# Component interfaces

The components of Autoware talk to each other through the component interfaces. A component interface is a ROS topic or service with a fixed name, message type, and QoS. See [Autoware interface design](<../index.md>) for the concept.

The [`autoware_component_interface_specs`](<https://github.com/autowarefoundation/autoware_core/tree/main/common/autoware_component_interface_specs>) package in Autoware Core is the source of truth for these interfaces. It defines each interface as a C++ struct, and it writes all of them to a machine-readable list, [`interface_manifest.json`](<https://github.com/autowarefoundation/autoware_core/blob/main/common/autoware_component_interface_specs/interface_manifest.json>). Every interface has the version `0.1.0` today. A `0.x` version means that the interface can still change.

## Components

- **[Sensing](<sensing/index.md>)**

  Sensor data after preprocessing.

- **[Map](<map/index.md>)**

  Point cloud maps and Lanelet2 maps.

- **[Localization](<localization/index.md>)**

  The pose, velocity, and acceleration of the vehicle.

- **[Perception](<perception/index.md>)**

  Objects, obstacles, and traffic lights.

- **[Planning](<planning/index.md>)**

  The route and the trajectory.

- **[Control](<control/index.md>)**

  Commands to the vehicle.

- **[Vehicle interface](<vehicle-interface/index.md>)**

  Commands in, vehicle status out.

- **[Vehicle dimensions](<vehicle-dimensions/index.md>)**

  The axes and the size of the vehicle.

## Interfaces in Autoware Core

The table lists every interface in `interface_manifest.json`. All topics use the `reliable` QoS reliability. Services use the default service QoS of ROS 2. A linked name opens the detailed specification of the interface.

| Domain | Interface | Type | Kind | QoS |
| --- | --- | --- | --- | --- |
| Control | [`/control/command/control_cmd`](<list/control-command-control-cmd/index.md>) | `autoware_control_msgs/msg/Control` | Topic | depth 1, volatile |
| Control | [`/control/command/gear_cmd`](<list/control-command-gear-cmd/index.md>) | `autoware_vehicle_msgs/msg/GearCommand` | Topic | depth 1, volatile |
| Control | [`/control/command/turn_indicators_cmd`](<list/control-command-turn-indicators-cmd/index.md>) | `autoware_vehicle_msgs/msg/TurnIndicatorsCommand` | Topic | depth 1, volatile |
| Control | [`/control/command/hazard_lights_cmd`](<list/control-command-hazard-lights-cmd/index.md>) | `autoware_vehicle_msgs/msg/HazardLightsCommand` | Topic | depth 1, volatile |
| Control | `/control/trajectory_follower/lateral/predicted_trajectory` | `autoware_planning_msgs/msg/Trajectory` | Topic | depth 1, volatile |
| Control | [`/control/control_mode_request`](<list/control-control-mode-request/index.md>) | `autoware_vehicle_msgs/srv/ControlModeCommand` | Service |  |
| Localization | `/localization/initialize` | `autoware_localization_msgs/srv/InitializeLocalization` | Service |  |
| Localization | `/localization/initialization_state` | `autoware_adapi_v1_msgs/msg/LocalizationInitializationState` | Topic | depth 1, transient\_local |
| Localization | `/localization/kinematic_state` | `nav_msgs/msg/Odometry` | Topic | depth 1, volatile |
| Localization | `/localization/acceleration` | `geometry_msgs/msg/AccelWithCovarianceStamped` | Topic | depth 1, volatile |
| Map | `/map/vector_map` | `autoware_map_msgs/msg/LaneletMapBin` | Topic | depth 1, transient\_local |
| Map | `/map/map_projector_info` | `autoware_map_msgs/msg/MapProjectorInfo` | Topic | depth 1, transient\_local |
| Map | `/map/get_differential_pointcloud_map` | `autoware_map_msgs/srv/GetDifferentialPointCloudMap` | Service |  |
| Map | `/map/get_partial_pointcloud_map` | `autoware_map_msgs/srv/GetPartialPointCloudMap` | Service |  |
| Perception | `/perception/object_recognition/objects` | `autoware_perception_msgs/msg/PredictedObjects` | Topic | depth 1, volatile |
| Perception | `/perception/object_recognition/tracking/objects` | `autoware_perception_msgs/msg/TrackedObjects` | Topic | depth 1, volatile |
| Perception | `/perception/traffic_light_recognition/traffic_signals` | `autoware_perception_msgs/msg/TrafficLightGroupArray` | Topic | depth 1, volatile |
| Planning | `/planning/set_lanelet_route` | `autoware_planning_msgs/srv/SetLaneletRoute` | Service |  |
| Planning | `/planning/set_waypoint_route` | `autoware_planning_msgs/srv/SetWaypointRoute` | Service |  |
| Planning | `/planning/clear_route` | `autoware_planning_msgs/srv/ClearRoute` | Service |  |
| Planning | `/planning/route_state` | `autoware_planning_msgs/msg/RouteState` | Topic | depth 1, transient\_local |
| Planning | `/planning/route` | `autoware_planning_msgs/msg/LaneletRoute` | Topic | depth 1, transient\_local |
| Planning | `/planning/trajectory` | `autoware_planning_msgs/msg/Trajectory` | Topic | depth 1, volatile |
| Sensing | `/sensing/vehicle_velocity_converter/twist_with_covariance` | `geometry_msgs/msg/TwistWithCovarianceStamped` | Topic | depth 10, volatile |
| System | `/system/operation_mode/state` | `autoware_adapi_v1_msgs/msg/OperationModeState` | Topic | depth 1, transient\_local |
| System | `/system/operation_mode/change_operation_mode` | `autoware_system_msgs/srv/ChangeOperationMode` | Service |  |
| System | `/system/operation_mode/change_autoware_control` | `autoware_system_msgs/srv/ChangeAutowareControl` | Service |  |
| System | `/system/fail_safe/mrm_state` | `autoware_adapi_v1_msgs/msg/MrmState` | Topic | depth 1, volatile |
| Vehicle | [`/vehicle/status/velocity_status`](<list/vehicle-status-velocity-status/index.md>) | `autoware_vehicle_msgs/msg/VelocityReport` | Topic | depth 1, volatile |
| Vehicle | [`/vehicle/status/steering_status`](<list/vehicle-status-steering-status/index.md>) | `autoware_vehicle_msgs/msg/SteeringReport` | Topic | depth 1, volatile |
| Vehicle | [`/vehicle/status/gear_status`](<list/vehicle-status-gear-status/index.md>) | `autoware_vehicle_msgs/msg/GearReport` | Topic | depth 1, volatile |
| Vehicle | [`/vehicle/status/turn_indicators_status`](<list/vehicle-status-turn-indicators-status/index.md>) | `autoware_vehicle_msgs/msg/TurnIndicatorsReport` | Topic | depth 1, volatile |
| Vehicle | [`/vehicle/status/hazard_lights_status`](<list/vehicle-status-hazard-lights-status/index.md>) | `autoware_vehicle_msgs/msg/HazardLightsReport` | Topic | depth 1, volatile |
| Vehicle | [`/vehicle/status/control_mode`](<list/vehicle-status-control-mode/index.md>) | `autoware_vehicle_msgs/msg/ControlModeReport` | Topic | depth 1, volatile |

