ROS index logo ROS Index
  1. Home
  2. Packages
  3. autoware_core_planning
 
Package symbol

autoware_core_planning package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.4.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/autowarefoundation/autoware_core.git
VCS Type git
VCS Version main
Last Updated 2025-08-12
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_core_planning package

Additional Links

No additional links.

Maintainers

  • Ryohsuke Mitsudome
  • Mete Fatih Cırıt
  • Yutaka Kondo

Authors

  • Ryohsuke Mitsudome
planning/autoware_core_planning/README.md

Autoware Core Planning

Overview

The autoware_core_planning is a meta-package within the Autoware project, designed to manage and organize various planning-related modules essential for autonomous vehicle operations. This package serves as a central point for integrating different planning functionalities, such as path planning, path optimization, and trajectory generation.

Usage

The autoware_core_planning meta-package is used to launch and manage planning modules as part of the Autoware system. You can start the system using:

ros2 launch autoware_launch planning_launch.xml
CHANGELOG

Changelog for package autoware_core_planning

1.1.0 (2025-05-01)

1.4.0 (2025-08-11)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat: change planning output topic name to /planning/trajectory (#602)

    • change planning output topic name to /planning/trajectory

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • feat(motion_velocity_planner, motion_velocity_planner_common): update pointcloud preprocess design (#591)

    * updare pcl preprocess ---------

  • chore: bump version to 1.3.0 (#554)

  • fix(obstacle_stop): fix for failing scenario (#566) fix for failing scenario

  • feat(obstacle_stop_module)!: add leading vehicle following by rss stop position determination (#537)

    * add new feature ---------

  • refactor: implement varying lateral acceleration and steering rate threshold in velocity smoother (#531)

    • refactor: implement varying steering rate threshold in velocity smoother
    • feat: implement varying lateral acceleration limit
    • fix typo in readme
    • fix bugs in unit conversion

    * clean up the obsolete parameter in core planning launch ---------Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

  • feat(obstacle_stop_module): add cut in stop feature (#517)

    • restore the old function to pass universe CI
    • add new feature

    * add todo comment ---------

  • Contributors: Arjun Jagdish Ram, Ryohsuke Mitsudome, Yuki TAKAGI, Yukihiro Saito, Yuxuan Liu

1.3.0 (2025-06-23)

  • fix: to be consistent version in all package.xml(s)

  • feat: use component_interface_specs for mission_planner (#546)

  • chore(behavior_velocity_planner): remove unecessary stop_line_extend_length (#515)

    • chore(behavior_velocity_planner): remove unecessary stop_line_extend_length from param files

    * Update behavior_velocity_planner.param.yaml ---------

  • feat(planning_factor): add console output option (#513) fix param json fix param json snake_case set default

  • feat(obstacle_stop_module): maintain larger stop distance for opposing traffic (#451)

    • Opposing traffic handling
    • Changes to core params
    • fix
    • fixes

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • chore: bump up version to 1.1.0 (#462) (#464)

  • feat(autoware_motion_velocity_planner): point-cloud clustering optimization

File truncated at 100 lines see the full file

Launch files

  • launch/autoware_core_planning.launch.xml
      • map_topic_name [default: /map/vector_map]
      • visualization_topic_name [default: /planning/mission_planning/route_marker]
      • mission_planner_param_path [default: $(find-pkg-share autoware_mission_planner)/config/mission_planner.param.yaml]
      • common_param_path [default: $(find-pkg-share autoware_core_planning)/config/common.param.yaml]
      • vehicle_param_file [default: $(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml]
      • nearest_search_param_path [default: $(find-pkg-share autoware_core_planning)/config/nearest_search.param.yaml]
      • velocity_smoother_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/velocity_smoother.param.yaml]
      • behavior_velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/Analytical.param.yaml]
      • behavior_velocity_planner_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/behavior_velocity_planner.param.yaml]
      • behavior_velocity_planner_common_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/behavior_velocity_planner_common.param.yaml]
      • behavior_velocity_planner_stop_line_module_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/stop_line.param.yaml]
      • motion_velocity_planner_launch_modules [default: [autoware::motion_velocity_planner::ObstacleStopModule]]
      • motion_velocity_planner_param_path [default: $(find-pkg-share autoware_core_planning)/config/motion_velocity_planner/motion_velocity_planner.param.yaml]
      • motion_velocity_planner_velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/Analytical.param.yaml]
      • motion_velocity_planner_obstacle_stop_module_param_path [default: $(find-pkg-share autoware_core_planning)/config/motion_velocity_planner/obstacle_stop.param.yaml]
      • velocity_smoother_type [default: JerkFiltered]
      • velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/$(var velocity_smoother_type).param.yaml]
      • enable_all_modules_auto_mode [default: true]
      • is_simulation [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_core_planning at Robotics Stack Exchange

No version for distro jazzy showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

autoware_core_planning package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.4.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/autowarefoundation/autoware_core.git
VCS Type git
VCS Version main
Last Updated 2025-08-12
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_core_planning package

Additional Links

No additional links.

Maintainers

  • Ryohsuke Mitsudome
  • Mete Fatih Cırıt
  • Yutaka Kondo

Authors

  • Ryohsuke Mitsudome
planning/autoware_core_planning/README.md

Autoware Core Planning

Overview

The autoware_core_planning is a meta-package within the Autoware project, designed to manage and organize various planning-related modules essential for autonomous vehicle operations. This package serves as a central point for integrating different planning functionalities, such as path planning, path optimization, and trajectory generation.

Usage

The autoware_core_planning meta-package is used to launch and manage planning modules as part of the Autoware system. You can start the system using:

ros2 launch autoware_launch planning_launch.xml
CHANGELOG

Changelog for package autoware_core_planning

1.1.0 (2025-05-01)

1.4.0 (2025-08-11)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat: change planning output topic name to /planning/trajectory (#602)

    • change planning output topic name to /planning/trajectory

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • feat(motion_velocity_planner, motion_velocity_planner_common): update pointcloud preprocess design (#591)

    * updare pcl preprocess ---------

  • chore: bump version to 1.3.0 (#554)

  • fix(obstacle_stop): fix for failing scenario (#566) fix for failing scenario

  • feat(obstacle_stop_module)!: add leading vehicle following by rss stop position determination (#537)

    * add new feature ---------

  • refactor: implement varying lateral acceleration and steering rate threshold in velocity smoother (#531)

    • refactor: implement varying steering rate threshold in velocity smoother
    • feat: implement varying lateral acceleration limit
    • fix typo in readme
    • fix bugs in unit conversion

    * clean up the obsolete parameter in core planning launch ---------Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

  • feat(obstacle_stop_module): add cut in stop feature (#517)

    • restore the old function to pass universe CI
    • add new feature

    * add todo comment ---------

  • Contributors: Arjun Jagdish Ram, Ryohsuke Mitsudome, Yuki TAKAGI, Yukihiro Saito, Yuxuan Liu

1.3.0 (2025-06-23)

  • fix: to be consistent version in all package.xml(s)

  • feat: use component_interface_specs for mission_planner (#546)

  • chore(behavior_velocity_planner): remove unecessary stop_line_extend_length (#515)

    • chore(behavior_velocity_planner): remove unecessary stop_line_extend_length from param files

    * Update behavior_velocity_planner.param.yaml ---------

  • feat(planning_factor): add console output option (#513) fix param json fix param json snake_case set default

  • feat(obstacle_stop_module): maintain larger stop distance for opposing traffic (#451)

    • Opposing traffic handling
    • Changes to core params
    • fix
    • fixes

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • chore: bump up version to 1.1.0 (#462) (#464)

  • feat(autoware_motion_velocity_planner): point-cloud clustering optimization

File truncated at 100 lines see the full file

Launch files

  • launch/autoware_core_planning.launch.xml
      • map_topic_name [default: /map/vector_map]
      • visualization_topic_name [default: /planning/mission_planning/route_marker]
      • mission_planner_param_path [default: $(find-pkg-share autoware_mission_planner)/config/mission_planner.param.yaml]
      • common_param_path [default: $(find-pkg-share autoware_core_planning)/config/common.param.yaml]
      • vehicle_param_file [default: $(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml]
      • nearest_search_param_path [default: $(find-pkg-share autoware_core_planning)/config/nearest_search.param.yaml]
      • velocity_smoother_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/velocity_smoother.param.yaml]
      • behavior_velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/Analytical.param.yaml]
      • behavior_velocity_planner_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/behavior_velocity_planner.param.yaml]
      • behavior_velocity_planner_common_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/behavior_velocity_planner_common.param.yaml]
      • behavior_velocity_planner_stop_line_module_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/stop_line.param.yaml]
      • motion_velocity_planner_launch_modules [default: [autoware::motion_velocity_planner::ObstacleStopModule]]
      • motion_velocity_planner_param_path [default: $(find-pkg-share autoware_core_planning)/config/motion_velocity_planner/motion_velocity_planner.param.yaml]
      • motion_velocity_planner_velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/Analytical.param.yaml]
      • motion_velocity_planner_obstacle_stop_module_param_path [default: $(find-pkg-share autoware_core_planning)/config/motion_velocity_planner/obstacle_stop.param.yaml]
      • velocity_smoother_type [default: JerkFiltered]
      • velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/$(var velocity_smoother_type).param.yaml]
      • enable_all_modules_auto_mode [default: true]
      • is_simulation [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_core_planning at Robotics Stack Exchange

No version for distro kilted showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

autoware_core_planning package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.4.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/autowarefoundation/autoware_core.git
VCS Type git
VCS Version main
Last Updated 2025-08-12
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_core_planning package

Additional Links

No additional links.

Maintainers

  • Ryohsuke Mitsudome
  • Mete Fatih Cırıt
  • Yutaka Kondo

Authors

  • Ryohsuke Mitsudome
planning/autoware_core_planning/README.md

Autoware Core Planning

Overview

The autoware_core_planning is a meta-package within the Autoware project, designed to manage and organize various planning-related modules essential for autonomous vehicle operations. This package serves as a central point for integrating different planning functionalities, such as path planning, path optimization, and trajectory generation.

