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Expand Up @@ -44,9 +44,9 @@ Notes:

Please refer to [the perception component design](../../autoware-architecture/perception/index.md#high-level-architecture) for detailed definitions of each output."

| Name | Topic | Type | Description |
| ------------------ | ------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| Name | Topic | Type | Description |
| ------------------ | ------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| Dynamic Objects | `/perception/object_recognition/objects` | [autoware_auto_perception_msgs/msg/PredictedObjects](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_perception_msgs/msg/PredictedObjects.idl) | Set of dynamic objects with information such as a object class and a shape of the objects. These objects did not exist when the map was generated and are not contained within the map. |
| Obstacles | `/perception/obstacle_segmentation/pointcloud` | [sensor_msgs/PointCloud2](https://github.com/ros2/common_interfaces/blob/humble/sensor_msgs/msg/PointCloud2.msg) | Obstacles, including both dynamic objects and static obstacles that requires the ego vehicle either steer clear of them or come to a stop in front of the obstacles. |
| Occupancy Grid Map | `/perception/occupancy_grid_map/map` | [nav_msgs/msg/OccupancyGrid](https://docs.ros.org/en/latest/api/nav_msgs/html/msg/OccupancyGrid.html) | The map with the information about the presence of obstacles and blind spot |
| Traffic Signal | `/perception/traffic_light_recognition/traffic_signals` | [autoware_perception_msgs::msg::TrafficSignalArray](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/TrafficSignalArray.msg) | The traffic signal information such as a color (green, yellow, read) and an arrow (right, left, straight) |
| Obstacles | `/perception/obstacle_segmentation/pointcloud` | [sensor_msgs/PointCloud2](https://github.com/ros2/common_interfaces/blob/humble/sensor_msgs/msg/PointCloud2.msg) | Obstacles, including both dynamic objects and static obstacles that requires the ego vehicle either steer clear of them or come to a stop in front of the obstacles. |
| Occupancy Grid Map | `/perception/occupancy_grid_map/map` | [nav_msgs/msg/OccupancyGrid](https://docs.ros.org/en/latest/api/nav_msgs/html/msg/OccupancyGrid.html) | The map with the information about the presence of obstacles and blind spot |
| Traffic Signal | `/perception/traffic_light_recognition/traffic_signals` | [autoware_perception_msgs::msg::TrafficSignalArray](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_perception_msgs/msg/TrafficSignalArray.msg) | The traffic signal information such as a color (green, yellow, read) and an arrow (right, left, straight) |

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