Sensing

Inputs

Name	Topic	Type	Description
Ultrasonics	T.B.D	sensor_msgs/Range	Distance data from ultrasonic radar driver.
Camera Image	T.B.D	sensor_msgs/Image	Image data from camera driver.
Radar Tracks	T.B.D	radar_msgs/RadarTracks	Tracks from radar driver.
Radar Scan	T.B.D	radar_msgs/RadarScan	Scan from radar driver.
Lidar Point Cloud	/sensing/lidar/<lidar name>/pointcloud_raw	sensor_msgs/PointCloud2	Pointcloud from lidar driver.
GNSS-INS Position	T.B.D	geometry_msgs/NavSatFix	Initial pose from GNSS driver.
GNSS-INS Orientation	T.B.D	autoware_sensing_msgs/GnssInsOrientationStamped	Initial orientation from GNSS driver.
GNSS Velocity	T.B.D	geometry_msgs/TwistWithCovarianceStamped	Initial velocity from GNSS driver.
GNSS Acceleration	T.B.D	geometry_msgs/AccelWithCovarianceStamped	Initial acceleration from GNSS driver.

Output

Name	Topic	Type	Description
Ultrasonics	T.B.D	sensor_msgs/Range	Distance data from ultrasonic radar. Used by the Perception.
Camera Image	T.B.D	sensor_msgs/Image	Image data from camera. Used by the Perception.
Combined Radar Tracks	T.B.D	radar_msgs/RadarTracks.msg	Radar tracks from radar. Used by the Perception.
Radar Point Cloud	T.B.D	radar_msgs/RadarScan.msg	Pointcloud from radar. Used by the Perception.
Lidar Point Cloud	/sensing/lidar/<lidar group>/pointcloud	sensor_msgs/PointCloud2	Lidar pointcloud after preprocessing. Used by the Perception and Localization. <lidar group> is a unique name for identifying each LiDAR or the group name when multiple LiDARs are combined. Specifically, the concatenated point cloud of all LiDARs is assigned the <lidar group> name concatenated.
GNSS-INS pose	T.B.D	geometry_msgs/PoseWithCovarianceStamped	Initial pose of the ego vehicle from GNSS. Used by the Localization.
GNSS-INS Orientation	T.B.D	sensor_msgs/Imu	Orientation info from GNSS. Used by the Localization.
GNSS Velocity	T.B.D	geometry_msgs/TwistWithCovarianceStamped	Velocity of the ego vehicle from GNSS. Used by the Localization.
GNSS Acceleration	T.B.D	geometry_msgs/AccelWithCovarianceStamped	Acceleration of the ego vehicle from GNSS. Used by the Localization.