Package symbol

autoware_motion_velocity_planner_common package from autoware_core repo

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

ROS Distro
humble

Package Summary

Tags No category tags.
Version 1.3.0
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 2025-07-24
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Common functions and interfaces for motion_velocity_planner modules

Additional Links

No additional links.

Maintainers

  • Maxime Clement
  • Alqudah Mohammad
  • Takayuki Murooka
  • Yuki Takagi

Authors

  • Maxime Clement

Motion Velocity Planner Common

This package provides common utilities and data structures for the motion velocity planner in the Autoware system. It contains tools for geometric calculations, trajectory processing, and velocity planning results.

Overview

Package motion velocity planner is responsible for generating velocity profiles for autonomous vehicles based on the current trajectory and environment. This package autoware_motion_velocity_planner_common contains essential utilities and structures that support the planning process, including:

  • Geometric operations for polygons and trajectories.
  • General utilities for trajectory processing and visualization.
  • Data structures for storing velocity planning results.

Design

Key Components

  1. Polygon Utilities (polygon_utils.hpp) This component provides functions for handling geometric polygons related to motion planning. It includes:
    • Collision detection between trajectories and obstacles.
    • Creation of polygons representing the vehicle’s trajectory at different time steps.
    • Geometric calculations using Boost Geometry.
  2. General Utilities (utils.hpp) This component provides various utility functions, including:
    • Conversion between point representations (e.g., pcl::PointXYZ to geometry_msgs::msg::Point).
    • Distance calculations between trajectory points and obstacles.
    • Functions for concatenating vectors and processing trajectories.
    • Visualization tools for creating markers.
  3. Velocity Planning Results (velocity_planning_result.hpp) This component defines data structures for storing the results of velocity planning, including:
    • SlowdownInterval: Represents a segment where the vehicle should slow down, with specified start and end points and velocity.
    • VelocityPlanningResult: Contains a collection of stop points, slowdown intervals, and optional velocity limits and clear commands.

Usage

Including the Package

To use this package in your project, you need to include it in your CMakeLists.txt:

find_package(autoware_motion_velocity_planner_common REQUIRED)

Example Usage

Here’s a simple example demonstrating the use of the utility functions:

#include "autoware/motion_velocity_planner_common/utils.hpp"

const auto decimated_traj_points = autoware::motion_velocity_planner::utils::decimate_trajectory_points_from_ego(
    traj_points, current_pose, ego_nearest_dist_threshold, ego_nearest_yaw_threshold,
    p.decimate_trajectory_step_length, 0.0);

this example is from autoware_universe/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/obstacle_cruise_module.cpp

CHANGELOG

Changelog for package autoware_motion_velocity_planner_common

1.1.0 (2025-05-01)

1.3.0 (2025-06-23)

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

  • 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(autoware_motion_velocity_obstacle_stop_module): point-cloud points ahead of the terminal stop-point (#502)

    • fix
    • moved resample_trajectory_points to non-anonymous status
    • style(pre-commit): autofix

    * fix

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

  • fix(autoware_motion_velocity_obstacle_stop_module): fix for mishandling lateral-distance (#452)

    • Fix for mishandling lateral-distance
    • fix
    • style(pre-commit): autofix
    • fix
    • fix
    • fix
    • style(pre-commit): autofix
    • fix
    • style(pre-commit): autofix

    * Update planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/utils.cpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

  • fix(autoware_motion_velocity_planner_common): fix deprecated autoware_utils header (#445)

    • fix autoware_utils header
    • style(pre-commit): autofix

    * add missing header ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

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

  • feat(autoware_motion_velocity_planner): point-cloud clustering optimization (#409)

    • Core changes for point-cloud maksing and clustering
    • fix
    • style(pre-commit): autofix

    * Update planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware/motion_velocity_planner_common/planner_data.hpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

    * fix

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

  • Contributors: Arjun Jagdish Ram, Masaki Baba, Ryohsuke Mitsudome, Yutaka Kondo, github-actions

1.0.0 (2025-03-31)

  • chore: update version in package.xml

  • feat: autoware_motion_velocity_planner and autoware_motion_velocity_planner_common to core (#242)

    • feat: modify autoware_universe_utils to autoware_utils
    • feat: remove useless dependecy
    • style(pre-commit): autofix
    • feat: modify autoware_universe_utils to autoware_utils
    • feat: autoware_motion_velocity_planner_node to core
    • style(pre-commit): autofix
    • feat: autoware_motion_velocity_planner_node to core
    • feat: modify autoware_universe_utils to autoware_utils

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_motion_velocity_planner_common at Robotics Stack Exchange

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

autoware_motion_velocity_planner_common package from autoware_core repo

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

ROS Distro
humble

Package Summary

Tags No category tags.
Version 1.3.0
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 2025-07-24
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Common functions and interfaces for motion_velocity_planner modules

Additional Links

No additional links.

Maintainers

  • Maxime Clement
  • Alqudah Mohammad
  • Takayuki Murooka
  • Yuki Takagi

Authors

  • Maxime Clement

Motion Velocity Planner Common

This package provides common utilities and data structures for the motion velocity planner in the Autoware system. It contains tools for geometric calculations, trajectory processing, and velocity planning results.

Overview

Package motion velocity planner is responsible for generating velocity profiles for autonomous vehicles based on the current trajectory and environment. This package autoware_motion_velocity_planner_common contains essential utilities and structures that support the planning process, including:

  • Geometric operations for polygons and trajectories.
  • General utilities for trajectory processing and visualization.
  • Data structures for storing velocity planning results.

Design

Key Components

  1. Polygon Utilities (polygon_utils.hpp) This component provides functions for handling geometric polygons related to motion planning. It includes:
    • Collision detection between trajectories and obstacles.
    • Creation of polygons representing the vehicle’s trajectory at different time steps.
    • Geometric calculations using Boost Geometry.
  2. General Utilities (utils.hpp) This component provides various utility functions, including:
    • Conversion between point representations (e.g., pcl::PointXYZ to geometry_msgs::msg::Point).
    • Distance calculations between trajectory points and obstacles.
    • Functions for concatenating vectors and processing trajectories.
    • Visualization tools for creating markers.
  3. Velocity Planning Results (velocity_planning_result.hpp) This component defines data structures for storing the results of velocity planning, including:
    • SlowdownInterval: Represents a segment where the vehicle should slow down, with specified start and end points and velocity.
    • VelocityPlanningResult: Contains a collection of stop points, slowdown intervals, and optional velocity limits and clear commands.

Usage

Including the Package

To use this package in your project, you need to include it in your CMakeLists.txt:

find_package(autoware_motion_velocity_planner_common REQUIRED)

Example Usage

Here’s a simple example demonstrating the use of the utility functions:

#include "autoware/motion_velocity_planner_common/utils.hpp"

const auto decimated_traj_points = autoware::motion_velocity_planner::utils::decimate_trajectory_points_from_ego(
    traj_points, current_pose, ego_nearest_dist_threshold, ego_nearest_yaw_threshold,
    p.decimate_trajectory_step_length, 0.0);

this example is from autoware_universe/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/obstacle_cruise_module.cpp

CHANGELOG

Changelog for package autoware_motion_velocity_planner_common

1.1.0 (2025-05-01)

1.3.0 (2025-06-23)

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

  • 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(autoware_motion_velocity_obstacle_stop_module): point-cloud points ahead of the terminal stop-point (#502)

    • fix
    • moved resample_trajectory_points to non-anonymous status
    • style(pre-commit): autofix

    * fix

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

  • fix(autoware_motion_velocity_obstacle_stop_module): fix for mishandling lateral-distance (#452)

    • Fix for mishandling lateral-distance
    • fix
    • style(pre-commit): autofix
    • fix
    • fix
    • fix
    • style(pre-commit): autofix
    • fix
    • style(pre-commit): autofix

    * Update planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/utils.cpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

  • fix(autoware_motion_velocity_planner_common): fix deprecated autoware_utils header (#445)

    • fix autoware_utils header
    • style(pre-commit): autofix

    * add missing header ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

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

  • feat(autoware_motion_velocity_planner): point-cloud clustering optimization (#409)

    • Core changes for point-cloud maksing and clustering
    • fix
    • style(pre-commit): autofix

    * Update planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware/motion_velocity_planner_common/planner_data.hpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

    * fix

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

  • Contributors: Arjun Jagdish Ram, Masaki Baba, Ryohsuke Mitsudome, Yutaka Kondo, github-actions

1.0.0 (2025-03-31)

  • chore: update version in package.xml

  • feat: autoware_motion_velocity_planner and autoware_motion_velocity_planner_common to core (#242)

    • feat: modify autoware_universe_utils to autoware_utils
    • feat: remove useless dependecy
    • style(pre-commit): autofix
    • feat: modify autoware_universe_utils to autoware_utils
    • feat: autoware_motion_velocity_planner_node to core
    • style(pre-commit): autofix
    • feat: autoware_motion_velocity_planner_node to core
    • feat: modify autoware_universe_utils to autoware_utils

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_motion_velocity_planner_common at Robotics Stack Exchange

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

autoware_motion_velocity_planner_common package from autoware_core repo

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

ROS Distro
humble

Package Summary

Tags No category tags.
Version 1.3.0
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 2025-07-24
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Common functions and interfaces for motion_velocity_planner modules

Additional Links

No additional links.

Maintainers

  • Maxime Clement
  • Alqudah Mohammad
  • Takayuki Murooka
  • Yuki Takagi

Authors

  • Maxime Clement

Motion Velocity Planner Common

This package provides common utilities and data structures for the motion velocity planner in the Autoware system. It contains tools for geometric calculations, trajectory processing, and velocity planning results.

Overview

Package motion velocity planner is responsible for generating velocity profiles for autonomous vehicles based on the current trajectory and environment. This package autoware_motion_velocity_planner_common contains essential utilities and structures that support the planning process, including:

  • Geometric operations for polygons and trajectories.
  • General utilities for trajectory processing and visualization.
  • Data structures for storing velocity planning results.

Design

Key Components

  1. Polygon Utilities (polygon_utils.hpp) This component provides functions for handling geometric polygons related to motion planning. It includes:
    • Collision detection between trajectories and obstacles.
    • Creation of polygons representing the vehicle’s trajectory at different time steps.
    • Geometric calculations using Boost Geometry.
  2. General Utilities (utils.hpp) This component provides various utility functions, including:
    • Conversion between point representations (e.g., pcl::PointXYZ to geometry_msgs::msg::Point).
    • Distance calculations between trajectory points and obstacles.
    • Functions for concatenating vectors and processing trajectories.
    • Visualization tools for creating markers.
  3. Velocity Planning Results (velocity_planning_result.hpp) This component defines data structures for storing the results of velocity planning, including:
    • SlowdownInterval: Represents a segment where the vehicle should slow down, with specified start and end points and velocity.
    • VelocityPlanningResult: Contains a collection of stop points, slowdown intervals, and optional velocity limits and clear commands.

