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autoware_control_launch package from autoware_launch repo

autoware_launch autoware_sample_designs autoware_control_config autoware_control_launch autoware_localization_config autoware_localization_launch autoware_map_config autoware_map_launch autoware_perception_config autoware_perception_launch autoware_planning_config autoware_planning_launch autoware_sensing_launch autoware_sensor_driver_launch awsim_labs_sensor_kit_description awsim_labs_sensor_kit_launch awsim_sensor_kit_description awsim_sensor_kit_launch carla_sensor_kit_description carla_sensor_kit_launch sample_sensor_kit_description sample_sensor_kit_launch single_lidar_sensor_kit_description single_lidar_sensor_kit_launch tier4_autoware_api_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch awsim_labs_vehicle_description awsim_labs_vehicle_launch sample_vehicle_description sample_vehicle_launch

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
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 2026-10-26
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_universe_launch/autoware_control_launch/README.md

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

autoware_control_launch

Launch files

  • control.launch.xml — the entry point. It includes the module preset, resolves every parameter file, pushes the control namespace and creates the two containers (control_container for the command path, control_check_container for 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 are input/* arguments, so the unit can also drive a standalone follower container.
  • command_gate/command_gate.launch.xml — the control command gate with the stop mode operator, plus the shift decider and the operation mode transition manager. input/control_cmd and output/*_cmd are 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 its launch_* 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

0.53.0 (2026-10-13)

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

  • feat(autoware_sample_designs): compose the AD API, system and vehicle components from design modules (#1976)

    * fix(control, planning): connect the operation mode state and velocity limit inputs Wires collision_detector's operation_mode_state and remaining_distance_time_calculator's planning_velocity through the module designs; their node designs now declare the fixed topic names as remap targets.

    * fix(planning): connect the internal velocity limit path to the selector Forwards motion_velocity_planner's velocity_limit and clear_velocity_limit up to ScenarioPlanning and feeds them into external_velocity_limit_selector, whose internal inputs were unconnected.

    * fix(control, planning): connect the remaining module inputs to their sources Wires the operation mode transition manager's gate and selector inputs, the stop mode operator's vehicle status, the manual lane change handler's route availability and preferred primitive service, the parking costmap, and the route marker. Exposes the vehicle control mode service, the preferred lane service and the system hazard lights command as component interfaces.

    • fix(planning): follow the hazard lights selector input rename
    • fix(planning): add steering_status subscriber to various planning modules
    • feat(vehicle): add vehicle wrapper and launch file for vehicle interface
    • style(pre-commit): autofix
    • fix(planning): add planning factors publishers and connections for various modules
    • refactor(autoware_sample_designs): compose the AD API from design modules
    • Refactor ADAPI module structure and enhance planning factors
    • Updated AdapiRvizHelpers.module.yaml to include helper prefixes for instances and connections.
    • Modified AutowareSample.system.yaml to reorganize ADAPI components, introducing default_adapi for better structure.
    • Expanded planning factors in Planning.module.yaml, LaneDriving.module.yaml, ScenarioPlanning.module.yaml, and associated modules to include additional factors for improved behavior and motion planning.
    • Enhanced connections in behavior planning and motion planning modules to accommodate new planning factors.
    • Ensured consistency across scenario planning modules by aligning publisher and subscriber connections for new planning factors.
    • refactor: reorganize clients and servers in module configurations
    • fix(control): drop the collision detector operation mode link bound globally by the node design
    • implement system modules
    • vehicle modules and nodes, need validations
    • fix api topic remapped
    • reorganize to adapi and api
    • fix: update perception obstacle segmentation filters for clarity and functionality

    * refactor: update trigger conditions and outcomes in topic tools configuration ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • refactor(control): split control.launch.xml into data-flow units with mirrored design modules (#1965)

    * refactor(control): split control.launch.xml into trajectory_follower, command_gate, external_command and control_checker units The entry page keeps the preset, the parameter paths, the control namespace and the two containers; each unit owns one cluster of the data-flow graph and exposes its boundary topics as input/output arguments plus target_container for process placement. Node names, namespaces, topics and parameters are unchanged (launch-resolution diff against the previous launcher is empty for the default, dlr_control_validator, control_command_gate, pure_pursuit, optional-checker, smart_mpc and follower=none variants).

    * refactor(control): mirror the launch units as CommandGate, ExternalCommand and ControlChecker design modules Control.module now instantiates the four unit modules and the evaluator; node instance names are unchanged. The sample system node_groups address the nested instance paths, fixing the stale operation_mode_transition_manager and lane_departure_checker entries that matched nothing.

    * refactor(control): expose the fixed-name control interfaces as Control.module ports The selector mode topic and service, and the gate pause/stop interfaces, are consumed by fixed names (/control/external_cmd_selector/, /control/vehicle_cmd_gate/). Exposing them as module ports under those names keeps the exported topics stable while the nodes sit in nested unit modules; the operation mode transition manager's compatibility inputs are

File truncated at 100 lines see the full file

Launch files

  • launch/command_gate/command_gate.launch.xml
      • 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]
      • 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_gate_param_path [default: $(find-pkg-share autoware_trajectory_gate)/config/trajectory_gate.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: /control/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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autoware_control_launch package from autoware_launch repo

autoware_launch autoware_sample_designs autoware_control_config autoware_control_launch autoware_localization_config autoware_localization_launch autoware_map_config autoware_map_launch autoware_perception_config autoware_perception_launch autoware_planning_config autoware_planning_launch autoware_sensing_launch autoware_sensor_driver_launch awsim_labs_sensor_kit_description awsim_labs_sensor_kit_launch awsim_sensor_kit_description awsim_sensor_kit_launch carla_sensor_kit_description carla_sensor_kit_launch sample_sensor_kit_description sample_sensor_kit_launch single_lidar_sensor_kit_description single_lidar_sensor_kit_launch tier4_autoware_api_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch awsim_labs_vehicle_description awsim_labs_vehicle_launch sample_vehicle_description sample_vehicle_launch

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
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 2026-10-26
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_universe_launch/autoware_control_launch/README.md

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

autoware_control_launch

Launch files

  • control.launch.xml — the entry point. It includes the module preset, resolves every parameter file, pushes the control namespace and creates the two containers (control_container for the command path, control_check_container for 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 are input/* arguments, so the unit can also drive a standalone follower container.
  • command_gate/command_gate.launch.xml — the control command gate with the stop mode operator, plus the shift decider and the operation mode transition manager. input/control_cmd and output/*_cmd are 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 its launch_* 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

0.53.0 (2026-10-13)

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

  • feat(autoware_sample_designs): compose the AD API, system and vehicle components from design modules (#1976)

    * fix(control, planning): connect the operation mode state and velocity limit inputs Wires collision_detector's operation_mode_state and remaining_distance_time_calculator's planning_velocity through the module designs; their node designs now declare the fixed topic names as remap targets.

