Motion Velocity Planner

planning/motion_velocity_planner/autoware_motion_velocity_planner/README.md

Package Summary

Version	1.5.0
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	2025-11-21
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Node of the motion_velocity_planner

Maintainers

Maxime Clement
Alqudah Mohammad
Yutaka Kondo

Authors

Maxime Clement

Motion Velocity Planner

Overview

motion_velocity_planner is a planner to adjust the trajectory velocity based on the obstacles around the vehicle. It loads modules as plugins. Please refer to the links listed below for detail on each module.

Architecture

Out of Lane

Each module calculates stop and slow down points to be inserted in the ego trajectory. These points are assumed to correspond to the base_link frame of the ego vehicle as it follows the trajectory. This means that to stop before a wall, a stop point is inserted in the trajectory at a distance ahead of the wall equal to the vehicle front offset (wheelbase + front overhang, see the vehicle dimensions.

set_stop_velocity

Input topics

Name	Type	Description
`~/input/trajectory`	autoware_planning_msgs::msg::Trajectory	input trajectory
`~/input/vector_map`	autoware_map_msgs::msg::LaneletMapBin	vector map
`~/input/vehicle_odometry`	nav_msgs::msg::Odometry	vehicle position and velocity
`~/input/accel`	geometry_msgs::msg::AccelWithCovarianceStamped	vehicle acceleration
`~/input/dynamic_objects`	autoware_perception_msgs::msg::PredictedObjects	dynamic objects
`~/input/no_ground_pointcloud`	sensor_msgs::msg::PointCloud2	obstacle pointcloud
`~/input/traffic_signals`	autoware_perception_msgs::msg::TrafficLightGroupArray	traffic light states
`~/input/occupancy_grid`	nav_msgs::msg::OccupancyGrid	occupancy grid

Output topics

Name	Type	Description
`~/output/trajectory`	autoware_planning_msgs::msg::Trajectory	Ego trajectory with updated velocity profile
`~/output/planning_factors/<MODULE_NAME>`	autoware_internal_planning_msgs::msg::PlanningFactorsArray	factors causing change in the ego velocity profile

Services

Name	Type	Description
`~/service/load_plugin`	autoware_motion_velocity_planner::srv::LoadPlugin	To request loading a plugin
`~/service/unload_plugin`	autoware_motion_velocity_planner::srv::UnloadPlugin	To request unloaded a plugin

Node parameters

Parameter	Type	Description
`launch_modules`	vector<string>	module names to launch

In addition, the following parameters should be provided to the node:

nearest search parameters;
vehicle info parameters;
common planning parameters;
smoother parameters
Parameters of each plugin that will be loaded.

CHANGELOG

Changelog for package autoware_motion_velocity_planner

1.1.0 (2025-05-01)

1.5.0 (2025-11-16)

Merge remote-tracking branch 'origin/main' into humble
feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)
- replace ament_auto_package to autoware_ament_auto_package
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix(motion_velocity_planner): prevent sudden yaw changes by adjusting overlap threshold for stop point insertion (#692)

* fix(motion_velocity_planner): prevent sudden yaw changes by adjusting overlap threshold for stop point insertion ---------
feat(motion_velocity_planner): update pointcloud preprocess (#631)
fix(motion_velocity_planner): fix empty point cloud header (#635)
feat(obstacle_stop): enable object specified obstacle_filtering parameter and refactor obstacle type handling (#613)

* refactor obstacle_filtering structure and type handling ---------
chore: bump version (1.4.0) and update changelog (#608)
Contributors: Kyoichi Sugahara, Mete Fatih Cırıt, Yuki TAKAGI, Yutaka Kondo, mitsudome-r

1.4.0 (2025-08-11)

Merge remote-tracking branch 'origin/main' into humble
feat(motion_velocity_planner, motion_velocity_planner_common): update pointcloud preprocess design (#591)

* updare pcl preprocess ---------
chore(motion_velocity_planner, behavior_velocity_planner): unifiy module load srv (#585) port srv
refactor(motion_velocity_planner): restrict copy of planner_data (#587)

* restrict plannar data copy ---------
chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome, Yuki TAKAGI

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
feat(motion_velocity_planner_node): update pcl coordinate transformation (#519)
- update pcl coordinate transformation
* add canTransform check ---------
feat(autoware_motion_velocity_planner)!: only wait for the required subscriptions (#505) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
fix(autoware_motion_velocity_planner): fix deprecated autoware_utils header (#444)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	rosidl_default_generators
	ament_cmake_auto
	autoware_cmake
	eigen3_cmake_module
	rosidl_default_runtime
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_planning_test_manager
	autoware_internal_debug_msgs
	autoware_internal_planning_msgs
	autoware_map_msgs
	autoware_motion_utils
	autoware_motion_velocity_planner_common
	autoware_perception_msgs
	autoware_planning_factor_interface
	autoware_planning_msgs
	autoware_utils_debug
	autoware_utils_geometry
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_rclcpp
	autoware_utils_system
	autoware_velocity_smoother
	geometry_msgs
	grid_map_core
	pcl_conversions
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
eigen
libboost-dev

Dependant Packages

Name	Deps
autoware_core_planning

Launch files

launch/motion_velocity_planner.launch.xml
- - common_param_path
  - vehicle_param_file
  - nearest_search_param_path
  - motion_velocity_planner_launch_modules
  - motion_velocity_config_path
  - motion_velocity_planner_param_path
  - motion_velocity_planner_param_file [default: $(find-pkg-share autoware_motion_velocity_planner)/config/motion_velocity_planner.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_motion_velocity_planner` at Robotics Stack Exchange

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

autoware_motion_velocity_planner 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_qos_utils 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

planning/motion_velocity_planner/autoware_motion_velocity_planner/README.md

Package Summary

Version	1.5.0
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	2025-11-21
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Node of the motion_velocity_planner

Maintainers

Maxime Clement
Alqudah Mohammad
Yutaka Kondo

Authors

Maxime Clement

Motion Velocity Planner

Overview

motion_velocity_planner is a planner to adjust the trajectory velocity based on the obstacles around the vehicle. It loads modules as plugins. Please refer to the links listed below for detail on each module.

Architecture

Out of Lane

Each module calculates stop and slow down points to be inserted in the ego trajectory. These points are assumed to correspond to the base_link frame of the ego vehicle as it follows the trajectory. This means that to stop before a wall, a stop point is inserted in the trajectory at a distance ahead of the wall equal to the vehicle front offset (wheelbase + front overhang, see the vehicle dimensions.

set_stop_velocity

Input topics

Name	Type	Description
`~/input/trajectory`	autoware_planning_msgs::msg::Trajectory	input trajectory
`~/input/vector_map`	autoware_map_msgs::msg::LaneletMapBin	vector map
`~/input/vehicle_odometry`	nav_msgs::msg::Odometry	vehicle position and velocity
`~/input/accel`	geometry_msgs::msg::AccelWithCovarianceStamped	vehicle acceleration
`~/input/dynamic_objects`	autoware_perception_msgs::msg::PredictedObjects	dynamic objects
`~/input/no_ground_pointcloud`	sensor_msgs::msg::PointCloud2	obstacle pointcloud
`~/input/traffic_signals`	autoware_perception_msgs::msg::TrafficLightGroupArray	traffic light states
`~/input/occupancy_grid`	nav_msgs::msg::OccupancyGrid	occupancy grid

Output topics

Name	Type	Description
`~/output/trajectory`	autoware_planning_msgs::msg::Trajectory	Ego trajectory with updated velocity profile
`~/output/planning_factors/<MODULE_NAME>`	autoware_internal_planning_msgs::msg::PlanningFactorsArray	factors causing change in the ego velocity profile

Services

Name	Type	Description
`~/service/load_plugin`	autoware_motion_velocity_planner::srv::LoadPlugin	To request loading a plugin
`~/service/unload_plugin`	autoware_motion_velocity_planner::srv::UnloadPlugin	To request unloaded a plugin

Node parameters

Parameter	Type	Description
`launch_modules`	vector<string>	module names to launch

In addition, the following parameters should be provided to the node:

nearest search parameters;
vehicle info parameters;
common planning parameters;
smoother parameters
Parameters of each plugin that will be loaded.

CHANGELOG

Changelog for package autoware_motion_velocity_planner

1.1.0 (2025-05-01)

1.5.0 (2025-11-16)

Merge remote-tracking branch 'origin/main' into humble
feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)
- replace ament_auto_package to autoware_ament_auto_package
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix(motion_velocity_planner): prevent sudden yaw changes by adjusting overlap threshold for stop point insertion (#692)

* fix(motion_velocity_planner): prevent sudden yaw changes by adjusting overlap threshold for stop point insertion ---------
feat(motion_velocity_planner): update pointcloud preprocess (#631)
fix(motion_velocity_planner): fix empty point cloud header (#635)
feat(obstacle_stop): enable object specified obstacle_filtering parameter and refactor obstacle type handling (#613)

* refactor obstacle_filtering structure and type handling ---------
chore: bump version (1.4.0) and update changelog (#608)
Contributors: Kyoichi Sugahara, Mete Fatih Cırıt, Yuki TAKAGI, Yutaka Kondo, mitsudome-r

1.4.0 (2025-08-11)

Merge remote-tracking branch 'origin/main' into humble
feat(motion_velocity_planner, motion_velocity_planner_common): update pointcloud preprocess design (#591)

* updare pcl preprocess ---------
chore(motion_velocity_planner, behavior_velocity_planner): unifiy module load srv (#585) port srv
refactor(motion_velocity_planner): restrict copy of planner_data (#587)

* restrict plannar data copy ---------
chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome, Yuki TAKAGI

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
feat(motion_velocity_planner_node): update pcl coordinate transformation (#519)
- update pcl coordinate transformation
* add canTransform check ---------
feat(autoware_motion_velocity_planner)!: only wait for the required subscriptions (#505) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
fix(autoware_motion_velocity_planner): fix deprecated autoware_utils header (#444)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	rosidl_default_generators
	ament_cmake_auto
	autoware_cmake
	eigen3_cmake_module
	rosidl_default_runtime
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_planning_test_manager
	autoware_internal_debug_msgs
	autoware_internal_planning_msgs
	autoware_map_msgs
	autoware_motion_utils
	autoware_motion_velocity_planner_common
	autoware_perception_msgs
	autoware_planning_factor_interface
	autoware_planning_msgs
	autoware_utils_debug
	autoware_utils_geometry
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_rclcpp
	autoware_utils_system
	autoware_velocity_smoother
	geometry_msgs
	grid_map_core
	pcl_conversions
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
eigen
libboost-dev

Dependant Packages

Name	Deps
autoware_core_planning

Launch files

launch/motion_velocity_planner.launch.xml
- - common_param_path
  - vehicle_param_file
  - nearest_search_param_path
  - motion_velocity_planner_launch_modules
  - motion_velocity_config_path
  - motion_velocity_planner_param_path
  - motion_velocity_planner_param_file [default: $(find-pkg-share autoware_motion_velocity_planner)/config/motion_velocity_planner.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_motion_velocity_planner` at Robotics Stack Exchange

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

autoware_motion_velocity_planner 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_qos_utils 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

planning/motion_velocity_planner/autoware_motion_velocity_planner/README.md

Package Summary

Version	1.5.0
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	2025-11-21
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Node of the motion_velocity_planner

Maintainers

Maxime Clement
Alqudah Mohammad
Yutaka Kondo

Authors

Maxime Clement

Motion Velocity Planner

Overview

motion_velocity_planner is a planner to adjust the trajectory velocity based on the obstacles around the vehicle. It loads modules as plugins. Please refer to the links listed below for detail on each module.

Architecture

Out of Lane

Each module calculates stop and slow down points to be inserted in the ego trajectory. These points are assumed to correspond to the base_link frame of the ego vehicle as it follows the trajectory. This means that to stop before a wall, a stop point is inserted in the trajectory at a distance ahead of the wall equal to the vehicle front offset (wheelbase + front overhang, see the vehicle dimensions.

set_stop_velocity

Input topics

Name	Type	Description
`~/input/trajectory`	autoware_planning_msgs::msg::Trajectory	input trajectory
`~/input/vector_map`	autoware_map_msgs::msg::LaneletMapBin	vector map
`~/input/vehicle_odometry`	nav_msgs::msg::Odometry	vehicle position and velocity
`~/input/accel`	geometry_msgs::msg::AccelWithCovarianceStamped	vehicle acceleration
`~/input/dynamic_objects`	autoware_perception_msgs::msg::PredictedObjects	dynamic objects
`~/input/no_ground_pointcloud`	sensor_msgs::msg::PointCloud2	obstacle pointcloud
`~/input/traffic_signals`	autoware_perception_msgs::msg::TrafficLightGroupArray	traffic light states
`~/input/occupancy_grid`	nav_msgs::msg::OccupancyGrid	occupancy grid

Output topics

Name	Type	Description
`~/output/trajectory`	autoware_planning_msgs::msg::Trajectory	Ego trajectory with updated velocity profile
`~/output/planning_factors/<MODULE_NAME>`	autoware_internal_planning_msgs::msg::PlanningFactorsArray	factors causing change in the ego velocity profile

Services

Name	Type	Description
`~/service/load_plugin`	autoware_motion_velocity_planner::srv::LoadPlugin	To request loading a plugin
`~/service/unload_plugin`	autoware_motion_velocity_planner::srv::UnloadPlugin	To request unloaded a plugin

Node parameters

Parameter	Type	Description
`launch_modules`	vector<string>	module names to launch

In addition, the following parameters should be provided to the node:

nearest search parameters;
vehicle info parameters;
common planning parameters;
smoother parameters
Parameters of each plugin that will be loaded.

