Skip to content
Autoware Documentation
Autonomous Driving Stack Architecture
Initializing search
GitHub
Introduction
Installation
Tutorials
How to guides
Design
Roadmap
Reference HW
Contributing
Datasets
Models
Support
Competitions
Autoware Documentation
GitHub
Introduction
Installation
Installation
Autoware
Autoware
Open AD Kit: containerized workloads for Autoware
Source installation
Related tools
Related tools
Additional settings for developers
Additional settings for developers
Console settings for ROS 2
Network configuration
Network configuration
DDS settings for ROS 2 and Autoware
Zenoh settings for ROS 2 and Autoware
Enable `multicast` on `lo`
Communicating across multiple computers with CycloneDDS
Tutorials
Tutorials
Ad hoc simulation
Ad hoc simulation
Planning simulation
Rosbag replay simulation
Digital twin simulation
Digital twin simulation
AWSIM simulator
MORAI Sim: Drive
CARLA simulator
Scenario simulation
Scenario simulation
Planning simulation
Planning simulation
Installation
Scenario test simulation
Random test simulation
Rosbag replay simulation
Rosbag replay simulation
Driving Log Replayer
Components evaluation
Components evaluation
Localization evaluation
Localization evaluation
Urban environment evaluation
How to guides
How to guides
Integrating Autoware
Integrating Autoware
Overview
1. Creating your Autoware repositories
1. Creating your Autoware repositories
Creating Autoware repositories
2. Creating vehicle and sensor model
2. Creating vehicle and sensor model
Creating sensor model
Creating sensor model
Creating individual params
Creating individual params
Creating vehicle model
Creating vehicle model
Calibrating sensors
Calibrating sensors
Starting with TIER IV's CalibrationTools
Starting with TIER IV's CalibrationTools
Extrinsic manual calibration
Extrinsic manual calibration
Lidar-lidar calibration
Lidar-lidar calibration
Ground plane-lidar calibration
Ground plane-lidar calibration
Intrinsic camera calibration
Intrinsic camera calibration
Lidar-camera calibration
Lidar-camera calibration
Lidar-IMU calibration
Lidar-IMU calibration
3. Creating vehicle interface
3. Creating vehicle interface
Vehicle interface overview
Creating vehicle interface
Ackermann kinematic model
Customizing for differential drive vehicle
4. Creating maps
4. Creating maps
Open-source SLAM algorithms
Open-source SLAM algorithms
FAST-LIO-LC
FAST-LIO-LC
FAST_LIO_SLAM
FAST_LIO_SLAM
FD-SLAM
FD-SLAM
hdl_graph_slam
hdl_graph_slam
IA_LIO_SAM
IA_LIO_SAM
iscloam
iscloam
LeGO-LOAM-BOR
LeGO-LOAM-BOR
LIO-SAM
LIO-SAM
Optimized-SC-F-LOAM
Optimized-SC-F-LOAM
SC-A-LOAM
SC-A-LOAM
SC-LeGO-LOAM
SC-LeGO-LOAM
Converting UTM map to MGRS map
Converting UTM map to MGRS map
Pointcloud map downsampling
Pointcloud map downsampling
Creating a vector map
Creating a vector map
Lanelet2
Lanelet2
Crosswalk
Crosswalk
Stop line
Stop line
Traffic light
Traffic light
Speed bump
Speed bump
Detection area
Detection area
5. Launch Autoware
5. Launch Autoware
Launch vehicle
Launch vehicle
Launch system
Launch system
Launch map
Launch map
Launch sensing
Launch sensing
Launch localization
Launch localization
Eagleye
Eagleye
Launch perception
Launch perception
Launch planning
Launch planning
Launch control
Launch control
6. Tuning parameters and performance
6. Tuning parameters and performance
Evaluating the controller performance
Evaluating real-time performance
7. AWSIM Integration
7. AWSIM Integration
8. Integrating Sensors
8. Integrating Sensors
Integrating cameras
Training Machine Learning Models
Training Machine Learning Models
Training and Deploying Models
Others
Others
Add a custom ROS message
