ROS IndexNo version for distro humble showing github. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 0.47.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_launch.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-08-14 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | ros ros2 autoware |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The autoware_launch package
Additional Links
No additional links.
Maintainers
- Yukihiro Saito
- Ryohsuke Mitsudome
- M. Fatih Cırıt
Authors
No additional authors.
autoware_launch
Structure
Package Dependencies
Please see <exec_depend> in package.xml.
Usage
You can use the command as follows at shell script to launch *.launch.xml in launch directory.
ros2 launch autoware_launch autoware.launch.xml map_path:=/path/to/map_folder vehicle_model:=lexus sensor_model:=aip_xx1
CHANGELOG
Changelog for package autoware_launch
0.47.0 (2025-08-11)
-
feat: change planning output topic name to /planning/trajectory (#1594)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
fix(multi_object_tracker): remove confident_count_threshold parameter (#1592)
-
feat(motion_velocity_planner): update pointcloud preprocess design (#1588)
* add new params for pcl preprocess ---------
-
feat(perception_online_evaluator): change launch setting to enable node (#1583)
- feat: enable perception online evaluator
* chore: add a new argument to enable autoware_perception_analytics_publisher_node instead of previous autoware_perception_online_evaluator_node ---------Co-authored-by: Jian Kang <<jian.kang@tier4.jp>>
-
fix(multi_object_tracker): add param for irregular_object (#1587)
- fix(multi_object_tracker): add param for irregular_object
* fix: update param ---------
-
fix(tracker): update pedestrian max_area_matrix for large pedestrian (#1589) fix(data_association_matrix): update pedestrian max_area_matrix for large pedestrian
-
feat(boundary_departure): configurable departure points and type based on time (#1579)
- feat(boundary_departure): configurable departure points and type based on time
- set predicted path and near boundary to same value
* increase time_buffer value ---------
-
feat(boundary_departure): rename parameter (#1586)
-
feat(blind_spot): new re-designed blind_spot module (#1582)
-
refactor(planning_validator, trajectory_checker): update config (#1581)
- update parameter files
* rename param ---------
-
feat(rear_collision_checker): support selecting safety metric from TTC or RSS (#1584) feat: selectable metric
-
feat(road_user_stop): add road_user_stop module config (#1566)
- add road_user_stop module config
- update parameters
- update parameter
- update parameter
- fix based on PR review
- fix copy misstake of parameter
- change parameter structure for opposing traffic
- add virtual wall
* format param.yaml ---------
-
fix(path_generator): merge waypoint groups with shared overlap interval (#1576) replace parameters with new one
-
feat(run_out): add parameters to select which debug markers to publish (#1580)
-
refactor(rear_collision_checker): update parameter structure (#1578)
-
feat(autoware_pipeline_latency_monitor): add
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/autoware.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- pointcloud_container_name [default: pointcloud_container]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- launch_vehicle [default: true]
- launch_system [default: true]
- launch_map [default: true]
- launch_sensing [default: true]
- launch_sensing_driver [default: true]
- launch_localization [default: true]
- launch_perception [default: true]
- launch_planning [default: true]
- launch_control [default: true]
- launch_api [default: true]
- use_sim_time [default: false]
- vehicle_id [default: $(env VEHICLE_ID default)]
- launch_vehicle_interface [default: true]
- check_external_emergency_heartbeat [default: false]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- system_run_mode [default: online]
- launch_system_monitor [default: true]
- launch_dummy_diag_publisher [default: false]
- diagnostic_graph_aggregator_graph_path [default: $(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- rviz_respawn [default: true]
- perception_mode [default: lidar]
- traffic_light_recognition/use_high_accuracy_detection [default: true]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- launch/components/tier4_autoware_api_component.launch.xml
-
- scenario_simulation [default: false]
- launch_deprecated_api [default: $(var scenario_simulation)]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_control_component.launch.xml
-
- module_preset [default: default]
- lateral_controller_mode [default: mpc]
- longitudinal_controller_mode [default: pid]
- use_individual_control_param [default: false]
- use_aeb_autoware_state_check [default: true]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_localization_component.launch.xml
-
- loc_config_path [default: $(find-pkg-share autoware_launch)/config/localization]
- pose_source [default: ndt]
- twist_source [default: gyro_odom]
- input_pointcloud [default: /sensing/lidar/concatenated/pointcloud]
- localization_pointcloud_container_name [default: /pointcloud_container]
- initial_pose [default: []]
- launch_pointcloud_container [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_map_component.launch.xml
- launch/components/tier4_perception_component.launch.xml
-
- launch_pointcloud_container [default: false]
- pointcloud_container_name
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- use_empty_dynamic_object_publisher [default: false]
- use_traffic_light_recognition [default: true]
- use_low_height_cropbox [default: false]
- use_vector_map [default: true]
- use_pointcloud_map [default: true]
- use_irregular_object_detector [default: true]
- use_low_intensity_cluster_filter [default: true]
- use_image_segmentation_based_filter [default: false]
- use_perception_online_evaluator [default: false]
- use_perception_analytics_publisher [default: true]
- use_detection_by_tracker [default: true]
- use_radar_tracking_fusion [default: true]
- use_object_filter [default: true]
- use_obstacle_segmentation_single_frame_filter [default: false]
- use_obstacle_segmentation_time_series_filter [default: true]
- segmentation_pointcloud_fusion_camera_ids [default: [0,2,4]]
- use_multi_channel_tracker_merger [default: false]
- occupancy_grid_map_method [default: pointcloud_based]
- occupancy_grid_map_updater [default: binary_bayes_filter]
- detected_objects_filter_method [default: lanelet_filter]
- detected_objects_validation_method [default: obstacle_pointcloud]
- data_path [default: $(env HOME)/autoware_data]
- lidar_detection_model [default: centerpoint]
- ml_camera_lidar_merger_priority_mode [default: 0]
- traffic_light_recognition/camera_namespaces [default: [camera6, camera7]]
- traffic_light_recognition/use_high_accuracy_detection [default: true]
- traffic_light_recognition/high_accuracy_detection_type [default: fine_detection]
- launch/components/tier4_planning_component.launch.xml
-
- module_preset [default: default]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_sensing_component.launch.xml
-
- launch_pointcloud_container [default: false]
- pointcloud_container_name
- launch_sensing_driver [default: true]
- sensor_model [default: sample_sensor_kit]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_simulator_component.launch.xml
-
- launch_dummy_perception
- launch_dummy_vehicle
- localization_sim_mode
- launch_dummy_doors
- launch_scenario_simulator_v2_adapter
- perception/enable_detection_failure
- perception/enable_object_recognition
- perception/enable_traffic_light
- perception/use_base_link_z
- sensing/visible_range
- vehicle_model
- initial_engage_state
- vehicle_info_param_file
- raw_vehicle_cmd_converter_param_path
- occupancy_grid_map_updater [default: binary_bayes_filter]
- use_pointcloud_container [default: true]
- launch/components/tier4_system_component.launch.xml
-
- diagnostic_graph_aggregator_param_path [default: $(find-pkg-share autoware_diagnostic_graph_aggregator)/config/default.param.yaml]
- diagnostic_graph_aggregator_graph_path [default: $(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml]
- launch/e2e_simulator.launch.xml
-
- use_sim_time [default: true]
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- data_path [default: $(env HOME)/autoware_data]
- simulator_type [default: awsim]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- vehicle [default: true]
- system [default: true]
- map [default: true]
- sensing [default: true]
- localization [default: true]
- perception [default: true]
- planning [default: true]
- control [default: true]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- traffic_light_namespace [default: [traffic_light]]
- launch_vehicle_interface [default: false]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: false]
- launch_sensing_driver [default: false]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- launch/logging_simulator.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- vehicle_id [default: $(env VEHICLE_ID default)]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- vehicle [default: true]
- system [default: true]
- map [default: true]
- sensing [default: true]
- localization [default: true]
- perception [default: true]
- planning [default: true]
- control [default: true]
- pointcloud_container_name [default: pointcloud_container]
- launch_vehicle_interface [default: false]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: false]
- rviz [default: true]
- scenario_simulation [default: false]
- launch/planning_simulator.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- launch_dummy_doors [default: true]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: true]
- initial_engage_state [default: true]
- perception/enable_detection_failure [default: true]
- perception/enable_object_recognition [default: true]
- perception/enable_traffic_light [default: false]
- perception/use_base_link_z [default: true]
- sensing/visible_range [default: 300.0]
- scenario_simulation [default: false]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- vehicle_simulation [default: true]
- enable_all_modules_auto_mode [default: $(var scenario_simulation)]
- use_sim_time [default: $(var scenario_simulation)]
- localization_sim_mode [default: api]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged autoware_launch at Robotics Stack Exchange
No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 0.47.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_launch.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-08-14 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | ros ros2 autoware |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The autoware_launch package
Additional Links
No additional links.
Maintainers
- Yukihiro Saito
- Ryohsuke Mitsudome
- M. Fatih Cırıt
Authors
No additional authors.
autoware_launch
Structure
Package Dependencies
Please see <exec_depend> in package.xml.
