Source Code Walkthrough

The AutoSDV follows the superproject convention. It collects hundreds of packages as Git submodules classified by their functions into directories. It is built atop Autoware plus additional packages specific to the project and constitutes a large ROS workspace.

Here you can visit the GitHub repository:

https://github.com/NEWSLabNTU/AutoSDV.

Directory	Function
AutoSDV/
├── book/	The source documents for this book.
├── data/	It includes data files used or loaded in the runtime.
├── docker/	The Docker container build script.
├── scripts/	Auxiliary script files. It contains Ansible scripts to set up the environment.
├── src/	The source code packages.
├── Makefile	It includes commonly used recipes.
└── README.md	The introductory document to get the first impression of the project.

Source Package Categories

Directory	Function
AutoSDV/src/	The entry to the Autoware source tree.
├── calibration/	Calibration tools and utilities.
├── launcher/	Includes launch files to run the entire driving system.
├── localization/	Localization packages (Isaac Visual SLAM, etc.).
├── param/	Parameters specific to vehicle models.
├── sensor_component/	Sensor drivers and sensing data processors.
├── sensor_kit/	Sensor related parameters and launch files.
├── system/	System runtime and monitoring components.
└── vehicle/	Powertrain control and kinetic parameters.

Vehicle Interface Packages

AutoSDV/src/vehicle/autosdv_vehicle_launch/

Directory	Function
.../autosdv_vehicle_launch/
├── autosdv_vehicle_interface/	Powertrain control and its state measurement.
├── autosdv_vehicle_description/	Vehicle shape parameters and mesh files.
└── autosdv_vehicle_launch/	Launch files to start the vehicle interface.

The Package for Vehicle-Specific Parameters

The autoware_individual_params package serves parameters that are specific to different vehicle models. It is located at

AutoSDV/src/param/autoware_individual_params

You can find the parameter directories within this package.

.../autoware_individual_params/individual_params/default/

Directory	Function
.../default/
├── awsim_sensor_kit	Parameters for the AWSIM vehicle.
└── autosdv_sensor_kit	Parameters for the AutoSDV vehicle.
├── imu_corrector.param.yaml
├── sensor_kit_calibration.yaml
└── sensors_calibration.yaml

Sensor Related Packages

Directory	Function
AutoSDV/src/
├── sensor_component/	Sensor drivers and preprocessors.
└── sensor_kit/
└── autosdv_sensor_kit_launch/
├── autosdv_sensor_kit_description/	Coordinates of each sensor.
└── autosdv_sensor_kit_launch/	Additional launch files for sensors.