[Autoware] Universe & Core vs Auto

asked 2022-05-17 05:36:33 -0500

definitive
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I'm struggling with a new Autoware release. I know Autoware.core & Autoware.universe are under early development, hence lack of documentation. Anyway, I just couldn't understand few things:

Where is the core code? Within core I found only few packages in .repos file. Is there any non-public Autoware.core package under development? AFAIK high quality packages will be migrated from universe to core - does it mean that all packages initially are initialized in universe space?
Looking into Autoware.Auto, the code mostly looks good, I mean naming, namespaces, structure etc. What happened in Autoware.universe? Many packages don't fit to project layout. Are we letting inside all the packages and then refactor them?
Why old-style launch files (XML) suddenly appear in the project? Are we migrating Autoware.AI to current release? Shouldn't we migrate Autoware.Auto?
Is there any single launch file which I could run to test new Autoware with simulator?

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I just find some answers already:

For now Autoware are develop all packages under universe signature -> https://github.com/autowarefoundation... (slide 5, One branch(Only universe for now)).
It is TIERIV proposal. Looking into sample launch files I see many similarities with old demos (https://www.youtube.com/watch?v=kn2bI...) so I assume that Autoware community are going to take it as a code base and then refactor it.
See 2.
Old README.md contains sample demo docs (https://github.com/autowarefoundation...) but PR is required (https://github.com/autowarefoundation...)

definitive ( 2022-05-17 10:33:14 -0500 )edit

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