    * fix(planning): connect the internal velocity limit path to the selector Forwards motion_velocity_planner's velocity_limit and clear_velocity_limit up to ScenarioPlanning and feeds them into external_velocity_limit_selector, whose internal inputs were unconnected.

    * fix(control, planning): connect the remaining module inputs to their sources Wires the operation mode transition manager's gate and selector inputs, the stop mode operator's vehicle status, the manual lane change handler's route availability and preferred primitive service, the parking costmap, and the route marker. Exposes the vehicle control mode service, the preferred lane service and the system hazard lights command as component interfaces.

    • fix(planning): follow the hazard lights selector input rename
    • fix(planning): add steering_status subscriber to various planning modules
    • feat(vehicle): add vehicle wrapper and launch file for vehicle interface
    • style(pre-commit): autofix
    • fix(planning): add planning factors publishers and connections for various modules
    • refactor(autoware_sample_designs): compose the AD API from design modules
    • Refactor ADAPI module structure and enhance planning factors
    • Updated AdapiRvizHelpers.module.yaml to include helper prefixes for instances and connections.
    • Modified AutowareSample.system.yaml to reorganize ADAPI components, introducing default_adapi for better structure.
    • Expanded planning factors in Planning.module.yaml, LaneDriving.module.yaml, ScenarioPlanning.module.yaml, and associated modules to include additional factors for improved behavior and motion planning.
    • Enhanced connections in behavior planning and motion planning modules to accommodate new planning factors.
    • Ensured consistency across scenario planning modules by aligning publisher and subscriber connections for new planning factors.
    • refactor: reorganize clients and servers in module configurations
    • fix(control): drop the collision detector operation mode link bound globally by the node design
    • implement system modules
    • vehicle modules and nodes, need validations
    • fix api topic remapped
    • reorganize to adapi and api
    • fix: update perception obstacle segmentation filters for clarity and functionality

    * refactor: update trigger conditions and outcomes in topic tools configuration ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • refactor(control): split control.launch.xml into data-flow units with mirrored design modules (#1965)

    * refactor(control): split control.launch.xml into trajectory_follower, command_gate, external_command and control_checker units The entry page keeps the preset, the parameter paths, the control namespace and the two containers; each unit owns one cluster of the data-flow graph and exposes its boundary topics as input/output arguments plus target_container for process placement. Node names, namespaces, topics and parameters are unchanged (launch-resolution diff against the previous launcher is empty for the default, dlr_control_validator, control_command_gate, pure_pursuit, optional-checker, smart_mpc and follower=none variants).

    * refactor(control): mirror the launch units as CommandGate, ExternalCommand and ControlChecker design modules Control.module now instantiates the four unit modules and the evaluator; node instance names are unchanged. The sample system node_groups address the nested instance paths, fixing the stale operation_mode_transition_manager and lane_departure_checker entries that matched nothing.

    * refactor(control): expose the fixed-name control interfaces as Control.module ports The selector mode topic and service, and the gate pause/stop interfaces, are consumed by fixed names (/control/external_cmd_selector/, /control/vehicle_cmd_gate/). Exposing them as module ports under those names keeps the exported topics stable while the nodes sit in nested unit modules; the operation mode transition manager's compatibility inputs are

File truncated at 100 lines see the full file

Launch files

  • launch/command_gate/command_gate.launch.xml
      • 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]
      • 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_gate_param_path [default: $(find-pkg-share autoware_trajectory_gate)/config/trajectory_gate.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: /control/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

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Services

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Plugins

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autoware_control_launch package from autoware_launch repo

autoware_launch autoware_sample_designs autoware_control_config autoware_control_launch autoware_localization_config autoware_localization_launch autoware_map_config autoware_map_launch autoware_perception_config autoware_perception_launch autoware_planning_config autoware_planning_launch autoware_sensing_launch autoware_sensor_driver_launch awsim_labs_sensor_kit_description awsim_labs_sensor_kit_launch awsim_sensor_kit_description awsim_sensor_kit_launch carla_sensor_kit_description carla_sensor_kit_launch sample_sensor_kit_description sample_sensor_kit_launch single_lidar_sensor_kit_description single_lidar_sensor_kit_launch tier4_autoware_api_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch awsim_labs_vehicle_description awsim_labs_vehicle_launch sample_vehicle_description sample_vehicle_launch

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Package Summary

Version 0.53.0
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 2026-10-26
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_universe_launch/autoware_control_launch/README.md

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

autoware_control_launch

Launch files

  • control.launch.xml — the entry point. It includes the module preset, resolves every parameter file, pushes the control namespace and creates the two containers (control_container for the command path, control_check_container for 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 are input/* arguments, so the unit can also drive a standalone follower container.
  • command_gate/command_gate.launch.xml — the control command gate with the stop mode operator, plus the shift decider and the operation mode transition manager. input/control_cmd and output/*_cmd are 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 its launch_* 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

0.53.0 (2026-10-13)

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

  • feat(autoware_sample_designs): compose the AD API, system and vehicle components from design modules (#1976)

    * fix(control, planning): connect the operation mode state and velocity limit inputs Wires collision_detector's operation_mode_state and remaining_distance_time_calculator's planning_velocity through the module designs; their node designs now declare the fixed topic names as remap targets.

    * fix(planning): connect the internal velocity limit path to the selector Forwards motion_velocity_planner's velocity_limit and clear_velocity_limit up to ScenarioPlanning and feeds them into external_velocity_limit_selector, whose internal inputs were unconnected.

    * fix(control, planning): connect the remaining module inputs to their sources Wires the operation mode transition manager's gate and selector inputs, the stop mode operator's vehicle status, the manual lane change handler's route availability and preferred primitive service, the parking costmap, and the route marker. Exposes the vehicle control mode service, the preferred lane service and the system hazard lights command as component interfaces.