Usage

The autoware_core_planning meta-package is used to launch and manage planning modules as part of the Autoware system. You can start the system using:

ros2 launch autoware_launch planning_launch.xml
CHANGELOG

Changelog for package autoware_core_planning

1.1.0 (2025-05-01)

1.4.0 (2025-08-11)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat: change planning output topic name to /planning/trajectory (#602)

    • change planning output topic name to /planning/trajectory

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • feat(motion_velocity_planner, motion_velocity_planner_common): update pointcloud preprocess design (#591)

    * updare pcl preprocess ---------

  • chore: bump version to 1.3.0 (#554)

  • fix(obstacle_stop): fix for failing scenario (#566) fix for failing scenario

  • feat(obstacle_stop_module)!: add leading vehicle following by rss stop position determination (#537)

    * add new feature ---------

  • refactor: implement varying lateral acceleration and steering rate threshold in velocity smoother (#531)

    • refactor: implement varying steering rate threshold in velocity smoother
    • feat: implement varying lateral acceleration limit
    • fix typo in readme
    • fix bugs in unit conversion

    * clean up the obsolete parameter in core planning launch ---------Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

  • feat(obstacle_stop_module): add cut in stop feature (#517)

    • restore the old function to pass universe CI
    • add new feature

    * add todo comment ---------

  • Contributors: Arjun Jagdish Ram, Ryohsuke Mitsudome, Yuki TAKAGI, Yukihiro Saito, Yuxuan Liu

1.3.0 (2025-06-23)

  • fix: to be consistent version in all package.xml(s)

  • feat: use component_interface_specs for mission_planner (#546)

  • chore(behavior_velocity_planner): remove unecessary stop_line_extend_length (#515)

    • chore(behavior_velocity_planner): remove unecessary stop_line_extend_length from param files

    * Update behavior_velocity_planner.param.yaml ---------

  • feat(planning_factor): add console output option (#513) fix param json fix param json snake_case set default

  • feat(obstacle_stop_module): maintain larger stop distance for opposing traffic (#451)

    • Opposing traffic handling
    • Changes to core params
    • fix
    • fixes

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • chore: bump up version to 1.1.0 (#462) (#464)

  • feat(autoware_motion_velocity_planner): point-cloud clustering optimization

File truncated at 100 lines see the full file

Launch files

  • launch/autoware_core_planning.launch.xml
      • map_topic_name [default: /map/vector_map]
      • visualization_topic_name [default: /planning/mission_planning/route_marker]
      • mission_planner_param_path [default: $(find-pkg-share autoware_mission_planner)/config/mission_planner.param.yaml]
      • common_param_path [default: $(find-pkg-share autoware_core_planning)/config/common.param.yaml]
      • vehicle_param_file [default: $(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml]
      • nearest_search_param_path [default: $(find-pkg-share autoware_core_planning)/config/nearest_search.param.yaml]
      • velocity_smoother_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/velocity_smoother.param.yaml]
      • behavior_velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/Analytical.param.yaml]
      • behavior_velocity_planner_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/behavior_velocity_planner.param.yaml]
      • behavior_velocity_planner_common_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/behavior_velocity_planner_common.param.yaml]
      • behavior_velocity_planner_stop_line_module_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/stop_line.param.yaml]
      • motion_velocity_planner_launch_modules [default: [autoware::motion_velocity_planner::ObstacleStopModule]]
      • motion_velocity_planner_param_path [default: $(find-pkg-share autoware_core_planning)/config/motion_velocity_planner/motion_velocity_planner.param.yaml]
      • motion_velocity_planner_velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/Analytical.param.yaml]
      • motion_velocity_planner_obstacle_stop_module_param_path [default: $(find-pkg-share autoware_core_planning)/config/motion_velocity_planner/obstacle_stop.param.yaml]
      • velocity_smoother_type [default: JerkFiltered]
      • velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/$(var velocity_smoother_type).param.yaml]
      • enable_all_modules_auto_mode [default: true]
      • is_simulation [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_core_planning at Robotics Stack Exchange

No version for distro rolling showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

autoware_core_planning package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.4.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/autowarefoundation/autoware_core.git
VCS Type git
VCS Version main
Last Updated 2025-08-12
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_core_planning package

Additional Links

No additional links.

Maintainers

  • Ryohsuke Mitsudome
  • Mete Fatih Cırıt
  • Yutaka Kondo

Authors

  • Ryohsuke Mitsudome
planning/autoware_core_planning/README.md

Autoware Core Planning

Overview

The autoware_core_planning is a meta-package within the Autoware project, designed to manage and organize various planning-related modules essential for autonomous vehicle operations. This package serves as a central point for integrating different planning functionalities, such as path planning, path optimization, and trajectory generation.

Usage

The autoware_core_planning meta-package is used to launch and manage planning modules as part of the Autoware system. You can start the system using:

ros2 launch autoware_launch planning_launch.xml
CHANGELOG

Changelog for package autoware_core_planning

1.1.0 (2025-05-01)

1.4.0 (2025-08-11)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat: change planning output topic name to /planning/trajectory (#602)

    • change planning output topic name to /planning/trajectory

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • feat(motion_velocity_planner, motion_velocity_planner_common): update pointcloud preprocess design (#591)

    * updare pcl preprocess ---------

  • chore: bump version to 1.3.0 (#554)

  • fix(obstacle_stop): fix for failing scenario (#566) fix for failing scenario

  • feat(obstacle_stop_module)!: add leading vehicle following by rss stop position determination (#537)

    * add new feature ---------

  • refactor: implement varying lateral acceleration and steering rate threshold in velocity smoother (#531)

    • refactor: implement varying steering rate threshold in velocity smoother
    • feat: implement varying lateral acceleration limit
    • fix typo in readme
    • fix bugs in unit conversion

    * clean up the obsolete parameter in core planning launch ---------Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

  • feat(obstacle_stop_module): add cut in stop feature (#517)

    • restore the old function to pass universe CI
    • add new feature

    * add todo comment ---------

  • Contributors: Arjun Jagdish Ram, Ryohsuke Mitsudome, Yuki TAKAGI, Yukihiro Saito, Yuxuan Liu

1.3.0 (2025-06-23)

  • fix: to be consistent version in all package.xml(s)

  • feat: use component_interface_specs for mission_planner (#546)

  • chore(behavior_velocity_planner): remove unecessary stop_line_extend_length (#515)

    • chore(behavior_velocity_planner): remove unecessary stop_line_extend_length from param files

    * Update behavior_velocity_planner.param.yaml ---------

  • feat(planning_factor): add console output option (#513) fix param json fix param json snake_case set default

  • feat(obstacle_stop_module): maintain larger stop distance for opposing traffic (#451)

    • Opposing traffic handling
    • Changes to core params
    • fix
    • fixes

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • chore: bump up version to 1.1.0 (#462) (#464)

  • feat(autoware_motion_velocity_planner): point-cloud clustering optimization

File truncated at 100 lines see the full file

Launch files

  • launch/autoware_core_planning.launch.xml
      • map_topic_name [default: /map/vector_map]
      • visualization_topic_name [default: /planning/mission_planning/route_marker]
      • mission_planner_param_path [default: $(find-pkg-share autoware_mission_planner)/config/mission_planner.param.yaml]
      • common_param_path [default: $(find-pkg-share autoware_core_planning)/config/common.param.yaml]
      • vehicle_param_file [default: $(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml]
      • nearest_search_param_path [default: $(find-pkg-share autoware_core_planning)/config/nearest_search.param.yaml]
      • velocity_smoother_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/velocity_smoother.param.yaml]
      • behavior_velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/Analytical.param.yaml]
      • behavior_velocity_planner_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/behavior_velocity_planner.param.yaml]
      • behavior_velocity_planner_common_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/behavior_velocity_planner_common.param.yaml]
      • behavior_velocity_planner_stop_line_module_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/stop_line.param.yaml]
      • motion_velocity_planner_launch_modules [default: [autoware::motion_velocity_planner::ObstacleStopModule]]
      • motion_velocity_planner_param_path [default: $(find-pkg-share autoware_core_planning)/config/motion_velocity_planner/motion_velocity_planner.param.yaml]
      • motion_velocity_planner_velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/Analytical.param.yaml]
      • motion_velocity_planner_obstacle_stop_module_param_path [default: $(find-pkg-share autoware_core_planning)/config/motion_velocity_planner/obstacle_stop.param.yaml]
      • velocity_smoother_type [default: JerkFiltered]
      • velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/$(var velocity_smoother_type).param.yaml]
      • enable_all_modules_auto_mode [default: true]
      • is_simulation [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_core_planning at Robotics Stack Exchange

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

autoware_core_planning package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.4.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/autowarefoundation/autoware_core.git
VCS Type git
VCS Version main
Last Updated 2025-08-12
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_core_planning package

Additional Links

No additional links.

Maintainers

  • Ryohsuke Mitsudome
  • Mete Fatih Cırıt
  • Yutaka Kondo

Authors

  • Ryohsuke Mitsudome
planning/autoware_core_planning/README.md

Autoware Core Planning

Overview

The autoware_core_planning is a meta-package within the Autoware project, designed to manage and organize various planning-related modules essential for autonomous vehicle operations. This package serves as a central point for integrating different planning functionalities, such as path planning, path optimization, and trajectory generation.

Usage

The autoware_core_planning meta-package is used to launch and manage planning modules as part of the Autoware system. You can start the system using:

ros2 launch autoware_launch planning_launch.xml
CHANGELOG

Changelog for package autoware_core_planning

1.1.0 (2025-05-01)

1.4.0 (2025-08-11)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat: change planning output topic name to /planning/trajectory (#602)

    • change planning output topic name to /planning/trajectory

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • feat(motion_velocity_planner, motion_velocity_planner_common): update pointcloud preprocess design (#591)

    * updare pcl preprocess ---------

  • chore: bump version to 1.3.0 (#554)

  • fix(obstacle_stop): fix for failing scenario (#566) fix for failing scenario

  • feat(obstacle_stop_module)!: add leading vehicle following by rss stop position determination (#537)

    * add new feature ---------

  • refactor: implement varying lateral acceleration and steering rate threshold in velocity smoother (#531)

    • refactor: implement varying steering rate threshold in velocity smoother
    • feat: implement varying lateral acceleration limit
    • fix typo in readme
    • fix bugs in unit conversion

    * clean up the obsolete parameter in core planning launch ---------Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

  • feat(obstacle_stop_module): add cut in stop feature (#517)

    • restore the old function to pass universe CI
    • add new feature

    * add todo comment ---------

  • Contributors: Arjun Jagdish Ram, Ryohsuke Mitsudome, Yuki TAKAGI, Yukihiro Saito, Yuxuan Liu

1.3.0 (2025-06-23)

  • fix: to be consistent version in all package.xml(s)

  • feat: use component_interface_specs for mission_planner (#546)

  • chore(behavior_velocity_planner): remove unecessary stop_line_extend_length (#515)

    • chore(behavior_velocity_planner): remove unecessary stop_line_extend_length from param files

    * Update behavior_velocity_planner.param.yaml ---------

  • feat(planning_factor): add console output option (#513) fix param json fix param json snake_case set default

  • feat(obstacle_stop_module): maintain larger stop distance for opposing traffic (#451)

    • Opposing traffic handling
    • Changes to core params
    • fix
    • fixes

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • chore: bump up version to 1.1.0 (#462) (#464)

  • feat(autoware_motion_velocity_planner): point-cloud clustering optimization

File truncated at 100 lines see the full file

Launch files

  • launch/autoware_core_planning.launch.xml
      • map_topic_name [default: /map/vector_map]
      • visualization_topic_name [default: /planning/mission_planning/route_marker]
      • mission_planner_param_path [default: $(find-pkg-share autoware_mission_planner)/config/mission_planner.param.yaml]
      • common_param_path [default: $(find-pkg-share autoware_core_planning)/config/common.param.yaml]
      • vehicle_param_file [default: $(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml]
      • nearest_search_param_path [default: $(find-pkg-share autoware_core_planning)/config/nearest_search.param.yaml]
      • velocity_smoother_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/velocity_smoother.param.yaml]
      • behavior_velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/Analytical.param.yaml]
      • behavior_velocity_planner_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/behavior_velocity_planner.param.yaml]
      • behavior_velocity_planner_common_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/behavior_velocity_planner_common.param.yaml]
      • behavior_velocity_planner_stop_line_module_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/stop_line.param.yaml]
      • motion_velocity_planner_launch_modules [default: [autoware::motion_velocity_planner::ObstacleStopModule]]
      • motion_velocity_planner_param_path [default: $(find-pkg-share autoware_core_planning)/config/motion_velocity_planner/motion_velocity_planner.param.yaml]
      • motion_velocity_planner_velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/Analytical.param.yaml]
      • motion_velocity_planner_obstacle_stop_module_param_path [default: $(find-pkg-share autoware_core_planning)/config/motion_velocity_planner/obstacle_stop.param.yaml]
      • velocity_smoother_type [default: JerkFiltered]
      • velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/$(var velocity_smoother_type).param.yaml]
      • enable_all_modules_auto_mode [default: true]
      • is_simulation [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_core_planning at Robotics Stack Exchange

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

autoware_core_planning package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.4.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/autowarefoundation/autoware_core.git
VCS Type git
VCS Version main
Last Updated 2025-08-12
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_core_planning package

Additional Links

No additional links.

