Autoware Actuation Module - ARM Safety Island

Overview

This repository contains the Autoware Actuation Module for the ARM Safety Island.

Workflow

graph TD subgraph Inputs Trajectory["Trajectory (TrajectoryMsg_Raw)"] Odometry["Odometry (OdometryMsg)"] Steering["Steering (SteeringReportMsg)"] Acceleration["Acceleration (AccelWithCovarianceStampedMsg)"] OperationMode["Operation Mode (OperationModeStateMsg)"] end subgraph "Actuation Module" ControllerNode["Controller Node Lateral Controller: MPC or Pure Pursuit Longitudinal Controller: PID"] end subgraph Outputs ControlCommand["Control Command (ControlMsg)"] end Trajectory --> ControllerNode Odometry --> ControllerNode Steering --> ControllerNode Acceleration --> ControllerNode OperationMode --> ControllerNode ControllerNode --> ControlCommand

Main Components

Component	Version
Zephyr RTOS	3.6.0
CycloneDDS	0.11.x
Autoware	2025.02
Autoware.Universe	0.40.0
Autoware.msgs	1.3.0

Autoware Components

Component	Description
autoware_msgs	Autoware Messages
autoware_osqp_interface	OSQP Interface
autoware_universe_utils	Universe Utils
autoware_motion_utils	Motion Utils
autoware_interpolation	Interpolation Utils
autoware_vehicle_info_utils	Vehicle Info Utils
autoware_trajectory_follower_base	Trajectory Follower Base
autoware_mpc_lateral_controller	MPC Lateral Controller
autoware_pid_longitudinal_controller	PID Longitudinal Controller
autoware_trajectory_follower_node	Trajectory Follower Node

ROS RCL Utils to Zephyr Migration

RCL Component	Zephyr Target
RCL Logging	Custom Logger
RCL Node	POSIX Threads
RCL Timers	Software Timers
RCL Publisher	CycloneDDS
RCL Subscriber	CycloneDDS