    • fix(planning): follow the hazard lights selector input rename
    • fix(planning): add steering_status subscriber to various planning modules
    • feat(vehicle): add vehicle wrapper and launch file for vehicle interface
    • style(pre-commit): autofix
    • fix(planning): add planning factors publishers and connections for various modules
    • refactor(autoware_sample_designs): compose the AD API from design modules
    • Refactor ADAPI module structure and enhance planning factors
    • Updated AdapiRvizHelpers.module.yaml to include helper prefixes for instances and connections.
    • Modified AutowareSample.system.yaml to reorganize ADAPI components, introducing default_adapi for better structure.
    • Expanded planning factors in Planning.module.yaml, LaneDriving.module.yaml, ScenarioPlanning.module.yaml, and associated modules to include additional factors for improved behavior and motion planning.
    • Enhanced connections in behavior planning and motion planning modules to accommodate new planning factors.
    • Ensured consistency across scenario planning modules by aligning publisher and subscriber connections for new planning factors.
    • refactor: reorganize clients and servers in module configurations
    • fix(control): drop the collision detector operation mode link bound globally by the node design
    • implement system modules
    • vehicle modules and nodes, need validations
    • fix api topic remapped
    • reorganize to adapi and api
    • fix: update perception obstacle segmentation filters for clarity and functionality

    * refactor: update trigger conditions and outcomes in topic tools configuration ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • refactor(control): split control.launch.xml into data-flow units with mirrored design modules (#1965)

    * refactor(control): split control.launch.xml into trajectory_follower, command_gate, external_command and control_checker units The entry page keeps the preset, the parameter paths, the control namespace and the two containers; each unit owns one cluster of the data-flow graph and exposes its boundary topics as input/output arguments plus target_container for process placement. Node names, namespaces, topics and parameters are unchanged (launch-resolution diff against the previous launcher is empty for the default, dlr_control_validator, control_command_gate, pure_pursuit, optional-checker, smart_mpc and follower=none variants).

    * refactor(control): mirror the launch units as CommandGate, ExternalCommand and ControlChecker design modules Control.module now instantiates the four unit modules and the evaluator; node instance names are unchanged. The sample system node_groups address the nested instance paths, fixing the stale operation_mode_transition_manager and lane_departure_checker entries that matched nothing.

    * refactor(control): expose the fixed-name control interfaces as Control.module ports The selector mode topic and service, and the gate pause/stop interfaces, are consumed by fixed names (/control/external_cmd_selector/, /control/vehicle_cmd_gate/). Exposing them as module ports under those names keeps the exported topics stable while the nodes sit in nested unit modules; the operation mode transition manager's compatibility inputs are

File truncated at 100 lines see the full file

Launch files

  • launch/command_gate/command_gate.launch.xml
      • 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]
      • 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_gate_param_path [default: $(find-pkg-share autoware_trajectory_gate)/config/trajectory_gate.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: /control/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

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Services

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Plugins

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Package symbol

autoware_control_launch package from autoware_launch repo

autoware_launch autoware_sample_designs autoware_control_config autoware_control_launch autoware_localization_config autoware_localization_launch autoware_map_config autoware_map_launch autoware_perception_config autoware_perception_launch autoware_planning_config autoware_planning_launch autoware_sensing_launch autoware_sensor_driver_launch awsim_labs_sensor_kit_description awsim_labs_sensor_kit_launch awsim_sensor_kit_description awsim_sensor_kit_launch carla_sensor_kit_description carla_sensor_kit_launch sample_sensor_kit_description sample_sensor_kit_launch single_lidar_sensor_kit_description single_lidar_sensor_kit_launch tier4_autoware_api_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch awsim_labs_vehicle_description awsim_labs_vehicle_launch sample_vehicle_description sample_vehicle_launch

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
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 2026-10-26
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_universe_launch/autoware_control_launch/README.md

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

autoware_control_launch

Launch files

  • control.launch.xml — the entry point. It includes the module preset, resolves every parameter file, pushes the control namespace and creates the two containers (control_container for the command path, control_check_container for 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 are input/* arguments, so the unit can also drive a standalone follower container.
  • command_gate/command_gate.launch.xml — the control command gate with the stop mode operator, plus the shift decider and the operation mode transition manager. input/control_cmd and output/*_cmd are 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 its launch_* 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

0.53.0 (2026-10-13)

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

  • feat(autoware_sample_designs): compose the AD API, system and vehicle components from design modules (#1976)

    * fix(control, planning): connect the operation mode state and velocity limit inputs Wires collision_detector's operation_mode_state and remaining_distance_time_calculator's planning_velocity through the module designs; their node designs now declare the fixed topic names as remap targets.

    * fix(planning): connect the internal velocity limit path to the selector Forwards motion_velocity_planner's velocity_limit and clear_velocity_limit up to ScenarioPlanning and feeds them into external_velocity_limit_selector, whose internal inputs were unconnected.

    * fix(control, planning): connect the remaining module inputs to their sources Wires the operation mode transition manager's gate and selector inputs, the stop mode operator's vehicle status, the manual lane change handler's route availability and preferred primitive service, the parking costmap, and the route marker. Exposes the vehicle control mode service, the preferred lane service and the system hazard lights command as component interfaces.

    • fix(planning): follow the hazard lights selector input rename
    • fix(planning): add steering_status subscriber to various planning modules
    • feat(vehicle): add vehicle wrapper and launch file for vehicle interface
    • style(pre-commit): autofix
    • fix(planning): add planning factors publishers and connections for various modules
    • refactor(autoware_sample_designs): compose the AD API from design modules
    • Refactor ADAPI module structure and enhance planning factors
    • Updated AdapiRvizHelpers.module.yaml to include helper prefixes for instances and connections.
    • Modified AutowareSample.system.yaml to reorganize ADAPI components, introducing default_adapi for better structure.
    • Expanded planning factors in Planning.module.yaml, LaneDriving.module.yaml, ScenarioPlanning.module.yaml, and associated modules to include additional factors for improved behavior and motion planning.
    • Enhanced connections in behavior planning and motion planning modules to accommodate new planning factors.
    • Ensured consistency across scenario planning modules by aligning publisher and subscriber connections for new planning factors.
    • refactor: reorganize clients and servers in module configurations
    • fix(control): drop the collision detector operation mode link bound globally by the node design
    • implement system modules
    • vehicle modules and nodes, need validations
    • fix api topic remapped
    • reorganize to adapi and api
    • fix: update perception obstacle segmentation filters for clarity and functionality

    * refactor: update trigger conditions and outcomes in topic tools configuration ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • refactor(control): split control.launch.xml into data-flow units with mirrored design modules (#1965)

    * refactor(control): split control.launch.xml into trajectory_follower, command_gate, external_command and control_checker units The entry page keeps the preset, the parameter paths, the control namespace and the two containers; each unit owns one cluster of the data-flow graph and exposes its boundary topics as input/output arguments plus target_container for process placement. Node names, namespaces, topics and parameters are unchanged (launch-resolution diff against the previous launcher is empty for the default, dlr_control_validator, control_command_gate, pure_pursuit, optional-checker, smart_mpc and follower=none variants).