Maintainers

  • Ryohsuke Mitsudome
  • Mete Fatih Cırıt
  • Yutaka Kondo

Authors

  • Ryohsuke Mitsudome
planning/autoware_core_planning/README.md

Autoware Core Planning

Overview

The autoware_core_planning is a meta-package within the Autoware project, designed to manage and organize various planning-related modules essential for autonomous vehicle operations. This package serves as a central point for integrating different planning functionalities, such as path planning, path optimization, and trajectory generation.

Usage

The autoware_core_planning meta-package is used to launch and manage planning modules as part of the Autoware system. You can start the system using:

ros2 launch autoware_launch planning_launch.xml
CHANGELOG

Changelog for package autoware_core_planning

1.1.0 (2025-05-01)

1.4.0 (2025-08-11)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat: change planning output topic name to /planning/trajectory (#602)

    • change planning output topic name to /planning/trajectory

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • feat(motion_velocity_planner, motion_velocity_planner_common): update pointcloud preprocess design (#591)

    * updare pcl preprocess ---------

  • chore: bump version to 1.3.0 (#554)

  • fix(obstacle_stop): fix for failing scenario (#566) fix for failing scenario

  • feat(obstacle_stop_module)!: add leading vehicle following by rss stop position determination (#537)

    * add new feature ---------

  • refactor: implement varying lateral acceleration and steering rate threshold in velocity smoother (#531)

    • refactor: implement varying steering rate threshold in velocity smoother
    • feat: implement varying lateral acceleration limit
    • fix typo in readme
    • fix bugs in unit conversion

    * clean up the obsolete parameter in core planning launch ---------Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

  • feat(obstacle_stop_module): add cut in stop feature (#517)

    • restore the old function to pass universe CI
    • add new feature

    * add todo comment ---------

  • Contributors: Arjun Jagdish Ram, Ryohsuke Mitsudome, Yuki TAKAGI, Yukihiro Saito, Yuxuan Liu

1.3.0 (2025-06-23)

  • fix: to be consistent version in all package.xml(s)

  • feat: use component_interface_specs for mission_planner (#546)

  • chore(behavior_velocity_planner): remove unecessary stop_line_extend_length (#515)

    • chore(behavior_velocity_planner): remove unecessary stop_line_extend_length from param files

    * Update behavior_velocity_planner.param.yaml ---------

  • feat(planning_factor): add console output option (#513) fix param json fix param json snake_case set default

  • feat(obstacle_stop_module): maintain larger stop distance for opposing traffic (#451)

    • Opposing traffic handling
    • Changes to core params
    • fix
    • fixes

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • chore: bump up version to 1.1.0 (#462) (#464)

  • feat(autoware_motion_velocity_planner): point-cloud clustering optimization

File truncated at 100 lines see the full file

Launch files

  • launch/autoware_core_planning.launch.xml
      • map_topic_name [default: /map/vector_map]
      • visualization_topic_name [default: /planning/mission_planning/route_marker]
      • mission_planner_param_path [default: $(find-pkg-share autoware_mission_planner)/config/mission_planner.param.yaml]
      • common_param_path [default: $(find-pkg-share autoware_core_planning)/config/common.param.yaml]
      • vehicle_param_file [default: $(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml]
      • nearest_search_param_path [default: $(find-pkg-share autoware_core_planning)/config/nearest_search.param.yaml]
      • velocity_smoother_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/velocity_smoother.param.yaml]
      • behavior_velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/Analytical.param.yaml]
      • behavior_velocity_planner_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/behavior_velocity_planner.param.yaml]
      • behavior_velocity_planner_common_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/behavior_velocity_planner_common.param.yaml]
      • behavior_velocity_planner_stop_line_module_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/stop_line.param.yaml]
      • motion_velocity_planner_launch_modules [default: [autoware::motion_velocity_planner::ObstacleStopModule]]
      • motion_velocity_planner_param_path [default: $(find-pkg-share autoware_core_planning)/config/motion_velocity_planner/motion_velocity_planner.param.yaml]
      • motion_velocity_planner_velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/Analytical.param.yaml]
      • motion_velocity_planner_obstacle_stop_module_param_path [default: $(find-pkg-share autoware_core_planning)/config/motion_velocity_planner/obstacle_stop.param.yaml]
      • velocity_smoother_type [default: JerkFiltered]
      • velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/$(var velocity_smoother_type).param.yaml]
      • enable_all_modules_auto_mode [default: true]
      • is_simulation [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_core_planning at Robotics Stack Exchange

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

autoware_core_planning package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.4.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/autowarefoundation/autoware_core.git
VCS Type git
VCS Version main
Last Updated 2025-08-12
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_core_planning package

Additional Links

No additional links.

Maintainers

  • Ryohsuke Mitsudome
  • Mete Fatih Cırıt
  • Yutaka Kondo

Authors

  • Ryohsuke Mitsudome
planning/autoware_core_planning/README.md

Autoware Core Planning

Overview

The autoware_core_planning is a meta-package within the Autoware project, designed to manage and organize various planning-related modules essential for autonomous vehicle operations. This package serves as a central point for integrating different planning functionalities, such as path planning, path optimization, and trajectory generation.

Usage

The autoware_core_planning meta-package is used to launch and manage planning modules as part of the Autoware system. You can start the system using:

ros2 launch autoware_launch planning_launch.xml
CHANGELOG

Changelog for package autoware_core_planning

1.1.0 (2025-05-01)

1.4.0 (2025-08-11)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat: change planning output topic name to /planning/trajectory (#602)

    • change planning output topic name to /planning/trajectory

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • feat(motion_velocity_planner, motion_velocity_planner_common): update pointcloud preprocess design (#591)

    * updare pcl preprocess ---------

  • chore: bump version to 1.3.0 (#554)

  • fix(obstacle_stop): fix for failing scenario (#566) fix for failing scenario

  • feat(obstacle_stop_module)!: add leading vehicle following by rss stop position determination (#537)

    * add new feature ---------

  • refactor: implement varying lateral acceleration and steering rate threshold in velocity smoother (#531)

    • refactor: implement varying steering rate threshold in velocity smoother
    • feat: implement varying lateral acceleration limit
    • fix typo in readme
    • fix bugs in unit conversion

    * clean up the obsolete parameter in core planning launch ---------Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

  • feat(obstacle_stop_module): add cut in stop feature (#517)

    • restore the old function to pass universe CI
    • add new feature

    * add todo comment ---------

  • Contributors: Arjun Jagdish Ram, Ryohsuke Mitsudome, Yuki TAKAGI, Yukihiro Saito, Yuxuan Liu

1.3.0 (2025-06-23)

  • fix: to be consistent version in all package.xml(s)

  • feat: use component_interface_specs for mission_planner (#546)

  • chore(behavior_velocity_planner): remove unecessary stop_line_extend_length (#515)

    • chore(behavior_velocity_planner): remove unecessary stop_line_extend_length from param files

    * Update behavior_velocity_planner.param.yaml ---------

  • feat(planning_factor): add console output option (#513) fix param json fix param json snake_case set default

  • feat(obstacle_stop_module): maintain larger stop distance for opposing traffic (#451)

    • Opposing traffic handling
    • Changes to core params
    • fix
    • fixes

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • chore: bump up version to 1.1.0 (#462) (#464)

  • feat(autoware_motion_velocity_planner): point-cloud clustering optimization

File truncated at 100 lines see the full file

Launch files

  • launch/autoware_core_planning.launch.xml
      • map_topic_name [default: /map/vector_map]
      • visualization_topic_name [default: /planning/mission_planning/route_marker]
      • mission_planner_param_path [default: $(find-pkg-share autoware_mission_planner)/config/mission_planner.param.yaml]
      • common_param_path [default: $(find-pkg-share autoware_core_planning)/config/common.param.yaml]
      • vehicle_param_file [default: $(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml]
      • nearest_search_param_path [default: $(find-pkg-share autoware_core_planning)/config/nearest_search.param.yaml]
      • velocity_smoother_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/velocity_smoother.param.yaml]
      • behavior_velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/Analytical.param.yaml]
      • behavior_velocity_planner_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/behavior_velocity_planner.param.yaml]
      • behavior_velocity_planner_common_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/behavior_velocity_planner_common.param.yaml]
      • behavior_velocity_planner_stop_line_module_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/stop_line.param.yaml]
      • motion_velocity_planner_launch_modules [default: [autoware::motion_velocity_planner::ObstacleStopModule]]
      • motion_velocity_planner_param_path [default: $(find-pkg-share autoware_core_planning)/config/motion_velocity_planner/motion_velocity_planner.param.yaml]
      • motion_velocity_planner_velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/Analytical.param.yaml]
      • motion_velocity_planner_obstacle_stop_module_param_path [default: $(find-pkg-share autoware_core_planning)/config/motion_velocity_planner/obstacle_stop.param.yaml]
      • velocity_smoother_type [default: JerkFiltered]
      • velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/$(var velocity_smoother_type).param.yaml]
      • enable_all_modules_auto_mode [default: true]
      • is_simulation [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_core_planning at Robotics Stack Exchange

No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

autoware_core_planning package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.4.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/autowarefoundation/autoware_core.git
VCS Type git
VCS Version main
Last Updated 2025-08-12
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_core_planning package

Additional Links

No additional links.

Maintainers

  • Ryohsuke Mitsudome
  • Mete Fatih Cırıt
  • Yutaka Kondo

Authors

  • Ryohsuke Mitsudome
planning/autoware_core_planning/README.md

Autoware Core Planning

Overview

The autoware_core_planning is a meta-package within the Autoware project, designed to manage and organize various planning-related modules essential for autonomous vehicle operations. This package serves as a central point for integrating different planning functionalities, such as path planning, path optimization, and trajectory generation.