CHANGELOG

Changelog for package autoware_motion_velocity_planner

1.1.0 (2025-05-01)

1.5.0 (2025-11-16)

Merge remote-tracking branch 'origin/main' into humble
feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)
- replace ament_auto_package to autoware_ament_auto_package
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix(motion_velocity_planner): prevent sudden yaw changes by adjusting overlap threshold for stop point insertion (#692)

* fix(motion_velocity_planner): prevent sudden yaw changes by adjusting overlap threshold for stop point insertion ---------
feat(motion_velocity_planner): update pointcloud preprocess (#631)
fix(motion_velocity_planner): fix empty point cloud header (#635)
feat(obstacle_stop): enable object specified obstacle_filtering parameter and refactor obstacle type handling (#613)

* refactor obstacle_filtering structure and type handling ---------
chore: bump version (1.4.0) and update changelog (#608)
Contributors: Kyoichi Sugahara, Mete Fatih Cırıt, Yuki TAKAGI, Yutaka Kondo, mitsudome-r

1.4.0 (2025-08-11)

Merge remote-tracking branch 'origin/main' into humble
feat(motion_velocity_planner, motion_velocity_planner_common): update pointcloud preprocess design (#591)

* updare pcl preprocess ---------
chore(motion_velocity_planner, behavior_velocity_planner): unifiy module load srv (#585) port srv
refactor(motion_velocity_planner): restrict copy of planner_data (#587)

* restrict plannar data copy ---------
chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome, Yuki TAKAGI

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
feat(motion_velocity_planner_node): update pcl coordinate transformation (#519)
- update pcl coordinate transformation
* add canTransform check ---------
feat(autoware_motion_velocity_planner)!: only wait for the required subscriptions (#505) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
fix(autoware_motion_velocity_planner): fix deprecated autoware_utils header (#444)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	rosidl_default_generators
	ament_cmake_auto
	autoware_cmake
	eigen3_cmake_module
	rosidl_default_runtime
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_planning_test_manager
	autoware_internal_debug_msgs
	autoware_internal_planning_msgs
	autoware_map_msgs
	autoware_motion_utils
	autoware_motion_velocity_planner_common
	autoware_perception_msgs
	autoware_planning_factor_interface
	autoware_planning_msgs
	autoware_utils_debug
	autoware_utils_geometry
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_rclcpp
	autoware_utils_system
	autoware_velocity_smoother
	geometry_msgs
	grid_map_core
	pcl_conversions
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
eigen
libboost-dev

Dependant Packages

Name	Deps
autoware_core_planning

Launch files

launch/motion_velocity_planner.launch.xml
- - common_param_path
  - vehicle_param_file
  - nearest_search_param_path
  - motion_velocity_planner_launch_modules
  - motion_velocity_config_path
  - motion_velocity_planner_param_path
  - motion_velocity_planner_param_file [default: $(find-pkg-share autoware_motion_velocity_planner)/config/motion_velocity_planner.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_motion_velocity_planner` at Robotics Stack Exchange

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

autoware_motion_velocity_planner 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_qos_utils 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

planning/motion_velocity_planner/autoware_motion_velocity_planner/README.md

Package Summary

Version	1.5.0
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	2025-11-21
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Node of the motion_velocity_planner

Maintainers

Maxime Clement
Alqudah Mohammad
Yutaka Kondo

Authors

Maxime Clement

Motion Velocity Planner

Overview

motion_velocity_planner is a planner to adjust the trajectory velocity based on the obstacles around the vehicle. It loads modules as plugins. Please refer to the links listed below for detail on each module.

Architecture

Out of Lane

Each module calculates stop and slow down points to be inserted in the ego trajectory. These points are assumed to correspond to the base_link frame of the ego vehicle as it follows the trajectory. This means that to stop before a wall, a stop point is inserted in the trajectory at a distance ahead of the wall equal to the vehicle front offset (wheelbase + front overhang, see the vehicle dimensions.

set_stop_velocity

Input topics

Name	Type	Description
`~/input/trajectory`	autoware_planning_msgs::msg::Trajectory	input trajectory
`~/input/vector_map`	autoware_map_msgs::msg::LaneletMapBin	vector map
`~/input/vehicle_odometry`	nav_msgs::msg::Odometry	vehicle position and velocity
`~/input/accel`	geometry_msgs::msg::AccelWithCovarianceStamped	vehicle acceleration
`~/input/dynamic_objects`	autoware_perception_msgs::msg::PredictedObjects	dynamic objects
`~/input/no_ground_pointcloud`	sensor_msgs::msg::PointCloud2	obstacle pointcloud
`~/input/traffic_signals`	autoware_perception_msgs::msg::TrafficLightGroupArray	traffic light states
`~/input/occupancy_grid`	nav_msgs::msg::OccupancyGrid	occupancy grid

Output topics

Name	Type	Description
`~/output/trajectory`	autoware_planning_msgs::msg::Trajectory	Ego trajectory with updated velocity profile
`~/output/planning_factors/<MODULE_NAME>`	autoware_internal_planning_msgs::msg::PlanningFactorsArray	factors causing change in the ego velocity profile

Services

Name	Type	Description
`~/service/load_plugin`	autoware_motion_velocity_planner::srv::LoadPlugin	To request loading a plugin
`~/service/unload_plugin`	autoware_motion_velocity_planner::srv::UnloadPlugin	To request unloaded a plugin

Node parameters

Parameter	Type	Description
`launch_modules`	vector<string>	module names to launch

In addition, the following parameters should be provided to the node:

nearest search parameters;
vehicle info parameters;
common planning parameters;
smoother parameters
Parameters of each plugin that will be loaded.

CHANGELOG

Changelog for package autoware_motion_velocity_planner

1.1.0 (2025-05-01)

1.5.0 (2025-11-16)

Merge remote-tracking branch 'origin/main' into humble
feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)
- replace ament_auto_package to autoware_ament_auto_package
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix(motion_velocity_planner): prevent sudden yaw changes by adjusting overlap threshold for stop point insertion (#692)

* fix(motion_velocity_planner): prevent sudden yaw changes by adjusting overlap threshold for stop point insertion ---------
feat(motion_velocity_planner): update pointcloud preprocess (#631)
fix(motion_velocity_planner): fix empty point cloud header (#635)
feat(obstacle_stop): enable object specified obstacle_filtering parameter and refactor obstacle type handling (#613)

* refactor obstacle_filtering structure and type handling ---------
chore: bump version (1.4.0) and update changelog (#608)
Contributors: Kyoichi Sugahara, Mete Fatih Cırıt, Yuki TAKAGI, Yutaka Kondo, mitsudome-r

1.4.0 (2025-08-11)

Merge remote-tracking branch 'origin/main' into humble
feat(motion_velocity_planner, motion_velocity_planner_common): update pointcloud preprocess design (#591)

* updare pcl preprocess ---------
chore(motion_velocity_planner, behavior_velocity_planner): unifiy module load srv (#585) port srv
refactor(motion_velocity_planner): restrict copy of planner_data (#587)

* restrict plannar data copy ---------
chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome, Yuki TAKAGI

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
feat(motion_velocity_planner_node): update pcl coordinate transformation (#519)
- update pcl coordinate transformation
* add canTransform check ---------
feat(autoware_motion_velocity_planner)!: only wait for the required subscriptions (#505) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
fix(autoware_motion_velocity_planner): fix deprecated autoware_utils header (#444)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	rosidl_default_generators
	ament_cmake_auto
	autoware_cmake
	eigen3_cmake_module
	rosidl_default_runtime
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_planning_test_manager
	autoware_internal_debug_msgs
	autoware_internal_planning_msgs
	autoware_map_msgs
	autoware_motion_utils
	autoware_motion_velocity_planner_common
	autoware_perception_msgs
	autoware_planning_factor_interface
	autoware_planning_msgs
	autoware_utils_debug
	autoware_utils_geometry
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_rclcpp
	autoware_utils_system
	autoware_velocity_smoother
	geometry_msgs
	grid_map_core
	pcl_conversions
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
eigen
libboost-dev

Dependant Packages

Name	Deps
autoware_core_planning

Launch files

launch/motion_velocity_planner.launch.xml
- - common_param_path
  - vehicle_param_file
  - nearest_search_param_path
  - motion_velocity_planner_launch_modules
  - motion_velocity_config_path
  - motion_velocity_planner_param_path
  - motion_velocity_planner_param_file [default: $(find-pkg-share autoware_motion_velocity_planner)/config/motion_velocity_planner.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_motion_velocity_planner` at Robotics Stack Exchange

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

autoware_motion_velocity_planner 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_qos_utils 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

planning/motion_velocity_planner/autoware_motion_velocity_planner/README.md

Package Summary

Version	1.5.0
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	2025-11-21
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Node of the motion_velocity_planner

Maintainers

Maxime Clement
Alqudah Mohammad
Yutaka Kondo

Authors

Maxime Clement

Motion Velocity Planner

Overview

motion_velocity_planner is a planner to adjust the trajectory velocity based on the obstacles around the vehicle. It loads modules as plugins. Please refer to the links listed below for detail on each module.

Architecture

Out of Lane

Each module calculates stop and slow down points to be inserted in the ego trajectory. These points are assumed to correspond to the base_link frame of the ego vehicle as it follows the trajectory. This means that to stop before a wall, a stop point is inserted in the trajectory at a distance ahead of the wall equal to the vehicle front offset (wheelbase + front overhang, see the vehicle dimensions.

set_stop_velocity

Input topics

Name	Type	Description
`~/input/trajectory`	autoware_planning_msgs::msg::Trajectory	input trajectory
`~/input/vector_map`	autoware_map_msgs::msg::LaneletMapBin	vector map
`~/input/vehicle_odometry`	nav_msgs::msg::Odometry	vehicle position and velocity
`~/input/accel`	geometry_msgs::msg::AccelWithCovarianceStamped	vehicle acceleration
`~/input/dynamic_objects`	autoware_perception_msgs::msg::PredictedObjects	dynamic objects
`~/input/no_ground_pointcloud`	sensor_msgs::msg::PointCloud2	obstacle pointcloud
`~/input/traffic_signals`	autoware_perception_msgs::msg::TrafficLightGroupArray	traffic light states
`~/input/occupancy_grid`	nav_msgs::msg::OccupancyGrid	occupancy grid

Output topics

Name	Type	Description
`~/output/trajectory`	autoware_planning_msgs::msg::Trajectory	Ego trajectory with updated velocity profile
`~/output/planning_factors/<MODULE_NAME>`	autoware_internal_planning_msgs::msg::PlanningFactorsArray	factors causing change in the ego velocity profile

Services

Name	Type	Description
`~/service/load_plugin`	autoware_motion_velocity_planner::srv::LoadPlugin	To request loading a plugin
`~/service/unload_plugin`	autoware_motion_velocity_planner::srv::UnloadPlugin	To request unloaded a plugin

Node parameters

Parameter	Type	Description
`launch_modules`	vector<string>	module names to launch

In addition, the following parameters should be provided to the node:

nearest search parameters;
vehicle info parameters;
common planning parameters;
smoother parameters
Parameters of each plugin that will be loaded.

