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Package Summary
| Version | 0.52.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_launch.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-10-09 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The autoware_control_launch package
Maintainers
- Takamasa Horibe
- Takayuki Murooka
- Yuki Takagi
- Maxime CLEMENT
- Takumi Odashima
Authors
- Satoshi Ota
autoware_control_launch
Shared control launch library. The system component launcher lives in the product layer (autoware_launch/launch/components/component_control.launch.xml); this package hosts the control launcher it wraps:
launch/
├── control.launch.xml # control entry: preset, parameter paths, containers and the unit includes
├── trajectory_follower/trajectory_follower.launch.xml # controller and lane departure checker
├── command_gate/command_gate.launch.xml # vehicle cmd gate (or control command gate), shift decider, operation mode transition manager
├── external_command/external_command.launch.xml # external command selector and converter
└── control_checker/control_checker.launch.xml # control validator, autonomous emergency braking, collision detector, optional checkers
design/module/ # Autoware System Designer modules, one per launch unit
├── Control.module.yaml
├── TrajectoryFollower.module.yaml
├── CommandGate.module.yaml
├── ExternalCommand.module.yaml
└── ControlChecker.module.yaml
Structure
Launch files
-
control.launch.xml— the entry point. It includes the module preset, resolves every parameter file, pushes thecontrolnamespace and creates the two containers (control_containerfor the command path,control_check_containerfor the composable checkers), then includes one launch file per unit and the control evaluator. -
trajectory_follower/trajectory_follower.launch.xml— the controller (trajectory_follower_mode:trajectory_follower_node,smart_mpc_trajectory_follower,none) and the lane departure checker on its predicted trajectory. Boundary topics areinput/*arguments, so the unit can also drive a standalone follower container. -
command_gate/command_gate.launch.xml— the vehicle cmd gate, or the control command gate with the stop mode operator whenuse_control_command_gateis set, plus the shift decider and the operation mode transition manager.input/control_cmdandoutput/*_cmdare its boundary topics. -
external_command/external_command.launch.xml— the external command selector and converter. -
control_checker/control_checker.launch.xml— the control validator, autonomous emergency braking, collision detector, obstacle collision checker and predicted path checker, each behind itslaunch_*flag.
Every unit accepts target_container, use_intra_process and ld_preload_value, so process placement is decided by the caller; parameter files default to the autoware_control_config tree and are overridden by the entry point.
Config
Parameter files are resolved from a config/ tree addressed through the control_config_pkg argument, which defaults to autoware_control_config. A product can relocate the whole tree by setting control_config_pkg once at its entry point — the launch configuration propagates through every include — but it must then ship the same config/ layout. Products that differ in only a few files instead override the corresponding *_param_path arguments, which are all declared at the top of control.launch.xml:
<include file="$(find-pkg-share autoware_control_launch)/launch/control.launch.xml">
<arg name="control_config_pkg" value="my_control_config"/>
<arg name="FOO_NODE_param_path" value="..."/>
</include>
Which modules launch is a separate axis, selected by module_preset; the presets live in the config package under config/preset/. The controller algorithms are selected by lateral_controller_mode (mpc, pure_pursuit) and longitudinal_controller_mode (pid), which also pick the controller parameter files.
Notes
For reducing processing load, we use the Component feature in ROS 2 (similar to Nodelet in ROS 1 )
Package Dependencies
Please see <exec_depend> in package.xml.
CHANGELOG
Changelog for package tier4_control_launch
0.52.0 (2026-06-30)
0.51.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(tier4_control_launch): adopt agnocast cie (#1798)
- feat: adopt agnocast cie
* feat: add dependency and comments ---------
-
feat(tier4_control_launch): remove glog component (#1776) feat: remove glog component
-
feat(trajectory_follower): update mpc param yaml and control launch (#1750)
- update mpc param yaml
- remove unused param
- update control launch files
* tune parameter. undo unnecessary changes ---------
-
Contributors: Tetsuhiro Kawaguchi, github-actions, mkquda
0.50.0 (2026-02-13)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- chore: import tier4 launchers from universe (#1740)
- Contributors: Taeseung Sohn, github-actions
0.49.0 (2025-12-30)
- Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog
- fix(launch): correct arg name for control_evaluator input object (#11669) Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
- Contributors: Ryohsuke Mitsudome, Takahisa Ishikawa
0.48.0 (2025-11-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
feat(launch): update input topic parameters to allow dynamic configuration (#11389)
-
refactor(launch): topic remapping for object recognition and point cloud input to planning/control module (#11242)
* feat(planning): introduce dynamic topic remapping for input objects and pointcloud ---------
-
chore(tier4_control_launch): add maintainers (#11256) chore(tier4_control_launch): add maintainers to package.xml
-
Contributors: Kyoichi Sugahara, Ryohsuke Mitsudome
0.47.1 (2025-08-14)
0.47.0 (2025-08-11)
-
feat: change planning output topic name to /planning/trajectory (#11135)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
chore: sync files (#11091) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: M. Fatih Cırıt <<mfc@autoware.org>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
feat: enable to remap control cmd from autoware launch (#11019)
- feat: add args
- feat: add another cmd
- fix
- feat: add comment
- style(pre-commit): autofix
- feat: remove ~/
* feat: remap vehicle cmd gate as well
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| autoware_launch |
Launch files
- launch/command_gate/command_gate.launch.xml
-
- use_control_command_gate [default: false]
- check_external_emergency_heartbeat [default: false]
- input/control_cmd [default: /control/trajectory_follower/control_cmd]
- output/control_cmd [default: /control/command/control_cmd]
- output/gear_cmd [default: /control/command/gear_cmd]
- output/turn_indicators_cmd [default: /control/command/turn_indicators_cmd]
- output/hazard_lights_cmd [default: /control/command/hazard_lights_cmd]
- nearest_search_param_path [default: $(var config_dir)/common/nearest_search.param.yaml]
- vehicle_cmd_gate_param_path [default: $(var config_dir)/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml]
- control_command_gate_param_path [default: $(var config_dir)/control_command_gate/control_command_gate.param.yaml]
- operation_mode_transition_manager_param_path [default: $(var config_dir)/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml]
- shift_decider_param_path [default: $(var config_dir)/shift_decider/shift_decider.param.yaml]
- vehicle_param_file [default: $(find-pkg-share sample_vehicle_description)/config/vehicle_info.param.yaml]
- target_container [default: /control/control_container]
- use_intra_process [default: false]
- ld_preload_value [default: ]
- launch/control.launch.xml
-
- control_config_pkg [default: autoware_control_config]
- module_preset [default: default]
- lateral_controller_mode [default: mpc]
- longitudinal_controller_mode [default: pid]
- use_aeb_autoware_state_check [default: true]
- check_external_emergency_heartbeat [default: false]
- use_control_command_gate [default: false]
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- output_control_cmd [default: /control/command/control_cmd]
- output_gear_cmd [default: /control/command/gear_cmd]
- output_turn_indicators_cmd [default: /control/command/turn_indicators_cmd]
- output_hazard_lights_cmd [default: /control/command/hazard_lights_cmd]
- vehicle_model [default: sample_vehicle]
- vehicle_param_file [default: $(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml]
- nearest_search_param_path [default: $(var control_config_dir)/common/nearest_search.param.yaml]
- trajectory_follower_node_param_path [default: $(var control_config_dir)/trajectory_follower/trajectory_follower_node.param.yaml]
- lat_controller_param_path [default: $(var control_config_dir)/trajectory_follower/lateral/$(var lateral_controller_mode).param.yaml]
- lon_controller_param_path [default: $(var control_config_dir)/trajectory_follower/longitudinal/$(var longitudinal_controller_mode).param.yaml]
- vehicle_cmd_gate_param_path [default: $(var control_config_dir)/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml]
- control_command_gate_param_path [default: $(var control_config_dir)/control_command_gate/control_command_gate.param.yaml]
- operation_mode_transition_manager_param_path [default: $(var control_config_dir)/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml]
- shift_decider_param_path [default: $(var control_config_dir)/shift_decider/shift_decider.param.yaml]
- external_cmd_selector_param_path [default: $(var control_config_dir)/external_cmd_selector/external_cmd_selector.param.yaml]
- lane_departure_checker_param_path [default: $(var control_config_dir)/lane_departure_checker/lane_departure_checker.param.yaml]
- control_validator_param_path [default: $(var control_config_dir)/control_validator/control_validator.param.yaml]
- aeb_param_path [default: $(var control_config_dir)/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml]
- collision_detector_param_path [default: $(var control_config_dir)/autoware_collision_detector/collision_detector.param.yaml]
- obstacle_collision_checker_param_path [default: $(var control_config_dir)/obstacle_collision_checker/obstacle_collision_checker.param.yaml]
- predicted_path_checker_param_path [default: $(var control_config_dir)/predicted_path_checker/predicted_path_checker.param.yaml]
- use_intra_process [default: false]
- use_multithread [default: true]
- launch/control_checker/control_checker.launch.xml
-
- launch_control_validator [default: true]
- launch_autonomous_emergency_braking [default: true]
- launch_collision_detector [default: true]
- launch_obstacle_collision_checker [default: false]
- launch_predicted_path_checker [default: false]
- use_aeb_autoware_state_check [default: true]
- input/objects [default: /perception/object_recognition/objects]
- input/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
- input/trajectory [default: /planning/trajectory]
- input/predicted_trajectory [default: /control/trajectory_follower/lateral/predicted_trajectory]
- input/control_cmd [default: /control/command/control_cmd]
- input/odometry [default: /localization/kinematic_state]
- input/acceleration [default: /localization/acceleration]
- input/lanelet_map_bin [default: /map/vector_map]
- control_validator_param_path [default: $(var config_dir)/control_validator/control_validator.param.yaml]
- aeb_param_path [default: $(var config_dir)/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml]
- collision_detector_param_path [default: $(var config_dir)/autoware_collision_detector/collision_detector.param.yaml]
- obstacle_collision_checker_param_path [default: $(var config_dir)/obstacle_collision_checker/obstacle_collision_checker.param.yaml]
- predicted_path_checker_param_path [default: $(var config_dir)/predicted_path_checker/predicted_path_checker.param.yaml]
- vehicle_param_file [default: $(find-pkg-share sample_vehicle_description)/config/vehicle_info.param.yaml]
- target_container [default: /control/control_check_container]
- use_intra_process [default: false]
- ld_preload_value [default: ]
- launch/external_command/external_command.launch.xml
-
- launch_external_cmd_selector [default: true]
- launch_external_cmd_converter [default: true]
- external_cmd_selector_param_path [default: $(find-pkg-share autoware_control_config)/config/external_cmd_selector/external_cmd_selector.param.yaml]
- target_container [default: /control/control_container]
- use_intra_process [default: false]
- launch/trajectory_follower/trajectory_follower.launch.xml
-
- trajectory_follower_mode [default: trajectory_follower_node]
- lateral_controller_mode [default: mpc]
- longitudinal_controller_mode [default: pid]
- launch_lane_departure_checker [default: true]
- input/trajectory [default: /planning/trajectory]
- input/odometry [default: /localization/kinematic_state]
- input/acceleration [default: /localization/acceleration]
- input/steering [default: /vehicle/status/steering_status]
- input/operation_mode [default: /system/operation_mode/state]
- input/steering_offset_update [default: /vehicle/calibration/steer_offset_estimator/steering_offset_update]
- input/lanelet_map_bin [default: /map/vector_map]
- input/route [default: /planning/mission_planning/route]
- input/predicted_trajectory [default: /control/trajectory_follower/lateral/predicted_trajectory]
- nearest_search_param_path [default: $(var config_dir)/common/nearest_search.param.yaml]
- trajectory_follower_node_param_path [default: $(var config_dir)/trajectory_follower/trajectory_follower_node.param.yaml]
- lat_controller_param_path [default: $(var config_dir)/trajectory_follower/lateral/$(var lateral_controller_mode).param.yaml]
- lon_controller_param_path [default: $(var config_dir)/trajectory_follower/longitudinal/$(var longitudinal_controller_mode).param.yaml]
- lane_departure_checker_param_path [default: $(var config_dir)/lane_departure_checker/lane_departure_checker.param.yaml]
- vehicle_param_file [default: $(find-pkg-share sample_vehicle_description)/config/vehicle_info.param.yaml]
- target_container [default: /control/control_container]
- use_intra_process [default: false]
- ld_preload_value [default: ]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged autoware_control_launch at Robotics Stack Exchange
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Package Summary
| Version | 0.52.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_launch.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-10-09 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The autoware_control_launch package
Maintainers
- Takamasa Horibe
- Takayuki Murooka
- Yuki Takagi
- Maxime CLEMENT
- Takumi Odashima
Authors
- Satoshi Ota
autoware_control_launch
Shared control launch library. The system component launcher lives in the product layer (autoware_launch/launch/components/component_control.launch.xml); this package hosts the control launcher it wraps:
launch/
├── control.launch.xml # control entry: preset, parameter paths, containers and the unit includes
├── trajectory_follower/trajectory_follower.launch.xml # controller and lane departure checker
├── command_gate/command_gate.launch.xml # vehicle cmd gate (or control command gate), shift decider, operation mode transition manager
├── external_command/external_command.launch.xml # external command selector and converter
└── control_checker/control_checker.launch.xml # control validator, autonomous emergency braking, collision detector, optional checkers
design/module/ # Autoware System Designer modules, one per launch unit
├── Control.module.yaml
├── TrajectoryFollower.module.yaml
├── CommandGate.module.yaml
├── ExternalCommand.module.yaml
└── ControlChecker.module.yaml
Structure
Launch files
-
control.launch.xml— the entry point. It includes the module preset, resolves every parameter file, pushes thecontrolnamespace and creates the two containers (control_containerfor the command path,control_check_containerfor the composable checkers), then includes one launch file per unit and the control evaluator. -
trajectory_follower/trajectory_follower.launch.xml— the controller (trajectory_follower_mode:trajectory_follower_node,smart_mpc_trajectory_follower,none) and the lane departure checker on its predicted trajectory. Boundary topics areinput/*arguments, so the unit can also drive a standalone follower container. -
command_gate/command_gate.launch.xml— the vehicle cmd gate, or the control command gate with the stop mode operator whenuse_control_command_gateis set, plus the shift decider and the operation mode transition manager.input/control_cmdandoutput/*_cmdare its boundary topics. -
external_command/external_command.launch.xml— the external command selector and converter. -
control_checker/control_checker.launch.xml— the control validator, autonomous emergency braking, collision detector, obstacle collision checker and predicted path checker, each behind itslaunch_*flag.
Every unit accepts target_container, use_intra_process and ld_preload_value, so process placement is decided by the caller; parameter files default to the autoware_control_config tree and are overridden by the entry point.
Config
Parameter files are resolved from a config/ tree addressed through the control_config_pkg argument, which defaults to autoware_control_config. A product can relocate the whole tree by setting control_config_pkg once at its entry point — the launch configuration propagates through every include — but it must then ship the same config/ layout. Products that differ in only a few files instead override the corresponding *_param_path arguments, which are all declared at the top of control.launch.xml:
<include file="$(find-pkg-share autoware_control_launch)/launch/control.launch.xml">
<arg name="control_config_pkg" value="my_control_config"/>
<arg name="FOO_NODE_param_path" value="..."/>
</include>
Which modules launch is a separate axis, selected by module_preset; the presets live in the config package under config/preset/. The controller algorithms are selected by lateral_controller_mode (mpc, pure_pursuit) and longitudinal_controller_mode (pid), which also pick the controller parameter files.