Usage
You can use the command as follows at shell script to launch *.launch.xml in launch directory.
ros2 launch autoware_launch autoware.launch.xml map_path:=/path/to/map_folder vehicle_model:=lexus sensor_model:=aip_xx1
CHANGELOG
Changelog for package autoware_launch
0.47.0 (2025-08-11)
-
feat: change planning output topic name to /planning/trajectory (#1594)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
fix(multi_object_tracker): remove confident_count_threshold parameter (#1592)
-
feat(motion_velocity_planner): update pointcloud preprocess design (#1588)
* add new params for pcl preprocess ---------
-
feat(perception_online_evaluator): change launch setting to enable node (#1583)
- feat: enable perception online evaluator
* chore: add a new argument to enable autoware_perception_analytics_publisher_node instead of previous autoware_perception_online_evaluator_node ---------Co-authored-by: Jian Kang <<jian.kang@tier4.jp>>
-
fix(multi_object_tracker): add param for irregular_object (#1587)
- fix(multi_object_tracker): add param for irregular_object
* fix: update param ---------
-
fix(tracker): update pedestrian max_area_matrix for large pedestrian (#1589) fix(data_association_matrix): update pedestrian max_area_matrix for large pedestrian
-
feat(boundary_departure): configurable departure points and type based on time (#1579)
- feat(boundary_departure): configurable departure points and type based on time
- set predicted path and near boundary to same value
* increase time_buffer value ---------
-
feat(boundary_departure): rename parameter (#1586)
-
feat(blind_spot): new re-designed blind_spot module (#1582)
-
refactor(planning_validator, trajectory_checker): update config (#1581)
- update parameter files
* rename param ---------
-
feat(rear_collision_checker): support selecting safety metric from TTC or RSS (#1584) feat: selectable metric
-
feat(road_user_stop): add road_user_stop module config (#1566)
- add road_user_stop module config
- update parameters
- update parameter
- update parameter
- fix based on PR review
- fix copy misstake of parameter
- change parameter structure for opposing traffic
- add virtual wall
* format param.yaml ---------
-
fix(path_generator): merge waypoint groups with shared overlap interval (#1576) replace parameters with new one
-
feat(run_out): add parameters to select which debug markers to publish (#1580)
-
refactor(rear_collision_checker): update parameter structure (#1578)
-
feat(autoware_pipeline_latency_monitor): add
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/autoware.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- pointcloud_container_name [default: pointcloud_container]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- launch_vehicle [default: true]
- launch_system [default: true]
- launch_map [default: true]
- launch_sensing [default: true]
- launch_sensing_driver [default: true]
- launch_localization [default: true]
- launch_perception [default: true]
- launch_planning [default: true]
- launch_control [default: true]
- launch_api [default: true]
- use_sim_time [default: false]
- vehicle_id [default: $(env VEHICLE_ID default)]
- launch_vehicle_interface [default: true]
- check_external_emergency_heartbeat [default: false]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- system_run_mode [default: online]
- launch_system_monitor [default: true]
- launch_dummy_diag_publisher [default: false]
- diagnostic_graph_aggregator_graph_path [default: $(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- rviz_respawn [default: true]
- perception_mode [default: lidar]
- traffic_light_recognition/use_high_accuracy_detection [default: true]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- launch/components/tier4_autoware_api_component.launch.xml
-
- scenario_simulation [default: false]
- launch_deprecated_api [default: $(var scenario_simulation)]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_control_component.launch.xml
-
- module_preset [default: default]
- lateral_controller_mode [default: mpc]
- longitudinal_controller_mode [default: pid]
- use_individual_control_param [default: false]
- use_aeb_autoware_state_check [default: true]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_localization_component.launch.xml
-
- loc_config_path [default: $(find-pkg-share autoware_launch)/config/localization]
- pose_source [default: ndt]
- twist_source [default: gyro_odom]
- input_pointcloud [default: /sensing/lidar/concatenated/pointcloud]
- localization_pointcloud_container_name [default: /pointcloud_container]
- initial_pose [default: []]
- launch_pointcloud_container [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_map_component.launch.xml
- launch/components/tier4_perception_component.launch.xml
-
- launch_pointcloud_container [default: false]
- pointcloud_container_name
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- use_empty_dynamic_object_publisher [default: false]
- use_traffic_light_recognition [default: true]
- use_low_height_cropbox [default: false]
- use_vector_map [default: true]
- use_pointcloud_map [default: true]
- use_irregular_object_detector [default: true]
- use_low_intensity_cluster_filter [default: true]
- use_image_segmentation_based_filter [default: false]
- use_perception_online_evaluator [default: false]
- use_perception_analytics_publisher [default: true]
- use_detection_by_tracker [default: true]
- use_radar_tracking_fusion [default: true]
- use_object_filter [default: true]
- use_obstacle_segmentation_single_frame_filter [default: false]
- use_obstacle_segmentation_time_series_filter [default: true]
- segmentation_pointcloud_fusion_camera_ids [default: [0,2,4]]
- use_multi_channel_tracker_merger [default: false]
- occupancy_grid_map_method [default: pointcloud_based]
- occupancy_grid_map_updater [default: binary_bayes_filter]
- detected_objects_filter_method [default: lanelet_filter]
- detected_objects_validation_method [default: obstacle_pointcloud]
- data_path [default: $(env HOME)/autoware_data]
- lidar_detection_model [default: centerpoint]
- ml_camera_lidar_merger_priority_mode [default: 0]
- traffic_light_recognition/camera_namespaces [default: [camera6, camera7]]
- traffic_light_recognition/use_high_accuracy_detection [default: true]
- traffic_light_recognition/high_accuracy_detection_type [default: fine_detection]
- launch/components/tier4_planning_component.launch.xml
-
- module_preset [default: default]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_sensing_component.launch.xml
-
- launch_pointcloud_container [default: false]
- pointcloud_container_name
- launch_sensing_driver [default: true]
- sensor_model [default: sample_sensor_kit]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_simulator_component.launch.xml
-
- launch_dummy_perception
- launch_dummy_vehicle
- localization_sim_mode
- launch_dummy_doors
- launch_scenario_simulator_v2_adapter
- perception/enable_detection_failure
- perception/enable_object_recognition
- perception/enable_traffic_light
- perception/use_base_link_z
- sensing/visible_range
- vehicle_model
- initial_engage_state
- vehicle_info_param_file
- raw_vehicle_cmd_converter_param_path
- occupancy_grid_map_updater [default: binary_bayes_filter]
- use_pointcloud_container [default: true]
- launch/components/tier4_system_component.launch.xml
-
- diagnostic_graph_aggregator_param_path [default: $(find-pkg-share autoware_diagnostic_graph_aggregator)/config/default.param.yaml]
- diagnostic_graph_aggregator_graph_path [default: $(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml]
- launch/e2e_simulator.launch.xml
-
- use_sim_time [default: true]
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- data_path [default: $(env HOME)/autoware_data]
- simulator_type [default: awsim]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- vehicle [default: true]
- system [default: true]
- map [default: true]
- sensing [default: true]
- localization [default: true]
- perception [default: true]
- planning [default: true]
- control [default: true]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- traffic_light_namespace [default: [traffic_light]]
- launch_vehicle_interface [default: false]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: false]
- launch_sensing_driver [default: false]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- launch/logging_simulator.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- vehicle_id [default: $(env VEHICLE_ID default)]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- vehicle [default: true]
- system [default: true]
- map [default: true]
- sensing [default: true]
- localization [default: true]
- perception [default: true]
- planning [default: true]
- control [default: true]
- pointcloud_container_name [default: pointcloud_container]
- launch_vehicle_interface [default: false]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: false]
- rviz [default: true]
- scenario_simulation [default: false]
- launch/planning_simulator.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- launch_dummy_doors [default: true]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: true]
- initial_engage_state [default: true]
- perception/enable_detection_failure [default: true]
- perception/enable_object_recognition [default: true]
- perception/enable_traffic_light [default: false]
- perception/use_base_link_z [default: true]
- sensing/visible_range [default: 300.0]
- scenario_simulation [default: false]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- vehicle_simulation [default: true]
- enable_all_modules_auto_mode [default: $(var scenario_simulation)]
- use_sim_time [default: $(var scenario_simulation)]
- localization_sim_mode [default: api]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged autoware_launch at Robotics Stack Exchange
No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 0.47.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_launch.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-08-14 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | ros ros2 autoware |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The autoware_launch package
Additional Links
No additional links.
Maintainers
- Yukihiro Saito
- Ryohsuke Mitsudome
- M. Fatih Cırıt
Authors
No additional authors.
autoware_launch
Structure
Package Dependencies
Please see <exec_depend> in package.xml.
Usage
You can use the command as follows at shell script to launch *.launch.xml in launch directory.