    * refactor(control): mirror the launch units as CommandGate, ExternalCommand and ControlChecker design modules Control.module now instantiates the four unit modules and the evaluator; node instance names are unchanged. The sample system node_groups address the nested instance paths, fixing the stale operation_mode_transition_manager and lane_departure_checker entries that matched nothing.

    * refactor(control): expose the fixed-name control interfaces as Control.module ports The selector mode topic and service, and the gate pause/stop interfaces, are consumed by fixed names (/control/external_cmd_selector/, /control/vehicle_cmd_gate/). Exposing them as module ports under those names keeps the exported topics stable while the nodes sit in nested unit modules; the operation mode transition manager's compatibility inputs are

File truncated at 100 lines see the full file

Launch files

  • launch/command_gate/command_gate.launch.xml
      • 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]
      • 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_gate_param_path [default: $(find-pkg-share autoware_trajectory_gate)/config/trajectory_gate.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: /control/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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autoware_control_launch package from autoware_launch repo

autoware_launch autoware_sample_designs autoware_control_config autoware_control_launch autoware_localization_config autoware_localization_launch autoware_map_config autoware_map_launch autoware_perception_config autoware_perception_launch autoware_planning_config autoware_planning_launch autoware_sensing_launch autoware_sensor_driver_launch awsim_labs_sensor_kit_description awsim_labs_sensor_kit_launch awsim_sensor_kit_description awsim_sensor_kit_launch carla_sensor_kit_description carla_sensor_kit_launch sample_sensor_kit_description sample_sensor_kit_launch single_lidar_sensor_kit_description single_lidar_sensor_kit_launch tier4_autoware_api_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch awsim_labs_vehicle_description awsim_labs_vehicle_launch sample_vehicle_description sample_vehicle_launch

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
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 2026-10-26
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_universe_launch/autoware_control_launch/README.md

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

autoware_control_launch

Launch files

  • control.launch.xml — the entry point. It includes the module preset, resolves every parameter file, pushes the control namespace and creates the two containers (control_container for the command path, control_check_container for 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 are input/* arguments, so the unit can also drive a standalone follower container.
  • command_gate/command_gate.launch.xml — the control command gate with the stop mode operator, plus the shift decider and the operation mode transition manager. input/control_cmd and output/*_cmd are 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 its launch_* 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

0.53.0 (2026-10-13)

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

  • feat(autoware_sample_designs): compose the AD API, system and vehicle components from design modules (#1976)

    * fix(control, planning): connect the operation mode state and velocity limit inputs Wires collision_detector's operation_mode_state and remaining_distance_time_calculator's planning_velocity through the module designs; their node designs now declare the fixed topic names as remap targets.

    * fix(planning): connect the internal velocity limit path to the selector Forwards motion_velocity_planner's velocity_limit and clear_velocity_limit up to ScenarioPlanning and feeds them into external_velocity_limit_selector, whose internal inputs were unconnected.

    * fix(control, planning): connect the remaining module inputs to their sources Wires the operation mode transition manager's gate and selector inputs, the stop mode operator's vehicle status, the manual lane change handler's route availability and preferred primitive service, the parking costmap, and the route marker. Exposes the vehicle control mode service, the preferred lane service and the system hazard lights command as component interfaces.

    • fix(planning): follow the hazard lights selector input rename
    • fix(planning): add steering_status subscriber to various planning modules
    • feat(vehicle): add vehicle wrapper and launch file for vehicle interface
    • style(pre-commit): autofix
    • fix(planning): add planning factors publishers and connections for various modules
    • refactor(autoware_sample_designs): compose the AD API from design modules
    • Refactor ADAPI module structure and enhance planning factors
    • Updated AdapiRvizHelpers.module.yaml to include helper prefixes for instances and connections.
    • Modified AutowareSample.system.yaml to reorganize ADAPI components, introducing default_adapi for better structure.
    • Expanded planning factors in Planning.module.yaml, LaneDriving.module.yaml, ScenarioPlanning.module.yaml, and associated modules to include additional factors for improved behavior and motion planning.
    • Enhanced connections in behavior planning and motion planning modules to accommodate new planning factors.
    • Ensured consistency across scenario planning modules by aligning publisher and subscriber connections for new planning factors.
    • refactor: reorganize clients and servers in module configurations
    • fix(control): drop the collision detector operation mode link bound globally by the node design
    • implement system modules
    • vehicle modules and nodes, need validations
    • fix api topic remapped
    • reorganize to adapi and api
    • fix: update perception obstacle segmentation filters for clarity and functionality

    * refactor: update trigger conditions and outcomes in topic tools configuration ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • refactor(control): split control.launch.xml into data-flow units with mirrored design modules (#1965)

    * refactor(control): split control.launch.xml into trajectory_follower, command_gate, external_command and control_checker units The entry page keeps the preset, the parameter paths, the control namespace and the two containers; each unit owns one cluster of the data-flow graph and exposes its boundary topics as input/output arguments plus target_container for process placement. Node names, namespaces, topics and parameters are unchanged (launch-resolution diff against the previous launcher is empty for the default, dlr_control_validator, control_command_gate, pure_pursuit, optional-checker, smart_mpc and follower=none variants).

    * refactor(control): mirror the launch units as CommandGate, ExternalCommand and ControlChecker design modules Control.module now instantiates the four unit modules and the evaluator; node instance names are unchanged. The sample system node_groups address the nested instance paths, fixing the stale operation_mode_transition_manager and lane_departure_checker entries that matched nothing.

