zenoh_autoware_fms

The project is the FMS (fleet management system) prototype of Autoware based on Zenoh.

Usage

Basic test

• 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.yml to FMS IP.

Integration with Carla

Here is the tutorial how to run FMS with Carla.

Development

• API Server: http://127.0.0.1:8000/docs
• Zenoh Listen Port: TCP/7887

Project

Please check our roadmap in GitHub Project

For Developers

You can use pre-commit and Ruff to have correct Python format

python3 -m pip install pre-commit ruff
pre-commit install --install-hooks

Autoware Topics & Services in Use

Below is the list of topics and services currently in use in the FMS:

Topic

Category	Name	Type	Description	Note
Pose	/api/vehicle/kinematics	autoware_adapi_v1_msgs/msg/VehicleKinematics	Retrieve vehicle kinematics
Pose	/api/routing/route	autoware_adapi_v1_msgs/msg/Route	Retrieve the route and goal position
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	Retrieve current CPU usage statistics
Status	/api/external/get/vehicle/status	tier4_autoware_msgs/tier4_external_api_msgs/msg/VehicleStatusStamped	Retrieve gear shift and turn signal status
Teleop	/api/external/get/vehicle/status	tier4_autoware_msgs/tier4_external_api_msgs/msg/VehicleStatusStamped	Retrieve gear shift and turn signal status
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_control_msgs/msg/Control	Set the target speed and steering angle	AWS currently does not provide an API for setting speed
Camera	/sensing/camera/traffic_light/image_raw	sensor_msgs/msg/Image	Retrieve camera image	AWS currently does not provide an API for streaming camera images

Service

Category	Name	Type	Description
Pose	/api/operation_mode/change_to_autonomous	autoware_adapi_v1_msgs/srv/ChangeOperationMode	Change the operation mode to autonomous
Pose	/api/routing/clear_route	autoware_adapi_v1_msgs/srv/ClearRoute	Clear the currently set route
Pose	/api/routing/set_route_points	autoware_adapi_v1_msgs/srv/SetRoutePoints	Define the route goal and waypoints
Teleop	/api/operation_mode/change_to_remote	autoware_adapi_v1_msgs/srv/ChangeOperationMode	Change the operation mode to remote