Usage

The autoware_core_planning meta-package is used to launch and manage planning modules as part of the Autoware system. You can start the system using:

ros2 launch autoware_launch planning_launch.xml
CHANGELOG

Changelog for package autoware_core_planning

1.1.0 (2025-05-01)

1.4.0 (2025-08-11)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat: change planning output topic name to /planning/trajectory (#602)

    • change planning output topic name to /planning/trajectory

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • feat(motion_velocity_planner, motion_velocity_planner_common): update pointcloud preprocess design (#591)

    * updare pcl preprocess ---------

  • chore: bump version to 1.3.0 (#554)

  • fix(obstacle_stop): fix for failing scenario (#566) fix for failing scenario

  • feat(obstacle_stop_module)!: add leading vehicle following by rss stop position determination (#537)

    * add new feature ---------

  • refactor: implement varying lateral acceleration and steering rate threshold in velocity smoother (#531)

    • refactor: implement varying steering rate threshold in velocity smoother
    • feat: implement varying lateral acceleration limit
    • fix typo in readme
    • fix bugs in unit conversion

    * clean up the obsolete parameter in core planning launch ---------Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

  • feat(obstacle_stop_module): add cut in stop feature (#517)

    • restore the old function to pass universe CI
    • add new feature

    * add todo comment ---------

  • Contributors: Arjun Jagdish Ram, Ryohsuke Mitsudome, Yuki TAKAGI, Yukihiro Saito, Yuxuan Liu

1.3.0 (2025-06-23)

  • fix: to be consistent version in all package.xml(s)

  • feat: use component_interface_specs for mission_planner (#546)

  • chore(behavior_velocity_planner): remove unecessary stop_line_extend_length (#515)

    • chore(behavior_velocity_planner): remove unecessary stop_line_extend_length from param files

    * Update behavior_velocity_planner.param.yaml ---------

  • feat(planning_factor): add console output option (#513) fix param json fix param json snake_case set default

  • feat(obstacle_stop_module): maintain larger stop distance for opposing traffic (#451)

    • Opposing traffic handling
    • Changes to core params
    • fix
    • fixes

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • chore: bump up version to 1.1.0 (#462) (#464)

  • feat(autoware_motion_velocity_planner): point-cloud clustering optimization

File truncated at 100 lines see the full file

Launch files

  • launch/autoware_core_planning.launch.xml
      • map_topic_name [default: /map/vector_map]
      • visualization_topic_name [default: /planning/mission_planning/route_marker]
      • mission_planner_param_path [default: $(find-pkg-share autoware_mission_planner)/config/mission_planner.param.yaml]
      • common_param_path [default: $(find-pkg-share autoware_core_planning)/config/common.param.yaml]
      • vehicle_param_file [default: $(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml]
      • nearest_search_param_path [default: $(find-pkg-share autoware_core_planning)/config/nearest_search.param.yaml]
      • velocity_smoother_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/velocity_smoother.param.yaml]
      • behavior_velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/Analytical.param.yaml]
      • behavior_velocity_planner_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/behavior_velocity_planner.param.yaml]
      • behavior_velocity_planner_common_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/behavior_velocity_planner_common.param.yaml]
      • behavior_velocity_planner_stop_line_module_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/stop_line.param.yaml]
      • motion_velocity_planner_launch_modules [default: [autoware::motion_velocity_planner::ObstacleStopModule]]
      • motion_velocity_planner_param_path [default: $(find-pkg-share autoware_core_planning)/config/motion_velocity_planner/motion_velocity_planner.param.yaml]
      • motion_velocity_planner_velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/Analytical.param.yaml]
      • motion_velocity_planner_obstacle_stop_module_param_path [default: $(find-pkg-share autoware_core_planning)/config/motion_velocity_planner/obstacle_stop.param.yaml]
      • velocity_smoother_type [default: JerkFiltered]
      • velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/$(var velocity_smoother_type).param.yaml]
      • enable_all_modules_auto_mode [default: true]
      • is_simulation [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_core_planning at Robotics Stack Exchange

No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

autoware_core_planning package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.4.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/autowarefoundation/autoware_core.git
VCS Type git
VCS Version main
Last Updated 2025-08-12
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_core_planning package

Additional Links

No additional links.

Maintainers

  • Ryohsuke Mitsudome
  • Mete Fatih Cırıt
  • Yutaka Kondo

Authors

  • Ryohsuke Mitsudome
planning/autoware_core_planning/README.md

Autoware Core Planning

Overview

The autoware_core_planning is a meta-package within the Autoware project, designed to manage and organize various planning-related modules essential for autonomous vehicle operations. This package serves as a central point for integrating different planning functionalities, such as path planning, path optimization, and trajectory generation.

Usage

The autoware_core_planning meta-package is used to launch and manage planning modules as part of the Autoware system. You can start the system using:

ros2 launch autoware_launch planning_launch.xml
CHANGELOG

Changelog for package autoware_core_planning

1.1.0 (2025-05-01)

1.4.0 (2025-08-11)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat: change planning output topic name to /planning/trajectory (#602)

    • change planning output topic name to /planning/trajectory

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • feat(motion_velocity_planner, motion_velocity_planner_common): update pointcloud preprocess design (#591)

    * updare pcl preprocess ---------

  • chore: bump version to 1.3.0 (#554)

  • fix(obstacle_stop): fix for failing scenario (#566) fix for failing scenario

  • feat(obstacle_stop_module)!: add leading vehicle following by rss stop position determination (#537)

    * add new feature ---------

  • refactor: implement varying lateral acceleration and steering rate threshold in velocity smoother (#531)

    • refactor: implement varying steering rate threshold in velocity smoother
    • feat: implement varying lateral acceleration limit
    • fix typo in readme
    • fix bugs in unit conversion

    * clean up the obsolete parameter in core planning launch ---------Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

  • feat(obstacle_stop_module): add cut in stop feature (#517)

    • restore the old function to pass universe CI
    • add new feature

    * add todo comment ---------

  • Contributors: Arjun Jagdish Ram, Ryohsuke Mitsudome, Yuki TAKAGI, Yukihiro Saito, Yuxuan Liu

1.3.0 (2025-06-23)

  • fix: to be consistent version in all package.xml(s)

  • feat: use component_interface_specs for mission_planner (#546)

  • chore(behavior_velocity_planner): remove unecessary stop_line_extend_length (#515)

    • chore(behavior_velocity_planner): remove unecessary stop_line_extend_length from param files

    * Update behavior_velocity_planner.param.yaml ---------

  • feat(planning_factor): add console output option (#513) fix param json fix param json snake_case set default

  • feat(obstacle_stop_module): maintain larger stop distance for opposing traffic (#451)

    • Opposing traffic handling
    • Changes to core params
    • fix
    • fixes

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • chore: bump up version to 1.1.0 (#462) (#464)

  • feat(autoware_motion_velocity_planner): point-cloud clustering optimization

File truncated at 100 lines see the full file

Launch files

  • launch/autoware_core_planning.launch.xml
      • map_topic_name [default: /map/vector_map]
      • visualization_topic_name [default: /planning/mission_planning/route_marker]
      • mission_planner_param_path [default: $(find-pkg-share autoware_mission_planner)/config/mission_planner.param.yaml]
      • common_param_path [default: $(find-pkg-share autoware_core_planning)/config/common.param.yaml]
      • vehicle_param_file [default: $(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml]
      • nearest_search_param_path [default: $(find-pkg-share autoware_core_planning)/config/nearest_search.param.yaml]
      • velocity_smoother_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/velocity_smoother.param.yaml]
      • behavior_velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/Analytical.param.yaml]
      • behavior_velocity_planner_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/behavior_velocity_planner.param.yaml]
      • behavior_velocity_planner_common_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/behavior_velocity_planner_common.param.yaml]
      • behavior_velocity_planner_stop_line_module_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/stop_line.param.yaml]
      • motion_velocity_planner_launch_modules [default: [autoware::motion_velocity_planner::ObstacleStopModule]]
      • motion_velocity_planner_param_path [default: $(find-pkg-share autoware_core_planning)/config/motion_velocity_planner/motion_velocity_planner.param.yaml]
      • motion_velocity_planner_velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/Analytical.param.yaml]
      • motion_velocity_planner_obstacle_stop_module_param_path [default: $(find-pkg-share autoware_core_planning)/config/motion_velocity_planner/obstacle_stop.param.yaml]
      • velocity_smoother_type [default: JerkFiltered]
      • velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/$(var velocity_smoother_type).param.yaml]
      • enable_all_modules_auto_mode [default: true]
      • is_simulation [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_core_planning at Robotics Stack Exchange

No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

autoware_core_planning package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.4.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/autowarefoundation/autoware_core.git
VCS Type git
VCS Version main
Last Updated 2025-08-12
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_core_planning package

Additional Links

No additional links.

Maintainers

  • Ryohsuke Mitsudome
  • Mete Fatih Cırıt
  • Yutaka Kondo

Authors

  • Ryohsuke Mitsudome
planning/autoware_core_planning/README.md

Autoware Core Planning

Overview

The autoware_core_planning is a meta-package within the Autoware project, designed to manage and organize various planning-related modules essential for autonomous vehicle operations. This package serves as a central point for integrating different planning functionalities, such as path planning, path optimization, and trajectory generation.

Usage

The autoware_core_planning meta-package is used to launch and manage planning modules as part of the Autoware system. You can start the system using:

ros2 launch autoware_launch planning_launch.xml
CHANGELOG

Changelog for package autoware_core_planning

1.1.0 (2025-05-01)

1.4.0 (2025-08-11)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat: change planning output topic name to /planning/trajectory (#602)

    • change planning output topic name to /planning/trajectory

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • feat(motion_velocity_planner, motion_velocity_planner_common): update pointcloud preprocess design (#591)

    * updare pcl preprocess ---------

  • chore: bump version to 1.3.0 (#554)

  • fix(obstacle_stop): fix for failing scenario (#566) fix for failing scenario

  • feat(obstacle_stop_module)!: add leading vehicle following by rss stop position determination (#537)

    * add new feature ---------

  • refactor: implement varying lateral acceleration and steering rate threshold in velocity smoother (#531)

    • refactor: implement varying steering rate threshold in velocity smoother
    • feat: implement varying lateral acceleration limit
    • fix typo in readme
    • fix bugs in unit conversion

    * clean up the obsolete parameter in core planning launch ---------Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

  • feat(obstacle_stop_module): add cut in stop feature (#517)

    • restore the old function to pass universe CI
    • add new feature

    * add todo comment ---------

  • Contributors: Arjun Jagdish Ram, Ryohsuke Mitsudome, Yuki TAKAGI, Yukihiro Saito, Yuxuan Liu

1.3.0 (2025-06-23)

  • fix: to be consistent version in all package.xml(s)

  • feat: use component_interface_specs for mission_planner (#546)

  • chore(behavior_velocity_planner): remove unecessary stop_line_extend_length (#515)

