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Sensing#

graph TD
    cmp_drv("Drivers"):::cls_drv
    cmp_loc("Localization"):::cls_loc
    cmp_per("Perception"):::cls_per
    cmp_sen("Preprocessors"):::cls_sen
    msg_ult("<font size=2><b>Ultrasonics</b></font size>
    <font size=1>sensor_msgs/Range</font size>"):::cls_drv
    msg_img("<font size=2><b>Camera Image</b></font size>
    <font size=1>sensor_msgs/Image</font size>"):::cls_drv
    msg_ldr("<font size=2><b>Lidar Point Cloud</b></font size>
    <font size=1>sensor_msgs/PointCloud2</font size>"):::cls_drv
    msg_rdr_t("<font size=2><b>Radar Tracks</b></font size>
    <font size=1>radar_msgs/RadarTracks</font size>"):::cls_drv
    msg_rdr_s("<font size=2><b>Radar Scan</b></font size>
    <font size=1>radar_msgs/RadarScan</font size>"):::cls_drv
    msg_gnss("<font size=2><b>GNSS-INS Position</b></font size>
    <font size=1>sensor_msgs/NavSatFix</font size>"):::cls_drv
    msg_gnssori("<font size=2><b>GNSS-INS Orientation</b></font size>
    <font size=1>autoware_sensing_msgs/GnssInsOrientationStamped</font size>"):::cls_drv
    msg_gnssvel("<font size=2><b>GNSS Velocity</b></font size>
    <font size=1>geometry_msgs/TwistWithCovarianceStamped</font size>"):::cls_drv
    msg_gnssacc("<font size=2><b>GNSS Acceleration</b></font size>
    <font size=1>geometry_msgs/AccelWithCovarianceStamped</font size>"):::cls_drv
    msg_ult_sen("<font size=2><b>Ultrasonics</b></font size>
    <font size=1>sensor_msgs/Range</font size>"):::cls_sen
    msg_img_sen("<font size=2><b>Camera Image</b></font size>
    <font size=1>sensor_msgs/Image</font size>"):::cls_sen
    msg_pc_combined_rdr("<font size=2><b>Combined Radar Tracks</b></font size>
    <font size=1>radar_msgs/RadarTracks</font size>"):::cls_sen
    msg_pc_rdr("<font size=2><b>Radar Pointcloud</b></font size>
    <font size=1>radar_msgs/RadarScan</font size>"):::cls_sen
    msg_pc_ldr("<font size=2><b>Lidar Point Cloud</b></font size>
    <font size=1>sensor_msgs/PointCloud2</font size>"):::cls_sen
    msg_pose_gnss("<font size=2><b>GNSS-INS Pose</b></font size>
    <font size=1>geometry_msgs/PoseWithCovarianceStamped</font size>"):::cls_sen
    msg_gnssori_sen("<font size=2><b>GNSS-INS Orientation</b></font size>
    <font size=1>sensor_msgs/Imu</font size>"):::cls_sen
    msg_gnssvel_sen("<font size=2><b>GNSS Velocity</b></font size>
    <font size=1>geometry_msgs/TwistWithCovarianceStamped</font size>"):::cls_sen
    msg_gnssacc_sen("<font size=2><b>GNSS-INS Acceleration</b></font size>
    <font size=1>geometry_msgs/AccelWithCovarianceStamped</font size>"):::cls_sen

    cmp_drv --> msg_ult --> cmp_sen
    cmp_drv --> msg_img --> cmp_sen
    cmp_drv --> msg_rdr_t --> cmp_sen
    cmp_drv --> msg_rdr_s --> cmp_sen
    cmp_drv --> msg_ldr --> cmp_sen
    cmp_drv --> msg_gnss --> cmp_sen
    cmp_drv --> msg_gnssori --> cmp_sen
    cmp_drv --> msg_gnssvel --> cmp_sen
    cmp_drv --> msg_gnssacc --> cmp_sen