CHANGELOG

Changelog for package autoware_motion_velocity_planner

1.1.0 (2025-05-01)

1.5.0 (2025-11-16)

Merge remote-tracking branch 'origin/main' into humble
feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)
- replace ament_auto_package to autoware_ament_auto_package
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix(motion_velocity_planner): prevent sudden yaw changes by adjusting overlap threshold for stop point insertion (#692)

* fix(motion_velocity_planner): prevent sudden yaw changes by adjusting overlap threshold for stop point insertion ---------
feat(motion_velocity_planner): update pointcloud preprocess (#631)
fix(motion_velocity_planner): fix empty point cloud header (#635)
feat(obstacle_stop): enable object specified obstacle_filtering parameter and refactor obstacle type handling (#613)

* refactor obstacle_filtering structure and type handling ---------
chore: bump version (1.4.0) and update changelog (#608)
Contributors: Kyoichi Sugahara, Mete Fatih Cırıt, Yuki TAKAGI, Yutaka Kondo, mitsudome-r

1.4.0 (2025-08-11)

Merge remote-tracking branch 'origin/main' into humble
feat(motion_velocity_planner, motion_velocity_planner_common): update pointcloud preprocess design (#591)

* updare pcl preprocess ---------
chore(motion_velocity_planner, behavior_velocity_planner): unifiy module load srv (#585) port srv
refactor(motion_velocity_planner): restrict copy of planner_data (#587)

* restrict plannar data copy ---------
chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome, Yuki TAKAGI

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
feat(motion_velocity_planner_node): update pcl coordinate transformation (#519)
- update pcl coordinate transformation
* add canTransform check ---------
feat(autoware_motion_velocity_planner)!: only wait for the required subscriptions (#505) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
fix(autoware_motion_velocity_planner): fix deprecated autoware_utils header (#444)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	rosidl_default_generators
	ament_cmake_auto
	autoware_cmake
	eigen3_cmake_module
	rosidl_default_runtime
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_planning_test_manager
	autoware_internal_debug_msgs
	autoware_internal_planning_msgs
	autoware_map_msgs
	autoware_motion_utils
	autoware_motion_velocity_planner_common
	autoware_perception_msgs
	autoware_planning_factor_interface
	autoware_planning_msgs
	autoware_utils_debug
	autoware_utils_geometry
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_rclcpp
	autoware_utils_system
	autoware_velocity_smoother
	geometry_msgs
	grid_map_core
	pcl_conversions
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
eigen
libboost-dev

Dependant Packages

Name	Deps
autoware_core_planning

Launch files

launch/motion_velocity_planner.launch.xml
- - common_param_path
  - vehicle_param_file
  - nearest_search_param_path
  - motion_velocity_planner_launch_modules
  - motion_velocity_config_path
  - motion_velocity_planner_param_path
  - motion_velocity_planner_param_file [default: $(find-pkg-share autoware_motion_velocity_planner)/config/motion_velocity_planner.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_motion_velocity_planner` at Robotics Stack Exchange

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

autoware_motion_velocity_planner 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_qos_utils 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

planning/motion_velocity_planner/autoware_motion_velocity_planner/README.md

Package Summary

Version	1.5.0
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	2025-11-21
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Node of the motion_velocity_planner

Maintainers

Maxime Clement
Alqudah Mohammad
Yutaka Kondo

Authors

Maxime Clement

Motion Velocity Planner

Overview

motion_velocity_planner is a planner to adjust the trajectory velocity based on the obstacles around the vehicle. It loads modules as plugins. Please refer to the links listed below for detail on each module.

Architecture

Out of Lane

Each module calculates stop and slow down points to be inserted in the ego trajectory. These points are assumed to correspond to the base_link frame of the ego vehicle as it follows the trajectory. This means that to stop before a wall, a stop point is inserted in the trajectory at a distance ahead of the wall equal to the vehicle front offset (wheelbase + front overhang, see the vehicle dimensions.

set_stop_velocity

Input topics

Name	Type	Description
`~/input/trajectory`	autoware_planning_msgs::msg::Trajectory	input trajectory
`~/input/vector_map`	autoware_map_msgs::msg::LaneletMapBin	vector map
`~/input/vehicle_odometry`	nav_msgs::msg::Odometry	vehicle position and velocity
`~/input/accel`	geometry_msgs::msg::AccelWithCovarianceStamped	vehicle acceleration
`~/input/dynamic_objects`	autoware_perception_msgs::msg::PredictedObjects	dynamic objects
`~/input/no_ground_pointcloud`	sensor_msgs::msg::PointCloud2	obstacle pointcloud
`~/input/traffic_signals`	autoware_perception_msgs::msg::TrafficLightGroupArray	traffic light states
`~/input/occupancy_grid`	nav_msgs::msg::OccupancyGrid	occupancy grid

Output topics

Name	Type	Description
`~/output/trajectory`	autoware_planning_msgs::msg::Trajectory	Ego trajectory with updated velocity profile
`~/output/planning_factors/<MODULE_NAME>`	autoware_internal_planning_msgs::msg::PlanningFactorsArray	factors causing change in the ego velocity profile

Services

Name	Type	Description
`~/service/load_plugin`	autoware_motion_velocity_planner::srv::LoadPlugin	To request loading a plugin
`~/service/unload_plugin`	autoware_motion_velocity_planner::srv::UnloadPlugin	To request unloaded a plugin

Node parameters

Parameter	Type	Description
`launch_modules`	vector<string>	module names to launch

In addition, the following parameters should be provided to the node:

nearest search parameters;
vehicle info parameters;
common planning parameters;
smoother parameters
Parameters of each plugin that will be loaded.

CHANGELOG

Changelog for package autoware_motion_velocity_planner

1.1.0 (2025-05-01)

1.5.0 (2025-11-16)

Merge remote-tracking branch 'origin/main' into humble
feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)
- replace ament_auto_package to autoware_ament_auto_package
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix(motion_velocity_planner): prevent sudden yaw changes by adjusting overlap threshold for stop point insertion (#692)

* fix(motion_velocity_planner): prevent sudden yaw changes by adjusting overlap threshold for stop point insertion ---------
feat(motion_velocity_planner): update pointcloud preprocess (#631)
fix(motion_velocity_planner): fix empty point cloud header (#635)
feat(obstacle_stop): enable object specified obstacle_filtering parameter and refactor obstacle type handling (#613)

* refactor obstacle_filtering structure and type handling ---------
chore: bump version (1.4.0) and update changelog (#608)
Contributors: Kyoichi Sugahara, Mete Fatih Cırıt, Yuki TAKAGI, Yutaka Kondo, mitsudome-r

1.4.0 (2025-08-11)

Merge remote-tracking branch 'origin/main' into humble
feat(motion_velocity_planner, motion_velocity_planner_common): update pointcloud preprocess design (#591)

* updare pcl preprocess ---------
chore(motion_velocity_planner, behavior_velocity_planner): unifiy module load srv (#585) port srv
refactor(motion_velocity_planner): restrict copy of planner_data (#587)

* restrict plannar data copy ---------
chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome, Yuki TAKAGI

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
feat(motion_velocity_planner_node): update pcl coordinate transformation (#519)
- update pcl coordinate transformation
* add canTransform check ---------
feat(autoware_motion_velocity_planner)!: only wait for the required subscriptions (#505) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
fix(autoware_motion_velocity_planner): fix deprecated autoware_utils header (#444)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	rosidl_default_generators
	ament_cmake_auto
	autoware_cmake
	eigen3_cmake_module
	rosidl_default_runtime
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_planning_test_manager
	autoware_internal_debug_msgs
	autoware_internal_planning_msgs
	autoware_map_msgs
	autoware_motion_utils
	autoware_motion_velocity_planner_common
	autoware_perception_msgs
	autoware_planning_factor_interface
	autoware_planning_msgs
	autoware_utils_debug
	autoware_utils_geometry
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_rclcpp
	autoware_utils_system
	autoware_velocity_smoother
	geometry_msgs
	grid_map_core
	pcl_conversions
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
eigen
libboost-dev

Dependant Packages

Name	Deps
autoware_core_planning

Launch files

launch/motion_velocity_planner.launch.xml
- - common_param_path
  - vehicle_param_file
  - nearest_search_param_path
  - motion_velocity_planner_launch_modules
  - motion_velocity_config_path
  - motion_velocity_planner_param_path
  - motion_velocity_planner_param_file [default: $(find-pkg-share autoware_motion_velocity_planner)/config/motion_velocity_planner.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_motion_velocity_planner` at Robotics Stack Exchange

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

autoware_motion_velocity_planner 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_qos_utils 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

planning/motion_velocity_planner/autoware_motion_velocity_planner/README.md

Package Summary

Version	1.5.0
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	2025-11-21
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Node of the motion_velocity_planner

Maintainers

Maxime Clement
Alqudah Mohammad
Yutaka Kondo

Authors

Maxime Clement

Motion Velocity Planner

Overview

motion_velocity_planner is a planner to adjust the trajectory velocity based on the obstacles around the vehicle. It loads modules as plugins. Please refer to the links listed below for detail on each module.

Architecture

Out of Lane

Each module calculates stop and slow down points to be inserted in the ego trajectory. These points are assumed to correspond to the base_link frame of the ego vehicle as it follows the trajectory. This means that to stop before a wall, a stop point is inserted in the trajectory at a distance ahead of the wall equal to the vehicle front offset (wheelbase + front overhang, see the vehicle dimensions.

set_stop_velocity

Input topics

Name	Type	Description
`~/input/trajectory`	autoware_planning_msgs::msg::Trajectory	input trajectory
`~/input/vector_map`	autoware_map_msgs::msg::LaneletMapBin	vector map
`~/input/vehicle_odometry`	nav_msgs::msg::Odometry	vehicle position and velocity
`~/input/accel`	geometry_msgs::msg::AccelWithCovarianceStamped	vehicle acceleration
`~/input/dynamic_objects`	autoware_perception_msgs::msg::PredictedObjects	dynamic objects
`~/input/no_ground_pointcloud`	sensor_msgs::msg::PointCloud2	obstacle pointcloud
`~/input/traffic_signals`	autoware_perception_msgs::msg::TrafficLightGroupArray	traffic light states
`~/input/occupancy_grid`	nav_msgs::msg::OccupancyGrid	occupancy grid

Output topics

Name	Type	Description
`~/output/trajectory`	autoware_planning_msgs::msg::Trajectory	Ego trajectory with updated velocity profile
`~/output/planning_factors/<MODULE_NAME>`	autoware_internal_planning_msgs::msg::PlanningFactorsArray	factors causing change in the ego velocity profile

Services

Name	Type	Description
`~/service/load_plugin`	autoware_motion_velocity_planner::srv::LoadPlugin	To request loading a plugin
`~/service/unload_plugin`	autoware_motion_velocity_planner::srv::UnloadPlugin	To request unloaded a plugin

Node parameters

Parameter	Type	Description
`launch_modules`	vector<string>	module names to launch

In addition, the following parameters should be provided to the node:

nearest search parameters;
vehicle info parameters;
common planning parameters;
smoother parameters
Parameters of each plugin that will be loaded.

CHANGELOG

Changelog for package autoware_motion_velocity_planner

1.1.0 (2025-05-01)

1.5.0 (2025-11-16)

Merge remote-tracking branch 'origin/main' into humble
feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)
- replace ament_auto_package to autoware_ament_auto_package
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix(motion_velocity_planner): prevent sudden yaw changes by adjusting overlap threshold for stop point insertion (#692)

* fix(motion_velocity_planner): prevent sudden yaw changes by adjusting overlap threshold for stop point insertion ---------
feat(motion_velocity_planner): update pointcloud preprocess (#631)
fix(motion_velocity_planner): fix empty point cloud header (#635)
feat(obstacle_stop): enable object specified obstacle_filtering parameter and refactor obstacle type handling (#613)

* refactor obstacle_filtering structure and type handling ---------
chore: bump version (1.4.0) and update changelog (#608)
Contributors: Kyoichi Sugahara, Mete Fatih Cırıt, Yuki TAKAGI, Yutaka Kondo, mitsudome-r

1.4.0 (2025-08-11)

Merge remote-tracking branch 'origin/main' into humble
feat(motion_velocity_planner, motion_velocity_planner_common): update pointcloud preprocess design (#591)

* updare pcl preprocess ---------
chore(motion_velocity_planner, behavior_velocity_planner): unifiy module load srv (#585) port srv
refactor(motion_velocity_planner): restrict copy of planner_data (#587)

* restrict plannar data copy ---------
chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome, Yuki TAKAGI

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
feat(motion_velocity_planner_node): update pcl coordinate transformation (#519)
- update pcl coordinate transformation
* add canTransform check ---------
feat(autoware_motion_velocity_planner)!: only wait for the required subscriptions (#505) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
fix(autoware_motion_velocity_planner): fix deprecated autoware_utils header (#444)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	rosidl_default_generators
	ament_cmake_auto
	autoware_cmake
	eigen3_cmake_module
	rosidl_default_runtime
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_planning_test_manager
	autoware_internal_debug_msgs
	autoware_internal_planning_msgs
	autoware_map_msgs
	autoware_motion_utils
	autoware_motion_velocity_planner_common
	autoware_perception_msgs
	autoware_planning_factor_interface
	autoware_planning_msgs
	autoware_utils_debug
	autoware_utils_geometry
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_rclcpp
	autoware_utils_system
	autoware_velocity_smoother
	geometry_msgs
	grid_map_core
	pcl_conversions
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
eigen
libboost-dev

Dependant Packages

Name	Deps
autoware_core_planning

Launch files

launch/motion_velocity_planner.launch.xml
- - common_param_path
  - vehicle_param_file
  - nearest_search_param_path
  - motion_velocity_planner_launch_modules
  - motion_velocity_config_path
  - motion_velocity_planner_param_path
  - motion_velocity_planner_param_file [default: $(find-pkg-share autoware_motion_velocity_planner)/config/motion_velocity_planner.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_motion_velocity_planner` at Robotics Stack Exchange

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

autoware_motion_velocity_planner 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_qos_utils 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

planning/motion_velocity_planner/autoware_motion_velocity_planner/README.md

Package Summary

Version	1.5.0
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	2025-11-21
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Node of the motion_velocity_planner

Maintainers

Maxime Clement
Alqudah Mohammad
Yutaka Kondo

Authors

Maxime Clement

Motion Velocity Planner

Overview

motion_velocity_planner is a planner to adjust the trajectory velocity based on the obstacles around the vehicle. It loads modules as plugins. Please refer to the links listed below for detail on each module.