ros2 launch autoware_launch autoware.launch.xml map_path:=/path/to/map_folder vehicle_model:=lexus sensor_model:=aip_xx1
CHANGELOG
Changelog for package autoware_launch
0.47.0 (2025-08-11)
-
feat: change planning output topic name to /planning/trajectory (#1594)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
fix(multi_object_tracker): remove confident_count_threshold parameter (#1592)
-
feat(motion_velocity_planner): update pointcloud preprocess design (#1588)
* add new params for pcl preprocess ---------
-
feat(perception_online_evaluator): change launch setting to enable node (#1583)
- feat: enable perception online evaluator
* chore: add a new argument to enable autoware_perception_analytics_publisher_node instead of previous autoware_perception_online_evaluator_node ---------Co-authored-by: Jian Kang <<jian.kang@tier4.jp>>
-
fix(multi_object_tracker): add param for irregular_object (#1587)
- fix(multi_object_tracker): add param for irregular_object
* fix: update param ---------
-
fix(tracker): update pedestrian max_area_matrix for large pedestrian (#1589) fix(data_association_matrix): update pedestrian max_area_matrix for large pedestrian
-
feat(boundary_departure): configurable departure points and type based on time (#1579)
- feat(boundary_departure): configurable departure points and type based on time
- set predicted path and near boundary to same value
* increase time_buffer value ---------
-
feat(boundary_departure): rename parameter (#1586)
-
feat(blind_spot): new re-designed blind_spot module (#1582)
-
refactor(planning_validator, trajectory_checker): update config (#1581)
- update parameter files
* rename param ---------
-
feat(rear_collision_checker): support selecting safety metric from TTC or RSS (#1584) feat: selectable metric
-
feat(road_user_stop): add road_user_stop module config (#1566)
- add road_user_stop module config
- update parameters
- update parameter
- update parameter
- fix based on PR review
- fix copy misstake of parameter
- change parameter structure for opposing traffic
- add virtual wall
* format param.yaml ---------
-
fix(path_generator): merge waypoint groups with shared overlap interval (#1576) replace parameters with new one
-
feat(run_out): add parameters to select which debug markers to publish (#1580)
-
refactor(rear_collision_checker): update parameter structure (#1578)
-
feat(autoware_pipeline_latency_monitor): add
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/autoware.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- pointcloud_container_name [default: pointcloud_container]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- launch_vehicle [default: true]
- launch_system [default: true]
- launch_map [default: true]
- launch_sensing [default: true]
- launch_sensing_driver [default: true]
- launch_localization [default: true]
- launch_perception [default: true]
- launch_planning [default: true]
- launch_control [default: true]
- launch_api [default: true]
- use_sim_time [default: false]
- vehicle_id [default: $(env VEHICLE_ID default)]
- launch_vehicle_interface [default: true]
- check_external_emergency_heartbeat [default: false]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- system_run_mode [default: online]
- launch_system_monitor [default: true]
- launch_dummy_diag_publisher [default: false]
- diagnostic_graph_aggregator_graph_path [default: $(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- rviz_respawn [default: true]
- perception_mode [default: lidar]
- traffic_light_recognition/use_high_accuracy_detection [default: true]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- launch/components/tier4_autoware_api_component.launch.xml
-
- scenario_simulation [default: false]
- launch_deprecated_api [default: $(var scenario_simulation)]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_control_component.launch.xml
-
- module_preset [default: default]
- lateral_controller_mode [default: mpc]
- longitudinal_controller_mode [default: pid]
- use_individual_control_param [default: false]
- use_aeb_autoware_state_check [default: true]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_localization_component.launch.xml
-
- loc_config_path [default: $(find-pkg-share autoware_launch)/config/localization]
- pose_source [default: ndt]
- twist_source [default: gyro_odom]
- input_pointcloud [default: /sensing/lidar/concatenated/pointcloud]
- localization_pointcloud_container_name [default: /pointcloud_container]
- initial_pose [default: []]
- launch_pointcloud_container [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_map_component.launch.xml
- launch/components/tier4_perception_component.launch.xml
-
- launch_pointcloud_container [default: false]
- pointcloud_container_name
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- use_empty_dynamic_object_publisher [default: false]
- use_traffic_light_recognition [default: true]
- use_low_height_cropbox [default: false]
- use_vector_map [default: true]
- use_pointcloud_map [default: true]
- use_irregular_object_detector [default: true]
- use_low_intensity_cluster_filter [default: true]
- use_image_segmentation_based_filter [default: false]
- use_perception_online_evaluator [default: false]
- use_perception_analytics_publisher [default: true]
- use_detection_by_tracker [default: true]
- use_radar_tracking_fusion [default: true]
- use_object_filter [default: true]
- use_obstacle_segmentation_single_frame_filter [default: false]
- use_obstacle_segmentation_time_series_filter [default: true]
- segmentation_pointcloud_fusion_camera_ids [default: [0,2,4]]
- use_multi_channel_tracker_merger [default: false]
- occupancy_grid_map_method [default: pointcloud_based]
- occupancy_grid_map_updater [default: binary_bayes_filter]
- detected_objects_filter_method [default: lanelet_filter]
- detected_objects_validation_method [default: obstacle_pointcloud]
- data_path [default: $(env HOME)/autoware_data]
- lidar_detection_model [default: centerpoint]
- ml_camera_lidar_merger_priority_mode [default: 0]
- traffic_light_recognition/camera_namespaces [default: [camera6, camera7]]
- traffic_light_recognition/use_high_accuracy_detection [default: true]
- traffic_light_recognition/high_accuracy_detection_type [default: fine_detection]
- launch/components/tier4_planning_component.launch.xml
-
- module_preset [default: default]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_sensing_component.launch.xml
-
- launch_pointcloud_container [default: false]
- pointcloud_container_name
- launch_sensing_driver [default: true]
- sensor_model [default: sample_sensor_kit]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_simulator_component.launch.xml
-
- launch_dummy_perception
- launch_dummy_vehicle
- localization_sim_mode
- launch_dummy_doors
- launch_scenario_simulator_v2_adapter
- perception/enable_detection_failure
- perception/enable_object_recognition
- perception/enable_traffic_light
- perception/use_base_link_z
- sensing/visible_range
- vehicle_model
- initial_engage_state
- vehicle_info_param_file
- raw_vehicle_cmd_converter_param_path
- occupancy_grid_map_updater [default: binary_bayes_filter]
- use_pointcloud_container [default: true]
- launch/components/tier4_system_component.launch.xml
-
- diagnostic_graph_aggregator_param_path [default: $(find-pkg-share autoware_diagnostic_graph_aggregator)/config/default.param.yaml]
- diagnostic_graph_aggregator_graph_path [default: $(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml]
- launch/e2e_simulator.launch.xml
-
- use_sim_time [default: true]
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- data_path [default: $(env HOME)/autoware_data]
- simulator_type [default: awsim]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- vehicle [default: true]
- system [default: true]
- map [default: true]
- sensing [default: true]
- localization [default: true]
- perception [default: true]
- planning [default: true]
- control [default: true]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- traffic_light_namespace [default: [traffic_light]]
- launch_vehicle_interface [default: false]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: false]
- launch_sensing_driver [default: false]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- launch/logging_simulator.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- vehicle_id [default: $(env VEHICLE_ID default)]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- vehicle [default: true]
- system [default: true]
- map [default: true]
- sensing [default: true]
- localization [default: true]
- perception [default: true]
- planning [default: true]
- control [default: true]
- pointcloud_container_name [default: pointcloud_container]
- launch_vehicle_interface [default: false]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: false]
- rviz [default: true]
- scenario_simulation [default: false]
- launch/planning_simulator.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- launch_dummy_doors [default: true]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: true]
- initial_engage_state [default: true]
- perception/enable_detection_failure [default: true]
- perception/enable_object_recognition [default: true]
- perception/enable_traffic_light [default: false]
- perception/use_base_link_z [default: true]
- sensing/visible_range [default: 300.0]
- scenario_simulation [default: false]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- vehicle_simulation [default: true]
- enable_all_modules_auto_mode [default: $(var scenario_simulation)]
- use_sim_time [default: $(var scenario_simulation)]
- localization_sim_mode [default: api]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged autoware_launch at Robotics Stack Exchange
No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 0.47.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_launch.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-08-14 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | ros ros2 autoware |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The autoware_launch package
Additional Links
No additional links.
Maintainers
- Yukihiro Saito
- Ryohsuke Mitsudome
- M. Fatih Cırıt
Authors
No additional authors.
autoware_launch
Structure
Package Dependencies
Please see <exec_depend> in package.xml.
Usage
You can use the command as follows at shell script to launch *.launch.xml in launch directory.
ros2 launch autoware_launch autoware.launch.xml map_path:=/path/to/map_folder vehicle_model:=lexus sensor_model:=aip_xx1
CHANGELOG
Changelog for package autoware_launch
0.47.0 (2025-08-11)
-
feat: change planning output topic name to /planning/trajectory (#1594)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
fix(multi_object_tracker): remove confident_count_threshold parameter (#1592)
-
feat(motion_velocity_planner): update pointcloud preprocess design (#1588)
* add new params for pcl preprocess ---------
-
feat(perception_online_evaluator): change launch setting to enable node (#1583)
- feat: enable perception online evaluator
* chore: add a new argument to enable autoware_perception_analytics_publisher_node instead of previous autoware_perception_online_evaluator_node ---------Co-authored-by: Jian Kang <<jian.kang@tier4.jp>>
-
fix(multi_object_tracker): add param for irregular_object (#1587)
- fix(multi_object_tracker): add param for irregular_object
* fix: update param ---------
-
fix(tracker): update pedestrian max_area_matrix for large pedestrian (#1589) fix(data_association_matrix): update pedestrian max_area_matrix for large pedestrian
-
feat(boundary_departure): configurable departure points and type based on time (#1579)
- feat(boundary_departure): configurable departure points and type based on time
- set predicted path and near boundary to same value
* increase time_buffer value ---------
-
feat(boundary_departure): rename parameter (#1586)
-
feat(blind_spot): new re-designed blind_spot module (#1582)
-
refactor(planning_validator, trajectory_checker): update config (#1581)
- update parameter files
* rename param ---------
-
feat(rear_collision_checker): support selecting safety metric from TTC or RSS (#1584) feat: selectable metric
-
feat(road_user_stop): add road_user_stop module config (#1566)
- add road_user_stop module config
- update parameters
- update parameter
- update parameter
- fix based on PR review
- fix copy misstake of parameter
- change parameter structure for opposing traffic
- add virtual wall
* format param.yaml ---------
-
fix(path_generator): merge waypoint groups with shared overlap interval (#1576) replace parameters with new one
-
feat(run_out): add parameters to select which debug markers to publish (#1580)
-
refactor(rear_collision_checker): update parameter structure (#1578)
-
feat(autoware_pipeline_latency_monitor): add
