# Determining component dependencies For any developers who wish to try and deploy Autoware as a microservices architecture, it is necessary to understand the software dependencies, communication, and implemented features of each ROS package/node. As an example, the commands necessary to determine the dependencies for the Perception component are shown below. In Autoware 2.0.0, the launch files of the Perception component are in the `autoware_perception_launch` package. This package is in the [autoware\_launch]() repository. Run the commands of this page from the root of your Autoware workspace, for example `~/autoware`. ## Perception component dependencies ### Package dependencies To generate a graph of package dependencies, use the following `colcon` command. The `dot` command comes from the `graphviz` package (`sudo apt install graphviz`). ```bash colcon graph --dot --legend --packages-up-to autoware_perception_launch | dot -Tpng -o graph.png ``` In the graph, a blue edge is a build dependency, a red edge is a run dependency, a tan edge is a test dependency, and a dashed edge is an indirect dependency. The following diagram groups the packages of this graph for Autoware 2.0.0. The packages that autoware\_perception\_launch depends on in Autoware 2.0.0, grouped by function. The diagram does not show which package depends on which. To see each dependency, open the `graph.png` file from the `colcon graph` command. To generate a list of dependencies, use: ```bash colcon list --packages-up-to autoware_perception_launch --names-only ``` > [!NOTE] > > **colcon list output (Autoware 2.0.0, 102 packages)** > > ```text > autoware_adapi_v1_msgs > autoware_agnocast_wrapper > autoware_bevfusion > autoware_bytetrack > autoware_cmake > autoware_common_msgs > autoware_compare_map_segmentation > autoware_crosswalk_traffic_light_estimator > autoware_cuda_dependency_meta > autoware_cuda_pointcloud_preprocessor > autoware_cuda_utils > autoware_detected_object_feature_remover > autoware_detected_object_validation > autoware_detection_by_tracker > autoware_elevation_map_loader > autoware_euclidean_cluster > autoware_grid_map_utils > autoware_ground_segmentation > autoware_ground_segmentation_cuda > autoware_image_object_locator > autoware_image_projection_based_fusion > autoware_image_transport_decompressor > autoware_internal_debug_msgs > autoware_internal_localization_msgs > autoware_internal_metric_msgs > autoware_internal_msgs > autoware_internal_perception_msgs > autoware_internal_planning_msgs > autoware_interpolation > autoware_kalman_filter > autoware_lanelet2_extension > autoware_lanelet2_utils > autoware_lidar_apollo_instance_segmentation > autoware_lidar_centerpoint > autoware_lidar_transfusion > autoware_lint_common > autoware_map_based_prediction > autoware_map_msgs > autoware_motion_utils > autoware_multi_object_tracker > autoware_object_merger > autoware_object_recognition_utils > autoware_object_sorter > autoware_occupancy_grid_map_outlier_filter > autoware_pcl_extensions > autoware_perception_config > autoware_perception_launch > autoware_perception_msgs > autoware_planning_msgs > autoware_point_types > autoware_pointcloud_preprocessor > autoware_probabilistic_occupancy_grid_map > autoware_ptv3 > autoware_pyplot > autoware_qos_utils > autoware_raindrop_cluster_filter > autoware_sensing_msgs > autoware_shape_estimation > autoware_simpl_prediction > autoware_simple_object_merger > autoware_tensorrt_bevdet > autoware_tensorrt_classifier > autoware_tensorrt_common > autoware_tensorrt_plugins > autoware_tensorrt_yolox > autoware_test_utils > autoware_tracking_object_merger > autoware_traffic_light_arbiter > autoware_traffic_light_category_merger > autoware_traffic_light_classifier > autoware_traffic_light_fine_detector > autoware_traffic_light_map_based_detector > autoware_traffic_light_multi_camera_fusion > autoware_traffic_light_occlusion_predictor > autoware_traffic_light_selector > autoware_traffic_light_utils > autoware_traffic_light_visualization > autoware_utils > autoware_utils_debug > autoware_utils_diagnostics > autoware_utils_geometry > autoware_utils_logging > autoware_utils_math > autoware_utils_pcl > autoware_utils_rclcpp > autoware_utils_system > autoware_utils_tf > autoware_utils_uuid > autoware_utils_visualization > autoware_vehicle_info_utils > autoware_vehicle_msgs > bevdet_vendor > cuda_blackboard > managed_transform_buffer > mussp > negotiated > negotiated_interfaces > perception_utils > pointcloud_to_laserscan > tier4_debug_msgs > tier4_external_api_msgs > tier4_perception_msgs > ``` > [!TIP] > > To output a list of modules with their respective paths, run the command above without the `--names-only` parameter. ### System dependencies The packages also depend on ROS packages and system libraries that are not in the Autoware workspace. `rosdep` lists them as rosdep keys. To list the keys of the whole Perception component, give `rosdep` the paths of all packages from the `colcon list` command: ```bash rosdep keys --ignore-src --from-paths $(colcon list --packages-up-to autoware_perception_launch --paths-only) ``` The `--ignore-src` option removes the packages that are in the given paths. The output contains keys such as `libpcl-all-dev`, `libopencv-dev`, `tensorrt_cmake_module`, `lanelet2_core`, and `grid_map_ros`. To see the system package for one key, use `rosdep resolve`: ```bash rosdep resolve libpcl-all-dev ``` ### Unused dependencies A `package.xml` file can declare a dependency that the code does not use. The [`autoware_dependency_checker`]() package of `autoware_tools` compares the dependencies in each `package.xml` file with the headers that the source files include. It mainly checks the packages whose names start with `autoware_`. To get it, import `repositories/tools.repos` into your workspace and build it: ```bash vcs import src < repositories/tools.repos colcon build --packages-up-to autoware_dependency_checker source install/setup.bash ``` Then run the script in a package folder or in the workspace root: ```bash cd src/universe/autoware_universe/perception/autoware_lidar_centerpoint ros2 run autoware_dependency_checker dependency_checker.sh ``` ## Perception component communication To see which ROS topics are being subscribed and published to, launch Autoware and run `rqt_graph`. For example, start the [rosbag replay simulation](<../../../simulation/rosbag-replay-simulation/index.md>), and then run: ```bash ros2 run rqt_graph rqt_graph ``` In `rqt_graph`, enter `/perception` in the namespace filter to show only the nodes and topics of the Perception component.