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 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
- Global parameter loader
  Global parameter loader
  - Autoware Global Parameter Loader
- Goal distance calculator
  Goal distance calculator
  - goal_distance_calculator
- Grid map utils
  Grid map utils
- Interpolation
  Interpolation
- Kalman filter
  Kalman filter
- 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 control rviz plugin
  Tier4 control rviz plugin
- Tier4 datetime rviz plugin
  Tier4 datetime rviz plugin
- Tier4 debug rviz plugin
  Tier4 debug rviz plugin
- Tier4 debug tools
  Tier4 debug tools
- Tier4 localization rviz plugin
  Tier4 localization 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 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
- Trtexec vendor
  Trtexec vendor
- Tvm utility
  Tvm utility
  - YOLOv2 Tiny Example Pipeline
  - Artifacts
    
    Artifacts
Control
Control
- Autonomous emergency braking
  Autonomous emergency braking
- Control performance analysis
  Control performance analysis
- 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
- 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
- Planning evaluator
  Planning evaluator
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
- Gyro odometer
  Gyro odometer
- Initial pose button panel
  Initial pose button panel
- Localization error monitor
  Localization error monitor
- Ndt scan matcher
  Ndt scan matcher
- Pose2twist
  Pose2twist
- Pose initializer
  Pose initializer
- Stop filter
  Stop filter
- 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 tf generator
  Map tf generator
  - map_tf_generator
Perception
Perception
- Bytetrack
  Bytetrack
- 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
- Front vehicle velocity estimator
  Front vehicle velocity estimator
- Ground segmentation
  Ground segmentation
  - Docs
    Docs
    
    RANSAC Ground Filter
    
    Ray Ground Filter
    
    Scan Ground Filter
- Heatmap visualizer
  Heatmap visualizer
- Image projection based fusion
  Image projection based fusion
  - Docs
    Docs
    
    pointpainting_fusion
    
    roi_cluster_fusion
    
    roi_detected_object_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
  - Launch
    Launch
    
    Centerpoint vs centerpoint tiny
    
    Centerpoint vs centerpoint tiny
- 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
  - laserscan based occupancy grid map
  - pointcloud based 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 yolo
  Tensorrt yolo
- Tensorrt yolox
  Tensorrt yolox
- 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 ssd fine detector
  Traffic light ssd fine detector
- Traffic light visualization
  Traffic light visualization
Planning
Planning
- Behavior path planner
  Behavior path planner
  - Docs
    Docs
    
    Avoidance by lane change design
    
    Avoidance design
    
    Drivable Area design
    
    Dynamic avoidance design
    
    Goal Planner design
    
    Interface design
    
    Lane Change design
    
    Limitations
    
    Manager design
    
    Path Generation design
    
    Safety Check Utils
    
    Side Shift design
    
    Start Planner design
    
    Turn Signal design
- Behavior velocity blind spot module
  Behavior velocity blind spot module
- Behavior velocity crosswalk module
  Behavior velocity crosswalk module
- Behavior velocity detection area module
  Behavior velocity detection area module
- Behavior velocity intersection module
  Behavior velocity intersection module
- Behavior velocity no drivable lane module
  Behavior velocity no drivable lane module
- Behavior velocity no stopping area module
  Behavior velocity no stopping area module
- Behavior velocity occlusion spot module
  Behavior velocity occlusion spot module
- Behavior velocity out of lane module
  Behavior velocity out of lane module
- Behavior velocity planner
  Behavior velocity planner
- Behavior velocity planner common
  Behavior velocity planner common
- Behavior velocity run out module
  Behavior velocity run out module
- Behavior velocity speed bump module
  Behavior velocity speed bump module
- Behavior velocity stop line module
  Behavior velocity stop line module
- Behavior velocity traffic light module
  Behavior velocity traffic light module
- Behavior velocity virtual traffic light module
  Behavior velocity virtual traffic light module
- Behavior velocity walkway module
  Behavior velocity walkway module
- Costmap generator
  Costmap generator
- External velocity limit selector
  External velocity limit selector
- Freespace planner
  Freespace planner
- Freespace planning algorithms
  Freespace planning algorithms
  - Rrtstar
- Mission planner
  Mission planner
- Motion velocity smoother
  Motion velocity smoother
  - Motion Velocity Smoother
- Obstacle avoidance planner
  Obstacle avoidance planner
  - Docs
    Docs
    
    Debug
    
    Model predictive trajectory
- Obstacle cruise planner
  Obstacle cruise planner
  - Docs
    Docs
    
    Debug
- Obstacle stop planner
  Obstacle stop planner
- Obstacle velocity limiter
  Obstacle velocity limiter
- Path smoother
  Path smoother
  - Docs
    Docs
    
    Elastic band
- Planning debug tools
  Planning debug tools
  - Planning Debug Tools
  - Doc stop reason visualizer
- Planning test utils
  Planning test utils
- Planning validator
  Planning validator
- Route handler
  Route handler
- Rtc auto mode manager
  Rtc auto mode manager
- Rtc interface
  Rtc interface
- Rtc replayer
  Rtc replayer
- Sampling based planner
  Sampling based planner
  - Bezier sampler
    
    Bezier sampler
  - Frenet planner
    
    Frenet planner
  - Path sampler
    
    Path sampler
  - Sampler common
    
    Sampler common
- Scenario selector
  Scenario selector
- Static centerline optimizer
  Static centerline optimizer
- Surround obstacle checker
  Surround obstacle checker
  - Surround Obstacle Checker
Sensing
Sensing
- Geo pos conv
  Geo pos conv
- 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
- Simple planning simulator
  Simple planning 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
- Dummy diag publisher
  Dummy diag publisher
- Dummy infrastructure
  Dummy infrastructure
- Emergency handler
  Emergency handler
- Mrm comfortable stop operator
  Mrm comfortable stop operator
- Mrm emergency stop operator
  Mrm emergency stop operator
- System error monitor
  System error monitor
- System monitor
  System monitor
  - Docs
    Docs
    
    Class diagrams
    
    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
- Simulator test
  Simulator test
  - Simulator compatibility test
    
    Simulator compatibility test
Vehicle
Vehicle
- Accel brake map calibrator
  Accel brake map calibrator
  - 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

route handler#

route_handler is a library for calculating driving route on the lanelet map.