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/autoware.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- pointcloud_container_name [default: pointcloud_container]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- launch_vehicle [default: true]
- launch_system [default: true]
- launch_map [default: true]
- launch_sensing [default: true]
- launch_sensing_driver [default: true]
- launch_localization [default: true]
- launch_perception [default: true]
- launch_planning [default: true]
- launch_control [default: true]
- launch_api [default: true]
- use_sim_time [default: false]
- vehicle_id [default: $(env VEHICLE_ID default)]
- launch_vehicle_interface [default: true]
- check_external_emergency_heartbeat [default: false]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- system_run_mode [default: online]
- launch_system_monitor [default: true]
- launch_dummy_diag_publisher [default: false]
- diagnostic_graph_aggregator_graph_path [default: $(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- rviz_respawn [default: true]
- perception_mode [default: lidar]
- traffic_light_recognition/use_high_accuracy_detection [default: true]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- launch/components/tier4_autoware_api_component.launch.xml
-
- scenario_simulation [default: false]
- launch_deprecated_api [default: $(var scenario_simulation)]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_control_component.launch.xml
-
- module_preset [default: default]
- lateral_controller_mode [default: mpc]
- longitudinal_controller_mode [default: pid]
- use_individual_control_param [default: false]
- use_aeb_autoware_state_check [default: true]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_localization_component.launch.xml
-
- loc_config_path [default: $(find-pkg-share autoware_launch)/config/localization]
- pose_source [default: ndt]
- twist_source [default: gyro_odom]
- input_pointcloud [default: /sensing/lidar/concatenated/pointcloud]
- localization_pointcloud_container_name [default: /pointcloud_container]
- initial_pose [default: []]
- launch_pointcloud_container [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_map_component.launch.xml
- launch/components/tier4_perception_component.launch.xml
-
- launch_pointcloud_container [default: false]
- pointcloud_container_name
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- use_empty_dynamic_object_publisher [default: false]
- use_traffic_light_recognition [default: true]
- use_low_height_cropbox [default: false]
- use_vector_map [default: true]
- use_pointcloud_map [default: true]
- use_irregular_object_detector [default: true]
- use_low_intensity_cluster_filter [default: true]
- use_image_segmentation_based_filter [default: false]
- use_perception_online_evaluator [default: false]
- use_perception_analytics_publisher [default: true]
- use_detection_by_tracker [default: true]
- use_radar_tracking_fusion [default: true]
- use_object_filter [default: true]
- use_obstacle_segmentation_single_frame_filter [default: false]
- use_obstacle_segmentation_time_series_filter [default: true]
- segmentation_pointcloud_fusion_camera_ids [default: [0,2,4]]
- use_multi_channel_tracker_merger [default: false]
- occupancy_grid_map_method [default: pointcloud_based]
- occupancy_grid_map_updater [default: binary_bayes_filter]
- detected_objects_filter_method [default: lanelet_filter]
- detected_objects_validation_method [default: obstacle_pointcloud]
- data_path [default: $(env HOME)/autoware_data]
- lidar_detection_model [default: centerpoint]
- ml_camera_lidar_merger_priority_mode [default: 0]
- traffic_light_recognition/camera_namespaces [default: [camera6, camera7]]
- traffic_light_recognition/use_high_accuracy_detection [default: true]
- traffic_light_recognition/high_accuracy_detection_type [default: fine_detection]
- launch/components/tier4_planning_component.launch.xml
-
- module_preset [default: default]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_sensing_component.launch.xml
-
- launch_pointcloud_container [default: false]
- pointcloud_container_name
- launch_sensing_driver [default: true]
- sensor_model [default: sample_sensor_kit]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_simulator_component.launch.xml
-
- launch_dummy_perception
- launch_dummy_vehicle
- localization_sim_mode
- launch_dummy_doors
- launch_scenario_simulator_v2_adapter
- perception/enable_detection_failure
- perception/enable_object_recognition
- perception/enable_traffic_light
- perception/use_base_link_z
- sensing/visible_range
- vehicle_model
- initial_engage_state
- vehicle_info_param_file
- raw_vehicle_cmd_converter_param_path
- occupancy_grid_map_updater [default: binary_bayes_filter]
- use_pointcloud_container [default: true]
- launch/components/tier4_system_component.launch.xml
-
- diagnostic_graph_aggregator_param_path [default: $(find-pkg-share autoware_diagnostic_graph_aggregator)/config/default.param.yaml]
- diagnostic_graph_aggregator_graph_path [default: $(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml]
- launch/e2e_simulator.launch.xml
-
- use_sim_time [default: true]
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- data_path [default: $(env HOME)/autoware_data]
- simulator_type [default: awsim]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- vehicle [default: true]
- system [default: true]
- map [default: true]
- sensing [default: true]
- localization [default: true]
- perception [default: true]
- planning [default: true]
- control [default: true]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- traffic_light_namespace [default: [traffic_light]]
- launch_vehicle_interface [default: false]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: false]
- launch_sensing_driver [default: false]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- launch/logging_simulator.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- vehicle_id [default: $(env VEHICLE_ID default)]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- vehicle [default: true]
- system [default: true]
- map [default: true]
- sensing [default: true]
- localization [default: true]
- perception [default: true]
- planning [default: true]
- control [default: true]
- pointcloud_container_name [default: pointcloud_container]
- launch_vehicle_interface [default: false]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: false]
- rviz [default: true]
- scenario_simulation [default: false]
- launch/planning_simulator.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- launch_dummy_doors [default: true]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: true]
- initial_engage_state [default: true]
- perception/enable_detection_failure [default: true]
- perception/enable_object_recognition [default: true]
- perception/enable_traffic_light [default: false]
- perception/use_base_link_z [default: true]
- sensing/visible_range [default: 300.0]
- scenario_simulation [default: false]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- vehicle_simulation [default: true]
- enable_all_modules_auto_mode [default: $(var scenario_simulation)]
- use_sim_time [default: $(var scenario_simulation)]
- localization_sim_mode [default: api]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged autoware_launch at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 0.47.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_launch.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-08-14 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | ros ros2 autoware |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The autoware_launch package
Additional Links
No additional links.
Maintainers
- Yukihiro Saito
- Ryohsuke Mitsudome
- M. Fatih Cırıt
Authors
No additional authors.
autoware_launch
Structure
Package Dependencies
Please see <exec_depend> in package.xml.
Usage
You can use the command as follows at shell script to launch *.launch.xml in launch directory.
ros2 launch autoware_launch autoware.launch.xml map_path:=/path/to/map_folder vehicle_model:=lexus sensor_model:=aip_xx1
CHANGELOG
Changelog for package autoware_launch
0.47.0 (2025-08-11)
-
feat: change planning output topic name to /planning/trajectory (#1594)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
fix(multi_object_tracker): remove confident_count_threshold parameter (#1592)
-
feat(motion_velocity_planner): update pointcloud preprocess design (#1588)
* add new params for pcl preprocess ---------
-
feat(perception_online_evaluator): change launch setting to enable node (#1583)
- feat: enable perception online evaluator
* chore: add a new argument to enable autoware_perception_analytics_publisher_node instead of previous autoware_perception_online_evaluator_node ---------Co-authored-by: Jian Kang <<jian.kang@tier4.jp>>
-
fix(multi_object_tracker): add param for irregular_object (#1587)
- fix(multi_object_tracker): add param for irregular_object
* fix: update param ---------
-
fix(tracker): update pedestrian max_area_matrix for large pedestrian (#1589) fix(data_association_matrix): update pedestrian max_area_matrix for large pedestrian
-
feat(boundary_departure): configurable departure points and type based on time (#1579)
- feat(boundary_departure): configurable departure points and type based on time
- set predicted path and near boundary to same value
* increase time_buffer value ---------
-
feat(boundary_departure): rename parameter (#1586)
-
feat(blind_spot): new re-designed blind_spot module (#1582)
-
refactor(planning_validator, trajectory_checker): update config (#1581)
- update parameter files
* rename param ---------
-
feat(rear_collision_checker): support selecting safety metric from TTC or RSS (#1584) feat: selectable metric
-
feat(road_user_stop): add road_user_stop module config (#1566)
- add road_user_stop module config
- update parameters
- update parameter
- update parameter
- fix based on PR review
- fix copy misstake of parameter
- change parameter structure for opposing traffic
- add virtual wall
* format param.yaml ---------
-
fix(path_generator): merge waypoint groups with shared overlap interval (#1576) replace parameters with new one
-
feat(run_out): add parameters to select which debug markers to publish (#1580)
-
refactor(rear_collision_checker): update parameter structure (#1578)
-
feat(autoware_pipeline_latency_monitor): add
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/autoware.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- pointcloud_container_name [default: pointcloud_container]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- launch_vehicle [default: true]
- launch_system [default: true]
- launch_map [default: true]
- launch_sensing [default: true]
- launch_sensing_driver [default: true]
- launch_localization [default: true]
- launch_perception [default: true]
- launch_planning [default: true]
- launch_control [default: true]
- launch_api [default: true]
- use_sim_time [default: false]
- vehicle_id [default: $(env VEHICLE_ID default)]
- launch_vehicle_interface [default: true]
- check_external_emergency_heartbeat [default: false]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- system_run_mode [default: online]
- launch_system_monitor [default: true]
- launch_dummy_diag_publisher [default: false]
- diagnostic_graph_aggregator_graph_path [default: $(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- rviz_respawn [default: true]
- perception_mode [default: lidar]
- traffic_light_recognition/use_high_accuracy_detection [default: true]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- launch/components/tier4_autoware_api_component.launch.xml
-
- scenario_simulation [default: false]
- launch_deprecated_api [default: $(var scenario_simulation)]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_control_component.launch.xml
-
- module_preset [default: default]
- lateral_controller_mode [default: mpc]
- longitudinal_controller_mode [default: pid]
- use_individual_control_param [default: false]
- use_aeb_autoware_state_check [default: true]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_localization_component.launch.xml
-
- loc_config_path [default: $(find-pkg-share autoware_launch)/config/localization]
- pose_source [default: ndt]
- twist_source [default: gyro_odom]
- input_pointcloud [default: /sensing/lidar/concatenated/pointcloud]
- localization_pointcloud_container_name [default: /pointcloud_container]
- initial_pose [default: []]
- launch_pointcloud_container [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_map_component.launch.xml
- launch/components/tier4_perception_component.launch.xml
-
- launch_pointcloud_container [default: false]
- pointcloud_container_name
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- use_empty_dynamic_object_publisher [default: false]
- use_traffic_light_recognition [default: true]
- use_low_height_cropbox [default: false]
- use_vector_map [default: true]
- use_pointcloud_map [default: true]
- use_irregular_object_detector [default: true]
