The project is the FMS (fleet management system) prototype of Autoware based on Zenoh.
sequenceDiagram
Autoware AD API -) zenoh-bridge-ros2dds: vehicle status / sensor data
zenoh-bridge-ros2dds -) Management System: Zenoh messages
Management System -) zenoh-bridge-ros2dds: Zenoh messages
zenoh-bridge-ros2dds -) Autoware AD API: control commands
- Install prerequisite
./prerequisite.sh- Run Web Server & API Server
# Run with rmw_zenoh (without zenoh-bridge-ros2dds)
just run_rmw_zenoh
# Or run with zenoh-bridge-ros2dds
just run_ros2dds- You can use the environment to test FMS
- Remember to change the environment
FMS_CONNECTION, which means FMS IP.
- Remember to change the environment
Here is the tutorial how to run FMS with Carla.
- API Server: http://127.0.0.1:8000/docs
- Zenoh Listen Port: TCP/7887
Please check our roadmap in GitHub Project
You can use pre-commit and Ruff to have correct Python format
uv run pre-commit install --install-hooksBelow is the list of topics and services currently in use in the FMS:
| 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 | No ADAPI available |
| Status | /system/system_monitor/cpu_monitor/cpu_usage | tier4_external_api_msgs/msg/CpuUsage | Retrieve current CPU usage statistics | No ADAPI available |
| Status | /api/vehicle/status | autoware_adapi_v1_msgs/msg/VehicleStatus | Retrieve gear shift and turn signal status | |
| Teleop | /api/vehicle/status | autoware_adapi_v1_msgs/msg/VehicleStatus | Retrieve gear shift and turn signal status | |
| Teleop | /api/vehicle/kinematics | autoware_adapi_v1_msgs/msg/VehicleKinematics | Retrieve vehicle kinematics | |
| Teleop | /control/gate_mode_cmd | tier4_control_msgs/msg/GateMode | Set the gate mode to External | No ADAPI available |
| Teleop | /external/selected/gear_cmd | autoware_vehicle_msgs/msg/GearCommand | Set gear shift from FMS | No ADAPI available |
| Teleop | /external/selected/control_cmd | autoware_control_msgs/msg/Control | Set the target speed and steering angle | No ADAPI available |
| Camera | /sensing/camera/traffic_light/image_raw | sensor_msgs/msg/Image | Retrieve camera image | No ADAPI available |
| 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 |
| Avatar | GitHub ID | Name |
|---|---|---|
 |
@evshary | ChenYing Kuo |
 |
@hsule | Leann Hsu |