The project is the FMS (fleet management system) prototype of Autoware based on Zenoh.
- Install prerequisite
./prerequisite.sh- Run Web Server & API Server
# Before the following steps, please source ROS 2 environment
source env.sh
./run_server.sh- You can use environment here to test FMS
- Remember to change the IP in
docker-compose.ymlto FMS IP.
- Remember to change the IP in
Here is the tutorial how to run FMS with Carla.
- API Server: http://127.0.0.1:8000/docs
- Zenoh Listen Port: TCP/7887
Please check our roadmap in GitHub Project
You can use pre-commit and Ruff to have correct Python format
python3 -m pip install pre-commit ruff
pre-commit install --install-hooks| Category | Name | Type | Description | Note |
|---|---|---|---|---|
| Pose | /api/vehicle/kinematics | autoware_adapi_v1_msgs/msg/VehicleKinematics | Get vehicle kinematics | |
| Pose | /api/routing/route | autoware_adapi_v1_msgs/msg/Route | Get the route and the goal position | |
| Pose | /planning/mission_planning/goal | geometry_msgs/msg/PoseStamped | Set the goal position and orientation | AWS has't provided API for setting goal |
| Pose | /control/gate_mode_cmd | tier4_control_msgs/msg/GateMode | Set the gate mode to AUTO | To be replaced by /api/operation_mode/enable_autoware_control |
| Status | /api/external/get/cpu_usage | tier4_autoware_msgs/tier4_external_api_msgs/msg/CpuUsage | Get the current CPU usage statistics | |
| Status | /api/external/get/vehicle/status | tier4_autoware_msgs/tier4_external_api_msgs/msg/VehicleStatusStamped | Get gear shift and turn signal | |
| Teleop | /api/external/get/vehicle/status | tier4_autoware_msgs/tier4_external_api_msgs/msg/VehicleStatusStamped | Get gear shift and turn signal | |
| Teleop | /control/gate_mode_cmd | tier4_control_msgs/msg/GateMode | Set the gate mode to External | To be replaced by /api/operation_mode/disable_autoware_control |
| Teleop | /api/external/set/command/remote/shift | tier4_autoware_msgs/tier4_external_api_msgs/msg/GearShiftStamped | Set gear shift from FMS | |
| Teleop | /external/selected/control_cmd | autoware_auto_control_msgs/AckermannControlCommand | Set longitudinal speed and acceleration | AWS has't provided API for setting speed |
| Camera | /sensing/camera/traffic_light/image_raw | sensor_msgs/msg/Image | Get camera image | AWS has't provided API for streaming camera image |
| Category | Name | Type | Description |
|---|---|---|---|
| Pose | /api/operation_mode/change_to_autonomous | autoware_adapi_v1_msgs/srv/ChangeOperionMode | Change the operation mode to autonomous |
| Teleop | /api/operation_mode/change_to_remote | autoware_adapi_v1_msgs/srv/ChangeOperionMode | Change the operation mode to remote |