Architecture

Out of Lane

Each module calculates stop and slow down points to be inserted in the ego trajectory. These points are assumed to correspond to the base_link frame of the ego vehicle as it follows the trajectory. This means that to stop before a wall, a stop point is inserted in the trajectory at a distance ahead of the wall equal to the vehicle front offset (wheelbase + front overhang, see the vehicle dimensions.

set_stop_velocity

Input topics

Name	Type	Description
`~/input/trajectory`	autoware_planning_msgs::msg::Trajectory	input trajectory
`~/input/vector_map`	autoware_map_msgs::msg::LaneletMapBin	vector map
`~/input/vehicle_odometry`	nav_msgs::msg::Odometry	vehicle position and velocity
`~/input/accel`	geometry_msgs::msg::AccelWithCovarianceStamped	vehicle acceleration
`~/input/dynamic_objects`	autoware_perception_msgs::msg::PredictedObjects	dynamic objects
`~/input/no_ground_pointcloud`	sensor_msgs::msg::PointCloud2	obstacle pointcloud
`~/input/traffic_signals`	autoware_perception_msgs::msg::TrafficLightGroupArray	traffic light states
`~/input/occupancy_grid`	nav_msgs::msg::OccupancyGrid	occupancy grid

Output topics

Name	Type	Description
`~/output/trajectory`	autoware_planning_msgs::msg::Trajectory	Ego trajectory with updated velocity profile
`~/output/planning_factors/<MODULE_NAME>`	autoware_internal_planning_msgs::msg::PlanningFactorsArray	factors causing change in the ego velocity profile

Services

Name	Type	Description
`~/service/load_plugin`	autoware_motion_velocity_planner::srv::LoadPlugin	To request loading a plugin
`~/service/unload_plugin`	autoware_motion_velocity_planner::srv::UnloadPlugin	To request unloaded a plugin

Node parameters

Parameter	Type	Description
`launch_modules`	vector<string>	module names to launch

In addition, the following parameters should be provided to the node:

nearest search parameters;
vehicle info parameters;
common planning parameters;
smoother parameters
Parameters of each plugin that will be loaded.

CHANGELOG

Changelog for package autoware_motion_velocity_planner

1.1.0 (2025-05-01)

1.5.0 (2025-11-16)

Merge remote-tracking branch 'origin/main' into humble
feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)
- replace ament_auto_package to autoware_ament_auto_package
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix(motion_velocity_planner): prevent sudden yaw changes by adjusting overlap threshold for stop point insertion (#692)

* fix(motion_velocity_planner): prevent sudden yaw changes by adjusting overlap threshold for stop point insertion ---------
feat(motion_velocity_planner): update pointcloud preprocess (#631)
fix(motion_velocity_planner): fix empty point cloud header (#635)
feat(obstacle_stop): enable object specified obstacle_filtering parameter and refactor obstacle type handling (#613)

* refactor obstacle_filtering structure and type handling ---------
chore: bump version (1.4.0) and update changelog (#608)
Contributors: Kyoichi Sugahara, Mete Fatih Cırıt, Yuki TAKAGI, Yutaka Kondo, mitsudome-r

1.4.0 (2025-08-11)

Merge remote-tracking branch 'origin/main' into humble
feat(motion_velocity_planner, motion_velocity_planner_common): update pointcloud preprocess design (#591)

* updare pcl preprocess ---------
chore(motion_velocity_planner, behavior_velocity_planner): unifiy module load srv (#585) port srv
refactor(motion_velocity_planner): restrict copy of planner_data (#587)

* restrict plannar data copy ---------
chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome, Yuki TAKAGI

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
feat(motion_velocity_planner_node): update pcl coordinate transformation (#519)
- update pcl coordinate transformation
* add canTransform check ---------
feat(autoware_motion_velocity_planner)!: only wait for the required subscriptions (#505) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
fix(autoware_motion_velocity_planner): fix deprecated autoware_utils header (#444)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	rosidl_default_generators
	ament_cmake_auto
	autoware_cmake
	eigen3_cmake_module
	rosidl_default_runtime
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_planning_test_manager
	autoware_internal_debug_msgs
	autoware_internal_planning_msgs
	autoware_map_msgs
	autoware_motion_utils
	autoware_motion_velocity_planner_common
	autoware_perception_msgs
	autoware_planning_factor_interface
	autoware_planning_msgs
	autoware_utils_debug
	autoware_utils_geometry
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_rclcpp
	autoware_utils_system
	autoware_velocity_smoother
	geometry_msgs
	grid_map_core
	pcl_conversions
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
eigen
libboost-dev

Dependant Packages

Name	Deps
autoware_core_planning

Launch files

launch/motion_velocity_planner.launch.xml
- - common_param_path
  - vehicle_param_file
  - nearest_search_param_path
  - motion_velocity_planner_launch_modules
  - motion_velocity_config_path
  - motion_velocity_planner_param_path
  - motion_velocity_planner_param_file [default: $(find-pkg-share autoware_motion_velocity_planner)/config/motion_velocity_planner.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_motion_velocity_planner` at Robotics Stack Exchange

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

autoware_motion_velocity_planner 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_qos_utils 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

planning/motion_velocity_planner/autoware_motion_velocity_planner/README.md

Package Summary

Version	1.5.0
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	2025-11-21
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Node of the motion_velocity_planner

Maintainers

Maxime Clement
Alqudah Mohammad
Yutaka Kondo

Authors

Maxime Clement

Motion Velocity Planner

Overview

motion_velocity_planner is a planner to adjust the trajectory velocity based on the obstacles around the vehicle. It loads modules as plugins. Please refer to the links listed below for detail on each module.

Architecture

Out of Lane

Each module calculates stop and slow down points to be inserted in the ego trajectory. These points are assumed to correspond to the base_link frame of the ego vehicle as it follows the trajectory. This means that to stop before a wall, a stop point is inserted in the trajectory at a distance ahead of the wall equal to the vehicle front offset (wheelbase + front overhang, see the vehicle dimensions.

set_stop_velocity

Input topics

Name	Type	Description
`~/input/trajectory`	autoware_planning_msgs::msg::Trajectory	input trajectory
`~/input/vector_map`	autoware_map_msgs::msg::LaneletMapBin	vector map
`~/input/vehicle_odometry`	nav_msgs::msg::Odometry	vehicle position and velocity
`~/input/accel`	geometry_msgs::msg::AccelWithCovarianceStamped	vehicle acceleration
`~/input/dynamic_objects`	autoware_perception_msgs::msg::PredictedObjects	dynamic objects
`~/input/no_ground_pointcloud`	sensor_msgs::msg::PointCloud2	obstacle pointcloud
`~/input/traffic_signals`	autoware_perception_msgs::msg::TrafficLightGroupArray	traffic light states
`~/input/occupancy_grid`	nav_msgs::msg::OccupancyGrid	occupancy grid

Output topics

Name	Type	Description
`~/output/trajectory`	autoware_planning_msgs::msg::Trajectory	Ego trajectory with updated velocity profile
`~/output/planning_factors/<MODULE_NAME>`	autoware_internal_planning_msgs::msg::PlanningFactorsArray	factors causing change in the ego velocity profile

Services

Name	Type	Description
`~/service/load_plugin`	autoware_motion_velocity_planner::srv::LoadPlugin	To request loading a plugin
`~/service/unload_plugin`	autoware_motion_velocity_planner::srv::UnloadPlugin	To request unloaded a plugin

Node parameters

Parameter	Type	Description
`launch_modules`	vector<string>	module names to launch

In addition, the following parameters should be provided to the node:

nearest search parameters;
vehicle info parameters;
common planning parameters;
smoother parameters
Parameters of each plugin that will be loaded.

CHANGELOG

Changelog for package autoware_motion_velocity_planner

1.1.0 (2025-05-01)

1.5.0 (2025-11-16)

Merge remote-tracking branch 'origin/main' into humble
feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)
- replace ament_auto_package to autoware_ament_auto_package
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix(motion_velocity_planner): prevent sudden yaw changes by adjusting overlap threshold for stop point insertion (#692)

* fix(motion_velocity_planner): prevent sudden yaw changes by adjusting overlap threshold for stop point insertion ---------
feat(motion_velocity_planner): update pointcloud preprocess (#631)
fix(motion_velocity_planner): fix empty point cloud header (#635)
feat(obstacle_stop): enable object specified obstacle_filtering parameter and refactor obstacle type handling (#613)

* refactor obstacle_filtering structure and type handling ---------
chore: bump version (1.4.0) and update changelog (#608)
Contributors: Kyoichi Sugahara, Mete Fatih Cırıt, Yuki TAKAGI, Yutaka Kondo, mitsudome-r

1.4.0 (2025-08-11)

Merge remote-tracking branch 'origin/main' into humble
feat(motion_velocity_planner, motion_velocity_planner_common): update pointcloud preprocess design (#591)

* updare pcl preprocess ---------
chore(motion_velocity_planner, behavior_velocity_planner): unifiy module load srv (#585) port srv
refactor(motion_velocity_planner): restrict copy of planner_data (#587)

* restrict plannar data copy ---------
chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome, Yuki TAKAGI

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
feat(motion_velocity_planner_node): update pcl coordinate transformation (#519)
- update pcl coordinate transformation
* add canTransform check ---------
feat(autoware_motion_velocity_planner)!: only wait for the required subscriptions (#505) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
fix(autoware_motion_velocity_planner): fix deprecated autoware_utils header (#444)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	rosidl_default_generators
	ament_cmake_auto
	autoware_cmake
	eigen3_cmake_module
	rosidl_default_runtime
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_planning_test_manager
	autoware_internal_debug_msgs
	autoware_internal_planning_msgs
	autoware_map_msgs
	autoware_motion_utils
	autoware_motion_velocity_planner_common
	autoware_perception_msgs
	autoware_planning_factor_interface
	autoware_planning_msgs
	autoware_utils_debug
	autoware_utils_geometry
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_rclcpp
	autoware_utils_system
	autoware_velocity_smoother
	geometry_msgs
	grid_map_core
	pcl_conversions
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
eigen
libboost-dev

Dependant Packages

Name	Deps
autoware_core_planning

Launch files

launch/motion_velocity_planner.launch.xml
- - common_param_path
  - vehicle_param_file
  - nearest_search_param_path
  - motion_velocity_planner_launch_modules
  - motion_velocity_config_path
  - motion_velocity_planner_param_path
  - motion_velocity_planner_param_file [default: $(find-pkg-share autoware_motion_velocity_planner)/config/motion_velocity_planner.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_motion_velocity_planner` at Robotics Stack Exchange

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

autoware_motion_velocity_planner 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_qos_utils 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

planning/motion_velocity_planner/autoware_motion_velocity_planner/README.md

Package Summary

Version	1.5.0
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	2025-11-21
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Node of the motion_velocity_planner

Maintainers

Maxime Clement
Alqudah Mohammad
Yutaka Kondo

Authors

Maxime Clement

Motion Velocity Planner

Overview

motion_velocity_planner is a planner to adjust the trajectory velocity based on the obstacles around the vehicle. It loads modules as plugins. Please refer to the links listed below for detail on each module.

Architecture

Out of Lane

Each module calculates stop and slow down points to be inserted in the ego trajectory. These points are assumed to correspond to the base_link frame of the ego vehicle as it follows the trajectory. This means that to stop before a wall, a stop point is inserted in the trajectory at a distance ahead of the wall equal to the vehicle front offset (wheelbase + front overhang, see the vehicle dimensions.

set_stop_velocity

Input topics

Name	Type	Description
`~/input/trajectory`	autoware_planning_msgs::msg::Trajectory	input trajectory
`~/input/vector_map`	autoware_map_msgs::msg::LaneletMapBin	vector map
`~/input/vehicle_odometry`	nav_msgs::msg::Odometry	vehicle position and velocity
`~/input/accel`	geometry_msgs::msg::AccelWithCovarianceStamped	vehicle acceleration
`~/input/dynamic_objects`	autoware_perception_msgs::msg::PredictedObjects	dynamic objects
`~/input/no_ground_pointcloud`	sensor_msgs::msg::PointCloud2	obstacle pointcloud
`~/input/traffic_signals`	autoware_perception_msgs::msg::TrafficLightGroupArray	traffic light states
`~/input/occupancy_grid`	nav_msgs::msg::OccupancyGrid	occupancy grid

Output topics

Name	Type	Description
`~/output/trajectory`	autoware_planning_msgs::msg::Trajectory	Ego trajectory with updated velocity profile
`~/output/planning_factors/<MODULE_NAME>`	autoware_internal_planning_msgs::msg::PlanningFactorsArray	factors causing change in the ego velocity profile

Services

Name	Type	Description
`~/service/load_plugin`	autoware_motion_velocity_planner::srv::LoadPlugin	To request loading a plugin
`~/service/unload_plugin`	autoware_motion_velocity_planner::srv::UnloadPlugin	To request unloaded a plugin

Node parameters

Parameter	Type	Description
`launch_modules`	vector<string>	module names to launch

In addition, the following parameters should be provided to the node:

nearest search parameters;
vehicle info parameters;
common planning parameters;
smoother parameters
Parameters of each plugin that will be loaded.

