route handler

route_handler is a library for calculating driving route on the lanelet map.

Unit Testing

The unit testing depends on autoware_test_utils package. autoware_test_utils is a library that provides several common functions to simplify unit test creating.

By default, route file is necessary to create tests. The following illustrates the route that are used in the unit test

Lane change test route

• The route is based on map that can be obtained from autoware_test_utils\test_map

Changelog for package autoware_route_handler

1.1.0 (2025-05-01)

• feat(route_handler): use a cost metric to select start lane (#357)

  • feat(route_handler): use a cost metric to select start lane

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

• Contributors: Mert Çolak

1.8.0 (2026-05-01)

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

• feat(autoware_route_handler): add test for validating the [route_handler]{.title-ref}'s reference path algorithm (#986) Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>> Co-authored-by: Mamoru Sobue <<hilo.soblin@gmail.com>>

• feat(autoware_route_handler): smooth the centerline from [route_handler]{.title-ref} function (#1029)

  • fix border's discontinuity
  • add route_handler constructor using laneletMapPtr explicitly
  • change waypoint-centerline trim margin
  • improve interpolation at start_s to be on waypoint
  • change use_exact condition

  * add abnormal case comment ---------

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

  • remove unused lanelet2_extension in bvp modules

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

• fix(autoware_route_handler): fix bugprone-narrowing-conversions warnings (#923) Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>

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

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

• feat(autoware_lanelet2_extension): replace remaining lanelet2_extension utilities functions (#842)

  • replace getArcCoordinates usage
  • replace combineLaneletsShape
  • remove null return for get_dirty_expanded_lanelet

  * change get_dirty_expanded_lanelet(s) positive right_offset (and negative left_offset) handler ---------Co-authored-by: Mamoru Sobue <<hilo.soblin@gmail.com>>

• chore: organize maintainer (#856)

• Contributors: NorahXiong, Sarun MUKDAPITAK, Satoshi OTA, github-actions

1.7.0 (2026-02-14)

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

• refactor(planning): deprecate lanelet_extension geometry conversion function (#834) Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>

• feat(lanelet2_extension): port some lanelet2_extension query functions (2) (#809)

• feat(lanelet2_extension): port some lanelet2_extension query functions (#790)

  • port left/right/all_neighbor_lanelets and their tests
  • replace getAllNeighbors* with ported functions
  • add neighbors order description and verify in test
  • add ported functions to API table

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