Nodes required to run the autonomous car
| RuntimeManager Tab | Path Following (PF) Nodes | + Traffic Signal |
|---|---|---|
| Setup | TF | |
| Map | PointCloud,VectorMap,TF | VectorMap, TF |
| Sensing | LiDAR, VoxelGrid filter | Camera, Calibration Publisher |
| Computing | Euclidean Cluster or Ground Filtering (Ray or Ring) | |
| Computing/Localization | NDT Matching, vel_pose_connect | |
| Computing/Mission Planning | lane_rule, lane_stop, lane_select, astar_navi | |
| Computing/Motion Planning | obstacle_avoid, velocity_set, way_point_loader, pure_pursuit, twist_filter | |
| Computing/Detection | feat_proj, region_tlr | |
| Interface,(if ZMP) | vehicle_gateway | |
| Interface,(if AStuff) | pac_mod |
* (if lane change is required)