CHANGELOG

Changelog for package autoware_motion_velocity_planner

1.1.0 (2025-05-01)

1.5.0 (2025-11-16)

Merge remote-tracking branch 'origin/main' into humble
feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)
- replace ament_auto_package to autoware_ament_auto_package
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix(motion_velocity_planner): prevent sudden yaw changes by adjusting overlap threshold for stop point insertion (#692)

* fix(motion_velocity_planner): prevent sudden yaw changes by adjusting overlap threshold for stop point insertion ---------
feat(motion_velocity_planner): update pointcloud preprocess (#631)
fix(motion_velocity_planner): fix empty point cloud header (#635)
feat(obstacle_stop): enable object specified obstacle_filtering parameter and refactor obstacle type handling (#613)

* refactor obstacle_filtering structure and type handling ---------
chore: bump version (1.4.0) and update changelog (#608)
Contributors: Kyoichi Sugahara, Mete Fatih Cırıt, Yuki TAKAGI, Yutaka Kondo, mitsudome-r

1.4.0 (2025-08-11)

Merge remote-tracking branch 'origin/main' into humble
feat(motion_velocity_planner, motion_velocity_planner_common): update pointcloud preprocess design (#591)

* updare pcl preprocess ---------
chore(motion_velocity_planner, behavior_velocity_planner): unifiy module load srv (#585) port srv
refactor(motion_velocity_planner): restrict copy of planner_data (#587)

* restrict plannar data copy ---------
chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome, Yuki TAKAGI

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
feat(motion_velocity_planner_node): update pcl coordinate transformation (#519)
- update pcl coordinate transformation
* add canTransform check ---------
feat(autoware_motion_velocity_planner)!: only wait for the required subscriptions (#505) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
fix(autoware_motion_velocity_planner): fix deprecated autoware_utils header (#444)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	rosidl_default_generators
	ament_cmake_auto
	autoware_cmake
	eigen3_cmake_module
	rosidl_default_runtime
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_planning_test_manager
	autoware_internal_debug_msgs
	autoware_internal_planning_msgs
	autoware_map_msgs
	autoware_motion_utils
	autoware_motion_velocity_planner_common
	autoware_perception_msgs
	autoware_planning_factor_interface
	autoware_planning_msgs
	autoware_utils_debug
	autoware_utils_geometry
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_rclcpp
	autoware_utils_system
	autoware_velocity_smoother
	geometry_msgs
	grid_map_core
	pcl_conversions
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
eigen
libboost-dev

Dependant Packages

Name	Deps
autoware_core_planning

Launch files

launch/motion_velocity_planner.launch.xml
- - common_param_path
  - vehicle_param_file
  - nearest_search_param_path
  - motion_velocity_planner_launch_modules
  - motion_velocity_config_path
  - motion_velocity_planner_param_path
  - motion_velocity_planner_param_file [default: $(find-pkg-share autoware_motion_velocity_planner)/config/motion_velocity_planner.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_motion_velocity_planner` at Robotics Stack Exchange

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

autoware_motion_velocity_planner 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_qos_utils 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

planning/motion_velocity_planner/autoware_motion_velocity_planner/README.md

Package Summary

Version	1.5.0
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	2025-11-21
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Node of the motion_velocity_planner

Maintainers

Maxime Clement
Alqudah Mohammad
Yutaka Kondo

Authors

Maxime Clement

Motion Velocity Planner

Overview

motion_velocity_planner is a planner to adjust the trajectory velocity based on the obstacles around the vehicle. It loads modules as plugins. Please refer to the links listed below for detail on each module.

Architecture

Out of Lane

Each module calculates stop and slow down points to be inserted in the ego trajectory. These points are assumed to correspond to the base_link frame of the ego vehicle as it follows the trajectory. This means that to stop before a wall, a stop point is inserted in the trajectory at a distance ahead of the wall equal to the vehicle front offset (wheelbase + front overhang, see the vehicle dimensions.

set_stop_velocity

Input topics

Name	Type	Description
`~/input/trajectory`	autoware_planning_msgs::msg::Trajectory	input trajectory
`~/input/vector_map`	autoware_map_msgs::msg::LaneletMapBin	vector map
`~/input/vehicle_odometry`	nav_msgs::msg::Odometry	vehicle position and velocity
`~/input/accel`	geometry_msgs::msg::AccelWithCovarianceStamped	vehicle acceleration
`~/input/dynamic_objects`	autoware_perception_msgs::msg::PredictedObjects	dynamic objects
`~/input/no_ground_pointcloud`	sensor_msgs::msg::PointCloud2	obstacle pointcloud
`~/input/traffic_signals`	autoware_perception_msgs::msg::TrafficLightGroupArray	traffic light states
`~/input/occupancy_grid`	nav_msgs::msg::OccupancyGrid	occupancy grid

Output topics

Name	Type	Description
`~/output/trajectory`	autoware_planning_msgs::msg::Trajectory	Ego trajectory with updated velocity profile
`~/output/planning_factors/<MODULE_NAME>`	autoware_internal_planning_msgs::msg::PlanningFactorsArray	factors causing change in the ego velocity profile

Services

Name	Type	Description
`~/service/load_plugin`	autoware_motion_velocity_planner::srv::LoadPlugin	To request loading a plugin
`~/service/unload_plugin`	autoware_motion_velocity_planner::srv::UnloadPlugin	To request unloaded a plugin

Node parameters

Parameter	Type	Description
`launch_modules`	vector<string>	module names to launch

In addition, the following parameters should be provided to the node:

nearest search parameters;
vehicle info parameters;
common planning parameters;
smoother parameters
Parameters of each plugin that will be loaded.

CHANGELOG

Changelog for package autoware_motion_velocity_planner

1.1.0 (2025-05-01)

1.5.0 (2025-11-16)

Merge remote-tracking branch 'origin/main' into humble
feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)
- replace ament_auto_package to autoware_ament_auto_package
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix(motion_velocity_planner): prevent sudden yaw changes by adjusting overlap threshold for stop point insertion (#692)

* fix(motion_velocity_planner): prevent sudden yaw changes by adjusting overlap threshold for stop point insertion ---------
feat(motion_velocity_planner): update pointcloud preprocess (#631)
fix(motion_velocity_planner): fix empty point cloud header (#635)
feat(obstacle_stop): enable object specified obstacle_filtering parameter and refactor obstacle type handling (#613)

* refactor obstacle_filtering structure and type handling ---------
chore: bump version (1.4.0) and update changelog (#608)
Contributors: Kyoichi Sugahara, Mete Fatih Cırıt, Yuki TAKAGI, Yutaka Kondo, mitsudome-r

1.4.0 (2025-08-11)

Merge remote-tracking branch 'origin/main' into humble
feat(motion_velocity_planner, motion_velocity_planner_common): update pointcloud preprocess design (#591)

* updare pcl preprocess ---------
chore(motion_velocity_planner, behavior_velocity_planner): unifiy module load srv (#585) port srv
refactor(motion_velocity_planner): restrict copy of planner_data (#587)

* restrict plannar data copy ---------
chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome, Yuki TAKAGI

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
feat(motion_velocity_planner_node): update pcl coordinate transformation (#519)
- update pcl coordinate transformation
* add canTransform check ---------
feat(autoware_motion_velocity_planner)!: only wait for the required subscriptions (#505) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
fix(autoware_motion_velocity_planner): fix deprecated autoware_utils header (#444)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	rosidl_default_generators
	ament_cmake_auto
	autoware_cmake
	eigen3_cmake_module
	rosidl_default_runtime
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_planning_test_manager
	autoware_internal_debug_msgs
	autoware_internal_planning_msgs
	autoware_map_msgs
	autoware_motion_utils
	autoware_motion_velocity_planner_common
	autoware_perception_msgs
	autoware_planning_factor_interface
	autoware_planning_msgs
	autoware_utils_debug
	autoware_utils_geometry
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_rclcpp
	autoware_utils_system
	autoware_velocity_smoother
	geometry_msgs
	grid_map_core
	pcl_conversions
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
eigen
libboost-dev

Dependant Packages

Name	Deps
autoware_core_planning

Launch files

launch/motion_velocity_planner.launch.xml
- - common_param_path
  - vehicle_param_file
  - nearest_search_param_path
  - motion_velocity_planner_launch_modules
  - motion_velocity_config_path
  - motion_velocity_planner_param_path
  - motion_velocity_planner_param_file [default: $(find-pkg-share autoware_motion_velocity_planner)/config/motion_velocity_planner.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_motion_velocity_planner` at Robotics Stack Exchange

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

autoware_motion_velocity_planner 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_qos_utils 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

planning/motion_velocity_planner/autoware_motion_velocity_planner/README.md

Package Summary

Version	1.5.0
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	2025-11-21
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Node of the motion_velocity_planner

Maintainers

Maxime Clement
Alqudah Mohammad
Yutaka Kondo

Authors

Maxime Clement

Motion Velocity Planner

Overview

motion_velocity_planner is a planner to adjust the trajectory velocity based on the obstacles around the vehicle. It loads modules as plugins. Please refer to the links listed below for detail on each module.

Architecture

Out of Lane

Each module calculates stop and slow down points to be inserted in the ego trajectory. These points are assumed to correspond to the base_link frame of the ego vehicle as it follows the trajectory. This means that to stop before a wall, a stop point is inserted in the trajectory at a distance ahead of the wall equal to the vehicle front offset (wheelbase + front overhang, see the vehicle dimensions.

set_stop_velocity

Input topics

Name	Type	Description
`~/input/trajectory`	autoware_planning_msgs::msg::Trajectory	input trajectory
`~/input/vector_map`	autoware_map_msgs::msg::LaneletMapBin	vector map
`~/input/vehicle_odometry`	nav_msgs::msg::Odometry	vehicle position and velocity
`~/input/accel`	geometry_msgs::msg::AccelWithCovarianceStamped	vehicle acceleration
`~/input/dynamic_objects`	autoware_perception_msgs::msg::PredictedObjects	dynamic objects
`~/input/no_ground_pointcloud`	sensor_msgs::msg::PointCloud2	obstacle pointcloud
`~/input/traffic_signals`	autoware_perception_msgs::msg::TrafficLightGroupArray	traffic light states
`~/input/occupancy_grid`	nav_msgs::msg::OccupancyGrid	occupancy grid

Output topics

Name	Type	Description
`~/output/trajectory`	autoware_planning_msgs::msg::Trajectory	Ego trajectory with updated velocity profile
`~/output/planning_factors/<MODULE_NAME>`	autoware_internal_planning_msgs::msg::PlanningFactorsArray	factors causing change in the ego velocity profile

Services

Name	Type	Description
`~/service/load_plugin`	autoware_motion_velocity_planner::srv::LoadPlugin	To request loading a plugin
`~/service/unload_plugin`	autoware_motion_velocity_planner::srv::UnloadPlugin	To request unloaded a plugin

Node parameters

Parameter	Type	Description
`launch_modules`	vector<string>	module names to launch

In addition, the following parameters should be provided to the node:

nearest search parameters;
vehicle info parameters;
common planning parameters;
smoother parameters
Parameters of each plugin that will be loaded.

CHANGELOG

Changelog for package autoware_motion_velocity_planner

1.1.0 (2025-05-01)

1.5.0 (2025-11-16)

Merge remote-tracking branch 'origin/main' into humble
feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)
- replace ament_auto_package to autoware_ament_auto_package
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix(motion_velocity_planner): prevent sudden yaw changes by adjusting overlap threshold for stop point insertion (#692)

* fix(motion_velocity_planner): prevent sudden yaw changes by adjusting overlap threshold for stop point insertion ---------
feat(motion_velocity_planner): update pointcloud preprocess (#631)
fix(motion_velocity_planner): fix empty point cloud header (#635)
feat(obstacle_stop): enable object specified obstacle_filtering parameter and refactor obstacle type handling (#613)

* refactor obstacle_filtering structure and type handling ---------
chore: bump version (1.4.0) and update changelog (#608)
Contributors: Kyoichi Sugahara, Mete Fatih Cırıt, Yuki TAKAGI, Yutaka Kondo, mitsudome-r

1.4.0 (2025-08-11)

Merge remote-tracking branch 'origin/main' into humble
feat(motion_velocity_planner, motion_velocity_planner_common): update pointcloud preprocess design (#591)

* updare pcl preprocess ---------
chore(motion_velocity_planner, behavior_velocity_planner): unifiy module load srv (#585) port srv
refactor(motion_velocity_planner): restrict copy of planner_data (#587)

* restrict plannar data copy ---------
chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome, Yuki TAKAGI

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
feat(motion_velocity_planner_node): update pcl coordinate transformation (#519)
- update pcl coordinate transformation
* add canTransform check ---------
feat(autoware_motion_velocity_planner)!: only wait for the required subscriptions (#505) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
fix(autoware_motion_velocity_planner): fix deprecated autoware_utils header (#444)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	rosidl_default_generators
	ament_cmake_auto
	autoware_cmake
	eigen3_cmake_module
	rosidl_default_runtime
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_planning_test_manager
	autoware_internal_debug_msgs
	autoware_internal_planning_msgs
	autoware_map_msgs
	autoware_motion_utils
	autoware_motion_velocity_planner_common
	autoware_perception_msgs
	autoware_planning_factor_interface
	autoware_planning_msgs
	autoware_utils_debug
	autoware_utils_geometry
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_rclcpp
	autoware_utils_system
	autoware_velocity_smoother
	geometry_msgs
	grid_map_core
	pcl_conversions
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
eigen
libboost-dev

Dependant Packages

Name	Deps
autoware_core_planning

Launch files

launch/motion_velocity_planner.launch.xml
- - common_param_path
  - vehicle_param_file
  - nearest_search_param_path
  - motion_velocity_planner_launch_modules
  - motion_velocity_config_path
  - motion_velocity_planner_param_path
  - motion_velocity_planner_param_file [default: $(find-pkg-share autoware_motion_velocity_planner)/config/motion_velocity_planner.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_motion_velocity_planner` at Robotics Stack Exchange

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

autoware_motion_velocity_planner 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_qos_utils 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

planning/motion_velocity_planner/autoware_motion_velocity_planner/README.md

Package Summary

Version	1.5.0
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	2025-11-21
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Node of the motion_velocity_planner

Maintainers

Maxime Clement
Alqudah Mohammad
Yutaka Kondo

Authors

Maxime Clement

Motion Velocity Planner

Overview

motion_velocity_planner is a planner to adjust the trajectory velocity based on the obstacles around the vehicle. It loads modules as plugins. Please refer to the links listed below for detail on each module.