Notes
For reducing processing load, we use the Component feature in ROS 2 (similar to Nodelet in ROS 1 )
Package Dependencies
Please see <exec_depend> in package.xml.
CHANGELOG
Changelog for package tier4_control_launch
0.52.0 (2026-06-30)
0.51.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(tier4_control_launch): adopt agnocast cie (#1798)
- feat: adopt agnocast cie
* feat: add dependency and comments ---------
-
feat(tier4_control_launch): remove glog component (#1776) feat: remove glog component
-
feat(trajectory_follower): update mpc param yaml and control launch (#1750)
- update mpc param yaml
- remove unused param
- update control launch files
* tune parameter. undo unnecessary changes ---------
-
Contributors: Tetsuhiro Kawaguchi, github-actions, mkquda
0.50.0 (2026-02-13)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- chore: import tier4 launchers from universe (#1740)
- Contributors: Taeseung Sohn, github-actions
0.49.0 (2025-12-30)
- Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog
- fix(launch): correct arg name for control_evaluator input object (#11669) Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
- Contributors: Ryohsuke Mitsudome, Takahisa Ishikawa
0.48.0 (2025-11-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
feat(launch): update input topic parameters to allow dynamic configuration (#11389)
-
refactor(launch): topic remapping for object recognition and point cloud input to planning/control module (#11242)
* feat(planning): introduce dynamic topic remapping for input objects and pointcloud ---------
-
chore(tier4_control_launch): add maintainers (#11256) chore(tier4_control_launch): add maintainers to package.xml
-
Contributors: Kyoichi Sugahara, Ryohsuke Mitsudome
0.47.1 (2025-08-14)
0.47.0 (2025-08-11)
-
feat: change planning output topic name to /planning/trajectory (#11135)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
chore: sync files (#11091) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: M. Fatih Cırıt <<mfc@autoware.org>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
feat: enable to remap control cmd from autoware launch (#11019)
- feat: add args
- feat: add another cmd
- fix
- feat: add comment
- style(pre-commit): autofix
- feat: remove ~/
* feat: remap vehicle cmd gate as well
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| autoware_launch |
Launch files
- launch/command_gate/command_gate.launch.xml
-
- use_control_command_gate [default: false]
- check_external_emergency_heartbeat [default: false]
- input/control_cmd [default: /control/trajectory_follower/control_cmd]
- output/control_cmd [default: /control/command/control_cmd]
- output/gear_cmd [default: /control/command/gear_cmd]
- output/turn_indicators_cmd [default: /control/command/turn_indicators_cmd]
- output/hazard_lights_cmd [default: /control/command/hazard_lights_cmd]
- nearest_search_param_path [default: $(var config_dir)/common/nearest_search.param.yaml]
- vehicle_cmd_gate_param_path [default: $(var config_dir)/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml]
- control_command_gate_param_path [default: $(var config_dir)/control_command_gate/control_command_gate.param.yaml]
- operation_mode_transition_manager_param_path [default: $(var config_dir)/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml]
- shift_decider_param_path [default: $(var config_dir)/shift_decider/shift_decider.param.yaml]
- vehicle_param_file [default: $(find-pkg-share sample_vehicle_description)/config/vehicle_info.param.yaml]
- target_container [default: /control/control_container]
- use_intra_process [default: false]
- ld_preload_value [default: ]
- launch/control.launch.xml
-
- control_config_pkg [default: autoware_control_config]
- module_preset [default: default]
- lateral_controller_mode [default: mpc]
- longitudinal_controller_mode [default: pid]
- use_aeb_autoware_state_check [default: true]
- check_external_emergency_heartbeat [default: false]
- use_control_command_gate [default: false]
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- output_control_cmd [default: /control/command/control_cmd]
- output_gear_cmd [default: /control/command/gear_cmd]
- output_turn_indicators_cmd [default: /control/command/turn_indicators_cmd]
- output_hazard_lights_cmd [default: /control/command/hazard_lights_cmd]
- vehicle_model [default: sample_vehicle]
- vehicle_param_file [default: $(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml]
- nearest_search_param_path [default: $(var control_config_dir)/common/nearest_search.param.yaml]
- trajectory_follower_node_param_path [default: $(var control_config_dir)/trajectory_follower/trajectory_follower_node.param.yaml]
- lat_controller_param_path [default: $(var control_config_dir)/trajectory_follower/lateral/$(var lateral_controller_mode).param.yaml]
- lon_controller_param_path [default: $(var control_config_dir)/trajectory_follower/longitudinal/$(var longitudinal_controller_mode).param.yaml]
- vehicle_cmd_gate_param_path [default: $(var control_config_dir)/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml]
- control_command_gate_param_path [default: $(var control_config_dir)/control_command_gate/control_command_gate.param.yaml]
- operation_mode_transition_manager_param_path [default: $(var control_config_dir)/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml]
- shift_decider_param_path [default: $(var control_config_dir)/shift_decider/shift_decider.param.yaml]
- external_cmd_selector_param_path [default: $(var control_config_dir)/external_cmd_selector/external_cmd_selector.param.yaml]
- lane_departure_checker_param_path [default: $(var control_config_dir)/lane_departure_checker/lane_departure_checker.param.yaml]
- control_validator_param_path [default: $(var control_config_dir)/control_validator/control_validator.param.yaml]
- aeb_param_path [default: $(var control_config_dir)/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml]
- collision_detector_param_path [default: $(var control_config_dir)/autoware_collision_detector/collision_detector.param.yaml]
- obstacle_collision_checker_param_path [default: $(var control_config_dir)/obstacle_collision_checker/obstacle_collision_checker.param.yaml]
- predicted_path_checker_param_path [default: $(var control_config_dir)/predicted_path_checker/predicted_path_checker.param.yaml]
- use_intra_process [default: false]
- use_multithread [default: true]
- launch/control_checker/control_checker.launch.xml
-
- launch_control_validator [default: true]
- launch_autonomous_emergency_braking [default: true]
- launch_collision_detector [default: true]
- launch_obstacle_collision_checker [default: false]
- launch_predicted_path_checker [default: false]
- use_aeb_autoware_state_check [default: true]
- input/objects [default: /perception/object_recognition/objects]
- input/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
- input/trajectory [default: /planning/trajectory]
- input/predicted_trajectory [default: /control/trajectory_follower/lateral/predicted_trajectory]
- input/control_cmd [default: /control/command/control_cmd]
- input/odometry [default: /localization/kinematic_state]
- input/acceleration [default: /localization/acceleration]
- input/lanelet_map_bin [default: /map/vector_map]
- control_validator_param_path [default: $(var config_dir)/control_validator/control_validator.param.yaml]
- aeb_param_path [default: $(var config_dir)/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml]
- collision_detector_param_path [default: $(var config_dir)/autoware_collision_detector/collision_detector.param.yaml]
- obstacle_collision_checker_param_path [default: $(var config_dir)/obstacle_collision_checker/obstacle_collision_checker.param.yaml]
- predicted_path_checker_param_path [default: $(var config_dir)/predicted_path_checker/predicted_path_checker.param.yaml]
- vehicle_param_file [default: $(find-pkg-share sample_vehicle_description)/config/vehicle_info.param.yaml]
- target_container [default: /control/control_check_container]
- use_intra_process [default: false]
- ld_preload_value [default: ]
- launch/external_command/external_command.launch.xml
-
- launch_external_cmd_selector [default: true]
- launch_external_cmd_converter [default: true]
- external_cmd_selector_param_path [default: $(find-pkg-share autoware_control_config)/config/external_cmd_selector/external_cmd_selector.param.yaml]
- target_container [default: /control/control_container]
- use_intra_process [default: false]
- launch/trajectory_follower/trajectory_follower.launch.xml
-
- trajectory_follower_mode [default: trajectory_follower_node]
- lateral_controller_mode [default: mpc]
- longitudinal_controller_mode [default: pid]
- launch_lane_departure_checker [default: true]
- input/trajectory [default: /planning/trajectory]
- input/odometry [default: /localization/kinematic_state]
- input/acceleration [default: /localization/acceleration]
- input/steering [default: /vehicle/status/steering_status]
- input/operation_mode [default: /system/operation_mode/state]
- input/steering_offset_update [default: /vehicle/calibration/steer_offset_estimator/steering_offset_update]
- input/lanelet_map_bin [default: /map/vector_map]
- input/route [default: /planning/mission_planning/route]
- input/predicted_trajectory [default: /control/trajectory_follower/lateral/predicted_trajectory]
- nearest_search_param_path [default: $(var config_dir)/common/nearest_search.param.yaml]
- trajectory_follower_node_param_path [default: $(var config_dir)/trajectory_follower/trajectory_follower_node.param.yaml]
- lat_controller_param_path [default: $(var config_dir)/trajectory_follower/lateral/$(var lateral_controller_mode).param.yaml]
- lon_controller_param_path [default: $(var config_dir)/trajectory_follower/longitudinal/$(var longitudinal_controller_mode).param.yaml]
- lane_departure_checker_param_path [default: $(var config_dir)/lane_departure_checker/lane_departure_checker.param.yaml]
- vehicle_param_file [default: $(find-pkg-share sample_vehicle_description)/config/vehicle_info.param.yaml]
- target_container [default: /control/control_container]
- use_intra_process [default: false]
- ld_preload_value [default: ]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged autoware_control_launch at Robotics Stack Exchange
No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.52.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_launch.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-10-09 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The autoware_control_launch package
Maintainers
- Takamasa Horibe
- Takayuki Murooka
- Yuki Takagi
- Maxime CLEMENT
- Takumi Odashima
Authors
- Satoshi Ota
autoware_control_launch
Shared control launch library. The system component launcher lives in the product layer (autoware_launch/launch/components/component_control.launch.xml); this package hosts the control launcher it wraps:
launch/
├── control.launch.xml # control entry: preset, parameter paths, containers and the unit includes
├── trajectory_follower/trajectory_follower.launch.xml # controller and lane departure checker
├── command_gate/command_gate.launch.xml # vehicle cmd gate (or control command gate), shift decider, operation mode transition manager
├── external_command/external_command.launch.xml # external command selector and converter
└── control_checker/control_checker.launch.xml # control validator, autonomous emergency braking, collision detector, optional checkers
design/module/ # Autoware System Designer modules, one per launch unit
├── Control.module.yaml
├── TrajectoryFollower.module.yaml
├── CommandGate.module.yaml
├── ExternalCommand.module.yaml
└── ControlChecker.module.yaml
Structure
Launch files
-
control.launch.xml— the entry point. It includes the module preset, resolves every parameter file, pushes thecontrolnamespace and creates the two containers (control_containerfor the command path,control_check_containerfor the composable checkers), then includes one launch file per unit and the control evaluator. -
trajectory_follower/trajectory_follower.launch.xml— the controller (trajectory_follower_mode:trajectory_follower_node,smart_mpc_trajectory_follower,none) and the lane departure checker on its predicted trajectory. Boundary topics areinput/*arguments, so the unit can also drive a standalone follower container. -
command_gate/command_gate.launch.xml— the vehicle cmd gate, or the control command gate with the stop mode operator whenuse_control_command_gateis set, plus the shift decider and the operation mode transition manager.input/control_cmdandoutput/*_cmdare its boundary topics. -
external_command/external_command.launch.xml— the external command selector and converter. -
control_checker/control_checker.launch.xml— the control validator, autonomous emergency braking, collision detector, obstacle collision checker and predicted path checker, each behind itslaunch_*flag.
Every unit accepts target_container, use_intra_process and ld_preload_value, so process placement is decided by the caller; parameter files default to the autoware_control_config tree and are overridden by the entry point.
Config
Parameter files are resolved from a config/ tree addressed through the control_config_pkg argument, which defaults to autoware_control_config. A product can relocate the whole tree by setting control_config_pkg once at its entry point — the launch configuration propagates through every include — but it must then ship the same config/ layout. Products that differ in only a few files instead override the corresponding *_param_path arguments, which are all declared at the top of control.launch.xml:
<include file="$(find-pkg-share autoware_control_launch)/launch/control.launch.xml">
<arg name="control_config_pkg" value="my_control_config"/>
<arg name="FOO_NODE_param_path" value="..."/>
</include>
Which modules launch is a separate axis, selected by module_preset; the presets live in the config package under config/preset/. The controller algorithms are selected by lateral_controller_mode (mpc, pure_pursuit) and longitudinal_controller_mode (pid), which also pick the controller parameter files.
Notes
For reducing processing load, we use the Component feature in ROS 2 (similar to Nodelet in ROS 1 )
Package Dependencies
Please see <exec_depend> in package.xml.
