Mission Planner

Purpose

Mission Planner calculates a route that navigates from the current ego pose to the goal pose following the given check points. The route is made of a sequence of lanes on a static map. Dynamic objects (e.g. pedestrians and other vehicles) and dynamic map information (e.g. road construction which blocks some lanes) are not considered during route planning. Therefore, the output topic is only published when the goal pose or check points are given and will be latched until the new goal pose or check points are given.

The core implementation does not depend on a map format. Any planning algorithms can be added as plugin modules. In current Autoware Universe, only the plugin for Lanelet2 map format is supported.

Interfaces

Parameters

Services

Subscriptions

Publications

Route section

Route section, whose type is autoware_planning_msgs/LaneletSegment, is a “slice” of a road that bundles lane changeable lanes. Note that the most atomic unit of route is autoware_planning_msgs/LaneletPrimitive, which has the unique id of a lane in a vector map and its type. Therefore, route message does not contain geometric information about the lane since we did not want to have planning module’s message to have dependency on map data structure.

The ROS message of route section contains following three elements for each route section.

• preferred_primitive: Preferred lane to follow towards the goal.
• primitives: All neighbor lanes in the same direction including the preferred lane.

Goal Validation

The mission planner has control mechanism to validate the given goal pose and create a route. If goal pose angle between goal pose lanelet and goal pose’ yaw is greater than goal_angle_threshold parameter, the goal is rejected. Another control mechanism is the creation of a footprint of the goal pose according to the dimensions of the vehicle and checking whether this footprint is within the lanelets. If goal footprint exceeds lanelets, then the goal is rejected.

At the image below, there are sample goal pose validation cases.

Implementation

Mission Planner

Two callbacks (goal and check points) are a trigger for route planning. Routing graph, which plans route in Lanelet2, must be created before those callbacks, and this routing graph is created in vector map callback.

plan route is explained in detail in the following section.

```plantuml @startuml title goal callback start

:clear previously memorized check points;

:memorize ego and goal pose as check points;

if (routing graph is ready?) then (yes) else (no) stop endif

:plan route;

File truncated at 100 lines see the full file

Changelog for package autoware_mission_planner

1.1.0 (2025-05-01)

1.0.0 (2025-03-31)

• chore: update version in package.xml

• feat: port simplified version of autoware_mission_planner from Autoware Universe (#329)

  • feat: port autoware_mission_planner from Autoware Universe
  • chore: reset package version and remove CHANGELOG
  • chore: remove the _universe suffix from autoware_mission_planner
  • feat: repalce tier4_planning_msgs with autoware_internal_planning_msgs
  • feat: remove route_selector module
  • feat: remove reroute_availability and modified_goal subscription
  • remove unnecessary image
  • style(pre-commit): autofix
  • fix: remove unnecessary include file
  • fix: resolve useInitializationList error from cppcheck
  • Apply suggestions from code review

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

• Contributors: Ryohsuke Mitsudome