Architecture

Out of Lane

Each module calculates stop and slow down points to be inserted in the ego trajectory. These points are assumed to correspond to the base_link frame of the ego vehicle as it follows the trajectory. This means that to stop before a wall, a stop point is inserted in the trajectory at a distance ahead of the wall equal to the vehicle front offset (wheelbase + front overhang, see the vehicle dimensions.

set_stop_velocity

Input topics

Name	Type	Description
`~/input/trajectory`	autoware_planning_msgs::msg::Trajectory	input trajectory
`~/input/vector_map`	autoware_map_msgs::msg::LaneletMapBin	vector map
`~/input/vehicle_odometry`	nav_msgs::msg::Odometry	vehicle position and velocity
`~/input/accel`	geometry_msgs::msg::AccelWithCovarianceStamped	vehicle acceleration
`~/input/dynamic_objects`	autoware_perception_msgs::msg::PredictedObjects	dynamic objects
`~/input/no_ground_pointcloud`	sensor_msgs::msg::PointCloud2	obstacle pointcloud
`~/input/traffic_signals`	autoware_perception_msgs::msg::TrafficLightGroupArray	traffic light states
`~/input/occupancy_grid`	nav_msgs::msg::OccupancyGrid	occupancy grid

Output topics

Name	Type	Description
`~/output/trajectory`	autoware_planning_msgs::msg::Trajectory	Ego trajectory with updated velocity profile
`~/output/planning_factors/<MODULE_NAME>`	autoware_internal_planning_msgs::msg::PlanningFactorsArray	factors causing change in the ego velocity profile

Services

Name	Type	Description
`~/service/load_plugin`	autoware_motion_velocity_planner::srv::LoadPlugin	To request loading a plugin
`~/service/unload_plugin`	autoware_motion_velocity_planner::srv::UnloadPlugin	To request unloaded a plugin

Node parameters

Parameter	Type	Description
`launch_modules`	vector<string>	module names to launch

In addition, the following parameters should be provided to the node:

nearest search parameters;
vehicle info parameters;
common planning parameters;
smoother parameters
Parameters of each plugin that will be loaded.

CHANGELOG

Changelog for package autoware_motion_velocity_planner

1.1.0 (2025-05-01)

1.5.0 (2025-11-16)

Merge remote-tracking branch 'origin/main' into humble
feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)
- replace ament_auto_package to autoware_ament_auto_package
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix(motion_velocity_planner): prevent sudden yaw changes by adjusting overlap threshold for stop point insertion (#692)

* fix(motion_velocity_planner): prevent sudden yaw changes by adjusting overlap threshold for stop point insertion ---------
feat(motion_velocity_planner): update pointcloud preprocess (#631)
fix(motion_velocity_planner): fix empty point cloud header (#635)
feat(obstacle_stop): enable object specified obstacle_filtering parameter and refactor obstacle type handling (#613)

* refactor obstacle_filtering structure and type handling ---------
chore: bump version (1.4.0) and update changelog (#608)
Contributors: Kyoichi Sugahara, Mete Fatih Cırıt, Yuki TAKAGI, Yutaka Kondo, mitsudome-r

1.4.0 (2025-08-11)

Merge remote-tracking branch 'origin/main' into humble
feat(motion_velocity_planner, motion_velocity_planner_common): update pointcloud preprocess design (#591)

* updare pcl preprocess ---------
chore(motion_velocity_planner, behavior_velocity_planner): unifiy module load srv (#585) port srv
refactor(motion_velocity_planner): restrict copy of planner_data (#587)

* restrict plannar data copy ---------
chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome, Yuki TAKAGI

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
feat(motion_velocity_planner_node): update pcl coordinate transformation (#519)
- update pcl coordinate transformation
* add canTransform check ---------
feat(autoware_motion_velocity_planner)!: only wait for the required subscriptions (#505) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
fix(autoware_motion_velocity_planner): fix deprecated autoware_utils header (#444)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	rosidl_default_generators
	ament_cmake_auto
	autoware_cmake
	eigen3_cmake_module
	rosidl_default_runtime
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_planning_test_manager
	autoware_internal_debug_msgs
	autoware_internal_planning_msgs
	autoware_map_msgs
	autoware_motion_utils
	autoware_motion_velocity_planner_common
	autoware_perception_msgs
	autoware_planning_factor_interface
	autoware_planning_msgs
	autoware_utils_debug
	autoware_utils_geometry
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_rclcpp
	autoware_utils_system
	autoware_velocity_smoother
	geometry_msgs
	grid_map_core
	pcl_conversions
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
eigen
libboost-dev

Dependant Packages

Name	Deps
autoware_core_planning

Launch files

launch/motion_velocity_planner.launch.xml
- - common_param_path
  - vehicle_param_file
  - nearest_search_param_path
  - motion_velocity_planner_launch_modules
  - motion_velocity_config_path
  - motion_velocity_planner_param_path
  - motion_velocity_planner_param_file [default: $(find-pkg-share autoware_motion_velocity_planner)/config/motion_velocity_planner.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_motion_velocity_planner` at Robotics Stack Exchange

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

autoware_motion_velocity_planner 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_qos_utils 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

planning/motion_velocity_planner/autoware_motion_velocity_planner/README.md

Package Summary

Version	1.5.0
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	2025-11-21
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Node of the motion_velocity_planner

Maintainers

Maxime Clement
Alqudah Mohammad
Yutaka Kondo

Authors

Maxime Clement

Motion Velocity Planner

Overview

motion_velocity_planner is a planner to adjust the trajectory velocity based on the obstacles around the vehicle. It loads modules as plugins. Please refer to the links listed below for detail on each module.

Architecture

Out of Lane

Each module calculates stop and slow down points to be inserted in the ego trajectory. These points are assumed to correspond to the base_link frame of the ego vehicle as it follows the trajectory. This means that to stop before a wall, a stop point is inserted in the trajectory at a distance ahead of the wall equal to the vehicle front offset (wheelbase + front overhang, see the vehicle dimensions.

set_stop_velocity

Input topics

Name	Type	Description
`~/input/trajectory`	autoware_planning_msgs::msg::Trajectory	input trajectory
`~/input/vector_map`	autoware_map_msgs::msg::LaneletMapBin	vector map
`~/input/vehicle_odometry`	nav_msgs::msg::Odometry	vehicle position and velocity
`~/input/accel`	geometry_msgs::msg::AccelWithCovarianceStamped	vehicle acceleration
`~/input/dynamic_objects`	autoware_perception_msgs::msg::PredictedObjects	dynamic objects
`~/input/no_ground_pointcloud`	sensor_msgs::msg::PointCloud2	obstacle pointcloud
`~/input/traffic_signals`	autoware_perception_msgs::msg::TrafficLightGroupArray	traffic light states
`~/input/occupancy_grid`	nav_msgs::msg::OccupancyGrid	occupancy grid

Output topics

Name	Type	Description
`~/output/trajectory`	autoware_planning_msgs::msg::Trajectory	Ego trajectory with updated velocity profile
`~/output/planning_factors/<MODULE_NAME>`	autoware_internal_planning_msgs::msg::PlanningFactorsArray	factors causing change in the ego velocity profile

Services

Name	Type	Description
`~/service/load_plugin`	autoware_motion_velocity_planner::srv::LoadPlugin	To request loading a plugin
`~/service/unload_plugin`	autoware_motion_velocity_planner::srv::UnloadPlugin	To request unloaded a plugin

Node parameters

Parameter	Type	Description
`launch_modules`	vector<string>	module names to launch

In addition, the following parameters should be provided to the node:

nearest search parameters;
vehicle info parameters;
common planning parameters;
smoother parameters
Parameters of each plugin that will be loaded.

CHANGELOG

Changelog for package autoware_motion_velocity_planner

1.1.0 (2025-05-01)

1.5.0 (2025-11-16)

Merge remote-tracking branch 'origin/main' into humble
feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)
- replace ament_auto_package to autoware_ament_auto_package
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix(motion_velocity_planner): prevent sudden yaw changes by adjusting overlap threshold for stop point insertion (#692)

* fix(motion_velocity_planner): prevent sudden yaw changes by adjusting overlap threshold for stop point insertion ---------
feat(motion_velocity_planner): update pointcloud preprocess (#631)
fix(motion_velocity_planner): fix empty point cloud header (#635)
feat(obstacle_stop): enable object specified obstacle_filtering parameter and refactor obstacle type handling (#613)

* refactor obstacle_filtering structure and type handling ---------
chore: bump version (1.4.0) and update changelog (#608)
Contributors: Kyoichi Sugahara, Mete Fatih Cırıt, Yuki TAKAGI, Yutaka Kondo, mitsudome-r

1.4.0 (2025-08-11)

Merge remote-tracking branch 'origin/main' into humble
feat(motion_velocity_planner, motion_velocity_planner_common): update pointcloud preprocess design (#591)

* updare pcl preprocess ---------
chore(motion_velocity_planner, behavior_velocity_planner): unifiy module load srv (#585) port srv
refactor(motion_velocity_planner): restrict copy of planner_data (#587)

* restrict plannar data copy ---------
chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome, Yuki TAKAGI

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
feat(motion_velocity_planner_node): update pcl coordinate transformation (#519)
- update pcl coordinate transformation
* add canTransform check ---------
feat(autoware_motion_velocity_planner)!: only wait for the required subscriptions (#505) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
fix(autoware_motion_velocity_planner): fix deprecated autoware_utils header (#444)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	rosidl_default_generators
	ament_cmake_auto
	autoware_cmake
	eigen3_cmake_module
	rosidl_default_runtime
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_planning_test_manager
	autoware_internal_debug_msgs
	autoware_internal_planning_msgs
	autoware_map_msgs
	autoware_motion_utils
	autoware_motion_velocity_planner_common
	autoware_perception_msgs
	autoware_planning_factor_interface
	autoware_planning_msgs
	autoware_utils_debug
	autoware_utils_geometry
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_rclcpp
	autoware_utils_system
	autoware_velocity_smoother
	geometry_msgs
	grid_map_core
	pcl_conversions
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
eigen
libboost-dev

Dependant Packages

Name	Deps
autoware_core_planning

Launch files

launch/motion_velocity_planner.launch.xml
- - common_param_path
  - vehicle_param_file
  - nearest_search_param_path
  - motion_velocity_planner_launch_modules
  - motion_velocity_config_path
  - motion_velocity_planner_param_path
  - motion_velocity_planner_param_file [default: $(find-pkg-share autoware_motion_velocity_planner)/config/motion_velocity_planner.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_motion_velocity_planner` at Robotics Stack Exchange

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

autoware_motion_velocity_planner 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_qos_utils 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

planning/motion_velocity_planner/autoware_motion_velocity_planner/README.md

Package Summary

Version	1.5.0
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	2025-11-21
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Node of the motion_velocity_planner

Maintainers

Maxime Clement
Alqudah Mohammad
Yutaka Kondo

Authors

Maxime Clement

Motion Velocity Planner

Overview

motion_velocity_planner is a planner to adjust the trajectory velocity based on the obstacles around the vehicle. It loads modules as plugins. Please refer to the links listed below for detail on each module.

Architecture

Out of Lane

Each module calculates stop and slow down points to be inserted in the ego trajectory. These points are assumed to correspond to the base_link frame of the ego vehicle as it follows the trajectory. This means that to stop before a wall, a stop point is inserted in the trajectory at a distance ahead of the wall equal to the vehicle front offset (wheelbase + front overhang, see the vehicle dimensions.

set_stop_velocity

Input topics

Name	Type	Description
`~/input/trajectory`	autoware_planning_msgs::msg::Trajectory	input trajectory
`~/input/vector_map`	autoware_map_msgs::msg::LaneletMapBin	vector map
`~/input/vehicle_odometry`	nav_msgs::msg::Odometry	vehicle position and velocity
`~/input/accel`	geometry_msgs::msg::AccelWithCovarianceStamped	vehicle acceleration
`~/input/dynamic_objects`	autoware_perception_msgs::msg::PredictedObjects	dynamic objects
`~/input/no_ground_pointcloud`	sensor_msgs::msg::PointCloud2	obstacle pointcloud
`~/input/traffic_signals`	autoware_perception_msgs::msg::TrafficLightGroupArray	traffic light states
`~/input/occupancy_grid`	nav_msgs::msg::OccupancyGrid	occupancy grid

Output topics

Name	Type	Description
`~/output/trajectory`	autoware_planning_msgs::msg::Trajectory	Ego trajectory with updated velocity profile
`~/output/planning_factors/<MODULE_NAME>`	autoware_internal_planning_msgs::msg::PlanningFactorsArray	factors causing change in the ego velocity profile

Services

Name	Type	Description
`~/service/load_plugin`	autoware_motion_velocity_planner::srv::LoadPlugin	To request loading a plugin
`~/service/unload_plugin`	autoware_motion_velocity_planner::srv::UnloadPlugin	To request unloaded a plugin

Node parameters

Parameter	Type	Description
`launch_modules`	vector<string>	module names to launch

In addition, the following parameters should be provided to the node:

nearest search parameters;
vehicle info parameters;
common planning parameters;
smoother parameters
Parameters of each plugin that will be loaded.