Usage

Including the Package

To use this package in your project, you need to include it in your CMakeLists.txt:

find_package(autoware_motion_velocity_planner_common REQUIRED)

Example Usage

Here’s a simple example demonstrating the use of the utility functions:

#include "autoware/motion_velocity_planner_common/utils.hpp"

const auto decimated_traj_points = autoware::motion_velocity_planner::utils::decimate_trajectory_points_from_ego(
    traj_points, current_pose, ego_nearest_dist_threshold, ego_nearest_yaw_threshold,
    p.decimate_trajectory_step_length, 0.0);

this example is from autoware_universe/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/obstacle_cruise_module.cpp

CHANGELOG

Changelog for package autoware_motion_velocity_planner_common

1.1.0 (2025-05-01)

1.3.0 (2025-06-23)

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

  • 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(autoware_motion_velocity_obstacle_stop_module): point-cloud points ahead of the terminal stop-point (#502)

    • fix
    • moved resample_trajectory_points to non-anonymous status
    • style(pre-commit): autofix

    * fix

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

  • fix(autoware_motion_velocity_obstacle_stop_module): fix for mishandling lateral-distance (#452)

    • Fix for mishandling lateral-distance
    • fix
    • style(pre-commit): autofix
    • fix
    • fix
    • fix
    • style(pre-commit): autofix
    • fix
    • style(pre-commit): autofix

    * Update planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/utils.cpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

  • fix(autoware_motion_velocity_planner_common): fix deprecated autoware_utils header (#445)

    • fix autoware_utils header
    • style(pre-commit): autofix

    * add missing header ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

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

  • feat(autoware_motion_velocity_planner): point-cloud clustering optimization (#409)

    • Core changes for point-cloud maksing and clustering
    • fix
    • style(pre-commit): autofix

    * Update planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware/motion_velocity_planner_common/planner_data.hpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

    * fix

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

  • Contributors: Arjun Jagdish Ram, Masaki Baba, Ryohsuke Mitsudome, Yutaka Kondo, github-actions

1.0.0 (2025-03-31)

  • chore: update version in package.xml

  • feat: autoware_motion_velocity_planner and autoware_motion_velocity_planner_common to core (#242)

    • feat: modify autoware_universe_utils to autoware_utils
    • feat: remove useless dependecy
    • style(pre-commit): autofix
    • feat: modify autoware_universe_utils to autoware_utils
    • feat: autoware_motion_velocity_planner_node to core
    • style(pre-commit): autofix
    • feat: autoware_motion_velocity_planner_node to core
    • feat: modify autoware_universe_utils to autoware_utils

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_motion_velocity_planner_common at Robotics Stack Exchange

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

autoware_motion_velocity_planner_common package from autoware_core repo

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

ROS Distro
humble

Package Summary

Tags No category tags.
Version 1.3.0
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 2025-07-24
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Common functions and interfaces for motion_velocity_planner modules

Additional Links

No additional links.

Maintainers

  • Maxime Clement
  • Alqudah Mohammad
  • Takayuki Murooka
  • Yuki Takagi

Authors

  • Maxime Clement

Motion Velocity Planner Common

This package provides common utilities and data structures for the motion velocity planner in the Autoware system. It contains tools for geometric calculations, trajectory processing, and velocity planning results.

Overview

Package motion velocity planner is responsible for generating velocity profiles for autonomous vehicles based on the current trajectory and environment. This package autoware_motion_velocity_planner_common contains essential utilities and structures that support the planning process, including:

  • Geometric operations for polygons and trajectories.
  • General utilities for trajectory processing and visualization.
  • Data structures for storing velocity planning results.

Design

Key Components

  1. Polygon Utilities (polygon_utils.hpp) This component provides functions for handling geometric polygons related to motion planning. It includes:
    • Collision detection between trajectories and obstacles.
    • Creation of polygons representing the vehicle’s trajectory at different time steps.
    • Geometric calculations using Boost Geometry.
  2. General Utilities (utils.hpp) This component provides various utility functions, including:
    • Conversion between point representations (e.g., pcl::PointXYZ to geometry_msgs::msg::Point).
    • Distance calculations between trajectory points and obstacles.
    • Functions for concatenating vectors and processing trajectories.
    • Visualization tools for creating markers.
  3. Velocity Planning Results (velocity_planning_result.hpp) This component defines data structures for storing the results of velocity planning, including:
    • SlowdownInterval: Represents a segment where the vehicle should slow down, with specified start and end points and velocity.
    • VelocityPlanningResult: Contains a collection of stop points, slowdown intervals, and optional velocity limits and clear commands.

Usage

Including the Package

To use this package in your project, you need to include it in your CMakeLists.txt:

find_package(autoware_motion_velocity_planner_common REQUIRED)

Example Usage

Here’s a simple example demonstrating the use of the utility functions:

#include "autoware/motion_velocity_planner_common/utils.hpp"

const auto decimated_traj_points = autoware::motion_velocity_planner::utils::decimate_trajectory_points_from_ego(
    traj_points, current_pose, ego_nearest_dist_threshold, ego_nearest_yaw_threshold,
    p.decimate_trajectory_step_length, 0.0);

this example is from autoware_universe/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/obstacle_cruise_module.cpp

CHANGELOG

Changelog for package autoware_motion_velocity_planner_common

1.1.0 (2025-05-01)

1.3.0 (2025-06-23)

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

  • 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(autoware_motion_velocity_obstacle_stop_module): point-cloud points ahead of the terminal stop-point (#502)

    • fix
    • moved resample_trajectory_points to non-anonymous status
    • style(pre-commit): autofix

    * fix

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

  • fix(autoware_motion_velocity_obstacle_stop_module): fix for mishandling lateral-distance (#452)

    • Fix for mishandling lateral-distance
    • fix
    • style(pre-commit): autofix
    • fix
    • fix
    • fix
    • style(pre-commit): autofix
    • fix
    • style(pre-commit): autofix

    * Update planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/utils.cpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

  • fix(autoware_motion_velocity_planner_common): fix deprecated autoware_utils header (#445)

    • fix autoware_utils header
    • style(pre-commit): autofix

    * add missing header ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

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

  • feat(autoware_motion_velocity_planner): point-cloud clustering optimization (#409)

    • Core changes for point-cloud maksing and clustering
    • fix
    • style(pre-commit): autofix

    * Update planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware/motion_velocity_planner_common/planner_data.hpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

    * fix

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

  • Contributors: Arjun Jagdish Ram, Masaki Baba, Ryohsuke Mitsudome, Yutaka Kondo, github-actions

1.0.0 (2025-03-31)

  • chore: update version in package.xml

  • feat: autoware_motion_velocity_planner and autoware_motion_velocity_planner_common to core (#242)

    • feat: modify autoware_universe_utils to autoware_utils
    • feat: remove useless dependecy
    • style(pre-commit): autofix
    • feat: modify autoware_universe_utils to autoware_utils
    • feat: autoware_motion_velocity_planner_node to core
    • style(pre-commit): autofix
    • feat: autoware_motion_velocity_planner_node to core
    • feat: modify autoware_universe_utils to autoware_utils

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_motion_velocity_planner_common at Robotics Stack Exchange

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

autoware_motion_velocity_planner_common package from autoware_core repo

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

ROS Distro
humble

Package Summary

Tags No category tags.
Version 1.3.0
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 2025-07-24
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Common functions and interfaces for motion_velocity_planner modules

Additional Links

No additional links.

Maintainers

  • Maxime Clement
  • Alqudah Mohammad
  • Takayuki Murooka
  • Yuki Takagi

Authors

  • Maxime Clement

Motion Velocity Planner Common

This package provides common utilities and data structures for the motion velocity planner in the Autoware system. It contains tools for geometric calculations, trajectory processing, and velocity planning results.

Overview

Package motion velocity planner is responsible for generating velocity profiles for autonomous vehicles based on the current trajectory and environment. This package autoware_motion_velocity_planner_common contains essential utilities and structures that support the planning process, including:

  • Geometric operations for polygons and trajectories.
  • General utilities for trajectory processing and visualization.
  • Data structures for storing velocity planning results.

Design

Key Components

  1. Polygon Utilities (polygon_utils.hpp) This component provides functions for handling geometric polygons related to motion planning. It includes:
    • Collision detection between trajectories and obstacles.
    • Creation of polygons representing the vehicle’s trajectory at different time steps.
    • Geometric calculations using Boost Geometry.
  2. General Utilities (utils.hpp) This component provides various utility functions, including:
    • Conversion between point representations (e.g., pcl::PointXYZ to geometry_msgs::msg::Point).
    • Distance calculations between trajectory points and obstacles.
    • Functions for concatenating vectors and processing trajectories.
    • Visualization tools for creating markers.
  3. Velocity Planning Results (velocity_planning_result.hpp) This component defines data structures for storing the results of velocity planning, including:
    • SlowdownInterval: Represents a segment where the vehicle should slow down, with specified start and end points and velocity.
    • VelocityPlanningResult: Contains a collection of stop points, slowdown intervals, and optional velocity limits and clear commands.

Usage

Including the Package

To use this package in your project, you need to include it in your CMakeLists.txt:

find_package(autoware_motion_velocity_planner_common REQUIRED)

Example Usage

Here’s a simple example demonstrating the use of the utility functions:

#include "autoware/motion_velocity_planner_common/utils.hpp"

const auto decimated_traj_points = autoware::motion_velocity_planner::utils::decimate_trajectory_points_from_ego(
    traj_points, current_pose, ego_nearest_dist_threshold, ego_nearest_yaw_threshold,
    p.decimate_trajectory_step_length, 0.0);

this example is from autoware_universe/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/obstacle_cruise_module.cpp

CHANGELOG

Changelog for package autoware_motion_velocity_planner_common

1.1.0 (2025-05-01)

1.3.0 (2025-06-23)

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

  • 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(autoware_motion_velocity_obstacle_stop_module): point-cloud points ahead of the terminal stop-point (#502)

    • fix
    • moved resample_trajectory_points to non-anonymous status
    • style(pre-commit): autofix

    * fix

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

  • fix(autoware_motion_velocity_obstacle_stop_module): fix for mishandling lateral-distance (#452)

    • Fix for mishandling lateral-distance
    • fix
    • style(pre-commit): autofix
    • fix
    • fix
    • fix
    • style(pre-commit): autofix
    • fix
    • style(pre-commit): autofix

    * Update planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/utils.cpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

  • fix(autoware_motion_velocity_planner_common): fix deprecated autoware_utils header (#445)

    • fix autoware_utils header
    • style(pre-commit): autofix

    * add missing header ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

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

  • feat(autoware_motion_velocity_planner): point-cloud clustering optimization (#409)

    • Core changes for point-cloud maksing and clustering
    • fix
    • style(pre-commit): autofix

    * Update planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware/motion_velocity_planner_common/planner_data.hpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

    * fix

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

  • Contributors: Arjun Jagdish Ram, Masaki Baba, Ryohsuke Mitsudome, Yutaka Kondo, github-actions

1.0.0 (2025-03-31)

  • chore: update version in package.xml

  • feat: autoware_motion_velocity_planner and autoware_motion_velocity_planner_common to core (#242)

    • feat: modify autoware_universe_utils to autoware_utils
    • feat: remove useless dependecy
    • style(pre-commit): autofix
    • feat: modify autoware_universe_utils to autoware_utils
    • feat: autoware_motion_velocity_planner_node to core
    • style(pre-commit): autofix
    • feat: autoware_motion_velocity_planner_node to core
    • feat: modify autoware_universe_utils to autoware_utils

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_motion_velocity_planner_common at Robotics Stack Exchange

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

autoware_motion_velocity_planner_common package from autoware_core repo

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

ROS Distro
humble

Package Summary

Tags No category tags.
Version 1.3.0
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 2025-07-24
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Common functions and interfaces for motion_velocity_planner modules

Additional Links

No additional links.

