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autoware_freespace_planner package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_manual_lane_change_handler autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_trajectory_traffic_rule_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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github

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Package Summary

Version 0.50.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-02-25
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_freespace_planner package

Maintainers

  • Kosuke Takeuchi
  • Alqudah Mohammad

Authors

  • Takamasa Horibe
  • Takayuki Murooka
  • Akihito OHSATO
  • Tomohito ANDO
planning/autoware_freespace_planner/README.md

The autoware_freespace_planner

freespace_planner_node

freespace_planner_node is a global path planner node that plans trajectory in the space having static/dynamic obstacles. This node is currently based on Hybrid A* search algorithm in freespace_planning_algorithms package. Other algorithms such as rrt* will be also added and selectable in the future.

Note Due to the constraint of trajectory following, the output trajectory will be split to include only the single direction path. In other words, the output trajectory doesn’t include both forward and backward trajectories at once.

Input topics

Name Type Description
~input/route autoware_planning_msgs::Route route and goal pose
~input/occupancy_grid nav_msgs::OccupancyGrid costmap, for drivable areas
~input/odometry nav_msgs::Odometry vehicle velocity, for checking whether vehicle is stopped
~input/scenario tier4_planning_msgs::Scenario scenarios to be activated, for node activation

Output topics

Name Type Description
~output/trajectory autoware_planning_msgs::Trajectory trajectory to be followed
is_completed bool (implemented as rosparam) whether all split trajectory are published

Output TFs

None

How to launch

  1. Write your remapping info in freespace_planner.launch or add args when executing roslaunch
  2. roslaunch freespace_planner freespace_planner.launch

Parameters

{{json_to_markdown(“planning/autoware_freespace_planner/schema/freespace_planner.schema.json”)}}

Node parameters

Parameter Type Description
planning_algorithms string algorithms used in the node
vehicle_shape_margin_m float collision margin in planning algorithm
update_rate double timer’s update rate
waypoints_velocity double velocity in output trajectory (currently, only constant velocity is supported)
th_arrived_distance_m double threshold distance to check if vehicle has arrived at the trajectory’s endpoint
th_stopped_time_sec double threshold time to check if vehicle is stopped
th_stopped_velocity_mps double threshold velocity to check if vehicle is stopped
th_course_out_distance_m double threshold distance to check if vehicle is out of course
th_obstacle_time_sec double threshold time to check if obstacle is on the trajectory
vehicle_shape_margin_m double vehicle margin
replan_when_obstacle_found bool whether replanning when obstacle has found on the trajectory
replan_when_course_out bool whether replanning when vehicle is out of course

Planner common parameters

Parameter Type Description
time_limit double time limit of planning
maximum_turning_ratio double max ratio of actual turning range to use
turning_steps double number of turning steps within turning range
theta_size double the number of angle’s discretization
lateral_goal_range double goal range of lateral position
longitudinal_goal_range double goal range of longitudinal position
angle_goal_range double goal range of angle
curve_weight double additional cost factor for curve actions
reverse_weight double additional cost factor for reverse actions
direction_change_weight double additional cost factor for switching direction
obstacle_threshold double threshold for regarding a certain grid as obstacle

A* search parameters

Parameter Type Description
search_method string method of searching, start to goal or vice versa
only_behind_solutions bool whether restricting the solutions to be behind the goal
use_back bool whether using backward trajectory
adapt_expansion_distance bool if true, adapt expansion distance based on environment
expansion_distance double length of expansion for node transitions
near_goal_distance double near goal distance threshold
distance_heuristic_weight double heuristic weight for estimating node’s cost
smoothness_weight double cost factor for change in curvature
obstacle_distance_weight double cost factor for distance to obstacle
goal_lat_distance_weight double cost factor for lateral distance from goal

RRT* search parameters

Parameter Type Description
max planning time double maximum planning time [msec] (used only when enable_update is set true)
enable_update bool whether update after feasible solution found until max_planning time elapse
use_informed_sampling bool Use informed RRT* (of Gammell et al.)
neighbor_radius double neighbor radius of RRT* algorithm

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_freespace_planner

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat!: remove ROS 2 Galactic codes (#11905)
  • Contributors: Ryohsuke Mitsudome

0.49.0 (2025-12-30)

  • Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog

  • fix(freespace_planner): build testing failure (#11759)

  • fix: resolve clock type mismatch in tf2 lookups with simulation time (#11523)

    * fix: resolve clock type mismatch in tf2 transform lookups Replace rclcpp::Time(0) with tf2::TimePointZero in lookupTransform calls to fix clock type conflicts when using simulation time. The issue:

    • rclcpp::Time(0) creates a time with SYSTEM_TIME clock type
    • When nodes run with use_sim_time:=true, transforms use ROS_TIME clock
    • This causes clock type mismatch errors in tf2 lookups

    - Error: "Lookup would require extrapolation into the past" The fix:

    • tf2::TimePointZero is clock-type agnostic
    • Correctly represents "get latest available transform"

    - Also replaced rclcpp::Duration::from_seconds() with tf2::durationFromSec() This bug affects transform lookups in critical safety and planning components, causing runtime errors when simulation time is enabled. Affected packages:

    • autoware_autonomous_emergency_braking
    • autoware_planning_evaluator
    • autoware_freespace_planner

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

  • Contributors: Ryohsuke Mitsudome, Zulfaqar Azmi, ralwing

0.48.0 (2025-11-18)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat(autoware_freespace_planner): utilize all 3 components of velocity (#11427) fix:the stopping speed judgments of freespace_planner and mission_planner are consistent, taking into account the speed in xyz direction Signed-off-by: yangzesong <<15340400289@163.com>> Co-authored-by: yangzesong <<15340400289@163.com>>
  • Contributors: Ryohsuke Mitsudome

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

0.43.0 (2025-03-21)

  • Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43

  • chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)

  • feat: adaption to ROS nodes guidelines about directory structure (#10268)

  • fix(planning): add missing exec_depend (#10134)

    • fix(planning): add missing exec_depend
    • fix find-pkg-share

    * fix find-pkg-share ---------

  • Contributors: Hayato Mizushima, NorahXiong, Takagi, Isamu, Yutaka Kondo

File truncated at 100 lines see the full file

Launch files

  • launch/freespace_planner.launch.xml
      • input_route [default: input_route]
      • input_occupancy_grid [default: input_occupancy_grid]
      • input_scenario [default: input_scenario]
      • input_odometry [default: /localization/kinematic_state]
      • output_trajectory [default: output_trajectory]
      • is_completed [default: is_completed]
      • param_file [default: $(find-pkg-share autoware_freespace_planner)/config/freespace_planner.param.yaml]
      • vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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autoware_freespace_planner package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_manual_lane_change_handler autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_trajectory_traffic_rule_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.50.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-02-25
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_freespace_planner package

Maintainers

  • Kosuke Takeuchi
  • Alqudah Mohammad

Authors

  • Takamasa Horibe
  • Takayuki Murooka
  • Akihito OHSATO
  • Tomohito ANDO
planning/autoware_freespace_planner/README.md

The autoware_freespace_planner

freespace_planner_node

freespace_planner_node is a global path planner node that plans trajectory in the space having static/dynamic obstacles. This node is currently based on Hybrid A* search algorithm in freespace_planning_algorithms package. Other algorithms such as rrt* will be also added and selectable in the future.

Note Due to the constraint of trajectory following, the output trajectory will be split to include only the single direction path. In other words, the output trajectory doesn’t include both forward and backward trajectories at once.