CHANGELOG

Changelog for package autoware_motion_velocity_planner

1.1.0 (2025-05-01)

1.5.0 (2025-11-16)

Merge remote-tracking branch 'origin/main' into humble
feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)
- replace ament_auto_package to autoware_ament_auto_package
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix(motion_velocity_planner): prevent sudden yaw changes by adjusting overlap threshold for stop point insertion (#692)

* fix(motion_velocity_planner): prevent sudden yaw changes by adjusting overlap threshold for stop point insertion ---------
feat(motion_velocity_planner): update pointcloud preprocess (#631)
fix(motion_velocity_planner): fix empty point cloud header (#635)
feat(obstacle_stop): enable object specified obstacle_filtering parameter and refactor obstacle type handling (#613)

* refactor obstacle_filtering structure and type handling ---------
chore: bump version (1.4.0) and update changelog (#608)
Contributors: Kyoichi Sugahara, Mete Fatih Cırıt, Yuki TAKAGI, Yutaka Kondo, mitsudome-r

1.4.0 (2025-08-11)

Merge remote-tracking branch 'origin/main' into humble
feat(motion_velocity_planner, motion_velocity_planner_common): update pointcloud preprocess design (#591)

* updare pcl preprocess ---------
chore(motion_velocity_planner, behavior_velocity_planner): unifiy module load srv (#585) port srv
refactor(motion_velocity_planner): restrict copy of planner_data (#587)

* restrict plannar data copy ---------
chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome, Yuki TAKAGI

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
feat(motion_velocity_planner_node): update pcl coordinate transformation (#519)
- update pcl coordinate transformation
* add canTransform check ---------
feat(autoware_motion_velocity_planner)!: only wait for the required subscriptions (#505) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
fix(autoware_motion_velocity_planner): fix deprecated autoware_utils header (#444)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	rosidl_default_generators
	ament_cmake_auto
	autoware_cmake
	eigen3_cmake_module
	rosidl_default_runtime
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_planning_test_manager
	autoware_internal_debug_msgs
	autoware_internal_planning_msgs
	autoware_map_msgs
	autoware_motion_utils
	autoware_motion_velocity_planner_common
	autoware_perception_msgs
	autoware_planning_factor_interface
	autoware_planning_msgs
	autoware_utils_debug
	autoware_utils_geometry
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_rclcpp
	autoware_utils_system
	autoware_velocity_smoother
	geometry_msgs
	grid_map_core
	pcl_conversions
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
eigen
libboost-dev

Dependant Packages

Name	Deps
autoware_core_planning

Launch files

launch/motion_velocity_planner.launch.xml
- - common_param_path
  - vehicle_param_file
  - nearest_search_param_path
  - motion_velocity_planner_launch_modules
  - motion_velocity_config_path
  - motion_velocity_planner_param_path
  - motion_velocity_planner_param_file [default: $(find-pkg-share autoware_motion_velocity_planner)/config/motion_velocity_planner.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_motion_velocity_planner` at Robotics Stack Exchange

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

autoware_motion_velocity_planner 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_qos_utils 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

planning/motion_velocity_planner/autoware_motion_velocity_planner/README.md

Package Summary

Version	1.5.0
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	2025-11-21
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Node of the motion_velocity_planner

Maintainers

Maxime Clement
Alqudah Mohammad
Yutaka Kondo

Authors

Maxime Clement

Motion Velocity Planner

Overview

motion_velocity_planner is a planner to adjust the trajectory velocity based on the obstacles around the vehicle. It loads modules as plugins. Please refer to the links listed below for detail on each module.

Architecture

Out of Lane

Each module calculates stop and slow down points to be inserted in the ego trajectory. These points are assumed to correspond to the base_link frame of the ego vehicle as it follows the trajectory. This means that to stop before a wall, a stop point is inserted in the trajectory at a distance ahead of the wall equal to the vehicle front offset (wheelbase + front overhang, see the vehicle dimensions.

set_stop_velocity

Input topics

Name	Type	Description
`~/input/trajectory`	autoware_planning_msgs::msg::Trajectory	input trajectory
`~/input/vector_map`	autoware_map_msgs::msg::LaneletMapBin	vector map
`~/input/vehicle_odometry`	nav_msgs::msg::Odometry	vehicle position and velocity
`~/input/accel`	geometry_msgs::msg::AccelWithCovarianceStamped	vehicle acceleration
`~/input/dynamic_objects`	autoware_perception_msgs::msg::PredictedObjects	dynamic objects
`~/input/no_ground_pointcloud`	sensor_msgs::msg::PointCloud2	obstacle pointcloud
`~/input/traffic_signals`	autoware_perception_msgs::msg::TrafficLightGroupArray	traffic light states
`~/input/occupancy_grid`	nav_msgs::msg::OccupancyGrid	occupancy grid

Output topics

Name	Type	Description
`~/output/trajectory`	autoware_planning_msgs::msg::Trajectory	Ego trajectory with updated velocity profile
`~/output/planning_factors/<MODULE_NAME>`	autoware_internal_planning_msgs::msg::PlanningFactorsArray	factors causing change in the ego velocity profile

Services

Name	Type	Description
`~/service/load_plugin`	autoware_motion_velocity_planner::srv::LoadPlugin	To request loading a plugin
`~/service/unload_plugin`	autoware_motion_velocity_planner::srv::UnloadPlugin	To request unloaded a plugin

Node parameters

Parameter	Type	Description
`launch_modules`	vector<string>	module names to launch

In addition, the following parameters should be provided to the node:

nearest search parameters;
vehicle info parameters;
common planning parameters;
smoother parameters
Parameters of each plugin that will be loaded.

CHANGELOG

Changelog for package autoware_motion_velocity_planner

1.1.0 (2025-05-01)

1.5.0 (2025-11-16)

Merge remote-tracking branch 'origin/main' into humble
feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)
- replace ament_auto_package to autoware_ament_auto_package
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix(motion_velocity_planner): prevent sudden yaw changes by adjusting overlap threshold for stop point insertion (#692)

* fix(motion_velocity_planner): prevent sudden yaw changes by adjusting overlap threshold for stop point insertion ---------
feat(motion_velocity_planner): update pointcloud preprocess (#631)
fix(motion_velocity_planner): fix empty point cloud header (#635)
feat(obstacle_stop): enable object specified obstacle_filtering parameter and refactor obstacle type handling (#613)

* refactor obstacle_filtering structure and type handling ---------
chore: bump version (1.4.0) and update changelog (#608)
Contributors: Kyoichi Sugahara, Mete Fatih Cırıt, Yuki TAKAGI, Yutaka Kondo, mitsudome-r

1.4.0 (2025-08-11)

Merge remote-tracking branch 'origin/main' into humble
feat(motion_velocity_planner, motion_velocity_planner_common): update pointcloud preprocess design (#591)

* updare pcl preprocess ---------
chore(motion_velocity_planner, behavior_velocity_planner): unifiy module load srv (#585) port srv
refactor(motion_velocity_planner): restrict copy of planner_data (#587)

* restrict plannar data copy ---------
chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome, Yuki TAKAGI

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
feat(motion_velocity_planner_node): update pcl coordinate transformation (#519)
- update pcl coordinate transformation
* add canTransform check ---------
feat(autoware_motion_velocity_planner)!: only wait for the required subscriptions (#505) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
fix(autoware_motion_velocity_planner): fix deprecated autoware_utils header (#444)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	rosidl_default_generators
	ament_cmake_auto
	autoware_cmake
	eigen3_cmake_module
	rosidl_default_runtime
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_planning_test_manager
	autoware_internal_debug_msgs
	autoware_internal_planning_msgs
	autoware_map_msgs
	autoware_motion_utils
	autoware_motion_velocity_planner_common
	autoware_perception_msgs
	autoware_planning_factor_interface
	autoware_planning_msgs
	autoware_utils_debug
	autoware_utils_geometry
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_rclcpp
	autoware_utils_system
	autoware_velocity_smoother
	geometry_msgs
	grid_map_core
	pcl_conversions
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
eigen
libboost-dev

Dependant Packages

Name	Deps
autoware_core_planning

Launch files

launch/motion_velocity_planner.launch.xml
- - common_param_path
  - vehicle_param_file
  - nearest_search_param_path
  - motion_velocity_planner_launch_modules
  - motion_velocity_config_path
  - motion_velocity_planner_param_path
  - motion_velocity_planner_param_file [default: $(find-pkg-share autoware_motion_velocity_planner)/config/motion_velocity_planner.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_motion_velocity_planner` at Robotics Stack Exchange

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

autoware_motion_velocity_planner 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_qos_utils 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

planning/motion_velocity_planner/autoware_motion_velocity_planner/README.md

Package Summary

Version	1.5.0
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	2025-11-21
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Node of the motion_velocity_planner

Maintainers

Maxime Clement
Alqudah Mohammad
Yutaka Kondo

Authors

Maxime Clement

Motion Velocity Planner

Overview

motion_velocity_planner is a planner to adjust the trajectory velocity based on the obstacles around the vehicle. It loads modules as plugins. Please refer to the links listed below for detail on each module.

Architecture

Out of Lane

Each module calculates stop and slow down points to be inserted in the ego trajectory. These points are assumed to correspond to the base_link frame of the ego vehicle as it follows the trajectory. This means that to stop before a wall, a stop point is inserted in the trajectory at a distance ahead of the wall equal to the vehicle front offset (wheelbase + front overhang, see the vehicle dimensions.

set_stop_velocity

Input topics

Name	Type	Description
`~/input/trajectory`	autoware_planning_msgs::msg::Trajectory	input trajectory
`~/input/vector_map`	autoware_map_msgs::msg::LaneletMapBin	vector map
`~/input/vehicle_odometry`	nav_msgs::msg::Odometry	vehicle position and velocity
`~/input/accel`	geometry_msgs::msg::AccelWithCovarianceStamped	vehicle acceleration
`~/input/dynamic_objects`	autoware_perception_msgs::msg::PredictedObjects	dynamic objects
`~/input/no_ground_pointcloud`	sensor_msgs::msg::PointCloud2	obstacle pointcloud
`~/input/traffic_signals`	autoware_perception_msgs::msg::TrafficLightGroupArray	traffic light states
`~/input/occupancy_grid`	nav_msgs::msg::OccupancyGrid	occupancy grid

Output topics

Name	Type	Description
`~/output/trajectory`	autoware_planning_msgs::msg::Trajectory	Ego trajectory with updated velocity profile
`~/output/planning_factors/<MODULE_NAME>`	autoware_internal_planning_msgs::msg::PlanningFactorsArray	factors causing change in the ego velocity profile

Services

Name	Type	Description
`~/service/load_plugin`	autoware_motion_velocity_planner::srv::LoadPlugin	To request loading a plugin
`~/service/unload_plugin`	autoware_motion_velocity_planner::srv::UnloadPlugin	To request unloaded a plugin

Node parameters

Parameter	Type	Description
`launch_modules`	vector<string>	module names to launch

In addition, the following parameters should be provided to the node:

nearest search parameters;
vehicle info parameters;
common planning parameters;
smoother parameters
Parameters of each plugin that will be loaded.

