Autoware Universe Documentation

Common
Common
- Autoware ad api specs
  Autoware ad api specs
- Autoware auto common
  Autoware auto common
  - Design
    Design
    
    Comparisons
- Autoware auto geometry
  Autoware auto geometry
  - Design
    Design
    
    Interval
    
    2D Convex Polygon Intersection
    
    Spatial Hash
- Autoware auto perception rviz plugin
  Autoware auto perception rviz plugin
- Autoware auto tf2
  Autoware auto tf2
  - Design
    Design
    
    autoware_auto_tf2
- Autoware overlay rviz plugin
  Autoware overlay rviz plugin
  - Autoware overlay rviz plugin
    
    Autoware overlay rviz plugin
- Autoware testing
  Autoware testing
  - Design
    Design
    
    autoware_testing
- Bag time manager rviz plugin
  Bag time manager rviz plugin
- Component interface specs
  Component interface specs
- Component interface tools
  Component interface tools
- Component interface utils
  Component interface utils
- Cuda utils
  Cuda utils
- Fake test node
  Fake test node
  - Design
    Design
    
    Fake Test Node
- Geography utils
  Geography utils
- Global parameter loader
  Global parameter loader
  - Autoware Global Parameter Loader
- Glog component
  Glog component
- Goal distance calculator
  Goal distance calculator
  - goal_distance_calculator
- Grid map utils
  Grid map utils
- Interpolation
  Interpolation
- Kalman filter
  Kalman filter
- Mission planner rviz plugin
  Mission planner rviz plugin
- Motion utils
  Motion utils
  - Docs
    Docs
    
    Vehicle
    Vehicle
    
    vehicle utils
- Object recognition utils
  Object recognition utils
- Osqp interface
  Osqp interface
  - Design
    Design
    
    Interface for the OSQP library
- Path distance calculator
  Path distance calculator
  - path_distance_calculator
- Perception utils
  Perception utils
- Polar grid
  Polar grid
  - Polar Grid
- Qp interface
  Qp interface
  - Design
    Design
    
    Interface for QP solvers
- Rtc manager rviz plugin
  Rtc manager rviz plugin
- Signal processing
  Signal processing
  - Documentation
    Documentation
    
    ButterworthFilter
- Tensorrt common
  Tensorrt common
- Tier4 adapi rviz plugin
  Tier4 adapi rviz plugin
- Tier4 api utils
  Tier4 api utils
- Tier4 automatic goal rviz plugin
  Tier4 automatic goal rviz plugin
- Tier4 autoware utils
  Tier4 autoware utils
- Tier4 camera view rviz plugin
  Tier4 camera view rviz plugin
- Tier4 control rviz plugin
  Tier4 control rviz plugin
- Tier4 datetime rviz plugin
  Tier4 datetime rviz plugin
- Tier4 debug rviz plugin
  Tier4 debug rviz plugin
- Tier4 localization rviz plugin
  Tier4 localization rviz plugin
- Tier4 logging level configure rviz plugin
  Tier4 logging level configure rviz plugin
- Tier4 perception rviz plugin
  Tier4 perception rviz plugin
- Tier4 planning rviz plugin
  Tier4 planning rviz plugin
- Tier4 screen capture rviz plugin
  Tier4 screen capture rviz plugin
- Tier4 simulated clock rviz plugin
  Tier4 simulated clock rviz plugin
- Tier4 state rviz plugin
  Tier4 state rviz plugin
- Tier4 system rviz plugin
  Tier4 system rviz plugin
- Tier4 target object type rviz plugin
  Tier4 target object type rviz plugin
- Tier4 traffic light rviz plugin
  Tier4 traffic light rviz plugin
- Tier4 vehicle rviz plugin
  Tier4 vehicle rviz plugin
- Traffic light recognition marker publisher
  Traffic light recognition marker publisher
  - path_distance_calculator
- Traffic light utils
  Traffic light utils
- Tvm utility
  Tvm utility
  - YOLOv2 Tiny Example Pipeline
  - Artifacts
    