    cmp_sen --> msg_ult_sen
    cmp_sen --> msg_img_sen
    cmp_sen --> msg_gnssori_sen
    cmp_sen --> msg_gnssvel_sen
    cmp_sen --> msg_pc_combined_rdr
    cmp_sen --> msg_pc_rdr
    cmp_sen --> msg_pc_ldr
    cmp_sen --> msg_pose_gnss
    cmp_sen --> msg_gnssacc_sen
    msg_ult_sen --> cmp_per
    msg_img_sen --> cmp_per
    msg_pc_combined_rdr --> cmp_per
    msg_pc_rdr --> cmp_per
    msg_pc_ldr --> cmp_per
    msg_pc_ldr --> cmp_loc
    msg_pose_gnss --> cmp_loc
    msg_gnssori_sen --> cmp_loc
    msg_gnssvel_sen --> cmp_loc
    msg_gnssacc_sen --> cmp_loc
classDef cls_drv fill:#F8CECC,stroke:#999,stroke-width:1px;
classDef cls_loc fill:#D5E8D4,stroke:#999,stroke-width:1px;
classDef cls_per fill:#FFF2CC,stroke:#999,stroke-width:1px;
classDef cls_sen fill:#FFE6CC,stroke:#999,stroke-width:1px;

Inputs#

NameTopicTypeDescription
UltrasonicsT.B.Dsensor_msgs/RangeDistance data from ultrasonic radar driver.
Camera ImageT.B.Dsensor_msgs/ImageImage data from camera driver.
Radar TracksT.B.Dradar_msgs/RadarTracksTracks from radar driver.
Radar ScanT.B.Dradar_msgs/RadarScanScan from radar driver.
Lidar Point Cloud/sensing/lidar/<lidar name>/pointcloud_rawsensor_msgs/PointCloud2Pointcloud from lidar driver.
GNSS-INS PositionT.B.Dgeometry_msgs/NavSatFixInitial pose from GNSS driver.
GNSS-INS OrientationT.B.Dautoware_sensing_msgs/GnssInsOrientationStampedInitial orientation from GNSS driver.
GNSS VelocityT.B.Dgeometry_msgs/TwistWithCovarianceStampedInitial velocity from GNSS driver.
GNSS AccelerationT.B.Dgeometry_msgs/AccelWithCovarianceStampedInitial acceleration from GNSS driver.

Output#

NameTopicTypeDescription
UltrasonicsT.B.Dsensor_msgs/RangeDistance data from ultrasonic radar. Used by the Perception.
Camera ImageT.B.Dsensor_msgs/ImageImage data from camera. Used by the Perception.
Combined Radar TracksT.B.Dradar_msgs/RadarTracks.msgRadar tracks from radar. Used by the Perception.
Radar Point CloudT.B.Dradar_msgs/RadarScan.msgPointcloud from radar. Used by the Perception.
Lidar Point Cloud/sensing/lidar/<lidar group>/pointcloudsensor_msgs/PointCloud2Lidar pointcloud after preprocessing. Used by the Perception and Localization. <lidar group> is a unique name for identifying each LiDAR or the group name when multiple LiDARs are combined. Specifically, the concatenated point cloud of all LiDARs is assigned the <lidar group> name concatenated.
GNSS-INS poseT.B.Dgeometry_msgs/PoseWithCovarianceStampedInitial pose of the ego vehicle from GNSS. Used by the Localization.
GNSS-INS OrientationT.B.Dsensor_msgs/ImuOrientation info from GNSS. Used by the Localization.
GNSS VelocityT.B.Dgeometry_msgs/TwistWithCovarianceStampedVelocity of the ego vehicle from GNSS. Used by the Localization.
GNSS AccelerationT.B.Dgeometry_msgs/AccelWithCovarianceStampedAcceleration of the ego vehicle from GNSS. Used by the Localization.