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| Name | Topic | Type | Description |
| -------------------- | -------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------------------------------------------- |
| Ultrasonics | T.B.D | [sensor_msgs/Range](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Range.msg) | Distance data from ultrasonic radar driver. |
| Camera Image | T.B.D | [sensor_msgs/Image](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Image.msg) | Image data from camera driver. |
| Radar Tracks | T.B.D | [radar_msgs/RadarTracks](https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarTracks.msg) | Tracks from radar driver. |
| Radar Scan | T.B.D | [radar_msgs/RadarScan](https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarScan.msg) | Scan from radar driver. |
| Ultrasonics | T.B.D | [sensor_msgs/Range](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Range.msg) | Distance data from ultrasonic radar driver. |
| Camera Image | T.B.D | [sensor_msgs/Image](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Image.msg) | Image data from camera driver. |
| Radar Tracks | T.B.D | [radar_msgs/RadarTracks](https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarTracks.msg) | Tracks from radar driver. |
| Radar Scan | T.B.D | [radar_msgs/RadarScan](https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarScan.msg) | Scan from radar driver. |
| Lidar Point Cloud | `/sensing/lidar/<lidar name>/pointcloud_raw` | [sensor_msgs/PointCloud2](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/PointCloud2.msg) | Pointcloud from lidar driver. |
| GNSS-INS Position | T.B.D | [geometry_msgs/NavSatFix](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/NavSatFix.msg) | Initial pose from GNSS driver. |
| GNSS-INS Orientation | T.B.D | [autoware_sensing_msgs/GnssInsOrientationStamped](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_sensing_msgs/msg/GnssInsOrientationStamped.msg) | Initial orientation from GNSS driver. |
| GNSS Velocity | T.B.D | [geometry_msgs/TwistWithCovarianceStamped](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/TwistWithCovarianceStamped.msg) | Initial velocity from GNSS driver. |
| GNSS Acceleration | T.B.D | [geometry_msgs/AccelWithCovarianceStamped](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/AccelWithCovarianceStamped.msg) | Initial acceleration from GNSS driver. |
| GNSS-INS Position | T.B.D | [geometry_msgs/NavSatFix](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/NavSatFix.msg) | Initial pose from GNSS driver. |
| GNSS-INS Orientation | T.B.D | [autoware_sensing_msgs/GnssInsOrientationStamped](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_sensing_msgs/msg/GnssInsOrientationStamped.msg) | Initial orientation from GNSS driver. |
| GNSS Velocity | T.B.D | [geometry_msgs/TwistWithCovarianceStamped](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/TwistWithCovarianceStamped.msg) | Initial velocity from GNSS driver. |
| GNSS Acceleration | T.B.D | [geometry_msgs/AccelWithCovarianceStamped](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/AccelWithCovarianceStamped.msg) | Initial acceleration from GNSS driver. |

## Output

| Name | Topic | Type | Description |
| --------------------- | ----------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| Ultrasonics | T.B.D | [sensor_msgs/Range](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Range.msg) | Distance data from ultrasonic radar. Used by the Perception. |
| Camera Image | T.B.D | [sensor_msgs/Image](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Image.msg) | Image data from camera. Used by the Perception. |
| Combined Radar Tracks | T.B.D | [radar_msgs/RadarTracks.msg](https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarTracks.msg) | Radar tracks from radar. Used by the Perception. |
| Radar Point Cloud | T.B.D | [radar_msgs/RadarScan.msg](https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarScan.msg) | Pointcloud from radar. Used by the Perception. |
| Ultrasonics | T.B.D | [sensor_msgs/Range](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Range.msg) | Distance data from ultrasonic radar. Used by the Perception. |
| Camera Image | T.B.D | [sensor_msgs/Image](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Image.msg) | Image data from camera. Used by the Perception. |
| Combined Radar Tracks | T.B.D | [radar_msgs/RadarTracks.msg](https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarTracks.msg) | Radar tracks from radar. Used by the Perception. |
| Radar Point Cloud | T.B.D | [radar_msgs/RadarScan.msg](https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarScan.msg) | Pointcloud from radar. Used by the Perception. |
| Lidar Point Cloud | `/sensing/lidar/<lidar group>/pointcloud` | [sensor_msgs/PointCloud2](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/PointCloud2.msg) | Lidar pointcloud after preprocessing. Used by the Perception and Localization. `<lidar group>` is a unique name for identifying each LiDAR or the group name when multiple LiDARs are combined. Specifically, the concatenated point cloud of all LiDARs is assigned the `<lidar group>` name `concatenated`. |
| GNSS-INS pose | T.B.D | [geometry_msgs/PoseWithCovarianceStamped](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/PoseWithCovarianceStamped.msg) | Initial pose of the ego vehicle from GNSS. Used by the Localization. |
| GNSS-INS Orientation | T.B.D | [sensor_msgs/Imu](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Imu.msg) | Orientation info from GNSS. Used by the Localization. |
| GNSS Velocity | T.B.D | [geometry_msgs/TwistWithCovarianceStamped](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/TwistWithCovarianceStamped.msg) | Velocity of the ego vehicle from GNSS. Used by the Localization. |
| GNSS Acceleration | T.B.D | [geometry_msgs/AccelWithCovarianceStamped](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/AccelWithCovarianceStamped.msg) | Acceleration of the ego vehicle from GNSS. Used by the Localization. |
| GNSS-INS pose | T.B.D | [geometry_msgs/PoseWithCovarianceStamped](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/PoseWithCovarianceStamped.msg) | Initial pose of the ego vehicle from GNSS. Used by the Localization. |
| GNSS-INS Orientation | T.B.D | [sensor_msgs/Imu](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Imu.msg) | Orientation info from GNSS. Used by the Localization. |
| GNSS Velocity | T.B.D | [geometry_msgs/TwistWithCovarianceStamped](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/TwistWithCovarianceStamped.msg) | Velocity of the ego vehicle from GNSS. Used by the Localization. |
| GNSS Acceleration | T.B.D | [geometry_msgs/AccelWithCovarianceStamped](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/AccelWithCovarianceStamped.msg) | Acceleration of the ego vehicle from GNSS. Used by the Localization. |

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