Maintainers

  • Maxime Clement
  • Alqudah Mohammad
  • Takayuki Murooka
  • Yuki Takagi

Authors

  • Maxime Clement

Motion Velocity Planner Common

This package provides common utilities and data structures for the motion velocity planner in the Autoware system. It contains tools for geometric calculations, trajectory processing, and velocity planning results.

Overview

Package motion velocity planner is responsible for generating velocity profiles for autonomous vehicles based on the current trajectory and environment. This package autoware_motion_velocity_planner_common contains essential utilities and structures that support the planning process, including:

  • Geometric operations for polygons and trajectories.
  • General utilities for trajectory processing and visualization.
  • Data structures for storing velocity planning results.

Design

Key Components

  1. Polygon Utilities (polygon_utils.hpp) This component provides functions for handling geometric polygons related to motion planning. It includes:
    • Collision detection between trajectories and obstacles.
    • Creation of polygons representing the vehicle’s trajectory at different time steps.
    • Geometric calculations using Boost Geometry.
  2. General Utilities (utils.hpp) This component provides various utility functions, including:
    • Conversion between point representations (e.g., pcl::PointXYZ to geometry_msgs::msg::Point).
    • Distance calculations between trajectory points and obstacles.
    • Functions for concatenating vectors and processing trajectories.
    • Visualization tools for creating markers.
  3. Velocity Planning Results (velocity_planning_result.hpp) This component defines data structures for storing the results of velocity planning, including:
    • SlowdownInterval: Represents a segment where the vehicle should slow down, with specified start and end points and velocity.
    • VelocityPlanningResult: Contains a collection of stop points, slowdown intervals, and optional velocity limits and clear commands.

Usage

Including the Package

To use this package in your project, you need to include it in your CMakeLists.txt:

find_package(autoware_motion_velocity_planner_common REQUIRED)

Example Usage

Here’s a simple example demonstrating the use of the utility functions:

#include "autoware/motion_velocity_planner_common/utils.hpp"

const auto decimated_traj_points = autoware::motion_velocity_planner::utils::decimate_trajectory_points_from_ego(
    traj_points, current_pose, ego_nearest_dist_threshold, ego_nearest_yaw_threshold,
    p.decimate_trajectory_step_length, 0.0);

this example is from autoware_universe/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/obstacle_cruise_module.cpp

CHANGELOG

Changelog for package autoware_motion_velocity_planner_common

1.1.0 (2025-05-01)

1.3.0 (2025-06-23)

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

  • 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(autoware_motion_velocity_obstacle_stop_module): point-cloud points ahead of the terminal stop-point (#502)

    • fix
    • moved resample_trajectory_points to non-anonymous status
    • style(pre-commit): autofix

    * fix

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

  • fix(autoware_motion_velocity_obstacle_stop_module): fix for mishandling lateral-distance (#452)

    • Fix for mishandling lateral-distance
    • fix
    • style(pre-commit): autofix
    • fix
    • fix
    • fix
    • style(pre-commit): autofix
    • fix
    • style(pre-commit): autofix

    * Update planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/utils.cpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

  • fix(autoware_motion_velocity_planner_common): fix deprecated autoware_utils header (#445)

    • fix autoware_utils header
    • style(pre-commit): autofix

    * add missing header ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

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

  • feat(autoware_motion_velocity_planner): point-cloud clustering optimization (#409)

    • Core changes for point-cloud maksing and clustering
    • fix
    • style(pre-commit): autofix

    * Update planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware/motion_velocity_planner_common/planner_data.hpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

    * fix

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

  • Contributors: Arjun Jagdish Ram, Masaki Baba, Ryohsuke Mitsudome, Yutaka Kondo, github-actions

1.0.0 (2025-03-31)

  • chore: update version in package.xml

  • feat: autoware_motion_velocity_planner and autoware_motion_velocity_planner_common to core (#242)

    • feat: modify autoware_universe_utils to autoware_utils
    • feat: remove useless dependecy
    • style(pre-commit): autofix
    • feat: modify autoware_universe_utils to autoware_utils
    • feat: autoware_motion_velocity_planner_node to core
    • style(pre-commit): autofix
    • feat: autoware_motion_velocity_planner_node to core
    • feat: modify autoware_universe_utils to autoware_utils

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_motion_velocity_planner_common at Robotics Stack Exchange

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

autoware_motion_velocity_planner_common package from autoware_core repo

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

ROS Distro
humble

Package Summary

Tags No category tags.
Version 1.3.0
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 2025-07-24
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Common functions and interfaces for motion_velocity_planner modules

Additional Links

No additional links.

Maintainers

  • Maxime Clement
  • Alqudah Mohammad
  • Takayuki Murooka
  • Yuki Takagi

Authors

  • Maxime Clement

Motion Velocity Planner Common

This package provides common utilities and data structures for the motion velocity planner in the Autoware system. It contains tools for geometric calculations, trajectory processing, and velocity planning results.

Overview

Package motion velocity planner is responsible for generating velocity profiles for autonomous vehicles based on the current trajectory and environment. This package autoware_motion_velocity_planner_common contains essential utilities and structures that support the planning process, including:

  • Geometric operations for polygons and trajectories.
  • General utilities for trajectory processing and visualization.
  • Data structures for storing velocity planning results.

Design

Key Components

  1. Polygon Utilities (polygon_utils.hpp) This component provides functions for handling geometric polygons related to motion planning. It includes:
    • Collision detection between trajectories and obstacles.
    • Creation of polygons representing the vehicle’s trajectory at different time steps.
    • Geometric calculations using Boost Geometry.
  2. General Utilities (utils.hpp) This component provides various utility functions, including:
    • Conversion between point representations (e.g., pcl::PointXYZ to geometry_msgs::msg::Point).
    • Distance calculations between trajectory points and obstacles.
    • Functions for concatenating vectors and processing trajectories.
    • Visualization tools for creating markers.
  3. Velocity Planning Results (velocity_planning_result.hpp) This component defines data structures for storing the results of velocity planning, including:
    • SlowdownInterval: Represents a segment where the vehicle should slow down, with specified start and end points and velocity.
    • VelocityPlanningResult: Contains a collection of stop points, slowdown intervals, and optional velocity limits and clear commands.

Usage

Including the Package

To use this package in your project, you need to include it in your CMakeLists.txt:

find_package(autoware_motion_velocity_planner_common REQUIRED)

Example Usage

Here’s a simple example demonstrating the use of the utility functions:

#include "autoware/motion_velocity_planner_common/utils.hpp"

const auto decimated_traj_points = autoware::motion_velocity_planner::utils::decimate_trajectory_points_from_ego(
    traj_points, current_pose, ego_nearest_dist_threshold, ego_nearest_yaw_threshold,
    p.decimate_trajectory_step_length, 0.0);

this example is from autoware_universe/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/obstacle_cruise_module.cpp

CHANGELOG

Changelog for package autoware_motion_velocity_planner_common

1.1.0 (2025-05-01)

1.3.0 (2025-06-23)

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

  • 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(autoware_motion_velocity_obstacle_stop_module): point-cloud points ahead of the terminal stop-point (#502)

    • fix
    • moved resample_trajectory_points to non-anonymous status
    • style(pre-commit): autofix

    * fix

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

  • fix(autoware_motion_velocity_obstacle_stop_module): fix for mishandling lateral-distance (#452)

    • Fix for mishandling lateral-distance
    • fix
    • style(pre-commit): autofix
    • fix
    • fix
    • fix
    • style(pre-commit): autofix
    • fix
    • style(pre-commit): autofix

    * Update planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/utils.cpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

  • fix(autoware_motion_velocity_planner_common): fix deprecated autoware_utils header (#445)

    • fix autoware_utils header
    • style(pre-commit): autofix

    * add missing header ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

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

  • feat(autoware_motion_velocity_planner): point-cloud clustering optimization (#409)

    • Core changes for point-cloud maksing and clustering
    • fix
    • style(pre-commit): autofix

    * Update planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware/motion_velocity_planner_common/planner_data.hpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

    * fix

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

  • Contributors: Arjun Jagdish Ram, Masaki Baba, Ryohsuke Mitsudome, Yutaka Kondo, github-actions

1.0.0 (2025-03-31)

  • chore: update version in package.xml

  • feat: autoware_motion_velocity_planner and autoware_motion_velocity_planner_common to core (#242)

    • feat: modify autoware_universe_utils to autoware_utils
    • feat: remove useless dependecy
    • style(pre-commit): autofix
    • feat: modify autoware_universe_utils to autoware_utils
    • feat: autoware_motion_velocity_planner_node to core
    • style(pre-commit): autofix
    • feat: autoware_motion_velocity_planner_node to core
    • feat: modify autoware_universe_utils to autoware_utils

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_motion_velocity_planner_common at Robotics Stack Exchange

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

autoware_motion_velocity_planner_common package from autoware_core repo

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

ROS Distro
humble

Package Summary

Tags No category tags.
Version 1.3.0
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 2025-07-24
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Common functions and interfaces for motion_velocity_planner modules

Additional Links

No additional links.

Maintainers

  • Maxime Clement
  • Alqudah Mohammad
  • Takayuki Murooka
  • Yuki Takagi

Authors

  • Maxime Clement

Motion Velocity Planner Common

This package provides common utilities and data structures for the motion velocity planner in the Autoware system. It contains tools for geometric calculations, trajectory processing, and velocity planning results.