CHANGELOG
Changelog for package tier4_control_launch
0.52.0 (2026-06-30)
0.51.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(tier4_control_launch): adopt agnocast cie (#1798)
- feat: adopt agnocast cie
* feat: add dependency and comments ---------
-
feat(tier4_control_launch): remove glog component (#1776) feat: remove glog component
-
feat(trajectory_follower): update mpc param yaml and control launch (#1750)
- update mpc param yaml
- remove unused param
- update control launch files
* tune parameter. undo unnecessary changes ---------
-
Contributors: Tetsuhiro Kawaguchi, github-actions, mkquda
0.50.0 (2026-02-13)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- chore: import tier4 launchers from universe (#1740)
- Contributors: Taeseung Sohn, github-actions
0.49.0 (2025-12-30)
- Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog
- fix(launch): correct arg name for control_evaluator input object (#11669) Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
- Contributors: Ryohsuke Mitsudome, Takahisa Ishikawa
0.48.0 (2025-11-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
feat(launch): update input topic parameters to allow dynamic configuration (#11389)
-
refactor(launch): topic remapping for object recognition and point cloud input to planning/control module (#11242)
* feat(planning): introduce dynamic topic remapping for input objects and pointcloud ---------
-
chore(tier4_control_launch): add maintainers (#11256) chore(tier4_control_launch): add maintainers to package.xml
-
Contributors: Kyoichi Sugahara, Ryohsuke Mitsudome
0.47.1 (2025-08-14)
0.47.0 (2025-08-11)
-
feat: change planning output topic name to /planning/trajectory (#11135)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
chore: sync files (#11091) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: M. Fatih Cırıt <<mfc@autoware.org>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
feat: enable to remap control cmd from autoware launch (#11019)
- feat: add args
- feat: add another cmd
- fix
- feat: add comment
- style(pre-commit): autofix
- feat: remove ~/
* feat: remap vehicle cmd gate as well
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| autoware_launch |
Launch files
- launch/command_gate/command_gate.launch.xml
-
- use_control_command_gate [default: false]
- check_external_emergency_heartbeat [default: false]
- input/control_cmd [default: /control/trajectory_follower/control_cmd]
- output/control_cmd [default: /control/command/control_cmd]
- output/gear_cmd [default: /control/command/gear_cmd]
- output/turn_indicators_cmd [default: /control/command/turn_indicators_cmd]
- output/hazard_lights_cmd [default: /control/command/hazard_lights_cmd]
- nearest_search_param_path [default: $(var config_dir)/common/nearest_search.param.yaml]
- vehicle_cmd_gate_param_path [default: $(var config_dir)/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml]
- control_command_gate_param_path [default: $(var config_dir)/control_command_gate/control_command_gate.param.yaml]
- operation_mode_transition_manager_param_path [default: $(var config_dir)/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml]
- shift_decider_param_path [default: $(var config_dir)/shift_decider/shift_decider.param.yaml]
- vehicle_param_file [default: $(find-pkg-share sample_vehicle_description)/config/vehicle_info.param.yaml]
- target_container [default: /control/control_container]
- use_intra_process [default: false]
- ld_preload_value [default: ]
- launch/control.launch.xml
-
- control_config_pkg [default: autoware_control_config]
- module_preset [default: default]
- lateral_controller_mode [default: mpc]
- longitudinal_controller_mode [default: pid]
- use_aeb_autoware_state_check [default: true]
- check_external_emergency_heartbeat [default: false]
- use_control_command_gate [default: false]
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- output_control_cmd [default: /control/command/control_cmd]
- output_gear_cmd [default: /control/command/gear_cmd]
- output_turn_indicators_cmd [default: /control/command/turn_indicators_cmd]
- output_hazard_lights_cmd [default: /control/command/hazard_lights_cmd]
- vehicle_model [default: sample_vehicle]
- vehicle_param_file [default: $(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml]
- nearest_search_param_path [default: $(var control_config_dir)/common/nearest_search.param.yaml]
- trajectory_follower_node_param_path [default: $(var control_config_dir)/trajectory_follower/trajectory_follower_node.param.yaml]
- lat_controller_param_path [default: $(var control_config_dir)/trajectory_follower/lateral/$(var lateral_controller_mode).param.yaml]
- lon_controller_param_path [default: $(var control_config_dir)/trajectory_follower/longitudinal/$(var longitudinal_controller_mode).param.yaml]
- vehicle_cmd_gate_param_path [default: $(var control_config_dir)/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml]
- control_command_gate_param_path [default: $(var control_config_dir)/control_command_gate/control_command_gate.param.yaml]
- operation_mode_transition_manager_param_path [default: $(var control_config_dir)/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml]
- shift_decider_param_path [default: $(var control_config_dir)/shift_decider/shift_decider.param.yaml]
- external_cmd_selector_param_path [default: $(var control_config_dir)/external_cmd_selector/external_cmd_selector.param.yaml]
- lane_departure_checker_param_path [default: $(var control_config_dir)/lane_departure_checker/lane_departure_checker.param.yaml]
- control_validator_param_path [default: $(var control_config_dir)/control_validator/control_validator.param.yaml]
- aeb_param_path [default: $(var control_config_dir)/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml]
- collision_detector_param_path [default: $(var control_config_dir)/autoware_collision_detector/collision_detector.param.yaml]
- obstacle_collision_checker_param_path [default: $(var control_config_dir)/obstacle_collision_checker/obstacle_collision_checker.param.yaml]
- predicted_path_checker_param_path [default: $(var control_config_dir)/predicted_path_checker/predicted_path_checker.param.yaml]
- use_intra_process [default: false]
- use_multithread [default: true]
- launch/control_checker/control_checker.launch.xml
-
- launch_control_validator [default: true]
- launch_autonomous_emergency_braking [default: true]
- launch_collision_detector [default: true]
- launch_obstacle_collision_checker [default: false]
- launch_predicted_path_checker [default: false]
- use_aeb_autoware_state_check [default: true]
- input/objects [default: /perception/object_recognition/objects]
- input/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
- input/trajectory [default: /planning/trajectory]
- input/predicted_trajectory [default: /control/trajectory_follower/lateral/predicted_trajectory]
- input/control_cmd [default: /control/command/control_cmd]
- input/odometry [default: /localization/kinematic_state]
- input/acceleration [default: /localization/acceleration]
- input/lanelet_map_bin [default: /map/vector_map]
- control_validator_param_path [default: $(var config_dir)/control_validator/control_validator.param.yaml]
- aeb_param_path [default: $(var config_dir)/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml]
- collision_detector_param_path [default: $(var config_dir)/autoware_collision_detector/collision_detector.param.yaml]
- obstacle_collision_checker_param_path [default: $(var config_dir)/obstacle_collision_checker/obstacle_collision_checker.param.yaml]
- predicted_path_checker_param_path [default: $(var config_dir)/predicted_path_checker/predicted_path_checker.param.yaml]
- vehicle_param_file [default: $(find-pkg-share sample_vehicle_description)/config/vehicle_info.param.yaml]
- target_container [default: /control/control_check_container]
- use_intra_process [default: false]
- ld_preload_value [default: ]
- launch/external_command/external_command.launch.xml
-
- launch_external_cmd_selector [default: true]
- launch_external_cmd_converter [default: true]
- external_cmd_selector_param_path [default: $(find-pkg-share autoware_control_config)/config/external_cmd_selector/external_cmd_selector.param.yaml]
- target_container [default: /control/control_container]
- use_intra_process [default: false]
- launch/trajectory_follower/trajectory_follower.launch.xml
-
- trajectory_follower_mode [default: trajectory_follower_node]
- lateral_controller_mode [default: mpc]
- longitudinal_controller_mode [default: pid]
- launch_lane_departure_checker [default: true]
- input/trajectory [default: /planning/trajectory]
- input/odometry [default: /localization/kinematic_state]
- input/acceleration [default: /localization/acceleration]
- input/steering [default: /vehicle/status/steering_status]
- input/operation_mode [default: /system/operation_mode/state]
- input/steering_offset_update [default: /vehicle/calibration/steer_offset_estimator/steering_offset_update]
- input/lanelet_map_bin [default: /map/vector_map]
- input/route [default: /planning/mission_planning/route]
- input/predicted_trajectory [default: /control/trajectory_follower/lateral/predicted_trajectory]
- nearest_search_param_path [default: $(var config_dir)/common/nearest_search.param.yaml]
- trajectory_follower_node_param_path [default: $(var config_dir)/trajectory_follower/trajectory_follower_node.param.yaml]
- lat_controller_param_path [default: $(var config_dir)/trajectory_follower/lateral/$(var lateral_controller_mode).param.yaml]
- lon_controller_param_path [default: $(var config_dir)/trajectory_follower/longitudinal/$(var longitudinal_controller_mode).param.yaml]
- lane_departure_checker_param_path [default: $(var config_dir)/lane_departure_checker/lane_departure_checker.param.yaml]
- vehicle_param_file [default: $(find-pkg-share sample_vehicle_description)/config/vehicle_info.param.yaml]
- target_container [default: /control/control_container]
- use_intra_process [default: false]
- ld_preload_value [default: ]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged autoware_control_launch at Robotics Stack Exchange
No version for distro lyrical showing github. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.52.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_launch.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-10-09 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The autoware_control_launch package
Maintainers
- Takamasa Horibe
- Takayuki Murooka
- Yuki Takagi
- Maxime CLEMENT
- Takumi Odashima
Authors
- Satoshi Ota
autoware_control_launch
Shared control launch library. The system component launcher lives in the product layer (autoware_launch/launch/components/component_control.launch.xml); this package hosts the control launcher it wraps:
launch/
├── control.launch.xml # control entry: preset, parameter paths, containers and the unit includes
├── trajectory_follower/trajectory_follower.launch.xml # controller and lane departure checker
├── command_gate/command_gate.launch.xml # vehicle cmd gate (or control command gate), shift decider, operation mode transition manager
├── external_command/external_command.launch.xml # external command selector and converter
└── control_checker/control_checker.launch.xml # control validator, autonomous emergency braking, collision detector, optional checkers
design/module/ # Autoware System Designer modules, one per launch unit
├── Control.module.yaml
├── TrajectoryFollower.module.yaml
├── CommandGate.module.yaml
├── ExternalCommand.module.yaml
└── ControlChecker.module.yaml
Structure
Launch files
-
control.launch.xml— the entry point. It includes the module preset, resolves every parameter file, pushes thecontrolnamespace and creates the two containers (control_containerfor the command path,control_check_containerfor the composable checkers), then includes one launch file per unit and the control evaluator. -
trajectory_follower/trajectory_follower.launch.xml— the controller (trajectory_follower_mode:trajectory_follower_node,smart_mpc_trajectory_follower,none) and the lane departure checker on its predicted trajectory. Boundary topics areinput/*arguments, so the unit can also drive a standalone follower container. -
command_gate/command_gate.launch.xml— the vehicle cmd gate, or the control command gate with the stop mode operator whenuse_control_command_gateis set, plus the shift decider and the operation mode transition manager.input/control_cmdandoutput/*_cmdare its boundary topics. -
external_command/external_command.launch.xml— the external command selector and converter. -
control_checker/control_checker.launch.xml— the control validator, autonomous emergency braking, collision detector, obstacle collision checker and predicted path checker, each behind itslaunch_*flag.
Every unit accepts target_container, use_intra_process and ld_preload_value, so process placement is decided by the caller; parameter files default to the autoware_control_config tree and are overridden by the entry point.
Config
Parameter files are resolved from a config/ tree addressed through the control_config_pkg argument, which defaults to autoware_control_config. A product can relocate the whole tree by setting control_config_pkg once at its entry point — the launch configuration propagates through every include — but it must then ship the same config/ layout. Products that differ in only a few files instead override the corresponding *_param_path arguments, which are all declared at the top of control.launch.xml:
<include file="$(find-pkg-share autoware_control_launch)/launch/control.launch.xml">
<arg name="control_config_pkg" value="my_control_config"/>
<arg name="FOO_NODE_param_path" value="..."/>
</include>
Which modules launch is a separate axis, selected by module_preset; the presets live in the config package under config/preset/. The controller algorithms are selected by lateral_controller_mode (mpc, pure_pursuit) and longitudinal_controller_mode (pid), which also pick the controller parameter files.
Notes
For reducing processing load, we use the Component feature in ROS 2 (similar to Nodelet in ROS 1 )
Package Dependencies
Please see <exec_depend> in package.xml.
CHANGELOG
Changelog for package tier4_control_launch
0.52.0 (2026-06-30)
0.51.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(tier4_control_launch): adopt agnocast cie (#1798)
- feat: adopt agnocast cie
* feat: add dependency and comments ---------
-
feat(tier4_control_launch): remove glog component (#1776) feat: remove glog component
-
feat(trajectory_follower): update mpc param yaml and control launch (#1750)
- update mpc param yaml
- remove unused param
- update control launch files
* tune parameter. undo unnecessary changes ---------
-
Contributors: Tetsuhiro Kawaguchi, github-actions, mkquda
0.50.0 (2026-02-13)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- chore: import tier4 launchers from universe (#1740)
- Contributors: Taeseung Sohn, github-actions
0.49.0 (2025-12-30)
- Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog
- fix(launch): correct arg name for control_evaluator input object (#11669) Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
- Contributors: Ryohsuke Mitsudome, Takahisa Ishikawa
0.48.0 (2025-11-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
feat(launch): update input topic parameters to allow dynamic configuration (#11389)
-
refactor(launch): topic remapping for object recognition and point cloud input to planning/control module (#11242)
* feat(planning): introduce dynamic topic remapping for input objects and pointcloud ---------
-
chore(tier4_control_launch): add maintainers (#11256) chore(tier4_control_launch): add maintainers to package.xml
-
Contributors: Kyoichi Sugahara, Ryohsuke Mitsudome
0.47.1 (2025-08-14)
0.47.0 (2025-08-11)
-
feat: change planning output topic name to /planning/trajectory (#11135)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
chore: sync files (#11091) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: M. Fatih Cırıt <<mfc@autoware.org>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
feat: enable to remap control cmd from autoware launch (#11019)
- feat: add args
- feat: add another cmd
- fix
- feat: add comment
- style(pre-commit): autofix
- feat: remove ~/
* feat: remap vehicle cmd gate as well
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| autoware_launch |
Launch files
- launch/command_gate/command_gate.launch.xml
-
- use_control_command_gate [default: false]
- check_external_emergency_heartbeat [default: false]
- input/control_cmd [default: /control/trajectory_follower/control_cmd]
- output/control_cmd [default: /control/command/control_cmd]
- output/gear_cmd [default: /control/command/gear_cmd]
- output/turn_indicators_cmd [default: /control/command/turn_indicators_cmd]
- output/hazard_lights_cmd [default: /control/command/hazard_lights_cmd]
- nearest_search_param_path [default: $(var config_dir)/common/nearest_search.param.yaml]
- vehicle_cmd_gate_param_path [default: $(var config_dir)/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml]
- control_command_gate_param_path [default: $(var config_dir)/control_command_gate/control_command_gate.param.yaml]
- operation_mode_transition_manager_param_path [default: $(var config_dir)/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml]
- shift_decider_param_path [default: $(var config_dir)/shift_decider/shift_decider.param.yaml]
- vehicle_param_file [default: $(find-pkg-share sample_vehicle_description)/config/vehicle_info.param.yaml]
- target_container [default: /control/control_container]
- use_intra_process [default: false]
- ld_preload_value [default: ]
- launch/control.launch.xml
-
- control_config_pkg [default: autoware_control_config]
- module_preset [default: default]
- lateral_controller_mode [default: mpc]
- longitudinal_controller_mode [default: pid]
- use_aeb_autoware_state_check [default: true]
- check_external_emergency_heartbeat [default: false]
- use_control_command_gate [default: false]
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- output_control_cmd [default: /control/command/control_cmd]
- output_gear_cmd [default: /control/command/gear_cmd]
- output_turn_indicators_cmd [default: /control/command/turn_indicators_cmd]
- output_hazard_lights_cmd [default: /control/command/hazard_lights_cmd]
- vehicle_model [default: sample_vehicle]
- vehicle_param_file [default: $(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml]
- nearest_search_param_path [default: $(var control_config_dir)/common/nearest_search.param.yaml]
- trajectory_follower_node_param_path [default: $(var control_config_dir)/trajectory_follower/trajectory_follower_node.param.yaml]
- lat_controller_param_path [default: $(var control_config_dir)/trajectory_follower/lateral/$(var lateral_controller_mode).param.yaml]
- lon_controller_param_path [default: $(var control_config_dir)/trajectory_follower/longitudinal/$(var longitudinal_controller_mode).param.yaml]
- vehicle_cmd_gate_param_path [default: $(var control_config_dir)/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml]
- control_command_gate_param_path [default: $(var control_config_dir)/control_command_gate/control_command_gate.param.yaml]
- operation_mode_transition_manager_param_path [default: $(var control_config_dir)/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml]
- shift_decider_param_path [default: $(var control_config_dir)/shift_decider/shift_decider.param.yaml]
- external_cmd_selector_param_path [default: $(var control_config_dir)/external_cmd_selector/external_cmd_selector.param.yaml]
- lane_departure_checker_param_path [default: $(var control_config_dir)/lane_departure_checker/lane_departure_checker.param.yaml]
- control_validator_param_path [default: $(var control_config_dir)/control_validator/control_validator.param.yaml]
- aeb_param_path [default: $(var control_config_dir)/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml]
- collision_detector_param_path [default: $(var control_config_dir)/autoware_collision_detector/collision_detector.param.yaml]
- obstacle_collision_checker_param_path [default: $(var control_config_dir)/obstacle_collision_checker/obstacle_collision_checker.param.yaml]
- predicted_path_checker_param_path [default: $(var control_config_dir)/predicted_path_checker/predicted_path_checker.param.yaml]
- use_intra_process [default: false]
- use_multithread [default: true]
- launch/control_checker/control_checker.launch.xml
-
- launch_control_validator [default: true]
