feat(autoware system designs): autoware system designs psim add planning control

autoware_sample_designs/design/module/control/Control.module.yaml

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+autoware_system_design_format: 0.3.0
+
+# module information
+name: Control.module
+
+instances:
+  - name: trajectory_follower
+    entity: TrajectoryFollower.node
+  - name: shift_decider
+    entity: ShiftDecider.node
+  - name: vehicle_cmd_gate
+    entity: VehicleCmdGate.node
+  - name: operation_mode_transition_manager
+    entity: OperationModeTransitionManager.node
+  - name: external_cmd_selector
+    entity: ExternalCmdSelector.node
+  - name: external_cmd_converter
+    entity: ExternalCmdConverter.node
+  - name: lane_departure_checker
+    entity: LaneDepartureChecker.node
+  - name: control_validator
+    entity: ControlValidator.node
+  - name: autonomous_emergency_braking
+    entity: AutonomousEmergencyBraking.node
+  - name: collision_detector
+    entity: CollisionDetector.node
+  - name: control_evaluator
+    entity: ControlEvaluator.node
+  - name: stop_mode_operator
+    entity: StopModeOperator.node
+
+# interfaces
+subscribers:
+  - name: trajectory
+  - name: route
+  - name: route_state
+  - name: vector_map
+  - name: odometry
+  - name: acceleration
+  - name: steering_status
+  - name: gear_status
+  - name: velocity_status
+  - name: imu
+  - name: operation_mode_state
+  - name: autoware_state
+  - name: mrm_state
+  - name: objects
+  - name: pointcloud
+  - name: turn_indicators_cmd
+  - name: hazard_lights_cmd
+  - name: remote_pedals_cmd
+  - name: remote_steering_cmd
+  - name: remote_gear_cmd
+  - name: remote_turn_indicators_cmd
+  - name: remote_hazard_lights_cmd
+  - name: remote_heartbeat
+  - name: local_pedals_cmd
+  - name: local_steering_cmd
+  - name: local_gear_cmd
+  - name: local_turn_indicators_cmd
+  - name: local_hazard_lights_cmd
+  - name: local_heartbeat
+
+publishers:
+  - name: control_cmd
+  - name: gear_cmd
+  - name: turn_indicators_cmd
+  - name: hazard_lights_cmd
+  - name: control_mode
+  - name: gate_mode
+  - name: is_autonomous_available
+  - name: diagnostic
+  - name: control_evaluation
+
+connections:
+  - - subscriber.trajectory
+    - trajectory_follower.subscriber.reference_trajectory
+  - - subscriber.odometry
+    - trajectory_follower.subscriber.current_odometry
+  - - subscriber.steering_status
+    - trajectory_follower.subscriber.current_steering
+  - - subscriber.acceleration
+    - trajectory_follower.subscriber.current_accel
+  - - subscriber.operation_mode_state
+    - trajectory_follower.subscriber.current_operation_mode
+  - - trajectory_follower.publisher.control_cmd
+    - shift_decider.subscriber.control_cmd
+  - - subscriber.gear_status
+    - shift_decider.subscriber.current_gear
+  - - subscriber.autoware_state
+    - shift_decider.subscriber.state
+  - - subscriber.remote_pedals_cmd
+    - external_cmd_selector.subscriber.remote_pedals_cmd
+  - - subscriber.remote_gear_cmd
+    - external_cmd_selector.subscriber.remote_gear_cmd
+  - - subscriber.remote_steering_cmd
+    - external_cmd_selector.subscriber.remote_steering_cmd
+  - - subscriber.remote_turn_indicators_cmd
+    - external_cmd_selector.subscriber.remote_turn_indicators_cmd
+  - - subscriber.remote_hazard_lights_cmd
+    - external_cmd_selector.subscriber.remote_hazard_lights_cmd
+  - - subscriber.remote_heartbeat
+    - external_cmd_selector.subscriber.remote_heartbeat
+  - - trajectory_follower.publisher.control_cmd
+    - vehicle_cmd_gate.subscriber.auto_control_cmd
+  - - shift_decider.publisher.gear_cmd
+    - vehicle_cmd_gate.subscriber.auto_gear_cmd
+  - - subscriber.turn_indicators_cmd
+    - vehicle_cmd_gate.subscriber.auto_turn_indicators_cmd
+  - - subscriber.hazard_lights_cmd
+    - vehicle_cmd_gate.subscriber.auto_hazard_lights_cmd
+  - - external_cmd_converter.publisher.control_cmd
+    - vehicle_cmd_gate.subscriber.external_control_cmd
+  - - subscriber.operation_mode_state
+    - vehicle_cmd_gate.subscriber.operation_mode
+  - - subscriber.mrm_state
+    - vehicle_cmd_gate.subscriber.mrm_state
+  - - subscriber.odometry
+    - vehicle_cmd_gate.subscriber.kinematics
+  - - subscriber.trajectory
+    - operation_mode_transition_manager.subscriber.trajectory
+  - - trajectory_follower.publisher.control_cmd
+    - operation_mode_transition_manager.subscriber.trajectory_follower_control_cmd
+  - - vehicle_cmd_gate.publisher.control_cmd
+    - operation_mode_transition_manager.subscriber.control_cmd
+  - - subscriber.odometry
+    - lane_departure_checker.subscriber.odometry
+  - - subscriber.vector_map
+    - lane_departure_checker.subscriber.lanelet_map_bin
+  - - subscriber.route
+    - lane_departure_checker.subscriber.route
+  - - subscriber.route_state
+    - stop_mode_operator.subscriber.route_state
+  - - subscriber.trajectory
+    - lane_departure_checker.subscriber.reference_trajectory
+  - - subscriber.pointcloud
+    - autonomous_emergency_braking.subscriber.pointcloud
+  - - subscriber.objects
+    - autonomous_emergency_braking.subscriber.objects
+  - - subscriber.velocity_status
+    - autonomous_emergency_braking.subscriber.velocity
+  - - subscriber.imu
+    - autonomous_emergency_braking.subscriber.imu
+  - - trajectory_follower.publisher.predicted_trajectory
+    - autonomous_emergency_braking.subscriber.predicted_trajectory
+  - - subscriber.trajectory
+    - control_evaluator.subscriber.trajectory
+  - - subscriber.odometry
+    - control_evaluator.subscriber.odometry
+  - - subscriber.acceleration
+    - control_evaluator.subscriber.acceleration
+  - - subscriber.steering_status
+    - control_evaluator.subscriber.steering_status
+  - - vehicle_cmd_gate.publisher.control_cmd
+    - publisher.control_cmd
+  - - vehicle_cmd_gate.publisher.gear_cmd
+    - publisher.gear_cmd
+  - - vehicle_cmd_gate.publisher.turn_indicators_cmd
+    - publisher.turn_indicators_cmd
+  - - vehicle_cmd_gate.publisher.hazard_lights_cmd
+    - publisher.hazard_lights_cmd
+  - - vehicle_cmd_gate.publisher.gate_mode
+    - publisher.gate_mode
+  - - operation_mode_transition_manager.publisher.operation_mode
+    - publisher.is_autonomous_available
+  - - control_evaluator.publisher.metrics
+    - publisher.control_evaluation

