The former Autoware.AI is now the Autoware Foundation. Technically it implies a shift from ROS1 to ROS2. More on the past and future can be found here: https://autoware.org/past-present-and-the-future-of-autoware/
In its core everything is kept what is in relation to driving functionality. The so called universe is everything which we call research and extended development. The software structure distinguishes 5 different functional sub-domains:
- Sensing
- Localization
- Perception
- Planning
- Control
The source code can be found here: https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/tree/master/src?ref_type=heads, reflecting in an extended manner the afore mentioned, functional sub-domains. In addition to that the basic elements of ROS2 are to know.
- A “node” is an independent software component which interacts via messages and services with other software component “nodes”. Messages and services are technically represented by the DDS protocol.
- A “driver” is nothing more than a specific “node” that even publish or subscribe on specific topics, with related messages, mapping to one or more sensor or actuator.
Other aspects are ROS2 independent, such as
- Controller, ensure that the vehicle appropriate follows a reference trajectory and implementing different interdependent behavior, for implementing specific use cases e.g., lane keeping. The folder “planning” contains the necessary algorithm, which is support by the “prediction” folder that e.g., predicts the movement of other, involved obstecal. For the specific messages compare e.g., here.
- Localization, ensure the optimal position determination e.g., via the SLAM algorithm. The localization is a specific “node” publishing respective message(s). The sibling folder “mapping” contains second SLAM pillar. Necessary sensing filter can be found e.g,, in the “perception” folder.
- Tools, containing all necessary utilities e.g., for record and replay.
- URDF, containing digital twin of two vehicle types (1:10 vehicle of F1tenth, 1:1 vehicle Lexus)
The installation docs can be found here: https://autowarefoundation.github.io/autoware-documentation/main/installation/