Overview

Package motion velocity planner is responsible for generating velocity profiles for autonomous vehicles based on the current trajectory and environment. This package autoware_motion_velocity_planner_common contains essential utilities and structures that support the planning process, including:

  • Geometric operations for polygons and trajectories.
  • General utilities for trajectory processing and visualization.
  • Data structures for storing velocity planning results.

Design

Key Components

  1. Polygon Utilities (polygon_utils.hpp) This component provides functions for handling geometric polygons related to motion planning. It includes:
    • Collision detection between trajectories and obstacles.
    • Creation of polygons representing the vehicle’s trajectory at different time steps.
    • Geometric calculations using Boost Geometry.
  2. General Utilities (utils.hpp) This component provides various utility functions, including:
    • Conversion between point representations (e.g., pcl::PointXYZ to geometry_msgs::msg::Point).
    • Distance calculations between trajectory points and obstacles.
    • Functions for concatenating vectors and processing trajectories.
    • Visualization tools for creating markers.
  3. Velocity Planning Results (velocity_planning_result.hpp) This component defines data structures for storing the results of velocity planning, including:
    • SlowdownInterval: Represents a segment where the vehicle should slow down, with specified start and end points and velocity.
    • VelocityPlanningResult: Contains a collection of stop points, slowdown intervals, and optional velocity limits and clear commands.

Usage

Including the Package

To use this package in your project, you need to include it in your CMakeLists.txt:

find_package(autoware_motion_velocity_planner_common REQUIRED)

Example Usage

Here’s a simple example demonstrating the use of the utility functions:

#include "autoware/motion_velocity_planner_common/utils.hpp"

const auto decimated_traj_points = autoware::motion_velocity_planner::utils::decimate_trajectory_points_from_ego(
    traj_points, current_pose, ego_nearest_dist_threshold, ego_nearest_yaw_threshold,
    p.decimate_trajectory_step_length, 0.0);

this example is from autoware_universe/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/obstacle_cruise_module.cpp

CHANGELOG

Changelog for package autoware_motion_velocity_planner_common

1.1.0 (2025-05-01)

1.3.0 (2025-06-23)

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

  • 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(autoware_motion_velocity_obstacle_stop_module): point-cloud points ahead of the terminal stop-point (#502)

    • fix
    • moved resample_trajectory_points to non-anonymous status
    • style(pre-commit): autofix

    * fix

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

  • fix(autoware_motion_velocity_obstacle_stop_module): fix for mishandling lateral-distance (#452)

    • Fix for mishandling lateral-distance
    • fix
    • style(pre-commit): autofix
    • fix
    • fix
    • fix
    • style(pre-commit): autofix
    • fix
    • style(pre-commit): autofix

    * Update planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/utils.cpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

  • fix(autoware_motion_velocity_planner_common): fix deprecated autoware_utils header (#445)

    • fix autoware_utils header
    • style(pre-commit): autofix

    * add missing header ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

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

  • feat(autoware_motion_velocity_planner): point-cloud clustering optimization (#409)

    • Core changes for point-cloud maksing and clustering
    • fix
    • style(pre-commit): autofix

    * Update planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware/motion_velocity_planner_common/planner_data.hpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

    * fix

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

  • Contributors: Arjun Jagdish Ram, Masaki Baba, Ryohsuke Mitsudome, Yutaka Kondo, github-actions

1.0.0 (2025-03-31)

  • chore: update version in package.xml

  • feat: autoware_motion_velocity_planner and autoware_motion_velocity_planner_common to core (#242)

    • feat: modify autoware_universe_utils to autoware_utils
    • feat: remove useless dependecy
    • style(pre-commit): autofix
    • feat: modify autoware_universe_utils to autoware_utils
    • feat: autoware_motion_velocity_planner_node to core
    • style(pre-commit): autofix
    • feat: autoware_motion_velocity_planner_node to core
    • feat: modify autoware_universe_utils to autoware_utils

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_motion_velocity_planner_common at Robotics Stack Exchange

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

autoware_motion_velocity_planner_common package from autoware_core repo

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

ROS Distro
humble

Package Summary

Tags No category tags.
Version 1.3.0
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 2025-07-24
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Common functions and interfaces for motion_velocity_planner modules

Additional Links

No additional links.

Maintainers

  • Maxime Clement
  • Alqudah Mohammad
  • Takayuki Murooka
  • Yuki Takagi

Authors

  • Maxime Clement

Motion Velocity Planner Common

This package provides common utilities and data structures for the motion velocity planner in the Autoware system. It contains tools for geometric calculations, trajectory processing, and velocity planning results.

Overview

Package motion velocity planner is responsible for generating velocity profiles for autonomous vehicles based on the current trajectory and environment. This package autoware_motion_velocity_planner_common contains essential utilities and structures that support the planning process, including:

  • Geometric operations for polygons and trajectories.
  • General utilities for trajectory processing and visualization.
  • Data structures for storing velocity planning results.

Design

Key Components

  1. Polygon Utilities (polygon_utils.hpp) This component provides functions for handling geometric polygons related to motion planning. It includes:
    • Collision detection between trajectories and obstacles.
    • Creation of polygons representing the vehicle’s trajectory at different time steps.
    • Geometric calculations using Boost Geometry.
  2. General Utilities (utils.hpp) This component provides various utility functions, including:
    • Conversion between point representations (e.g., pcl::PointXYZ to geometry_msgs::msg::Point).
    • Distance calculations between trajectory points and obstacles.
    • Functions for concatenating vectors and processing trajectories.
    • Visualization tools for creating markers.
  3. Velocity Planning Results (velocity_planning_result.hpp) This component defines data structures for storing the results of velocity planning, including:
    • SlowdownInterval: Represents a segment where the vehicle should slow down, with specified start and end points and velocity.
    • VelocityPlanningResult: Contains a collection of stop points, slowdown intervals, and optional velocity limits and clear commands.

Usage

Including the Package

To use this package in your project, you need to include it in your CMakeLists.txt:

find_package(autoware_motion_velocity_planner_common REQUIRED)

Example Usage

Here’s a simple example demonstrating the use of the utility functions:

#include "autoware/motion_velocity_planner_common/utils.hpp"

const auto decimated_traj_points = autoware::motion_velocity_planner::utils::decimate_trajectory_points_from_ego(
    traj_points, current_pose, ego_nearest_dist_threshold, ego_nearest_yaw_threshold,
    p.decimate_trajectory_step_length, 0.0);

this example is from autoware_universe/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/obstacle_cruise_module.cpp

CHANGELOG

Changelog for package autoware_motion_velocity_planner_common

1.1.0 (2025-05-01)

1.3.0 (2025-06-23)

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

  • 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(autoware_motion_velocity_obstacle_stop_module): point-cloud points ahead of the terminal stop-point (#502)

    • fix
    • moved resample_trajectory_points to non-anonymous status
    • style(pre-commit): autofix

    * fix

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

  • fix(autoware_motion_velocity_obstacle_stop_module): fix for mishandling lateral-distance (#452)

    • Fix for mishandling lateral-distance
    • fix
    • style(pre-commit): autofix
    • fix
    • fix
    • fix
    • style(pre-commit): autofix
    • fix
    • style(pre-commit): autofix

    * Update planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/utils.cpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

  • fix(autoware_motion_velocity_planner_common): fix deprecated autoware_utils header (#445)

    • fix autoware_utils header
    • style(pre-commit): autofix

    * add missing header ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

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

  • feat(autoware_motion_velocity_planner): point-cloud clustering optimization (#409)

    • Core changes for point-cloud maksing and clustering
    • fix
    • style(pre-commit): autofix

    * Update planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware/motion_velocity_planner_common/planner_data.hpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

    * fix

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

  • Contributors: Arjun Jagdish Ram, Masaki Baba, Ryohsuke Mitsudome, Yutaka Kondo, github-actions

1.0.0 (2025-03-31)

  • chore: update version in package.xml

  • feat: autoware_motion_velocity_planner and autoware_motion_velocity_planner_common to core (#242)

    • feat: modify autoware_universe_utils to autoware_utils
    • feat: remove useless dependecy
    • style(pre-commit): autofix
    • feat: modify autoware_universe_utils to autoware_utils
    • feat: autoware_motion_velocity_planner_node to core
    • style(pre-commit): autofix
    • feat: autoware_motion_velocity_planner_node to core
    • feat: modify autoware_universe_utils to autoware_utils

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_motion_velocity_planner_common at Robotics Stack Exchange

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

autoware_motion_velocity_planner_common package from autoware_core repo

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

ROS Distro
humble

Package Summary

Tags No category tags.
Version 1.3.0
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 2025-07-24
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Common functions and interfaces for motion_velocity_planner modules

Additional Links

No additional links.

Maintainers

  • Maxime Clement
  • Alqudah Mohammad
  • Takayuki Murooka
  • Yuki Takagi

Authors

  • Maxime Clement

Motion Velocity Planner Common

This package provides common utilities and data structures for the motion velocity planner in the Autoware system. It contains tools for geometric calculations, trajectory processing, and velocity planning results.

Overview

Package motion velocity planner is responsible for generating velocity profiles for autonomous vehicles based on the current trajectory and environment. This package autoware_motion_velocity_planner_common contains essential utilities and structures that support the planning process, including:

  • Geometric operations for polygons and trajectories.
  • General utilities for trajectory processing and visualization.
  • Data structures for storing velocity planning results.

Design

Key Components

  1. Polygon Utilities (polygon_utils.hpp) This component provides functions for handling geometric polygons related to motion planning. It includes:
    • Collision detection between trajectories and obstacles.
    • Creation of polygons representing the vehicle’s trajectory at different time steps.
    • Geometric calculations using Boost Geometry.
  2. General Utilities (utils.hpp) This component provides various utility functions, including:
    • Conversion between point representations (e.g., pcl::PointXYZ to geometry_msgs::msg::Point).
    • Distance calculations between trajectory points and obstacles.
    • Functions for concatenating vectors and processing trajectories.
    • Visualization tools for creating markers.
  3. Velocity Planning Results (velocity_planning_result.hpp) This component defines data structures for storing the results of velocity planning, including:
    • SlowdownInterval: Represents a segment where the vehicle should slow down, with specified start and end points and velocity.
    • VelocityPlanningResult: Contains a collection of stop points, slowdown intervals, and optional velocity limits and clear commands.