- launch_autonomous_emergency_braking [default: true]
- launch_collision_detector [default: true]
- launch_obstacle_collision_checker [default: false]
- launch_predicted_path_checker [default: false]
- use_aeb_autoware_state_check [default: true]
- input/objects [default: /perception/object_recognition/objects]
- input/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
- input/trajectory [default: /planning/trajectory]
- input/predicted_trajectory [default: /control/trajectory_follower/lateral/predicted_trajectory]
- input/control_cmd [default: /control/command/control_cmd]
- input/odometry [default: /localization/kinematic_state]
- input/acceleration [default: /localization/acceleration]
- input/lanelet_map_bin [default: /map/vector_map]
- control_validator_param_path [default: $(var config_dir)/control_validator/control_validator.param.yaml]
- aeb_param_path [default: $(var config_dir)/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml]
- collision_detector_param_path [default: $(var config_dir)/autoware_collision_detector/collision_detector.param.yaml]
- obstacle_collision_checker_param_path [default: $(var config_dir)/obstacle_collision_checker/obstacle_collision_checker.param.yaml]
- predicted_path_checker_param_path [default: $(var config_dir)/predicted_path_checker/predicted_path_checker.param.yaml]
- vehicle_param_file [default: $(find-pkg-share sample_vehicle_description)/config/vehicle_info.param.yaml]
- target_container [default: /control/control_check_container]
- use_intra_process [default: false]
- ld_preload_value [default: ]
- launch/external_command/external_command.launch.xml
-
- launch_external_cmd_selector [default: true]
- launch_external_cmd_converter [default: true]
- external_cmd_selector_param_path [default: $(find-pkg-share autoware_control_config)/config/external_cmd_selector/external_cmd_selector.param.yaml]
- target_container [default: /control/control_container]
- use_intra_process [default: false]
- launch/trajectory_follower/trajectory_follower.launch.xml
-
- trajectory_follower_mode [default: trajectory_follower_node]
- lateral_controller_mode [default: mpc]
- longitudinal_controller_mode [default: pid]
- launch_lane_departure_checker [default: true]
- input/trajectory [default: /planning/trajectory]
- input/odometry [default: /localization/kinematic_state]
- input/acceleration [default: /localization/acceleration]
- input/steering [default: /vehicle/status/steering_status]
- input/operation_mode [default: /system/operation_mode/state]
- input/steering_offset_update [default: /vehicle/calibration/steer_offset_estimator/steering_offset_update]
- input/lanelet_map_bin [default: /map/vector_map]
- input/route [default: /planning/mission_planning/route]
- input/predicted_trajectory [default: /control/trajectory_follower/lateral/predicted_trajectory]
- nearest_search_param_path [default: $(var config_dir)/common/nearest_search.param.yaml]
- trajectory_follower_node_param_path [default: $(var config_dir)/trajectory_follower/trajectory_follower_node.param.yaml]
- lat_controller_param_path [default: $(var config_dir)/trajectory_follower/lateral/$(var lateral_controller_mode).param.yaml]
- lon_controller_param_path [default: $(var config_dir)/trajectory_follower/longitudinal/$(var longitudinal_controller_mode).param.yaml]
- lane_departure_checker_param_path [default: $(var config_dir)/lane_departure_checker/lane_departure_checker.param.yaml]
- vehicle_param_file [default: $(find-pkg-share sample_vehicle_description)/config/vehicle_info.param.yaml]
- target_container [default: /control/control_container]
- use_intra_process [default: false]
- ld_preload_value [default: ]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged autoware_control_launch at Robotics Stack Exchange
No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.52.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_launch.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-10-09 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The autoware_control_launch package
Maintainers
- Takamasa Horibe
- Takayuki Murooka
- Yuki Takagi
- Maxime CLEMENT
- Takumi Odashima
Authors
- Satoshi Ota
autoware_control_launch
Shared control launch library. The system component launcher lives in the product layer (autoware_launch/launch/components/component_control.launch.xml); this package hosts the control launcher it wraps:
launch/
├── control.launch.xml # control entry: preset, parameter paths, containers and the unit includes
├── trajectory_follower/trajectory_follower.launch.xml # controller and lane departure checker
├── command_gate/command_gate.launch.xml # vehicle cmd gate (or control command gate), shift decider, operation mode transition manager
├── external_command/external_command.launch.xml # external command selector and converter
└── control_checker/control_checker.launch.xml # control validator, autonomous emergency braking, collision detector, optional checkers
design/module/ # Autoware System Designer modules, one per launch unit
├── Control.module.yaml
├── TrajectoryFollower.module.yaml
├── CommandGate.module.yaml
├── ExternalCommand.module.yaml
└── ControlChecker.module.yaml
Structure
Launch files
-
control.launch.xml— the entry point. It includes the module preset, resolves every parameter file, pushes thecontrolnamespace and creates the two containers (control_containerfor the command path,control_check_containerfor the composable checkers), then includes one launch file per unit and the control evaluator. -
trajectory_follower/trajectory_follower.launch.xml— the controller (trajectory_follower_mode:trajectory_follower_node,smart_mpc_trajectory_follower,none) and the lane departure checker on its predicted trajectory. Boundary topics areinput/*arguments, so the unit can also drive a standalone follower container. -
command_gate/command_gate.launch.xml— the vehicle cmd gate, or the control command gate with the stop mode operator whenuse_control_command_gateis set, plus the shift decider and the operation mode transition manager.input/control_cmdandoutput/*_cmdare its boundary topics. -
external_command/external_command.launch.xml— the external command selector and converter. -
control_checker/control_checker.launch.xml— the control validator, autonomous emergency braking, collision detector, obstacle collision checker and predicted path checker, each behind itslaunch_*flag.
Every unit accepts target_container, use_intra_process and ld_preload_value, so process placement is decided by the caller; parameter files default to the autoware_control_config tree and are overridden by the entry point.
Config
Parameter files are resolved from a config/ tree addressed through the control_config_pkg argument, which defaults to autoware_control_config. A product can relocate the whole tree by setting control_config_pkg once at its entry point — the launch configuration propagates through every include — but it must then ship the same config/ layout. Products that differ in only a few files instead override the corresponding *_param_path arguments, which are all declared at the top of control.launch.xml:
<include file="$(find-pkg-share autoware_control_launch)/launch/control.launch.xml">
<arg name="control_config_pkg" value="my_control_config"/>
<arg name="FOO_NODE_param_path" value="..."/>
</include>
Which modules launch is a separate axis, selected by module_preset; the presets live in the config package under config/preset/. The controller algorithms are selected by lateral_controller_mode (mpc, pure_pursuit) and longitudinal_controller_mode (pid), which also pick the controller parameter files.
Notes
For reducing processing load, we use the Component feature in ROS 2 (similar to Nodelet in ROS 1 )
Package Dependencies
Please see <exec_depend> in package.xml.
CHANGELOG
Changelog for package tier4_control_launch
0.52.0 (2026-06-30)
0.51.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(tier4_control_launch): adopt agnocast cie (#1798)
- feat: adopt agnocast cie
* feat: add dependency and comments ---------
-
feat(tier4_control_launch): remove glog component (#1776) feat: remove glog component
-
feat(trajectory_follower): update mpc param yaml and control launch (#1750)
- update mpc param yaml
- remove unused param
- update control launch files
* tune parameter. undo unnecessary changes ---------
-
Contributors: Tetsuhiro Kawaguchi, github-actions, mkquda
0.50.0 (2026-02-13)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- chore: import tier4 launchers from universe (#1740)
- Contributors: Taeseung Sohn, github-actions
0.49.0 (2025-12-30)
- Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog
- fix(launch): correct arg name for control_evaluator input object (#11669) Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
- Contributors: Ryohsuke Mitsudome, Takahisa Ishikawa
0.48.0 (2025-11-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
feat(launch): update input topic parameters to allow dynamic configuration (#11389)
-
refactor(launch): topic remapping for object recognition and point cloud input to planning/control module (#11242)
* feat(planning): introduce dynamic topic remapping for input objects and pointcloud ---------
-
chore(tier4_control_launch): add maintainers (#11256) chore(tier4_control_launch): add maintainers to package.xml
-
Contributors: Kyoichi Sugahara, Ryohsuke Mitsudome
0.47.1 (2025-08-14)
0.47.0 (2025-08-11)
-
feat: change planning output topic name to /planning/trajectory (#11135)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
chore: sync files (#11091) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: M. Fatih Cırıt <<mfc@autoware.org>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
feat: enable to remap control cmd from autoware launch (#11019)
- feat: add args
- feat: add another cmd
- fix
- feat: add comment
- style(pre-commit): autofix
- feat: remove ~/
* feat: remap vehicle cmd gate as well
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| autoware_launch |
Launch files
- launch/command_gate/command_gate.launch.xml
-
- use_control_command_gate [default: false]
- check_external_emergency_heartbeat [default: false]
- input/control_cmd [default: /control/trajectory_follower/control_cmd]
- output/control_cmd [default: /control/command/control_cmd]
- output/gear_cmd [default: /control/command/gear_cmd]
- output/turn_indicators_cmd [default: /control/command/turn_indicators_cmd]
- output/hazard_lights_cmd [default: /control/command/hazard_lights_cmd]
- nearest_search_param_path [default: $(var config_dir)/common/nearest_search.param.yaml]
- vehicle_cmd_gate_param_path [default: $(var config_dir)/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml]
- control_command_gate_param_path [default: $(var config_dir)/control_command_gate/control_command_gate.param.yaml]
- operation_mode_transition_manager_param_path [default: $(var config_dir)/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml]
- shift_decider_param_path [default: $(var config_dir)/shift_decider/shift_decider.param.yaml]
- vehicle_param_file [default: $(find-pkg-share sample_vehicle_description)/config/vehicle_info.param.yaml]
- target_container [default: /control/control_container]
- use_intra_process [default: false]
- ld_preload_value [default: ]
- launch/control.launch.xml
-
- control_config_pkg [default: autoware_control_config]
- module_preset [default: default]
- lateral_controller_mode [default: mpc]
- longitudinal_controller_mode [default: pid]
- use_aeb_autoware_state_check [default: true]
- check_external_emergency_heartbeat [default: false]
- use_control_command_gate [default: false]
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- output_control_cmd [default: /control/command/control_cmd]
- output_gear_cmd [default: /control/command/gear_cmd]
- output_turn_indicators_cmd [default: /control/command/turn_indicators_cmd]
- output_hazard_lights_cmd [default: /control/command/hazard_lights_cmd]
- vehicle_model [default: sample_vehicle]
- vehicle_param_file [default: $(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml]
- nearest_search_param_path [default: $(var control_config_dir)/common/nearest_search.param.yaml]
- trajectory_follower_node_param_path [default: $(var control_config_dir)/trajectory_follower/trajectory_follower_node.param.yaml]
- lat_controller_param_path [default: $(var control_config_dir)/trajectory_follower/lateral/$(var lateral_controller_mode).param.yaml]
- lon_controller_param_path [default: $(var control_config_dir)/trajectory_follower/longitudinal/$(var longitudinal_controller_mode).param.yaml]
- vehicle_cmd_gate_param_path [default: $(var control_config_dir)/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml]
- control_command_gate_param_path [default: $(var control_config_dir)/control_command_gate/control_command_gate.param.yaml]
- operation_mode_transition_manager_param_path [default: $(var control_config_dir)/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml]
- shift_decider_param_path [default: $(var control_config_dir)/shift_decider/shift_decider.param.yaml]
- external_cmd_selector_param_path [default: $(var control_config_dir)/external_cmd_selector/external_cmd_selector.param.yaml]
- lane_departure_checker_param_path [default: $(var control_config_dir)/lane_departure_checker/lane_departure_checker.param.yaml]
- control_validator_param_path [default: $(var control_config_dir)/control_validator/control_validator.param.yaml]
- aeb_param_path [default: $(var control_config_dir)/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml]
- collision_detector_param_path [default: $(var control_config_dir)/autoware_collision_detector/collision_detector.param.yaml]
- obstacle_collision_checker_param_path [default: $(var control_config_dir)/obstacle_collision_checker/obstacle_collision_checker.param.yaml]
- predicted_path_checker_param_path [default: $(var control_config_dir)/predicted_path_checker/predicted_path_checker.param.yaml]
- use_intra_process [default: false]
- use_multithread [default: true]
- launch/control_checker/control_checker.launch.xml
-
- launch_control_validator [default: true]
- launch_autonomous_emergency_braking [default: true]
- launch_collision_detector [default: true]
- launch_obstacle_collision_checker [default: false]
- launch_predicted_path_checker [default: false]
- use_aeb_autoware_state_check [default: true]
- input/objects [default: /perception/object_recognition/objects]
- input/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
- input/trajectory [default: /planning/trajectory]
- input/predicted_trajectory [default: /control/trajectory_follower/lateral/predicted_trajectory]
- input/control_cmd [default: /control/command/control_cmd]
- input/odometry [default: /localization/kinematic_state]
- input/acceleration [default: /localization/acceleration]
- input/lanelet_map_bin [default: /map/vector_map]
- control_validator_param_path [default: $(var config_dir)/control_validator/control_validator.param.yaml]
- aeb_param_path [default: $(var config_dir)/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml]
- collision_detector_param_path [default: $(var config_dir)/autoware_collision_detector/collision_detector.param.yaml]
- obstacle_collision_checker_param_path [default: $(var config_dir)/obstacle_collision_checker/obstacle_collision_checker.param.yaml]
- predicted_path_checker_param_path [default: $(var config_dir)/predicted_path_checker/predicted_path_checker.param.yaml]
- vehicle_param_file [default: $(find-pkg-share sample_vehicle_description)/config/vehicle_info.param.yaml]
- target_container [default: /control/control_check_container]
- use_intra_process [default: false]
- ld_preload_value [default: ]
- launch/external_command/external_command.launch.xml
-
- launch_external_cmd_selector [default: true]
- launch_external_cmd_converter [default: true]
- external_cmd_selector_param_path [default: $(find-pkg-share autoware_control_config)/config/external_cmd_selector/external_cmd_selector.param.yaml]
- target_container [default: /control/control_container]
- use_intra_process [default: false]
- launch/trajectory_follower/trajectory_follower.launch.xml
-
- trajectory_follower_mode [default: trajectory_follower_node]
- lateral_controller_mode [default: mpc]
- longitudinal_controller_mode [default: pid]
- launch_lane_departure_checker [default: true]
- input/trajectory [default: /planning/trajectory]
- input/odometry [default: /localization/kinematic_state]
- input/acceleration [default: /localization/acceleration]
- input/steering [default: /vehicle/status/steering_status]
- input/operation_mode [default: /system/operation_mode/state]
- input/steering_offset_update [default: /vehicle/calibration/steer_offset_estimator/steering_offset_update]
- input/lanelet_map_bin [default: /map/vector_map]
- input/route [default: /planning/mission_planning/route]
- input/predicted_trajectory [default: /control/trajectory_follower/lateral/predicted_trajectory]
- nearest_search_param_path [default: $(var config_dir)/common/nearest_search.param.yaml]
- trajectory_follower_node_param_path [default: $(var config_dir)/trajectory_follower/trajectory_follower_node.param.yaml]
- lat_controller_param_path [default: $(var config_dir)/trajectory_follower/lateral/$(var lateral_controller_mode).param.yaml]
- lon_controller_param_path [default: $(var config_dir)/trajectory_follower/longitudinal/$(var longitudinal_controller_mode).param.yaml]
- lane_departure_checker_param_path [default: $(var config_dir)/lane_departure_checker/lane_departure_checker.param.yaml]
- vehicle_param_file [default: $(find-pkg-share sample_vehicle_description)/config/vehicle_info.param.yaml]
- target_container [default: /control/control_container]
- use_intra_process [default: false]
- ld_preload_value [default: ]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged autoware_control_launch at Robotics Stack Exchange
Package Summary
| Version | 0.52.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_launch.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-10-09 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The autoware_control_launch package
Maintainers
- Takamasa Horibe
- Takayuki Murooka
- Yuki Takagi
- Maxime CLEMENT
- Takumi Odashima
Authors
- Satoshi Ota
autoware_control_launch
Shared control launch library. The system component launcher lives in the product layer (autoware_launch/launch/components/component_control.launch.xml); this package hosts the control launcher it wraps:
launch/
├── control.launch.xml # control entry: preset, parameter paths, containers and the unit includes
├── trajectory_follower/trajectory_follower.launch.xml # controller and lane departure checker
├── command_gate/command_gate.launch.xml # vehicle cmd gate (or control command gate), shift decider, operation mode transition manager
├── external_command/external_command.launch.xml # external command selector and converter
└── control_checker/control_checker.launch.xml # control validator, autonomous emergency braking, collision detector, optional checkers
design/module/ # Autoware System Designer modules, one per launch unit
├── Control.module.yaml
├── TrajectoryFollower.module.yaml
├── CommandGate.module.yaml
├── ExternalCommand.module.yaml
└── ControlChecker.module.yaml
Structure
Launch files
-
control.launch.xml— the entry point. It includes the module preset, resolves every parameter file, pushes thecontrolnamespace and creates the two containers (control_containerfor the command path,control_check_containerfor the composable checkers), then includes one launch file per unit and the control evaluator. -
trajectory_follower/trajectory_follower.launch.xml— the controller (trajectory_follower_mode:trajectory_follower_node,smart_mpc_trajectory_follower,none) and the lane departure checker on its predicted trajectory. Boundary topics areinput/*arguments, so the unit can also drive a standalone follower container. -
command_gate/command_gate.launch.xml— the vehicle cmd gate, or the control command gate with the stop mode operator whenuse_control_command_gateis set, plus the shift decider and the operation mode transition manager.input/control_cmdandoutput/*_cmdare its boundary topics. -
external_command/external_command.launch.xml— the external command selector and converter. -
control_checker/control_checker.launch.xml— the control validator, autonomous emergency braking, collision detector, obstacle collision checker and predicted path checker, each behind itslaunch_*flag.