## Interfaces in Autoware Universe

The [`autoware_component_interface_specs_universe`](<https://github.com/autowarefoundation/autoware_universe/tree/main/common/autoware_component_interface_specs_universe>) package defines more interfaces that only Autoware Universe uses.

| Domain | Interface | Type | Kind | QoS |
| --- | --- | --- | --- | --- |
| Control | `/control/command/actuation_cmd` | `tier4_vehicle_msgs/msg/ActuationCommandStamped` | Topic | depth 1, volatile |
| Control | `/control/vehicle_cmd_gate/set_pause` | `tier4_control_msgs/srv/SetPause` | Service |  |
| Control | `/control/vehicle_cmd_gate/is_paused` | `tier4_control_msgs/msg/IsPaused` | Topic | depth 1, transient\_local |
| Control | `/control/vehicle_cmd_gate/is_start_requested` | `tier4_control_msgs/msg/IsStartRequested` | Topic | depth 1, transient\_local |
| Control | `/control/vehicle_cmd_gate/set_stop` | `tier4_control_msgs/srv/SetStop` | Service |  |
| Control | `/control/vehicle_cmd_gate/is_stopped` | `tier4_control_msgs/msg/IsStopped` | Topic | depth 1, transient\_local |
| Vehicle | `/vehicle/status/battery_charge` | `tier4_vehicle_msgs/msg/BatteryStatus` | Topic | depth 1, volatile |
| Vehicle | `/vehicle/doors/command` | `autoware_adapi_v1_msgs/srv/SetDoorCommand` | Service |  |
| Vehicle | `/vehicle/doors/layout` | `autoware_adapi_v1_msgs/srv/GetDoorLayout` | Service |  |
| Vehicle | `/vehicle/doors/status` | `autoware_adapi_v1_msgs/msg/DoorStatusArray` | Topic | depth 1, transient\_local |

## Write a specification page

Each detailed specification page uses one of these templates. Copy the template, fill in the front matter, and replace the text of each section.

- [Topic template](<../templates/topic/index.md>)
- [Service template](<../templates/service/index.md>)