Autoware (open-source autonomous driving stack on ROS 2)

Autoware（开源自动驾驶软件栈）Advanced

A full open-source autonomous-driving software stack built on ROS 2, maintained by the Autoware Foundation.

Autoware is a full open-source autonomous-driving software stack, originally started around 2015 on ROS 1 by Shinpei Kato's team at Nagoya University in Japan (later driven primarily by the company Tier IV), now maintained by the Autoware Foundation, with the current version built on ROS 2. It splits self-driving into modules — localization, perception, planning, control, mapping, and the vehicle interface — with each module made up of a set of ROS 2 nodes that developers can swap out individually. Its significance is in providing a complete, runnable reference implementation that universities and companies can build research on, or use as a base for campus shuttles and small vehicles. For embodied AI more broadly, it's a good example to study for how a large ROS 2 system is organized, how sensors get fused, and how planning connects to control.

Also called: Autoware Universe, Autoware Core
Related: Robot Operating System 2 · Autonomous Driving · ROS 2 Navigation Stack (Nav2) · Simultaneous Localization and Mapping · CARLA · Model Predictive Control
Sources: Autoware Foundation
autowarefoundation/autoware (GitHub)