Usage

Including the Package

To use this package in your project, you need to include it in your CMakeLists.txt:

find_package(autoware_motion_velocity_planner_common REQUIRED)

Example Usage

Here’s a simple example demonstrating the use of the utility functions:

#include "autoware/motion_velocity_planner_common/utils.hpp"

const auto decimated_traj_points = autoware::motion_velocity_planner::utils::decimate_trajectory_points_from_ego(
    traj_points, current_pose, ego_nearest_dist_threshold, ego_nearest_yaw_threshold,
    p.decimate_trajectory_step_length, 0.0);

this example is from autoware_universe/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/obstacle_cruise_module.cpp

CHANGELOG

Changelog for package autoware_motion_velocity_planner_common

1.1.0 (2025-05-01)

1.3.0 (2025-06-23)

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

  • 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(autoware_motion_velocity_obstacle_stop_module): point-cloud points ahead of the terminal stop-point (#502)

    • fix
    • moved resample_trajectory_points to non-anonymous status
    • style(pre-commit): autofix

    * fix

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

  • fix(autoware_motion_velocity_obstacle_stop_module): fix for mishandling lateral-distance (#452)

    • Fix for mishandling lateral-distance
    • fix
    • style(pre-commit): autofix
    • fix
    • fix
    • fix
    • style(pre-commit): autofix
    • fix
    • style(pre-commit): autofix

    * Update planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/utils.cpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

  • fix(autoware_motion_velocity_planner_common): fix deprecated autoware_utils header (#445)

    • fix autoware_utils header
    • style(pre-commit): autofix

    * add missing header ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

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

  • feat(autoware_motion_velocity_planner): point-cloud clustering optimization (#409)

    • Core changes for point-cloud maksing and clustering
    • fix
    • style(pre-commit): autofix

    * Update planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware/motion_velocity_planner_common/planner_data.hpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

    * fix

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

  • Contributors: Arjun Jagdish Ram, Masaki Baba, Ryohsuke Mitsudome, Yutaka Kondo, github-actions

1.0.0 (2025-03-31)

  • chore: update version in package.xml

  • feat: autoware_motion_velocity_planner and autoware_motion_velocity_planner_common to core (#242)

    • feat: modify autoware_universe_utils to autoware_utils
    • feat: remove useless dependecy
    • style(pre-commit): autofix
    • feat: modify autoware_universe_utils to autoware_utils
    • feat: autoware_motion_velocity_planner_node to core
    • style(pre-commit): autofix
    • feat: autoware_motion_velocity_planner_node to core
    • feat: modify autoware_universe_utils to autoware_utils

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_motion_velocity_planner_common at Robotics Stack Exchange

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

autoware_motion_velocity_planner_common package from autoware_core repo

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

ROS Distro
humble

Package Summary

Tags No category tags.
Version 1.3.0
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 2025-07-24
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Common functions and interfaces for motion_velocity_planner modules

Additional Links

No additional links.

Maintainers

  • Maxime Clement
  • Alqudah Mohammad
  • Takayuki Murooka
  • Yuki Takagi

Authors

  • Maxime Clement

Motion Velocity Planner Common

This package provides common utilities and data structures for the motion velocity planner in the Autoware system. It contains tools for geometric calculations, trajectory processing, and velocity planning results.

Overview

Package motion velocity planner is responsible for generating velocity profiles for autonomous vehicles based on the current trajectory and environment. This package autoware_motion_velocity_planner_common contains essential utilities and structures that support the planning process, including:

  • Geometric operations for polygons and trajectories.
  • General utilities for trajectory processing and visualization.
  • Data structures for storing velocity planning results.

Design

Key Components

  1. Polygon Utilities (polygon_utils.hpp) This component provides functions for handling geometric polygons related to motion planning. It includes:
    • Collision detection between trajectories and obstacles.
    • Creation of polygons representing the vehicle’s trajectory at different time steps.
    • Geometric calculations using Boost Geometry.
  2. General Utilities (utils.hpp) This component provides various utility functions, including:
    • Conversion between point representations (e.g., pcl::PointXYZ to geometry_msgs::msg::Point).
    • Distance calculations between trajectory points and obstacles.
    • Functions for concatenating vectors and processing trajectories.
    • Visualization tools for creating markers.
  3. Velocity Planning Results (velocity_planning_result.hpp) This component defines data structures for storing the results of velocity planning, including:
    • SlowdownInterval: Represents a segment where the vehicle should slow down, with specified start and end points and velocity.
    • VelocityPlanningResult: Contains a collection of stop points, slowdown intervals, and optional velocity limits and clear commands.

Usage

Including the Package

To use this package in your project, you need to include it in your CMakeLists.txt:

find_package(autoware_motion_velocity_planner_common REQUIRED)

Example Usage

Here’s a simple example demonstrating the use of the utility functions:

#include "autoware/motion_velocity_planner_common/utils.hpp"

const auto decimated_traj_points = autoware::motion_velocity_planner::utils::decimate_trajectory_points_from_ego(
    traj_points, current_pose, ego_nearest_dist_threshold, ego_nearest_yaw_threshold,
    p.decimate_trajectory_step_length, 0.0);

this example is from autoware_universe/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/obstacle_cruise_module.cpp

CHANGELOG

Changelog for package autoware_motion_velocity_planner_common

1.1.0 (2025-05-01)

1.3.0 (2025-06-23)

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

  • 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(autoware_motion_velocity_obstacle_stop_module): point-cloud points ahead of the terminal stop-point (#502)

    • fix
    • moved resample_trajectory_points to non-anonymous status
    • style(pre-commit): autofix

    * fix

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

  • fix(autoware_motion_velocity_obstacle_stop_module): fix for mishandling lateral-distance (#452)

    • Fix for mishandling lateral-distance
    • fix
    • style(pre-commit): autofix
    • fix
    • fix
    • fix
    • style(pre-commit): autofix
    • fix
    • style(pre-commit): autofix

    * Update planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/utils.cpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

  • fix(autoware_motion_velocity_planner_common): fix deprecated autoware_utils header (#445)

    • fix autoware_utils header
    • style(pre-commit): autofix

    * add missing header ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

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

  • feat(autoware_motion_velocity_planner): point-cloud clustering optimization (#409)

    • Core changes for point-cloud maksing and clustering
    • fix
    • style(pre-commit): autofix

    * Update planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware/motion_velocity_planner_common/planner_data.hpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

    * fix

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

  • Contributors: Arjun Jagdish Ram, Masaki Baba, Ryohsuke Mitsudome, Yutaka Kondo, github-actions

1.0.0 (2025-03-31)

  • chore: update version in package.xml

  • feat: autoware_motion_velocity_planner and autoware_motion_velocity_planner_common to core (#242)

    • feat: modify autoware_universe_utils to autoware_utils
    • feat: remove useless dependecy
    • style(pre-commit): autofix
    • feat: modify autoware_universe_utils to autoware_utils
    • feat: autoware_motion_velocity_planner_node to core
    • style(pre-commit): autofix
    • feat: autoware_motion_velocity_planner_node to core
    • feat: modify autoware_universe_utils to autoware_utils

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_motion_velocity_planner_common at Robotics Stack Exchange

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

autoware_motion_velocity_planner_common package from autoware_core repo

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

ROS Distro
humble

Package Summary

Tags No category tags.
Version 1.3.0
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 2025-07-24
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Common functions and interfaces for motion_velocity_planner modules

Additional Links

No additional links.

Maintainers

  • Maxime Clement
  • Alqudah Mohammad
  • Takayuki Murooka
  • Yuki Takagi

Authors

  • Maxime Clement

Motion Velocity Planner Common

This package provides common utilities and data structures for the motion velocity planner in the Autoware system. It contains tools for geometric calculations, trajectory processing, and velocity planning results.

Overview

Package motion velocity planner is responsible for generating velocity profiles for autonomous vehicles based on the current trajectory and environment. This package autoware_motion_velocity_planner_common contains essential utilities and structures that support the planning process, including:

  • Geometric operations for polygons and trajectories.
  • General utilities for trajectory processing and visualization.
  • Data structures for storing velocity planning results.

Design

Key Components

  1. Polygon Utilities (polygon_utils.hpp) This component provides functions for handling geometric polygons related to motion planning. It includes:
    • Collision detection between trajectories and obstacles.
    • Creation of polygons representing the vehicle’s trajectory at different time steps.
    • Geometric calculations using Boost Geometry.
  2. General Utilities (utils.hpp) This component provides various utility functions, including:
    • Conversion between point representations (e.g., pcl::PointXYZ to geometry_msgs::msg::Point).
    • Distance calculations between trajectory points and obstacles.
    • Functions for concatenating vectors and processing trajectories.
    • Visualization tools for creating markers.
  3. Velocity Planning Results (velocity_planning_result.hpp) This component defines data structures for storing the results of velocity planning, including:
    • SlowdownInterval: Represents a segment where the vehicle should slow down, with specified start and end points and velocity.
    • VelocityPlanningResult: Contains a collection of stop points, slowdown intervals, and optional velocity limits and clear commands.

Usage

Including the Package

To use this package in your project, you need to include it in your CMakeLists.txt:

find_package(autoware_motion_velocity_planner_common REQUIRED)

Example Usage

Here’s a simple example demonstrating the use of the utility functions:

#include "autoware/motion_velocity_planner_common/utils.hpp"

const auto decimated_traj_points = autoware::motion_velocity_planner::utils::decimate_trajectory_points_from_ego(
    traj_points, current_pose, ego_nearest_dist_threshold, ego_nearest_yaw_threshold,
    p.decimate_trajectory_step_length, 0.0);

this example is from autoware_universe/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/obstacle_cruise_module.cpp

CHANGELOG

Changelog for package autoware_motion_velocity_planner_common

1.1.0 (2025-05-01)

1.3.0 (2025-06-23)

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

  • 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(autoware_motion_velocity_obstacle_stop_module): point-cloud points ahead of the terminal stop-point (#502)

    • fix
    • moved resample_trajectory_points to non-anonymous status
    • style(pre-commit): autofix

    * fix

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

  • fix(autoware_motion_velocity_obstacle_stop_module): fix for mishandling lateral-distance (#452)

    • Fix for mishandling lateral-distance
    • fix
    • style(pre-commit): autofix
    • fix
    • fix
    • fix
    • style(pre-commit): autofix
    • fix
    • style(pre-commit): autofix

    * Update planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/utils.cpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

  • fix(autoware_motion_velocity_planner_common): fix deprecated autoware_utils header (#445)

    • fix autoware_utils header
    • style(pre-commit): autofix

    * add missing header ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

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

  • feat(autoware_motion_velocity_planner): point-cloud clustering optimization (#409)

    • Core changes for point-cloud maksing and clustering
    • fix
    • style(pre-commit): autofix

    * Update planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware/motion_velocity_planner_common/planner_data.hpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

    * fix

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

  • Contributors: Arjun Jagdish Ram, Masaki Baba, Ryohsuke Mitsudome, Yutaka Kondo, github-actions

1.0.0 (2025-03-31)

  • chore: update version in package.xml

  • feat: autoware_motion_velocity_planner and autoware_motion_velocity_planner_common to core (#242)

    • feat: modify autoware_universe_utils to autoware_utils
    • feat: remove useless dependecy
    • style(pre-commit): autofix
    • feat: modify autoware_universe_utils to autoware_utils
    • feat: autoware_motion_velocity_planner_node to core
    • style(pre-commit): autofix
    • feat: autoware_motion_velocity_planner_node to core
    • feat: modify autoware_universe_utils to autoware_utils

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_motion_velocity_planner_common at Robotics Stack Exchange

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

autoware_motion_velocity_planner_common package from autoware_core repo

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

ROS Distro
humble

Package Summary

Tags No category tags.
Version 1.3.0
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 2025-07-24
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Common functions and interfaces for motion_velocity_planner modules

Additional Links

No additional links.

