├── .gitattributes ├── .github └── workflows │ └── document.yml ├── .gitignore ├── README.md ├── docker ├── aichallenge │ ├── aichallenge_ws │ │ └── src │ │ │ ├── aichallenge_launch │ │ │ ├── CMakeLists.txt │ │ │ ├── config │ │ │ │ └── autoware.rviz │ │ │ ├── launch │ │ │ │ └── aichallenge.launch.xml │ │ │ └── package.xml │ │ │ ├── aichallenge_submit │ │ │ ├── aichallenge_submit_launch │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── launch │ │ │ │ │ ├── aichallenge_submit.launch.xml │ │ │ │ │ ├── autoware_micro_awsim.launch.xml │ │ │ │ │ └── autoware_mini_awsim.launch.xml │ │ │ │ ├── map │ │ │ │ │ ├── lanelet2_map.osm │ │ │ │ │ ├── pointcloud_map.pcd │ │ │ │ │ └── sample_scripts │ │ │ │ │ │ ├── outline │ │ │ │ │ │ ├── converted_inner_track_line.csv │ │ │ │ │ │ ├── converted_outer_track_line.csv │ │ │ │ │ │ ├── inner_track_line.csv │ │ │ │ │ │ ├── outer_track_line.csv │ │ │ │ │ │ └── read.py │ │ │ │ │ │ └── raceline │ │ │ │ │ │ ├── convert.py │ │ │ │ │ │ ├── converted.csv │ │ │ │ │ │ ├── lanelet2_map.osm │ │ │ │ │ │ ├── shaderindex.csv │ │ │ │ │ │ └── updated_shader_index.csv │ │ │ │ └── package.xml │ │ │ ├── autoware_launch │ │ │ │ ├── .github │ │ │ │ │ ├── ISSUE_TEMPLATE │ │ │ │ │ │ ├── bug.yaml │ │ │ │ │ │ ├── config.yml │ │ │ │ │ │ └── task.yaml │ │ │ │ │ ├── PULL_REQUEST_TEMPLATE.md │ │ │ │ │ ├── PULL_REQUEST_TEMPLATE │ │ │ │ │ │ ├── small-change.md │ │ │ │ │ │ └── standard-change.md │ │ │ │ │ ├── dependabot.yaml │ │ │ │ │ ├── stale.yml │ │ │ │ │ ├── sync-files.yaml │ │ │ │ │ ├── update-sync-param-files.py │ │ │ │ │ └── workflows │ │ │ │ │ │ ├── build-and-test-differential.yaml │ │ │ │ │ │ ├── build-and-test.yaml │ │ │ │ │ │ ├── cancel-previous-workflows.yaml │ │ │ │ │ │ ├── check-build-depends.yaml │ │ │ │ │ │ ├── github-release.yaml │ │ │ │ │ │ ├── pre-commit-optional.yaml │ │ │ │ │ │ ├── pre-commit.yaml │ │ │ │ │ │ ├── semantic-pull-request.yaml │ │ │ │ │ │ ├── spell-check-differential.yaml │ │ │ │ │ │ ├── sync-files.yaml │ │ │ │ │ │ └── update-sync-param-files.yaml │ │ │ │ ├── .markdown-link-check.json │ │ │ │ ├── .markdownlint.yaml │ │ │ │ ├── .pre-commit-config-optional.yaml │ │ │ │ ├── .pre-commit-config.yaml │ │ │ │ ├── .prettierignore │ │ │ │ ├── .prettierrc.yaml │ │ │ │ ├── .yamllint.yaml │ │ │ │ ├── CODE_OF_CONDUCT.md │ │ │ │ ├── CONTRIBUTING.md │ │ │ │ ├── DISCLAIMER.md │ │ │ │ ├── LICENSE │ │ │ │ ├── NOTICE │ │ │ │ ├── README.md │ │ │ │ ├── autoware_launch │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── README.md │ │ │ │ │ ├── autoware_launch.drawio.svg │ │ │ │ │ ├── config │ │ │ │ │ │ ├── control │ │ │ │ │ │ │ ├── common │ │ │ │ │ │ │ │ └── nearest_search.param.yaml │ │ │ │ │ │ │ ├── external_cmd_selector │ │ │ │ │ │ │ │ └── external_cmd_selector.param.yaml │ │ │ │ │ │ │ ├── lane_departure_checker │ │ │ │ │ │ │ │ └── lane_departure_checker.param.yaml │ │ │ │ │ │ │ ├── obstacle_collision_checker │ │ │ │ │ │ │ │ └── obstacle_collision_checker.param.yaml │ │ │ │ │ │ │ ├── operation_mode_transition_manager │ │ │ │ │ │ │ │ └── operation_mode_transition_manager.param.yaml │ │ │ │ │ │ │ ├── shift_decider │ │ │ │ │ │ │ │ └── shift_decider.param.yaml │ │ │ │ │ │ │ ├── trajectory_follower │ │ │ │ │ │ │ │ ├── lateral │ │ │ │ │ │ │ │ │ ├── mpc.param.yaml │ │ │ │ │ │ │ │ │ └── pure_pursuit.param.yaml │ │ │ │ │ │ │ │ ├── longitudinal │ │ │ │ │ │ │ │ │ └── pid.param.yaml │ │ │ │ │ │ │ │ └── trajectory_follower_node.param.yaml │ │ │ │ │ │ │ └── vehicle_cmd_gate │ │ │ │ │ │ │ │ └── vehicle_cmd_gate.param.yaml │ │ │ │ │ │ ├── localization │ │ │ │ │ │ │ ├── crop_box_filter_measurement_range.param.yaml │ │ │ │ │ │ │ ├── localization_error_monitor.param.yaml │ │ │ │ │ │ │ ├── ndt_scan_matcher.param.yaml │ │ │ │ │ │ │ ├── random_downsample_filter.param.yaml │ │ │ │ │ │ │ └── voxel_grid_filter.param.yaml │ │ │ │ │ │ ├── map │ │ │ │ │ │ │ ├── lanelet2_map_loader.param.yaml │ │ │ │ │ │ │ └── pointcloud_map_loader.param.yaml │ │ │ │ │ │ ├── perception │ │ │ │ │ │ │ ├── object_recognition │ │ │ │ │ │ │ │ ├── detection │ │ │ │ │ │ │ │ │ ├── clustering │ │ │ │ │ │ │ │ │ │ ├── compare_map.param.yaml │ │ │ │ │ │ │ │ │ │ ├── euclidean_cluster.param.yaml │ │ │ │ │ │ │ │ │ │ ├── outlier.param.yaml │ │ │ │ │ │ │ │ │ │ ├── voxel_grid.param.yaml │ │ │ │ │ │ │ │ │ │ └── voxel_grid_based_euclidean_cluster.param.yaml │ │ │ │ │ │ │ │ │ ├── object_lanelet_filter.param.yaml │ │ │ │ │ │ │ │ │ ├── object_position_filter.param.yaml │ │ │ │ │ │ │ │ │ └── pointcloud_map_filter.param.yaml │ │ │ │ │ │ │ │ └── tracking │ │ │ │ │ │ │ │ │ └── multi_object_tracker │ │ │ │ │ │ │ │ │ └── data_association_matrix.param.yaml │ │ │ │ │ │ │ └── obstacle_segmentation │ │ │ │ │ │ │ │ └── ground_segmentation │ │ │ │ │ │ │ │ ├── elevation_map_parameters.yaml │ │ │ │ │ │ │ │ └── ground_segmentation.param.yaml │ │ │ │ │ │ ├── planning │ │ │ │ │ │ │ ├── mission_planning │ │ │ │ │ │ │ │ └── mission_planner │ │ │ │ │ │ │ │ │ └── mission_planner.param.yaml │ │ │ │ │ │ │ └── scenario_planning │ │ │ │ │ │ │ │ ├── common │ │ │ │ │ │ │ │ ├── common.param.yaml │ │ │ │ │ │ │ │ ├── motion_velocity_smoother │ │ │ │ │ │ │ │ │ ├── Analytical.param.yaml │ │ │ │ │ │ │ │ │ ├── JerkFiltered.param.yaml │ │ │ │ │ │ │ │ │ ├── L2.param.yaml │ │ │ │ │ │ │ │ │ ├── Linf.param.yaml │ │ │ │ │ │ │ │ │ └── motion_velocity_smoother.param.yaml │ │ │ │ │ │ │ │ ├── nearest_search.param.yaml │ │ │ │ │ │ │ │ └── planning_validator │ │ │ │ │ │ │ │ │ └── planning_validator.param.yaml │ │ │ │ │ │ │ │ ├── lane_driving │ │ │ │ │ │ │ │ ├── behavior_planning │ │ │ │ │ │ │ │ │ ├── behavior_path_planner │ │ │ │ │ │ │ │ │ │ ├── avoidance │ │ │ │ │ │ │ │ │ │ │ └── avoidance.param.yaml │ │ │ │ │ │ │ │ │ │ ├── behavior_path_planner.param.yaml │ │ │ │ │ │ │ │ │ │ ├── behavior_path_planner_tree.xml │ │ │ │ │ │ │ │ │ │ ├── behavior_path_planner_tree_lane_change_only.xml │ │ │ │ │ │ │ │ │ │ ├── behavior_path_planner_tree_pull_out.xml │ │ │ │ │ │ │ │ │ │ ├── behavior_path_planner_tree_with_external_request_LC.xml │ │ │ │ │ │ │ │ │ │ ├── drivable_area_expansion.param.yaml │ │ │ │ │ │ │ │ │ │ ├── lane_change │ │ │ │ │ │ │ │ │ │ │ └── lane_change.param.yaml │ │ │ │ │ │ │ │ │ │ ├── lane_following │ │ │ │ │ │ │ │ │ │ │ └── lane_following.param.yaml │ │ │ │ │ │ │ │ │ │ ├── pull_out │ │ │ │ │ │ │ │ │ │ │ └── pull_out.param.yaml │ │ │ │ │ │ │ │ │ │ ├── pull_over │ │ │ │ │ │ │ │ │ │ │ └── pull_over.param.yaml │ │ │ │ │ │ │ │ │ │ └── side_shift │ │ │ │ │ │ │ │ │ │ │ └── side_shift.param.yaml │ │ │ │ │ │ │ │ │ ├── behavior_velocity_planner │ │ │ │ │ │ │ │ │ │ ├── behavior_velocity_planner.param.yaml │ │ │ │ │ │ │ │ │ │ ├── blind_spot.param.yaml │ │ │ │ │ │ │ │ │ │ ├── crosswalk.param.yaml │ │ │ │ │ │ │ │ │ │ ├── detection_area.param.yaml │ │ │ │ │ │ │ │ │ │ ├── intersection.param.yaml │ │ │ │ │ │ │ │ │ │ ├── no_stopping_area.param.yaml │ │ │ │ │ │ │ │ │ │ ├── occlusion_spot.param.yaml │ │ │ │ │ │ │ │ │ │ ├── run_out.param.yaml │ │ │ │ │ │ │ │ │ │ ├── speed_bump.param.yaml │ │ │ │ │ │ │ │ │ │ ├── stop_line.param.yaml │ │ │ │ │ │ │ │ │ │ ├── traffic_light.param.yaml │ │ │ │ │ │ │ │ │ │ └── virtual_traffic_light.param.yaml │ │ │ │ │ │ │ │ │ ├── lane_change_planner │ │ │ │ │ │ │ │ │ │ └── lane_change_planner.param.yaml │ │ │ │ │ │ │ │ │ └── rtc_auto_mode_manager │ │ │ │ │ │ │ │ │ │ └── rtc_auto_mode_manager.param.yaml │ │ │ │ │ │ │ │ └── motion_planning │ │ │ │ │ │ │ │ │ ├── obstacle_avoidance_planner │ │ │ │ │ │ │ │ │ └── obstacle_avoidance_planner.param.yaml │ │ │ │ │ │ │ │ │ ├── obstacle_cruise_planner │ │ │ │ │ │ │ │ │ └── obstacle_cruise_planner.param.yaml │ │ │ │ │ │ │ │ │ ├── obstacle_stop_planner │ │ │ │ │ │ │ │ │ ├── adaptive_cruise_control.param.yaml │ │ │ │ │ │ │ │ │ └── obstacle_stop_planner.param.yaml │ │ │ │ │ │ │ │ │ ├── obstacle_velocity_limiter │ │ │ │ │ │ │ │ │ └── obstacle_velocity_limiter.param.yaml │ │ │ │ │ │ │ │ │ └── surround_obstacle_checker │ │ │ │ │ │ │ │ │ └── surround_obstacle_checker.param.yaml │ │ │ │ │ │ │ │ └── parking │ │ │ │ │ │ │ │ └── freespace_planner │ │ │ │ │ │ │ │ └── freespace_planner.param.yaml │ │ │ │ │ │ ├── simulator │ │ │ │ │ │ │ └── fault_injection.param.yaml │ │ │ │ │ │ └── system │ │ │ │ │ │ │ ├── component_state_monitor │ │ │ │ │ │ │ └── topics.yaml │ │ │ │ │ │ │ ├── dummy_diag_publisher │ │ │ │ │ │ │ └── dummy_diag_publisher.param.yaml │ │ │ │ │ │ │ ├── emergency_handler │ │ │ │ │ │ │ └── emergency_handler.param.yaml │ │ │ │ │ │ │ ├── mrm_comfortable_stop_operator │ │ │ │ │ │ │ └── mrm_comfortable_stop_operator.param.yaml │ │ │ │ │ │ │ ├── mrm_emergency_stop_operator │ │ │ │ │ │ │ └── mrm_emergency_stop_operator.param.yaml │ │ │ │ │ │ │ ├── system_error_monitor │ │ │ │ │ │ │ ├── diagnostic_aggregator │ │ │ │ │ │ │ │ ├── system.param.yaml │ │ │ │ │ │ │ │ └── vehicle.param.yaml │ │ │ │ │ │ │ ├── system_error_monitor.param.yaml │ │ │ │ │ │ │ └── system_error_monitor.planning_simulation.param.yaml │ │ │ │ │ │ │ └── system_monitor │ │ │ │ │ │ │ ├── cpu_monitor.param.yaml │ │ │ │ │ │ │ ├── gpu_monitor.param.yaml │ │ │ │ │ │ │ ├── hdd_monitor.param.yaml │ │ │ │ │ │ │ ├── mem_monitor.param.yaml │ │ │ │ │ │ │ ├── net_monitor.param.yaml │ │ │ │ │ │ │ ├── ntp_monitor.param.yaml │ │ │ │ │ │ │ ├── process_monitor.param.yaml │ │ │ │ │ │ │ └── voltage_monitor.param.yaml │ │ │ │ │ ├── launch │ │ │ │ │ │ ├── autoware.launch.xml │ │ │ │ │ │ ├── components │ │ │ │ │ │ │ ├── tier4_autoware_api_component.launch.xml │ │ │ │ │ │ │ ├── tier4_control_component.launch.xml │ │ │ │ │ │ │ ├── tier4_localization_component.launch.xml │ │ │ │ │ │ │ ├── tier4_map_component.launch.xml │ │ │ │ │ │ │ ├── tier4_perception_component.launch.xml │ │ │ │ │ │ │ ├── tier4_planning_component.launch.xml │ │ │ │ │ │ │ ├── tier4_sensing_component.launch.xml │ │ │ │ │ │ │ ├── tier4_simulator_component.launch.xml │ │ │ │ │ │ │ └── tier4_system_component.launch.xml │ │ │ │ │ │ ├── e2e_simulator.launch.xml │ │ │ │ │ │ ├── logging_simulator.launch.xml │ │ │ │ │ │ ├── planning_simulator.launch.xml │ │ │ │ │ │ └── pointcloud_container.launch.py │ │ │ │ │ ├── package.xml │ │ │ │ │ └── rviz │ │ │ │ │ │ ├── autoware-mini.rviz │ │ │ │ │ │ ├── autoware.rviz │ │ │ │ │ │ └── image │ │ │ │ │ │ └── autoware.png │ │ │ │ ├── build_depends.repos │ │ │ │ └── setup.cfg │ │ │ ├── autoware_micro │ │ │ │ ├── goal_pose_setter │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── config │ │ │ │ │ │ └── default_goal_pose.param.yaml │ │ │ │ │ ├── package.xml │ │ │ │ │ └── src │ │ │ │ │ │ └── goal_pose_setter_node.cpp │ │ │ │ ├── odom2tf │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── Readme.md │ │ │ │ │ ├── include │ │ │ │ │ │ └── odom2tf │ │ │ │ │ │ │ └── odom2tf.hpp │ │ │ │ │ ├── launch │ │ │ │ │ │ ├── awsim_odom2tf.launch.xml │ │ │ │ │ │ └── odom2tf.launch.xml │ │ │ │ │ ├── package.xml │ │ │ │ │ ├── src │ │ │ │ │ │ └── odom2tf │ │ │ │ │ │ │ └── odom2tf.cpp │ │ │ │ │ └── test │ │ │ │ │ │ └── test_odom2tf.cpp │ │ │ │ ├── path_to_trajectory │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── include │ │ │ │ │ │ └── path_to_trajectory │ │ │ │ │ │ │ └── path_to_trajectory.hpp │ │ │ │ │ ├── package.xml │ │ │ │ │ ├── set_route_client.py │ │ │ │ │ └── src │ │ │ │ │ │ └── path_to_trajectory.cpp │ │ │ │ └── simple_pure_pursuit │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── include │ │ │ │ │ └── simple_pure_pursuit │ │ │ │ │ │ └── simple_pure_pursuit.hpp │ │ │ │ │ ├── package.xml │ │ │ │ │ └── src │ │ │ │ │ └── simple_pure_pursuit.cpp │ │ │ ├── autoware_universe_launch │ │ │ │ ├── tier4_autoware_api_launch │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── README.md │ │ │ │ │ ├── launch │ │ │ │ │ │ ├── autoware_api.launch.xml │ │ │ │ │ │ └── deprecated_api.launch.xml │ │ │ │ │ └── package.xml │ │ │ │ ├── tier4_control_launch │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── README.md │ │ │ │ │ ├── control_launch.drawio.svg │ │ │ │ │ ├── launch │ │ │ │ │ │ └── control.launch.py │ │ │ │ │ └── package.xml │ │ │ │ ├── tier4_localization_launch │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── README.md │ │ │ │ │ ├── launch │ │ │ │ │ │ ├── localization.launch.xml │ │ │ │ │ │ ├── localization_error_monitor │ │ │ │ │ │ │ └── localization_error_monitor.launch.xml │ │ │ │ │ │ ├── pose_estimator │ │ │ │ │ │ │ └── pose_estimator.launch.xml │ │ │ │ │ │ ├── pose_twist_fusion_filter │ │ │ │ │ │ │ └── pose_twist_fusion_filter.launch.xml │ │ │ │ │ │ ├── twist_estimator │ │ │ │ │ │ │ └── twist_estimator.launch.xml │ │ │ │ │ │ └── util │ │ │ │ │ │ │ ├── util.launch.py │ │ │ │ │ │ │ └── util.launch.xml │ │ │ │ │ ├── localization_launch.drawio.svg │ │ │ │ │ └── package.xml │ │ │ │ ├── tier4_map_launch │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── README.md │ │ │ │ │ ├── launch │ │ │ │ │ │ ├── map.launch.py │ │ │ │ │ │ └── map.launch.xml │ │ │ │ │ ├── map_launch.drawio.svg │ │ │ │ │ └── package.xml │ │ │ │ ├── tier4_perception_launch │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── README.md │ │ │ │ │ ├── launch │ │ │ │ │ │ ├── object_recognition │ │ │ │ │ │ │ ├── detection │ │ │ │ │ │ │ │ ├── camera_lidar_fusion_based_detection.launch.xml │ │ │ │ │ │ │ │ ├── camera_lidar_radar_fusion_based_detection.launch.xml │ │ │ │ │ │ │ │ ├── clustering │ │ │ │ │ │ │ │ │ ├── voxel_grid_based_euclidean_cluster.launch.py │ │ │ │ │ │ │ │ │ └── voxel_grid_based_euclidean_cluster.launch.xml │ │ │ │ │ │ │ │ ├── detection.launch.xml │ │ │ │ │ │ │ │ ├── lidar_based_detection.launch.xml │ │ │ │ │ │ │ │ ├── lidar_radar_based_detection.launch.xml │ │ │ │ │ │ │ │ ├── pointcloud_map_filter.launch.py │ │ │ │ │ │ │ │ └── radar_based_detection.launch.xml │ │ │ │ │ │ │ ├── prediction │ │ │ │ │ │ │ │ └── prediction.launch.xml │ │ │ │ │ │ │ └── tracking │ │ │ │ │ │ │ │ └── tracking.launch.xml │ │ │ │ │ │ ├── obstacle_segmentation │ │ │ │ │ │ │ └── ground_segmentation │ │ │ │ │ │ │ │ └── ground_segmentation.launch.py │ │ │ │ │ │ ├── occupancy_grid_map │ │ │ │ │ │ │ ├── laserscan_based_occupancy_grid_map.launch.py │ │ │ │ │ │ │ └── pointcloud_based_occupancy_grid_map.launch.py │ │ │ │ │ │ ├── perception.launch.xml │ │ │ │ │ │ └── traffic_light_recognition │ │ │ │ │ │ │ ├── traffic_light.launch.xml │ │ │ │ │ │ │ └── traffic_light_node_container.launch.py │ │ │ │ │ ├── package.xml │ │ │ │ │ └── perception_launch.drawio.svg │ │ │ │ ├── tier4_planning_launch │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── README.md │ │ │ │ │ ├── launch │ │ │ │ │ │ ├── mission_planning │ │ │ │ │ │ │ └── mission_planning.launch.xml │ │ │ │ │ │ ├── planning.launch.xml │ │ │ │ │ │ └── scenario_planning │ │ │ │ │ │ │ ├── lane_driving.launch.xml │ │ │ │ │ │ │ ├── lane_driving │ │ │ │ │ │ │ ├── behavior_planning │ │ │ │ │ │ │ │ ├── behavior_planning.launch.py │ │ │ │ │ │ │ │ ├── behavior_planning.launch.xml │ │ │ │ │ │ │ │ ├── compare_map.launch.py │ │ │ │ │ │ │ │ └── vector_map_inside_area_filter.launch.py │ │ │ │ │ │ │ └── motion_planning │ │ │ │ │ │ │ │ ├── motion_planning.launch.py │ │ │ │ │ │ │ │ └── motion_planning.launch.xml │ │ │ │ │ │ │ ├── parking.launch.py │ │ │ │ │ │ │ ├── parking.launch.xml │ │ │ │ │ │ │ └── scenario_planning.launch.xml │ │ │ │ │ ├── package.xml │ │ │ │ │ └── planning_launch.drawio.svg │ │ │ │ ├── tier4_sensing_launch │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── README.md │ │ │ │ │ ├── launch │ │ │ │ │ │ └── sensing.launch.xml │ │ │ │ │ ├── package.xml │ │ │ │ │ └── sensing_launch.drawio.svg │ │ │ │ ├── tier4_simulator_launch │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── README.md │ │ │ │ │ ├── launch │ │ │ │ │ │ └── simulator.launch.xml │ │ │ │ │ ├── package.xml │ │ │ │ │ └── simulator_launch.drawio.svg │ │ │ │ ├── tier4_system_launch │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── README.md │ │ │ │ │ ├── launch │ │ │ │ │ │ └── system.launch.xml │ │ │ │ │ ├── package.xml │ │ │ │ │ └── system_launch.drawio.svg │ │ │ │ └── tier4_vehicle_launch │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── README.md │ │ │ │ │ ├── launch │ │ │ │ │ └── vehicle.launch.xml │ │ │ │ │ ├── package.xml │ │ │ │ │ ├── urdf │ │ │ │ │ └── vehicle.xacro │ │ │ │ │ └── vehicle_launch.drawio.svg │ │ │ ├── dallara_interface │ │ │ │ ├── .clang-format │ │ │ │ ├── .cspell.json │ │ │ │ ├── .editorconfig │ │ │ │ ├── .gitignore │ │ │ │ ├── .markdown-link-check.json │ │ │ │ ├── .markdownlint.yaml │ │ │ │ ├── .pre-commit-config-optional.yaml │ │ │ │ ├── .pre-commit-config.yaml │ │ │ │ ├── .prettierignore │ │ │ │ ├── .prettierrc.yaml │ │ │ │ ├── .yamllint.yaml │ │ │ │ ├── CPPLINT.cfg │ │ │ │ ├── LICENSE │ │ │ │ ├── README.md │ │ │ │ ├── build_depends.repos │ │ │ │ ├── dallara_interface │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ ├── README.md │ │ │ │ │ ├── include │ │ │ │ │ │ └── dallara_interface.hpp │ │ │ │ │ ├── launch │ │ │ │ │ │ └── dallara_interface.launch.xml │ │ │ │ │ ├── package.xml │ │ │ │ │ └── src │ │ │ │ │ │ └── dallara_interface.cpp │ │ │ │ ├── dallara_launch │ │ │ │ │ ├── LICENSE │ │ │ │ │ ├── README.md │ │ │ │ │ ├── dallara_description │ │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ │ ├── config │ │ │ │ │ │ │ ├── mirror.param.yaml │ │ │ │ │ │ │ ├── simulator_model.param.yaml │ │ │ │ │ │ │ └── vehicle_info.param.yaml │ │ │ │ │ │ ├── mesh │ │ │ │ │ │ │ ├── dallara.dae │ │ │ │ │ │ │ ├── dallara_red.dae │ │ │ │ │ │ │ └── square.dae │ │ │ │ │ │ ├── package.xml │ │ │ │ │ │ └── urdf │ │ │ │ │ │ │ ├── av21.urdf │ │ │ │ │ │ │ ├── dallara.xacro │ │ │ │ │ │ │ └── vehicle.xacro │ │ │ │ │ └── dallara_launch │ │ │ │ │ │ ├── CMakeLists.txt │ │ │ │ │ │ ├── config │ │ │ │ │ │ ├── accel_map.csv │ │ │ │ │ │ └── brake_map.csv │ │ │ │ │ │ ├── launch │ │ │ │ │ │ ├── test_awsim_.launch.xml │ │ │ │ │ │ ├── test_racing_vehicle.launch.xml │ │ │ │ │ │ ├── test_square_vehicle.launch.xml │ │ │ │ │ │ └── vehicle_interface.launch.xml │ │ │ │ │ │ └── package.xml │ │ │ │ ├── setup.cfg │ │ │ │ ├── test │ │ │ │ │ ├── autoware_mock.py │ │ │ │ │ ├── awsim_mock.py │ │ │ │ │ └── dallara_interface_mock.py │ │ │ │ └── visalization │ │ │ │ │ └── test_widget.py │ │ │ └── sample_packages │ │ │ │ ├── initialpose_publisher │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── README.md │ │ │ │ ├── config │ │ │ │ │ └── initialpose_publisher.param.yaml │ │ │ │ ├── launch │ │ │ │ │ └── initialpose_publisher.launch.xml │ │ │ │ ├── package.xml │ │ │ │ └── src │ │ │ │ │ ├── initialpose_publisher.cpp │ │ │ │ │ └── initialpose_publisher.hpp │ │ │ │ ├── pose_initializer_custom │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── README.md │ │ │ │ ├── config │ │ │ │ │ └── pose_initializer.param.yaml │ │ │ │ ├── launch │ │ │ │ │ └── pose_initializer.launch.xml │ │ │ │ ├── package.xml │ │ │ │ ├── src │ │ │ │ │ └── pose_initializer │ │ │ │ │ │ ├── copy_vector_to_array.hpp │ │ │ │ │ │ ├── ekf_localization_trigger_module.cpp │ │ │ │ │ │ ├── ekf_localization_trigger_module.hpp │ │ │ │ │ │ ├── gnss_module.cpp │ │ │ │ │ │ ├── gnss_module.hpp │ │ │ │ │ │ ├── ndt_localization_trigger_module.cpp │ │ │ │ │ │ ├── ndt_localization_trigger_module.hpp │ │ │ │ │ │ ├── ndt_module.cpp │ │ │ │ │ │ ├── ndt_module.hpp │ │ │ │ │ │ ├── pose_initializer_core.cpp │ │ │ │ │ │ ├── pose_initializer_core.hpp │ │ │ │ │ │ ├── pose_initializer_node.cpp │ │ │ │ │ │ ├── stop_check_module.cpp │ │ │ │ │ │ └── stop_check_module.hpp │ │ │ │ └── test │ │ │ │ │ └── test_copy_vector_to_array.cpp │ │ │ │ └── self_driving_controller │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── launch │ │ │ │ └── self_driving_controller.launch.xml │ │ │ │ ├── package.xml │ │ │ │ └── src │ │ │ │ ├── self_driving_controller.cpp │ │ │ │ └── self_driving_controller.hpp │ │ │ └── sim-msgs │ │ │ ├── .gitignore │ │ │ ├── LICENSE │ │ │ ├── README.md │ │ │ ├── autonoma_msgs │ │ │ ├── CMakeLists.txt │ │ │ ├── msg │ │ │ │ ├── GroundTruth.msg │ │ │ │ ├── GroundTruthArray.msg │ │ │ │ ├── PowertrainData.msg │ │ │ │ ├── RaceControl.msg │ │ │ │ ├── ToRaptor.msg │ │ │ │ ├── VehicleData.msg │ │ │ │ └── VehicleInputs.msg │ │ │ └── package.xml │ │ │ ├── can_msgs │ │ │ ├── CMakeLists.txt │ │ │ ├── msg │ │ │ │ └── Frame.msg │ │ │ └── package.xml │ │ │ ├── novatel_oem7_msgs │ │ │ ├── CMakeLists.txt │ │ │ ├── msg │ │ │ │ ├── BESTPOS.msg │ │ │ │ ├── BESTUTM.msg │ │ │ │ ├── BESTVEL.msg │ │ │ │ ├── BestExtendedSolutionStatus.msg │ │ │ │ ├── CORRIMU.msg │ │ │ │ ├── HEADING2.msg │ │ │ │ ├── IMURATECORRIMU.msg │ │ │ │ ├── INSAlignmentMode.msg │ │ │ │ ├── INSCONFIG.msg │ │ │ │ ├── INSExtendedSolutionStatus.msg │ │ │ │ ├── INSFrame.msg │ │ │ │ ├── INSOutputFrame.msg │ │ │ │ ├── INSPVA.msg │ │ │ │ ├── INSPVAX.msg │ │ │ │ ├── INSReceiverStatus.msg │ │ │ │ ├── INSResetType.msg │ │ │ │ ├── INSSTDEV.msg │ │ │ │ ├── INSSourceStatus.msg │ │ │ │ ├── INSUpdate.msg │ │ │ │ ├── InertialSolutionStatus.msg │ │ │ │ ├── Oem7Header.msg │ │ │ │ ├── Oem7RawMsg.msg │ │ │ │ ├── PositionOrVelocityType.msg │ │ │ │ ├── RAWIMU.msg │ │ │ │ ├── RXSTATUS.msg │ │ │ │ ├── Rotation.msg │ │ │ │ ├── RotationalOffset.msg │ │ │ │ ├── SolutionSource.msg │ │ │ │ ├── SolutionStatus.msg │ │ │ │ ├── TIME.msg │ │ │ │ ├── Translation.msg │ │ │ │ └── TranslationOffset.msg │ │ │ ├── package.xml │ │ │ └── srv │ │ │ │ └── Oem7AbasciiCmd.srv │ │ │ └── vectornav_msgs │ │ │ ├── CMakeLists.txt │ │ │ ├── msg │ │ │ ├── AttitudeGroup.msg │ │ │ ├── CommonGroup.msg │ │ │ ├── DOP.msg │ │ │ ├── GpsGroup.msg │ │ │ ├── ImuGroup.msg │ │ │ ├── InsGroup.msg │ │ │ ├── InsStatus.msg │ │ │ ├── TimeGroup.msg │ │ │ ├── TimeStatus.msg │ │ │ ├── TimeUTC.msg │ │ │ └── VpeStatus.msg │ │ │ └── package.xml │ ├── build_autoware.sh │ ├── clean_build.sh │ ├── run_autoware.sh │ └── run_awsim.sh ├── evaluation │ ├── Dockerfile │ ├── advance_preparations.sh │ ├── build_docker.sh │ ├── main.bash │ ├── run_container.sh │ └── run_container_cpu.sh └── train │ ├── Dockerfile │ ├── build_docker.sh │ ├── run_container.sh │ └── run_container_cpu.sh └── documentation ├── README.md ├── docfx_project ├── FAQ │ ├── index.md │ └── toc.yaml ├── README.md ├── api │ ├── index.md │ └── toc.yml ├── articles │ ├── intro.md │ └── toc.yml ├── customize │ ├── index.md │ └── toc.yml ├── docfx.json ├── images │ ├── customize │ │ ├── autoware-micro-node-diagram.png │ │ ├── autoware-mini-node-diagram.png │ │ ├── autoware-node-diagram.png │ │ └── racing_simple.png │ ├── intro │ │ └── awsim.png │ ├── online │ │ └── siteImage.png │ ├── operation │ │ ├── aichal-2022-expl.png │ │ ├── aichal-vehicle.png │ │ ├── autoware_control_enabled.png │ │ ├── loc_initialized.png │ │ └── operation_mode_auto.png │ ├── rule │ │ ├── Thumbs.db │ │ ├── course.png │ │ ├── kadai.png │ │ ├── kadai1.png │ │ ├── kadai2.png │ │ ├── kadai3-2.png │ │ ├── kadai3.png │ │ ├── task3-goal.png │ │ └── vehicle.png │ ├── setup │ │ ├── autoware.png │ │ ├── awsim.png │ │ ├── dallara_mapfile.png │ │ ├── mapfiles.png │ │ ├── nvidia-smi.png │ │ └── permmision.png │ └── top │ │ ├── aichallenge-racing-control.jpeg │ │ ├── aichallenge-racing-course.jpeg │ │ ├── aichallenge-racing-perception.jpeg │ │ ├── aichallenge-racing-planning.jpeg │ │ ├── aichallenge-racing-start.jpeg │ │ ├── aichallenge-racing-top.jpeg │ │ ├── indy_car.jpg │ │ ├── racing_sample.mp4 │ │ ├── sim_car.png │ │ ├── sim_control.png │ │ ├── sim_monza.png │ │ ├── sim_perception.png │ │ ├── sim_routing.png │ │ └── vector_map_monza.png ├── index.md ├── intro │ ├── index.md │ └── toc.yml ├── local │ ├── index.md │ └── toc.yml ├── online │ ├── index.md │ └── toc.yml ├── other │ ├── index.md │ └── toc.yml ├── rule │ ├── index.md │ └── toc.yml ├── setup │ ├── index.md │ └── toc.yml ├── teams │ ├── TeamValent.JPG │ ├── index.md │ ├── toc.yml │ └── のーはんどわくわくれーさーず64.JPG └── toc.yml ├── docfx_project_en ├── FAQ │ ├── index.md │ └── toc.yaml ├── README.md ├── api │ ├── index.md │ └── toc.yml ├── articles │ ├── intro.md │ └── toc.yml ├── customize │ ├── index.md │ └── toc.yml ├── docfx.json ├── index.md ├── intro │ ├── index.md │ └── toc.yml ├── local │ ├── index.md │ └── toc.yml ├── online │ ├── index.md │ └── toc.yml ├── other │ ├── index.md │ └── toc.yml ├── rule │ ├── index.md │ └── toc.yml ├── setup │ ├── index.md │ └── toc.yml └── toc.yml └── make_docs.sh /.gitattributes: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AutomotiveAIChallenge/aichallenge2023-racing/HEAD/.gitattributes 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