    Artifacts
Control
Control
- Autonomous emergency braking
  Autonomous emergency braking
- Control performance analysis
  Control performance analysis
- Control validator
  Control validator
- External cmd selector
  External cmd selector
- Joy controller
  Joy controller
- Lane departure checker
  Lane departure checker
- Mpc lateral controller
  Mpc lateral controller
  - MPC Algorithm
- Obstacle collision checker
  Obstacle collision checker
- Operation mode transition manager
  Operation mode transition manager
- Pid longitudinal controller
  Pid longitudinal controller
- Predicted path checker
  Predicted path checker
- Pure pursuit
  Pure pursuit
- Shift decider
  Shift decider
- Trajectory follower base
  Trajectory follower base
- Trajectory follower node
  Trajectory follower node
  - Design
    Design
    
    Simple Trajectory Follower
- Vehicle cmd gate
  Vehicle cmd gate
Evaluator
Evaluator
- Diagnostic converter
  Diagnostic converter
- Kinematic evaluator
  Kinematic evaluator
- Localization evaluator
  Localization evaluator
- Perception online evaluator
  Perception online evaluator
- Planning evaluator
  Planning evaluator
- Tier4 metrics rviz plugin
  Tier4 metrics rviz plugin
Launch
Launch
- Tier4 autoware api launch
  Tier4 autoware api launch
- Tier4 control launch
  Tier4 control launch
- Tier4 localization launch
  Tier4 localization launch
- Tier4 map launch
  Tier4 map launch
- Tier4 perception launch
  Tier4 perception launch
- Tier4 planning launch
  Tier4 planning launch
- Tier4 sensing launch
  Tier4 sensing launch
- Tier4 simulator launch
  Tier4 simulator launch
- Tier4 system launch
  Tier4 system launch
- Tier4 vehicle launch
  Tier4 vehicle launch
Localization
Localization
- Ekf localizer
  Ekf localizer
- Geo pose projector
  Geo pose projector
- Gyro odometer
  Gyro odometer
- Landmark based localizer
  Landmark based localizer
  - Ar tag based localizer
    
    Ar tag based localizer
- Localization error monitor
  Localization error monitor
- Localization util
  Localization util
- Ndt scan matcher
  Ndt scan matcher
- Pose2twist
  Pose2twist
- Pose estimator arbiter
  Pose estimator arbiter
  - Example rule
    
    Example rule
- Pose initializer
  Pose initializer
- Pose instability detector
  Pose instability detector
- Stop filter
  Stop filter
- Tree structured parzen estimator
  Tree structured parzen estimator
- Twist2accel
  Twist2accel
- Yabloc
  Yabloc
  - Yabloc common
    
    Yabloc common
  - Yabloc image processing
    
    Yabloc image processing
  - Yabloc monitor
    
    Yabloc monitor
  - Yabloc particle filter
    
    Yabloc particle filter
  - Yabloc pose initializer
    
    Yabloc pose initializer
Map
Map
- Map height fitter
  Map height fitter
- Map loader
  Map loader
- Map projection loader
  Map projection loader
- Map tf generator
  Map tf generator
Perception
Perception
- Bytetrack
  Bytetrack
- Cluster merger
  Cluster merger
- Compare map segmentation
  Compare map segmentation
- Crosswalk traffic light estimator
  Crosswalk traffic light estimator
- Detected object feature remover
  Detected object feature remover
- Detected object validation
  Detected object validation
- Detection by tracker
  Detection by tracker
- Elevation map loader
  Elevation map loader
- Euclidean cluster
  Euclidean cluster
- Ground segmentation
  Ground segmentation
  - Docs
    Docs
    
    RANSAC Ground Filter
    
    Ray Ground Filter
    
    Scan Ground Filter
- Image projection based fusion
  Image projection based fusion
  - Docs
    Docs
    
    pointpainting_fusion
    
    roi_cluster_fusion
    
    roi_detected_object_fusion
    
    roi_pointcloud_fusion
    
    segmentation_pointcloud_fusion
- Lidar apollo instance segmentation
  Lidar apollo instance segmentation
- Lidar apollo segmentation tvm
  Lidar apollo segmentation tvm
- Lidar apollo segmentation tvm nodes
  Lidar apollo segmentation tvm nodes
- Lidar centerpoint
  Lidar centerpoint
- Lidar centerpoint tvm
  Lidar centerpoint tvm
- Map based prediction
  Map based prediction
- Multi object tracker
  Multi object tracker
  - Models used in this module
- Object merger
  Object merger
- Object range splitter
  Object range splitter
- Object velocity splitter
  Object velocity splitter
- Occupancy grid map outlier filter
  Occupancy grid map outlier filter
- Probabilistic occupancy grid map
  Probabilistic occupancy grid map
- Radar crossing objects noise filter
  Radar crossing objects noise filter
- Radar fusion to detected object
  Radar fusion to detected object
  - Docs
    Docs
    
