docs: add perception interface information

Signed-off-by: Shin-kyoto <[email protected]>

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

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+# Perception
+
+!!! warning
+
+    Under Construction
+
+This page provides specific specifications about the Interface of the Perception Component. Please refer to [the perception architecture reference implementation design document](../../autoware-architecture/perception/reference_implementation.md) for concepts and data flow.
+
+## Input
+
+### From Map Component
+
+| Name       | Topic / Service   | Type                                                                                                                                                 | Description                                            |
+| ---------- | ----------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------ |
+| Vector Map | `/map/vector_map` | [autoware_auto_mapping_msgs/msg/HADMapBin](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_mapping_msgs/msg/HADMapBin.idl) | HD Map including the information about lanes |
+| Point Cloud Map | `/service/get_differential_pcd_map` | [autoware_map_msgs/srv/GetDifferentialPointCloudMap](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_map_msgs/srv/GetDifferentialPointCloudMap.srv) | Point Cloud Map |
+
+Notes:
+
+- Point Cloud Map
+  - input can be both topic or service, but we highly recommend to use service because since this interface enables processing without being constrained by map file size limits.
+
+### From Sensing Component
+
+| Name       | Topic   | Type                                                                                                                                                 | Description                                            |
+| ---------- | ----------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------ |
+| Camera Image | `/sensing/camera/camera*/image_rect_color` | [sensor_msgs/Image](https://github.com/ros2/common_interfaces/blob/humble/sensor_msgs/msg/Image.msg) | Camera image data, processed with Lens Distortion Correction (LDC) |
+| Camera Image | `/sensing/camera/camera*/image_raw` | [sensor_msgs/Image](https://github.com/ros2/common_interfaces/blob/humble/sensor_msgs/msg/Image.msg) | Camera image data, not processed with Lens Distortion Correction (LDC) |
+| Point Cloud | `/sensing/lidar/concatenated/pointcloud` | [sensor_msgs/PointCloud2](https://github.com/ros2/common_interfaces/blob/humble/sensor_msgs/msg/PointCloud2.msg) | Concatenated point cloud from multiple LiDAR sources |
+| Radar Object | `/sensing/radar/detected_objects` | [autoware_auto_perception_msgs/msg/DetectedObject](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/DetectedObject.idl) | Radar objects |
+
+### From API
+
+| Name       | Topic   | Type                                                                                                                                                 | Description                                            |
+| ---------- | ----------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------ |
+| External Traffic Signals | `/external/traffic_signals` | [autoware_perception_msgs::msg::TrafficSignalArray](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/TrafficSignalArray.msg) | The traffic signals from an external system |
+
+## Output
+
+### To Planning
+
+| Name       | Topic   | Type                                                                                                                                                 | Description                                            |
+| ---------- | ----------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------ |
+| Dynamic Objects | `/perception/object_recognition/objects` | [autoware_auto_perception_msgs/msg/PredictedObjects](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_perception_msgs/msg/PredictedObjects.idl) | Set of dynamic objects with information such as a object class and a shape of the objects |
+| Obstacles | `/perception/obstacle_segmentation/pointcloud` | [sensor_msgs/PointCloud2](https://github.com/ros2/common_interfaces/blob/humble/sensor_msgs/msg/PointCloud2.msg) | Obstacles, which includes dynamic objects and static objetcs |
+| Occupancy Grid Map | `/perception/occupancy_grid_map/map` | [nav_msgs/msg/OccupancyGrid](https://docs.ros.org/en/latest/api/nav_msgs/html/msg/OccupancyGrid.html) | The map with the imformation about the presence of obstacles and blind spot |
+| Traffic Signal | `/perception/traffic_light_recognition/traffic_signals` | [autoware_perception_msgs::msg::TrafficSignalArray](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/TrafficSignalArray.msg) | The traffic signal information such as a color (green, yellow, read) and an arrow (right, left, straight) |