2. ROS and Autoware............................................................5
Robot middleware - ROS........................................................5
ROS Features......................................................................................... 6
Autoware.................................................................................7
3-D Map Generation and Sharing...........................................................8
Localization(NDT：Normal Distributions Transform)..............................8
Object Detection..................................................................................... 8
Route Generation................................................................................... 8
Autonomous Driving...............................................................................9
User Interface......................................................................................... 9
Platform structure for Autoware............................................10
Perception/Recognition.........................................................................11
Judgement/Operation/Localization.......................................................12
Path Planning.......................................................................................13
Data Loading (3-D Map, Database, Files)............................................14
Device Drivers and Sensor Fusion.......................................................15
Interface for Smart Phone Applications................................................16
Utilities and Others...............................................................................16
3. Operating Autoware.......................................................17
Preparations..........................................................................17
Demo Data...........................................................................................17
Runtime Manager Launching................................................................18
RViz Configuration................................................................................19
Operating Quick Start...........................................................19
Load map(Quick Start)..........................................................................19
Load driver(Quick Start)........................................................................19
Autoware Main Functions.....................................................20
Localization(NDT：Normal Distributions Transform)............................20
Object Detection...................................................................................22
Path Planning.......................................................................................23
Path Following......................................................................................23
Dynamic Map........................................................................................24
AutowareRider......................................................................27
AutowareRoute.....................................................................................27
Features...............................................................................................27
AutowareRider Launching....................................................................27
Path Planning Application Usage..........................................................30
Send Path data to ROS PC..................................................................30
CAN Collection Application Usage Data...............................................30
Send CAN Data to a ROS PC..............................................................31
Start Launch File..................................................................................32
4. Autoware User Interface Details....................................33
Runtime Manager.................................................................33
Runtime Manager – Quick Start Tab....................................34
Runtime Manager – Setup Tab.............................................36
