• launch/autoware.launch.xml
  • • map_path
    • vehicle_model [default: sample_vehicle]
    • sensor_model [default: sample_sensor_kit]
    • pointcloud_container_name [default: pointcloud_container]
    • data_path [default: $(env HOME)/autoware_data/ml_models]
    • planning_setting [default: rule_based]
    • planning_module_preset [default: default]
    • control_module_preset [default: default]
    • launch_vehicle [default: true]
    • launch_system [default: true]
    • launch_map [default: true]
    • launch_sensing [default: true]
    • launch_sensing_driver [default: true]
    • launch_localization [default: true]
    • launch_perception [default: true]
    • launch_planning [default: true]
    • launch_control [default: true]
    • launch_api [default: true]
    • use_sim_time [default: false]
    • vehicle_id [default: $(env VEHICLE_ID default)]
    • launch_vehicle_interface [default: true]
    • check_external_emergency_heartbeat [default: false]
    • lanelet2_map_file [default: lanelet2_map.osm]
    • pointcloud_map_file [default: pointcloud_map.pcd]
    • system_run_mode [default: online]
    • launch_system_monitor [default: true]
    • launch_dummy_diag_publisher [default: false]
    • diagnostic_graph_aggregator_graph_path [default: $(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml]
    • rviz [default: true]
    • rviz_config_name [default: autoware.rviz]
    • rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
    • rviz_respawn [default: true]
    • traffic_light_recognition/use_high_accuracy_detection [default: true]
    • enable_all_modules_auto_mode [default: false]
    • is_simulation [default: false]
• launch/components/component_control.launch.xml
  • • control_config_pkg [default: autoware_control_config]
    • module_preset [default: default]
    • lateral_controller_mode [default: mpc]
    • longitudinal_controller_mode [default: pid]
    • use_individual_control_param [default: false]
    • use_aeb_autoware_state_check [default: true]
    • check_external_emergency_heartbeat [default: false]
    • use_sim_time [default: false]
    • vehicle_model [default: sample_vehicle]
    • vehicle_id [default: $(env VEHICLE_ID default)]
    • control_input_objects_topic_name [default: /perception/object_recognition/objects]
    • control_input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
• launch/components/component_localization.launch.xml
  • • localization_config_pkg [default: autoware_localization_config]
    • pose_source [default: ndt]
    • twist_source [default: gyro_odom]
    • system_run_mode [default: online]
    • gnss_enabled [default: true]
    • use_autoware_pose_covariance_modifier [default: false]
    • input_pointcloud [default: /sensing/lidar/concatenated/pointcloud]
    • localization_pointcloud_container_name [default: /pointcloud_container]
    • initial_pose [default: []]
    • launch_pointcloud_container [default: false]
    • use_sim_time [default: false]
    • vehicle_model [default: sample_vehicle]
• launch/components/component_map.launch.xml
  • • map_config_pkg [default: autoware_map_config]
    • map_path
    • lanelet2_map_file [default: lanelet2_map.osm]
    • pointcloud_map_file [default: pointcloud_map.pcd]
    • use_pointcloud_map [default: true]
    • use_lanelet2_map [default: true]
    • use_map_projection [default: true]
    • use_map_tf_generator [default: true]
    • use_map_hash_generator [default: true]
• launch/components/component_perception.launch.xml
  • • perception_config_pkg [default: autoware_perception_config]
    • lidar_detection_model [default: centerpoint]
    • data_path [default: $(env HOME)/autoware_data/ml_models]
    • ptv3_model_path [default: $(var data_path)/ptv3]
    • launch_pointcloud_container [default: false]
    • use_sim_time [default: false]
    • vehicle_model [default: sample_vehicle]
    • use_semantic_segmentation_ptv3 [default: false]
    • use_cuda_ground_segmentation [default: false]
    • use_pointcloud_map [default: true]
    • use_low_height_cropbox [default: false]
    • use_object_filter [default: true]
    • use_object_validator [default: false]
    • use_vector_map [default: true]
    • tracker_publish_merged_objects [default: false]
    • use_perception_online_evaluator [default: false]
    • use_perception_analytics_publisher [default: true]
    • occupancy_grid_map_method [default: pointcloud_based]
    • occupancy_grid_map_updater [default: binary_bayes_filter]
    • detected_objects_filter_method [default: lanelet_filter]
    • detected_objects_validation_method [default: obstacle_pointcloud]
    • downsample_perception_common_pointcloud [default: false]
    • cuda_pointcloud_preprocessing [default: false]
    • common_downsample_voxel_size_x [default: 0.05]
    • common_downsample_voxel_size_y [default: 0.05]
    • common_downsample_voxel_size_z [default: 0.05]
    • pointcloud_container_name
    • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
