Merge remote-tracking branch 'origin' into add-map-interface

docs/design/autoware-architecture/planning/index.md

@@ -83,6 +83,16 @@ For more details, please refer to the design documents in each package.
 
 ![supported-functions](image/planning-functions.drawio.svg)
 
+## Important Parameters
+
+| Package                      | Parameter                                                     | Type   | Description                                                                                                        |
+| ---------------------------- | ------------------------------------------------------------- | ------ | ------------------------------------------------------------------------------------------------------------------ |
+| `obstacle_stop_planner`      | `stop_planner.stop_position.max_longitudinal_margin`          | double | distance between the ego and the front vehicle when stopping (when `cruise_planner_type:=obstacle_stop_planner`)   |
+| `obstacle_cruise_planner`    | `common.safe_distance_margin`                                 | double | distance between the ego and the front vehicle when stopping (when `cruise_planner_type:=obstacle_cruise_planner`) |
+| `behavior_path_planner`      | `avoidance.avoidance.lateral.lateral_collision_margin`        | double | minimum lateral margin to obstacle on avoidance                                                                    |
+| `behavior_path_planner`      | `avoidance.avoidance.lateral.lateral_collision_safety_buffer` | double | additional lateral margin to obstacle if possible on avoidance                                                     |
+| `obstacle_avoidance_planner` | `option.enable_outside_drivable_area_stop`                    | bool   | If set true, a stop point will be inserted before the path footprint is outside the drivable area.                 |
+
 ## Notation
 
 ### [1] self-crossing road and overlapped
@@ -99,6 +109,6 @@ Currently, the supported modules are as follows.
 - obstacle_stop_planner
 - motion_velocity_smoother
 
-#### [2] Size of Path Points
+### [2] Size of Path Points
 
 Some functions do not support paths with only one point. Therefore, each modules should generate the path with more than two path points.

docs/design/autoware-interfaces/ad-api/index.md

@@ -3,3 +3,5 @@
 !!! warning
 
     Under Construction
+
+See [here](../index.md) for an overview.

docs/design/autoware-interfaces/components/index.md

@@ -3,3 +3,5 @@
 !!! warning
 
     Under Construction
+
+See [here](../index.md) for an overview.