    • chore(behavior_velocity_planner): remove unecessary stop_line_extend_length from param files

    * Update behavior_velocity_planner.param.yaml ---------

  • feat(planning_factor): add console output option (#513) fix param json fix param json snake_case set default

  • feat(obstacle_stop_module): maintain larger stop distance for opposing traffic (#451)

    • Opposing traffic handling
    • Changes to core params
    • fix
    • fixes

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • chore: bump up version to 1.1.0 (#462) (#464)

  • feat(autoware_motion_velocity_planner): point-cloud clustering optimization

File truncated at 100 lines see the full file

Launch files

  • launch/autoware_core_planning.launch.xml
      • map_topic_name [default: /map/vector_map]
      • visualization_topic_name [default: /planning/mission_planning/route_marker]
      • mission_planner_param_path [default: $(find-pkg-share autoware_mission_planner)/config/mission_planner.param.yaml]
      • common_param_path [default: $(find-pkg-share autoware_core_planning)/config/common.param.yaml]
      • vehicle_param_file [default: $(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml]
      • nearest_search_param_path [default: $(find-pkg-share autoware_core_planning)/config/nearest_search.param.yaml]
      • velocity_smoother_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/velocity_smoother.param.yaml]
      • behavior_velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/Analytical.param.yaml]
      • behavior_velocity_planner_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/behavior_velocity_planner.param.yaml]
      • behavior_velocity_planner_common_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/behavior_velocity_planner_common.param.yaml]
      • behavior_velocity_planner_stop_line_module_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/stop_line.param.yaml]
      • motion_velocity_planner_launch_modules [default: [autoware::motion_velocity_planner::ObstacleStopModule]]
      • motion_velocity_planner_param_path [default: $(find-pkg-share autoware_core_planning)/config/motion_velocity_planner/motion_velocity_planner.param.yaml]
      • motion_velocity_planner_velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/Analytical.param.yaml]
      • motion_velocity_planner_obstacle_stop_module_param_path [default: $(find-pkg-share autoware_core_planning)/config/motion_velocity_planner/obstacle_stop.param.yaml]
      • velocity_smoother_type [default: JerkFiltered]
      • velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/$(var velocity_smoother_type).param.yaml]
      • enable_all_modules_auto_mode [default: true]
      • is_simulation [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_core_planning at Robotics Stack Exchange

No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

autoware_core_planning package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.4.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/autowarefoundation/autoware_core.git
VCS Type git
VCS Version main
Last Updated 2025-08-12
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_core_planning package

Additional Links

No additional links.

Maintainers

  • Ryohsuke Mitsudome
  • Mete Fatih Cırıt
  • Yutaka Kondo

Authors

  • Ryohsuke Mitsudome
planning/autoware_core_planning/README.md

Autoware Core Planning

Overview

The autoware_core_planning is a meta-package within the Autoware project, designed to manage and organize various planning-related modules essential for autonomous vehicle operations. This package serves as a central point for integrating different planning functionalities, such as path planning, path optimization, and trajectory generation.

Usage

The autoware_core_planning meta-package is used to launch and manage planning modules as part of the Autoware system. You can start the system using:

ros2 launch autoware_launch planning_launch.xml
CHANGELOG

Changelog for package autoware_core_planning

1.1.0 (2025-05-01)

1.4.0 (2025-08-11)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat: change planning output topic name to /planning/trajectory (#602)

    • change planning output topic name to /planning/trajectory

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • feat(motion_velocity_planner, motion_velocity_planner_common): update pointcloud preprocess design (#591)

    * updare pcl preprocess ---------

  • chore: bump version to 1.3.0 (#554)

  • fix(obstacle_stop): fix for failing scenario (#566) fix for failing scenario

  • feat(obstacle_stop_module)!: add leading vehicle following by rss stop position determination (#537)

    * add new feature ---------

  • refactor: implement varying lateral acceleration and steering rate threshold in velocity smoother (#531)

    • refactor: implement varying steering rate threshold in velocity smoother
    • feat: implement varying lateral acceleration limit
    • fix typo in readme
    • fix bugs in unit conversion

    * clean up the obsolete parameter in core planning launch ---------Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

  • feat(obstacle_stop_module): add cut in stop feature (#517)

    • restore the old function to pass universe CI
    • add new feature

    * add todo comment ---------

  • Contributors: Arjun Jagdish Ram, Ryohsuke Mitsudome, Yuki TAKAGI, Yukihiro Saito, Yuxuan Liu

1.3.0 (2025-06-23)

  • fix: to be consistent version in all package.xml(s)

  • feat: use component_interface_specs for mission_planner (#546)

  • chore(behavior_velocity_planner): remove unecessary stop_line_extend_length (#515)

    • chore(behavior_velocity_planner): remove unecessary stop_line_extend_length from param files

    * Update behavior_velocity_planner.param.yaml ---------

  • feat(planning_factor): add console output option (#513) fix param json fix param json snake_case set default

  • feat(obstacle_stop_module): maintain larger stop distance for opposing traffic (#451)

    • Opposing traffic handling
    • Changes to core params
    • fix
    • fixes

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • chore: bump up version to 1.1.0 (#462) (#464)

  • feat(autoware_motion_velocity_planner): point-cloud clustering optimization

File truncated at 100 lines see the full file

Launch files

  • launch/autoware_core_planning.launch.xml
      • map_topic_name [default: /map/vector_map]
      • visualization_topic_name [default: /planning/mission_planning/route_marker]
      • mission_planner_param_path [default: $(find-pkg-share autoware_mission_planner)/config/mission_planner.param.yaml]
      • common_param_path [default: $(find-pkg-share autoware_core_planning)/config/common.param.yaml]
      • vehicle_param_file [default: $(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml]
      • nearest_search_param_path [default: $(find-pkg-share autoware_core_planning)/config/nearest_search.param.yaml]
      • velocity_smoother_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/velocity_smoother.param.yaml]
      • behavior_velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/Analytical.param.yaml]
      • behavior_velocity_planner_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/behavior_velocity_planner.param.yaml]
      • behavior_velocity_planner_common_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/behavior_velocity_planner_common.param.yaml]
      • behavior_velocity_planner_stop_line_module_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/stop_line.param.yaml]
      • motion_velocity_planner_launch_modules [default: [autoware::motion_velocity_planner::ObstacleStopModule]]
      • motion_velocity_planner_param_path [default: $(find-pkg-share autoware_core_planning)/config/motion_velocity_planner/motion_velocity_planner.param.yaml]
      • motion_velocity_planner_velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/Analytical.param.yaml]
      • motion_velocity_planner_obstacle_stop_module_param_path [default: $(find-pkg-share autoware_core_planning)/config/motion_velocity_planner/obstacle_stop.param.yaml]
      • velocity_smoother_type [default: JerkFiltered]
      • velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/$(var velocity_smoother_type).param.yaml]
      • enable_all_modules_auto_mode [default: true]
      • is_simulation [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_core_planning at Robotics Stack Exchange

No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

autoware_core_planning package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.4.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/autowarefoundation/autoware_core.git
VCS Type git
VCS Version main
Last Updated 2025-08-12
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_core_planning package

Additional Links

No additional links.

Maintainers

  • Ryohsuke Mitsudome
  • Mete Fatih Cırıt
  • Yutaka Kondo

Authors

  • Ryohsuke Mitsudome
planning/autoware_core_planning/README.md

Autoware Core Planning

Overview

The autoware_core_planning is a meta-package within the Autoware project, designed to manage and organize various planning-related modules essential for autonomous vehicle operations. This package serves as a central point for integrating different planning functionalities, such as path planning, path optimization, and trajectory generation.

Usage

The autoware_core_planning meta-package is used to launch and manage planning modules as part of the Autoware system. You can start the system using:

ros2 launch autoware_launch planning_launch.xml
CHANGELOG

Changelog for package autoware_core_planning

1.1.0 (2025-05-01)

1.4.0 (2025-08-11)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat: change planning output topic name to /planning/trajectory (#602)

    • change planning output topic name to /planning/trajectory

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • feat(motion_velocity_planner, motion_velocity_planner_common): update pointcloud preprocess design (#591)

    * updare pcl preprocess ---------

  • chore: bump version to 1.3.0 (#554)

  • fix(obstacle_stop): fix for failing scenario (#566) fix for failing scenario

  • feat(obstacle_stop_module)!: add leading vehicle following by rss stop position determination (#537)

    * add new feature ---------

  • refactor: implement varying lateral acceleration and steering rate threshold in velocity smoother (#531)

    • refactor: implement varying steering rate threshold in velocity smoother
    • feat: implement varying lateral acceleration limit
    • fix typo in readme
    • fix bugs in unit conversion

    * clean up the obsolete parameter in core planning launch ---------Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

  • feat(obstacle_stop_module): add cut in stop feature (#517)

    • restore the old function to pass universe CI
    • add new feature

    * add todo comment ---------

  • Contributors: Arjun Jagdish Ram, Ryohsuke Mitsudome, Yuki TAKAGI, Yukihiro Saito, Yuxuan Liu

1.3.0 (2025-06-23)

  • fix: to be consistent version in all package.xml(s)

  • feat: use component_interface_specs for mission_planner (#546)

  • chore(behavior_velocity_planner): remove unecessary stop_line_extend_length (#515)

    • chore(behavior_velocity_planner): remove unecessary stop_line_extend_length from param files

    * Update behavior_velocity_planner.param.yaml ---------

  • feat(planning_factor): add console output option (#513) fix param json fix param json snake_case set default

  • feat(obstacle_stop_module): maintain larger stop distance for opposing traffic (#451)

    • Opposing traffic handling
    • Changes to core params
    • fix
    • fixes

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • chore: bump up version to 1.1.0 (#462) (#464)

  • feat(autoware_motion_velocity_planner): point-cloud clustering optimization

File truncated at 100 lines see the full file

Launch files

  • launch/autoware_core_planning.launch.xml
      • map_topic_name [default: /map/vector_map]
      • visualization_topic_name [default: /planning/mission_planning/route_marker]
      • mission_planner_param_path [default: $(find-pkg-share autoware_mission_planner)/config/mission_planner.param.yaml]
      • common_param_path [default: $(find-pkg-share autoware_core_planning)/config/common.param.yaml]
      • vehicle_param_file [default: $(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml]
      • nearest_search_param_path [default: $(find-pkg-share autoware_core_planning)/config/nearest_search.param.yaml]
      • velocity_smoother_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/velocity_smoother.param.yaml]
      • behavior_velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/Analytical.param.yaml]
      • behavior_velocity_planner_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/behavior_velocity_planner.param.yaml]
      • behavior_velocity_planner_common_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/behavior_velocity_planner_common.param.yaml]
      • behavior_velocity_planner_stop_line_module_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/stop_line.param.yaml]
      • motion_velocity_planner_launch_modules [default: [autoware::motion_velocity_planner::ObstacleStopModule]]
      • motion_velocity_planner_param_path [default: $(find-pkg-share autoware_core_planning)/config/motion_velocity_planner/motion_velocity_planner.param.yaml]
      • motion_velocity_planner_velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/Analytical.param.yaml]
      • motion_velocity_planner_obstacle_stop_module_param_path [default: $(find-pkg-share autoware_core_planning)/config/motion_velocity_planner/obstacle_stop.param.yaml]
      • velocity_smoother_type [default: JerkFiltered]
      • velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/$(var velocity_smoother_type).param.yaml]
      • enable_all_modules_auto_mode [default: true]
      • is_simulation [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_core_planning at Robotics Stack Exchange

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

autoware_core_planning package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 1.4.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/autowarefoundation/autoware_core.git
VCS Type git
VCS Version main
Last Updated 2025-08-12
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_core_planning package

Additional Links

No additional links.