Input topics

Name Type Description
~input/route autoware_planning_msgs::Route route and goal pose
~input/occupancy_grid nav_msgs::OccupancyGrid costmap, for drivable areas
~input/odometry nav_msgs::Odometry vehicle velocity, for checking whether vehicle is stopped
~input/scenario tier4_planning_msgs::Scenario scenarios to be activated, for node activation

Output topics

Name Type Description
~output/trajectory autoware_planning_msgs::Trajectory trajectory to be followed
is_completed bool (implemented as rosparam) whether all split trajectory are published

Output TFs

None

How to launch

  1. Write your remapping info in freespace_planner.launch or add args when executing roslaunch
  2. roslaunch freespace_planner freespace_planner.launch

Parameters

{{json_to_markdown(“planning/autoware_freespace_planner/schema/freespace_planner.schema.json”)}}

Node parameters

Parameter Type Description
planning_algorithms string algorithms used in the node
vehicle_shape_margin_m float collision margin in planning algorithm
update_rate double timer’s update rate
waypoints_velocity double velocity in output trajectory (currently, only constant velocity is supported)
th_arrived_distance_m double threshold distance to check if vehicle has arrived at the trajectory’s endpoint
th_stopped_time_sec double threshold time to check if vehicle is stopped
th_stopped_velocity_mps double threshold velocity to check if vehicle is stopped
th_course_out_distance_m double threshold distance to check if vehicle is out of course
th_obstacle_time_sec double threshold time to check if obstacle is on the trajectory
vehicle_shape_margin_m double vehicle margin
replan_when_obstacle_found bool whether replanning when obstacle has found on the trajectory
replan_when_course_out bool whether replanning when vehicle is out of course

Planner common parameters

Parameter Type Description
time_limit double time limit of planning
maximum_turning_ratio double max ratio of actual turning range to use
turning_steps double number of turning steps within turning range
theta_size double the number of angle’s discretization
lateral_goal_range double goal range of lateral position
longitudinal_goal_range double goal range of longitudinal position
angle_goal_range double goal range of angle
curve_weight double additional cost factor for curve actions
reverse_weight double additional cost factor for reverse actions
direction_change_weight double additional cost factor for switching direction
obstacle_threshold double threshold for regarding a certain grid as obstacle

A* search parameters

Parameter Type Description
search_method string method of searching, start to goal or vice versa
only_behind_solutions bool whether restricting the solutions to be behind the goal
use_back bool whether using backward trajectory
adapt_expansion_distance bool if true, adapt expansion distance based on environment
expansion_distance double length of expansion for node transitions
near_goal_distance double near goal distance threshold
distance_heuristic_weight double heuristic weight for estimating node’s cost
smoothness_weight double cost factor for change in curvature
obstacle_distance_weight double cost factor for distance to obstacle
goal_lat_distance_weight double cost factor for lateral distance from goal

RRT* search parameters

Parameter Type Description
max planning time double maximum planning time [msec] (used only when enable_update is set true)
enable_update bool whether update after feasible solution found until max_planning time elapse
use_informed_sampling bool Use informed RRT* (of Gammell et al.)
neighbor_radius double neighbor radius of RRT* algorithm

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_freespace_planner

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat!: remove ROS 2 Galactic codes (#11905)
  • Contributors: Ryohsuke Mitsudome

0.49.0 (2025-12-30)

  • Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog

  • fix(freespace_planner): build testing failure (#11759)

  • fix: resolve clock type mismatch in tf2 lookups with simulation time (#11523)

    * fix: resolve clock type mismatch in tf2 transform lookups Replace rclcpp::Time(0) with tf2::TimePointZero in lookupTransform calls to fix clock type conflicts when using simulation time. The issue:

    • rclcpp::Time(0) creates a time with SYSTEM_TIME clock type
    • When nodes run with use_sim_time:=true, transforms use ROS_TIME clock
    • This causes clock type mismatch errors in tf2 lookups

    - Error: "Lookup would require extrapolation into the past" The fix:

    • tf2::TimePointZero is clock-type agnostic
    • Correctly represents "get latest available transform"

    - Also replaced rclcpp::Duration::from_seconds() with tf2::durationFromSec() This bug affects transform lookups in critical safety and planning components, causing runtime errors when simulation time is enabled. Affected packages:

    • autoware_autonomous_emergency_braking
    • autoware_planning_evaluator
    • autoware_freespace_planner

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

  • Contributors: Ryohsuke Mitsudome, Zulfaqar Azmi, ralwing

0.48.0 (2025-11-18)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat(autoware_freespace_planner): utilize all 3 components of velocity (#11427) fix:the stopping speed judgments of freespace_planner and mission_planner are consistent, taking into account the speed in xyz direction Signed-off-by: yangzesong <<15340400289@163.com>> Co-authored-by: yangzesong <<15340400289@163.com>>
  • Contributors: Ryohsuke Mitsudome

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

0.43.0 (2025-03-21)

  • Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43

  • chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)

  • feat: adaption to ROS nodes guidelines about directory structure (#10268)

  • fix(planning): add missing exec_depend (#10134)

    • fix(planning): add missing exec_depend
    • fix find-pkg-share

    * fix find-pkg-share ---------

  • Contributors: Hayato Mizushima, NorahXiong, Takagi, Isamu, Yutaka Kondo

File truncated at 100 lines see the full file

Launch files

  • launch/freespace_planner.launch.xml
      • input_route [default: input_route]
      • input_occupancy_grid [default: input_occupancy_grid]
      • input_scenario [default: input_scenario]
      • input_odometry [default: /localization/kinematic_state]
      • output_trajectory [default: output_trajectory]
      • is_completed [default: is_completed]
      • param_file [default: $(find-pkg-share autoware_freespace_planner)/config/freespace_planner.param.yaml]
      • vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_freespace_planner at Robotics Stack Exchange

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.
Package symbol

autoware_freespace_planner package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_manual_lane_change_handler autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_trajectory_traffic_rule_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Version 0.50.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-02-25
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_freespace_planner package

Maintainers

  • Kosuke Takeuchi
  • Alqudah Mohammad

Authors

  • Takamasa Horibe
  • Takayuki Murooka
  • Akihito OHSATO
  • Tomohito ANDO
planning/autoware_freespace_planner/README.md

The autoware_freespace_planner

freespace_planner_node

freespace_planner_node is a global path planner node that plans trajectory in the space having static/dynamic obstacles. This node is currently based on Hybrid A* search algorithm in freespace_planning_algorithms package. Other algorithms such as rrt* will be also added and selectable in the future.

Note Due to the constraint of trajectory following, the output trajectory will be split to include only the single direction path. In other words, the output trajectory doesn’t include both forward and backward trajectories at once.