Every unit accepts target_container, use_intra_process and ld_preload_value, so process placement is decided by the caller; parameter files default to the autoware_control_config tree and are overridden by the entry point.
Config
Parameter files are resolved from a config/ tree addressed through the control_config_pkg argument, which defaults to autoware_control_config. A product can relocate the whole tree by setting control_config_pkg once at its entry point — the launch configuration propagates through every include — but it must then ship the same config/ layout. Products that differ in only a few files instead override the corresponding *_param_path arguments, which are all declared at the top of control.launch.xml:
<include file="$(find-pkg-share autoware_control_launch)/launch/control.launch.xml">
<arg name="control_config_pkg" value="my_control_config"/>
<arg name="FOO_NODE_param_path" value="..."/>
</include>
Which modules launch is a separate axis, selected by module_preset; the presets live in the config package under config/preset/. The controller algorithms are selected by lateral_controller_mode (mpc, pure_pursuit) and longitudinal_controller_mode (pid), which also pick the controller parameter files.
Notes
For reducing processing load, we use the Component feature in ROS 2 (similar to Nodelet in ROS 1 )
Package Dependencies
Please see <exec_depend> in package.xml.
CHANGELOG
Changelog for package tier4_control_launch
0.52.0 (2026-06-30)
0.51.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(tier4_control_launch): adopt agnocast cie (#1798)
- feat: adopt agnocast cie
* feat: add dependency and comments ---------
-
feat(tier4_control_launch): remove glog component (#1776) feat: remove glog component
-
feat(trajectory_follower): update mpc param yaml and control launch (#1750)
- update mpc param yaml
- remove unused param
- update control launch files
* tune parameter. undo unnecessary changes ---------
-
Contributors: Tetsuhiro Kawaguchi, github-actions, mkquda
0.50.0 (2026-02-13)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- chore: import tier4 launchers from universe (#1740)
- Contributors: Taeseung Sohn, github-actions
0.49.0 (2025-12-30)
- Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog
- fix(launch): correct arg name for control_evaluator input object (#11669) Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
- Contributors: Ryohsuke Mitsudome, Takahisa Ishikawa
0.48.0 (2025-11-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
feat(launch): update input topic parameters to allow dynamic configuration (#11389)
-
refactor(launch): topic remapping for object recognition and point cloud input to planning/control module (#11242)
* feat(planning): introduce dynamic topic remapping for input objects and pointcloud ---------
-
chore(tier4_control_launch): add maintainers (#11256) chore(tier4_control_launch): add maintainers to package.xml
-
Contributors: Kyoichi Sugahara, Ryohsuke Mitsudome
0.47.1 (2025-08-14)
0.47.0 (2025-08-11)
-
feat: change planning output topic name to /planning/trajectory (#11135)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
chore: sync files (#11091) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: M. Fatih Cırıt <<mfc@autoware.org>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
feat: enable to remap control cmd from autoware launch (#11019)
- feat: add args
- feat: add another cmd
- fix
- feat: add comment
- style(pre-commit): autofix
- feat: remove ~/
* feat: remap vehicle cmd gate as well
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| autoware_launch |
Launch files
- launch/command_gate/command_gate.launch.xml
-
- use_control_command_gate [default: false]
- check_external_emergency_heartbeat [default: false]
- input/control_cmd [default: /control/trajectory_follower/control_cmd]
- output/control_cmd [default: /control/command/control_cmd]
- output/gear_cmd [default: /control/command/gear_cmd]
- output/turn_indicators_cmd [default: /control/command/turn_indicators_cmd]
- output/hazard_lights_cmd [default: /control/command/hazard_lights_cmd]
- nearest_search_param_path [default: $(var config_dir)/common/nearest_search.param.yaml]
- vehicle_cmd_gate_param_path [default: $(var config_dir)/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml]
- control_command_gate_param_path [default: $(var config_dir)/control_command_gate/control_command_gate.param.yaml]
- operation_mode_transition_manager_param_path [default: $(var config_dir)/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml]
- shift_decider_param_path [default: $(var config_dir)/shift_decider/shift_decider.param.yaml]
- vehicle_param_file [default: $(find-pkg-share sample_vehicle_description)/config/vehicle_info.param.yaml]
- target_container [default: /control/control_container]
- use_intra_process [default: false]
- ld_preload_value [default: ]
- launch/control.launch.xml
-
- control_config_pkg [default: autoware_control_config]
- module_preset [default: default]
- lateral_controller_mode [default: mpc]
- longitudinal_controller_mode [default: pid]
- use_aeb_autoware_state_check [default: true]
- check_external_emergency_heartbeat [default: false]
- use_control_command_gate [default: false]
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- output_control_cmd [default: /control/command/control_cmd]
- output_gear_cmd [default: /control/command/gear_cmd]
- output_turn_indicators_cmd [default: /control/command/turn_indicators_cmd]
- output_hazard_lights_cmd [default: /control/command/hazard_lights_cmd]
- vehicle_model [default: sample_vehicle]
- vehicle_param_file [default: $(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml]
- nearest_search_param_path [default: $(var control_config_dir)/common/nearest_search.param.yaml]
- trajectory_follower_node_param_path [default: $(var control_config_dir)/trajectory_follower/trajectory_follower_node.param.yaml]
- lat_controller_param_path [default: $(var control_config_dir)/trajectory_follower/lateral/$(var lateral_controller_mode).param.yaml]
- lon_controller_param_path [default: $(var control_config_dir)/trajectory_follower/longitudinal/$(var longitudinal_controller_mode).param.yaml]
- vehicle_cmd_gate_param_path [default: $(var control_config_dir)/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml]
- control_command_gate_param_path [default: $(var control_config_dir)/control_command_gate/control_command_gate.param.yaml]
- operation_mode_transition_manager_param_path [default: $(var control_config_dir)/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml]
- shift_decider_param_path [default: $(var control_config_dir)/shift_decider/shift_decider.param.yaml]
- external_cmd_selector_param_path [default: $(var control_config_dir)/external_cmd_selector/external_cmd_selector.param.yaml]
- lane_departure_checker_param_path [default: $(var control_config_dir)/lane_departure_checker/lane_departure_checker.param.yaml]
- control_validator_param_path [default: $(var control_config_dir)/control_validator/control_validator.param.yaml]
- aeb_param_path [default: $(var control_config_dir)/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml]
- collision_detector_param_path [default: $(var control_config_dir)/autoware_collision_detector/collision_detector.param.yaml]
- obstacle_collision_checker_param_path [default: $(var control_config_dir)/obstacle_collision_checker/obstacle_collision_checker.param.yaml]
- predicted_path_checker_param_path [default: $(var control_config_dir)/predicted_path_checker/predicted_path_checker.param.yaml]
- use_intra_process [default: false]
- use_multithread [default: true]
- launch/control_checker/control_checker.launch.xml
-
- launch_control_validator [default: true]
- launch_autonomous_emergency_braking [default: true]
- launch_collision_detector [default: true]
- launch_obstacle_collision_checker [default: false]
- launch_predicted_path_checker [default: false]
- use_aeb_autoware_state_check [default: true]
- input/objects [default: /perception/object_recognition/objects]
- input/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
- input/trajectory [default: /planning/trajectory]
- input/predicted_trajectory [default: /control/trajectory_follower/lateral/predicted_trajectory]
- input/control_cmd [default: /control/command/control_cmd]
- input/odometry [default: /localization/kinematic_state]
- input/acceleration [default: /localization/acceleration]
- input/lanelet_map_bin [default: /map/vector_map]
- control_validator_param_path [default: $(var config_dir)/control_validator/control_validator.param.yaml]
- aeb_param_path [default: $(var config_dir)/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml]
- collision_detector_param_path [default: $(var config_dir)/autoware_collision_detector/collision_detector.param.yaml]
- obstacle_collision_checker_param_path [default: $(var config_dir)/obstacle_collision_checker/obstacle_collision_checker.param.yaml]
- predicted_path_checker_param_path [default: $(var config_dir)/predicted_path_checker/predicted_path_checker.param.yaml]
- vehicle_param_file [default: $(find-pkg-share sample_vehicle_description)/config/vehicle_info.param.yaml]
- target_container [default: /control/control_check_container]
- use_intra_process [default: false]
- ld_preload_value [default: ]
- launch/external_command/external_command.launch.xml
-
- launch_external_cmd_selector [default: true]
- launch_external_cmd_converter [default: true]
- external_cmd_selector_param_path [default: $(find-pkg-share autoware_control_config)/config/external_cmd_selector/external_cmd_selector.param.yaml]
- target_container [default: /control/control_container]
- use_intra_process [default: false]
- launch/trajectory_follower/trajectory_follower.launch.xml
-
- trajectory_follower_mode [default: trajectory_follower_node]
- lateral_controller_mode [default: mpc]
- longitudinal_controller_mode [default: pid]
- launch_lane_departure_checker [default: true]
- input/trajectory [default: /planning/trajectory]
- input/odometry [default: /localization/kinematic_state]
- input/acceleration [default: /localization/acceleration]
- input/steering [default: /vehicle/status/steering_status]
- input/operation_mode [default: /system/operation_mode/state]
- input/steering_offset_update [default: /vehicle/calibration/steer_offset_estimator/steering_offset_update]
- input/lanelet_map_bin [default: /map/vector_map]
- input/route [default: /planning/mission_planning/route]
- input/predicted_trajectory [default: /control/trajectory_follower/lateral/predicted_trajectory]
- nearest_search_param_path [default: $(var config_dir)/common/nearest_search.param.yaml]
- trajectory_follower_node_param_path [default: $(var config_dir)/trajectory_follower/trajectory_follower_node.param.yaml]
- lat_controller_param_path [default: $(var config_dir)/trajectory_follower/lateral/$(var lateral_controller_mode).param.yaml]
- lon_controller_param_path [default: $(var config_dir)/trajectory_follower/longitudinal/$(var longitudinal_controller_mode).param.yaml]
- lane_departure_checker_param_path [default: $(var config_dir)/lane_departure_checker/lane_departure_checker.param.yaml]
- vehicle_param_file [default: $(find-pkg-share sample_vehicle_description)/config/vehicle_info.param.yaml]
- target_container [default: /control/control_container]
- use_intra_process [default: false]
- ld_preload_value [default: ]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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Package Summary
| Version | 0.52.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_launch.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-10-09 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The autoware_control_launch package
Maintainers
- Takamasa Horibe
- Takayuki Murooka
- Yuki Takagi
- Maxime CLEMENT
- Takumi Odashima
Authors
- Satoshi Ota
autoware_control_launch
Shared control launch library. The system component launcher lives in the product layer (autoware_launch/launch/components/component_control.launch.xml); this package hosts the control launcher it wraps:
launch/
├── control.launch.xml # control entry: preset, parameter paths, containers and the unit includes
├── trajectory_follower/trajectory_follower.launch.xml # controller and lane departure checker
├── command_gate/command_gate.launch.xml # vehicle cmd gate (or control command gate), shift decider, operation mode transition manager
├── external_command/external_command.launch.xml # external command selector and converter
└── control_checker/control_checker.launch.xml # control validator, autonomous emergency braking, collision detector, optional checkers
design/module/ # Autoware System Designer modules, one per launch unit
├── Control.module.yaml
├── TrajectoryFollower.module.yaml
├── CommandGate.module.yaml
├── ExternalCommand.module.yaml
└── ControlChecker.module.yaml
Structure
Launch files
-
control.launch.xml— the entry point. It includes the module preset, resolves every parameter file, pushes thecontrolnamespace and creates the two containers (control_containerfor the command path,control_check_containerfor the composable checkers), then includes one launch file per unit and the control evaluator. -
trajectory_follower/trajectory_follower.launch.xml— the controller (trajectory_follower_mode:trajectory_follower_node,smart_mpc_trajectory_follower,none) and the lane departure checker on its predicted trajectory. Boundary topics areinput/*arguments, so the unit can also drive a standalone follower container. -
command_gate/command_gate.launch.xml— the vehicle cmd gate, or the control command gate with the stop mode operator whenuse_control_command_gateis set, plus the shift decider and the operation mode transition manager.input/control_cmdandoutput/*_cmdare its boundary topics. -
external_command/external_command.launch.xml— the external command selector and converter. -
control_checker/control_checker.launch.xml— the control validator, autonomous emergency braking, collision detector, obstacle collision checker and predicted path checker, each behind itslaunch_*flag.
Every unit accepts target_container, use_intra_process and ld_preload_value, so process placement is decided by the caller; parameter files default to the autoware_control_config tree and are overridden by the entry point.
Config
Parameter files are resolved from a config/ tree addressed through the control_config_pkg argument, which defaults to autoware_control_config. A product can relocate the whole tree by setting control_config_pkg once at its entry point — the launch configuration propagates through every include — but it must then ship the same config/ layout. Products that differ in only a few files instead override the corresponding *_param_path arguments, which are all declared at the top of control.launch.xml:
<include file="$(find-pkg-share autoware_control_launch)/launch/control.launch.xml">
<arg name="control_config_pkg" value="my_control_config"/>
<arg name="FOO_NODE_param_path" value="..."/>
</include>
Which modules launch is a separate axis, selected by module_preset; the presets live in the config package under config/preset/. The controller algorithms are selected by lateral_controller_mode (mpc, pure_pursuit) and longitudinal_controller_mode (pid), which also pick the controller parameter files.
