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;

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Changelog for package autoware_mission_planner

1.1.0 (2025-05-01)

1.9.0 (2026-06-24)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

• refactor(autoware_mission_planner): extract pure check_reroute_safety free function (#1113)

  * refactor(autoware_mission_planner): extract pure check_reroute_safety free function Extract the reroute-safety algorithm out of the MissionPlanner node method into a pure, dependency-injected free function declared in reroute_safety.hpp (route + lanelet map + scalars in, bool out). The node method now forwards to it after validating its own odometry / map members, so there is no public-API change (the method stays private). The two byte-for-byte identical start-segment distance branches (start_idx_target != 0 && start_idx_original > 1 vs else) are collapsed into a single arc_length_to_lanelet_end helper that is parameterized only by which original-route segment supplies the primitives. Add table-driven unit tests over synthetic routes / lanelets covering every early-return branch (empty routes, null map, stopped-vehicle short-circuit, no common segment, ego not on first target section) and the final velocity-scaled safety-length comparison (safe / unsafe / velocity dependence). This is a behavior-preserving, ABI-neutral testability win on the package's most complex previously untested algorithm. Refs: autowarefoundation/autoware_core#1096

  * test(autoware_mission_planner): pin start-segment -1 branch and empty-segment break (#69) Add a fixture case where the target route starts mid-original-route so start_idx_target != 0 && start_idx_original > 1, exercising the previously-unhit start_idx_original - 1 selector branch of check_reroute_safety; verified RED against a regression that drops the -1. Also pin the empty-primitives accumulation break. Refs: autowarefoundation/autoware_core#1096 ---------

• feat(autoware_vehicle_info_utils): add base_pose to createFootprint (#1072)

• Contributors: Sarun MUKDAPITAK, Yutaka Kondo, github-actions

1.8.0 (2026-05-01)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

• fix(mission_planner): unused using-declaration with GCC 15 (#1000)

• chore(planning, bvp): remove unused lanelet2_extension header (#902)

  • remove unused lanelet2_extension in bvp modules

  * remove unused lanelet2_extension in planning components ---------

• feat(autoware_mission_planner): remove glog component (#879) feat: remove glog component

• fix(lanelet2_utils): change is_in_lanelet argument order (#890)

• feat(lanelet2_extension): port lanelet2_extension utilities functions (final) (#838) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Mamoru Sobue <<hilo.soblin@gmail.com>>

• chore: organize maintainer (#860)

  • chore: organize maintainer

  * chore: organize maintainer ---------

• Contributors: Guilhem Saurel, Sarun MUKDAPITAK, Satoshi OTA, Tetsuhiro Kawaguchi, github-actions

1.7.0 (2026-02-14)

• Merge remote-tracking branch 'origin/main' into humble
• refactor(planning): deprecate lanelet_extension geometry conversion function (#834) Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
• refactor(planning, common): replace lanelet2_extension function (#796)
• Contributors: Mamoru Sobue, Ryohsuke Mitsudome

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