- use_low_intensity_cluster_filter [default: true]
- use_image_segmentation_based_filter [default: false]
- use_perception_online_evaluator [default: false]
- use_perception_analytics_publisher [default: true]
- use_detection_by_tracker [default: true]
- use_radar_tracking_fusion [default: true]
- use_object_filter [default: true]
- use_obstacle_segmentation_single_frame_filter [default: false]
- use_obstacle_segmentation_time_series_filter [default: true]
- segmentation_pointcloud_fusion_camera_ids [default: [0,2,4]]
- use_multi_channel_tracker_merger [default: false]
- occupancy_grid_map_method [default: pointcloud_based]
- occupancy_grid_map_updater [default: binary_bayes_filter]
- detected_objects_filter_method [default: lanelet_filter]
- detected_objects_validation_method [default: obstacle_pointcloud]
- data_path [default: $(env HOME)/autoware_data]
- lidar_detection_model [default: centerpoint]
- ml_camera_lidar_merger_priority_mode [default: 0]
- traffic_light_recognition/camera_namespaces [default: [camera6, camera7]]
- traffic_light_recognition/use_high_accuracy_detection [default: true]
- traffic_light_recognition/high_accuracy_detection_type [default: fine_detection]
- launch/components/tier4_planning_component.launch.xml
-
- module_preset [default: default]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_sensing_component.launch.xml
-
- launch_pointcloud_container [default: false]
- pointcloud_container_name
- launch_sensing_driver [default: true]
- sensor_model [default: sample_sensor_kit]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_simulator_component.launch.xml
-
- launch_dummy_perception
- launch_dummy_vehicle
- localization_sim_mode
- launch_dummy_doors
- launch_scenario_simulator_v2_adapter
- perception/enable_detection_failure
- perception/enable_object_recognition
- perception/enable_traffic_light
- perception/use_base_link_z
- sensing/visible_range
- vehicle_model
- initial_engage_state
- vehicle_info_param_file
- raw_vehicle_cmd_converter_param_path
- occupancy_grid_map_updater [default: binary_bayes_filter]
- use_pointcloud_container [default: true]
- launch/components/tier4_system_component.launch.xml
-
- diagnostic_graph_aggregator_param_path [default: $(find-pkg-share autoware_diagnostic_graph_aggregator)/config/default.param.yaml]
- diagnostic_graph_aggregator_graph_path [default: $(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml]
- launch/e2e_simulator.launch.xml
-
- use_sim_time [default: true]
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- data_path [default: $(env HOME)/autoware_data]
- simulator_type [default: awsim]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- vehicle [default: true]
- system [default: true]
- map [default: true]
- sensing [default: true]
- localization [default: true]
- perception [default: true]
- planning [default: true]
- control [default: true]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- traffic_light_namespace [default: [traffic_light]]
- launch_vehicle_interface [default: false]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: false]
- launch_sensing_driver [default: false]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- launch/logging_simulator.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- vehicle_id [default: $(env VEHICLE_ID default)]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- vehicle [default: true]
- system [default: true]
- map [default: true]
- sensing [default: true]
- localization [default: true]
- perception [default: true]
- planning [default: true]
- control [default: true]
- pointcloud_container_name [default: pointcloud_container]
- launch_vehicle_interface [default: false]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: false]
- rviz [default: true]
- scenario_simulation [default: false]
- launch/planning_simulator.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- launch_dummy_doors [default: true]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: true]
- initial_engage_state [default: true]
- perception/enable_detection_failure [default: true]
- perception/enable_object_recognition [default: true]
- perception/enable_traffic_light [default: false]
- perception/use_base_link_z [default: true]
- sensing/visible_range [default: 300.0]
- scenario_simulation [default: false]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- vehicle_simulation [default: true]
- enable_all_modules_auto_mode [default: $(var scenario_simulation)]
- use_sim_time [default: $(var scenario_simulation)]
- localization_sim_mode [default: api]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged autoware_launch at Robotics Stack Exchange
No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 0.47.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_launch.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-08-14 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | ros ros2 autoware |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The autoware_launch package
Additional Links
No additional links.
Maintainers
- Yukihiro Saito
- Ryohsuke Mitsudome
- M. Fatih Cırıt
Authors
No additional authors.
autoware_launch
Structure
Package Dependencies
Please see <exec_depend> in package.xml.
Usage
You can use the command as follows at shell script to launch *.launch.xml in launch directory.
ros2 launch autoware_launch autoware.launch.xml map_path:=/path/to/map_folder vehicle_model:=lexus sensor_model:=aip_xx1
CHANGELOG
Changelog for package autoware_launch
0.47.0 (2025-08-11)
-
feat: change planning output topic name to /planning/trajectory (#1594)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
fix(multi_object_tracker): remove confident_count_threshold parameter (#1592)
-
feat(motion_velocity_planner): update pointcloud preprocess design (#1588)
* add new params for pcl preprocess ---------
-
feat(perception_online_evaluator): change launch setting to enable node (#1583)
- feat: enable perception online evaluator
* chore: add a new argument to enable autoware_perception_analytics_publisher_node instead of previous autoware_perception_online_evaluator_node ---------Co-authored-by: Jian Kang <<jian.kang@tier4.jp>>
-
fix(multi_object_tracker): add param for irregular_object (#1587)
- fix(multi_object_tracker): add param for irregular_object
* fix: update param ---------
-
fix(tracker): update pedestrian max_area_matrix for large pedestrian (#1589) fix(data_association_matrix): update pedestrian max_area_matrix for large pedestrian
-
feat(boundary_departure): configurable departure points and type based on time (#1579)
- feat(boundary_departure): configurable departure points and type based on time
- set predicted path and near boundary to same value
* increase time_buffer value ---------
-
feat(boundary_departure): rename parameter (#1586)
-
feat(blind_spot): new re-designed blind_spot module (#1582)
-
refactor(planning_validator, trajectory_checker): update config (#1581)
- update parameter files
* rename param ---------
-
feat(rear_collision_checker): support selecting safety metric from TTC or RSS (#1584) feat: selectable metric
-
feat(road_user_stop): add road_user_stop module config (#1566)
- add road_user_stop module config
- update parameters
- update parameter
- update parameter
- fix based on PR review
- fix copy misstake of parameter
- change parameter structure for opposing traffic
- add virtual wall
* format param.yaml ---------
-
fix(path_generator): merge waypoint groups with shared overlap interval (#1576) replace parameters with new one
-
feat(run_out): add parameters to select which debug markers to publish (#1580)
-
refactor(rear_collision_checker): update parameter structure (#1578)
-
feat(autoware_pipeline_latency_monitor): add
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/autoware.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- pointcloud_container_name [default: pointcloud_container]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- launch_vehicle [default: true]
- launch_system [default: true]
- launch_map [default: true]
- launch_sensing [default: true]
- launch_sensing_driver [default: true]
- launch_localization [default: true]
- launch_perception [default: true]
- launch_planning [default: true]
- launch_control [default: true]
- launch_api [default: true]
- use_sim_time [default: false]
- vehicle_id [default: $(env VEHICLE_ID default)]
- launch_vehicle_interface [default: true]
- check_external_emergency_heartbeat [default: false]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- system_run_mode [default: online]
- launch_system_monitor [default: true]
- launch_dummy_diag_publisher [default: false]
- diagnostic_graph_aggregator_graph_path [default: $(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- rviz_respawn [default: true]
- perception_mode [default: lidar]
- traffic_light_recognition/use_high_accuracy_detection [default: true]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- launch/components/tier4_autoware_api_component.launch.xml
-
- scenario_simulation [default: false]
- launch_deprecated_api [default: $(var scenario_simulation)]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_control_component.launch.xml
-
- module_preset [default: default]
- lateral_controller_mode [default: mpc]
- longitudinal_controller_mode [default: pid]
- use_individual_control_param [default: false]
- use_aeb_autoware_state_check [default: true]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_localization_component.launch.xml
-
- loc_config_path [default: $(find-pkg-share autoware_launch)/config/localization]
- pose_source [default: ndt]
- twist_source [default: gyro_odom]
- input_pointcloud [default: /sensing/lidar/concatenated/pointcloud]
- localization_pointcloud_container_name [default: /pointcloud_container]
- initial_pose [default: []]
- launch_pointcloud_container [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_map_component.launch.xml
- launch/components/tier4_perception_component.launch.xml
-
- launch_pointcloud_container [default: false]
- pointcloud_container_name
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- use_empty_dynamic_object_publisher [default: false]
- use_traffic_light_recognition [default: true]
- use_low_height_cropbox [default: false]
- use_vector_map [default: true]
- use_pointcloud_map [default: true]
- use_irregular_object_detector [default: true]
- use_low_intensity_cluster_filter [default: true]
- use_image_segmentation_based_filter [default: false]
- use_perception_online_evaluator [default: false]
- use_perception_analytics_publisher [default: true]
- use_detection_by_tracker [default: true]
- use_radar_tracking_fusion [default: true]
- use_object_filter [default: true]
- use_obstacle_segmentation_single_frame_filter [default: false]
- use_obstacle_segmentation_time_series_filter [default: true]
- segmentation_pointcloud_fusion_camera_ids [default: [0,2,4]]
- use_multi_channel_tracker_merger [default: false]
- occupancy_grid_map_method [default: pointcloud_based]
- occupancy_grid_map_updater [default: binary_bayes_filter]
- detected_objects_filter_method [default: lanelet_filter]
- detected_objects_validation_method [default: obstacle_pointcloud]
- data_path [default: $(env HOME)/autoware_data]
- lidar_detection_model [default: centerpoint]
- ml_camera_lidar_merger_priority_mode [default: 0]
- traffic_light_recognition/camera_namespaces [default: [camera6, camera7]]
- traffic_light_recognition/use_high_accuracy_detection [default: true]
- traffic_light_recognition/high_accuracy_detection_type [default: fine_detection]
- launch/components/tier4_planning_component.launch.xml
-
- module_preset [default: default]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_sensing_component.launch.xml
-
- launch_pointcloud_container [default: false]
- pointcloud_container_name
- launch_sensing_driver [default: true]
- sensor_model [default: sample_sensor_kit]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_simulator_component.launch.xml
-
- launch_dummy_perception
- launch_dummy_vehicle
- localization_sim_mode
- launch_dummy_doors
- launch_scenario_simulator_v2_adapter
- perception/enable_detection_failure
- perception/enable_object_recognition
- perception/enable_traffic_light
- perception/use_base_link_z
- sensing/visible_range
- vehicle_model
- initial_engage_state
- vehicle_info_param_file
- raw_vehicle_cmd_converter_param_path
- occupancy_grid_map_updater [default: binary_bayes_filter]
- use_pointcloud_container [default: true]
- launch/components/tier4_system_component.launch.xml
-
- diagnostic_graph_aggregator_param_path [default: $(find-pkg-share autoware_diagnostic_graph_aggregator)/config/default.param.yaml]
- diagnostic_graph_aggregator_graph_path [default: $(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml]
- launch/e2e_simulator.launch.xml
-
- use_sim_time [default: true]
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- data_path [default: $(env HOME)/autoware_data]
