Hi. I am just getting started with autoware.

I am very confused by the choices for mission and motion planners. Is there a guideline as in which package works with which package?

From the lgsvl simulation guide, I can see they are using wayplanner, dpplanner, astaravoid and purepursuit. I can also see there seems to be a stack of open planner (op_xxx). Is it possible to mix and match them? Do they follow any common interface like with ROS navigation stack?