diff --git a/docs/design/autoware-interfaces/components/sensing.md b/docs/design/autoware-interfaces/components/sensing.md new file mode 100644 index 00000000000..b1f71d233fc --- /dev/null +++ b/docs/design/autoware-interfaces/components/sensing.md @@ -0,0 +1,191 @@ +# Sensing + +```mermaid +graph TD + cmp_drv("Drivers"):::cls_drv + cmp_loc("Localization"):::cls_loc + cmp_per("Perception"):::cls_per + cmp_sen("Preprocessors"):::cls_sen + msg_ult("Ultrasonics + sensor_msgs/Range"):::cls_drv + msg_img("Camera Image + sensor_msgs/Image"):::cls_drv + msg_ldr("Lidar Point Cloud + sensor_msgs/PointCloud2"):::cls_drv + msg_rdr_t("Radar Tracks + radar_msgs/RadarTracks"):::cls_drv + msg_rdr_s("Radar Scan + radar_msgs/RadarScan"):::cls_drv + msg_gnss("GNSS-INS Position + sensor_msgs/NavSatFix"):::cls_drv + msg_gnssori("GNSS-INS Orientation + autoware_sensing_msgs/GnssInsOrientationStamped"):::cls_drv + msg_gnssvel("GNSS Velocity + geometry_msgs/TwistWithCovarianceStamped"):::cls_drv + msg_gnssacc("GNSS Acceleration + geometry_msgs/AccelWithCovarianceStamped"):::cls_drv + msg_ult_sen("Ultrasonics + sensor_msgs/Range"):::cls_sen + msg_img_sen("Camera Image + sensor_msgs/Image"):::cls_sen + msg_pc_combined_rdr("Combined Radar Tracks + radar_msgs/RadarTracks"):::cls_sen + msg_pc_rdr("Radar Pointcloud + radar_msgs/RadarScan"):::cls_sen + msg_pc_combined_ldr("Combined Lidar Point Cloud + sensor_msgs/PointCloud2"):::cls_sen + msg_pose_gnss("GNSS-INS Pose + geometry_msgs/PoseWithCovarianceStamped"):::cls_sen + msg_gnssori_sen("GNSS-INS Orientation + sensor_msgs/Imu"):::cls_sen + msg_gnssvel_sen("GNSS Velocity + geometry_msgs/TwistWithCovarianceStamped"):::cls_sen + msg_gnssacc_sen("GNSS-INS Acceleration + geometry_msgs/AccelWithCovarianceStamped"):::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](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Range.msg) + +### Camera Image + +Image data from camera driver. + +- [sensor_msgs/Image](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Image.msg) + +### Radar Tracks + +Tracks from radar driver. + +- [radar_msgs/RadarTracks](https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarTracks.msg) + +### Radar Scan + +Scan from radar driver. + +- [radar_msgs/RadarScan](https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarScan.msg) + +### Lidar Point Cloud + +Pointcloud from lidar driver. + +- [sensor_msgs/PointCloud2](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/PointCloud2.msg) + +### GNSS-INS Position + +Initial pose from GNSS driver. + +- [geometry_msgs/NavSatFix](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/NavSatFix.msg) + +### GNSS-INS Orientation + +Initial orientation from GNSS driver. + +- [autoware_sensing_msgs/GnssInsOrientationStamped](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_sensing_msgs/msg/GnssInsOrientationStamped.msg) + +### GNSS Velocity + +Initial velocity from GNSS driver. + +- [geometry_msgs/TwistWithCovarianceStamped](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/TwistWithCovarianceStamped.msg) + +### GNSS Acceleration + +Initial acceleration from GNSS driver. + +- [geometry_msgs/AccelWithCovarianceStamped](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/AccelWithCovarianceStamped.msg) + +## Output + +### Ultrasonics + +Distance data from ultrasonic radar. Used by the Perception. + +- [sensor_msgs/Range](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Range.msg) + +### Camera Image + +Image data from camera. Used by the Perception. + +- [sensor_msgs/Image](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Image.msg) + +### Combined Radar Tracks + +Radar tracks from radar. Used by the Perception. + +- [radar_msgs/RadarTracks.msg](https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarTracks.msg) + +### Radar Point Cloud + +Pointcloud from radar. Used by the Perception. + +- [radar_msgs/RadarScan.msg](https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarScan.msg) + +### Combined Lidar Point Cloud + +Lidar pointcloud after preprocessing. Used by the Perception and Localization. + +- [sensor_msgs/PointCloud2](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/PointCloud2.msg) + +### GNSS-INS pose + +Initial pose of the ego vehicle from GNSS. Used by the Localization. + +- [geometry_msgs/PoseWithCovarianceStamped](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/PoseWithCovarianceStamped.msg) + +### GNSS-INS Orientation + +Orientation info from GNSS. Used by the Localization. + +- [sensor_msgs/Imu](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Imu.msg) + +### GNSS velocity + +Velocity of the ego vehicle from GNSS. Used by the Localization. + +- [geometry_msgs/TwistWithCovarianceStamped](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/TwistWithCovarianceStamped.msg) + +### GNSS Acceleration + +Acceleration of the ego vehicle from GNSS. Used by the Localization. + +- [geometry_msgs/AccelWithCovarianceStamped](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/AccelWithCovarianceStamped.msg)