Maintainers

  • Ryohsuke Mitsudome
  • Mete Fatih Cırıt
  • Yutaka Kondo

Authors

  • Ryohsuke Mitsudome
planning/autoware_core_planning/README.md

Autoware Core Planning

Overview

The autoware_core_planning is a meta-package within the Autoware project, designed to manage and organize various planning-related modules essential for autonomous vehicle operations. This package serves as a central point for integrating different planning functionalities, such as path planning, path optimization, and trajectory generation.

Usage

The autoware_core_planning meta-package is used to launch and manage planning modules as part of the Autoware system. You can start the system using:

ros2 launch autoware_launch planning_launch.xml
CHANGELOG

Changelog for package autoware_core_planning

1.1.0 (2025-05-01)

1.4.0 (2025-08-11)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat: change planning output topic name to /planning/trajectory (#602)

    • change planning output topic name to /planning/trajectory

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • feat(motion_velocity_planner, motion_velocity_planner_common): update pointcloud preprocess design (#591)

    * updare pcl preprocess ---------

  • chore: bump version to 1.3.0 (#554)

  • fix(obstacle_stop): fix for failing scenario (#566) fix for failing scenario

  • feat(obstacle_stop_module)!: add leading vehicle following by rss stop position determination (#537)

    * add new feature ---------

  • refactor: implement varying lateral acceleration and steering rate threshold in velocity smoother (#531)

    • refactor: implement varying steering rate threshold in velocity smoother
    • feat: implement varying lateral acceleration limit
    • fix typo in readme
    • fix bugs in unit conversion

    * clean up the obsolete parameter in core planning launch ---------Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

  • feat(obstacle_stop_module): add cut in stop feature (#517)

    • restore the old function to pass universe CI
    • add new feature

    * add todo comment ---------

  • Contributors: Arjun Jagdish Ram, Ryohsuke Mitsudome, Yuki TAKAGI, Yukihiro Saito, Yuxuan Liu

1.3.0 (2025-06-23)

  • fix: to be consistent version in all package.xml(s)

  • feat: use component_interface_specs for mission_planner (#546)

  • chore(behavior_velocity_planner): remove unecessary stop_line_extend_length (#515)

    • chore(behavior_velocity_planner): remove unecessary stop_line_extend_length from param files

    * Update behavior_velocity_planner.param.yaml ---------

  • feat(planning_factor): add console output option (#513) fix param json fix param json snake_case set default

  • feat(obstacle_stop_module): maintain larger stop distance for opposing traffic (#451)

    • Opposing traffic handling
    • Changes to core params
    • fix
    • fixes

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • chore: bump up version to 1.1.0 (#462) (#464)

  • feat(autoware_motion_velocity_planner): point-cloud clustering optimization

File truncated at 100 lines see the full file

Launch files

  • launch/autoware_core_planning.launch.xml
      • map_topic_name [default: /map/vector_map]
      • visualization_topic_name [default: /planning/mission_planning/route_marker]
      • mission_planner_param_path [default: $(find-pkg-share autoware_mission_planner)/config/mission_planner.param.yaml]
      • common_param_path [default: $(find-pkg-share autoware_core_planning)/config/common.param.yaml]
      • vehicle_param_file [default: $(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml]
      • nearest_search_param_path [default: $(find-pkg-share autoware_core_planning)/config/nearest_search.param.yaml]
      • velocity_smoother_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/velocity_smoother.param.yaml]
      • behavior_velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/Analytical.param.yaml]
      • behavior_velocity_planner_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/behavior_velocity_planner.param.yaml]
      • behavior_velocity_planner_common_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/behavior_velocity_planner_common.param.yaml]
      • behavior_velocity_planner_stop_line_module_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/stop_line.param.yaml]
      • motion_velocity_planner_launch_modules [default: [autoware::motion_velocity_planner::ObstacleStopModule]]
      • motion_velocity_planner_param_path [default: $(find-pkg-share autoware_core_planning)/config/motion_velocity_planner/motion_velocity_planner.param.yaml]
      • motion_velocity_planner_velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/Analytical.param.yaml]
      • motion_velocity_planner_obstacle_stop_module_param_path [default: $(find-pkg-share autoware_core_planning)/config/motion_velocity_planner/obstacle_stop.param.yaml]
      • velocity_smoother_type [default: JerkFiltered]
      • velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/$(var velocity_smoother_type).param.yaml]
      • enable_all_modules_auto_mode [default: true]
      • is_simulation [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_core_planning at Robotics Stack Exchange

No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

autoware_core_planning package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 1.4.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/autowarefoundation/autoware_core.git
VCS Type git
VCS Version main
Last Updated 2025-08-12
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_core_planning package

Additional Links

No additional links.

Maintainers

  • Ryohsuke Mitsudome
  • Mete Fatih Cırıt
  • Yutaka Kondo

Authors

  • Ryohsuke Mitsudome
planning/autoware_core_planning/README.md

Autoware Core Planning

Overview

The autoware_core_planning is a meta-package within the Autoware project, designed to manage and organize various planning-related modules essential for autonomous vehicle operations. This package serves as a central point for integrating different planning functionalities, such as path planning, path optimization, and trajectory generation.

Usage

The autoware_core_planning meta-package is used to launch and manage planning modules as part of the Autoware system. You can start the system using:

ros2 launch autoware_launch planning_launch.xml
CHANGELOG

Changelog for package autoware_core_planning

1.1.0 (2025-05-01)

1.4.0 (2025-08-11)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat: change planning output topic name to /planning/trajectory (#602)

    • change planning output topic name to /planning/trajectory

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • feat(motion_velocity_planner, motion_velocity_planner_common): update pointcloud preprocess design (#591)

    * updare pcl preprocess ---------

  • chore: bump version to 1.3.0 (#554)

  • fix(obstacle_stop): fix for failing scenario (#566) fix for failing scenario

  • feat(obstacle_stop_module)!: add leading vehicle following by rss stop position determination (#537)

    * add new feature ---------

  • refactor: implement varying lateral acceleration and steering rate threshold in velocity smoother (#531)

    • refactor: implement varying steering rate threshold in velocity smoother
    • feat: implement varying lateral acceleration limit
    • fix typo in readme
    • fix bugs in unit conversion

    * clean up the obsolete parameter in core planning launch ---------Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

  • feat(obstacle_stop_module): add cut in stop feature (#517)

    • restore the old function to pass universe CI
    • add new feature

    * add todo comment ---------

  • Contributors: Arjun Jagdish Ram, Ryohsuke Mitsudome, Yuki TAKAGI, Yukihiro Saito, Yuxuan Liu

1.3.0 (2025-06-23)

  • fix: to be consistent version in all package.xml(s)

  • feat: use component_interface_specs for mission_planner (#546)

  • chore(behavior_velocity_planner): remove unecessary stop_line_extend_length (#515)

    • chore(behavior_velocity_planner): remove unecessary stop_line_extend_length from param files

    * Update behavior_velocity_planner.param.yaml ---------

  • feat(planning_factor): add console output option (#513) fix param json fix param json snake_case set default

  • feat(obstacle_stop_module): maintain larger stop distance for opposing traffic (#451)

    • Opposing traffic handling
    • Changes to core params
    • fix
    • fixes

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • chore: bump up version to 1.1.0 (#462) (#464)

  • feat(autoware_motion_velocity_planner): point-cloud clustering optimization

File truncated at 100 lines see the full file

Launch files

  • launch/autoware_core_planning.launch.xml
      • map_topic_name [default: /map/vector_map]
      • visualization_topic_name [default: /planning/mission_planning/route_marker]
      • mission_planner_param_path [default: $(find-pkg-share autoware_mission_planner)/config/mission_planner.param.yaml]
      • common_param_path [default: $(find-pkg-share autoware_core_planning)/config/common.param.yaml]
      • vehicle_param_file [default: $(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml]
      • nearest_search_param_path [default: $(find-pkg-share autoware_core_planning)/config/nearest_search.param.yaml]
      • velocity_smoother_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/velocity_smoother.param.yaml]
      • behavior_velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/Analytical.param.yaml]
      • behavior_velocity_planner_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/behavior_velocity_planner.param.yaml]
      • behavior_velocity_planner_common_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/behavior_velocity_planner_common.param.yaml]
      • behavior_velocity_planner_stop_line_module_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/stop_line.param.yaml]
      • motion_velocity_planner_launch_modules [default: [autoware::motion_velocity_planner::ObstacleStopModule]]
      • motion_velocity_planner_param_path [default: $(find-pkg-share autoware_core_planning)/config/motion_velocity_planner/motion_velocity_planner.param.yaml]
      • motion_velocity_planner_velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/Analytical.param.yaml]
      • motion_velocity_planner_obstacle_stop_module_param_path [default: $(find-pkg-share autoware_core_planning)/config/motion_velocity_planner/obstacle_stop.param.yaml]
      • velocity_smoother_type [default: JerkFiltered]
      • velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/$(var velocity_smoother_type).param.yaml]
      • enable_all_modules_auto_mode [default: true]
      • is_simulation [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_core_planning at Robotics Stack Exchange

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

autoware_core_planning package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 1.4.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/autowarefoundation/autoware_core.git
VCS Type git
VCS Version main
Last Updated 2025-08-12
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_core_planning package

Additional Links

No additional links.

Maintainers

  • Ryohsuke Mitsudome
  • Mete Fatih Cırıt
  • Yutaka Kondo

Authors

  • Ryohsuke Mitsudome
planning/autoware_core_planning/README.md

Autoware Core Planning

Overview

The autoware_core_planning is a meta-package within the Autoware project, designed to manage and organize various planning-related modules essential for autonomous vehicle operations. This package serves as a central point for integrating different planning functionalities, such as path planning, path optimization, and trajectory generation.