    * refactor(control): expose the fixed-name control interfaces as Control.module ports The selector mode topic and service, and the gate pause/stop interfaces, are consumed by fixed names (/control/external_cmd_selector/, /control/vehicle_cmd_gate/). Exposing them as module ports under those names keeps the exported topics stable while the nodes sit in nested unit modules; the operation mode transition manager's compatibility inputs are

File truncated at 100 lines see the full file

Launch files

  • launch/command_gate/command_gate.launch.xml
      • 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]
      • 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_gate_param_path [default: $(find-pkg-share autoware_trajectory_gate)/config/trajectory_gate.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: /control/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

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Services

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Plugins

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autoware_control_launch package from autoware_launch repo

autoware_launch autoware_sample_designs autoware_control_config autoware_control_launch autoware_localization_config autoware_localization_launch autoware_map_config autoware_map_launch autoware_perception_config autoware_perception_launch autoware_planning_config autoware_planning_launch autoware_sensing_launch autoware_sensor_driver_launch awsim_labs_sensor_kit_description awsim_labs_sensor_kit_launch awsim_sensor_kit_description awsim_sensor_kit_launch carla_sensor_kit_description carla_sensor_kit_launch sample_sensor_kit_description sample_sensor_kit_launch single_lidar_sensor_kit_description single_lidar_sensor_kit_launch tier4_autoware_api_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch awsim_labs_vehicle_description awsim_labs_vehicle_launch sample_vehicle_description sample_vehicle_launch

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Package Summary

Version 0.53.0
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 2026-10-26
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_universe_launch/autoware_control_launch/README.md

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

autoware_control_launch

Launch files

  • control.launch.xml — the entry point. It includes the module preset, resolves every parameter file, pushes the control namespace and creates the two containers (control_container for the command path, control_check_container for 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 are input/* arguments, so the unit can also drive a standalone follower container.
  • command_gate/command_gate.launch.xml — the control command gate with the stop mode operator, plus the shift decider and the operation mode transition manager. input/control_cmd and output/*_cmd are 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 its launch_* 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

0.53.0 (2026-10-13)

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

  • feat(autoware_sample_designs): compose the AD API, system and vehicle components from design modules (#1976)

    * fix(control, planning): connect the operation mode state and velocity limit inputs Wires collision_detector's operation_mode_state and remaining_distance_time_calculator's planning_velocity through the module designs; their node designs now declare the fixed topic names as remap targets.

    * fix(planning): connect the internal velocity limit path to the selector Forwards motion_velocity_planner's velocity_limit and clear_velocity_limit up to ScenarioPlanning and feeds them into external_velocity_limit_selector, whose internal inputs were unconnected.

    * fix(control, planning): connect the remaining module inputs to their sources Wires the operation mode transition manager's gate and selector inputs, the stop mode operator's vehicle status, the manual lane change handler's route availability and preferred primitive service, the parking costmap, and the route marker. Exposes the vehicle control mode service, the preferred lane service and the system hazard lights command as component interfaces.

    • fix(planning): follow the hazard lights selector input rename
    • fix(planning): add steering_status subscriber to various planning modules
    • feat(vehicle): add vehicle wrapper and launch file for vehicle interface
    • style(pre-commit): autofix
    • fix(planning): add planning factors publishers and connections for various modules
    • refactor(autoware_sample_designs): compose the AD API from design modules
    • Refactor ADAPI module structure and enhance planning factors
    • Updated AdapiRvizHelpers.module.yaml to include helper prefixes for instances and connections.
    • Modified AutowareSample.system.yaml to reorganize ADAPI components, introducing default_adapi for better structure.
    • Expanded planning factors in Planning.module.yaml, LaneDriving.module.yaml, ScenarioPlanning.module.yaml, and associated modules to include additional factors for improved behavior and motion planning.
    • Enhanced connections in behavior planning and motion planning modules to accommodate new planning factors.
    • Ensured consistency across scenario planning modules by aligning publisher and subscriber connections for new planning factors.
    • refactor: reorganize clients and servers in module configurations
    • fix(control): drop the collision detector operation mode link bound globally by the node design
    • implement system modules
    • vehicle modules and nodes, need validations
    • fix api topic remapped
    • reorganize to adapi and api
    • fix: update perception obstacle segmentation filters for clarity and functionality

    * refactor: update trigger conditions and outcomes in topic tools configuration ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • refactor(control): split control.launch.xml into data-flow units with mirrored design modules (#1965)

    * refactor(control): split control.launch.xml into trajectory_follower, command_gate, external_command and control_checker units The entry page keeps the preset, the parameter paths, the control namespace and the two containers; each unit owns one cluster of the data-flow graph and exposes its boundary topics as input/output arguments plus target_container for process placement. Node names, namespaces, topics and parameters are unchanged (launch-resolution diff against the previous launcher is empty for the default, dlr_control_validator, control_command_gate, pure_pursuit, optional-checker, smart_mpc and follower=none variants).

    * refactor(control): mirror the launch units as CommandGate, ExternalCommand and ControlChecker design modules Control.module now instantiates the four unit modules and the evaluator; node instance names are unchanged. The sample system node_groups address the nested instance paths, fixing the stale operation_mode_transition_manager and lane_departure_checker entries that matched nothing.

    * refactor(control): expose the fixed-name control interfaces as Control.module ports The selector mode topic and service, and the gate pause/stop interfaces, are consumed by fixed names (/control/external_cmd_selector/, /control/vehicle_cmd_gate/). Exposing them as module ports under those names keeps the exported topics stable while the nodes sit in nested unit modules; the operation mode transition manager's compatibility inputs are

File truncated at 100 lines see the full file

Launch files

  • launch/command_gate/command_gate.launch.xml
      • 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]
      • 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_gate_param_path [default: $(find-pkg-share autoware_trajectory_gate)/config/trajectory_gate.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: /control/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

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Services

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Plugins

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autoware_control_launch package from autoware_launch repo

autoware_launch autoware_sample_designs autoware_control_config autoware_control_launch autoware_localization_config autoware_localization_launch autoware_map_config autoware_map_launch autoware_perception_config autoware_perception_launch autoware_planning_config autoware_planning_launch autoware_sensing_launch autoware_sensor_driver_launch awsim_labs_sensor_kit_description awsim_labs_sensor_kit_launch awsim_sensor_kit_description awsim_sensor_kit_launch carla_sensor_kit_description carla_sensor_kit_launch sample_sensor_kit_description sample_sensor_kit_launch single_lidar_sensor_kit_description single_lidar_sensor_kit_launch tier4_autoware_api_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch awsim_labs_vehicle_description awsim_labs_vehicle_launch sample_vehicle_description sample_vehicle_launch

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
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 2026-10-26
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_universe_launch/autoware_control_launch/README.md

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

autoware_control_launch

Launch files

  • control.launch.xml — the entry point. It includes the module preset, resolves every parameter file, pushes the control namespace and creates the two containers (control_container for the command path, control_check_container for 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 are input/* arguments, so the unit can also drive a standalone follower container.
  • command_gate/command_gate.launch.xml — the control command gate with the stop mode operator, plus the shift decider and the operation mode transition manager. input/control_cmd and output/*_cmd are 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 its launch_* 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

0.53.0 (2026-10-13)

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

  • feat(autoware_sample_designs): compose the AD API, system and vehicle components from design modules (#1976)

    * fix(control, planning): connect the operation mode state and velocity limit inputs Wires collision_detector's operation_mode_state and remaining_distance_time_calculator's planning_velocity through the module designs; their node designs now declare the fixed topic names as remap targets.