Notes
For reducing processing load, we use the Component feature in ROS 2 (similar to Nodelet in ROS 1 )
Package Dependencies
Please see <exec_depend> in package.xml.
CHANGELOG
Changelog for package tier4_control_launch
0.52.0 (2026-06-30)
0.51.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(tier4_control_launch): adopt agnocast cie (#1798)
- feat: adopt agnocast cie
* feat: add dependency and comments ---------
-
feat(tier4_control_launch): remove glog component (#1776) feat: remove glog component
-
feat(trajectory_follower): update mpc param yaml and control launch (#1750)
- update mpc param yaml
- remove unused param
- update control launch files
* tune parameter. undo unnecessary changes ---------
-
Contributors: Tetsuhiro Kawaguchi, github-actions, mkquda
0.50.0 (2026-02-13)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- chore: import tier4 launchers from universe (#1740)
- Contributors: Taeseung Sohn, github-actions
0.49.0 (2025-12-30)
- Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog
- fix(launch): correct arg name for control_evaluator input object (#11669) Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
- Contributors: Ryohsuke Mitsudome, Takahisa Ishikawa
0.48.0 (2025-11-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
feat(launch): update input topic parameters to allow dynamic configuration (#11389)
-
refactor(launch): topic remapping for object recognition and point cloud input to planning/control module (#11242)
* feat(planning): introduce dynamic topic remapping for input objects and pointcloud ---------
-
chore(tier4_control_launch): add maintainers (#11256) chore(tier4_control_launch): add maintainers to package.xml
-
Contributors: Kyoichi Sugahara, Ryohsuke Mitsudome
0.47.1 (2025-08-14)
0.47.0 (2025-08-11)
-
feat: change planning output topic name to /planning/trajectory (#11135)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
chore: sync files (#11091) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: M. Fatih Cırıt <<mfc@autoware.org>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
feat: enable to remap control cmd from autoware launch (#11019)
- feat: add args
- feat: add another cmd
- fix
- feat: add comment
- style(pre-commit): autofix
- feat: remove ~/
* feat: remap vehicle cmd gate as well
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| autoware_launch |
Launch files
- launch/command_gate/command_gate.launch.xml
-
- use_control_command_gate [default: false]
- check_external_emergency_heartbeat [default: false]
- input/control_cmd [default: /control/trajectory_follower/control_cmd]
- output/control_cmd [default: /control/command/control_cmd]
- output/gear_cmd [default: /control/command/gear_cmd]
- output/turn_indicators_cmd [default: /control/command/turn_indicators_cmd]
- output/hazard_lights_cmd [default: /control/command/hazard_lights_cmd]
- nearest_search_param_path [default: $(var config_dir)/common/nearest_search.param.yaml]
- vehicle_cmd_gate_param_path [default: $(var config_dir)/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml]
- control_command_gate_param_path [default: $(var config_dir)/control_command_gate/control_command_gate.param.yaml]
- operation_mode_transition_manager_param_path [default: $(var config_dir)/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml]
- shift_decider_param_path [default: $(var config_dir)/shift_decider/shift_decider.param.yaml]
- vehicle_param_file [default: $(find-pkg-share sample_vehicle_description)/config/vehicle_info.param.yaml]
- target_container [default: /control/control_container]
- use_intra_process [default: false]
- ld_preload_value [default: ]
- launch/control.launch.xml
-
- control_config_pkg [default: autoware_control_config]
- module_preset [default: default]
- lateral_controller_mode [default: mpc]
- longitudinal_controller_mode [default: pid]
- use_aeb_autoware_state_check [default: true]
- check_external_emergency_heartbeat [default: false]
- use_control_command_gate [default: false]
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- output_control_cmd [default: /control/command/control_cmd]
- output_gear_cmd [default: /control/command/gear_cmd]
- output_turn_indicators_cmd [default: /control/command/turn_indicators_cmd]
- output_hazard_lights_cmd [default: /control/command/hazard_lights_cmd]
- vehicle_model [default: sample_vehicle]
- vehicle_param_file [default: $(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml]
- nearest_search_param_path [default: $(var control_config_dir)/common/nearest_search.param.yaml]
- trajectory_follower_node_param_path [default: $(var control_config_dir)/trajectory_follower/trajectory_follower_node.param.yaml]
- lat_controller_param_path [default: $(var control_config_dir)/trajectory_follower/lateral/$(var lateral_controller_mode).param.yaml]
- lon_controller_param_path [default: $(var control_config_dir)/trajectory_follower/longitudinal/$(var longitudinal_controller_mode).param.yaml]
- vehicle_cmd_gate_param_path [default: $(var control_config_dir)/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml]
- control_command_gate_param_path [default: $(var control_config_dir)/control_command_gate/control_command_gate.param.yaml]
- operation_mode_transition_manager_param_path [default: $(var control_config_dir)/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml]
- shift_decider_param_path [default: $(var control_config_dir)/shift_decider/shift_decider.param.yaml]
- external_cmd_selector_param_path [default: $(var control_config_dir)/external_cmd_selector/external_cmd_selector.param.yaml]
- lane_departure_checker_param_path [default: $(var control_config_dir)/lane_departure_checker/lane_departure_checker.param.yaml]
- control_validator_param_path [default: $(var control_config_dir)/control_validator/control_validator.param.yaml]
- aeb_param_path [default: $(var control_config_dir)/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml]
- collision_detector_param_path [default: $(var control_config_dir)/autoware_collision_detector/collision_detector.param.yaml]
- obstacle_collision_checker_param_path [default: $(var control_config_dir)/obstacle_collision_checker/obstacle_collision_checker.param.yaml]
- predicted_path_checker_param_path [default: $(var control_config_dir)/predicted_path_checker/predicted_path_checker.param.yaml]
- use_intra_process [default: false]
- use_multithread [default: true]
- launch/control_checker/control_checker.launch.xml
-
- launch_control_validator [default: true]
- launch_autonomous_emergency_braking [default: true]
- launch_collision_detector [default: true]
- launch_obstacle_collision_checker [default: false]
- launch_predicted_path_checker [default: false]
- use_aeb_autoware_state_check [default: true]
- input/objects [default: /perception/object_recognition/objects]
- input/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
- input/trajectory [default: /planning/trajectory]
- input/predicted_trajectory [default: /control/trajectory_follower/lateral/predicted_trajectory]
- input/control_cmd [default: /control/command/control_cmd]
- input/odometry [default: /localization/kinematic_state]
- input/acceleration [default: /localization/acceleration]
- input/lanelet_map_bin [default: /map/vector_map]
- control_validator_param_path [default: $(var config_dir)/control_validator/control_validator.param.yaml]
- aeb_param_path [default: $(var config_dir)/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml]
- collision_detector_param_path [default: $(var config_dir)/autoware_collision_detector/collision_detector.param.yaml]
- obstacle_collision_checker_param_path [default: $(var config_dir)/obstacle_collision_checker/obstacle_collision_checker.param.yaml]
- predicted_path_checker_param_path [default: $(var config_dir)/predicted_path_checker/predicted_path_checker.param.yaml]
- vehicle_param_file [default: $(find-pkg-share sample_vehicle_description)/config/vehicle_info.param.yaml]
- target_container [default: /control/control_check_container]
- use_intra_process [default: false]
- ld_preload_value [default: ]
- launch/external_command/external_command.launch.xml
-
- launch_external_cmd_selector [default: true]
- launch_external_cmd_converter [default: true]
- external_cmd_selector_param_path [default: $(find-pkg-share autoware_control_config)/config/external_cmd_selector/external_cmd_selector.param.yaml]
- target_container [default: /control/control_container]
- use_intra_process [default: false]
- launch/trajectory_follower/trajectory_follower.launch.xml
-
- trajectory_follower_mode [default: trajectory_follower_node]
- lateral_controller_mode [default: mpc]
- longitudinal_controller_mode [default: pid]
- launch_lane_departure_checker [default: true]
- input/trajectory [default: /planning/trajectory]
- input/odometry [default: /localization/kinematic_state]
- input/acceleration [default: /localization/acceleration]
- input/steering [default: /vehicle/status/steering_status]
- input/operation_mode [default: /system/operation_mode/state]
- input/steering_offset_update [default: /vehicle/calibration/steer_offset_estimator/steering_offset_update]
- input/lanelet_map_bin [default: /map/vector_map]
- input/route [default: /planning/mission_planning/route]
- input/predicted_trajectory [default: /control/trajectory_follower/lateral/predicted_trajectory]
- nearest_search_param_path [default: $(var config_dir)/common/nearest_search.param.yaml]
- trajectory_follower_node_param_path [default: $(var config_dir)/trajectory_follower/trajectory_follower_node.param.yaml]
- lat_controller_param_path [default: $(var config_dir)/trajectory_follower/lateral/$(var lateral_controller_mode).param.yaml]
- lon_controller_param_path [default: $(var config_dir)/trajectory_follower/longitudinal/$(var longitudinal_controller_mode).param.yaml]
- lane_departure_checker_param_path [default: $(var config_dir)/lane_departure_checker/lane_departure_checker.param.yaml]
- vehicle_param_file [default: $(find-pkg-share sample_vehicle_description)/config/vehicle_info.param.yaml]
- target_container [default: /control/control_container]
- use_intra_process [default: false]
- ld_preload_value [default: ]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged autoware_control_launch at Robotics Stack Exchange
No version for distro iron showing github. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.52.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_launch.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-10-09 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The autoware_control_launch package
Maintainers
- Takamasa Horibe
- Takayuki Murooka
- Yuki Takagi
- Maxime CLEMENT
- Takumi Odashima
Authors
- Satoshi Ota
autoware_control_launch
Shared control launch library. The system component launcher lives in the product layer (autoware_launch/launch/components/component_control.launch.xml); this package hosts the control launcher it wraps:
launch/
├── control.launch.xml # control entry: preset, parameter paths, containers and the unit includes
├── trajectory_follower/trajectory_follower.launch.xml # controller and lane departure checker
├── command_gate/command_gate.launch.xml # vehicle cmd gate (or control command gate), shift decider, operation mode transition manager
├── external_command/external_command.launch.xml # external command selector and converter
└── control_checker/control_checker.launch.xml # control validator, autonomous emergency braking, collision detector, optional checkers
design/module/ # Autoware System Designer modules, one per launch unit
├── Control.module.yaml
├── TrajectoryFollower.module.yaml
├── CommandGate.module.yaml
├── ExternalCommand.module.yaml
└── ControlChecker.module.yaml
Structure
Launch files
-
control.launch.xml— the entry point. It includes the module preset, resolves every parameter file, pushes thecontrolnamespace and creates the two containers (control_containerfor the command path,control_check_containerfor the composable checkers), then includes one launch file per unit and the control evaluator. -
trajectory_follower/trajectory_follower.launch.xml— the controller (trajectory_follower_mode:trajectory_follower_node,smart_mpc_trajectory_follower,none) and the lane departure checker on its predicted trajectory. Boundary topics areinput/*arguments, so the unit can also drive a standalone follower container. -
command_gate/command_gate.launch.xml— the vehicle cmd gate, or the control command gate with the stop mode operator whenuse_control_command_gateis set, plus the shift decider and the operation mode transition manager.input/control_cmdandoutput/*_cmdare its boundary topics. -
external_command/external_command.launch.xml— the external command selector and converter. -
control_checker/control_checker.launch.xml— the control validator, autonomous emergency braking, collision detector, obstacle collision checker and predicted path checker, each behind itslaunch_*flag.
Every unit accepts target_container, use_intra_process and ld_preload_value, so process placement is decided by the caller; parameter files default to the autoware_control_config tree and are overridden by the entry point.
Config
Parameter files are resolved from a config/ tree addressed through the control_config_pkg argument, which defaults to autoware_control_config. A product can relocate the whole tree by setting control_config_pkg once at its entry point — the launch configuration propagates through every include — but it must then ship the same config/ layout. Products that differ in only a few files instead override the corresponding *_param_path arguments, which are all declared at the top of control.launch.xml:
<include file="$(find-pkg-share autoware_control_launch)/launch/control.launch.xml">
<arg name="control_config_pkg" value="my_control_config"/>
<arg name="FOO_NODE_param_path" value="..."/>
</include>
Which modules launch is a separate axis, selected by module_preset; the presets live in the config package under config/preset/. The controller algorithms are selected by lateral_controller_mode (mpc, pure_pursuit) and longitudinal_controller_mode (pid), which also pick the controller parameter files.
Notes
For reducing processing load, we use the Component feature in ROS 2 (similar to Nodelet in ROS 1 )
Package Dependencies
Please see <exec_depend> in package.xml.