Input topics

Name Type Description
~input/route autoware_planning_msgs::Route route and goal pose
~input/occupancy_grid nav_msgs::OccupancyGrid costmap, for drivable areas
~input/odometry nav_msgs::Odometry vehicle velocity, for checking whether vehicle is stopped
~input/scenario tier4_planning_msgs::Scenario scenarios to be activated, for node activation

Output topics

Name Type Description
~output/trajectory autoware_planning_msgs::Trajectory trajectory to be followed
is_completed bool (implemented as rosparam) whether all split trajectory are published

Output TFs

None

How to launch

  1. Write your remapping info in freespace_planner.launch or add args when executing roslaunch
  2. roslaunch freespace_planner freespace_planner.launch

Parameters

{{json_to_markdown(“planning/autoware_freespace_planner/schema/freespace_planner.schema.json”)}}

Node parameters

Parameter Type Description
planning_algorithms string algorithms used in the node
vehicle_shape_margin_m float collision margin in planning algorithm
update_rate double timer’s update rate
waypoints_velocity double velocity in output trajectory (currently, only constant velocity is supported)
th_arrived_distance_m double threshold distance to check if vehicle has arrived at the trajectory’s endpoint
th_stopped_time_sec double threshold time to check if vehicle is stopped
th_stopped_velocity_mps double threshold velocity to check if vehicle is stopped
th_course_out_distance_m double threshold distance to check if vehicle is out of course
th_obstacle_time_sec double threshold time to check if obstacle is on the trajectory
vehicle_shape_margin_m double vehicle margin
replan_when_obstacle_found bool whether replanning when obstacle has found on the trajectory
replan_when_course_out bool whether replanning when vehicle is out of course

Planner common parameters

Parameter Type Description
time_limit double time limit of planning
maximum_turning_ratio double max ratio of actual turning range to use
turning_steps double number of turning steps within turning range
theta_size double the number of angle’s discretization
lateral_goal_range double goal range of lateral position
longitudinal_goal_range double goal range of longitudinal position
angle_goal_range double goal range of angle
curve_weight double additional cost factor for curve actions
reverse_weight double additional cost factor for reverse actions
direction_change_weight double additional cost factor for switching direction
obstacle_threshold double threshold for regarding a certain grid as obstacle

A* search parameters

Parameter Type Description
search_method string method of searching, start to goal or vice versa
only_behind_solutions bool whether restricting the solutions to be behind the goal
use_back bool whether using backward trajectory
adapt_expansion_distance bool if true, adapt expansion distance based on environment
expansion_distance double length of expansion for node transitions
near_goal_distance double near goal distance threshold
distance_heuristic_weight double heuristic weight for estimating node’s cost
smoothness_weight double cost factor for change in curvature
obstacle_distance_weight double cost factor for distance to obstacle
goal_lat_distance_weight double cost factor for lateral distance from goal

RRT* search parameters

Parameter Type Description
max planning time double maximum planning time [msec] (used only when enable_update is set true)
enable_update bool whether update after feasible solution found until max_planning time elapse
use_informed_sampling bool Use informed RRT* (of Gammell et al.)
neighbor_radius double neighbor radius of RRT* algorithm

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_freespace_planner

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat!: remove ROS 2 Galactic codes (#11905)
  • Contributors: Ryohsuke Mitsudome

0.49.0 (2025-12-30)

  • Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog

  • fix(freespace_planner): build testing failure (#11759)

  • fix: resolve clock type mismatch in tf2 lookups with simulation time (#11523)

    * fix: resolve clock type mismatch in tf2 transform lookups Replace rclcpp::Time(0) with tf2::TimePointZero in lookupTransform calls to fix clock type conflicts when using simulation time. The issue:

    • rclcpp::Time(0) creates a time with SYSTEM_TIME clock type
    • When nodes run with use_sim_time:=true, transforms use ROS_TIME clock
    • This causes clock type mismatch errors in tf2 lookups

    - Error: "Lookup would require extrapolation into the past" The fix:

    • tf2::TimePointZero is clock-type agnostic
    • Correctly represents "get latest available transform"

    - Also replaced rclcpp::Duration::from_seconds() with tf2::durationFromSec() This bug affects transform lookups in critical safety and planning components, causing runtime errors when simulation time is enabled. Affected packages:

    • autoware_autonomous_emergency_braking
    • autoware_planning_evaluator
    • autoware_freespace_planner

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

  • Contributors: Ryohsuke Mitsudome, Zulfaqar Azmi, ralwing

0.48.0 (2025-11-18)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat(autoware_freespace_planner): utilize all 3 components of velocity (#11427) fix:the stopping speed judgments of freespace_planner and mission_planner are consistent, taking into account the speed in xyz direction Signed-off-by: yangzesong <<15340400289@163.com>> Co-authored-by: yangzesong <<15340400289@163.com>>
  • Contributors: Ryohsuke Mitsudome

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

0.43.0 (2025-03-21)

  • Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43

  • chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)

  • feat: adaption to ROS nodes guidelines about directory structure (#10268)

  • fix(planning): add missing exec_depend (#10134)

    • fix(planning): add missing exec_depend
    • fix find-pkg-share

    * fix find-pkg-share ---------

  • Contributors: Hayato Mizushima, NorahXiong, Takagi, Isamu, Yutaka Kondo

File truncated at 100 lines see the full file

Launch files

  • launch/freespace_planner.launch.xml
      • input_route [default: input_route]
      • input_occupancy_grid [default: input_occupancy_grid]
      • input_scenario [default: input_scenario]
      • input_odometry [default: /localization/kinematic_state]
      • output_trajectory [default: output_trajectory]
      • is_completed [default: is_completed]
      • param_file [default: $(find-pkg-share autoware_freespace_planner)/config/freespace_planner.param.yaml]
      • vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_freespace_planner at Robotics Stack Exchange

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.
Package symbol

autoware_freespace_planner package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_manual_lane_change_handler autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_trajectory_traffic_rule_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.50.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-02-25
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_freespace_planner package

Maintainers

  • Kosuke Takeuchi
  • Alqudah Mohammad

Authors

  • Takamasa Horibe
  • Takayuki Murooka
  • Akihito OHSATO
  • Tomohito ANDO
planning/autoware_freespace_planner/README.md

The autoware_freespace_planner

freespace_planner_node

freespace_planner_node is a global path planner node that plans trajectory in the space having static/dynamic obstacles. This node is currently based on Hybrid A* search algorithm in freespace_planning_algorithms package. Other algorithms such as rrt* will be also added and selectable in the future.

Note Due to the constraint of trajectory following, the output trajectory will be split to include only the single direction path. In other words, the output trajectory doesn’t include both forward and backward trajectories at once.

Input topics

Name Type Description
~input/route autoware_planning_msgs::Route route and goal pose
~input/occupancy_grid nav_msgs::OccupancyGrid costmap, for drivable areas
~input/odometry nav_msgs::Odometry vehicle velocity, for checking whether vehicle is stopped
~input/scenario tier4_planning_msgs::Scenario scenarios to be activated, for node activation

Output topics

Name Type Description
~output/trajectory autoware_planning_msgs::Trajectory trajectory to be followed
is_completed bool (implemented as rosparam) whether all split trajectory are published

Output TFs

None

How to launch

  1. Write your remapping info in freespace_planner.launch or add args when executing roslaunch
  2. roslaunch freespace_planner freespace_planner.launch

Parameters

{{json_to_markdown(“planning/autoware_freespace_planner/schema/freespace_planner.schema.json”)}}

Node parameters

Parameter Type Description
planning_algorithms string algorithms used in the node
vehicle_shape_margin_m float collision margin in planning algorithm
update_rate double timer’s update rate
waypoints_velocity double velocity in output trajectory (currently, only constant velocity is supported)
th_arrived_distance_m double threshold distance to check if vehicle has arrived at the trajectory’s endpoint
th_stopped_time_sec double threshold time to check if vehicle is stopped
th_stopped_velocity_mps double threshold velocity to check if vehicle is stopped
th_course_out_distance_m double threshold distance to check if vehicle is out of course
th_obstacle_time_sec double threshold time to check if obstacle is on the trajectory
vehicle_shape_margin_m double vehicle margin
replan_when_obstacle_found bool whether replanning when obstacle has found on the trajectory
replan_when_course_out bool whether replanning when vehicle is out of course

