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Expand Up @@ -10,10 +10,10 @@ This page provides specific specifications about the Interface of the Perception

### 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 |
| 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:

Expand All @@ -22,26 +22,26 @@ Notes:

### 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 |
| 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 |
| ---------- | ----------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------ |
| 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) |
| 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) |

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