Planning

Inputs

3D Object Predictions

set of perceived objects around ego that need to be avoided when planning a trajectory. Published by the Perception module.

• autoware_auto_perception_msgs/msg/PredictedObjects
  • std_msgs/Header header
  • sequence<autoware_auto_perception_msgs::msg::PredictedObject> objects
    • unique_identifier_msgs::msg::UUID uuid
    • float existence_probability
    • sequence<autoware_auto_perception_msgs::msg::ObjectClassification> classification
      • uint8 classification
      • float probability
    • autoware_auto_perception_msgs::msg::PredictedObjectKinematics kinematics
      • geometry_msgs::msg::PoseWithCovariance initial_pose
      • geometry_msgs::msg::TwistWithCovariance
      • geometry_msgs::msg::AccelWithCovariance initial_acceleration
      • sequence<autoware_auto_perception_msgs::msg::PredictedPath, 10> predicted_paths
        • sequence<geometry_msgs::msg::Pose, 100> path
        • builtin_interfaces::msg::Duration time_step
        • float confidence
    • sequence<autoware_auto_perception_msgs::msg::Shape, 5> shape
      • geometry_msgs::msg::Polygon polygon
      • float height

Traffic Light Response

Service response with traffic light information. The message definition is under discussion.

• TrafficLightResponse
  • uint64 traffic_light_id
  • uint8 traffic_light_state

With the traffic_light_state being one of the following

• GREEN = 1
• GREEN_BLINKING = 2
• YELLOW = 3
• YELLOW_BLINKING = 4
• RED = 5
• RED_BLINKING = 6
• OFF = 7
• UNKNOWN = 8

Vehicle kinematic state

current position and orientation of ego. Published by the Localization module.

• VehicleKinematicState
  • nav_msgs/Odometry
  • std_msgs/Header header
  • string child_frame_id
  • geometry_msgs/PoseWithCovariance pose
  • geometry_msgs/TwistWithCovariance twist

Lanelet2 Map

map of the environment where the planning takes place. Published by the Map Server.

• autoware_auto_mapping_msgs/msg/HADMapBin
  • std_msgs::msg::Header header
  • uint8 map_format
  • string format_version
  • string map_version
  • sequence < uint8 > data

Goal Pose

target pose of ego. Published by the User Interface.

• geometry_msgs/PoseStamped

Engagement Response

TBD.

The message definition is under discussion.

Error status

a status corresponding to the current state of Autoware. Used by the Vehicle Interface to switch between different modes in case of emergency. Published by the Diagnostic Manager.

• autoware_auto_system_msgs/msg/EmergencyState
  • builtin_interfaces::msg::Time stamp
  • uint8 state

With the state being one of the following:

• NORMAL = 1
• OVERRIDE_REQUESTING = 2
• MRM_OPERATING = 3
• MRM_SUCCEEDED = 4
• MRM_FAILED = 5

[TODO] original design for these messages: diagnostic manager also publishes an overriding emergency control command (Add the monitoring system related messages - Autoware.Auto). Possible new design: gate of the vehicle interface switches to the emergency control command (generated by another controller) when receiving an OVERRIDE_REQUESTING message.

The message definition is under discussion.

Outputs

Traffic Light Query

service request for the state of a specific traffic light. Sent to the Perception module.

• uint64 traffic_light_id

The message definition is under discussion.

Trajectory

A sequence of space and velocity points to be followed by the controller.

• autoware_auto_planning_msgs/Trajectory
  • std_msgs/Header header
  • sequence<autoware_auto_planning_msgs::msg::TrajectoryPoint, 100> points
    • builtin_interfaces::msg::Duration time_from_start
    • geometry_msgs::msg::Pose pose
    • float longitudinal_velocity_mps
    • float lateral_velocity_mps
    • float acceleration_mps2
    • float heading_rate_rps
    • float front_wheel_angle_rad
    • float rear_wheel_angle_rad

Vehicle Signal Commands

Commands for various elements of the vehicle unrelated to motion. Sent to the Vehicle Interface. (For the definition, see autoware_auto_vehicle_msgs.)

• HandBrake Command
• Hazard Lights Command
• Headlights Command
• Horn Command
• Stationary Locking Command
• Turn Indicator Command
• Wipers Command

Missions Status

TBD.

The message definition is under discussion.

Engagement Request

TBD,

The message definition is under discussion.