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Node diagram#

This page shows the main nodes of Autoware and the topics between the components. It shows the default setup of autoware_launch, with the rule-based planning stack. For the inputs and outputs of each component, see Component interfaces.

An overview of the main nodes of Autoware in the default setup of autoware_launch. Sensing and Map feed Localization and Perception. Planning uses the kinematic state, the objects, the traffic signals, the obstacle point cloud, the occupancy grid, and the vector map to make the trajectory. Control follows the trajectory with the kinematic state and sends commands to the vehicle interface, optionally through the raw vehicle command converter. The MRM handler of System sends emergency commands to the vehicle command gate. The AD API runs beside them.SensingLiDAR preprocessingIMU correctorGNSS poserVelocity converterMapPoint cloud loaderLanelet2 loaderProjection loaderMap TF generatorLocalizationNDT scan matcherGyro odometerEKF localizerStop filterPerceptionGround segmentationOccupancy grid mapTraffic light recognitionObject detectionMulti-object trackerMap-based predictionSensor dataSensor dataMapsPoint cloud mapPlanningMission plannerBehavior path plannerBehavior velocity plannerPath smootherPath optimizerMotion velocity plannerScenario selectorVelocity smootherPlanning validator/localization/kinematic_state/perception/traffic_light_recognition/traffic_signals/perception/object_recognition/objectsObstacle point cloudand occupancy grid/map/vector_mapControlTrajectory followerShift deciderOperation modetransition managerVehicle command gate/planning/trajectoryVehicleRaw vehicle cmd converterOptionalVehicle interfacecommandsstatusSystemDiagnostic graph aggregatorMRM handlerEmergency commandsAD APIDefault AD APIAD API adaptors
The main nodes of each component and the main topics between the components.

The diagram is an overview. A running Autoware has many more nodes, and many of them are optional or depend on launch arguments. For example, the diagram does not show the parking scenario, the planning modules inside the behavior and motion planners, the control checkers, or the debug and diagnostic topics.

See the full graph#

Use one of these tools to see every node and topic of your setup.

  • rqt_graph

    Launch Autoware, for example with the planning simulation. Then run rqt_graph in another terminal. It shows the nodes and topics that run now.

To build the sample system design in a workspace where Autoware is already built, run:

colcon build --symlink-install --packages-select autoware_sample_designs --cmake-args -DCMAKE_BUILD_TYPE=Release

The systems.html page shows every node, module, and topic connection of the AutowareSample system, for each of its modes.