Mission Planner

Purpose

Mission Planner calculates a route that navigates from the current ego pose to the goal pose following the given check points. The route is made of a sequence of lanes on a static map. Dynamic objects (e.g. pedestrians and other vehicles) and dynamic map information (e.g. road construction which blocks some lanes) are not considered during route planning. Therefore, the output topic is only published when the goal pose or check points are given and will be latched until the new goal pose or check points are given.

The core implementation does not depend on a map format. Any planning algorithms can be added as plugin modules. In current Autoware Universe, only the plugin for Lanelet2 map format is supported.

This package also manages routes for MRM. The route_selector node duplicates the mission_planner interface and provides it for normal and MRM respectively. It distributes route requests and planning results according to current MRM operation state.

Interfaces

Parameters

Services

Subscriptions

Publications

Route section

Route section, whose type is autoware_planning_msgs/LaneletSegment, is a “slice” of a road that bundles lane changeable lanes. Note that the most atomic unit of route is autoware_planning_msgs/LaneletPrimitive, which has the unique id of a lane in a vector map and its type. Therefore, route message does not contain geometric information about the lane since we did not want to have planning module’s message to have dependency on map data structure.

The ROS message of route section contains following three elements for each route section.

• preferred_primitive: Preferred lane to follow towards the goal.
• primitives: All neighbor lanes in the same direction including the preferred lane.

Goal Validation

The mission planner has control mechanism to validate the given goal pose and create a route. If goal pose angle between goal pose lanelet and goal pose’ yaw is greater than goal_angle_threshold parameter, the goal is rejected. Another control mechanism is the creation of a footprint of the goal pose according to the dimensions of the vehicle and checking whether this footprint is within the lanelets. If goal footprint exceeds lanelets, then the goal is rejected.

At the image below, there are sample goal pose validation cases.

Implementation

Mission Planner

Two callbacks (goal and check points) are a trigger for route planning. Routing graph, which plans route in Lanelet2, must be created before those callbacks, and this routing graph is created in vector map callback.

plan route is explained in detail in the following section.

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Changelog for package autoware_mission_planner_universe

0.47.0 (2025-08-11)

• fix(autoware_trajectory_follower, autoware_mission_planner_universe, autoware_scenario_selector): use transient_local for operation_mode_state (#11101)

  • subscribe operation-mode with transient_local
  • fix mistake
  • fix unit test code

  * pre-commit ---------

• feat(mission_planner): print set route api type (#10884)

• Contributors: Kem (TiankuiXian), Kosuke Takeuchi

0.46.0 (2025-06-20)

• Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base

• feat!: replace tier4_planning_msgs service with autoware_planning_msgs (#10827) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

• feat(mission_planner): print route state when set_route fails (#10697)

  • feat(mission_planner): print route state when set_route fails

  * Update planning/autoware_mission_planner_universe/src/mission_planner/mission_planner.cpp Co-authored-by: Takagi, Isamu <<43976882+isamu-takagi@users.noreply.github.com>>

  • snake_case

  * without macro ---------Co-authored-by: Takagi, Isamu <<43976882+isamu-takagi@users.noreply.github.com>>

• fix(mission_planner): fix check if goal footprint is inside route (#10681)

  • fix checking if goal footprint is in ego lanes
  • change goal footprint check method

  * fix unit test ---------

• Contributors: Kosuke Takeuchi, Mitsuhiro Sakamoto, Ryohsuke Mitsudome, TaikiYamada4

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

0.43.0 (2025-03-21)

• Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
• chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
• fix(autoware_mission_planner_universe): add explicit test dependency (#10261)
• Contributors: Hayato Mizushima, Mete Fatih Cırıt, Yutaka Kondo

0.42.0 (2025-03-03)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
• feat(mission_planner): tolerate goal footprint being inside the previous lanelets of closest lanelet (#10179)
• feat(autoware_vehicle_info_utils): replace autoware_universe_utils with autoware_utils (#10167)
• Contributors: Fumiya Watanabe, Mamoru Sobue, Ryohsuke Mitsudome, 心刚

0.41.2 (2025-02-19)

• chore: bump version to 0.41.1 (#10088)
• Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

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