Planner common parameters

Parameter Type Description
time_limit double time limit of planning
maximum_turning_ratio double max ratio of actual turning range to use
turning_steps double number of turning steps within turning range
theta_size double the number of angle’s discretization
lateral_goal_range double goal range of lateral position
longitudinal_goal_range double goal range of longitudinal position
angle_goal_range double goal range of angle
curve_weight double additional cost factor for curve actions
reverse_weight double additional cost factor for reverse actions
direction_change_weight double additional cost factor for switching direction
obstacle_threshold double threshold for regarding a certain grid as obstacle

A* search parameters

Parameter Type Description
search_method string method of searching, start to goal or vice versa
only_behind_solutions bool whether restricting the solutions to be behind the goal
use_back bool whether using backward trajectory
adapt_expansion_distance bool if true, adapt expansion distance based on environment
expansion_distance double length of expansion for node transitions
near_goal_distance double near goal distance threshold
distance_heuristic_weight double heuristic weight for estimating node’s cost
smoothness_weight double cost factor for change in curvature
obstacle_distance_weight double cost factor for distance to obstacle
goal_lat_distance_weight double cost factor for lateral distance from goal

RRT* search parameters

Parameter Type Description
max planning time double maximum planning time [msec] (used only when enable_update is set true)
enable_update bool whether update after feasible solution found until max_planning time elapse
use_informed_sampling bool Use informed RRT* (of Gammell et al.)
neighbor_radius double neighbor radius of RRT* algorithm

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_freespace_planner

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat!: remove ROS 2 Galactic codes (#11905)
  • Contributors: Ryohsuke Mitsudome

0.49.0 (2025-12-30)

  • Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog

  • fix(freespace_planner): build testing failure (#11759)

  • fix: resolve clock type mismatch in tf2 lookups with simulation time (#11523)

    * fix: resolve clock type mismatch in tf2 transform lookups Replace rclcpp::Time(0) with tf2::TimePointZero in lookupTransform calls to fix clock type conflicts when using simulation time. The issue:

    • rclcpp::Time(0) creates a time with SYSTEM_TIME clock type
    • When nodes run with use_sim_time:=true, transforms use ROS_TIME clock
    • This causes clock type mismatch errors in tf2 lookups

    - Error: "Lookup would require extrapolation into the past" The fix:

    • tf2::TimePointZero is clock-type agnostic
    • Correctly represents "get latest available transform"

    - Also replaced rclcpp::Duration::from_seconds() with tf2::durationFromSec() This bug affects transform lookups in critical safety and planning components, causing runtime errors when simulation time is enabled. Affected packages:

    • autoware_autonomous_emergency_braking
    • autoware_planning_evaluator
    • autoware_freespace_planner

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

  • Contributors: Ryohsuke Mitsudome, Zulfaqar Azmi, ralwing

0.48.0 (2025-11-18)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat(autoware_freespace_planner): utilize all 3 components of velocity (#11427) fix:the stopping speed judgments of freespace_planner and mission_planner are consistent, taking into account the speed in xyz direction Signed-off-by: yangzesong <<15340400289@163.com>> Co-authored-by: yangzesong <<15340400289@163.com>>
  • Contributors: Ryohsuke Mitsudome

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

0.43.0 (2025-03-21)

  • Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43

  • chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)

  • feat: adaption to ROS nodes guidelines about directory structure (#10268)

  • fix(planning): add missing exec_depend (#10134)

    • fix(planning): add missing exec_depend
    • fix find-pkg-share

    * fix find-pkg-share ---------

  • Contributors: Hayato Mizushima, NorahXiong, Takagi, Isamu, Yutaka Kondo

File truncated at 100 lines see the full file

Launch files

  • launch/freespace_planner.launch.xml
      • input_route [default: input_route]
      • input_occupancy_grid [default: input_occupancy_grid]
      • input_scenario [default: input_scenario]
      • input_odometry [default: /localization/kinematic_state]
      • output_trajectory [default: output_trajectory]
      • is_completed [default: is_completed]
      • param_file [default: $(find-pkg-share autoware_freespace_planner)/config/freespace_planner.param.yaml]
      • vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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autoware_freespace_planner package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_manual_lane_change_handler autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_trajectory_traffic_rule_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.50.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-02-25
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_freespace_planner package

Maintainers

  • Kosuke Takeuchi
  • Alqudah Mohammad

Authors

  • Takamasa Horibe
  • Takayuki Murooka
  • Akihito OHSATO
  • Tomohito ANDO
planning/autoware_freespace_planner/README.md

The autoware_freespace_planner

freespace_planner_node

freespace_planner_node is a global path planner node that plans trajectory in the space having static/dynamic obstacles. This node is currently based on Hybrid A* search algorithm in freespace_planning_algorithms package. Other algorithms such as rrt* will be also added and selectable in the future.

Note Due to the constraint of trajectory following, the output trajectory will be split to include only the single direction path. In other words, the output trajectory doesn’t include both forward and backward trajectories at once.

Input topics

Name Type Description
~input/route autoware_planning_msgs::Route route and goal pose
~input/occupancy_grid nav_msgs::OccupancyGrid costmap, for drivable areas
~input/odometry nav_msgs::Odometry vehicle velocity, for checking whether vehicle is stopped
~input/scenario tier4_planning_msgs::Scenario scenarios to be activated, for node activation

Output topics

Name Type Description
~output/trajectory autoware_planning_msgs::Trajectory trajectory to be followed
is_completed bool (implemented as rosparam) whether all split trajectory are published

Output TFs

None

How to launch

  1. Write your remapping info in freespace_planner.launch or add args when executing roslaunch
  2. roslaunch freespace_planner freespace_planner.launch

Parameters

{{json_to_markdown(“planning/autoware_freespace_planner/schema/freespace_planner.schema.json”)}}

Node parameters

Parameter Type Description
planning_algorithms string algorithms used in the node
vehicle_shape_margin_m float collision margin in planning algorithm
update_rate double timer’s update rate
waypoints_velocity double velocity in output trajectory (currently, only constant velocity is supported)
th_arrived_distance_m double threshold distance to check if vehicle has arrived at the trajectory’s endpoint
th_stopped_time_sec double threshold time to check if vehicle is stopped
th_stopped_velocity_mps double threshold velocity to check if vehicle is stopped
th_course_out_distance_m double threshold distance to check if vehicle is out of course
th_obstacle_time_sec double threshold time to check if obstacle is on the trajectory
vehicle_shape_margin_m double vehicle margin
replan_when_obstacle_found bool whether replanning when obstacle has found on the trajectory
replan_when_course_out bool whether replanning when vehicle is out of course

Planner common parameters

Parameter Type Description
time_limit double time limit of planning
maximum_turning_ratio double max ratio of actual turning range to use
turning_steps double number of turning steps within turning range
theta_size double the number of angle’s discretization
lateral_goal_range double goal range of lateral position
longitudinal_goal_range double goal range of longitudinal position
angle_goal_range double goal range of angle
curve_weight double additional cost factor for curve actions
reverse_weight double additional cost factor for reverse actions
direction_change_weight double additional cost factor for switching direction
obstacle_threshold double threshold for regarding a certain grid as obstacle