Usage

The autoware_core_planning meta-package is used to launch and manage planning modules as part of the Autoware system. You can start the system using:

ros2 launch autoware_launch planning_launch.xml
CHANGELOG

Changelog for package autoware_core_planning

1.1.0 (2025-05-01)

1.4.0 (2025-08-11)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat: change planning output topic name to /planning/trajectory (#602)

    • change planning output topic name to /planning/trajectory

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • feat(motion_velocity_planner, motion_velocity_planner_common): update pointcloud preprocess design (#591)

    * updare pcl preprocess ---------

  • chore: bump version to 1.3.0 (#554)

  • fix(obstacle_stop): fix for failing scenario (#566) fix for failing scenario

  • feat(obstacle_stop_module)!: add leading vehicle following by rss stop position determination (#537)

    * add new feature ---------

  • refactor: implement varying lateral acceleration and steering rate threshold in velocity smoother (#531)

    • refactor: implement varying steering rate threshold in velocity smoother
    • feat: implement varying lateral acceleration limit
    • fix typo in readme
    • fix bugs in unit conversion

    * clean up the obsolete parameter in core planning launch ---------Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

  • feat(obstacle_stop_module): add cut in stop feature (#517)

    • restore the old function to pass universe CI
    • add new feature

    * add todo comment ---------

  • Contributors: Arjun Jagdish Ram, Ryohsuke Mitsudome, Yuki TAKAGI, Yukihiro Saito, Yuxuan Liu

1.3.0 (2025-06-23)

  • fix: to be consistent version in all package.xml(s)

  • feat: use component_interface_specs for mission_planner (#546)

  • chore(behavior_velocity_planner): remove unecessary stop_line_extend_length (#515)

    • chore(behavior_velocity_planner): remove unecessary stop_line_extend_length from param files

    * Update behavior_velocity_planner.param.yaml ---------

  • feat(planning_factor): add console output option (#513) fix param json fix param json snake_case set default

  • feat(obstacle_stop_module): maintain larger stop distance for opposing traffic (#451)

    • Opposing traffic handling
    • Changes to core params
    • fix
    • fixes

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • chore: bump up version to 1.1.0 (#462) (#464)

  • feat(autoware_motion_velocity_planner): point-cloud clustering optimization

File truncated at 100 lines see the full file

Launch files

  • launch/autoware_core_planning.launch.xml
      • map_topic_name [default: /map/vector_map]
      • visualization_topic_name [default: /planning/mission_planning/route_marker]
      • mission_planner_param_path [default: $(find-pkg-share autoware_mission_planner)/config/mission_planner.param.yaml]
      • common_param_path [default: $(find-pkg-share autoware_core_planning)/config/common.param.yaml]
      • vehicle_param_file [default: $(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml]
      • nearest_search_param_path [default: $(find-pkg-share autoware_core_planning)/config/nearest_search.param.yaml]
      • velocity_smoother_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/velocity_smoother.param.yaml]
      • behavior_velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/Analytical.param.yaml]
      • behavior_velocity_planner_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/behavior_velocity_planner.param.yaml]
      • behavior_velocity_planner_common_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/behavior_velocity_planner_common.param.yaml]
      • behavior_velocity_planner_stop_line_module_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/stop_line.param.yaml]
      • motion_velocity_planner_launch_modules [default: [autoware::motion_velocity_planner::ObstacleStopModule]]
      • motion_velocity_planner_param_path [default: $(find-pkg-share autoware_core_planning)/config/motion_velocity_planner/motion_velocity_planner.param.yaml]
      • motion_velocity_planner_velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/Analytical.param.yaml]
      • motion_velocity_planner_obstacle_stop_module_param_path [default: $(find-pkg-share autoware_core_planning)/config/motion_velocity_planner/obstacle_stop.param.yaml]
      • velocity_smoother_type [default: JerkFiltered]
      • velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/$(var velocity_smoother_type).param.yaml]
      • enable_all_modules_auto_mode [default: true]
      • is_simulation [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_core_planning at Robotics Stack Exchange

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

autoware_core_planning package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 1.4.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/autowarefoundation/autoware_core.git
VCS Type git
VCS Version main
Last Updated 2025-08-12
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_core_planning package

Additional Links

No additional links.

Maintainers

  • Ryohsuke Mitsudome
  • Mete Fatih Cırıt
  • Yutaka Kondo

Authors

  • Ryohsuke Mitsudome
planning/autoware_core_planning/README.md

Autoware Core Planning

Overview

The autoware_core_planning is a meta-package within the Autoware project, designed to manage and organize various planning-related modules essential for autonomous vehicle operations. This package serves as a central point for integrating different planning functionalities, such as path planning, path optimization, and trajectory generation.

Usage

The autoware_core_planning meta-package is used to launch and manage planning modules as part of the Autoware system. You can start the system using:

ros2 launch autoware_launch planning_launch.xml
CHANGELOG

Changelog for package autoware_core_planning

1.1.0 (2025-05-01)

1.4.0 (2025-08-11)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat: change planning output topic name to /planning/trajectory (#602)

    • change planning output topic name to /planning/trajectory

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • feat(motion_velocity_planner, motion_velocity_planner_common): update pointcloud preprocess design (#591)

    * updare pcl preprocess ---------

  • chore: bump version to 1.3.0 (#554)

  • fix(obstacle_stop): fix for failing scenario (#566) fix for failing scenario

  • feat(obstacle_stop_module)!: add leading vehicle following by rss stop position determination (#537)

    * add new feature ---------

  • refactor: implement varying lateral acceleration and steering rate threshold in velocity smoother (#531)

    • refactor: implement varying steering rate threshold in velocity smoother
    • feat: implement varying lateral acceleration limit
    • fix typo in readme
    • fix bugs in unit conversion

    * clean up the obsolete parameter in core planning launch ---------Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

  • feat(obstacle_stop_module): add cut in stop feature (#517)

    • restore the old function to pass universe CI
    • add new feature

    * add todo comment ---------

  • Contributors: Arjun Jagdish Ram, Ryohsuke Mitsudome, Yuki TAKAGI, Yukihiro Saito, Yuxuan Liu

1.3.0 (2025-06-23)

  • fix: to be consistent version in all package.xml(s)

  • feat: use component_interface_specs for mission_planner (#546)

  • chore(behavior_velocity_planner): remove unecessary stop_line_extend_length (#515)

    • chore(behavior_velocity_planner): remove unecessary stop_line_extend_length from param files

    * Update behavior_velocity_planner.param.yaml ---------

  • feat(planning_factor): add console output option (#513) fix param json fix param json snake_case set default

  • feat(obstacle_stop_module): maintain larger stop distance for opposing traffic (#451)

    • Opposing traffic handling
    • Changes to core params
    • fix
    • fixes

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • chore: bump up version to 1.1.0 (#462) (#464)

  • feat(autoware_motion_velocity_planner): point-cloud clustering optimization

File truncated at 100 lines see the full file

Launch files

  • launch/autoware_core_planning.launch.xml
      • map_topic_name [default: /map/vector_map]
      • visualization_topic_name [default: /planning/mission_planning/route_marker]
      • mission_planner_param_path [default: $(find-pkg-share autoware_mission_planner)/config/mission_planner.param.yaml]
      • common_param_path [default: $(find-pkg-share autoware_core_planning)/config/common.param.yaml]
      • vehicle_param_file [default: $(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml]
      • nearest_search_param_path [default: $(find-pkg-share autoware_core_planning)/config/nearest_search.param.yaml]
      • velocity_smoother_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/velocity_smoother.param.yaml]
      • behavior_velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/Analytical.param.yaml]
      • behavior_velocity_planner_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/behavior_velocity_planner.param.yaml]
      • behavior_velocity_planner_common_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/behavior_velocity_planner_common.param.yaml]
      • behavior_velocity_planner_stop_line_module_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/stop_line.param.yaml]
      • motion_velocity_planner_launch_modules [default: [autoware::motion_velocity_planner::ObstacleStopModule]]
      • motion_velocity_planner_param_path [default: $(find-pkg-share autoware_core_planning)/config/motion_velocity_planner/motion_velocity_planner.param.yaml]
      • motion_velocity_planner_velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/Analytical.param.yaml]
      • motion_velocity_planner_obstacle_stop_module_param_path [default: $(find-pkg-share autoware_core_planning)/config/motion_velocity_planner/obstacle_stop.param.yaml]
      • velocity_smoother_type [default: JerkFiltered]
      • velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/$(var velocity_smoother_type).param.yaml]
      • enable_all_modules_auto_mode [default: true]
      • is_simulation [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_core_planning at Robotics Stack Exchange

No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

autoware_core_planning package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 1.4.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/autowarefoundation/autoware_core.git
VCS Type git
VCS Version main
Last Updated 2025-08-12
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_core_planning package

Additional Links

No additional links.

Maintainers

  • Ryohsuke Mitsudome
  • Mete Fatih Cırıt
  • Yutaka Kondo

Authors

  • Ryohsuke Mitsudome
planning/autoware_core_planning/README.md

Autoware Core Planning

Overview

The autoware_core_planning is a meta-package within the Autoware project, designed to manage and organize various planning-related modules essential for autonomous vehicle operations. This package serves as a central point for integrating different planning functionalities, such as path planning, path optimization, and trajectory generation.

Usage

The autoware_core_planning meta-package is used to launch and manage planning modules as part of the Autoware system. You can start the system using:

ros2 launch autoware_launch planning_launch.xml
CHANGELOG

Changelog for package autoware_core_planning

1.1.0 (2025-05-01)

1.4.0 (2025-08-11)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat: change planning output topic name to /planning/trajectory (#602)

    • change planning output topic name to /planning/trajectory

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • feat(motion_velocity_planner, motion_velocity_planner_common): update pointcloud preprocess design (#591)

    * updare pcl preprocess ---------

  • chore: bump version to 1.3.0 (#554)

  • fix(obstacle_stop): fix for failing scenario (#566) fix for failing scenario

  • feat(obstacle_stop_module)!: add leading vehicle following by rss stop position determination (#537)

    * add new feature ---------

  • refactor: implement varying lateral acceleration and steering rate threshold in velocity smoother (#531)

    • refactor: implement varying steering rate threshold in velocity smoother
    • feat: implement varying lateral acceleration limit
    • fix typo in readme
    • fix bugs in unit conversion

    * clean up the obsolete parameter in core planning launch ---------Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

  • feat(obstacle_stop_module): add cut in stop feature (#517)

    • restore the old function to pass universe CI
    • add new feature

    * add todo comment ---------

  • Contributors: Arjun Jagdish Ram, Ryohsuke Mitsudome, Yuki TAKAGI, Yukihiro Saito, Yuxuan Liu

1.3.0 (2025-06-23)

  • fix: to be consistent version in all package.xml(s)

  • feat: use component_interface_specs for mission_planner (#546)

  • chore(behavior_velocity_planner): remove unecessary stop_line_extend_length (#515)

    • chore(behavior_velocity_planner): remove unecessary stop_line_extend_length from param files

    * Update behavior_velocity_planner.param.yaml ---------

  • feat(planning_factor): add console output option (#513) fix param json fix param json snake_case set default

  • feat(obstacle_stop_module): maintain larger stop distance for opposing traffic (#451)

    • Opposing traffic handling
    • Changes to core params
    • fix
    • fixes

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • chore: bump up version to 1.1.0 (#462) (#464)