CHANGELOG

Changelog for package autoware_motion_velocity_planner

1.1.0 (2025-05-01)

1.5.0 (2025-11-16)

Merge remote-tracking branch 'origin/main' into humble
feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)
- replace ament_auto_package to autoware_ament_auto_package
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix(motion_velocity_planner): prevent sudden yaw changes by adjusting overlap threshold for stop point insertion (#692)

* fix(motion_velocity_planner): prevent sudden yaw changes by adjusting overlap threshold for stop point insertion ---------
feat(motion_velocity_planner): update pointcloud preprocess (#631)
fix(motion_velocity_planner): fix empty point cloud header (#635)
feat(obstacle_stop): enable object specified obstacle_filtering parameter and refactor obstacle type handling (#613)

* refactor obstacle_filtering structure and type handling ---------
chore: bump version (1.4.0) and update changelog (#608)
Contributors: Kyoichi Sugahara, Mete Fatih Cırıt, Yuki TAKAGI, Yutaka Kondo, mitsudome-r

1.4.0 (2025-08-11)

Merge remote-tracking branch 'origin/main' into humble
feat(motion_velocity_planner, motion_velocity_planner_common): update pointcloud preprocess design (#591)

* updare pcl preprocess ---------
chore(motion_velocity_planner, behavior_velocity_planner): unifiy module load srv (#585) port srv
refactor(motion_velocity_planner): restrict copy of planner_data (#587)

* restrict plannar data copy ---------
chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome, Yuki TAKAGI

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
feat(motion_velocity_planner_node): update pcl coordinate transformation (#519)
- update pcl coordinate transformation
* add canTransform check ---------
feat(autoware_motion_velocity_planner)!: only wait for the required subscriptions (#505) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
fix(autoware_motion_velocity_planner): fix deprecated autoware_utils header (#444)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	rosidl_default_generators
	ament_cmake_auto
	autoware_cmake
	eigen3_cmake_module
	rosidl_default_runtime
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_planning_test_manager
	autoware_internal_debug_msgs
	autoware_internal_planning_msgs
	autoware_map_msgs
	autoware_motion_utils
	autoware_motion_velocity_planner_common
	autoware_perception_msgs
	autoware_planning_factor_interface
	autoware_planning_msgs
	autoware_utils_debug
	autoware_utils_geometry
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_rclcpp
	autoware_utils_system
	autoware_velocity_smoother
	geometry_msgs
	grid_map_core
	pcl_conversions
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
eigen
libboost-dev

Dependant Packages

Name	Deps
autoware_core_planning

Launch files

launch/motion_velocity_planner.launch.xml
- - common_param_path
  - vehicle_param_file
  - nearest_search_param_path
  - motion_velocity_planner_launch_modules
  - motion_velocity_config_path
  - motion_velocity_planner_param_path
  - motion_velocity_planner_param_file [default: $(find-pkg-share autoware_motion_velocity_planner)/config/motion_velocity_planner.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_motion_velocity_planner` at Robotics Stack Exchange

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

autoware_motion_velocity_planner 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_qos_utils 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

planning/motion_velocity_planner/autoware_motion_velocity_planner/README.md

Package Summary

Version	1.5.0
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	2025-11-21
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Node of the motion_velocity_planner

Maintainers

Maxime Clement
Alqudah Mohammad
Yutaka Kondo

Authors

Maxime Clement

Motion Velocity Planner

Overview

motion_velocity_planner is a planner to adjust the trajectory velocity based on the obstacles around the vehicle. It loads modules as plugins. Please refer to the links listed below for detail on each module.

Architecture

Out of Lane

Each module calculates stop and slow down points to be inserted in the ego trajectory. These points are assumed to correspond to the base_link frame of the ego vehicle as it follows the trajectory. This means that to stop before a wall, a stop point is inserted in the trajectory at a distance ahead of the wall equal to the vehicle front offset (wheelbase + front overhang, see the vehicle dimensions.

set_stop_velocity

Input topics

Name	Type	Description
`~/input/trajectory`	autoware_planning_msgs::msg::Trajectory	input trajectory
`~/input/vector_map`	autoware_map_msgs::msg::LaneletMapBin	vector map
`~/input/vehicle_odometry`	nav_msgs::msg::Odometry	vehicle position and velocity
`~/input/accel`	geometry_msgs::msg::AccelWithCovarianceStamped	vehicle acceleration
`~/input/dynamic_objects`	autoware_perception_msgs::msg::PredictedObjects	dynamic objects
`~/input/no_ground_pointcloud`	sensor_msgs::msg::PointCloud2	obstacle pointcloud
`~/input/traffic_signals`	autoware_perception_msgs::msg::TrafficLightGroupArray	traffic light states
`~/input/occupancy_grid`	nav_msgs::msg::OccupancyGrid	occupancy grid

Output topics

Name	Type	Description
`~/output/trajectory`	autoware_planning_msgs::msg::Trajectory	Ego trajectory with updated velocity profile
`~/output/planning_factors/<MODULE_NAME>`	autoware_internal_planning_msgs::msg::PlanningFactorsArray	factors causing change in the ego velocity profile

Services

Name	Type	Description
`~/service/load_plugin`	autoware_motion_velocity_planner::srv::LoadPlugin	To request loading a plugin
`~/service/unload_plugin`	autoware_motion_velocity_planner::srv::UnloadPlugin	To request unloaded a plugin

Node parameters

Parameter	Type	Description
`launch_modules`	vector<string>	module names to launch

In addition, the following parameters should be provided to the node:

nearest search parameters;
vehicle info parameters;
common planning parameters;
smoother parameters
Parameters of each plugin that will be loaded.

CHANGELOG

Changelog for package autoware_motion_velocity_planner

1.1.0 (2025-05-01)

1.5.0 (2025-11-16)

Merge remote-tracking branch 'origin/main' into humble
feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)
- replace ament_auto_package to autoware_ament_auto_package
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix(motion_velocity_planner): prevent sudden yaw changes by adjusting overlap threshold for stop point insertion (#692)

* fix(motion_velocity_planner): prevent sudden yaw changes by adjusting overlap threshold for stop point insertion ---------
feat(motion_velocity_planner): update pointcloud preprocess (#631)
fix(motion_velocity_planner): fix empty point cloud header (#635)
feat(obstacle_stop): enable object specified obstacle_filtering parameter and refactor obstacle type handling (#613)

* refactor obstacle_filtering structure and type handling ---------
chore: bump version (1.4.0) and update changelog (#608)
Contributors: Kyoichi Sugahara, Mete Fatih Cırıt, Yuki TAKAGI, Yutaka Kondo, mitsudome-r

1.4.0 (2025-08-11)

Merge remote-tracking branch 'origin/main' into humble
feat(motion_velocity_planner, motion_velocity_planner_common): update pointcloud preprocess design (#591)

* updare pcl preprocess ---------
chore(motion_velocity_planner, behavior_velocity_planner): unifiy module load srv (#585) port srv
refactor(motion_velocity_planner): restrict copy of planner_data (#587)

* restrict plannar data copy ---------
chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome, Yuki TAKAGI

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
feat(motion_velocity_planner_node): update pcl coordinate transformation (#519)
- update pcl coordinate transformation
* add canTransform check ---------
feat(autoware_motion_velocity_planner)!: only wait for the required subscriptions (#505) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
fix(autoware_motion_velocity_planner): fix deprecated autoware_utils header (#444)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	rosidl_default_generators
	ament_cmake_auto
	autoware_cmake
	eigen3_cmake_module
	rosidl_default_runtime
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_planning_test_manager
	autoware_internal_debug_msgs
	autoware_internal_planning_msgs
	autoware_map_msgs
	autoware_motion_utils
	autoware_motion_velocity_planner_common
	autoware_perception_msgs
	autoware_planning_factor_interface
	autoware_planning_msgs
	autoware_utils_debug
	autoware_utils_geometry
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_rclcpp
	autoware_utils_system
	autoware_velocity_smoother
	geometry_msgs
	grid_map_core
	pcl_conversions
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
eigen
libboost-dev

Dependant Packages

Name	Deps
autoware_core_planning

Launch files

launch/motion_velocity_planner.launch.xml
- - common_param_path
  - vehicle_param_file
  - nearest_search_param_path
  - motion_velocity_planner_launch_modules
  - motion_velocity_config_path
  - motion_velocity_planner_param_path
  - motion_velocity_planner_param_file [default: $(find-pkg-share autoware_motion_velocity_planner)/config/motion_velocity_planner.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_motion_velocity_planner` at Robotics Stack Exchange

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

autoware_motion_velocity_planner 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_qos_utils 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

planning/motion_velocity_planner/autoware_motion_velocity_planner/README.md

Package Summary

Version	1.5.0
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	2025-11-21
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Node of the motion_velocity_planner

Maintainers

Maxime Clement
Alqudah Mohammad
Yutaka Kondo

Authors

Maxime Clement

Motion Velocity Planner

Overview

motion_velocity_planner is a planner to adjust the trajectory velocity based on the obstacles around the vehicle. It loads modules as plugins. Please refer to the links listed below for detail on each module.

Architecture

Out of Lane

Each module calculates stop and slow down points to be inserted in the ego trajectory. These points are assumed to correspond to the base_link frame of the ego vehicle as it follows the trajectory. This means that to stop before a wall, a stop point is inserted in the trajectory at a distance ahead of the wall equal to the vehicle front offset (wheelbase + front overhang, see the vehicle dimensions.

set_stop_velocity

Input topics

Name	Type	Description
`~/input/trajectory`	autoware_planning_msgs::msg::Trajectory	input trajectory
`~/input/vector_map`	autoware_map_msgs::msg::LaneletMapBin	vector map
`~/input/vehicle_odometry`	nav_msgs::msg::Odometry	vehicle position and velocity
`~/input/accel`	geometry_msgs::msg::AccelWithCovarianceStamped	vehicle acceleration
`~/input/dynamic_objects`	autoware_perception_msgs::msg::PredictedObjects	dynamic objects
`~/input/no_ground_pointcloud`	sensor_msgs::msg::PointCloud2	obstacle pointcloud
`~/input/traffic_signals`	autoware_perception_msgs::msg::TrafficLightGroupArray	traffic light states
`~/input/occupancy_grid`	nav_msgs::msg::OccupancyGrid	occupancy grid

Output topics

Name	Type	Description
`~/output/trajectory`	autoware_planning_msgs::msg::Trajectory	Ego trajectory with updated velocity profile
`~/output/planning_factors/<MODULE_NAME>`	autoware_internal_planning_msgs::msg::PlanningFactorsArray	factors causing change in the ego velocity profile

Services

Name	Type	Description
`~/service/load_plugin`	autoware_motion_velocity_planner::srv::LoadPlugin	To request loading a plugin
`~/service/unload_plugin`	autoware_motion_velocity_planner::srv::UnloadPlugin	To request unloaded a plugin

Node parameters

Parameter	Type	Description
`launch_modules`	vector<string>	module names to launch

In addition, the following parameters should be provided to the node:

nearest search parameters;
vehicle info parameters;
common planning parameters;
smoother parameters
Parameters of each plugin that will be loaded.

CHANGELOG

Changelog for package autoware_motion_velocity_planner

1.1.0 (2025-05-01)

1.5.0 (2025-11-16)

Merge remote-tracking branch 'origin/main' into humble
feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)
- replace ament_auto_package to autoware_ament_auto_package
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix(motion_velocity_planner): prevent sudden yaw changes by adjusting overlap threshold for stop point insertion (#692)

* fix(motion_velocity_planner): prevent sudden yaw changes by adjusting overlap threshold for stop point insertion ---------
feat(motion_velocity_planner): update pointcloud preprocess (#631)
fix(motion_velocity_planner): fix empty point cloud header (#635)
feat(obstacle_stop): enable object specified obstacle_filtering parameter and refactor obstacle type handling (#613)

* refactor obstacle_filtering structure and type handling ---------
chore: bump version (1.4.0) and update changelog (#608)
Contributors: Kyoichi Sugahara, Mete Fatih Cırıt, Yuki TAKAGI, Yutaka Kondo, mitsudome-r

1.4.0 (2025-08-11)

Merge remote-tracking branch 'origin/main' into humble
feat(motion_velocity_planner, motion_velocity_planner_common): update pointcloud preprocess design (#591)

* updare pcl preprocess ---------
chore(motion_velocity_planner, behavior_velocity_planner): unifiy module load srv (#585) port srv
refactor(motion_velocity_planner): restrict copy of planner_data (#587)

* restrict plannar data copy ---------
chore: bump version to 1.3.0 (#554)
Contributors: Ryohsuke Mitsudome, Yuki TAKAGI

1.3.0 (2025-06-23)

fix: to be consistent version in all package.xml(s)
feat(motion_velocity_planner_node): update pcl coordinate transformation (#519)
- update pcl coordinate transformation
* add canTransform check ---------
feat(autoware_motion_velocity_planner)!: only wait for the required subscriptions (#505) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix: tf2 uses hpp headers in rolling (and is backported) (#483)
- tf2 uses hpp headers in rolling (and is backported)
* fixup! tf2 uses hpp headers in rolling (and is backported) ---------
fix(autoware_motion_velocity_planner): fix deprecated autoware_utils header (#444)

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	rosidl_default_generators
	ament_cmake_auto
	autoware_cmake
	eigen3_cmake_module
	rosidl_default_runtime
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_planning_test_manager
	autoware_internal_debug_msgs
	autoware_internal_planning_msgs
	autoware_map_msgs
	autoware_motion_utils
	autoware_motion_velocity_planner_common
	autoware_perception_msgs
	autoware_planning_factor_interface
	autoware_planning_msgs
	autoware_utils_debug
	autoware_utils_geometry
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_rclcpp
	autoware_utils_system
	autoware_velocity_smoother
	geometry_msgs
	grid_map_core
	pcl_conversions
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
eigen
libboost-dev

Dependant Packages

Name	Deps
autoware_core_planning

Launch files

launch/motion_velocity_planner.launch.xml
- - common_param_path
  - vehicle_param_file
  - nearest_search_param_path
  - motion_velocity_planner_launch_modules
  - motion_velocity_config_path
  - motion_velocity_planner_param_path
  - motion_velocity_planner_param_file [default: $(find-pkg-share autoware_motion_velocity_planner)/config/motion_velocity_planner.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_motion_velocity_planner` at Robotics Stack Exchange