autoware_control_config

Parameter set for autoware_control_launch. This package ships only data: every file under config/ is a ROS 2 parameter file, or a module preset that selects which control modules a launch run brings up.

config/
├── preset/                                  # module presets (which control modules launch)
├── common/                                  # nearest search params shared by the control nodes
├── trajectory_follower/                     # controller node, lateral/ and longitudinal/ controller params
├── vehicle_cmd_gate/
├── control_command_gate/
├── operation_mode_transition_manager/
├── shift_decider/
├── external_cmd_selector/
├── control_validator/
├── lane_departure_checker/
├── autoware_autonomous_emergency_braking/
├── autoware_collision_detector/
├── obstacle_collision_checker/
└── predicted_path_checker/

Usage

autoware_control_launch resolves the tree through its control_config_pkg argument, which defaults to this package:

<include file="$(find-pkg-share autoware_control_launch)/launch/control.launch.xml">
  <arg name="control_config_pkg" value="my_control_config"/>
</include>

A product that sets control_config_pkg to its own package must ship the same config/ layout, since the launch package addresses individual files by relative path. Products that differ in only a few files instead override the corresponding *_param_path arguments.

Per-vehicle controller tuning is a product-side concern: the caller overrides lat_controller_param_path and lon_controller_param_path (autoware_launch points them at a trajectory_follower/<vehicle_id>/ subtree under use_individual_control_param).