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docs: fix localization's input pointcloud #491

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merged 12 commits into from
Dec 8, 2023
Merged

docs: fix localization's input pointcloud #491

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2f140a7
add Lidar Point Cloud
Nov 30, 2023
1393d16
update node-diagram. rename localization's input pointcloud
Nov 30, 2023
24842ab
into tables
Dec 5, 2023
9c51e1c
style(pre-commit): autofix
pre-commit-ci[bot] Dec 5, 2023
6faf58d
remove combined lidar pointcloud
Dec 5, 2023
74d7bb8
style(pre-commit): autofix
pre-commit-ci[bot] Dec 5, 2023
e43a733
add lidar-point-cloud's topic name and description
Dec 5, 2023
ed4c8f9
style(pre-commit): autofix
pre-commit-ci[bot] Dec 5, 2023
9d0bdac
rename lidar topic
Dec 5, 2023
6c50160
rename lidar topic
Dec 5, 2023
6eaf77d
add T.B.D
Dec 6, 2023
baab28a
style(pre-commit): autofix
pre-commit-ci[bot] Dec 6, 2023
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6,205 changes: 6,201 additions & 4 deletions ...are-architecture/node-diagram/overall-node-diagram-autoware-universe.drawio.svg
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136 changes: 26 additions & 110 deletions docs/design/autoware-interfaces/components/sensing.md
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Expand Up @@ -32,7 +32,7 @@ graph TD
<font size=1>radar_msgs/RadarTracks</font size>"):::cls_sen
msg_pc_rdr("<font size=2><b>Radar Pointcloud</b></font size>
<font size=1>radar_msgs/RadarScan</font size>"):::cls_sen
msg_pc_combined_ldr("<font size=2><b>Combined Lidar Point Cloud</b></font size>
msg_pc_ldr("<font size=2><b>Lidar Point Cloud</b></font size>
<font size=1>sensor_msgs/PointCloud2</font size>"):::cls_sen
msg_pose_gnss("<font size=2><b>GNSS-INS Pose</b></font size>
<font size=1>geometry_msgs/PoseWithCovarianceStamped</font size>"):::cls_sen
Expand All @@ -59,15 +59,15 @@ graph TD
cmp_sen --> msg_gnssvel_sen
cmp_sen --> msg_pc_combined_rdr
cmp_sen --> msg_pc_rdr
cmp_sen --> msg_pc_combined_ldr
cmp_sen --> msg_pc_ldr
cmp_sen --> msg_pose_gnss
cmp_sen --> msg_gnssacc_sen
msg_ult_sen --> cmp_per
msg_img_sen --> cmp_per
msg_pc_combined_rdr --> cmp_per
msg_pc_rdr --> cmp_per
msg_pc_combined_ldr --> cmp_per
msg_pc_combined_ldr --> cmp_loc
msg_pc_ldr --> cmp_per
msg_pc_ldr --> cmp_loc
msg_pose_gnss --> cmp_loc
msg_gnssori_sen --> cmp_loc
msg_gnssvel_sen --> cmp_loc
Expand All @@ -80,112 +80,28 @@ classDef cls_sen fill:#FFE6CC,stroke:#999,stroke-width:1px;

## Inputs

### Ultrasonics

Distance data from ultrasonic radar driver.

- [sensor_msgs/Range](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Range.msg)

### Camera Image

Image data from camera driver.

- [sensor_msgs/Image](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Image.msg)

### Radar Tracks

Tracks from radar driver.

- [radar_msgs/RadarTracks](https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarTracks.msg)

### Radar Scan

Scan from radar driver.

- [radar_msgs/RadarScan](https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarScan.msg)

### Lidar Point Cloud

Pointcloud from lidar driver.

- [sensor_msgs/PointCloud2](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/PointCloud2.msg)

### GNSS-INS Position

Initial pose from GNSS driver.

- [geometry_msgs/NavSatFix](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/NavSatFix.msg)

### GNSS-INS Orientation

Initial orientation from GNSS driver.

- [autoware_sensing_msgs/GnssInsOrientationStamped](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_sensing_msgs/msg/GnssInsOrientationStamped.msg)

### GNSS Velocity

Initial velocity from GNSS driver.

- [geometry_msgs/TwistWithCovarianceStamped](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/TwistWithCovarianceStamped.msg)

### GNSS Acceleration

Initial acceleration from GNSS driver.

- [geometry_msgs/AccelWithCovarianceStamped](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/AccelWithCovarianceStamped.msg)
| Name | Topic | Type | Description |
| -------------------- | -------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------------------------------------------- |
| Ultrasonics | | [sensor_msgs/Range](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Range.msg) | Distance data from ultrasonic radar driver. |
| Camera Image | | [sensor_msgs/Image](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Image.msg) | Image data from camera driver. |
| Radar Tracks | | [radar_msgs/RadarTracks](https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarTracks.msg) | Tracks from radar driver. |
| Radar Scan | | [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 | | [geometry_msgs/NavSatFix](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/NavSatFix.msg) | Initial pose from GNSS driver. |
| GNSS-INS Orientation | | [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 | | [geometry_msgs/TwistWithCovarianceStamped](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/TwistWithCovarianceStamped.msg) | Initial velocity from GNSS driver. |
| GNSS Acceleration | | [geometry_msgs/AccelWithCovarianceStamped](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/AccelWithCovarianceStamped.msg) | Initial acceleration from GNSS driver. |

## Output

### Ultrasonics

Distance data from ultrasonic radar. Used by the Perception.

- [sensor_msgs/Range](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Range.msg)

### Camera Image

Image data from camera. Used by the Perception.

- [sensor_msgs/Image](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Image.msg)

### Combined Radar Tracks

Radar tracks from radar. Used by the Perception.

- [radar_msgs/RadarTracks.msg](https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarTracks.msg)

### Radar Point Cloud

Pointcloud from radar. Used by the Perception.

- [radar_msgs/RadarScan.msg](https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarScan.msg)

### Combined Lidar Point Cloud

Lidar pointcloud after preprocessing. Used by the Perception and Localization.

- [sensor_msgs/PointCloud2](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/PointCloud2.msg)

### GNSS-INS pose

Initial pose of the ego vehicle from GNSS. Used by the Localization.

- [geometry_msgs/PoseWithCovarianceStamped](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/PoseWithCovarianceStamped.msg)

### GNSS-INS Orientation

Orientation info from GNSS. Used by the Localization.

- [sensor_msgs/Imu](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Imu.msg)

### GNSS velocity

Velocity of the ego vehicle from GNSS. Used by the Localization.

- [geometry_msgs/TwistWithCovarianceStamped](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/TwistWithCovarianceStamped.msg)

### GNSS Acceleration

Acceleration of the ego vehicle from GNSS. Used by the Localization.

- [geometry_msgs/AccelWithCovarianceStamped](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/AccelWithCovarianceStamped.msg)
| Name | Topic | Type | Description |
| --------------------- | ----------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| Ultrasonics | | [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 | | [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 | | [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 | | [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 | | [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 | | [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 | | [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 | | [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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