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Autoware.AI has entered its maintenance phase, like ROS1: https://discourse.ros.org/t/end-of-life-dates-for-autoware-ai/13750

So it's safe to say that Autoware.Auto + ROS2 will be better-supported in the future. The main docs for Autoware.Auto are at https://autowarefoundation.gitlab.io/autoware.auto/AutowareAuto/, although they're currently being updated.

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