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. |
├── core/ | The Autoware.Core library. |
├── launcher/ | Includes launch files to run the entire driving system. |
├── vehicle/ | Powertrain control and kinetic parameters. |
├── param/ | Parameters specific to vehicle models. |
├── sensor_component/ | Sensor drivers and sensing data processors. |
└── sensor_kit/ | Sensor related parameters and launch files. |
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. |