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The only system level documentation I have found for Autoware.ai are these 3 year old documents: https://github.com/CPFL/Autoware-Manuals/tree/master/en Take them with a grain of salt. There are some videos scattered around youtube that contain some information.

Considering the planned end of life for Autoware.ai coinciding with the end of life of ROS1, your best bet for development would be to start looking into Autoware.auto the updated ROS2 version. The documentation is much more comprehensive, but the current capability is lacking compared to Autoware.ai.

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