Autoware
Open-source stuff.
Needed to look into this as I was looking into Calibration Tools for the MIT-PITT-RW team.
They used to be on Gitlab: https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/tree/master/src
Now, they are on GitHub under autoware.universe: https://github.com/autowarefoundation/autoware.universe