Maintainers

  • Maxime Clement
  • Alqudah Mohammad
  • Takayuki Murooka
  • Yuki Takagi

Authors

  • Maxime Clement

Motion Velocity Planner Common

This package provides common utilities and data structures for the motion velocity planner in the Autoware system. It contains tools for geometric calculations, trajectory processing, and velocity planning results.

Overview

Package motion velocity planner is responsible for generating velocity profiles for autonomous vehicles based on the current trajectory and environment. This package autoware_motion_velocity_planner_common contains essential utilities and structures that support the planning process, including:

  • Geometric operations for polygons and trajectories.
  • General utilities for trajectory processing and visualization.
  • Data structures for storing velocity planning results.

Design

Key Components

  1. Polygon Utilities (polygon_utils.hpp) This component provides functions for handling geometric polygons related to motion planning. It includes:
    • Collision detection between trajectories and obstacles.
    • Creation of polygons representing the vehicle’s trajectory at different time steps.
    • Geometric calculations using Boost Geometry.
  2. General Utilities (utils.hpp) This component provides various utility functions, including:
    • Conversion between point representations (e.g., pcl::PointXYZ to geometry_msgs::msg::Point).
    • Distance calculations between trajectory points and obstacles.
    • Functions for concatenating vectors and processing trajectories.
    • Visualization tools for creating markers.
  3. Velocity Planning Results (velocity_planning_result.hpp) This component defines data structures for storing the results of velocity planning, including:
    • SlowdownInterval: Represents a segment where the vehicle should slow down, with specified start and end points and velocity.
    • VelocityPlanningResult: Contains a collection of stop points, slowdown intervals, and optional velocity limits and clear commands.

Usage

Including the Package

To use this package in your project, you need to include it in your CMakeLists.txt:

find_package(autoware_motion_velocity_planner_common REQUIRED)

Example Usage

Here’s a simple example demonstrating the use of the utility functions:

#include "autoware/motion_velocity_planner_common/utils.hpp"

const auto decimated_traj_points = autoware::motion_velocity_planner::utils::decimate_trajectory_points_from_ego(
    traj_points, current_pose, ego_nearest_dist_threshold, ego_nearest_yaw_threshold,
    p.decimate_trajectory_step_length, 0.0);

this example is from autoware_universe/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/obstacle_cruise_module.cpp

CHANGELOG

Changelog for package autoware_motion_velocity_planner_common

1.1.0 (2025-05-01)

1.3.0 (2025-06-23)

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

  • 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(autoware_motion_velocity_obstacle_stop_module): point-cloud points ahead of the terminal stop-point (#502)

    • fix
    • moved resample_trajectory_points to non-anonymous status
    • style(pre-commit): autofix

    * fix

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

  • fix(autoware_motion_velocity_obstacle_stop_module): fix for mishandling lateral-distance (#452)

    • Fix for mishandling lateral-distance
    • fix
    • style(pre-commit): autofix
    • fix
    • fix
    • fix
    • style(pre-commit): autofix
    • fix
    • style(pre-commit): autofix

    * Update planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/utils.cpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

  • fix(autoware_motion_velocity_planner_common): fix deprecated autoware_utils header (#445)

    • fix autoware_utils header
    • style(pre-commit): autofix

    * add missing header ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

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

  • feat(autoware_motion_velocity_planner): point-cloud clustering optimization (#409)

    • Core changes for point-cloud maksing and clustering
    • fix
    • style(pre-commit): autofix

    * Update planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware/motion_velocity_planner_common/planner_data.hpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

    * fix

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

  • Contributors: Arjun Jagdish Ram, Masaki Baba, Ryohsuke Mitsudome, Yutaka Kondo, github-actions

1.0.0 (2025-03-31)

  • chore: update version in package.xml

  • feat: autoware_motion_velocity_planner and autoware_motion_velocity_planner_common to core (#242)

    • feat: modify autoware_universe_utils to autoware_utils
    • feat: remove useless dependecy
    • style(pre-commit): autofix
    • feat: modify autoware_universe_utils to autoware_utils
    • feat: autoware_motion_velocity_planner_node to core
    • style(pre-commit): autofix
    • feat: autoware_motion_velocity_planner_node to core
    • feat: modify autoware_universe_utils to autoware_utils

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_motion_velocity_planner_common at Robotics Stack Exchange

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

autoware_motion_velocity_planner_common package from autoware_core repo

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

ROS Distro
humble

Package Summary

Tags No category tags.
Version 1.3.0
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 2025-07-24
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Common functions and interfaces for motion_velocity_planner modules

Additional Links

No additional links.

Maintainers

  • Maxime Clement
  • Alqudah Mohammad
  • Takayuki Murooka
  • Yuki Takagi

Authors

  • Maxime Clement

Motion Velocity Planner Common

This package provides common utilities and data structures for the motion velocity planner in the Autoware system. It contains tools for geometric calculations, trajectory processing, and velocity planning results.

Overview

Package motion velocity planner is responsible for generating velocity profiles for autonomous vehicles based on the current trajectory and environment. This package autoware_motion_velocity_planner_common contains essential utilities and structures that support the planning process, including:

  • Geometric operations for polygons and trajectories.
  • General utilities for trajectory processing and visualization.
  • Data structures for storing velocity planning results.

Design

Key Components

  1. Polygon Utilities (polygon_utils.hpp) This component provides functions for handling geometric polygons related to motion planning. It includes:
    • Collision detection between trajectories and obstacles.
    • Creation of polygons representing the vehicle’s trajectory at different time steps.
    • Geometric calculations using Boost Geometry.
  2. General Utilities (utils.hpp) This component provides various utility functions, including:
    • Conversion between point representations (e.g., pcl::PointXYZ to geometry_msgs::msg::Point).
    • Distance calculations between trajectory points and obstacles.
    • Functions for concatenating vectors and processing trajectories.
    • Visualization tools for creating markers.
  3. Velocity Planning Results (velocity_planning_result.hpp) This component defines data structures for storing the results of velocity planning, including:
    • SlowdownInterval: Represents a segment where the vehicle should slow down, with specified start and end points and velocity.
    • VelocityPlanningResult: Contains a collection of stop points, slowdown intervals, and optional velocity limits and clear commands.

Usage

Including the Package

To use this package in your project, you need to include it in your CMakeLists.txt:

find_package(autoware_motion_velocity_planner_common REQUIRED)

Example Usage

Here’s a simple example demonstrating the use of the utility functions:

#include "autoware/motion_velocity_planner_common/utils.hpp"

const auto decimated_traj_points = autoware::motion_velocity_planner::utils::decimate_trajectory_points_from_ego(
    traj_points, current_pose, ego_nearest_dist_threshold, ego_nearest_yaw_threshold,
    p.decimate_trajectory_step_length, 0.0);

this example is from autoware_universe/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/obstacle_cruise_module.cpp

CHANGELOG

Changelog for package autoware_motion_velocity_planner_common

1.1.0 (2025-05-01)

1.3.0 (2025-06-23)

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

  • 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(autoware_motion_velocity_obstacle_stop_module): point-cloud points ahead of the terminal stop-point (#502)

    • fix
    • moved resample_trajectory_points to non-anonymous status
    • style(pre-commit): autofix

    * fix

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

  • fix(autoware_motion_velocity_obstacle_stop_module): fix for mishandling lateral-distance (#452)

    • Fix for mishandling lateral-distance
    • fix
    • style(pre-commit): autofix
    • fix
    • fix
    • fix
    • style(pre-commit): autofix
    • fix
    • style(pre-commit): autofix

    * Update planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/utils.cpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

  • fix(autoware_motion_velocity_planner_common): fix deprecated autoware_utils header (#445)

    • fix autoware_utils header
    • style(pre-commit): autofix

    * add missing header ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

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

  • feat(autoware_motion_velocity_planner): point-cloud clustering optimization (#409)

    • Core changes for point-cloud maksing and clustering
    • fix
    • style(pre-commit): autofix

    * Update planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware/motion_velocity_planner_common/planner_data.hpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

    * fix

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

  • Contributors: Arjun Jagdish Ram, Masaki Baba, Ryohsuke Mitsudome, Yutaka Kondo, github-actions

1.0.0 (2025-03-31)

  • chore: update version in package.xml

  • feat: autoware_motion_velocity_planner and autoware_motion_velocity_planner_common to core (#242)

    • feat: modify autoware_universe_utils to autoware_utils
    • feat: remove useless dependecy
    • style(pre-commit): autofix
    • feat: modify autoware_universe_utils to autoware_utils
    • feat: autoware_motion_velocity_planner_node to core
    • style(pre-commit): autofix
    • feat: autoware_motion_velocity_planner_node to core
    • feat: modify autoware_universe_utils to autoware_utils

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_motion_velocity_planner_common at Robotics Stack Exchange

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

autoware_motion_velocity_planner_common package from autoware_core repo

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

ROS Distro
humble

Package Summary

Tags No category tags.
Version 1.3.0
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 2025-07-24
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Common functions and interfaces for motion_velocity_planner modules

Additional Links

No additional links.

Maintainers

  • Maxime Clement
  • Alqudah Mohammad
  • Takayuki Murooka
  • Yuki Takagi

Authors

  • Maxime Clement

Motion Velocity Planner Common

This package provides common utilities and data structures for the motion velocity planner in the Autoware system. It contains tools for geometric calculations, trajectory processing, and velocity planning results.

Overview

Package motion velocity planner is responsible for generating velocity profiles for autonomous vehicles based on the current trajectory and environment. This package autoware_motion_velocity_planner_common contains essential utilities and structures that support the planning process, including:

  • Geometric operations for polygons and trajectories.
  • General utilities for trajectory processing and visualization.
  • Data structures for storing velocity planning results.