CHANGELOG
Changelog for package tier4_control_launch
0.52.0 (2026-06-30)
0.51.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(tier4_control_launch): adopt agnocast cie (#1798)
- feat: adopt agnocast cie
* feat: add dependency and comments ---------
-
feat(tier4_control_launch): remove glog component (#1776) feat: remove glog component
-
feat(trajectory_follower): update mpc param yaml and control launch (#1750)
- update mpc param yaml
- remove unused param
- update control launch files
* tune parameter. undo unnecessary changes ---------
-
Contributors: Tetsuhiro Kawaguchi, github-actions, mkquda
0.50.0 (2026-02-13)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- chore: import tier4 launchers from universe (#1740)
- Contributors: Taeseung Sohn, github-actions
0.49.0 (2025-12-30)
- Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog
- fix(launch): correct arg name for control_evaluator input object (#11669) Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
- Contributors: Ryohsuke Mitsudome, Takahisa Ishikawa
0.48.0 (2025-11-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
feat(launch): update input topic parameters to allow dynamic configuration (#11389)
-
refactor(launch): topic remapping for object recognition and point cloud input to planning/control module (#11242)
* feat(planning): introduce dynamic topic remapping for input objects and pointcloud ---------
-
chore(tier4_control_launch): add maintainers (#11256) chore(tier4_control_launch): add maintainers to package.xml
-
Contributors: Kyoichi Sugahara, Ryohsuke Mitsudome
0.47.1 (2025-08-14)
0.47.0 (2025-08-11)
-
feat: change planning output topic name to /planning/trajectory (#11135)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
chore: sync files (#11091) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: M. Fatih Cırıt <<mfc@autoware.org>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
feat: enable to remap control cmd from autoware launch (#11019)
- feat: add args
- feat: add another cmd
- fix
- feat: add comment
- style(pre-commit): autofix
- feat: remove ~/
* feat: remap vehicle cmd gate as well
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| autoware_launch |
Launch files
- launch/command_gate/command_gate.launch.xml
-
- use_control_command_gate [default: false]
- check_external_emergency_heartbeat [default: false]
- input/control_cmd [default: /control/trajectory_follower/control_cmd]
- output/control_cmd [default: /control/command/control_cmd]
- output/gear_cmd [default: /control/command/gear_cmd]
- output/turn_indicators_cmd [default: /control/command/turn_indicators_cmd]
- output/hazard_lights_cmd [default: /control/command/hazard_lights_cmd]
- nearest_search_param_path [default: $(var config_dir)/common/nearest_search.param.yaml]
- vehicle_cmd_gate_param_path [default: $(var config_dir)/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml]
- control_command_gate_param_path [default: $(var config_dir)/control_command_gate/control_command_gate.param.yaml]
- operation_mode_transition_manager_param_path [default: $(var config_dir)/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml]
- shift_decider_param_path [default: $(var config_dir)/shift_decider/shift_decider.param.yaml]
- vehicle_param_file [default: $(find-pkg-share sample_vehicle_description)/config/vehicle_info.param.yaml]
- target_container [default: /control/control_container]
- use_intra_process [default: false]
- ld_preload_value [default: ]
- launch/control.launch.xml
-
- control_config_pkg [default: autoware_control_config]
- module_preset [default: default]
- lateral_controller_mode [default: mpc]
- longitudinal_controller_mode [default: pid]
- use_aeb_autoware_state_check [default: true]
- check_external_emergency_heartbeat [default: false]
- use_control_command_gate [default: false]
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- output_control_cmd [default: /control/command/control_cmd]
- output_gear_cmd [default: /control/command/gear_cmd]
- output_turn_indicators_cmd [default: /control/command/turn_indicators_cmd]
- output_hazard_lights_cmd [default: /control/command/hazard_lights_cmd]
- vehicle_model [default: sample_vehicle]
- vehicle_param_file [default: $(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml]
- nearest_search_param_path [default: $(var control_config_dir)/common/nearest_search.param.yaml]
- trajectory_follower_node_param_path [default: $(var control_config_dir)/trajectory_follower/trajectory_follower_node.param.yaml]
- lat_controller_param_path [default: $(var control_config_dir)/trajectory_follower/lateral/$(var lateral_controller_mode).param.yaml]
- lon_controller_param_path [default: $(var control_config_dir)/trajectory_follower/longitudinal/$(var longitudinal_controller_mode).param.yaml]
- vehicle_cmd_gate_param_path [default: $(var control_config_dir)/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml]
- control_command_gate_param_path [default: $(var control_config_dir)/control_command_gate/control_command_gate.param.yaml]
- operation_mode_transition_manager_param_path [default: $(var control_config_dir)/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml]
- shift_decider_param_path [default: $(var control_config_dir)/shift_decider/shift_decider.param.yaml]
- external_cmd_selector_param_path [default: $(var control_config_dir)/external_cmd_selector/external_cmd_selector.param.yaml]
- lane_departure_checker_param_path [default: $(var control_config_dir)/lane_departure_checker/lane_departure_checker.param.yaml]
- control_validator_param_path [default: $(var control_config_dir)/control_validator/control_validator.param.yaml]
- aeb_param_path [default: $(var control_config_dir)/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml]
- collision_detector_param_path [default: $(var control_config_dir)/autoware_collision_detector/collision_detector.param.yaml]
- obstacle_collision_checker_param_path [default: $(var control_config_dir)/obstacle_collision_checker/obstacle_collision_checker.param.yaml]
- predicted_path_checker_param_path [default: $(var control_config_dir)/predicted_path_checker/predicted_path_checker.param.yaml]
- use_intra_process [default: false]
- use_multithread [default: true]
- launch/control_checker/control_checker.launch.xml
-
- launch_control_validator [default: true]
- launch_autonomous_emergency_braking [default: true]
- launch_collision_detector [default: true]
- launch_obstacle_collision_checker [default: false]
- launch_predicted_path_checker [default: false]
- use_aeb_autoware_state_check [default: true]
- input/objects [default: /perception/object_recognition/objects]
- input/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
- input/trajectory [default: /planning/trajectory]
- input/predicted_trajectory [default: /control/trajectory_follower/lateral/predicted_trajectory]
- input/control_cmd [default: /control/command/control_cmd]
- input/odometry [default: /localization/kinematic_state]
- input/acceleration [default: /localization/acceleration]
- input/lanelet_map_bin [default: /map/vector_map]
- control_validator_param_path [default: $(var config_dir)/control_validator/control_validator.param.yaml]
- aeb_param_path [default: $(var config_dir)/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml]
- collision_detector_param_path [default: $(var config_dir)/autoware_collision_detector/collision_detector.param.yaml]
- obstacle_collision_checker_param_path [default: $(var config_dir)/obstacle_collision_checker/obstacle_collision_checker.param.yaml]
- predicted_path_checker_param_path [default: $(var config_dir)/predicted_path_checker/predicted_path_checker.param.yaml]
- vehicle_param_file [default: $(find-pkg-share sample_vehicle_description)/config/vehicle_info.param.yaml]
- target_container [default: /control/control_check_container]
- use_intra_process [default: false]
- ld_preload_value [default: ]
- launch/external_command/external_command.launch.xml
-
- launch_external_cmd_selector [default: true]
- launch_external_cmd_converter [default: true]
- external_cmd_selector_param_path [default: $(find-pkg-share autoware_control_config)/config/external_cmd_selector/external_cmd_selector.param.yaml]
- target_container [default: /control/control_container]
- use_intra_process [default: false]
- launch/trajectory_follower/trajectory_follower.launch.xml
-
- trajectory_follower_mode [default: trajectory_follower_node]
- lateral_controller_mode [default: mpc]
- longitudinal_controller_mode [default: pid]
- launch_lane_departure_checker [default: true]
- input/trajectory [default: /planning/trajectory]
- input/odometry [default: /localization/kinematic_state]
- input/acceleration [default: /localization/acceleration]
- input/steering [default: /vehicle/status/steering_status]
- input/operation_mode [default: /system/operation_mode/state]
- input/steering_offset_update [default: /vehicle/calibration/steer_offset_estimator/steering_offset_update]
- input/lanelet_map_bin [default: /map/vector_map]
- input/route [default: /planning/mission_planning/route]
- input/predicted_trajectory [default: /control/trajectory_follower/lateral/predicted_trajectory]
- nearest_search_param_path [default: $(var config_dir)/common/nearest_search.param.yaml]
- trajectory_follower_node_param_path [default: $(var config_dir)/trajectory_follower/trajectory_follower_node.param.yaml]
- lat_controller_param_path [default: $(var config_dir)/trajectory_follower/lateral/$(var lateral_controller_mode).param.yaml]
- lon_controller_param_path [default: $(var config_dir)/trajectory_follower/longitudinal/$(var longitudinal_controller_mode).param.yaml]
- lane_departure_checker_param_path [default: $(var config_dir)/lane_departure_checker/lane_departure_checker.param.yaml]
- vehicle_param_file [default: $(find-pkg-share sample_vehicle_description)/config/vehicle_info.param.yaml]
- target_container [default: /control/control_container]
- use_intra_process [default: false]
- ld_preload_value [default: ]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged autoware_control_launch at Robotics Stack Exchange
No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.52.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_launch.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-10-09 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The autoware_control_launch package
Maintainers
- Takamasa Horibe
- Takayuki Murooka
- Yuki Takagi
- Maxime CLEMENT
- Takumi Odashima
Authors
- Satoshi Ota
autoware_control_launch
Shared control launch library. The system component launcher lives in the product layer (autoware_launch/launch/components/component_control.launch.xml); this package hosts the control launcher it wraps:
launch/
├── control.launch.xml # control entry: preset, parameter paths, containers and the unit includes
├── trajectory_follower/trajectory_follower.launch.xml # controller and lane departure checker
├── command_gate/command_gate.launch.xml # vehicle cmd gate (or control command gate), shift decider, operation mode transition manager
├── external_command/external_command.launch.xml # external command selector and converter
└── control_checker/control_checker.launch.xml # control validator, autonomous emergency braking, collision detector, optional checkers
design/module/ # Autoware System Designer modules, one per launch unit
├── Control.module.yaml
├── TrajectoryFollower.module.yaml
├── CommandGate.module.yaml
├── ExternalCommand.module.yaml
└── ControlChecker.module.yaml
Structure
Launch files
-
control.launch.xml— the entry point. It includes the module preset, resolves every parameter file, pushes thecontrolnamespace and creates the two containers (control_containerfor the command path,control_check_containerfor the composable checkers), then includes one launch file per unit and the control evaluator. -
trajectory_follower/trajectory_follower.launch.xml— the controller (trajectory_follower_mode:trajectory_follower_node,smart_mpc_trajectory_follower,none) and the lane departure checker on its predicted trajectory. Boundary topics areinput/*arguments, so the unit can also drive a standalone follower container. -
command_gate/command_gate.launch.xml— the vehicle cmd gate, or the control command gate with the stop mode operator whenuse_control_command_gateis set, plus the shift decider and the operation mode transition manager.input/control_cmdandoutput/*_cmdare its boundary topics. -
external_command/external_command.launch.xml— the external command selector and converter. -
control_checker/control_checker.launch.xml— the control validator, autonomous emergency braking, collision detector, obstacle collision checker and predicted path checker, each behind itslaunch_*flag.
Every unit accepts target_container, use_intra_process and ld_preload_value, so process placement is decided by the caller; parameter files default to the autoware_control_config tree and are overridden by the entry point.
Config
Parameter files are resolved from a config/ tree addressed through the control_config_pkg argument, which defaults to autoware_control_config. A product can relocate the whole tree by setting control_config_pkg once at its entry point — the launch configuration propagates through every include — but it must then ship the same config/ layout. Products that differ in only a few files instead override the corresponding *_param_path arguments, which are all declared at the top of control.launch.xml:
<include file="$(find-pkg-share autoware_control_launch)/launch/control.launch.xml">
<arg name="control_config_pkg" value="my_control_config"/>
<arg name="FOO_NODE_param_path" value="..."/>
</include>
Which modules launch is a separate axis, selected by module_preset; the presets live in the config package under config/preset/. The controller algorithms are selected by lateral_controller_mode (mpc, pure_pursuit) and longitudinal_controller_mode (pid), which also pick the controller parameter files.
Notes
For reducing processing load, we use the Component feature in ROS 2 (similar to Nodelet in ROS 1 )
Package Dependencies
Please see <exec_depend> in package.xml.
CHANGELOG
Changelog for package tier4_control_launch
0.52.0 (2026-06-30)
0.51.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(tier4_control_launch): adopt agnocast cie (#1798)
- feat: adopt agnocast cie
* feat: add dependency and comments ---------
-
feat(tier4_control_launch): remove glog component (#1776) feat: remove glog component
-
feat(trajectory_follower): update mpc param yaml and control launch (#1750)
- update mpc param yaml
- remove unused param
- update control launch files
* tune parameter. undo unnecessary changes ---------
-
Contributors: Tetsuhiro Kawaguchi, github-actions, mkquda
0.50.0 (2026-02-13)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- chore: import tier4 launchers from universe (#1740)
- Contributors: Taeseung Sohn, github-actions
0.49.0 (2025-12-30)
- Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog
- fix(launch): correct arg name for control_evaluator input object (#11669) Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
- Contributors: Ryohsuke Mitsudome, Takahisa Ishikawa
0.48.0 (2025-11-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
feat(launch): update input topic parameters to allow dynamic configuration (#11389)
-
refactor(launch): topic remapping for object recognition and point cloud input to planning/control module (#11242)
* feat(planning): introduce dynamic topic remapping for input objects and pointcloud ---------
-
chore(tier4_control_launch): add maintainers (#11256) chore(tier4_control_launch): add maintainers to package.xml
-
Contributors: Kyoichi Sugahara, Ryohsuke Mitsudome
0.47.1 (2025-08-14)
0.47.0 (2025-08-11)
-
feat: change planning output topic name to /planning/trajectory (#11135)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
chore: sync files (#11091) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: M. Fatih Cırıt <<mfc@autoware.org>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
feat: enable to remap control cmd from autoware launch (#11019)
- feat: add args
- feat: add another cmd
- fix
- feat: add comment
- style(pre-commit): autofix
- feat: remove ~/
* feat: remap vehicle cmd gate as well
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| autoware_launch |
Launch files
- launch/command_gate/command_gate.launch.xml
-
- use_control_command_gate [default: false]
- check_external_emergency_heartbeat [default: false]
- input/control_cmd [default: /control/trajectory_follower/control_cmd]
- output/control_cmd [default: /control/command/control_cmd]
- output/gear_cmd [default: /control/command/gear_cmd]
- output/turn_indicators_cmd [default: /control/command/turn_indicators_cmd]
- output/hazard_lights_cmd [default: /control/command/hazard_lights_cmd]
- nearest_search_param_path [default: $(var config_dir)/common/nearest_search.param.yaml]
- vehicle_cmd_gate_param_path [default: $(var config_dir)/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml]
- control_command_gate_param_path [default: $(var config_dir)/control_command_gate/control_command_gate.param.yaml]
- operation_mode_transition_manager_param_path [default: $(var config_dir)/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml]
- shift_decider_param_path [default: $(var config_dir)/shift_decider/shift_decider.param.yaml]
- vehicle_param_file [default: $(find-pkg-share sample_vehicle_description)/config/vehicle_info.param.yaml]
- target_container [default: /control/control_container]
- use_intra_process [default: false]
- ld_preload_value [default: ]
- launch/control.launch.xml
-
- control_config_pkg [default: autoware_control_config]
- module_preset [default: default]
- lateral_controller_mode [default: mpc]
- longitudinal_controller_mode [default: pid]
- use_aeb_autoware_state_check [default: true]
- check_external_emergency_heartbeat [default: false]
- use_control_command_gate [default: false]
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- output_control_cmd [default: /control/command/control_cmd]
- output_gear_cmd [default: /control/command/gear_cmd]
- output_turn_indicators_cmd [default: /control/command/turn_indicators_cmd]
- output_hazard_lights_cmd [default: /control/command/hazard_lights_cmd]
- vehicle_model [default: sample_vehicle]
- vehicle_param_file [default: $(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml]
- nearest_search_param_path [default: $(var control_config_dir)/common/nearest_search.param.yaml]
- trajectory_follower_node_param_path [default: $(var control_config_dir)/trajectory_follower/trajectory_follower_node.param.yaml]
- lat_controller_param_path [default: $(var control_config_dir)/trajectory_follower/lateral/$(var lateral_controller_mode).param.yaml]
- lon_controller_param_path [default: $(var control_config_dir)/trajectory_follower/longitudinal/$(var longitudinal_controller_mode).param.yaml]
- vehicle_cmd_gate_param_path [default: $(var control_config_dir)/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml]
- control_command_gate_param_path [default: $(var control_config_dir)/control_command_gate/control_command_gate.param.yaml]
