demo.yaml

flow: AutowareDemo
operators:
  - id: zenoh_flow_global_planner
    uri: file://./install/lib/libzenoh_flow_global_planner.so
    inputs:
      - id: goal_pose
        type: geometry_msgs_PoseStamped
      - id: current_pose
        type: autoware_auto_msgs_VehicleKinematicState
    outputs:
      - id: route
        type: autoware_auto_msgs_HADMapRoute
  - id: zenoh_flow_local_planner
    uri: file://./install/lib/libzenoh_flow_local_planner.so
    inputs:
      - id: kinematic_state
        type: autoware_auto_msgs_VehicleKinematicState
      - id: route
        type: autoware_auto_msgs_HADMapRoute
      - id: state_report
        type: autoware_auto_msgs_VehicleStateReport
    outputs:
      - id: trajectory
        type: autoware_auto_msgs_Trajectory
      - id: state_cmd
        type: autoware_auto_msgs_VehicleStateCommand
  - id: zenoh_flow_pure_pursuit
    uri: file://./install/lib/libzenoh_flow_pure_pursuit.so
    inputs:
      - id: trajectory
        type: autoware_auto_msgs_Trajectory
      - id: kinematic_state
        type: autoware_auto_msgs_VehicleKinematicState
    outputs:
      - id: control_cmd
        type: autoware_auto_msgs_VehicleControlCommand
  - id: zenoh_flow_simulator
    uri: file://./install/lib/libzenoh_flow_simulator.so
    inputs:
      - id: tick
        type: u64
      - id: init_pose
        type: geometry_msgs_PoseWithCovarianceStamped
      - id: control_cmd
        type: autoware_auto_msgs_VehicleControlCommand
      - id: state_cmd
        type: autoware_auto_msgs_VehicleStateCommand
    outputs:
      - id: kinematic_state
        type: autoware_auto_msgs_VehicleKinematicState
      - id: state_report
        type: autoware_auto_msgs_VehicleStateReport
sources:
  - id: zenoh_flow_tick_source
    uri: file://./target/release/libzenoh_flow_tick_source.so
    output:
      id: tick
      type: u64
    configuration:
      hz: 25
  - id: zenoh_flow_init_pose
    uri: file://./install/lib/libzenoh_flow_init_pose.so
    output:
      id: init_pose
      type: geometry_msgs_PoseWithCovarianceStamped
  - id: zenoh_flow_goal_pose
    uri: file://./install/lib/libzenoh_flow_goal_pose.so
    output:
      id: goal_pose
      type: geometry_msgs_PoseStamped
  - id: zenoh_flow_pcd_map_loader
    uri: file://./install/lib/libzenoh_flow_pcd_map_loader.so
    output:
      id: log
      type: Str
  - id: zenoh_flow_osm_map_loader
    uri: file://./install/lib/libzenoh_flow_osm_map_loader.so
    output:
      id: log
      type: Str
  - id: zenoh_flow_lane_planner
    uri: file://./install/lib/libzenoh_flow_lane_planner.so
    output:
      id: log
      type: Str
  - id: zenoh_flow_parking_planner
    uri: file://./install/lib/libzenoh_flow_parking_planner.so
    output:
      id: log
      type: Str
sinks:
  - id: zenoh_flow_pcd_map_loader_monitor
    uri: file://./target/release/libzenoh_flow_system_monitor.so
    input:
      id: log
      type: Str
  - id: zenoh_flow_osm_map_loader_monitor
    uri: file://./target/release/libzenoh_flow_system_monitor.so
    input:
      id: log
      type: Str
  - id: zenoh_flow_lane_planner_monitor
    uri: file://./target/release/libzenoh_flow_system_monitor.so
    input:
      id: log
      type: Str
  - id: zenoh_flow_parking_planner_monitor
    uri: file://./target/release/libzenoh_flow_system_monitor.so
    input:
      id: log
      type: Str
links:
  - from:
      node: zenoh_flow_osm_map_loader
      output: log
    to:
      node: zenoh_flow_osm_map_loader_monitor
      input: log
  - from:
      node: zenoh_flow_pcd_map_loader
      output: log
    to:
      node: zenoh_flow_pcd_map_loader_monitor
      input: log
  - from:
      node: zenoh_flow_lane_planner
      output: log
    to:
      node: zenoh_flow_lane_planner_monitor
      input: log
  - from:
      node: zenoh_flow_parking_planner
      output: log
    to:
      node: zenoh_flow_parking_planner_monitor
      input: log
  - from:
      node: zenoh_flow_init_pose
      output: init_pose
    to:
      node: zenoh_flow_simulator
      input: init_pose
  - from:
      node: zenoh_flow_goal_pose
      output: goal_pose
    to:
      node: zenoh_flow_global_planner
      input: goal_pose
  - from:
      node: zenoh_flow_global_planner
      output: route
    to:
      node: zenoh_flow_local_planner
      input: route
  - from:
      node: zenoh_flow_local_planner
      output: trajectory
    to:
      node: zenoh_flow_pure_pursuit
      input: trajectory
  - from:
      node: zenoh_flow_local_planner
      output: state_cmd
    to:
      node: zenoh_flow_simulator
      input: state_cmd
  - from:
      node: zenoh_flow_simulator
      output: kinematic_state
    to:
      node: zenoh_flow_global_planner
      input: current_pose
  - from:
      node: zenoh_flow_simulator
      output: kinematic_state
    to:
      node: zenoh_flow_pure_pursuit
      input: kinematic_state
  - from:
      node: zenoh_flow_simulator
      output: kinematic_state
    to:
      node: zenoh_flow_local_planner
      input: kinematic_state
  - from:
      node: zenoh_flow_simulator
      output: state_report
    to:
      node: zenoh_flow_local_planner
      input: state_report
  - from:
      node: zenoh_flow_pure_pursuit
      output: control_cmd
    to:
      node: zenoh_flow_simulator
      input: control_cmd
  - from:
      node: zenoh_flow_tick_source
      output: tick
    to:
      node: zenoh_flow_simulator
      input: tick