- simulator_type [default: awsim]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- vehicle [default: true]
- system [default: true]
- map [default: true]
- sensing [default: true]
- localization [default: true]
- perception [default: true]
- planning [default: true]
- control [default: true]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- traffic_light_namespace [default: [traffic_light]]
- launch_vehicle_interface [default: false]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: false]
- launch_sensing_driver [default: false]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- launch/logging_simulator.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- vehicle_id [default: $(env VEHICLE_ID default)]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- vehicle [default: true]
- system [default: true]
- map [default: true]
- sensing [default: true]
- localization [default: true]
- perception [default: true]
- planning [default: true]
- control [default: true]
- pointcloud_container_name [default: pointcloud_container]
- launch_vehicle_interface [default: false]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: false]
- rviz [default: true]
- scenario_simulation [default: false]
- launch/planning_simulator.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- launch_dummy_doors [default: true]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: true]
- initial_engage_state [default: true]
- perception/enable_detection_failure [default: true]
- perception/enable_object_recognition [default: true]
- perception/enable_traffic_light [default: false]
- perception/use_base_link_z [default: true]
- sensing/visible_range [default: 300.0]
- scenario_simulation [default: false]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- vehicle_simulation [default: true]
- enable_all_modules_auto_mode [default: $(var scenario_simulation)]
- use_sim_time [default: $(var scenario_simulation)]
- localization_sim_mode [default: api]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged autoware_launch at Robotics Stack Exchange
No version for distro iron showing github. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 0.47.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_launch.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-08-14 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | ros ros2 autoware |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The autoware_launch package
Additional Links
No additional links.
Maintainers
- Yukihiro Saito
- Ryohsuke Mitsudome
- M. Fatih Cırıt
Authors
No additional authors.
autoware_launch
Structure
Package Dependencies
Please see <exec_depend> in package.xml.
Usage
You can use the command as follows at shell script to launch *.launch.xml in launch directory.
ros2 launch autoware_launch autoware.launch.xml map_path:=/path/to/map_folder vehicle_model:=lexus sensor_model:=aip_xx1
CHANGELOG
Changelog for package autoware_launch
0.47.0 (2025-08-11)
-
feat: change planning output topic name to /planning/trajectory (#1594)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
fix(multi_object_tracker): remove confident_count_threshold parameter (#1592)
-
feat(motion_velocity_planner): update pointcloud preprocess design (#1588)
* add new params for pcl preprocess ---------
-
feat(perception_online_evaluator): change launch setting to enable node (#1583)
- feat: enable perception online evaluator
* chore: add a new argument to enable autoware_perception_analytics_publisher_node instead of previous autoware_perception_online_evaluator_node ---------Co-authored-by: Jian Kang <<jian.kang@tier4.jp>>
-
fix(multi_object_tracker): add param for irregular_object (#1587)
- fix(multi_object_tracker): add param for irregular_object
* fix: update param ---------
-
fix(tracker): update pedestrian max_area_matrix for large pedestrian (#1589) fix(data_association_matrix): update pedestrian max_area_matrix for large pedestrian
-
feat(boundary_departure): configurable departure points and type based on time (#1579)
- feat(boundary_departure): configurable departure points and type based on time
- set predicted path and near boundary to same value
* increase time_buffer value ---------
-
feat(boundary_departure): rename parameter (#1586)
-
feat(blind_spot): new re-designed blind_spot module (#1582)
-
refactor(planning_validator, trajectory_checker): update config (#1581)
- update parameter files
* rename param ---------
-
feat(rear_collision_checker): support selecting safety metric from TTC or RSS (#1584) feat: selectable metric
-
feat(road_user_stop): add road_user_stop module config (#1566)
- add road_user_stop module config
- update parameters
- update parameter
- update parameter
- fix based on PR review
- fix copy misstake of parameter
- change parameter structure for opposing traffic
- add virtual wall
* format param.yaml ---------
-
fix(path_generator): merge waypoint groups with shared overlap interval (#1576) replace parameters with new one
-
feat(run_out): add parameters to select which debug markers to publish (#1580)
-
refactor(rear_collision_checker): update parameter structure (#1578)
-
feat(autoware_pipeline_latency_monitor): add
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/autoware.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- pointcloud_container_name [default: pointcloud_container]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- launch_vehicle [default: true]
- launch_system [default: true]
- launch_map [default: true]
- launch_sensing [default: true]
- launch_sensing_driver [default: true]
- launch_localization [default: true]
- launch_perception [default: true]
- launch_planning [default: true]
- launch_control [default: true]
- launch_api [default: true]
- use_sim_time [default: false]
- vehicle_id [default: $(env VEHICLE_ID default)]
- launch_vehicle_interface [default: true]
- check_external_emergency_heartbeat [default: false]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- system_run_mode [default: online]
- launch_system_monitor [default: true]
- launch_dummy_diag_publisher [default: false]
- diagnostic_graph_aggregator_graph_path [default: $(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- rviz_respawn [default: true]
- perception_mode [default: lidar]
- traffic_light_recognition/use_high_accuracy_detection [default: true]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- launch/components/tier4_autoware_api_component.launch.xml
-
- scenario_simulation [default: false]
- launch_deprecated_api [default: $(var scenario_simulation)]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_control_component.launch.xml
-
- module_preset [default: default]
- lateral_controller_mode [default: mpc]
- longitudinal_controller_mode [default: pid]
- use_individual_control_param [default: false]
- use_aeb_autoware_state_check [default: true]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_localization_component.launch.xml
-
- loc_config_path [default: $(find-pkg-share autoware_launch)/config/localization]
- pose_source [default: ndt]
- twist_source [default: gyro_odom]
- input_pointcloud [default: /sensing/lidar/concatenated/pointcloud]
- localization_pointcloud_container_name [default: /pointcloud_container]
- initial_pose [default: []]
- launch_pointcloud_container [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_map_component.launch.xml
- launch/components/tier4_perception_component.launch.xml
-
- launch_pointcloud_container [default: false]
- pointcloud_container_name
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- use_empty_dynamic_object_publisher [default: false]
- use_traffic_light_recognition [default: true]
- use_low_height_cropbox [default: false]
- use_vector_map [default: true]
- use_pointcloud_map [default: true]
- use_irregular_object_detector [default: true]
- use_low_intensity_cluster_filter [default: true]
- use_image_segmentation_based_filter [default: false]
- use_perception_online_evaluator [default: false]
- use_perception_analytics_publisher [default: true]
- use_detection_by_tracker [default: true]
- use_radar_tracking_fusion [default: true]
- use_object_filter [default: true]
- use_obstacle_segmentation_single_frame_filter [default: false]
- use_obstacle_segmentation_time_series_filter [default: true]
- segmentation_pointcloud_fusion_camera_ids [default: [0,2,4]]
- use_multi_channel_tracker_merger [default: false]
- occupancy_grid_map_method [default: pointcloud_based]
- occupancy_grid_map_updater [default: binary_bayes_filter]
- detected_objects_filter_method [default: lanelet_filter]
- detected_objects_validation_method [default: obstacle_pointcloud]
- data_path [default: $(env HOME)/autoware_data]
- lidar_detection_model [default: centerpoint]
- ml_camera_lidar_merger_priority_mode [default: 0]
- traffic_light_recognition/camera_namespaces [default: [camera6, camera7]]
- traffic_light_recognition/use_high_accuracy_detection [default: true]
- traffic_light_recognition/high_accuracy_detection_type [default: fine_detection]
- launch/components/tier4_planning_component.launch.xml
-
- module_preset [default: default]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_sensing_component.launch.xml
-
- launch_pointcloud_container [default: false]
- pointcloud_container_name
- launch_sensing_driver [default: true]
- sensor_model [default: sample_sensor_kit]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_simulator_component.launch.xml
-
- launch_dummy_perception
- launch_dummy_vehicle
- localization_sim_mode
- launch_dummy_doors
- launch_scenario_simulator_v2_adapter
- perception/enable_detection_failure
- perception/enable_object_recognition
- perception/enable_traffic_light
- perception/use_base_link_z
- sensing/visible_range
- vehicle_model
- initial_engage_state
- vehicle_info_param_file
- raw_vehicle_cmd_converter_param_path
- occupancy_grid_map_updater [default: binary_bayes_filter]
- use_pointcloud_container [default: true]
- launch/components/tier4_system_component.launch.xml
-
- diagnostic_graph_aggregator_param_path [default: $(find-pkg-share autoware_diagnostic_graph_aggregator)/config/default.param.yaml]
- diagnostic_graph_aggregator_graph_path [default: $(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml]
- launch/e2e_simulator.launch.xml
-
- use_sim_time [default: true]
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- data_path [default: $(env HOME)/autoware_data]
- simulator_type [default: awsim]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- vehicle [default: true]
- system [default: true]
- map [default: true]
- sensing [default: true]
- localization [default: true]
- perception [default: true]
- planning [default: true]
- control [default: true]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- traffic_light_namespace [default: [traffic_light]]
- launch_vehicle_interface [default: false]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: false]
- launch_sensing_driver [default: false]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- launch/logging_simulator.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- vehicle_id [default: $(env VEHICLE_ID default)]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- vehicle [default: true]
- system [default: true]
- map [default: true]
- sensing [default: true]
- localization [default: true]
- perception [default: true]
- planning [default: true]
- control [default: true]
- pointcloud_container_name [default: pointcloud_container]
- launch_vehicle_interface [default: false]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: false]
- rviz [default: true]
- scenario_simulation [default: false]
- launch/planning_simulator.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- launch_dummy_doors [default: true]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: true]
- initial_engage_state [default: true]
- perception/enable_detection_failure [default: true]
- perception/enable_object_recognition [default: true]
- perception/enable_traffic_light [default: false]
- perception/use_base_link_z [default: true]
- sensing/visible_range [default: 300.0]
- scenario_simulation [default: false]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- vehicle_simulation [default: true]
- enable_all_modules_auto_mode [default: $(var scenario_simulation)]
- use_sim_time [default: $(var scenario_simulation)]
- localization_sim_mode [default: api]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged autoware_launch at Robotics Stack Exchange
No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 0.47.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_launch.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-08-14 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | ros ros2 autoware |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The autoware_launch package
Additional Links
No additional links.
