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common/autoware_node/README.md

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 # Autoware Node
 
 ## Overview
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 Autoware Node is an Autoware.Core package designed to provide a base class for all future nodes in the system. It provides ability to registrate node to _Autoware_control_center_ (ACC), report node state, publish heartbeat and subscribe to monitored topics. It also inheritates all lifecycle control capabilities of the base class [LifecycleNode](https://docs.ros2.org/latest/api/rclcpp_lifecycle/classrclcpp__lifecycle_1_1LifecycleNode.html)
 
 ## Usage
 
 You can use _autoware_node_ as a base class for any node in Autoware.Core system. There is an example package _test_node_ which shows how _autoware_node_ communicate with ACC and other _autoware_nodes_. You can check it for more information.
 
 ## Design
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 _Autoware_node_ inherits from  ROS2 [_lifecycle_node_](https://design.ros2.org/articles/node_lifecycle.html) and has all basic functions of it.
 
 Below are the main add-ons and how they work.