Advanced usage of colcon
An example procedure for adding and evaluating a new node
Applying Clang-Tidy to ROS packages
Debug Autoware
Defining temporal performance metrics on components
Determining component dependencies
Fixing dependent package versions
Lane Detection Methods
Planning Evaluation Using Scenarios
Reducing start delays on real vehicles
Running Autoware without CUDA
Using divided pointcloud map
Design
Design
Autoware concepts
Autoware concepts
Autoware architecture
Autoware architecture
Sensing
Sensing
Data types
Data types
GNSS/INS data pre-processing design
Image pre-processing design
Point cloud pre-processing design
Ultrasonics data pre-processing design
Radar data
Radar data
Radar objects data pre-processing design
Radar pointcloud data pre-processing design
Reference implementations
Reference implementations
Data message for radars
Device driver for radars
Map
Map
Map requirements
Map requirements
Vector map requirements overview
Vector map requirements overview
Category area
Category crosswalk
Category intersection
Category lane
Category others
Category stop line
Category traffic light
Localization
Localization
Perception
Perception
Perception Component Reference Implementation Design
Reference implementations
Reference implementations
Radar based 3d detector
Radar based 3d detector
Radar faraway dynamic objects detection with radar objects
Radar based 3D detector
Planning
Planning
Control
Control
Vehicle
Vehicle
Node diagram
Node diagram
Autoware interfaces
Autoware interfaces
AD API
AD API
Release notes
List
List
Types
Types
Features
Features
Control
Cooperation
Diagnostics
Fail-safe
Heartbeat
Interface
Localization
Manual control
Motion
Operation mode
Perception
Planning factors
Routing
Vehicle doors
Vehicle status
Components
Components
Planning
Control
Localization
Map
Sensing
Perception
Vehicle Interface
Vehicle dimensions
Configuration management
Configuration management
Development process
Repository structure
Release process
Roadmap
Roadmap
Vision, Mission, and Core Values
Vision, Mission, and Core Values
Multi-year Roadmap
Multi-year Roadmap
Year 1 Goals
Architecture
Architecture
Autonomous Driving Stack Architecture
Detailed Architectural Interface
Development Roadmap
Neural World Simulation
Assessment of Safety and Benchmarks
Data, MLOps and Training
Reference HW
Reference HW
AD Computers
LIDARs
RADARs
CAMERAs
Thermal CAMERAs
IMU, AHRS & GNSS/INS
Vehicle Drive By Wire Suppliers
Vehicle Platform Suppliers
Remote Drive
Drivers List
AD Sensor Kit Suppliers
Contributing
Contributing
License
Coding guidelines
Coding guidelines
Language-specific guidelines
Language-specific guidelines
C++
Python
Shell scripts
Markdown
CMake
package.xml
Docker
GitHub Actions
ROS nodes guidelines
ROS nodes guidelines
Class design
Console logging
Coordinate system
Directory structure
Launch files
Message guidelines
Parameters
Task scheduling
Topic namespaces
Topic message handling
Topic message handling
[supplement] Obtain a received message through intra-process communication
[supplement] Use rclcpp::WaitSet
Testing guidelines
Testing guidelines
Unit testing
Integration testing
Documentation guidelines
Documentation guidelines
Pull request guidelines
Pull request guidelines
AI PR Review
CI checks
Code owners
Commit guidelines
Review guidelines
Review tips
Discussion guidelines
Discussion guidelines
Datasets
Datasets
Data Anonymization
Data Anonymization
Models
Models
Support
Support
Support guidelines
Troubleshooting
Troubleshooting
Performance Troubleshooting
Docs guide
Competitions
Competitions
Autonomous Driving Stack Architecture
#
TBD
Back to top