    * fix(planning): connect the internal velocity limit path to the selector Forwards motion_velocity_planner's velocity_limit and clear_velocity_limit up to ScenarioPlanning and feeds them into external_velocity_limit_selector, whose internal inputs were unconnected.

    * fix(control, planning): connect the remaining module inputs to their sources Wires the operation mode transition manager's gate and selector inputs, the stop mode operator's vehicle status, the manual lane change handler's route availability and preferred primitive service, the parking costmap, and the route marker. Exposes the vehicle control mode service, the preferred lane service and the system hazard lights command as component interfaces.

    • fix(planning): follow the hazard lights selector input rename
    • fix(planning): add steering_status subscriber to various planning modules
    • feat(vehicle): add vehicle wrapper and launch file for vehicle interface
    • style(pre-commit): autofix
    • fix(planning): add planning factors publishers and connections for various modules
    • refactor(autoware_sample_designs): compose the AD API from design modules
    • Refactor ADAPI module structure and enhance planning factors
    • Updated AdapiRvizHelpers.module.yaml to include helper prefixes for instances and connections.
    • Modified AutowareSample.system.yaml to reorganize ADAPI components, introducing default_adapi for better structure.
    • Expanded planning factors in Planning.module.yaml, LaneDriving.module.yaml, ScenarioPlanning.module.yaml, and associated modules to include additional factors for improved behavior and motion planning.
    • Enhanced connections in behavior planning and motion planning modules to accommodate new planning factors.
    • Ensured consistency across scenario planning modules by aligning publisher and subscriber connections for new planning factors.
    • refactor: reorganize clients and servers in module configurations
    • fix(control): drop the collision detector operation mode link bound globally by the node design
    • implement system modules
    • vehicle modules and nodes, need validations
    • fix api topic remapped
    • reorganize to adapi and api
    • fix: update perception obstacle segmentation filters for clarity and functionality

    * refactor: update trigger conditions and outcomes in topic tools configuration ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • refactor(control): split control.launch.xml into data-flow units with mirrored design modules (#1965)

    * refactor(control): split control.launch.xml into trajectory_follower, command_gate, external_command and control_checker units The entry page keeps the preset, the parameter paths, the control namespace and the two containers; each unit owns one cluster of the data-flow graph and exposes its boundary topics as input/output arguments plus target_container for process placement. Node names, namespaces, topics and parameters are unchanged (launch-resolution diff against the previous launcher is empty for the default, dlr_control_validator, control_command_gate, pure_pursuit, optional-checker, smart_mpc and follower=none variants).

    * refactor(control): mirror the launch units as CommandGate, ExternalCommand and ControlChecker design modules Control.module now instantiates the four unit modules and the evaluator; node instance names are unchanged. The sample system node_groups address the nested instance paths, fixing the stale operation_mode_transition_manager and lane_departure_checker entries that matched nothing.

    * refactor(control): expose the fixed-name control interfaces as Control.module ports The selector mode topic and service, and the gate pause/stop interfaces, are consumed by fixed names (/control/external_cmd_selector/, /control/vehicle_cmd_gate/). Exposing them as module ports under those names keeps the exported topics stable while the nodes sit in nested unit modules; the operation mode transition manager's compatibility inputs are

File truncated at 100 lines see the full file

Launch files

  • launch/command_gate/command_gate.launch.xml
      • 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]
      • 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_gate_param_path [default: $(find-pkg-share autoware_trajectory_gate)/config/trajectory_gate.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: /control/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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autoware_control_launch package from autoware_launch repo

autoware_launch autoware_sample_designs autoware_control_config autoware_control_launch autoware_localization_config autoware_localization_launch autoware_map_config autoware_map_launch autoware_perception_config autoware_perception_launch autoware_planning_config autoware_planning_launch autoware_sensing_launch autoware_sensor_driver_launch awsim_labs_sensor_kit_description awsim_labs_sensor_kit_launch awsim_sensor_kit_description awsim_sensor_kit_launch carla_sensor_kit_description carla_sensor_kit_launch sample_sensor_kit_description sample_sensor_kit_launch single_lidar_sensor_kit_description single_lidar_sensor_kit_launch tier4_autoware_api_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch awsim_labs_vehicle_description awsim_labs_vehicle_launch sample_vehicle_description sample_vehicle_launch

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
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 2026-10-26
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_universe_launch/autoware_control_launch/README.md

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

autoware_control_launch

Launch files

  • control.launch.xml — the entry point. It includes the module preset, resolves every parameter file, pushes the control namespace and creates the two containers (control_container for the command path, control_check_container for 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 are input/* arguments, so the unit can also drive a standalone follower container.
  • command_gate/command_gate.launch.xml — the control command gate with the stop mode operator, plus the shift decider and the operation mode transition manager. input/control_cmd and output/*_cmd are 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 its launch_* 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

0.53.0 (2026-10-13)

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

  • feat(autoware_sample_designs): compose the AD API, system and vehicle components from design modules (#1976)

    * fix(control, planning): connect the operation mode state and velocity limit inputs Wires collision_detector's operation_mode_state and remaining_distance_time_calculator's planning_velocity through the module designs; their node designs now declare the fixed topic names as remap targets.

    * fix(planning): connect the internal velocity limit path to the selector Forwards motion_velocity_planner's velocity_limit and clear_velocity_limit up to ScenarioPlanning and feeds them into external_velocity_limit_selector, whose internal inputs were unconnected.

    * fix(control, planning): connect the remaining module inputs to their sources Wires the operation mode transition manager's gate and selector inputs, the stop mode operator's vehicle status, the manual lane change handler's route availability and preferred primitive service, the parking costmap, and the route marker. Exposes the vehicle control mode service, the preferred lane service and the system hazard lights command as component interfaces.