- operation_mode_transition_manager_param_path [default: $(var control_config_dir)/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml]
- shift_decider_param_path [default: $(var control_config_dir)/shift_decider/shift_decider.param.yaml]
- external_cmd_selector_param_path [default: $(var control_config_dir)/external_cmd_selector/external_cmd_selector.param.yaml]
- lane_departure_checker_param_path [default: $(var control_config_dir)/lane_departure_checker/lane_departure_checker.param.yaml]
- control_validator_param_path [default: $(var control_config_dir)/control_validator/control_validator.param.yaml]
- aeb_param_path [default: $(var control_config_dir)/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml]
- collision_detector_param_path [default: $(var control_config_dir)/autoware_collision_detector/collision_detector.param.yaml]
- obstacle_collision_checker_param_path [default: $(var control_config_dir)/obstacle_collision_checker/obstacle_collision_checker.param.yaml]
- predicted_path_checker_param_path [default: $(var control_config_dir)/predicted_path_checker/predicted_path_checker.param.yaml]
- use_intra_process [default: false]
- use_multithread [default: true]
- launch/control_checker/control_checker.launch.xml
-
- launch_control_validator [default: true]
- launch_autonomous_emergency_braking [default: true]
- launch_collision_detector [default: true]
- launch_obstacle_collision_checker [default: false]
- launch_predicted_path_checker [default: false]
- use_aeb_autoware_state_check [default: true]
- input/objects [default: /perception/object_recognition/objects]
- input/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
- input/trajectory [default: /planning/trajectory]
- input/predicted_trajectory [default: /control/trajectory_follower/lateral/predicted_trajectory]
- input/control_cmd [default: /control/command/control_cmd]
- input/odometry [default: /localization/kinematic_state]
- input/acceleration [default: /localization/acceleration]
- input/lanelet_map_bin [default: /map/vector_map]
- control_validator_param_path [default: $(var config_dir)/control_validator/control_validator.param.yaml]
- aeb_param_path [default: $(var config_dir)/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml]
- collision_detector_param_path [default: $(var config_dir)/autoware_collision_detector/collision_detector.param.yaml]
- obstacle_collision_checker_param_path [default: $(var config_dir)/obstacle_collision_checker/obstacle_collision_checker.param.yaml]
- predicted_path_checker_param_path [default: $(var config_dir)/predicted_path_checker/predicted_path_checker.param.yaml]
- vehicle_param_file [default: $(find-pkg-share sample_vehicle_description)/config/vehicle_info.param.yaml]
- target_container [default: /control/control_check_container]
- use_intra_process [default: false]
- ld_preload_value [default: ]
- launch/external_command/external_command.launch.xml
-
- launch_external_cmd_selector [default: true]
- launch_external_cmd_converter [default: true]
- external_cmd_selector_param_path [default: $(find-pkg-share autoware_control_config)/config/external_cmd_selector/external_cmd_selector.param.yaml]
- target_container [default: /control/control_container]
- use_intra_process [default: false]
- launch/trajectory_follower/trajectory_follower.launch.xml
-
- trajectory_follower_mode [default: trajectory_follower_node]
- lateral_controller_mode [default: mpc]
- longitudinal_controller_mode [default: pid]
- launch_lane_departure_checker [default: true]
- input/trajectory [default: /planning/trajectory]
- input/odometry [default: /localization/kinematic_state]
- input/acceleration [default: /localization/acceleration]
- input/steering [default: /vehicle/status/steering_status]
- input/operation_mode [default: /system/operation_mode/state]
- input/steering_offset_update [default: /vehicle/calibration/steer_offset_estimator/steering_offset_update]
- input/lanelet_map_bin [default: /map/vector_map]
- input/route [default: /planning/mission_planning/route]
- input/predicted_trajectory [default: /control/trajectory_follower/lateral/predicted_trajectory]
- nearest_search_param_path [default: $(var config_dir)/common/nearest_search.param.yaml]
- trajectory_follower_node_param_path [default: $(var config_dir)/trajectory_follower/trajectory_follower_node.param.yaml]
- lat_controller_param_path [default: $(var config_dir)/trajectory_follower/lateral/$(var lateral_controller_mode).param.yaml]
- lon_controller_param_path [default: $(var config_dir)/trajectory_follower/longitudinal/$(var longitudinal_controller_mode).param.yaml]
- lane_departure_checker_param_path [default: $(var config_dir)/lane_departure_checker/lane_departure_checker.param.yaml]
- vehicle_param_file [default: $(find-pkg-share sample_vehicle_description)/config/vehicle_info.param.yaml]
- target_container [default: /control/control_container]
- use_intra_process [default: false]
- ld_preload_value [default: ]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged autoware_control_launch at Robotics Stack Exchange
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Package Summary
| Version | 0.52.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_launch.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-10-09 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The autoware_control_launch package
Maintainers
- Takamasa Horibe
- Takayuki Murooka
- Yuki Takagi
- Maxime CLEMENT
- Takumi Odashima
Authors
- Satoshi Ota
autoware_control_launch
Shared control launch library. The system component launcher lives in the product layer (autoware_launch/launch/components/component_control.launch.xml); this package hosts the control launcher it wraps:
launch/
├── control.launch.xml # control entry: preset, parameter paths, containers and the unit includes
├── trajectory_follower/trajectory_follower.launch.xml # controller and lane departure checker
├── command_gate/command_gate.launch.xml # vehicle cmd gate (or control command gate), shift decider, operation mode transition manager
├── external_command/external_command.launch.xml # external command selector and converter
└── control_checker/control_checker.launch.xml # control validator, autonomous emergency braking, collision detector, optional checkers
design/module/ # Autoware System Designer modules, one per launch unit
├── Control.module.yaml
├── TrajectoryFollower.module.yaml
├── CommandGate.module.yaml
├── ExternalCommand.module.yaml
└── ControlChecker.module.yaml
Structure
Launch files
-
control.launch.xml— the entry point. It includes the module preset, resolves every parameter file, pushes thecontrolnamespace and creates the two containers (control_containerfor the command path,control_check_containerfor the composable checkers), then includes one launch file per unit and the control evaluator. -
trajectory_follower/trajectory_follower.launch.xml— the controller (trajectory_follower_mode:trajectory_follower_node,smart_mpc_trajectory_follower,none) and the lane departure checker on its predicted trajectory. Boundary topics areinput/*arguments, so the unit can also drive a standalone follower container. -
command_gate/command_gate.launch.xml— the vehicle cmd gate, or the control command gate with the stop mode operator whenuse_control_command_gateis set, plus the shift decider and the operation mode transition manager.input/control_cmdandoutput/*_cmdare its boundary topics. -
external_command/external_command.launch.xml— the external command selector and converter. -
control_checker/control_checker.launch.xml— the control validator, autonomous emergency braking, collision detector, obstacle collision checker and predicted path checker, each behind itslaunch_*flag.
Every unit accepts target_container, use_intra_process and ld_preload_value, so process placement is decided by the caller; parameter files default to the autoware_control_config tree and are overridden by the entry point.
Config
Parameter files are resolved from a config/ tree addressed through the control_config_pkg argument, which defaults to autoware_control_config. A product can relocate the whole tree by setting control_config_pkg once at its entry point — the launch configuration propagates through every include — but it must then ship the same config/ layout. Products that differ in only a few files instead override the corresponding *_param_path arguments, which are all declared at the top of control.launch.xml:
<include file="$(find-pkg-share autoware_control_launch)/launch/control.launch.xml">
<arg name="control_config_pkg" value="my_control_config"/>
<arg name="FOO_NODE_param_path" value="..."/>
</include>
Which modules launch is a separate axis, selected by module_preset; the presets live in the config package under config/preset/. The controller algorithms are selected by lateral_controller_mode (mpc, pure_pursuit) and longitudinal_controller_mode (pid), which also pick the controller parameter files.
Notes
For reducing processing load, we use the Component feature in ROS 2 (similar to Nodelet in ROS 1 )
Package Dependencies
Please see <exec_depend> in package.xml.
CHANGELOG
Changelog for package tier4_control_launch
0.52.0 (2026-06-30)
0.51.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(tier4_control_launch): adopt agnocast cie (#1798)
- feat: adopt agnocast cie
* feat: add dependency and comments ---------
-
feat(tier4_control_launch): remove glog component (#1776) feat: remove glog component
-
feat(trajectory_follower): update mpc param yaml and control launch (#1750)
- update mpc param yaml
- remove unused param
- update control launch files
* tune parameter. undo unnecessary changes ---------
-
Contributors: Tetsuhiro Kawaguchi, github-actions, mkquda
0.50.0 (2026-02-13)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- chore: import tier4 launchers from universe (#1740)
- Contributors: Taeseung Sohn, github-actions
0.49.0 (2025-12-30)
- Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog
- fix(launch): correct arg name for control_evaluator input object (#11669) Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
- Contributors: Ryohsuke Mitsudome, Takahisa Ishikawa
0.48.0 (2025-11-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
feat(launch): update input topic parameters to allow dynamic configuration (#11389)
-
refactor(launch): topic remapping for object recognition and point cloud input to planning/control module (#11242)
* feat(planning): introduce dynamic topic remapping for input objects and pointcloud ---------
-
chore(tier4_control_launch): add maintainers (#11256) chore(tier4_control_launch): add maintainers to package.xml
-
Contributors: Kyoichi Sugahara, Ryohsuke Mitsudome
0.47.1 (2025-08-14)
0.47.0 (2025-08-11)
-
feat: change planning output topic name to /planning/trajectory (#11135)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
chore: sync files (#11091) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: M. Fatih Cırıt <<mfc@autoware.org>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
feat: enable to remap control cmd from autoware launch (#11019)
- feat: add args
- feat: add another cmd
- fix
- feat: add comment
- style(pre-commit): autofix
- feat: remove ~/
* feat: remap vehicle cmd gate as well
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| autoware_launch |
Launch files
- launch/command_gate/command_gate.launch.xml
-
- use_control_command_gate [default: false]
- check_external_emergency_heartbeat [default: false]
- input/control_cmd [default: /control/trajectory_follower/control_cmd]
- output/control_cmd [default: /control/command/control_cmd]
- output/gear_cmd [default: /control/command/gear_cmd]
- output/turn_indicators_cmd [default: /control/command/turn_indicators_cmd]
- output/hazard_lights_cmd [default: /control/command/hazard_lights_cmd]
- nearest_search_param_path [default: $(var config_dir)/common/nearest_search.param.yaml]
- vehicle_cmd_gate_param_path [default: $(var config_dir)/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml]
- control_command_gate_param_path [default: $(var config_dir)/control_command_gate/control_command_gate.param.yaml]
- operation_mode_transition_manager_param_path [default: $(var config_dir)/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml]
- shift_decider_param_path [default: $(var config_dir)/shift_decider/shift_decider.param.yaml]
- vehicle_param_file [default: $(find-pkg-share sample_vehicle_description)/config/vehicle_info.param.yaml]
- target_container [default: /control/control_container]
- use_intra_process [default: false]
- ld_preload_value [default: ]
- launch/control.launch.xml
-
- control_config_pkg [default: autoware_control_config]
- module_preset [default: default]
- lateral_controller_mode [default: mpc]
- longitudinal_controller_mode [default: pid]
- use_aeb_autoware_state_check [default: true]
- check_external_emergency_heartbeat [default: false]
- use_control_command_gate [default: false]
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- output_control_cmd [default: /control/command/control_cmd]
- output_gear_cmd [default: /control/command/gear_cmd]
- output_turn_indicators_cmd [default: /control/command/turn_indicators_cmd]
- output_hazard_lights_cmd [default: /control/command/hazard_lights_cmd]
- vehicle_model [default: sample_vehicle]
- vehicle_param_file [default: $(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml]
- nearest_search_param_path [default: $(var control_config_dir)/common/nearest_search.param.yaml]
- trajectory_follower_node_param_path [default: $(var control_config_dir)/trajectory_follower/trajectory_follower_node.param.yaml]
- lat_controller_param_path [default: $(var control_config_dir)/trajectory_follower/lateral/$(var lateral_controller_mode).param.yaml]
- lon_controller_param_path [default: $(var control_config_dir)/trajectory_follower/longitudinal/$(var longitudinal_controller_mode).param.yaml]
- vehicle_cmd_gate_param_path [default: $(var control_config_dir)/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml]
- control_command_gate_param_path [default: $(var control_config_dir)/control_command_gate/control_command_gate.param.yaml]
- operation_mode_transition_manager_param_path [default: $(var control_config_dir)/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml]
- shift_decider_param_path [default: $(var control_config_dir)/shift_decider/shift_decider.param.yaml]
- external_cmd_selector_param_path [default: $(var control_config_dir)/external_cmd_selector/external_cmd_selector.param.yaml]
- lane_departure_checker_param_path [default: $(var control_config_dir)/lane_departure_checker/lane_departure_checker.param.yaml]
- control_validator_param_path [default: $(var control_config_dir)/control_validator/control_validator.param.yaml]
- aeb_param_path [default: $(var control_config_dir)/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml]
- collision_detector_param_path [default: $(var control_config_dir)/autoware_collision_detector/collision_detector.param.yaml]
- obstacle_collision_checker_param_path [default: $(var control_config_dir)/obstacle_collision_checker/obstacle_collision_checker.param.yaml]
- predicted_path_checker_param_path [default: $(var control_config_dir)/predicted_path_checker/predicted_path_checker.param.yaml]
- use_intra_process [default: false]
- use_multithread [default: true]
- launch/control_checker/control_checker.launch.xml
-
- launch_control_validator [default: true]
- launch_autonomous_emergency_braking [default: true]
- launch_collision_detector [default: true]
- launch_obstacle_collision_checker [default: false]
- launch_predicted_path_checker [default: false]
- use_aeb_autoware_state_check [default: true]
- input/objects [default: /perception/object_recognition/objects]
- input/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
- input/trajectory [default: /planning/trajectory]
- input/predicted_trajectory [default: /control/trajectory_follower/lateral/predicted_trajectory]
- input/control_cmd [default: /control/command/control_cmd]
- input/odometry [default: /localization/kinematic_state]
- input/acceleration [default: /localization/acceleration]
- input/lanelet_map_bin [default: /map/vector_map]
- control_validator_param_path [default: $(var config_dir)/control_validator/control_validator.param.yaml]
- aeb_param_path [default: $(var config_dir)/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml]
- collision_detector_param_path [default: $(var config_dir)/autoware_collision_detector/collision_detector.param.yaml]
- obstacle_collision_checker_param_path [default: $(var config_dir)/obstacle_collision_checker/obstacle_collision_checker.param.yaml]
- predicted_path_checker_param_path [default: $(var config_dir)/predicted_path_checker/predicted_path_checker.param.yaml]
- vehicle_param_file [default: $(find-pkg-share sample_vehicle_description)/config/vehicle_info.param.yaml]
- target_container [default: /control/control_check_container]
- use_intra_process [default: false]
- ld_preload_value [default: ]
- launch/external_command/external_command.launch.xml
-
- launch_external_cmd_selector [default: true]
- launch_external_cmd_converter [default: true]
- external_cmd_selector_param_path [default: $(find-pkg-share autoware_control_config)/config/external_cmd_selector/external_cmd_selector.param.yaml]
- target_container [default: /control/control_container]
- use_intra_process [default: false]
- launch/trajectory_follower/trajectory_follower.launch.xml
-
- trajectory_follower_mode [default: trajectory_follower_node]
- lateral_controller_mode [default: mpc]
- longitudinal_controller_mode [default: pid]
- launch_lane_departure_checker [default: true]
- input/trajectory [default: /planning/trajectory]
- input/odometry [default: /localization/kinematic_state]
- input/acceleration [default: /localization/acceleration]
- input/steering [default: /vehicle/status/steering_status]
- input/operation_mode [default: /system/operation_mode/state]
- input/steering_offset_update [default: /vehicle/calibration/steer_offset_estimator/steering_offset_update]
- input/lanelet_map_bin [default: /map/vector_map]
- input/route [default: /planning/mission_planning/route]
- input/predicted_trajectory [default: /control/trajectory_follower/lateral/predicted_trajectory]
- nearest_search_param_path [default: $(var config_dir)/common/nearest_search.param.yaml]
- trajectory_follower_node_param_path [default: $(var config_dir)/trajectory_follower/trajectory_follower_node.param.yaml]
- lat_controller_param_path [default: $(var config_dir)/trajectory_follower/lateral/$(var lateral_controller_mode).param.yaml]
- lon_controller_param_path [default: $(var config_dir)/trajectory_follower/longitudinal/$(var longitudinal_controller_mode).param.yaml]
- lane_departure_checker_param_path [default: $(var config_dir)/lane_departure_checker/lane_departure_checker.param.yaml]
- vehicle_param_file [default: $(find-pkg-share sample_vehicle_description)/config/vehicle_info.param.yaml]
- target_container [default: /control/control_container]
- use_intra_process [default: false]
- ld_preload_value [default: ]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.