Maintainers
- Yukihiro Saito
- Ryohsuke Mitsudome
- M. Fatih Cırıt
Authors
No additional authors.
autoware_launch
Structure
Package Dependencies
Please see <exec_depend> in package.xml.
Usage
You can use the command as follows at shell script to launch *.launch.xml in launch directory.
ros2 launch autoware_launch autoware.launch.xml map_path:=/path/to/map_folder vehicle_model:=lexus sensor_model:=aip_xx1
CHANGELOG
Changelog for package autoware_launch
0.47.0 (2025-08-11)
-
feat: change planning output topic name to /planning/trajectory (#1594)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
fix(multi_object_tracker): remove confident_count_threshold parameter (#1592)
-
feat(motion_velocity_planner): update pointcloud preprocess design (#1588)
* add new params for pcl preprocess ---------
-
feat(perception_online_evaluator): change launch setting to enable node (#1583)
- feat: enable perception online evaluator
* chore: add a new argument to enable autoware_perception_analytics_publisher_node instead of previous autoware_perception_online_evaluator_node ---------Co-authored-by: Jian Kang <<jian.kang@tier4.jp>>
-
fix(multi_object_tracker): add param for irregular_object (#1587)
- fix(multi_object_tracker): add param for irregular_object
* fix: update param ---------
-
fix(tracker): update pedestrian max_area_matrix for large pedestrian (#1589) fix(data_association_matrix): update pedestrian max_area_matrix for large pedestrian
-
feat(boundary_departure): configurable departure points and type based on time (#1579)
- feat(boundary_departure): configurable departure points and type based on time
- set predicted path and near boundary to same value
* increase time_buffer value ---------
-
feat(boundary_departure): rename parameter (#1586)
-
feat(blind_spot): new re-designed blind_spot module (#1582)
-
refactor(planning_validator, trajectory_checker): update config (#1581)
- update parameter files
* rename param ---------
-
feat(rear_collision_checker): support selecting safety metric from TTC or RSS (#1584) feat: selectable metric
-
feat(road_user_stop): add road_user_stop module config (#1566)
- add road_user_stop module config
- update parameters
- update parameter
- update parameter
- fix based on PR review
- fix copy misstake of parameter
- change parameter structure for opposing traffic
- add virtual wall
* format param.yaml ---------
-
fix(path_generator): merge waypoint groups with shared overlap interval (#1576) replace parameters with new one
-
feat(run_out): add parameters to select which debug markers to publish (#1580)
-
refactor(rear_collision_checker): update parameter structure (#1578)
-
feat(autoware_pipeline_latency_monitor): add
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/autoware.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- pointcloud_container_name [default: pointcloud_container]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- launch_vehicle [default: true]
- launch_system [default: true]
- launch_map [default: true]
- launch_sensing [default: true]
- launch_sensing_driver [default: true]
- launch_localization [default: true]
- launch_perception [default: true]
- launch_planning [default: true]
- launch_control [default: true]
- launch_api [default: true]
- use_sim_time [default: false]
- vehicle_id [default: $(env VEHICLE_ID default)]
- launch_vehicle_interface [default: true]
- check_external_emergency_heartbeat [default: false]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- system_run_mode [default: online]
- launch_system_monitor [default: true]
- launch_dummy_diag_publisher [default: false]
- diagnostic_graph_aggregator_graph_path [default: $(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- rviz_respawn [default: true]
- perception_mode [default: lidar]
- traffic_light_recognition/use_high_accuracy_detection [default: true]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- launch/components/tier4_autoware_api_component.launch.xml
-
- scenario_simulation [default: false]
- launch_deprecated_api [default: $(var scenario_simulation)]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_control_component.launch.xml
-
- module_preset [default: default]
- lateral_controller_mode [default: mpc]
- longitudinal_controller_mode [default: pid]
- use_individual_control_param [default: false]
- use_aeb_autoware_state_check [default: true]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_localization_component.launch.xml
-
- loc_config_path [default: $(find-pkg-share autoware_launch)/config/localization]
- pose_source [default: ndt]
- twist_source [default: gyro_odom]
- input_pointcloud [default: /sensing/lidar/concatenated/pointcloud]
- localization_pointcloud_container_name [default: /pointcloud_container]
- initial_pose [default: []]
- launch_pointcloud_container [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_map_component.launch.xml
- launch/components/tier4_perception_component.launch.xml
-
- launch_pointcloud_container [default: false]
- pointcloud_container_name
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- use_empty_dynamic_object_publisher [default: false]
- use_traffic_light_recognition [default: true]
- use_low_height_cropbox [default: false]
- use_vector_map [default: true]
- use_pointcloud_map [default: true]
- use_irregular_object_detector [default: true]
- use_low_intensity_cluster_filter [default: true]
- use_image_segmentation_based_filter [default: false]
- use_perception_online_evaluator [default: false]
- use_perception_analytics_publisher [default: true]
- use_detection_by_tracker [default: true]
- use_radar_tracking_fusion [default: true]
- use_object_filter [default: true]
- use_obstacle_segmentation_single_frame_filter [default: false]
- use_obstacle_segmentation_time_series_filter [default: true]
- segmentation_pointcloud_fusion_camera_ids [default: [0,2,4]]
- use_multi_channel_tracker_merger [default: false]
- occupancy_grid_map_method [default: pointcloud_based]
- occupancy_grid_map_updater [default: binary_bayes_filter]
- detected_objects_filter_method [default: lanelet_filter]
- detected_objects_validation_method [default: obstacle_pointcloud]
- data_path [default: $(env HOME)/autoware_data]
- lidar_detection_model [default: centerpoint]
- ml_camera_lidar_merger_priority_mode [default: 0]
- traffic_light_recognition/camera_namespaces [default: [camera6, camera7]]
- traffic_light_recognition/use_high_accuracy_detection [default: true]
- traffic_light_recognition/high_accuracy_detection_type [default: fine_detection]
- launch/components/tier4_planning_component.launch.xml
-
- module_preset [default: default]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_sensing_component.launch.xml
-
- launch_pointcloud_container [default: false]
- pointcloud_container_name
- launch_sensing_driver [default: true]
- sensor_model [default: sample_sensor_kit]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_simulator_component.launch.xml
-
- launch_dummy_perception
- launch_dummy_vehicle
- localization_sim_mode
- launch_dummy_doors
- launch_scenario_simulator_v2_adapter
- perception/enable_detection_failure
- perception/enable_object_recognition
- perception/enable_traffic_light
- perception/use_base_link_z
- sensing/visible_range
- vehicle_model
- initial_engage_state
- vehicle_info_param_file
- raw_vehicle_cmd_converter_param_path
- occupancy_grid_map_updater [default: binary_bayes_filter]
- use_pointcloud_container [default: true]
- launch/components/tier4_system_component.launch.xml
-
- diagnostic_graph_aggregator_param_path [default: $(find-pkg-share autoware_diagnostic_graph_aggregator)/config/default.param.yaml]
- diagnostic_graph_aggregator_graph_path [default: $(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml]
- launch/e2e_simulator.launch.xml
-
- use_sim_time [default: true]
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- data_path [default: $(env HOME)/autoware_data]
- simulator_type [default: awsim]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- vehicle [default: true]
- system [default: true]
- map [default: true]
- sensing [default: true]
- localization [default: true]
- perception [default: true]
- planning [default: true]
- control [default: true]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- traffic_light_namespace [default: [traffic_light]]
- launch_vehicle_interface [default: false]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: false]
- launch_sensing_driver [default: false]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- launch/logging_simulator.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- vehicle_id [default: $(env VEHICLE_ID default)]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- vehicle [default: true]
- system [default: true]
- map [default: true]
- sensing [default: true]
- localization [default: true]
- perception [default: true]
- planning [default: true]
- control [default: true]
- pointcloud_container_name [default: pointcloud_container]
- launch_vehicle_interface [default: false]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: false]
- rviz [default: true]
- scenario_simulation [default: false]
- launch/planning_simulator.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- launch_dummy_doors [default: true]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: true]
- initial_engage_state [default: true]
- perception/enable_detection_failure [default: true]
- perception/enable_object_recognition [default: true]
- perception/enable_traffic_light [default: false]
- perception/use_base_link_z [default: true]
- sensing/visible_range [default: 300.0]
- scenario_simulation [default: false]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- vehicle_simulation [default: true]
- enable_all_modules_auto_mode [default: $(var scenario_simulation)]
- use_sim_time [default: $(var scenario_simulation)]
- localization_sim_mode [default: api]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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Package Summary
| Tags | No category tags. |
| Version | 0.47.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_launch.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-08-14 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | ros ros2 autoware |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The autoware_launch package
Additional Links
No additional links.