docs/design/autoware-interfaces/components/localization.md

@@ -0,0 +1,152 @@
+# Localization
+
+![Node diagram](images/Localization-Bus-ODD-Architecture.drawio.svg)
+
+## Inputs
+
+### Pointcloud Map
+
+Environment map created with point cloud, published by the map server.
+
+- sensor_msgs/msg/PointCloud2
+
+A 3d point cloud map is used for LiDAR-based localization in Autoware.
+
+### Manual Initial Pose
+
+Start pose of ego, published by the user interface.
+
+- geometry_msgs/msg/PoseWithCovarianceStamped
+  - std_msgs/msg/Header header
+  - geometry_msgs/msg/PoseWithCovariance pose
+    - geometry_msgs/msg/Pose pose
+      - geometry_msgs/msg/Point position
+      - geometry_msg/msg/Quaternion orientation
+    - double[36] covariance
+
+### 3D-LiDAR Scanning
+
+LiDAR scanning for NDT matching, published by the LiDAR sensor.
+
+- sensor_msgs/msg/PointCloud2
+
+The raw 3D-LiDAR data needs to be processed by the [point cloud pre-processing modules](../../autoware-architecture/sensing/data-types/point-cloud.md) before being used for localization.
+
+### Automatic Initial pose
+
+Start pose of ego, calculated from INS(Inertial navigation sensor) sensing data.
+
+- geometry_msgs/msg/PoseWithCovarianceStamped
+  - std_msgs/msg/Header header
+  - geometry_msgs/msg/PoseWithCovariance pose
+    - geometry_msgs/msg/Pose pose
+      - geometry_msgs/msg/Point position
+      - geometry_msg/msg/Quaternion orientation
+    - double[36] covariance
+
+When the initial pose is not set manually, the message can be used for automatic pose initialization.
+
+Current Geographic coordinate of the ego, published by the GNSS sensor.
+
+- sensor_msgs/msg/NavSatFix
+  - std_msgs/msg/Header header
+  - sensor_msgs/msg/NavSatStatus status
+  - double latitude
+  - double longitude
+  - double altitude
+  - double[9] position_covariance
+  - unit8 position_covariance_type
+
+Current orientation of the ego, published by the GNSS-INS.
+
+- autoware_sensing_msgs/msg/GnssInsOrientationStamped
+  - std_msgs/Header header
+  - autoware_sensing_msgs/msg/GnssInsOrientation orientation
+    - geometry_msgs/Quaternion orientation
+    - float32 rmse_rotation_x
+    - float32 rmse_rotation_y
+    - float32 rmse_rotation_z
+
+### IMU Data
+
+Current orientation, angular velocity and linear acceleration of ego, calculated from IMU sensing data.
+
+- sensor_msgs/msg/Imu
+  - std_msgs/msg/Header header
+  - geometry_msgs/msg/Quaternion orientation
+  - double[9] orientation_covariance
+  - geometry_msgs/msg/Vector3 angular_velocity
+  - double[9] angular_velocity_covariance
+  - geometry_msgs/msg/Vector3 linear_acceleration
+  - double[9] linear_acceleration_covariance
+
+### Vehicle Velocity Status
+
+Current velocity of the ego vehicle, published by the vehicle interface.
+
+- autoware_auto_vehicle_msgs/msg/VelocityReport
+  - std_msgs/msg/Header header;
+  - float longitudinal_velocity;
+  - float lateral_velocity;
+  - float heading_rate;
+
+Before the velocity input localization interface, module `vehicle_velocity_converter` converts message type `autoware_auto_vehicle_msgs/msg/VelocityReport` to `geometry_msgs/msg/TwistWithCovarianceStamped`.
+
+## Outputs
+
+### Vehicle pose
+
+Current pose of ego, calculated from localization interface.
+
+- geometry_msgs/msg/PoseWithCovarianceStamped
+  - std_msgs/msg/Header header
+  - geometry_msg/PoseWithCovariance pose
+    - geometry_msgs/msg/Pose pose
+      - geometry_msgs/msg/Point position
+      - geometry_msgs/msg/Quaternion orientation
+    - double[36] covariance
+
+### Vehicle velocity
+
+Current velocity of ego, calculated from localization interface.
+
+- geometry_msgs/msg/TwistWithCovarianceStamped
+  - std_msgs/msg/Header header
+  - geometry_msg/TwistWithCovariance twist
+    - geometry_msgs/msg/Twist twist
+      - geometry_msgs/msg/Vector3 linear
+      - geometry_msgs/msg/Vector3 angular
+    - double[36] covariance
+
+### Vehicle acceleration
+
+Current acceleration of ego, calculated from localization interface.
+
+- geometry_msgs/msg/AccelWithCovarianceStamped
+  - std_msgs/msg/Header header
+  - geometry_msg/AccelWithCovariance accel
+    - geometry_msgs/msg/Accel accel
+      - geometry_msgs/msg/Vector3 linear
+      - geometry_msgs/msg/Vector3 angular
+    - double[36] covariance
+
+### Vehicle kinematic state
+
+Current pose, velocity and acceleration of ego, calculated from localization interface.
+
+**Note:** Kinematic state contains pose, velocity and acceleration. In the future, [pose](#vehicle-pose), [velocity](#vehicle-velocity) and [acceleration](#vehicle-acceleration) will not be used as output for localization.
+
+- autoware_msgs/autoware_localization_msgs/msg/KinematicState
+  - std_msgs/msg/Header header
+  - string child_frame_id
+  - geometry_msgs/PoseWithCovariance pose_with_covariance
+  - geometry_msgs/TwistWithCovariance twist_with_covariance
+  - geometry_msgs/AccelWithCovariance accel_with_covariance
+
+The message will be subscribed by the planning and control module.
+
+### Localization Accuracy
+
+Diagnostics information that indicates if the localization module works properly.
+
+TBD.