Perception
This page provides specific specifications about the Interface of the Perception Component. Please refer to the perception architecture reference implementation design for concepts and data flow.
From Map Component
Notes:
- Point Cloud Map
- input can be both topic or service, but we highly recommend to use service because since this interface enables processing without being constrained by map file size limits.
From Sensing Component
| Name | Topic | Type | Description |
|---|
| Camera Image | /sensing/camera/camera*/image_rect_color | sensor_msgs/Image | Camera image data, processed with Lens Distortion Correction (LDC) |
| Camera Image | /sensing/camera/camera*/image_raw | sensor_msgs/Image | Camera image data, not processed with Lens Distortion Correction (LDC) |
| Point Cloud | /sensing/lidar/concatenated/pointcloud | sensor_msgs/PointCloud2 | Concatenated point cloud from multiple LiDAR sources |
| Radar Object | /sensing/radar/detected_objects | autoware_perception_msgs/msg/DetectedObject | Radar objects |
From Localization Component
| Name | Topic | Type | Description |
|---|
| Vehicle Odometry | /localization/kinematic_state | nav_msgs/msg/Odometry | Ego vehicle odometry topic |
From API
Output
To Planning
Please refer to the perception component design for detailed definitions of each output."
| Name | Topic | Type | Description |
|---|
| Dynamic Objects | /perception/object_recognition/objects | autoware_perception_msgs/msg/PredictedObjects | Set of dynamic objects with information such as a object class and a shape of the objects. These objects did not exist when the map was generated and are not contained within the map. |
| Obstacles | /perception/obstacle_segmentation/pointcloud | sensor_msgs/PointCloud2 | Obstacles, including both dynamic objects and static obstacles that requires the ego vehicle either steer clear of them or come to a stop in front of the obstacles. |
| Occupancy Grid Map | /perception/occupancy_grid_map/map | nav_msgs/msg/OccupancyGrid | The map with the information about the presence of obstacles and blind spot |
| Traffic Signal | /perception/traffic_light_recognition/traffic_signals | autoware_perception_msgs::msg::TrafficLightGroupArray | The traffic signal information such as a color (green, yellow, read) and an arrow (right, left, straight) |