• 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]
    • 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]
    • perception_mode [default: lidar]
    • traffic_light_recognition/use_high_accuracy_detection [default: true]
    • enable_all_modules_auto_mode [default: false]
    • is_simulation [default: false]
• launch/components/tier4_autoware_api_component.launch.xml
  • • scenario_simulation [default: false]
    • launch_deprecated_api [default: $(var scenario_simulation)]
    • use_sim_time [default: false]
    • vehicle_model [default: sample_vehicle]
• launch/components/tier4_control_component.launch.xml
  • • 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]
    • use_sim_time [default: false]
    • vehicle_model [default: sample_vehicle]
    • control_input_objects_topic_name [default: /perception/object_recognition/objects]
    • control_input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
• launch/components/tier4_localization_component.launch.xml
  • • loc_config_path [default: $(find-pkg-share autoware_launch)/config/localization]
    • pose_source [default: ndt]
    • twist_source [default: gyro_odom]
    • 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/tier4_map_component.launch.xml
• launch/components/tier4_perception_component.launch.xml
  • • launch_pointcloud_container [default: false]
    • pointcloud_container_name
    • use_sim_time [default: false]
    • vehicle_model [default: sample_vehicle]
    • use_empty_dynamic_object_publisher [default: false]
    • use_traffic_light_recognition [default: true]
    • use_low_height_cropbox [default: false]
    • use_vector_map [default: true]
    • use_pointcloud_map [default: true]
    • use_irregular_object_detector [default: true]
    • use_low_intensity_cluster_filter [default: true]
    • use_image_segmentation_based_filter [default: false]
    • use_perception_online_evaluator [default: false]
    • use_perception_analytics_publisher [default: true]
    • use_detection_by_tracker [default: true]
    • use_radar_tracking_fusion [default: true]
    • use_object_filter [default: true]
    • use_obstacle_segmentation_single_frame_filter [default: false]
    • use_obstacle_segmentation_time_series_filter [default: true]
    • segmentation_pointcloud_fusion_camera_ids [default: [0,2,4]]
    • use_multi_channel_tracker_merger [default: true]
    • tracker_publish_merged_objects [default: false]
    • use_camera_vru_detector [default: false]
    • camera_vru_detector_rois_ids [default: [0]]
    • 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]
    • data_path [default: $(env HOME)/autoware_data]
    • lidar_detection_model [default: centerpoint]
    • ml_camera_lidar_merger_priority_mode [default: 0]
    • camera_2d_detector/model_path [default: $(var data_path)/tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx]
    • camera_2d_detector/label_path [default: $(var data_path)/tensorrt_yolox/label.txt]
    • camera_2d_detector/color_map_path [default: $(var data_path)/tensorrt_yolox/semseg_color_map.csv]
    • traffic_light_recognition/camera_namespaces [default: [camera6, camera7]]
    • traffic_light_recognition/use_high_accuracy_detection [default: true]
    • traffic_light_recognition/high_accuracy_detection_type [default: fine_detection]
• launch/components/tier4_planning_component.launch.xml
  • • module_preset [default: default]
    • enable_all_modules_auto_mode [default: false]
    • is_simulation [default: false]
    • use_sim_time [default: false]
    • vehicle_model [default: sample_vehicle]
    • planning_input_objects_topic_name [default: /perception/object_recognition/objects]
    • planning_input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
• launch/components/tier4_sensing_component.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/tier4_simulator_component.launch.xml
  • • launch_dummy_perception
    • launch_dummy_vehicle
    • localization_sim_mode
    • launch_dummy_doors
    • launch_scenario_simulator_v2_adapter
    • perception/enable_detection_failure
    • perception/enable_object_recognition
    • perception/enable_traffic_light
    • perception/use_base_link_z
    • sensing/visible_range
    • vehicle_model
    • initial_engage_state
    • vehicle_info_param_file
    • raw_vehicle_cmd_converter_param_path
    • occupancy_grid_map_updater [default: binary_bayes_filter]
    • use_pointcloud_container [default: true]
• launch/components/tier4_system_component.launch.xml
  • • use_sim_time [default: false]
    • 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/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]
    • simulator_type [default: awsim]
    • 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]
    • traffic_light_namespace [default: [traffic_light]]
    • 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]
    • 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.launch.xml
  • • map_path
    • vehicle_model [default: sample_vehicle]
    • sensor_model [default: sample_sensor_kit]
    • data_path [default: $(env HOME)/autoware_data]
    • 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]
    • perception/enable_traffic_light [default: false]
    • perception/use_base_link_z [default: true]
    • sensing/visible_range [default: 300.0]
    • scenario_simulation [default: false]
    • 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.