Maintainers
- Yukihiro Saito
- Ryohsuke Mitsudome
- M. Fatih Cırıt
Authors
No additional authors.
autoware_launch
Structure
Package Dependencies
Please see <exec_depend> in package.xml.
Usage
You can use the command as follows at shell script to launch *.launch.xml in launch directory.
ros2 launch autoware_launch autoware.launch.xml map_path:=/path/to/map_folder vehicle_model:=lexus sensor_model:=aip_xx1
CHANGELOG
Changelog for package autoware_launch
0.47.0 (2025-08-11)
-
feat: change planning output topic name to /planning/trajectory (#1594)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
fix(multi_object_tracker): remove confident_count_threshold parameter (#1592)
-
feat(motion_velocity_planner): update pointcloud preprocess design (#1588)
* add new params for pcl preprocess ---------
-
feat(perception_online_evaluator): change launch setting to enable node (#1583)
- feat: enable perception online evaluator
* chore: add a new argument to enable autoware_perception_analytics_publisher_node instead of previous autoware_perception_online_evaluator_node ---------Co-authored-by: Jian Kang <<jian.kang@tier4.jp>>
-
fix(multi_object_tracker): add param for irregular_object (#1587)
- fix(multi_object_tracker): add param for irregular_object
* fix: update param ---------
-
fix(tracker): update pedestrian max_area_matrix for large pedestrian (#1589) fix(data_association_matrix): update pedestrian max_area_matrix for large pedestrian
-
feat(boundary_departure): configurable departure points and type based on time (#1579)
- feat(boundary_departure): configurable departure points and type based on time
- set predicted path and near boundary to same value
* increase time_buffer value ---------
-
feat(boundary_departure): rename parameter (#1586)
-
feat(blind_spot): new re-designed blind_spot module (#1582)
-
refactor(planning_validator, trajectory_checker): update config (#1581)
- update parameter files
* rename param ---------
-
feat(rear_collision_checker): support selecting safety metric from TTC or RSS (#1584) feat: selectable metric
-
feat(road_user_stop): add road_user_stop module config (#1566)
- add road_user_stop module config
- update parameters
- update parameter
- update parameter
- fix based on PR review
- fix copy misstake of parameter
- change parameter structure for opposing traffic
- add virtual wall
* format param.yaml ---------
-
fix(path_generator): merge waypoint groups with shared overlap interval (#1576) replace parameters with new one
-
feat(run_out): add parameters to select which debug markers to publish (#1580)
-
refactor(rear_collision_checker): update parameter structure (#1578)
-
feat(autoware_pipeline_latency_monitor): add
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/autoware.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- pointcloud_container_name [default: pointcloud_container]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- launch_vehicle [default: true]
- launch_system [default: true]
- launch_map [default: true]
- launch_sensing [default: true]
- launch_sensing_driver [default: true]
- launch_localization [default: true]
- launch_perception [default: true]
- launch_planning [default: true]
- launch_control [default: true]
- launch_api [default: true]
- use_sim_time [default: false]
- vehicle_id [default: $(env VEHICLE_ID default)]
- launch_vehicle_interface [default: true]
- check_external_emergency_heartbeat [default: false]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- system_run_mode [default: online]
- launch_system_monitor [default: true]
- launch_dummy_diag_publisher [default: false]
- diagnostic_graph_aggregator_graph_path [default: $(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- rviz_respawn [default: true]
- perception_mode [default: lidar]
- traffic_light_recognition/use_high_accuracy_detection [default: true]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- launch/components/tier4_autoware_api_component.launch.xml
-
- scenario_simulation [default: false]
- launch_deprecated_api [default: $(var scenario_simulation)]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_control_component.launch.xml
-
- module_preset [default: default]
- lateral_controller_mode [default: mpc]
- longitudinal_controller_mode [default: pid]
- use_individual_control_param [default: false]
- use_aeb_autoware_state_check [default: true]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_localization_component.launch.xml
-
- loc_config_path [default: $(find-pkg-share autoware_launch)/config/localization]
- pose_source [default: ndt]
- twist_source [default: gyro_odom]
- input_pointcloud [default: /sensing/lidar/concatenated/pointcloud]
- localization_pointcloud_container_name [default: /pointcloud_container]
- initial_pose [default: []]
- launch_pointcloud_container [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_map_component.launch.xml
- launch/components/tier4_perception_component.launch.xml
-
- launch_pointcloud_container [default: false]
- pointcloud_container_name
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- use_empty_dynamic_object_publisher [default: false]
- use_traffic_light_recognition [default: true]
- use_low_height_cropbox [default: false]
- use_vector_map [default: true]
- use_pointcloud_map [default: true]
- use_irregular_object_detector [default: true]
- use_low_intensity_cluster_filter [default: true]
- use_image_segmentation_based_filter [default: false]
- use_perception_online_evaluator [default: false]
- use_perception_analytics_publisher [default: true]
- use_detection_by_tracker [default: true]
- use_radar_tracking_fusion [default: true]
- use_object_filter [default: true]
- use_obstacle_segmentation_single_frame_filter [default: false]
- use_obstacle_segmentation_time_series_filter [default: true]
- segmentation_pointcloud_fusion_camera_ids [default: [0,2,4]]
- use_multi_channel_tracker_merger [default: false]
- occupancy_grid_map_method [default: pointcloud_based]
- occupancy_grid_map_updater [default: binary_bayes_filter]
- detected_objects_filter_method [default: lanelet_filter]
- detected_objects_validation_method [default: obstacle_pointcloud]
- data_path [default: $(env HOME)/autoware_data]
- lidar_detection_model [default: centerpoint]
- ml_camera_lidar_merger_priority_mode [default: 0]
- traffic_light_recognition/camera_namespaces [default: [camera6, camera7]]
- traffic_light_recognition/use_high_accuracy_detection [default: true]
- traffic_light_recognition/high_accuracy_detection_type [default: fine_detection]
- launch/components/tier4_planning_component.launch.xml
-
- module_preset [default: default]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_sensing_component.launch.xml
-
- launch_pointcloud_container [default: false]
- pointcloud_container_name
- launch_sensing_driver [default: true]
- sensor_model [default: sample_sensor_kit]
- use_sim_time [default: false]
- vehicle_model [default: sample_vehicle]
- launch/components/tier4_simulator_component.launch.xml
-
- launch_dummy_perception
- launch_dummy_vehicle
- localization_sim_mode
- launch_dummy_doors
- launch_scenario_simulator_v2_adapter
- perception/enable_detection_failure
- perception/enable_object_recognition
- perception/enable_traffic_light
- perception/use_base_link_z
- sensing/visible_range
- vehicle_model
- initial_engage_state
- vehicle_info_param_file
- raw_vehicle_cmd_converter_param_path
- occupancy_grid_map_updater [default: binary_bayes_filter]
- use_pointcloud_container [default: true]
- launch/components/tier4_system_component.launch.xml
-
- diagnostic_graph_aggregator_param_path [default: $(find-pkg-share autoware_diagnostic_graph_aggregator)/config/default.param.yaml]
- diagnostic_graph_aggregator_graph_path [default: $(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml]
- launch/e2e_simulator.launch.xml
-
- use_sim_time [default: true]
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- data_path [default: $(env HOME)/autoware_data]
- simulator_type [default: awsim]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- vehicle [default: true]
- system [default: true]
- map [default: true]
- sensing [default: true]
- localization [default: true]
- perception [default: true]
- planning [default: true]
- control [default: true]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- traffic_light_namespace [default: [traffic_light]]
- launch_vehicle_interface [default: false]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: false]
- launch_sensing_driver [default: false]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- launch/logging_simulator.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- vehicle_id [default: $(env VEHICLE_ID default)]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- vehicle [default: true]
- system [default: true]
- map [default: true]
- sensing [default: true]
- localization [default: true]
- perception [default: true]
- planning [default: true]
- control [default: true]
- pointcloud_container_name [default: pointcloud_container]
- launch_vehicle_interface [default: false]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: false]
- rviz [default: true]
- scenario_simulation [default: false]
- launch/planning_simulator.launch.xml
-
- map_path
- vehicle_model [default: sample_vehicle]
- sensor_model [default: sample_sensor_kit]
- data_path [default: $(env HOME)/autoware_data]
- planning_module_preset [default: default]
- control_module_preset [default: default]
- lanelet2_map_file [default: lanelet2_map.osm]
- pointcloud_map_file [default: pointcloud_map.pcd]
- launch_dummy_doors [default: true]
- launch_system_monitor [default: false]
- launch_dummy_diag_publisher [default: true]
- initial_engage_state [default: true]
- perception/enable_detection_failure [default: true]
- perception/enable_object_recognition [default: true]
- perception/enable_traffic_light [default: false]
- perception/use_base_link_z [default: true]
- sensing/visible_range [default: 300.0]
- scenario_simulation [default: false]
- rviz [default: true]
- rviz_config_name [default: autoware.rviz]
- rviz_config [default: $(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)]
- vehicle_simulation [default: true]
- enable_all_modules_auto_mode [default: $(var scenario_simulation)]
- use_sim_time [default: $(var scenario_simulation)]
- localization_sim_mode [default: api]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.