autoware_sample_designs/design/module/planning/BehaviorPlanning.module.yaml

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+autoware_system_design_format: 0.3.0
+
+# module information
+name: BehaviorPlanning.module
+
+instances:
+  - name: behavior_path_planner
+    entity: BehaviorPathPlanner.node
+  - name: behavior_velocity_planner
+    entity: BehaviorVelocityPlanner.node
+
+# interfaces
+subscribers:
+  - name: route
+  - name: vector_map
+  - name: perception
+  - name: occupancy_grid_map
+  - name: costmap
+  - name: traffic_signals
+  - name: odometry
+  - name: accel
+  - name: scenario
+  - name: no_ground_pointcloud
+  - name: external_velocity_limit_mps
+
+publishers:
+  - name: path
+  - name: turn_indicators_cmd
+  - name: hazard_lights_cmd
+  - name: modified_goal
+  - name: reroute_availability
+
+connections:
+  - - subscriber.route
+    - behavior_path_planner.subscriber.route
+  - - subscriber.vector_map
+    - behavior_path_planner.subscriber.vector_map
+  - - subscriber.perception
+    - behavior_path_planner.subscriber.perception
+  - - subscriber.occupancy_grid_map
+    - behavior_path_planner.subscriber.occupancy_grid_map
+  - - subscriber.costmap
+    - behavior_path_planner.subscriber.costmap
+  - - subscriber.traffic_signals
+    - behavior_path_planner.subscriber.traffic_signals
+  - - subscriber.odometry
+    - behavior_path_planner.subscriber.odometry
+  - - subscriber.accel
+    - behavior_path_planner.subscriber.accel
+  - - subscriber.scenario
+    - behavior_path_planner.subscriber.scenario
+  - - subscriber.vector_map
+    - behavior_velocity_planner.subscriber.vector_map
+  - - subscriber.odometry
+    - behavior_velocity_planner.subscriber.vehicle_odometry
+  - - subscriber.accel
+    - behavior_velocity_planner.subscriber.accel
+  - - subscriber.perception
+    - behavior_velocity_planner.subscriber.dynamic_objects
+  - - subscriber.no_ground_pointcloud
+    - behavior_velocity_planner.subscriber.no_ground_pointcloud
+  - - subscriber.traffic_signals
+    - behavior_velocity_planner.subscriber.traffic_signals
+  - - subscriber.occupancy_grid_map
+    - behavior_velocity_planner.subscriber.occupancy_grid
+  - - subscriber.external_velocity_limit_mps
+    - behavior_velocity_planner.subscriber.external_velocity_limit_mps
+  - - behavior_path_planner.publisher.path
+    - behavior_velocity_planner.subscriber.path_with_lane_id
+  - - behavior_velocity_planner.publisher.path
+    - publisher.path
+  - - behavior_path_planner.publisher.turn_indicators_cmd
+    - publisher.turn_indicators_cmd
+  - - behavior_path_planner.publisher.hazard_lights_cmd
+    - publisher.hazard_lights_cmd
+  - - behavior_path_planner.publisher.modified_goal
+    - publisher.modified_goal
+  - - behavior_path_planner.publisher.is_reroute_available
+    - publisher.reroute_availability