A* search parameters

Parameter Type Description
search_method string method of searching, start to goal or vice versa
only_behind_solutions bool whether restricting the solutions to be behind the goal
use_back bool whether using backward trajectory
adapt_expansion_distance bool if true, adapt expansion distance based on environment
expansion_distance double length of expansion for node transitions
near_goal_distance double near goal distance threshold
distance_heuristic_weight double heuristic weight for estimating node’s cost
smoothness_weight double cost factor for change in curvature
obstacle_distance_weight double cost factor for distance to obstacle
goal_lat_distance_weight double cost factor for lateral distance from goal

RRT* search parameters

Parameter Type Description
max planning time double maximum planning time [msec] (used only when enable_update is set true)
enable_update bool whether update after feasible solution found until max_planning time elapse
use_informed_sampling bool Use informed RRT* (of Gammell et al.)
neighbor_radius double neighbor radius of RRT* algorithm

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_freespace_planner

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat!: remove ROS 2 Galactic codes (#11905)
  • Contributors: Ryohsuke Mitsudome

0.49.0 (2025-12-30)

  • Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog

  • fix(freespace_planner): build testing failure (#11759)

  • fix: resolve clock type mismatch in tf2 lookups with simulation time (#11523)

    * fix: resolve clock type mismatch in tf2 transform lookups Replace rclcpp::Time(0) with tf2::TimePointZero in lookupTransform calls to fix clock type conflicts when using simulation time. The issue:

    • rclcpp::Time(0) creates a time with SYSTEM_TIME clock type
    • When nodes run with use_sim_time:=true, transforms use ROS_TIME clock
    • This causes clock type mismatch errors in tf2 lookups

    - Error: "Lookup would require extrapolation into the past" The fix:

    • tf2::TimePointZero is clock-type agnostic
    • Correctly represents "get latest available transform"

    - Also replaced rclcpp::Duration::from_seconds() with tf2::durationFromSec() This bug affects transform lookups in critical safety and planning components, causing runtime errors when simulation time is enabled. Affected packages:

    • autoware_autonomous_emergency_braking
    • autoware_planning_evaluator
    • autoware_freespace_planner

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

  • Contributors: Ryohsuke Mitsudome, Zulfaqar Azmi, ralwing

0.48.0 (2025-11-18)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat(autoware_freespace_planner): utilize all 3 components of velocity (#11427) fix:the stopping speed judgments of freespace_planner and mission_planner are consistent, taking into account the speed in xyz direction Signed-off-by: yangzesong <<15340400289@163.com>> Co-authored-by: yangzesong <<15340400289@163.com>>
  • Contributors: Ryohsuke Mitsudome

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

0.43.0 (2025-03-21)

  • Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43

  • chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)

  • feat: adaption to ROS nodes guidelines about directory structure (#10268)

  • fix(planning): add missing exec_depend (#10134)

    • fix(planning): add missing exec_depend
    • fix find-pkg-share

    * fix find-pkg-share ---------

  • Contributors: Hayato Mizushima, NorahXiong, Takagi, Isamu, Yutaka Kondo

File truncated at 100 lines see the full file

Launch files

  • launch/freespace_planner.launch.xml
      • input_route [default: input_route]
      • input_occupancy_grid [default: input_occupancy_grid]
      • input_scenario [default: input_scenario]
      • input_odometry [default: /localization/kinematic_state]
      • output_trajectory [default: output_trajectory]
      • is_completed [default: is_completed]
      • param_file [default: $(find-pkg-share autoware_freespace_planner)/config/freespace_planner.param.yaml]
      • vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_freespace_planner at Robotics Stack Exchange

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.
Package symbol

autoware_freespace_planner package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_manual_lane_change_handler autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_trajectory_traffic_rule_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Version 0.50.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-02-25
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_freespace_planner package

Maintainers

  • Kosuke Takeuchi
  • Alqudah Mohammad

Authors

  • Takamasa Horibe
  • Takayuki Murooka
  • Akihito OHSATO
  • Tomohito ANDO
planning/autoware_freespace_planner/README.md

The autoware_freespace_planner

freespace_planner_node

freespace_planner_node is a global path planner node that plans trajectory in the space having static/dynamic obstacles. This node is currently based on Hybrid A* search algorithm in freespace_planning_algorithms package. Other algorithms such as rrt* will be also added and selectable in the future.

Note Due to the constraint of trajectory following, the output trajectory will be split to include only the single direction path. In other words, the output trajectory doesn’t include both forward and backward trajectories at once.

Input topics

Name Type Description
~input/route autoware_planning_msgs::Route route and goal pose
~input/occupancy_grid nav_msgs::OccupancyGrid costmap, for drivable areas
~input/odometry nav_msgs::Odometry vehicle velocity, for checking whether vehicle is stopped
~input/scenario tier4_planning_msgs::Scenario scenarios to be activated, for node activation

Output topics

Name Type Description
~output/trajectory autoware_planning_msgs::Trajectory trajectory to be followed
is_completed bool (implemented as rosparam) whether all split trajectory are published

Output TFs

None

How to launch

  1. Write your remapping info in freespace_planner.launch or add args when executing roslaunch
  2. roslaunch freespace_planner freespace_planner.launch

Parameters

{{json_to_markdown(“planning/autoware_freespace_planner/schema/freespace_planner.schema.json”)}}

Node parameters

Parameter Type Description
planning_algorithms string algorithms used in the node
vehicle_shape_margin_m float collision margin in planning algorithm
update_rate double timer’s update rate
waypoints_velocity double velocity in output trajectory (currently, only constant velocity is supported)
th_arrived_distance_m double threshold distance to check if vehicle has arrived at the trajectory’s endpoint
th_stopped_time_sec double threshold time to check if vehicle is stopped
th_stopped_velocity_mps double threshold velocity to check if vehicle is stopped
th_course_out_distance_m double threshold distance to check if vehicle is out of course
th_obstacle_time_sec double threshold time to check if obstacle is on the trajectory
vehicle_shape_margin_m double vehicle margin
replan_when_obstacle_found bool whether replanning when obstacle has found on the trajectory
replan_when_course_out bool whether replanning when vehicle is out of course

Planner common parameters

Parameter Type Description
time_limit double time limit of planning
maximum_turning_ratio double max ratio of actual turning range to use
turning_steps double number of turning steps within turning range
theta_size double the number of angle’s discretization
lateral_goal_range double goal range of lateral position
longitudinal_goal_range double goal range of longitudinal position
angle_goal_range double goal range of angle
curve_weight double additional cost factor for curve actions
reverse_weight double additional cost factor for reverse actions
direction_change_weight double additional cost factor for switching direction
obstacle_threshold double threshold for regarding a certain grid as obstacle

A* search parameters

Parameter Type Description
search_method string method of searching, start to goal or vice versa
only_behind_solutions bool whether restricting the solutions to be behind the goal
use_back bool whether using backward trajectory
adapt_expansion_distance bool if true, adapt expansion distance based on environment
expansion_distance double length of expansion for node transitions
near_goal_distance double near goal distance threshold
distance_heuristic_weight double heuristic weight for estimating node’s cost
smoothness_weight double cost factor for change in curvature
obstacle_distance_weight double cost factor for distance to obstacle
goal_lat_distance_weight double cost factor for lateral distance from goal

RRT* search parameters

Parameter Type Description
max planning time double maximum planning time [msec] (used only when enable_update is set true)
enable_update bool whether update after feasible solution found until max_planning time elapse
use_informed_sampling bool Use informed RRT* (of Gammell et al.)
neighbor_radius double neighbor radius of RRT* algorithm

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_freespace_planner

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat!: remove ROS 2 Galactic codes (#11905)
  • Contributors: Ryohsuke Mitsudome

0.49.0 (2025-12-30)

  • Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog

  • fix(freespace_planner): build testing failure (#11759)

  • fix: resolve clock type mismatch in tf2 lookups with simulation time (#11523)

    * fix: resolve clock type mismatch in tf2 transform lookups Replace rclcpp::Time(0) with tf2::TimePointZero in lookupTransform calls to fix clock type conflicts when using simulation time. The issue:

    • rclcpp::Time(0) creates a time with SYSTEM_TIME clock type
    • When nodes run with use_sim_time:=true, transforms use ROS_TIME clock
    • This causes clock type mismatch errors in tf2 lookups

    - Error: "Lookup would require extrapolation into the past" The fix:

    • tf2::TimePointZero is clock-type agnostic
    • Correctly represents "get latest available transform"

    - Also replaced rclcpp::Duration::from_seconds() with tf2::durationFromSec() This bug affects transform lookups in critical safety and planning components, causing runtime errors when simulation time is enabled. Affected packages:

    • autoware_autonomous_emergency_braking
    • autoware_planning_evaluator
    • autoware_freespace_planner

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

  • Contributors: Ryohsuke Mitsudome, Zulfaqar Azmi, ralwing

0.48.0 (2025-11-18)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat(autoware_freespace_planner): utilize all 3 components of velocity (#11427) fix:the stopping speed judgments of freespace_planner and mission_planner are consistent, taking into account the speed in xyz direction Signed-off-by: yangzesong <<15340400289@163.com>> Co-authored-by: yangzesong <<15340400289@163.com>>
  • Contributors: Ryohsuke Mitsudome

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

0.43.0 (2025-03-21)

  • Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43

  • chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)

  • feat: adaption to ROS nodes guidelines about directory structure (#10268)

  • fix(planning): add missing exec_depend (#10134)

    • fix(planning): add missing exec_depend
    • fix find-pkg-share

    * fix find-pkg-share ---------

  • Contributors: Hayato Mizushima, NorahXiong, Takagi, Isamu, Yutaka Kondo

File truncated at 100 lines see the full file

Launch files

  • launch/freespace_planner.launch.xml
      • input_route [default: input_route]
      • input_occupancy_grid [default: input_occupancy_grid]
      • input_scenario [default: input_scenario]
      • input_odometry [default: /localization/kinematic_state]
      • output_trajectory [default: output_trajectory]
      • is_completed [default: is_completed]
      • param_file [default: $(find-pkg-share autoware_freespace_planner)/config/freespace_planner.param.yaml]
      • vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_freespace_planner at Robotics Stack Exchange

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.
Package symbol

autoware_freespace_planner package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_manual_lane_change_handler autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_trajectory_traffic_rule_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.50.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-02-25
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_freespace_planner package

Maintainers

  • Kosuke Takeuchi
  • Alqudah Mohammad

Authors

  • Takamasa Horibe
  • Takayuki Murooka
  • Akihito OHSATO
  • Tomohito ANDO
planning/autoware_freespace_planner/README.md

The autoware_freespace_planner

freespace_planner_node

freespace_planner_node is a global path planner node that plans trajectory in the space having static/dynamic obstacles. This node is currently based on Hybrid A* search algorithm in freespace_planning_algorithms package. Other algorithms such as rrt* will be also added and selectable in the future.

Note Due to the constraint of trajectory following, the output trajectory will be split to include only the single direction path. In other words, the output trajectory doesn’t include both forward and backward trajectories at once.

Input topics

Name Type Description
~input/route autoware_planning_msgs::Route route and goal pose
~input/occupancy_grid nav_msgs::OccupancyGrid costmap, for drivable areas
~input/odometry nav_msgs::Odometry vehicle velocity, for checking whether vehicle is stopped
~input/scenario tier4_planning_msgs::Scenario scenarios to be activated, for node activation

Output topics

Name Type Description
~output/trajectory autoware_planning_msgs::Trajectory trajectory to be followed
is_completed bool (implemented as rosparam) whether all split trajectory are published

Output TFs

None

How to launch

  1. Write your remapping info in freespace_planner.launch or add args when executing roslaunch
  2. roslaunch freespace_planner freespace_planner.launch

Parameters

{{json_to_markdown(“planning/autoware_freespace_planner/schema/freespace_planner.schema.json”)}}

Node parameters

Parameter Type Description
planning_algorithms string algorithms used in the node
vehicle_shape_margin_m float collision margin in planning algorithm
update_rate double timer’s update rate
waypoints_velocity double velocity in output trajectory (currently, only constant velocity is supported)
th_arrived_distance_m double threshold distance to check if vehicle has arrived at the trajectory’s endpoint
th_stopped_time_sec double threshold time to check if vehicle is stopped
th_stopped_velocity_mps double threshold velocity to check if vehicle is stopped
th_course_out_distance_m double threshold distance to check if vehicle is out of course
th_obstacle_time_sec double threshold time to check if obstacle is on the trajectory
vehicle_shape_margin_m double vehicle margin
replan_when_obstacle_found bool whether replanning when obstacle has found on the trajectory
replan_when_course_out bool whether replanning when vehicle is out of course

Planner common parameters

Parameter Type Description
time_limit double time limit of planning
maximum_turning_ratio double max ratio of actual turning range to use
turning_steps double number of turning steps within turning range
theta_size double the number of angle’s discretization
lateral_goal_range double goal range of lateral position
longitudinal_goal_range double goal range of longitudinal position
angle_goal_range double goal range of angle
curve_weight double additional cost factor for curve actions
reverse_weight double additional cost factor for reverse actions
direction_change_weight double additional cost factor for switching direction
obstacle_threshold double threshold for regarding a certain grid as obstacle

A* search parameters

Parameter Type Description
search_method string method of searching, start to goal or vice versa
only_behind_solutions bool whether restricting the solutions to be behind the goal
use_back bool whether using backward trajectory
adapt_expansion_distance bool if true, adapt expansion distance based on environment
expansion_distance double length of expansion for node transitions
near_goal_distance double near goal distance threshold
distance_heuristic_weight double heuristic weight for estimating node’s cost
smoothness_weight double cost factor for change in curvature
obstacle_distance_weight double cost factor for distance to obstacle
goal_lat_distance_weight double cost factor for lateral distance from goal

RRT* search parameters

Parameter Type Description
max planning time double maximum planning time [msec] (used only when enable_update is set true)
enable_update bool whether update after feasible solution found until max_planning time elapse
use_informed_sampling bool Use informed RRT* (of Gammell et al.)
neighbor_radius double neighbor radius of RRT* algorithm

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_freespace_planner

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat!: remove ROS 2 Galactic codes (#11905)
  • Contributors: Ryohsuke Mitsudome

0.49.0 (2025-12-30)

  • Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog

  • fix(freespace_planner): build testing failure (#11759)

  • fix: resolve clock type mismatch in tf2 lookups with simulation time (#11523)

    * fix: resolve clock type mismatch in tf2 transform lookups Replace rclcpp::Time(0) with tf2::TimePointZero in lookupTransform calls to fix clock type conflicts when using simulation time. The issue:

    • rclcpp::Time(0) creates a time with SYSTEM_TIME clock type
    • When nodes run with use_sim_time:=true, transforms use ROS_TIME clock
    • This causes clock type mismatch errors in tf2 lookups

    - Error: "Lookup would require extrapolation into the past" The fix:

    • tf2::TimePointZero is clock-type agnostic
    • Correctly represents "get latest available transform"

