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).

Changelog for package autoware_control_config

0.53.0 (2026-10-13)

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

• refactor(control)!: migrate tier4_control_launch to autoware_control_launch with a separate config package (#1962)

  * refactor(control)!: migrate tier4_control_launch to autoware_control_launch with a separate config package Move the control launch stack out of the product layer and split its parameter tree into autoware_control_config. control.launch.xml resolves every parameter file through control_config_pkg and includes the module preset itself; the launch graph is unchanged.

  * refactor(control): move the control design modules alongside the control launch package Control.module moves to the sample design module root and TrajectoryFollower.module into autoware_control_launch/design/module, matching the perception layout.

  • refactor(control): enhance control parameter handling and update README for clarity

  * refactor(control): streamline control configuration handling and update related documentation ---------

• Contributors: Taekjin LEE, github-actions