From faacc3b826d7d90bc0f652a109ea135692886af6 Mon Sep 17 00:00:00 2001 From: Shunsuke Miura Date: Fri, 8 Dec 2023 01:26:27 +0900 Subject: [PATCH] fix: typo Signed-off-by: Shunsuke Miura --- docs/design/autoware-architecture/perception/index.md | 2 +- docs/design/autoware-interfaces/components/perception.md | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/docs/design/autoware-architecture/perception/index.md b/docs/design/autoware-architecture/perception/index.md index 372e2a0d89e..632bc56967f 100644 --- a/docs/design/autoware-architecture/perception/index.md +++ b/docs/design/autoware-architecture/perception/index.md @@ -49,7 +49,7 @@ The Perception Component consists of the following sub-components: - Animals - Traffic Cones - Fallen Objects, Flying Objects, etc: Items such as cardboard, drums, wood, etc., either falling or airborne. -- **Obstacle Segmentation**: Identifies point clouds originating from obstacles, including both dynamic objects and static obstacles that equires the ego vehicle either steer clear of them or come to a stop in front of the obstacles. +- **Obstacle Segmentation**: Identifies point clouds originating from obstacles, including both dynamic objects and static obstacles that requires the ego vehicle either steer clear of them or come to a stop in front of the obstacles. - This includes: - all dynamic objects (as listed above) - curbs/bollards diff --git a/docs/design/autoware-interfaces/components/perception.md b/docs/design/autoware-interfaces/components/perception.md index 8f7377b88bd..8c7fec25a4f 100644 --- a/docs/design/autoware-interfaces/components/perception.md +++ b/docs/design/autoware-interfaces/components/perception.md @@ -47,6 +47,6 @@ Please refer to [the perception component design](../../autoware-architecture/pe | 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. Dynamic objects refer to those that were not present during map creation. | -| Obstacles | `/perception/obstacle_segmentation/pointcloud` | [sensor_msgs/PointCloud2](https://github.com/ros2/common_interfaces/blob/humble/sensor_msgs/msg/PointCloud2.msg) | Obstacles, including both dynamic objects and static obstacles that equires the ego vehicle either steer clear of them or come to a stop in front of the obstacles. | -| 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 | +| Obstacles | `/perception/obstacle_segmentation/pointcloud` | [sensor_msgs/PointCloud2](https://github.com/ros2/common_interfaces/blob/humble/sensor_msgs/msg/PointCloud2.msg) | Obstacles, including both dynamic objects and static obstacles that requires the ego vehicle either steer clear of them or come to a stop in front of the obstacles. | +| 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 information 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) |