    - Also replaced rclcpp::Duration::from_seconds() with tf2::durationFromSec() This bug affects transform lookups in critical safety and planning components, causing runtime errors when simulation time is enabled. Affected packages:

    • autoware_autonomous_emergency_braking
    • autoware_planning_evaluator
    • autoware_freespace_planner

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

  • Contributors: Ryohsuke Mitsudome, Zulfaqar Azmi, ralwing

0.48.0 (2025-11-18)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat(autoware_freespace_planner): utilize all 3 components of velocity (#11427) fix:the stopping speed judgments of freespace_planner and mission_planner are consistent, taking into account the speed in xyz direction Signed-off-by: yangzesong <<15340400289@163.com>> Co-authored-by: yangzesong <<15340400289@163.com>>
  • Contributors: Ryohsuke Mitsudome

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

0.43.0 (2025-03-21)

  • Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43

  • chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)

  • feat: adaption to ROS nodes guidelines about directory structure (#10268)

  • fix(planning): add missing exec_depend (#10134)

    • fix(planning): add missing exec_depend
    • fix find-pkg-share

    * fix find-pkg-share ---------

  • Contributors: Hayato Mizushima, NorahXiong, Takagi, Isamu, Yutaka Kondo

File truncated at 100 lines see the full file

Launch files

  • launch/freespace_planner.launch.xml
      • input_route [default: input_route]
      • input_occupancy_grid [default: input_occupancy_grid]
      • input_scenario [default: input_scenario]
      • input_odometry [default: /localization/kinematic_state]
      • output_trajectory [default: output_trajectory]
      • is_completed [default: is_completed]
      • param_file [default: $(find-pkg-share autoware_freespace_planner)/config/freespace_planner.param.yaml]
      • vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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autoware_freespace_planner package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_manual_lane_change_handler autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_trajectory_traffic_rule_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Version 0.50.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-02-25
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_freespace_planner package

Maintainers

  • Kosuke Takeuchi
  • Alqudah Mohammad

Authors

  • Takamasa Horibe
  • Takayuki Murooka
  • Akihito OHSATO
  • Tomohito ANDO
planning/autoware_freespace_planner/README.md

The autoware_freespace_planner

freespace_planner_node

freespace_planner_node is a global path planner node that plans trajectory in the space having static/dynamic obstacles. This node is currently based on Hybrid A* search algorithm in freespace_planning_algorithms package. Other algorithms such as rrt* will be also added and selectable in the future.

Note Due to the constraint of trajectory following, the output trajectory will be split to include only the single direction path. In other words, the output trajectory doesn’t include both forward and backward trajectories at once.

Input topics

Name Type Description
~input/route autoware_planning_msgs::Route route and goal pose
~input/occupancy_grid nav_msgs::OccupancyGrid costmap, for drivable areas
~input/odometry nav_msgs::Odometry vehicle velocity, for checking whether vehicle is stopped
~input/scenario tier4_planning_msgs::Scenario scenarios to be activated, for node activation

Output topics

Name Type Description
~output/trajectory autoware_planning_msgs::Trajectory trajectory to be followed
is_completed bool (implemented as rosparam) whether all split trajectory are published

Output TFs

None

How to launch

  1. Write your remapping info in freespace_planner.launch or add args when executing roslaunch
  2. roslaunch freespace_planner freespace_planner.launch

Parameters

{{json_to_markdown(“planning/autoware_freespace_planner/schema/freespace_planner.schema.json”)}}

Node parameters

Parameter Type Description
planning_algorithms string algorithms used in the node
vehicle_shape_margin_m float collision margin in planning algorithm
update_rate double timer’s update rate
waypoints_velocity double velocity in output trajectory (currently, only constant velocity is supported)
th_arrived_distance_m double threshold distance to check if vehicle has arrived at the trajectory’s endpoint
th_stopped_time_sec double threshold time to check if vehicle is stopped
th_stopped_velocity_mps double threshold velocity to check if vehicle is stopped
th_course_out_distance_m double threshold distance to check if vehicle is out of course
th_obstacle_time_sec double threshold time to check if obstacle is on the trajectory
vehicle_shape_margin_m double vehicle margin
replan_when_obstacle_found bool whether replanning when obstacle has found on the trajectory
replan_when_course_out bool whether replanning when vehicle is out of course

Planner common parameters

Parameter Type Description
time_limit double time limit of planning
maximum_turning_ratio double max ratio of actual turning range to use
turning_steps double number of turning steps within turning range
theta_size double the number of angle’s discretization
lateral_goal_range double goal range of lateral position
longitudinal_goal_range double goal range of longitudinal position
angle_goal_range double goal range of angle
curve_weight double additional cost factor for curve actions
reverse_weight double additional cost factor for reverse actions
direction_change_weight double additional cost factor for switching direction
obstacle_threshold double threshold for regarding a certain grid as obstacle

A* search parameters

Parameter Type Description
search_method string method of searching, start to goal or vice versa
only_behind_solutions bool whether restricting the solutions to be behind the goal
use_back bool whether using backward trajectory
adapt_expansion_distance bool if true, adapt expansion distance based on environment
expansion_distance double length of expansion for node transitions
near_goal_distance double near goal distance threshold
distance_heuristic_weight double heuristic weight for estimating node’s cost
smoothness_weight double cost factor for change in curvature
obstacle_distance_weight double cost factor for distance to obstacle
goal_lat_distance_weight double cost factor for lateral distance from goal

RRT* search parameters

Parameter Type Description
max planning time double maximum planning time [msec] (used only when enable_update is set true)
enable_update bool whether update after feasible solution found until max_planning time elapse
use_informed_sampling bool Use informed RRT* (of Gammell et al.)
neighbor_radius double neighbor radius of RRT* algorithm

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_freespace_planner

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat!: remove ROS 2 Galactic codes (#11905)
  • Contributors: Ryohsuke Mitsudome

0.49.0 (2025-12-30)

  • Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog

  • fix(freespace_planner): build testing failure (#11759)

  • fix: resolve clock type mismatch in tf2 lookups with simulation time (#11523)

    * fix: resolve clock type mismatch in tf2 transform lookups Replace rclcpp::Time(0) with tf2::TimePointZero in lookupTransform calls to fix clock type conflicts when using simulation time. The issue:

    • rclcpp::Time(0) creates a time with SYSTEM_TIME clock type
    • When nodes run with use_sim_time:=true, transforms use ROS_TIME clock
    • This causes clock type mismatch errors in tf2 lookups

    - Error: "Lookup would require extrapolation into the past" The fix:

    • tf2::TimePointZero is clock-type agnostic
    • Correctly represents "get latest available transform"

    - Also replaced rclcpp::Duration::from_seconds() with tf2::durationFromSec() This bug affects transform lookups in critical safety and planning components, causing runtime errors when simulation time is enabled. Affected packages:

    • autoware_autonomous_emergency_braking
    • autoware_planning_evaluator
    • autoware_freespace_planner

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

  • Contributors: Ryohsuke Mitsudome, Zulfaqar Azmi, ralwing

0.48.0 (2025-11-18)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat(autoware_freespace_planner): utilize all 3 components of velocity (#11427) fix:the stopping speed judgments of freespace_planner and mission_planner are consistent, taking into account the speed in xyz direction Signed-off-by: yangzesong <<15340400289@163.com>> Co-authored-by: yangzesong <<15340400289@163.com>>
  • Contributors: Ryohsuke Mitsudome

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

0.43.0 (2025-03-21)

  • Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43

  • chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)

  • feat: adaption to ROS nodes guidelines about directory structure (#10268)

