Sensing component design

Overview

Sensing component is a collection of modules that apply some primitive pre-processing to the raw sensor data.

The sensor input formats are defined in this component.

Role

• Abstraction of data formats to enable usage of sensors from various vendors
• Perform common/primitive sensor data processing required by each component

High-level architecture

This diagram describes the high-level architecture of the Sensing Component.

Inputs

Input types

Sensor Data	Message Type
Point cloud (LiDARs, depth cameras, etc.)	sensor_msgs/msg/PointCloud2.msg
Image (RGB, monochrome, depth, etc. cameras)	sensor_msgs/msg/Image.msg
Radar scan	radar_msgs/msg/RadarScan.msg
Radar tracks	radar_msgs/msg/RadarTracks.msg
GNSS-INS position	sensor_msgs/msg/NavSatFix.msg
GNSS-INS orientation	autoware_sensing_msgs/GnssInsOrientationStamped.msg
GNSS-INS velocity	geometry_msgs/msg/TwistWithCovarianceStamped.msg
GNSS-INS acceleration	geometry_msgs/msg/AccelWithCovarianceStamped.msg
Ultrasonics	sensor_msgs/msg/Range.msg

Design by data-types

• GNSS/INS data pre-processing design
• Image pre-processing design
• Point cloud pre-processing design
• Radar pointcloud data pre-processing design
• Radar objects data pre-processing design
• Ultrasonics data pre-processing design