    • fix(planning): follow the hazard lights selector input rename
    • fix(planning): add steering_status subscriber to various planning modules
    • feat(vehicle): add vehicle wrapper and launch file for vehicle interface
    • style(pre-commit): autofix
    • fix(planning): add planning factors publishers and connections for various modules
    • refactor(autoware_sample_designs): compose the AD API from design modules
    • Refactor ADAPI module structure and enhance planning factors
    • Updated AdapiRvizHelpers.module.yaml to include helper prefixes for instances and connections.
    • Modified AutowareSample.system.yaml to reorganize ADAPI components, introducing default_adapi for better structure.
    • Expanded planning factors in Planning.module.yaml, LaneDriving.module.yaml, ScenarioPlanning.module.yaml, and associated modules to include additional factors for improved behavior and motion planning.
    • Enhanced connections in behavior planning and motion planning modules to accommodate new planning factors.
    • Ensured consistency across scenario planning modules by aligning publisher and subscriber connections for new planning factors.
    • refactor: reorganize clients and servers in module configurations
    • fix(control): drop the collision detector operation mode link bound globally by the node design
    • implement system modules
    • vehicle modules and nodes, need validations
    • fix api topic remapped
    • reorganize to adapi and api
    • fix: update perception obstacle segmentation filters for clarity and functionality

    * refactor: update trigger conditions and outcomes in topic tools configuration ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • refactor(control): split control.launch.xml into data-flow units with mirrored design modules (#1965)

    * refactor(control): split control.launch.xml into trajectory_follower, command_gate, external_command and control_checker units The entry page keeps the preset, the parameter paths, the control namespace and the two containers; each unit owns one cluster of the data-flow graph and exposes its boundary topics as input/output arguments plus target_container for process placement. Node names, namespaces, topics and parameters are unchanged (launch-resolution diff against the previous launcher is empty for the default, dlr_control_validator, control_command_gate, pure_pursuit, optional-checker, smart_mpc and follower=none variants).

    * refactor(control): mirror the launch units as CommandGate, ExternalCommand and ControlChecker design modules Control.module now instantiates the four unit modules and the evaluator; node instance names are unchanged. The sample system node_groups address the nested instance paths, fixing the stale operation_mode_transition_manager and lane_departure_checker entries that matched nothing.

    * refactor(control): expose the fixed-name control interfaces as Control.module ports The selector mode topic and service, and the gate pause/stop interfaces, are consumed by fixed names (/control/external_cmd_selector/, /control/vehicle_cmd_gate/). Exposing them as module ports under those names keeps the exported topics stable while the nodes sit in nested unit modules; the operation mode transition manager's compatibility inputs are

File truncated at 100 lines see the full file

Launch files

  • launch/command_gate/command_gate.launch.xml
      • 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]
      • 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_gate_param_path [default: $(find-pkg-share autoware_trajectory_gate)/config/trajectory_gate.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: /control/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

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Services

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Plugins

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autoware_control_launch package from autoware_launch repo

autoware_launch autoware_sample_designs autoware_control_config autoware_control_launch autoware_localization_config autoware_localization_launch autoware_map_config autoware_map_launch autoware_perception_config autoware_perception_launch autoware_planning_config autoware_planning_launch autoware_sensing_launch autoware_sensor_driver_launch awsim_labs_sensor_kit_description awsim_labs_sensor_kit_launch awsim_sensor_kit_description awsim_sensor_kit_launch carla_sensor_kit_description carla_sensor_kit_launch sample_sensor_kit_description sample_sensor_kit_launch single_lidar_sensor_kit_description single_lidar_sensor_kit_launch tier4_autoware_api_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch awsim_labs_vehicle_description awsim_labs_vehicle_launch sample_vehicle_description sample_vehicle_launch

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Package Summary

Version 0.53.0
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 2026-10-26
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_universe_launch/autoware_control_launch/README.md

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

autoware_control_launch

Launch files

  • control.launch.xml — the entry point. It includes the module preset, resolves every parameter file, pushes the control namespace and creates the two containers (control_container for the command path, control_check_container for 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 are input/* arguments, so the unit can also drive a standalone follower container.
  • command_gate/command_gate.launch.xml — the control command gate with the stop mode operator, plus the shift decider and the operation mode transition manager. input/control_cmd and output/*_cmd are 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 its launch_* 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

0.53.0 (2026-10-13)

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

  • feat(autoware_sample_designs): compose the AD API, system and vehicle components from design modules (#1976)

    * fix(control, planning): connect the operation mode state and velocity limit inputs Wires collision_detector's operation_mode_state and remaining_distance_time_calculator's planning_velocity through the module designs; their node designs now declare the fixed topic names as remap targets.

    * fix(planning): connect the internal velocity limit path to the selector Forwards motion_velocity_planner's velocity_limit and clear_velocity_limit up to ScenarioPlanning and feeds them into external_velocity_limit_selector, whose internal inputs were unconnected.

    * fix(control, planning): connect the remaining module inputs to their sources Wires the operation mode transition manager's gate and selector inputs, the stop mode operator's vehicle status, the manual lane change handler's route availability and preferred primitive service, the parking costmap, and the route marker. Exposes the vehicle control mode service, the preferred lane service and the system hazard lights command as component interfaces.

    • fix(planning): follow the hazard lights selector input rename
    • fix(planning): add steering_status subscriber to various planning modules
    • feat(vehicle): add vehicle wrapper and launch file for vehicle interface
    • style(pre-commit): autofix
    • fix(planning): add planning factors publishers and connections for various modules
    • refactor(autoware_sample_designs): compose the AD API from design modules
    • Refactor ADAPI module structure and enhance planning factors
    • Updated AdapiRvizHelpers.module.yaml to include helper prefixes for instances and connections.
    • Modified AutowareSample.system.yaml to reorganize ADAPI components, introducing default_adapi for better structure.
    • Expanded planning factors in Planning.module.yaml, LaneDriving.module.yaml, ScenarioPlanning.module.yaml, and associated modules to include additional factors for improved behavior and motion planning.
    • Enhanced connections in behavior planning and motion planning modules to accommodate new planning factors.
    • Ensured consistency across scenario planning modules by aligning publisher and subscriber connections for new planning factors.
    • refactor: reorganize clients and servers in module configurations
    • fix(control): drop the collision detector operation mode link bound globally by the node design
    • implement system modules
    • vehicle modules and nodes, need validations
    • fix api topic remapped
    • reorganize to adapi and api
    • fix: update perception obstacle segmentation filters for clarity and functionality

    * refactor: update trigger conditions and outcomes in topic tools configuration ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • refactor(control): split control.launch.xml into data-flow units with mirrored design modules (#1965)

    * refactor(control): split control.launch.xml into trajectory_follower, command_gate, external_command and control_checker units The entry page keeps the preset, the parameter paths, the control namespace and the two containers; each unit owns one cluster of the data-flow graph and exposes its boundary topics as input/output arguments plus target_container for process placement. Node names, namespaces, topics and parameters are unchanged (launch-resolution diff against the previous launcher is empty for the default, dlr_control_validator, control_command_gate, pure_pursuit, optional-checker, smart_mpc and follower=none variants).

