Sensing

graph TD
    cmp_drv("Drivers"):::cls_drv
    cmp_loc("Localization"):::cls_loc
    cmp_per("Perception"):::cls_per
    cmp_sen("Preprocessors"):::cls_sen
    msg_ult("<font size=2><b>Ultrasonics</b></font size>
    <font size=1>sensor_msgs/Range</font size>"):::cls_drv
    msg_img("<font size=2><b>Camera Image</b></font size>
    <font size=1>sensor_msgs/Image</font size>"):::cls_drv
    msg_ldr("<font size=2><b>Lidar Point Cloud</b></font size>
    <font size=1>sensor_msgs/PointCloud2</font size>"):::cls_drv
    msg_rdr_t("<font size=2><b>Radar Tracks</b></font size>
    <font size=1>radar_msgs/RadarTracks</font size>"):::cls_drv
    msg_rdr_s("<font size=2><b>Radar Scan</b></font size>
    <font size=1>radar_msgs/RadarScan</font size>"):::cls_drv
    msg_gnss("<font size=2><b>GNSS-INS Position</b></font size>
    <font size=1>sensor_msgs/NavSatFix</font size>"):::cls_drv
    msg_gnssori("<font size=2><b>GNSS-INS Orientation</b></font size>
    <font size=1>autoware_sensing_msgs/GnssInsOrientationStamped</font size>"):::cls_drv
    msg_gnssvel("<font size=2><b>GNSS Velocity</b></font size>
    <font size=1>geometry_msgs/TwistWithCovarianceStamped</font size>"):::cls_drv
    msg_gnssacc("<font size=2><b>GNSS Acceleration</b></font size>
    <font size=1>geometry_msgs/AccelWithCovarianceStamped</font size>"):::cls_drv
    msg_ult_sen("<font size=2><b>Ultrasonics</b></font size>
    <font size=1>sensor_msgs/Range</font size>"):::cls_sen
    msg_img_sen("<font size=2><b>Camera Image</b></font size>
    <font size=1>sensor_msgs/Image</font size>"):::cls_sen
    msg_pc_combined_rdr("<font size=2><b>Combined Radar Tracks</b></font size>
    <font size=1>radar_msgs/RadarTracks</font size>"):::cls_sen
    msg_pc_rdr("<font size=2><b>Radar Pointcloud</b></font size>
    <font size=1>radar_msgs/RadarScan</font size>"):::cls_sen
    msg_pc_combined_ldr("<font size=2><b>Combined Lidar Point Cloud</b></font size>
    <font size=1>sensor_msgs/PointCloud2</font size>"):::cls_sen
    msg_pose_gnss("<font size=2><b>GNSS-INS Pose</b></font size>
    <font size=1>geometry_msgs/PoseWithCovarianceStamped</font size>"):::cls_sen
    msg_gnssori_sen("<font size=2><b>GNSS-INS Orientation</b></font size>
    <font size=1>sensor_msgs/Imu</font size>"):::cls_sen
    msg_gnssvel_sen("<font size=2><b>GNSS Velocity</b></font size>
    <font size=1>geometry_msgs/TwistWithCovarianceStamped</font size>"):::cls_sen
    msg_gnssacc_sen("<font size=2><b>GNSS-INS Acceleration</b></font size>
    <font size=1>geometry_msgs/AccelWithCovarianceStamped</font size>"):::cls_sen

    cmp_drv --> msg_ult --> cmp_sen
    cmp_drv --> msg_img --> cmp_sen
    cmp_drv --> msg_rdr_t --> cmp_sen
    cmp_drv --> msg_rdr_s --> cmp_sen
    cmp_drv --> msg_ldr --> cmp_sen
    cmp_drv --> msg_gnss --> cmp_sen
    cmp_drv --> msg_gnssori --> cmp_sen
    cmp_drv --> msg_gnssvel --> cmp_sen
    cmp_drv --> msg_gnssacc --> cmp_sen

    cmp_sen --> msg_ult_sen
    cmp_sen --> msg_img_sen
    cmp_sen --> msg_gnssori_sen
    cmp_sen --> msg_gnssvel_sen
    cmp_sen --> msg_pc_combined_rdr
    cmp_sen --> msg_pc_rdr
    cmp_sen --> msg_pc_combined_ldr
    cmp_sen --> msg_pose_gnss
    cmp_sen --> msg_gnssacc_sen
    msg_ult_sen --> cmp_per
    msg_img_sen --> cmp_per
    msg_pc_combined_rdr --> cmp_per
    msg_pc_rdr --> cmp_per
    msg_pc_combined_ldr --> cmp_per
    msg_pc_combined_ldr --> cmp_loc
    msg_pose_gnss --> cmp_loc
    msg_gnssori_sen --> cmp_loc
    msg_gnssvel_sen --> cmp_loc
    msg_gnssacc_sen --> cmp_loc
classDef cls_drv fill:#F8CECC,stroke:#999,stroke-width:1px;
classDef cls_loc fill:#D5E8D4,stroke:#999,stroke-width:1px;
classDef cls_per fill:#FFF2CC,stroke:#999,stroke-width:1px;
classDef cls_sen fill:#FFE6CC,stroke:#999,stroke-width:1px;

Inputs

Ultrasonics

Distance data from ultrasonic radar driver.

• sensor_msgs/Range

Camera Image

Image data from camera driver.

• sensor_msgs/Image

Radar Tracks

Tracks from radar driver.

• radar_msgs/RadarTracks

Radar Scan

Scan from radar driver.

• radar_msgs/RadarScan

Lidar Point Cloud

Pointcloud from lidar driver.

• sensor_msgs/PointCloud2

GNSS-INS Position

Initial pose from GNSS driver.

• geometry_msgs/NavSatFix

GNSS-INS Orientation

Initial orientation from GNSS driver.

• autoware_sensing_msgs/GnssInsOrientationStamped

GNSS Velocity

Initial velocity from GNSS driver.

• geometry_msgs/TwistWithCovarianceStamped

GNSS Acceleration

Initial acceleration from GNSS driver.

• geometry_msgs/AccelWithCovarianceStamped

Output

Ultrasonics

Distance data from ultrasonic radar. Used by the Perception.

• sensor_msgs/Range

Camera Image

Image data from camera. Used by the Perception.

• sensor_msgs/Image

Combined Radar Tracks

Radar tracks from radar. Used by the Perception.

• radar_msgs/RadarTracks.msg

Radar Point Cloud

Pointcloud from radar. Used by the Perception.

• radar_msgs/RadarScan.msg

Combined Lidar Point Cloud

Lidar pointcloud after preprocessing. Used by the Perception and Localization.

• sensor_msgs/PointCloud2

GNSS-INS pose

Initial pose of the ego vehicle from GNSS. Used by the Localization.

• geometry_msgs/PoseWithCovarianceStamped

GNSS-INS Orientation

Orientation info from GNSS. Used by the Localization.

• sensor_msgs/Imu

GNSS velocity

Velocity of the ego vehicle from GNSS. Used by the Localization.

• geometry_msgs/TwistWithCovarianceStamped

GNSS Acceleration

Acceleration of the ego vehicle from GNSS. Used by the Localization.

• geometry_msgs/AccelWithCovarianceStamped