autoware_sample_designs/design/module/planning/LaneDriving.module.yaml

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+autoware_system_design_format: 0.3.0
+
+# module information
+name: LaneDriving.module
+
+instances:
+  - name: behavior_planning
+    entity: BehaviorPlanning.module
+  - name: motion_planning
+    entity: MotionPlanning.module
+
+# interfaces
+subscribers:
+  - name: route
+  - name: vector_map
+  - name: costmap
+  - name: scenario
+  - name: perception
+  - name: occupancy_grid_map
+  - name: no_ground_pointcloud
+  - name: pointcloud
+  - name: traffic_signals
+  - name: odometry
+  - name: accel
+  - name: external_velocity_limit_mps
+
+publishers:
+  - name: trajectory
+  - name: turn_indicators_cmd
+  - name: hazard_lights_cmd
+  - name: modified_goal
+  - name: motion_velocity_limit
+  - name: reroute_availability
+
+connections:
+  - - behavior_planning.publisher.path
+    - motion_planning.subscriber.path
+  - - subscriber.route
+    - behavior_planning.subscriber.route
+  - - subscriber.vector_map
+    - behavior_planning.subscriber.vector_map
+  - - subscriber.perception
+    - behavior_planning.subscriber.perception
+  - - subscriber.occupancy_grid_map
+    - behavior_planning.subscriber.occupancy_grid_map
+  - - subscriber.costmap
+    - behavior_planning.subscriber.costmap
+  - - subscriber.traffic_signals
+    - behavior_planning.subscriber.traffic_signals
+  - - subscriber.odometry
+    - behavior_planning.subscriber.odometry
+  - - subscriber.accel
+    - behavior_planning.subscriber.accel
+  - - subscriber.scenario
+    - behavior_planning.subscriber.scenario
+  - - subscriber.no_ground_pointcloud
+    - behavior_planning.subscriber.no_ground_pointcloud
+  - - subscriber.external_velocity_limit_mps
+    - behavior_planning.subscriber.external_velocity_limit_mps
+  - - subscriber.vector_map
+    - motion_planning.subscriber.vector_map
+  - - subscriber.odometry
+    - motion_planning.subscriber.odometry
+  - - subscriber.accel
+    - motion_planning.subscriber.accel
+  - - subscriber.perception
+    - motion_planning.subscriber.dynamic_objects
+  - - subscriber.no_ground_pointcloud
+    - motion_planning.subscriber.no_ground_pointcloud
+  - - subscriber.pointcloud
+    - motion_planning.subscriber.pointcloud
+  - - subscriber.traffic_signals
+    - motion_planning.subscriber.traffic_signals
+  - - subscriber.occupancy_grid_map
+    - motion_planning.subscriber.occupancy_grid
+  - - motion_planning.publisher.trajectory
+    - publisher.trajectory
+  - - behavior_planning.publisher.turn_indicators_cmd
+    - publisher.turn_indicators_cmd
+  - - behavior_planning.publisher.hazard_lights_cmd
+    - publisher.hazard_lights_cmd
+  - - behavior_planning.publisher.modified_goal
+    - publisher.modified_goal
+  - - behavior_planning.publisher.reroute_availability
+    - publisher.reroute_availability
+  - - motion_planning.publisher.velocity_limit
+    - publisher.motion_velocity_limit