Design

Key Components

  1. Polygon Utilities (polygon_utils.hpp) This component provides functions for handling geometric polygons related to motion planning. It includes:
    • Collision detection between trajectories and obstacles.
    • Creation of polygons representing the vehicle’s trajectory at different time steps.
    • Geometric calculations using Boost Geometry.
  2. General Utilities (utils.hpp) This component provides various utility functions, including:
    • Conversion between point representations (e.g., pcl::PointXYZ to geometry_msgs::msg::Point).
    • Distance calculations between trajectory points and obstacles.
    • Functions for concatenating vectors and processing trajectories.
    • Visualization tools for creating markers.
  3. Velocity Planning Results (velocity_planning_result.hpp) This component defines data structures for storing the results of velocity planning, including:
    • SlowdownInterval: Represents a segment where the vehicle should slow down, with specified start and end points and velocity.
    • VelocityPlanningResult: Contains a collection of stop points, slowdown intervals, and optional velocity limits and clear commands.

Usage

Including the Package

To use this package in your project, you need to include it in your CMakeLists.txt:

find_package(autoware_motion_velocity_planner_common REQUIRED)

Example Usage

Here’s a simple example demonstrating the use of the utility functions:

#include "autoware/motion_velocity_planner_common/utils.hpp"

const auto decimated_traj_points = autoware::motion_velocity_planner::utils::decimate_trajectory_points_from_ego(
    traj_points, current_pose, ego_nearest_dist_threshold, ego_nearest_yaw_threshold,
    p.decimate_trajectory_step_length, 0.0);

this example is from autoware_universe/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/obstacle_cruise_module.cpp

CHANGELOG

Changelog for package autoware_motion_velocity_planner_common

1.1.0 (2025-05-01)

1.3.0 (2025-06-23)

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

  • 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(autoware_motion_velocity_obstacle_stop_module): point-cloud points ahead of the terminal stop-point (#502)

    • fix
    • moved resample_trajectory_points to non-anonymous status
    • style(pre-commit): autofix

    * fix

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

  • fix(autoware_motion_velocity_obstacle_stop_module): fix for mishandling lateral-distance (#452)

    • Fix for mishandling lateral-distance
    • fix
    • style(pre-commit): autofix
    • fix
    • fix
    • fix
    • style(pre-commit): autofix
    • fix
    • style(pre-commit): autofix

    * Update planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/utils.cpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

  • fix(autoware_motion_velocity_planner_common): fix deprecated autoware_utils header (#445)

    • fix autoware_utils header
    • style(pre-commit): autofix

    * add missing header ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

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

  • feat(autoware_motion_velocity_planner): point-cloud clustering optimization (#409)

    • Core changes for point-cloud maksing and clustering
    • fix
    • style(pre-commit): autofix

    * Update planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware/motion_velocity_planner_common/planner_data.hpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

    * fix

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

  • Contributors: Arjun Jagdish Ram, Masaki Baba, Ryohsuke Mitsudome, Yutaka Kondo, github-actions

1.0.0 (2025-03-31)

  • chore: update version in package.xml

  • feat: autoware_motion_velocity_planner and autoware_motion_velocity_planner_common to core (#242)

    • feat: modify autoware_universe_utils to autoware_utils
    • feat: remove useless dependecy
    • style(pre-commit): autofix
    • feat: modify autoware_universe_utils to autoware_utils
    • feat: autoware_motion_velocity_planner_node to core
    • style(pre-commit): autofix
    • feat: autoware_motion_velocity_planner_node to core
    • feat: modify autoware_universe_utils to autoware_utils

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_motion_velocity_planner_common at Robotics Stack Exchange

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

autoware_motion_velocity_planner_common package from autoware_core repo

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

ROS Distro
humble

Package Summary

Tags No category tags.
Version 1.3.0
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 2025-07-24
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Common functions and interfaces for motion_velocity_planner modules

Additional Links

No additional links.

Maintainers

  • Maxime Clement
  • Alqudah Mohammad
  • Takayuki Murooka
  • Yuki Takagi

Authors

  • Maxime Clement

Motion Velocity Planner Common

This package provides common utilities and data structures for the motion velocity planner in the Autoware system. It contains tools for geometric calculations, trajectory processing, and velocity planning results.

Overview

Package motion velocity planner is responsible for generating velocity profiles for autonomous vehicles based on the current trajectory and environment. This package autoware_motion_velocity_planner_common contains essential utilities and structures that support the planning process, including:

  • Geometric operations for polygons and trajectories.
  • General utilities for trajectory processing and visualization.
  • Data structures for storing velocity planning results.

Design

Key Components

  1. Polygon Utilities (polygon_utils.hpp) This component provides functions for handling geometric polygons related to motion planning. It includes:
    • Collision detection between trajectories and obstacles.
    • Creation of polygons representing the vehicle’s trajectory at different time steps.
    • Geometric calculations using Boost Geometry.
  2. General Utilities (utils.hpp) This component provides various utility functions, including:
    • Conversion between point representations (e.g., pcl::PointXYZ to geometry_msgs::msg::Point).
    • Distance calculations between trajectory points and obstacles.
    • Functions for concatenating vectors and processing trajectories.
    • Visualization tools for creating markers.
  3. Velocity Planning Results (velocity_planning_result.hpp) This component defines data structures for storing the results of velocity planning, including:
    • SlowdownInterval: Represents a segment where the vehicle should slow down, with specified start and end points and velocity.
    • VelocityPlanningResult: Contains a collection of stop points, slowdown intervals, and optional velocity limits and clear commands.

Usage

Including the Package

To use this package in your project, you need to include it in your CMakeLists.txt:

find_package(autoware_motion_velocity_planner_common REQUIRED)

Example Usage

Here’s a simple example demonstrating the use of the utility functions:

#include "autoware/motion_velocity_planner_common/utils.hpp"

const auto decimated_traj_points = autoware::motion_velocity_planner::utils::decimate_trajectory_points_from_ego(
    traj_points, current_pose, ego_nearest_dist_threshold, ego_nearest_yaw_threshold,
    p.decimate_trajectory_step_length, 0.0);

this example is from autoware_universe/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/obstacle_cruise_module.cpp

CHANGELOG

Changelog for package autoware_motion_velocity_planner_common

1.1.0 (2025-05-01)

1.3.0 (2025-06-23)

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

  • 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(autoware_motion_velocity_obstacle_stop_module): point-cloud points ahead of the terminal stop-point (#502)

    • fix
    • moved resample_trajectory_points to non-anonymous status
    • style(pre-commit): autofix

    * fix

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

  • fix(autoware_motion_velocity_obstacle_stop_module): fix for mishandling lateral-distance (#452)

    • Fix for mishandling lateral-distance
    • fix
    • style(pre-commit): autofix
    • fix
    • fix
    • fix
    • style(pre-commit): autofix
    • fix
    • style(pre-commit): autofix

    * Update planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/utils.cpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

  • fix(autoware_motion_velocity_planner_common): fix deprecated autoware_utils header (#445)

    • fix autoware_utils header
    • style(pre-commit): autofix

    * add missing header ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

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

  • feat(autoware_motion_velocity_planner): point-cloud clustering optimization (#409)

    • Core changes for point-cloud maksing and clustering
    • fix
    • style(pre-commit): autofix

    * Update planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware/motion_velocity_planner_common/planner_data.hpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

    * fix

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

  • Contributors: Arjun Jagdish Ram, Masaki Baba, Ryohsuke Mitsudome, Yutaka Kondo, github-actions

1.0.0 (2025-03-31)

  • chore: update version in package.xml

  • feat: autoware_motion_velocity_planner and autoware_motion_velocity_planner_common to core (#242)

    • feat: modify autoware_universe_utils to autoware_utils
    • feat: remove useless dependecy
    • style(pre-commit): autofix
    • feat: modify autoware_universe_utils to autoware_utils
    • feat: autoware_motion_velocity_planner_node to core
    • style(pre-commit): autofix
    • feat: autoware_motion_velocity_planner_node to core
    • feat: modify autoware_universe_utils to autoware_utils

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_motion_velocity_planner_common at Robotics Stack Exchange

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

autoware_motion_velocity_planner_common package from autoware_core repo

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

ROS Distro
humble

Package Summary

Tags No category tags.
Version 1.3.0
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 2025-07-24
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Common functions and interfaces for motion_velocity_planner modules

Additional Links

No additional links.

Maintainers

  • Maxime Clement
  • Alqudah Mohammad
  • Takayuki Murooka
  • Yuki Takagi

Authors

  • Maxime Clement

Motion Velocity Planner Common

This package provides common utilities and data structures for the motion velocity planner in the Autoware system. It contains tools for geometric calculations, trajectory processing, and velocity planning results.

Overview

Package motion velocity planner is responsible for generating velocity profiles for autonomous vehicles based on the current trajectory and environment. This package autoware_motion_velocity_planner_common contains essential utilities and structures that support the planning process, including:

  • Geometric operations for polygons and trajectories.
  • General utilities for trajectory processing and visualization.
  • Data structures for storing velocity planning results.

Design

Key Components

  1. Polygon Utilities (polygon_utils.hpp) This component provides functions for handling geometric polygons related to motion planning. It includes:
    • Collision detection between trajectories and obstacles.
    • Creation of polygons representing the vehicle’s trajectory at different time steps.
    • Geometric calculations using Boost Geometry.
  2. General Utilities (utils.hpp) This component provides various utility functions, including:
    • Conversion between point representations (e.g., pcl::PointXYZ to geometry_msgs::msg::Point).
    • Distance calculations between trajectory points and obstacles.
    • Functions for concatenating vectors and processing trajectories.
    • Visualization tools for creating markers.
  3. Velocity Planning Results (velocity_planning_result.hpp) This component defines data structures for storing the results of velocity planning, including:
    • SlowdownInterval: Represents a segment where the vehicle should slow down, with specified start and end points and velocity.
    • VelocityPlanningResult: Contains a collection of stop points, slowdown intervals, and optional velocity limits and clear commands.