    * refactor(control): mirror the launch units as CommandGate, ExternalCommand and ControlChecker design modules Control.module now instantiates the four unit modules and the evaluator; node instance names are unchanged. The sample system node_groups address the nested instance paths, fixing the stale operation_mode_transition_manager and lane_departure_checker entries that matched nothing.

    * refactor(control): expose the fixed-name control interfaces as Control.module ports The selector mode topic and service, and the gate pause/stop interfaces, are consumed by fixed names (/control/external_cmd_selector/, /control/vehicle_cmd_gate/). Exposing them as module ports under those names keeps the exported topics stable while the nodes sit in nested unit modules; the operation mode transition manager's compatibility inputs are

File truncated at 100 lines see the full file

Launch files

  • launch/command_gate/command_gate.launch.xml
      • 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]
      • 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_gate_param_path [default: $(find-pkg-share autoware_trajectory_gate)/config/trajectory_gate.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: /control/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

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Recent questions tagged autoware_control_launch at Robotics Stack Exchange

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autoware_control_launch package from autoware_launch repo

autoware_launch autoware_sample_designs autoware_control_config autoware_control_launch autoware_localization_config autoware_localization_launch autoware_map_config autoware_map_launch autoware_perception_config autoware_perception_launch autoware_planning_config autoware_planning_launch autoware_sensing_launch autoware_sensor_driver_launch awsim_labs_sensor_kit_description awsim_labs_sensor_kit_launch awsim_sensor_kit_description awsim_sensor_kit_launch carla_sensor_kit_description carla_sensor_kit_launch sample_sensor_kit_description sample_sensor_kit_launch single_lidar_sensor_kit_description single_lidar_sensor_kit_launch tier4_autoware_api_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch awsim_labs_vehicle_description awsim_labs_vehicle_launch sample_vehicle_description sample_vehicle_launch

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Package Summary

Version 0.53.0
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 2026-10-26
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_universe_launch/autoware_control_launch/README.md

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

autoware_control_launch

Launch files

  • control.launch.xml — the entry point. It includes the module preset, resolves every parameter file, pushes the control namespace and creates the two containers (control_container for the command path, control_check_container for 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 are input/* arguments, so the unit can also drive a standalone follower container.
  • command_gate/command_gate.launch.xml — the control command gate with the stop mode operator, plus the shift decider and the operation mode transition manager. input/control_cmd and output/*_cmd are 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 its launch_* 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

0.53.0 (2026-10-13)

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

  • feat(autoware_sample_designs): compose the AD API, system and vehicle components from design modules (#1976)

    * fix(control, planning): connect the operation mode state and velocity limit inputs Wires collision_detector's operation_mode_state and remaining_distance_time_calculator's planning_velocity through the module designs; their node designs now declare the fixed topic names as remap targets.

    * fix(planning): connect the internal velocity limit path to the selector Forwards motion_velocity_planner's velocity_limit and clear_velocity_limit up to ScenarioPlanning and feeds them into external_velocity_limit_selector, whose internal inputs were unconnected.

    * fix(control, planning): connect the remaining module inputs to their sources Wires the operation mode transition manager's gate and selector inputs, the stop mode operator's vehicle status, the manual lane change handler's route availability and preferred primitive service, the parking costmap, and the route marker. Exposes the vehicle control mode service, the preferred lane service and the system hazard lights command as component interfaces.

    • fix(planning): follow the hazard lights selector input rename
    • fix(planning): add steering_status subscriber to various planning modules
    • feat(vehicle): add vehicle wrapper and launch file for vehicle interface
    • style(pre-commit): autofix
    • fix(planning): add planning factors publishers and connections for various modules
    • refactor(autoware_sample_designs): compose the AD API from design modules
    • Refactor ADAPI module structure and enhance planning factors
    • Updated AdapiRvizHelpers.module.yaml to include helper prefixes for instances and connections.
    • Modified AutowareSample.system.yaml to reorganize ADAPI components, introducing default_adapi for better structure.
    • Expanded planning factors in Planning.module.yaml, LaneDriving.module.yaml, ScenarioPlanning.module.yaml, and associated modules to include additional factors for improved behavior and motion planning.
    • Enhanced connections in behavior planning and motion planning modules to accommodate new planning factors.
    • Ensured consistency across scenario planning modules by aligning publisher and subscriber connections for new planning factors.
    • refactor: reorganize clients and servers in module configurations
    • fix(control): drop the collision detector operation mode link bound globally by the node design
    • implement system modules
    • vehicle modules and nodes, need validations
    • fix api topic remapped
    • reorganize to adapi and api
    • fix: update perception obstacle segmentation filters for clarity and functionality

    * refactor: update trigger conditions and outcomes in topic tools configuration ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • refactor(control): split control.launch.xml into data-flow units with mirrored design modules (#1965)

    * refactor(control): split control.launch.xml into trajectory_follower, command_gate, external_command and control_checker units The entry page keeps the preset, the parameter paths, the control namespace and the two containers; each unit owns one cluster of the data-flow graph and exposes its boundary topics as input/output arguments plus target_container for process placement. Node names, namespaces, topics and parameters are unchanged (launch-resolution diff against the previous launcher is empty for the default, dlr_control_validator, control_command_gate, pure_pursuit, optional-checker, smart_mpc and follower=none variants).

    * refactor(control): mirror the launch units as CommandGate, ExternalCommand and ControlChecker design modules Control.module now instantiates the four unit modules and the evaluator; node instance names are unchanged. The sample system node_groups address the nested instance paths, fixing the stale operation_mode_transition_manager and lane_departure_checker entries that matched nothing.

    * refactor(control): expose the fixed-name control interfaces as Control.module ports The selector mode topic and service, and the gate pause/stop interfaces, are consumed by fixed names (/control/external_cmd_selector/, /control/vehicle_cmd_gate/). Exposing them as module ports under those names keeps the exported topics stable while the nodes sit in nested unit modules; the operation mode transition manager's compatibility inputs are

File truncated at 100 lines see the full file

Launch files

  • launch/command_gate/command_gate.launch.xml
      • 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]
      • 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_gate_param_path [default: $(find-pkg-share autoware_trajectory_gate)/config/trajectory_gate.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: /control/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

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Services

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Plugins

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