    Algorithm
- Radar object clustering
  Radar object clustering
- Radar object tracker
  Radar object tracker
  - models
- Radar tracks msgs converter
  Radar tracks msgs converter
- Shape estimation
  Shape estimation
- Simple object merger
  Simple object merger
- Tensorrt classifier
  Tensorrt classifier
- Tensorrt yolox
  Tensorrt yolox
- Tracking object merger
  Tracking object merger
- Traffic light arbiter
  Traffic light arbiter
- Traffic light classifier
  Traffic light classifier
- Traffic light fine detector
  Traffic light fine detector
- Traffic light map based detector
  Traffic light map based detector
- Traffic light multi camera fusion
  Traffic light multi camera fusion
- Traffic light occlusion predictor
  Traffic light occlusion predictor
- Traffic light visualization
  Traffic light visualization
Planning
Planning
- Introduction
- Behavior Path Planner
  Behavior Path Planner
  - About Behavior Path
  - Concept
    Concept
    
    Planner Manager
    
    Scene Module Interface
    
    Path Generation
    
    Collision Assessment/Safety Check
    
    Dynamic Drivable Area
    
    Turn Signal
  - Scene Module
    Scene Module
    
    Avoidance
    
    Avoidance by Lane Change
    
    Dynamic Avoidance
    
    Goal Planner
    
    Lane Change
    
    Side Shift
    
    Start Planner
- Behavior Velocity Planner
  Behavior Velocity Planner
  - About Behavior Velocity
  - Template for Custom Module
  - Available Module
    Available Module
    
    Blind Spot
    
    Crosswalk
    
    Detection Area
    
    Dynamic Obstacle Stop
    
    Intersection
    
    No Drivable Lane
    
    No Stopping Area
    
    Occlusion Spot
    
    Out of Lane
    
    Run Out
    
    Speed Bump
    
    Stop Line
    
    Traffic Light
    
    Virtual Traffic Light
    
    Walkway
- Parking
  Parking
  - Freespace Planner
    Freespace Planner
    
    About Freespace Planner
    
    Algorithm
    
    RRT*
- Mission Planner
- Motion Planning
  Motion Planning
  - Obstacle Avoidance Planner
    Obstacle Avoidance Planner
    
    About Obstacle Avoidance
    
    Model Predictive Trajectory (MPT)
    
    How to Debug
  - Obstacle Cruise Planner
    Obstacle Cruise Planner
    
    About Obstacle Cruise
    
    How to Debug
  - Obstacle Stop Planner
  - Obstacle Velocity Limiter
  - Path Smoother
    Path Smoother
    
    About Path Smoother
    
    Elastic Band
  - Sampling Based Planner
    Sampling Based Planner
    
    Path Sample
    
    Common library
    
    Frenet Planner
    
    Bezier Sampler
  - Surround Obstacle Checker
    Surround Obstacle Checker
    
    About Surround Obstacle Checker
    
    About Surround Obstacle Checker (Japanese)
  - Motion Velocity Smoother
    Motion Velocity Smoother
    
    About Motion Velocity Smoother
    
    About Motion Velocity Smoother (Japanese)
- Scenario Selector
- Static Centerline Generator
- API and Library
  API and Library
- Additional Tools
  Additional Tools
  - RTC Replayer
  - Planning Debug Tools
    Planning Debug Tools
    
    About Planning Debug Tools
    
    Stop Reason Visualizer
  - Planning Test Utils
  - Planning Topic Converter
  - Planning Validator
Sensing
Sensing
- Gnss poser
  Gnss poser
- Image diagnostics
  Image diagnostics
- Image transport decompressor
  Image transport decompressor
- Imu corrector
  Imu corrector
- Livox
  Livox
  - Livox tag filter
    