Usage

Including the Package

To use this package in your project, you need to include it in your CMakeLists.txt:

find_package(autoware_motion_velocity_planner_common REQUIRED)

Example Usage

Here’s a simple example demonstrating the use of the utility functions:

#include "autoware/motion_velocity_planner_common/utils.hpp"

const auto decimated_traj_points = autoware::motion_velocity_planner::utils::decimate_trajectory_points_from_ego(
    traj_points, current_pose, ego_nearest_dist_threshold, ego_nearest_yaw_threshold,
    p.decimate_trajectory_step_length, 0.0);

this example is from autoware_universe/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/obstacle_cruise_module.cpp

CHANGELOG

Changelog for package autoware_motion_velocity_planner_common

1.1.0 (2025-05-01)

1.3.0 (2025-06-23)

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

  • 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(autoware_motion_velocity_obstacle_stop_module): point-cloud points ahead of the terminal stop-point (#502)

    • fix
    • moved resample_trajectory_points to non-anonymous status
    • style(pre-commit): autofix

    * fix

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

  • fix(autoware_motion_velocity_obstacle_stop_module): fix for mishandling lateral-distance (#452)

    • Fix for mishandling lateral-distance
    • fix
    • style(pre-commit): autofix
    • fix
    • fix
    • fix
    • style(pre-commit): autofix
    • fix
    • style(pre-commit): autofix

    * Update planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/utils.cpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

  • fix(autoware_motion_velocity_planner_common): fix deprecated autoware_utils header (#445)

    • fix autoware_utils header
    • style(pre-commit): autofix

    * add missing header ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

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

  • feat(autoware_motion_velocity_planner): point-cloud clustering optimization (#409)

    • Core changes for point-cloud maksing and clustering
    • fix
    • style(pre-commit): autofix

    * Update planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware/motion_velocity_planner_common/planner_data.hpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

    * fix

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

  • Contributors: Arjun Jagdish Ram, Masaki Baba, Ryohsuke Mitsudome, Yutaka Kondo, github-actions

1.0.0 (2025-03-31)

  • chore: update version in package.xml

  • feat: autoware_motion_velocity_planner and autoware_motion_velocity_planner_common to core (#242)

    • feat: modify autoware_universe_utils to autoware_utils
    • feat: remove useless dependecy
    • style(pre-commit): autofix
    • feat: modify autoware_universe_utils to autoware_utils
    • feat: autoware_motion_velocity_planner_node to core
    • style(pre-commit): autofix
    • feat: autoware_motion_velocity_planner_node to core
    • feat: modify autoware_universe_utils to autoware_utils

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_motion_velocity_planner_common at Robotics Stack Exchange

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

autoware_motion_velocity_planner_common package from autoware_core repo

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

ROS Distro
humble

Package Summary

Tags No category tags.
Version 1.3.0
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 2025-07-24
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Common functions and interfaces for motion_velocity_planner modules

Additional Links

No additional links.

Maintainers

  • Maxime Clement
  • Alqudah Mohammad
  • Takayuki Murooka
  • Yuki Takagi

Authors

  • Maxime Clement

Motion Velocity Planner Common

This package provides common utilities and data structures for the motion velocity planner in the Autoware system. It contains tools for geometric calculations, trajectory processing, and velocity planning results.

Overview

Package motion velocity planner is responsible for generating velocity profiles for autonomous vehicles based on the current trajectory and environment. This package autoware_motion_velocity_planner_common contains essential utilities and structures that support the planning process, including:

  • Geometric operations for polygons and trajectories.
  • General utilities for trajectory processing and visualization.
  • Data structures for storing velocity planning results.

Design

Key Components

  1. Polygon Utilities (polygon_utils.hpp) This component provides functions for handling geometric polygons related to motion planning. It includes:
    • Collision detection between trajectories and obstacles.
    • Creation of polygons representing the vehicle’s trajectory at different time steps.
    • Geometric calculations using Boost Geometry.
  2. General Utilities (utils.hpp) This component provides various utility functions, including:
    • Conversion between point representations (e.g., pcl::PointXYZ to geometry_msgs::msg::Point).
    • Distance calculations between trajectory points and obstacles.
    • Functions for concatenating vectors and processing trajectories.
    • Visualization tools for creating markers.
  3. Velocity Planning Results (velocity_planning_result.hpp) This component defines data structures for storing the results of velocity planning, including:
    • SlowdownInterval: Represents a segment where the vehicle should slow down, with specified start and end points and velocity.
    • VelocityPlanningResult: Contains a collection of stop points, slowdown intervals, and optional velocity limits and clear commands.

Usage

Including the Package

To use this package in your project, you need to include it in your CMakeLists.txt:

find_package(autoware_motion_velocity_planner_common REQUIRED)

Example Usage

Here’s a simple example demonstrating the use of the utility functions:

#include "autoware/motion_velocity_planner_common/utils.hpp"

const auto decimated_traj_points = autoware::motion_velocity_planner::utils::decimate_trajectory_points_from_ego(
    traj_points, current_pose, ego_nearest_dist_threshold, ego_nearest_yaw_threshold,
    p.decimate_trajectory_step_length, 0.0);

this example is from autoware_universe/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/obstacle_cruise_module.cpp

CHANGELOG

Changelog for package autoware_motion_velocity_planner_common

1.1.0 (2025-05-01)

1.3.0 (2025-06-23)

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

  • 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(autoware_motion_velocity_obstacle_stop_module): point-cloud points ahead of the terminal stop-point (#502)

    • fix
    • moved resample_trajectory_points to non-anonymous status
    • style(pre-commit): autofix

    * fix

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

  • fix(autoware_motion_velocity_obstacle_stop_module): fix for mishandling lateral-distance (#452)

    • Fix for mishandling lateral-distance
    • fix
    • style(pre-commit): autofix
    • fix
    • fix
    • fix
    • style(pre-commit): autofix
    • fix
    • style(pre-commit): autofix

    * Update planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/utils.cpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

  • fix(autoware_motion_velocity_planner_common): fix deprecated autoware_utils header (#445)

    • fix autoware_utils header
    • style(pre-commit): autofix

    * add missing header ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

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

  • feat(autoware_motion_velocity_planner): point-cloud clustering optimization (#409)

    • Core changes for point-cloud maksing and clustering
    • fix
    • style(pre-commit): autofix

    * Update planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware/motion_velocity_planner_common/planner_data.hpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

    * fix

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

  • Contributors: Arjun Jagdish Ram, Masaki Baba, Ryohsuke Mitsudome, Yutaka Kondo, github-actions

1.0.0 (2025-03-31)

  • chore: update version in package.xml

  • feat: autoware_motion_velocity_planner and autoware_motion_velocity_planner_common to core (#242)

    • feat: modify autoware_universe_utils to autoware_utils
    • feat: remove useless dependecy
    • style(pre-commit): autofix
    • feat: modify autoware_universe_utils to autoware_utils
    • feat: autoware_motion_velocity_planner_node to core
    • style(pre-commit): autofix
    • feat: autoware_motion_velocity_planner_node to core
    • feat: modify autoware_universe_utils to autoware_utils

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_motion_velocity_planner_common at Robotics Stack Exchange

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

autoware_motion_velocity_planner_common package from autoware_core repo

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

ROS Distro
humble

Package Summary

Tags No category tags.
Version 1.3.0
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 2025-07-24
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Common functions and interfaces for motion_velocity_planner modules

Additional Links

No additional links.

Maintainers

  • Maxime Clement
  • Alqudah Mohammad
  • Takayuki Murooka
  • Yuki Takagi

Authors

  • Maxime Clement

Motion Velocity Planner Common

This package provides common utilities and data structures for the motion velocity planner in the Autoware system. It contains tools for geometric calculations, trajectory processing, and velocity planning results.

Overview

Package motion velocity planner is responsible for generating velocity profiles for autonomous vehicles based on the current trajectory and environment. This package autoware_motion_velocity_planner_common contains essential utilities and structures that support the planning process, including:

  • Geometric operations for polygons and trajectories.
  • General utilities for trajectory processing and visualization.
  • Data structures for storing velocity planning results.

Design

Key Components

  1. Polygon Utilities (polygon_utils.hpp) This component provides functions for handling geometric polygons related to motion planning. It includes:
    • Collision detection between trajectories and obstacles.
    • Creation of polygons representing the vehicle’s trajectory at different time steps.
    • Geometric calculations using Boost Geometry.
  2. General Utilities (utils.hpp) This component provides various utility functions, including:
    • Conversion between point representations (e.g., pcl::PointXYZ to geometry_msgs::msg::Point).
    • Distance calculations between trajectory points and obstacles.
    • Functions for concatenating vectors and processing trajectories.
    • Visualization tools for creating markers.
  3. Velocity Planning Results (velocity_planning_result.hpp) This component defines data structures for storing the results of velocity planning, including:
    • SlowdownInterval: Represents a segment where the vehicle should slow down, with specified start and end points and velocity.
    • VelocityPlanningResult: Contains a collection of stop points, slowdown intervals, and optional velocity limits and clear commands.

Usage

Including the Package

To use this package in your project, you need to include it in your CMakeLists.txt:

find_package(autoware_motion_velocity_planner_common REQUIRED)

Example Usage

Here’s a simple example demonstrating the use of the utility functions:

#include "autoware/motion_velocity_planner_common/utils.hpp"

const auto decimated_traj_points = autoware::motion_velocity_planner::utils::decimate_trajectory_points_from_ego(
    traj_points, current_pose, ego_nearest_dist_threshold, ego_nearest_yaw_threshold,
    p.decimate_trajectory_step_length, 0.0);

this example is from autoware_universe/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/obstacle_cruise_module.cpp

CHANGELOG

Changelog for package autoware_motion_velocity_planner_common

1.1.0 (2025-05-01)

1.3.0 (2025-06-23)

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

  • 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(autoware_motion_velocity_obstacle_stop_module): point-cloud points ahead of the terminal stop-point (#502)

    • fix
    • moved resample_trajectory_points to non-anonymous status
    • style(pre-commit): autofix

    * fix

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

  • fix(autoware_motion_velocity_obstacle_stop_module): fix for mishandling lateral-distance (#452)

    • Fix for mishandling lateral-distance
    • fix
    • style(pre-commit): autofix
    • fix
    • fix
    • fix
    • style(pre-commit): autofix
    • fix
    • style(pre-commit): autofix

    * Update planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/utils.cpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

  • fix(autoware_motion_velocity_planner_common): fix deprecated autoware_utils header (#445)

    • fix autoware_utils header
    • style(pre-commit): autofix

    * add missing header ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

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

  • feat(autoware_motion_velocity_planner): point-cloud clustering optimization (#409)

    • Core changes for point-cloud maksing and clustering
    • fix
    • style(pre-commit): autofix

    * Update planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware/motion_velocity_planner_common/planner_data.hpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

    * fix

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

  • Contributors: Arjun Jagdish Ram, Masaki Baba, Ryohsuke Mitsudome, Yutaka Kondo, github-actions

1.0.0 (2025-03-31)

  • chore: update version in package.xml

  • feat: autoware_motion_velocity_planner and autoware_motion_velocity_planner_common to core (#242)

    • feat: modify autoware_universe_utils to autoware_utils
    • feat: remove useless dependecy
    • style(pre-commit): autofix
    • feat: modify autoware_universe_utils to autoware_utils
    • feat: autoware_motion_velocity_planner_node to core
    • style(pre-commit): autofix
    • feat: autoware_motion_velocity_planner_node to core
    • feat: modify autoware_universe_utils to autoware_utils

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