ARM Safety Island - Autoware Actuation Module

The ARM Safety Island is responsible for generating the control commands 
for the vehicle actuators in autoware-compatible format, and publishing 
them to the DDS bus. 

The implementation does not require any changes to the Autoware codebase, 
and can be used as a standalone component.

Workflow

graph TD
    subgraph Inputs
        Trajectory["Trajectory<br/>(TrajectoryMsg_Raw)"]
        Odometry["Odometry<br/>(OdometryMsg)"]
        Steering["Steering<br/>(SteeringReportMsg)"]
        Acceleration["Acceleration<br/>(AccelWithCovarianceStampedMsg)"]
        OperationMode["Operation Mode<br/>(OperationModeStateMsg)"]
    end

    subgraph "Actuation Module"
        ControllerNode["Controller Node<br/><br/>Lateral Controller: MPC <br/>Longitudinal Controller: PID"]
    end
    
    subgraph Outputs
        ControlCommand["Control Command<br/>(ControlMsg)"]
    end

    Trajectory --> ControllerNode
    Odometry --> ControllerNode
    Steering --> ControllerNode
    Acceleration --> ControllerNode
    OperationMode --> ControllerNode
    
    ControllerNode --> ControlCommand

Loading

Main Components

Component	Version
Zephyr RTOS	3.6.0
CycloneDDS	0.11.x
Autoware	2025.02
Autoware.Universe	0.40.0
Autoware.msgs	1.3.0

Autoware Components

Component	Description
autoware_msgs	Autoware Messages
autoware_osqp_interface	OSQP Interface
autoware_universe_utils	Universe Utils
autoware_motion_utils	Motion Utils
autoware_interpolation	Interpolation Utils
autoware_vehicle_info_utils	Vehicle Info Utils
autoware_trajectory_follower_base	Trajectory Follower Base
autoware_mpc_lateral_controller	MPC Lateral Controller
autoware_pid_longitudinal_controller	PID Longitudinal Controller
autoware_trajectory_follower_node	Trajectory Follower Node

Getting Started

Go to the documentation for details.