiple computers with CycloneDDS
      • Demos
          • AWSIM Full Demo
          • AWSIM with Autoware Core Demo
            • MORAI Sim: Drive
            • CARLA simulator
            • PanoSim simulator demo
          • Planning simulation
            • Lane driving scenario
            • Parking scenario
            • Pull out and pull over scenario
            • Lane change scenario
            • Placing dummy objects
            • Avoidance scenario
            • Traffic light recognition simulation
            • Driving through a crosswalk
            • Planning simulator demo with Autoware Launch GUI
          • Rosbag replay simulation
              • Installation
              • Scenario test simulation
              • Random test simulation
            • Driving Log Replayer
        • Tutorials
            • Overview
              • Creating Autoware repositories
            • 2. Creating vehicle and sensor model
              • Creating sensor model
                • Creating individual params
                  • Creating vehicle model
                    • Calibrating sensors
                      • Starting with TIER IV's CalibrationTools
                        • Extrinsic manual calibration
                          • Lidar-lidar calibration
                            • Ground plane-lidar calibration
                              • Intrinsic camera calibration
                                • Lidar-camera calibration
                                  • Lidar-IMU calibration
                                  • Vehicle interface overview
                                  • Creating vehicle interface
                                  • Ackermann kinematic model
                                  • Customizing for differential drive vehicle
                                • 4. Creating maps
                                  • Open-source SLAM algorithms
                                    • FAST-LIO-LC
                                      • FAST_LIO_SLAM
                                        • FD-SLAM
                                          • hdl_graph_slam
                                            • IA_LIO_SAM
                                              • iscloam
                                                • LeGO-LOAM-BOR
                                                  • LIO-SAM
                                                    • Optimized-SC-F-LOAM
                                                      • SC-A-LOAM
                                                        • SC-LeGO-LOAM
                                                          • SLAM Algorithms Comparison
                                                          • Converting UTM map to MGRS map
                                                            • Pointcloud map preprocessing
                                                              • Creating a vector map
                                                                • Lanelet2
                                                                  • Crosswalk
                                                                    • Stop line
                                                                      • Traffic light
                                                                        • Speed bump
                                                                          • Detection area
                                                                        • 5. Launch Autoware
                                                                          • Launch vehicle
                                                                            • Launch system
                                                                              • Launch map
                                                                                • Launch sensing
                                                                                  • Launch localization
                                                                                    • Eagleye
                                                                                    • Launch perception
                                                                                      • Launch planning
                                                                                        • Launch control
                                                                                          • Sample tuning for campus environment
                                                                                            • Tuning localization
                                                                                              • Tuning perception
                                                                                                • Tuning planning
                                                                                                  • Evaluating the controller performance
                                                                                                    • Evaluating real-time performance
                                                                                                  • 7. AWSIM Integration
                                                                                                      • Integrating cameras
                                                                                                    • Training and Deploying Models
                                                                                                    • Add a custom ROS message
                                                                                                    • Advanced usage of colcon
                                                                                                    • An example procedure for adding and evaluating a new node
                                                                                                    • Applying Clang-Tidy to ROS packages
                                                                                                    • Debug Autoware
                                                                                                    • Defining temporal performance metrics on components
                                                                                                    • Determining component dependencies
                                                                                                    • Fixing dependent package versions
                                                                                                    • Lane Detection Methods
                                                                                                    • Planning Evaluation Using Scenarios
                                                                                                    • Reducing start delays on real vehicles
                                                                                                    • Running Autoware without CUDA
                                                                                                    • Using divided pointcloud map
                                                                                                  • Concepts
                                                                                                    • Autoware system capabilities
                                                                                                    • Architecture 1.0
                                                                                                      • Node diagram
                                                                                                          • Sensing
                                                                                                              • GNSS/INS data pre-processing design
                                                                                                              • Image pre-processing design
                                                                                                              • Point cloud pre-processing design
                                                                                                              • Ultrasonics data pre-processing design
                                                                                                                • Radar objects data pre-processing design
                                                                                                                • Radar pointcloud data pre-processing design
                                                                                                                  • Data message for radars
                                                                                                                  • Device driver for radars
                                                                                                          • Map
                                                                                                              • Vector map requirements overview
                                                                                                                • Category area
                                                                                                                • Category crosswalk
                                                                                                                • Category intersection
                                                                                                                • Category lane
                                                                                                                • Category others
                                                                                                                • Category stop line
                                                                                                                • Category traffic light
                                                                                                          • Localization
                                                                                                            • Perception
                                                                                                              • Perception Component Reference Implementation Design
                                                                                                                  • Radar faraway dynamic objects detection with radar objects
                                                                                                                  • Radar based 3D detector
                                                                                                            • Planning
                                                                                                              • Control
                                                                                                                • Vehicle
                                                                                                                • Interfaces
                                                                                                                  • AD API
                                                                                                                    • Release notes
                                                                                                                    • List
                                                                                                                      • Types
                                                                                                                          • Control
                                                                                                                          • Cooperation
                                                                                                                          • Diagnostics
                                                                                                                          • Fail-safe
                                                                                                                          • Heartbeat
                                                                                                                          • Interface
                                                                                                                          • Localization
                                                                                                                          • Manual control
                                                                                                                          • Motion