• launch/components/component_planning.launch.xml
  • • module_preset [default: default]
    • planning_setting [default: rule_based]
    • enable_all_modules_auto_mode [default: false]
    • is_simulation [default: false]
    • use_sim_time [default: false]
    • vehicle_model [default: sample_vehicle]
    • data_path [default: $(env HOME)/autoware_data/ml_models]
    • planning_input_objects_topic_name [default: /perception/object_recognition/objects]
    • planning_input_tracked_objects_topic_name [default: /perception/object_recognition/tracking/objects]
    • planning_input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
• launch/components/component_sensing.launch.xml
  • • launch_pointcloud_container [default: false]
    • pointcloud_container_name
    • launch_sensing_driver [default: true]
    • sensor_model [default: sample_sensor_kit]
    • use_sim_time [default: false]
    • vehicle_model [default: sample_vehicle]
• launch/components/component_traffic_light.launch.xml
  • • perception_config_pkg [default: autoware_perception_config]
    • use_traffic_light_recognition [default: true]
    • traffic_light_recognition/use_high_accuracy_detection [default: true]
    • traffic_light_recognition/high_accuracy_detection_type [default: fine_detection]
    • traffic_light_recognition/classification/car/classifier_type [default: 1]
    • traffic_light_recognition/classification/pedestrian/classifier_type [default: 1]
    • input/pointcloud [default: /sensing/lidar/top/pointcloud_raw_ex]
    • input/vector_map [default: /map/vector_map]
    • input/route [default: /planning/mission_planning/route]
    • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
    • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
    • data_path [default: $(env HOME)/autoware_data/ml_models]
    • traffic_light_recognition/classification/car/label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
    • traffic_light_recognition/classification/pedestrian/label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
    • traffic_light_recognition/classification/lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
    • traffic_light_car_classifier_model [default: traffic_light_classifier_mobilenetv2_batch_6.onnx]
    • traffic_light_car_classifier_model [default: traffic_light_lamp_recognizer_comlops.onnx]
    • traffic_light_ped_classifier_model [default: ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
    • traffic_light_ped_classifier_model [default: traffic_light_lamp_recognizer_comlops.onnx]
    • traffic_light_recognition/classification/car/model_path [default: $(var data_path)/traffic_light_classifier/$(var traffic_light_car_classifier_model)]
    • traffic_light_recognition/classification/pedestrian/model_path [default: $(var data_path)/traffic_light_classifier/$(var traffic_light_ped_classifier_model)]
• launch/components/tier4_autoware_api_component.launch.xml
  • • scenario_simulation [default: false]
    • use_sim_time [default: false]
    • vehicle_model [default: sample_vehicle]
• launch/components/tier4_simulator_component.launch.xml
  • • launch_dummy_vehicle
    • launch_fault_injection
    • localization_sim_mode
    • launch_dummy_doors
    • launch_scenario_simulator_v2_adapter
    • vehicle_model
    • initial_engage_state
    • vehicle_info_param_file
    • raw_vehicle_cmd_converter_param_path
• launch/components/tier4_system_component.launch.xml
  • • use_sim_time [default: false]
    • planning_setting [default: rule_based]
    • diagnostic_graph_aggregator_param_path [default: $(find-pkg-share autoware_diagnostic_graph_aggregator)/config/default.param.yaml]
    • diagnostic_graph_aggregator_graph_path [default: $(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/autoware-main-e2e.yaml]
    • diagnostic_graph_aggregator_graph_path [default: $(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/autoware-main.yaml]
• launch/e2e_simulator.launch.xml
  • • use_sim_time [default: true]
    • map_path
    • vehicle_model [default: sample_vehicle]
    • sensor_model [default: sample_sensor_kit]
    • data_path [default: $(env HOME)/autoware_data/ml_models]
    • simulator_type [default: awsim]
    • launch_simulator_interface [default: true]
    • planning_module_preset [default: default]
    • control_module_preset [default: default]
    • vehicle [default: true]
    • system [default: true]
    • map [default: true]
    • sensing [default: true]
    • localization [default: true]
    • perception [default: true]
    • planning [default: true]
    • control [default: true]
    • lanelet2_map_file [default: lanelet2_map.osm]
    • pointcloud_map_file [default: pointcloud_map.pcd]
    • launch_vehicle_interface [default: false]
    • launch_system_monitor [default: false]
    • launch_dummy_diag_publisher [default: false]
    • launch_sensing_driver [default: false]
    • rviz [default: true]
    • rviz_config_name [default: autoware.rviz]
    • rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
• launch/logging_simulator.launch.xml
  • • map_path
    • vehicle_model [default: sample_vehicle]
    • sensor_model [default: sample_sensor_kit]
    • vehicle_id [default: $(env VEHICLE_ID default)]
    • data_path [default: $(env HOME)/autoware_data/ml_models]
    • planning_module_preset [default: default]
    • control_module_preset [default: default]
    • vehicle [default: true]
    • system [default: true]
    • map [default: true]
    • sensing [default: true]
    • localization [default: true]
    • perception [default: true]
    • planning [default: true]
    • control [default: true]
    • pointcloud_container_name [default: pointcloud_container]
    • launch_vehicle_interface [default: false]
    • lanelet2_map_file [default: lanelet2_map.osm]
    • pointcloud_map_file [default: pointcloud_map.pcd]
    • launch_system_monitor [default: false]
    • launch_dummy_diag_publisher [default: false]
    • rviz [default: true]
    • scenario_simulation [default: false]
• launch/planning_simulator/perception_simulation.launch.xml
  • • perception_config_pkg [default: autoware_perception_config]
    • launch_dummy_perception [default: true]
    • perception/enable_detection_failure [default: true]
    • perception/enable_object_recognition [default: false]
    • perception/enable_object_tracking [default: true]
    • perception/enable_object_prediction [default: true]
    • perception/enable_elevation_map [default: false]
    • perception/use_base_link_z [default: true]
    • dummy_traffic_light_mode [default: empty]
    • launch_occupancy_grid_map [default: true]
    • occupancy_grid_map_updater [default: binary_bayes_filter]
    • use_pointcloud_container [default: true]
    • pointcloud_container_name [default: pointcloud_container]
    • use_perception_online_evaluator [default: false]
    • use_perception_analytics_publisher [default: true]
    • sensing/visible_range [default: 300.0]
    • input/vector_map [default: /map/vector_map]
    • input/obstacle_pointcloud [default: /perception/obstacle_segmentation/pointcloud]
    • input/raw_pointcloud [default: no_ground/oneshot/pointcloud]
    • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
    • output/occupancy_grid_map [default: /perception/occupancy_grid_map/map]
    • output/detected_objects [default: /perception/object_recognition/detection/objects]
    • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
    • output/predicted_objects [default: /perception/object_recognition/objects]
    • laserscan_based_occupancy_grid_map_param_path [default: $(var perception_config_dir)/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml]
    • occupancy_grid_map_updater_param_path [default: $(var perception_config_dir)/occupancy_grid_map/$(var occupancy_grid_map_updater)_updater.param.yaml]
    • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
    • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
    • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
    • object_recognition_prediction_map_based_prediction_param_path [default: $(var perception_config_dir)/object_recognition/prediction/map_based_prediction.param.yaml]
    • obstacle_segmentation_ground_segmentation_elevation_map_param_path [default: $(var perception_config_dir)/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml]
• launch/planning_simulator.launch.xml
  • • map_path
    • vehicle_model [default: sample_vehicle]
    • sensor_model [default: sample_sensor_kit]
    • data_path [default: $(env HOME)/autoware_data/ml_models]
    • planning_module_preset [default: default]
    • control_module_preset [default: default]
    • lanelet2_map_file [default: lanelet2_map.osm]
    • pointcloud_map_file [default: pointcloud_map.pcd]
    • launch_dummy_doors [default: true]
    • launch_system_monitor [default: false]
    • launch_dummy_diag_publisher [default: true]
    • initial_engage_state [default: true]
    • perception/enable_detection_failure [default: true]
    • perception/enable_object_recognition [default: true]
    • dummy_traffic_light_mode [default: empty]
    • perception/use_base_link_z [default: true]
    • sensing/visible_range [default: 300.0]
    • scenario_simulation [default: false]
    • launch_fault_injection [default: $(var scenario_simulation)]
    • fault_injection_output_diagnostics [default: /diagnostics/fault_injection]
    • launch_dummy_vehicle [default: $(var launch_dummy_modules)]
    • launch_dummy_perception [default: $(var launch_dummy_modules)]
    • rviz [default: true]
    • rviz_config_name [default: autoware.rviz]
    • rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
    • vehicle_simulation [default: true]
    • enable_all_modules_auto_mode [default: $(var scenario_simulation)]
    • use_sim_time [default: $(var scenario_simulation)]
    • localization_sim_mode [default: api]

No questions yet, you can ask one on Robotics Stack Exchange.