  • feat(autoware_motion_velocity_planner): point-cloud clustering optimization

File truncated at 100 lines see the full file

Launch files

  • launch/autoware_core_planning.launch.xml
      • map_topic_name [default: /map/vector_map]
      • visualization_topic_name [default: /planning/mission_planning/route_marker]
      • mission_planner_param_path [default: $(find-pkg-share autoware_mission_planner)/config/mission_planner.param.yaml]
      • common_param_path [default: $(find-pkg-share autoware_core_planning)/config/common.param.yaml]
      • vehicle_param_file [default: $(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml]
      • nearest_search_param_path [default: $(find-pkg-share autoware_core_planning)/config/nearest_search.param.yaml]
      • velocity_smoother_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/velocity_smoother.param.yaml]
      • behavior_velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/Analytical.param.yaml]
      • behavior_velocity_planner_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/behavior_velocity_planner.param.yaml]
      • behavior_velocity_planner_common_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/behavior_velocity_planner_common.param.yaml]
      • behavior_velocity_planner_stop_line_module_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/stop_line.param.yaml]
      • motion_velocity_planner_launch_modules [default: [autoware::motion_velocity_planner::ObstacleStopModule]]
      • motion_velocity_planner_param_path [default: $(find-pkg-share autoware_core_planning)/config/motion_velocity_planner/motion_velocity_planner.param.yaml]
      • motion_velocity_planner_velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/Analytical.param.yaml]
      • motion_velocity_planner_obstacle_stop_module_param_path [default: $(find-pkg-share autoware_core_planning)/config/motion_velocity_planner/obstacle_stop.param.yaml]
      • velocity_smoother_type [default: JerkFiltered]
      • velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/$(var velocity_smoother_type).param.yaml]
      • enable_all_modules_auto_mode [default: true]
      • is_simulation [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_core_planning at Robotics Stack Exchange

No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

autoware_core_planning package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 1.4.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/autowarefoundation/autoware_core.git
VCS Type git
VCS Version main
Last Updated 2025-08-12
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_core_planning package

Additional Links

No additional links.

Maintainers

  • Ryohsuke Mitsudome
  • Mete Fatih Cırıt
  • Yutaka Kondo

Authors

  • Ryohsuke Mitsudome
planning/autoware_core_planning/README.md

Autoware Core Planning

Overview

The autoware_core_planning is a meta-package within the Autoware project, designed to manage and organize various planning-related modules essential for autonomous vehicle operations. This package serves as a central point for integrating different planning functionalities, such as path planning, path optimization, and trajectory generation.

Usage

The autoware_core_planning meta-package is used to launch and manage planning modules as part of the Autoware system. You can start the system using:

ros2 launch autoware_launch planning_launch.xml
CHANGELOG

Changelog for package autoware_core_planning

1.1.0 (2025-05-01)

1.4.0 (2025-08-11)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat: change planning output topic name to /planning/trajectory (#602)

    • change planning output topic name to /planning/trajectory

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • feat(motion_velocity_planner, motion_velocity_planner_common): update pointcloud preprocess design (#591)

    * updare pcl preprocess ---------

  • chore: bump version to 1.3.0 (#554)

  • fix(obstacle_stop): fix for failing scenario (#566) fix for failing scenario

  • feat(obstacle_stop_module)!: add leading vehicle following by rss stop position determination (#537)

    * add new feature ---------

  • refactor: implement varying lateral acceleration and steering rate threshold in velocity smoother (#531)

    • refactor: implement varying steering rate threshold in velocity smoother
    • feat: implement varying lateral acceleration limit
    • fix typo in readme
    • fix bugs in unit conversion

    * clean up the obsolete parameter in core planning launch ---------Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

  • feat(obstacle_stop_module): add cut in stop feature (#517)

    • restore the old function to pass universe CI
    • add new feature

    * add todo comment ---------

  • Contributors: Arjun Jagdish Ram, Ryohsuke Mitsudome, Yuki TAKAGI, Yukihiro Saito, Yuxuan Liu

1.3.0 (2025-06-23)

  • fix: to be consistent version in all package.xml(s)

  • feat: use component_interface_specs for mission_planner (#546)

  • chore(behavior_velocity_planner): remove unecessary stop_line_extend_length (#515)

    • chore(behavior_velocity_planner): remove unecessary stop_line_extend_length from param files

    * Update behavior_velocity_planner.param.yaml ---------

  • feat(planning_factor): add console output option (#513) fix param json fix param json snake_case set default

  • feat(obstacle_stop_module): maintain larger stop distance for opposing traffic (#451)

    • Opposing traffic handling
    • Changes to core params
    • fix
    • fixes

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • chore: bump up version to 1.1.0 (#462) (#464)

  • feat(autoware_motion_velocity_planner): point-cloud clustering optimization

File truncated at 100 lines see the full file

Launch files

  • launch/autoware_core_planning.launch.xml
      • map_topic_name [default: /map/vector_map]
      • visualization_topic_name [default: /planning/mission_planning/route_marker]
      • mission_planner_param_path [default: $(find-pkg-share autoware_mission_planner)/config/mission_planner.param.yaml]
      • common_param_path [default: $(find-pkg-share autoware_core_planning)/config/common.param.yaml]
      • vehicle_param_file [default: $(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml]
      • nearest_search_param_path [default: $(find-pkg-share autoware_core_planning)/config/nearest_search.param.yaml]
      • velocity_smoother_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/velocity_smoother.param.yaml]
      • behavior_velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/Analytical.param.yaml]
      • behavior_velocity_planner_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/behavior_velocity_planner.param.yaml]
      • behavior_velocity_planner_common_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/behavior_velocity_planner_common.param.yaml]
      • behavior_velocity_planner_stop_line_module_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/stop_line.param.yaml]
      • motion_velocity_planner_launch_modules [default: [autoware::motion_velocity_planner::ObstacleStopModule]]
      • motion_velocity_planner_param_path [default: $(find-pkg-share autoware_core_planning)/config/motion_velocity_planner/motion_velocity_planner.param.yaml]
      • motion_velocity_planner_velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/Analytical.param.yaml]
      • motion_velocity_planner_obstacle_stop_module_param_path [default: $(find-pkg-share autoware_core_planning)/config/motion_velocity_planner/obstacle_stop.param.yaml]
      • velocity_smoother_type [default: JerkFiltered]
      • velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/$(var velocity_smoother_type).param.yaml]
      • enable_all_modules_auto_mode [default: true]
      • is_simulation [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_core_planning at Robotics Stack Exchange

No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

autoware_core_planning package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 1.4.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/autowarefoundation/autoware_core.git
VCS Type git
VCS Version main
Last Updated 2025-08-12
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_core_planning package

Additional Links

No additional links.

Maintainers

  • Ryohsuke Mitsudome
  • Mete Fatih Cırıt
  • Yutaka Kondo

Authors

  • Ryohsuke Mitsudome
planning/autoware_core_planning/README.md

Autoware Core Planning

Overview

The autoware_core_planning is a meta-package within the Autoware project, designed to manage and organize various planning-related modules essential for autonomous vehicle operations. This package serves as a central point for integrating different planning functionalities, such as path planning, path optimization, and trajectory generation.

Usage

The autoware_core_planning meta-package is used to launch and manage planning modules as part of the Autoware system. You can start the system using:

ros2 launch autoware_launch planning_launch.xml
CHANGELOG

Changelog for package autoware_core_planning

1.1.0 (2025-05-01)

1.4.0 (2025-08-11)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat: change planning output topic name to /planning/trajectory (#602)

    • change planning output topic name to /planning/trajectory

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • feat(motion_velocity_planner, motion_velocity_planner_common): update pointcloud preprocess design (#591)

    * updare pcl preprocess ---------

  • chore: bump version to 1.3.0 (#554)

  • fix(obstacle_stop): fix for failing scenario (#566) fix for failing scenario

  • feat(obstacle_stop_module)!: add leading vehicle following by rss stop position determination (#537)

    * add new feature ---------

  • refactor: implement varying lateral acceleration and steering rate threshold in velocity smoother (#531)

    • refactor: implement varying steering rate threshold in velocity smoother
    • feat: implement varying lateral acceleration limit
    • fix typo in readme
    • fix bugs in unit conversion

    * clean up the obsolete parameter in core planning launch ---------Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

  • feat(obstacle_stop_module): add cut in stop feature (#517)

    • restore the old function to pass universe CI
    • add new feature

    * add todo comment ---------

  • Contributors: Arjun Jagdish Ram, Ryohsuke Mitsudome, Yuki TAKAGI, Yukihiro Saito, Yuxuan Liu

1.3.0 (2025-06-23)

  • fix: to be consistent version in all package.xml(s)

  • feat: use component_interface_specs for mission_planner (#546)

  • chore(behavior_velocity_planner): remove unecessary stop_line_extend_length (#515)

    • chore(behavior_velocity_planner): remove unecessary stop_line_extend_length from param files

    * Update behavior_velocity_planner.param.yaml ---------

  • feat(planning_factor): add console output option (#513) fix param json fix param json snake_case set default

  • feat(obstacle_stop_module): maintain larger stop distance for opposing traffic (#451)

    • Opposing traffic handling
    • Changes to core params
    • fix
    • fixes

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • chore: bump up version to 1.1.0 (#462) (#464)

  • feat(autoware_motion_velocity_planner): point-cloud clustering optimization

File truncated at 100 lines see the full file

Launch files

  • launch/autoware_core_planning.launch.xml
      • map_topic_name [default: /map/vector_map]
      • visualization_topic_name [default: /planning/mission_planning/route_marker]
      • mission_planner_param_path [default: $(find-pkg-share autoware_mission_planner)/config/mission_planner.param.yaml]
      • common_param_path [default: $(find-pkg-share autoware_core_planning)/config/common.param.yaml]
      • vehicle_param_file [default: $(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml]
      • nearest_search_param_path [default: $(find-pkg-share autoware_core_planning)/config/nearest_search.param.yaml]
      • velocity_smoother_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/velocity_smoother.param.yaml]
      • behavior_velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/Analytical.param.yaml]
      • behavior_velocity_planner_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/behavior_velocity_planner.param.yaml]
      • behavior_velocity_planner_common_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/behavior_velocity_planner_common.param.yaml]
      • behavior_velocity_planner_stop_line_module_param_path [default: $(find-pkg-share autoware_core_planning)/config/behavior_velocity_planner/stop_line.param.yaml]
      • motion_velocity_planner_launch_modules [default: [autoware::motion_velocity_planner::ObstacleStopModule]]
      • motion_velocity_planner_param_path [default: $(find-pkg-share autoware_core_planning)/config/motion_velocity_planner/motion_velocity_planner.param.yaml]
      • motion_velocity_planner_velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/Analytical.param.yaml]
      • motion_velocity_planner_obstacle_stop_module_param_path [default: $(find-pkg-share autoware_core_planning)/config/motion_velocity_planner/obstacle_stop.param.yaml]
      • velocity_smoother_type [default: JerkFiltered]
      • velocity_smoother_type_param_path [default: $(find-pkg-share autoware_core_planning)/config/autoware_velocity_smoother/$(var velocity_smoother_type).param.yaml]
      • enable_all_modules_auto_mode [default: true]
      • is_simulation [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_core_planning at Robotics Stack Exchange