  • fix(planning): add missing exec_depend (#10134)

    • fix(planning): add missing exec_depend
    • fix find-pkg-share

    * fix find-pkg-share ---------

  • Contributors: Hayato Mizushima, NorahXiong, Takagi, Isamu, Yutaka Kondo

File truncated at 100 lines see the full file

Launch files

  • launch/freespace_planner.launch.xml
      • input_route [default: input_route]
      • input_occupancy_grid [default: input_occupancy_grid]
      • input_scenario [default: input_scenario]
      • input_odometry [default: /localization/kinematic_state]
      • output_trajectory [default: output_trajectory]
      • is_completed [default: is_completed]
      • param_file [default: $(find-pkg-share autoware_freespace_planner)/config/freespace_planner.param.yaml]
      • vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_freespace_planner at Robotics Stack Exchange

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autoware_freespace_planner package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_manual_lane_change_handler autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_trajectory_traffic_rule_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Version 0.50.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-02-25
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_freespace_planner package

Maintainers

  • Kosuke Takeuchi
  • Alqudah Mohammad

Authors

  • Takamasa Horibe
  • Takayuki Murooka
  • Akihito OHSATO
  • Tomohito ANDO
planning/autoware_freespace_planner/README.md

The autoware_freespace_planner

freespace_planner_node

freespace_planner_node is a global path planner node that plans trajectory in the space having static/dynamic obstacles. This node is currently based on Hybrid A* search algorithm in freespace_planning_algorithms package. Other algorithms such as rrt* will be also added and selectable in the future.

Note Due to the constraint of trajectory following, the output trajectory will be split to include only the single direction path. In other words, the output trajectory doesn’t include both forward and backward trajectories at once.

Input topics

Name Type Description
~input/route autoware_planning_msgs::Route route and goal pose
~input/occupancy_grid nav_msgs::OccupancyGrid costmap, for drivable areas
~input/odometry nav_msgs::Odometry vehicle velocity, for checking whether vehicle is stopped
~input/scenario tier4_planning_msgs::Scenario scenarios to be activated, for node activation

Output topics

Name Type Description
~output/trajectory autoware_planning_msgs::Trajectory trajectory to be followed
is_completed bool (implemented as rosparam) whether all split trajectory are published

Output TFs

None

How to launch

  1. Write your remapping info in freespace_planner.launch or add args when executing roslaunch
  2. roslaunch freespace_planner freespace_planner.launch

Parameters

{{json_to_markdown(“planning/autoware_freespace_planner/schema/freespace_planner.schema.json”)}}

Node parameters

Parameter Type Description
planning_algorithms string algorithms used in the node
vehicle_shape_margin_m float collision margin in planning algorithm
update_rate double timer’s update rate
waypoints_velocity double velocity in output trajectory (currently, only constant velocity is supported)
th_arrived_distance_m double threshold distance to check if vehicle has arrived at the trajectory’s endpoint
th_stopped_time_sec double threshold time to check if vehicle is stopped
th_stopped_velocity_mps double threshold velocity to check if vehicle is stopped
th_course_out_distance_m double threshold distance to check if vehicle is out of course
th_obstacle_time_sec double threshold time to check if obstacle is on the trajectory
vehicle_shape_margin_m double vehicle margin
replan_when_obstacle_found bool whether replanning when obstacle has found on the trajectory
replan_when_course_out bool whether replanning when vehicle is out of course

Planner common parameters

Parameter Type Description
time_limit double time limit of planning
maximum_turning_ratio double max ratio of actual turning range to use
turning_steps double number of turning steps within turning range
theta_size double the number of angle’s discretization
lateral_goal_range double goal range of lateral position
longitudinal_goal_range double goal range of longitudinal position
angle_goal_range double goal range of angle
curve_weight double additional cost factor for curve actions
reverse_weight double additional cost factor for reverse actions
direction_change_weight double additional cost factor for switching direction
obstacle_threshold double threshold for regarding a certain grid as obstacle

A* search parameters

Parameter Type Description
search_method string method of searching, start to goal or vice versa
only_behind_solutions bool whether restricting the solutions to be behind the goal
use_back bool whether using backward trajectory
adapt_expansion_distance bool if true, adapt expansion distance based on environment
expansion_distance double length of expansion for node transitions
near_goal_distance double near goal distance threshold
distance_heuristic_weight double heuristic weight for estimating node’s cost
smoothness_weight double cost factor for change in curvature
obstacle_distance_weight double cost factor for distance to obstacle
goal_lat_distance_weight double cost factor for lateral distance from goal

RRT* search parameters

Parameter Type Description
max planning time double maximum planning time [msec] (used only when enable_update is set true)
enable_update bool whether update after feasible solution found until max_planning time elapse
use_informed_sampling bool Use informed RRT* (of Gammell et al.)
neighbor_radius double neighbor radius of RRT* algorithm

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_freespace_planner

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat!: remove ROS 2 Galactic codes (#11905)
  • Contributors: Ryohsuke Mitsudome

0.49.0 (2025-12-30)

  • Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog

  • fix(freespace_planner): build testing failure (#11759)

  • fix: resolve clock type mismatch in tf2 lookups with simulation time (#11523)

    * fix: resolve clock type mismatch in tf2 transform lookups Replace rclcpp::Time(0) with tf2::TimePointZero in lookupTransform calls to fix clock type conflicts when using simulation time. The issue:

    • rclcpp::Time(0) creates a time with SYSTEM_TIME clock type
    • When nodes run with use_sim_time:=true, transforms use ROS_TIME clock
    • This causes clock type mismatch errors in tf2 lookups

    - Error: "Lookup would require extrapolation into the past" The fix:

    • tf2::TimePointZero is clock-type agnostic
    • Correctly represents "get latest available transform"

    - Also replaced rclcpp::Duration::from_seconds() with tf2::durationFromSec() This bug affects transform lookups in critical safety and planning components, causing runtime errors when simulation time is enabled. Affected packages:

    • autoware_autonomous_emergency_braking
    • autoware_planning_evaluator
    • autoware_freespace_planner

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

  • Contributors: Ryohsuke Mitsudome, Zulfaqar Azmi, ralwing

0.48.0 (2025-11-18)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat(autoware_freespace_planner): utilize all 3 components of velocity (#11427) fix:the stopping speed judgments of freespace_planner and mission_planner are consistent, taking into account the speed in xyz direction Signed-off-by: yangzesong <<15340400289@163.com>> Co-authored-by: yangzesong <<15340400289@163.com>>
  • Contributors: Ryohsuke Mitsudome

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

0.43.0 (2025-03-21)

  • Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43

  • chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)

  • feat: adaption to ROS nodes guidelines about directory structure (#10268)

  • fix(planning): add missing exec_depend (#10134)

    • fix(planning): add missing exec_depend
    • fix find-pkg-share

    * fix find-pkg-share ---------

  • Contributors: Hayato Mizushima, NorahXiong, Takagi, Isamu, Yutaka Kondo

File truncated at 100 lines see the full file

Launch files

  • launch/freespace_planner.launch.xml
      • input_route [default: input_route]
      • input_occupancy_grid [default: input_occupancy_grid]
      • input_scenario [default: input_scenario]
      • input_odometry [default: /localization/kinematic_state]
      • output_trajectory [default: output_trajectory]
      • is_completed [default: is_completed]
      • param_file [default: $(find-pkg-share autoware_freespace_planner)/config/freespace_planner.param.yaml]
      • vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_freespace_planner at Robotics Stack Exchange