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Understanding Autoware.ai architecture

Hey all,

Since this project is open-source, bringing all information together is challenging. To get better intuitive about how autoware.ai works, I am trying to gather information all together. I think the most important information is that figuring out I/Os between nodes. Also, which nodes are a must, which nodes are better to have.

I have run demo and simulation for just a quick start purpose. To learn what I/Os, interfaces and nodes, should I keep going on with ROS and solve the puzzle one-by-one, or is there a reference document to accelerate this process. I know that there are a few documents which I have already. However, they are limited and different at some points. Any guidance would be helpful.

Thanks

bit outdated, https://github.com/CPFL/Autoware-Manuals