functional-architecture.md

Functional Architecture

The following image is automatically generated from the current full demo compose file. It shows the ROS nodes assigned to different namespaces and their communication topics and types.

Note

Repositories tagged with 🔗 are not hosted in the openads-project GitHub organization

Interfaces

For communication between nodes, common interfaces are used whenever possible. For specific automated driving messages, the following additional interface defitions are used.

Interface Repository	Description
perception_interfaces🔗	Message definitions related to perception tasks in Intelligent Transportation Systems
planning_interfaces🔗	Message definitions and actions related to route planning tasks in Intelligent Transportation Systems; message definitions related to trajectory planning tasks in Intelligent Transportation Systems

Functional Modules - OpenADServices

Localization

OpenADService	Description
lanelet2_map_server	Provides Lanelet2 maps to other modules

Perception

OpenADService	Description
point_cloud_fusion	Fuses multiple point clouds into a single point cloud with common target frame.
point_cloud_object_detection	Provides a C++ ROS 2 node for point cloud object detection.

Understanding

OpenADService	Description
autoware_multi_object_tracker🔗	ROS 2 package for tracking multiple objects from configurable detection inputs using data association and extended Kalman filters.
lanelet2_object_list_prediction	Predicts future states of multiple objects based on a Lanelet2 Map

Planning

OpenADService	Description
lanelet2_route_planning	Plans a route on a Lanelet2 map
simple_planner	Generates route-following reference trajectories with safe-stop, traffic-light, turn-signal, and object-aware speed handling.
trajectory_optimization	Periodically solves a nonlinear OCP to generate optimized trajectories for automated driving.

Control

OpenADService	Description
ackermann_trajectory_control	Controls Ackermann-steered vehicles based on planned trajectories.