Ladies and gentlemen (and all other identities), the moment you’ve all been waiting for: Autoware.Auto 1.0.0 has finally been released!
So, what’s included? A ton of features! Just check out these items from the changelog:
- Vehicle Interface architecture
- AutonomouStuff Speed and Steering Control software interface
- LSGVL Simulator interface
- Vehicle control algorithms
- Model Predictive Control algorithm with Ackermann-style vehicle support
- Pure Pursuit control algorithm with Ackermann-style vehicle support
- Lidar-based perception pipeline
- Transform lidar scans between frames and filtering/cropping
- Fuse up to 7 lidar inputs
- Ray-based Ground Filtering algorithm
- Euclidean Clustering algorithm for object detection
- Scan downsampling
- Conversion to voxel-based scan representation
- HD-Map-based scan filtering
- Lidar-based localization pipeline
- NDT scan matching
- Point cloud loader and publisher
- Point cloud map generation
- HD-Map-based planning algorithms
- Lanelet2 support
- Map loader and server with query interface
- Global planner to plan route using HD Map
- Behavior planner to call individual sub-planners for different maneuvers
- Lane sub-planner
- Parking sub-planner
- Waypoint Record/Replay planning algorithm
- No HD Map required
- Hardware drivers
- Velodyne 3D lidar driver (from scratch)
- Xsens GNSS/IMU driver (from scratch)
- FLIR camera driver (based on Spinnaker SDK)
- Vehicle descriptions
- Lexus RX 450h
- Utilities
- Docker-based environment for both Autoware.Auto and LGSVL Simulator
- Template-based ROS package creation
- Common HAV algorithms and functions
- Demos for many individual features and the Autonomous Valet Parking ODD
- Joystick-based controller for vehicle interfaces
And this isn’t some rogue code dump, we’ve got docs too!
How Do I…
To get started with Autoware.Auto, first make sure your system is up to snuff, then check out our installation instructions. After that, head on over to our usage docs. Want to build it yourself? Drop on in to the building page. If you feel like lending a hand in this massive, open-source project, take a cruise through our contributor’s guide. Finally, if you get stuck, take a look at our support guidelines for how and where to get help.
What’s Next?
Now that we’ve completed the Autonomous Valet Parking (AVP) Operational Design Domain (ODD), we are continuing our ODD-based development cycle with two new ODDs: Cargo Delivery and Racing! The Cargo Delivery ODD will cover use cases involving moving cargo around both indoor and outdoor environments. The Racing ODD will primarily focus on supporting the Indy Autonomous Challenge and, on the smaller side of things, the F1TENTH Foundation.
Thanks
An official blog post on the release and our tentative roadmap will be forthcoming on https://www.autoware.org/news. However, prior to that, I’d like to give a special shout-out to some of the major code contributing organizations for the 1.0.0 release, without whom this would not have been possible (in alphabetical order):
- ARM
- Apex.ai
- Embotech
- Mapless.ai
- Open Robotics
- Parkopedia
- Robotec AI
- Tier IV
Outside of code contributions, I want to thank all of the organizations and individuals who helped pull together this massive effort including all of the Autoware Foundation member organizations. Thank you all and we hope to see you in the Autonomy Software Working Group meetings!