    Livox tag filter
- Pointcloud preprocessor
  Pointcloud preprocessor
  - Docs
    Docs
    
    blockage_diag
    
    concatenate_data
    
    crop_box_filter
    
    distortion_corrector
    
    downsample_filter
    
    dual_return_outlier_filter
    
    outlier_filter
    
    passthrough_filter
    
    pointcloud_accumulator
    
    radius_search_2d_outlier_filter
    
    ring_outlier_filter
    
    vector_map_filter
    
    vector_map_inside_area_filter
    
    voxel_grid_outlier_filter
- Radar scan to pointcloud2
  Radar scan to pointcloud2
- Radar static pointcloud filter
  Radar static pointcloud filter
- Radar threshold filter
  Radar threshold filter
- Radar tracks noise filter
  Radar tracks noise filter
- Tier4 pcl extensions
  Tier4 pcl extensions
- Vehicle velocity converter
  Vehicle velocity converter
Simulator
Simulator
- Dummy perception publisher
  Dummy perception publisher
- Fault injection
  Fault injection
- Learning based vehicle model
  Learning based vehicle model
- Simple planning simulator
  Simple planning simulator
- Vehicle door simulator
  Vehicle door simulator
System
System
- Autoware auto msgs adapter
  Autoware auto msgs adapter
- Bluetooth monitor
  Bluetooth monitor
- Component state monitor
  Component state monitor
- Default ad api
  Default ad api
  - Document
    Document
    
    Autoware state compatibility
    
    Fail-safe API
    
    Interface API
    
    Localization API
    
    Motion API
    
    Operation mode API
    
    Routing API
- Default ad api helpers
  Default ad api helpers
  - Ad api adaptors
    
    Ad api adaptors
  - Automatic pose initializer
    
    Automatic pose initializer
- Diagnostic graph aggregator
  Diagnostic graph aggregator
  - Doc
    Doc
    
    Format
    Format
    
    Edit
    
    Graph
    
    Path
    
    Unit
    
    Edit
    Edit
    
    Remove
    
    Unit
    Unit
    
    And
    
    Constant
    
    Diag
    
    Link
    
    Or
    
    Constant
    
    Tool
    Tool
    
    Tree tool
- Diagnostic graph utils
  Diagnostic graph utils
  - Doc
    Doc
    
    Node
    Node
    
    Converter tool
    
    Dump tool
- Dummy diag publisher
  Dummy diag publisher
- Dummy infrastructure
  Dummy infrastructure
- Duplicated node checker
  Duplicated node checker
- Emergency handler
  Emergency handler
- Mrm comfortable stop operator
  Mrm comfortable stop operator
- Mrm emergency stop operator
  Mrm emergency stop operator
- Mrm handler
  Mrm handler
- System diagnostic monitor
  System diagnostic monitor
- System error monitor
  System error monitor
- System monitor
  System monitor
  - Docs
    Docs
    
    Class diagrams Class diagrams
    Table of contents
    
    CPU Monitor
    
    HDD Monitor
    
    Memory Monitor
    
    Net Monitor
    
    NTP Monitor
    
    Process Monitor
    
    GPU Monitor
    
    hdd_reader
    
    msr_reader
    
    ROS parameters
    
    Sequence diagrams
    
    ROS topics: CPU Monitor
    
    ROS topics: GPU Monitor
    
    ROS topics: HDD Monitor
    
    ROS topics: Memory Monitor
    
    ROS topics: Net Monitor
    
    ROS topics: NTP Monitor
    
    ROS topics: Process Monitor
    
    ROS topics: Voltage Monitor
    
    traffic_reader
- Topic state monitor
  Topic state monitor
- Velodyne monitor
  Velodyne monitor
Tools
Tools
- Rqt diagnostic graph monitor
  Rqt diagnostic graph monitor
Vehicle
Vehicle
- Accel brake map calibrator
  Accel brake map calibrator
- External cmd converter
  External cmd converter
- Raw vehicle cmd converter
  Raw vehicle cmd converter
- Steer offset estimator
  Steer offset estimator
  - steer_offset_estimator
- Vehicle info util
  Vehicle info util
  - Vehicle Info Util

Class diagrams#

CPU Monitor#

CPU Monitor

HDD Monitor#

HDD Monitor

Memory Monitor#

Memory Monitor

Net Monitor#

Net Monitor

NTP Monitor#

NTP Monitor

Process Monitor#

Process Monitor

GPU Monitor#

GPU Monitor