                                                                                                                          • Operation mode
                                                                                                                          • Perception
                                                                                                                          • Planning factors
                                                                                                                          • Routing
                                                                                                                          • Vehicle doors
                                                                                                                          • Vehicle status
                                                                                                                      • Components
                                                                                                                        • Planning
                                                                                                                        • Control
                                                                                                                        • Localization
                                                                                                                        • Map
                                                                                                                        • Sensing
                                                                                                                        • Perception
                                                                                                                        • Vehicle Interface
                                                                                                                        • Vehicle dimensions
                                                                                                                  • Architecture 2.0
                                                                                                                    • Roadmap
                                                                                                                      • Autonomous Driving Stack Architecture
                                                                                                                      • Detailed Architectural Interface
                                                                                                                      • Development Roadmap
                                                                                                                      • Neural World Simulation
                                                                                                                      • Assessment of Safety and Benchmarks
                                                                                                                      • Data, MLOps and Training
                                                                                                                  • Repository structure
                                                                                                                  • Repos files
                                                                                                                  • Versioning & release process
                                                                                                                • Reference design
                                                                                                                  • Reference HW
                                                                                                                    • AD Computers
                                                                                                                    • LIDARs
                                                                                                                    • RADARs
                                                                                                                    • CAMERAs
                                                                                                                    • Thermal CAMERAs
                                                                                                                    • IMU, AHRS & GNSS/INS
                                                                                                                    • Vehicle Drive By Wire Suppliers
                                                                                                                    • Vehicle Platform Suppliers
                                                                                                                    • Remote Drive
                                                                                                                    • Drivers List
                                                                                                                    • AD Sensor Kit Suppliers
                                                                                                                  • Metrics for meta-info and tech-info charts
                                                                                                                  • ITRI Bus
                                                                                                                  • Simulation & Evaluation
                                                                                                                        • Urban environment evaluation
                                                                                                                      • Compatibility test
                                                                                                                  • Contributing
                                                                                                                    • Open source philosophy
                                                                                                                    • License
                                                                                                                    • Coding guidelines
                                                                                                                        • C++
                                                                                                                        • Python
                                                                                                                        • Shell scripts
                                                                                                                        • Markdown
                                                                                                                        • CMake
                                                                                                                        • package.xml
                                                                                                                        • Docker
                                                                                                                        • GitHub Actions
                                                                                                                        • Class design
                                                                                                                        • Console logging
                                                                                                                        • Coordinate system
                                                                                                                        • Directory structure
                                                                                                                        • Launch files
                                                                                                                        • Message guidelines
                                                                                                                        • Parameters
                                                                                                                        • Task scheduling
                                                                                                                        • Topic namespaces
                                                                                                                        • Topic message handling
                                                                                                                          • [supplement] Obtain a received message through intra-process communication
                                                                                                                          • [supplement] Use rclcpp::WaitSet
                                                                                                                    • Testing guidelines
                                                                                                                      • Unit testing
                                                                                                                      • Integration testing
                                                                                                                    • Documentation guidelines
                                                                                                                      • Pull request guidelines
                                                                                                                        • AI PR Review
                                                                                                                        • CI checks
                                                                                                                        • Code owners
                                                                                                                        • Commit guidelines
                                                                                                                        • Review guidelines
                                                                                                                        • Review tips
                                                                                                                      • Discussion guidelines
                                                                                                                      • Datasets
                                                                                                                        • Data Anonymization
                                                                                                                          • Support
                                                                                                                            • Support guidelines
                                                                                                                            • Troubleshooting
                                                                                                                              • Performance Troubleshooting
                                                                                                                            • Docs guide
                                                                                                                          • Competitions

                                                                                                                          Home

                                                                                                                          Redirecting...

                                                                                                                          If you are not redirected automatically, follow this link to the homepage.

                                                                                                                          Next
                                                                                                                          Autoware Competitions
                                                                                                                          Copyright © 2025 The Autoware Foundation
                                                                                                                          Made with Material for MkDocs