diff --git a/docs/design/autoware-interfaces/components/sensing.md b/docs/design/autoware-interfaces/components/sensing.md index e4a42288f2a..5461cc44316 100644 --- a/docs/design/autoware-interfaces/components/sensing.md +++ b/docs/design/autoware-interfaces/components/sensing.md @@ -82,26 +82,26 @@ classDef cls_sen fill:#FFE6CC,stroke:#999,stroke-width:1px; | 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//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//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. `` 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 `` 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. |