autoware_planning_config

Parameter set for autoware_planning_launch. This package ships only data: every file under config/ is a ROS 2 parameter file, or a module preset that selects which planning modules a launch run brings up.

config/
├── preset/                        # module presets (which planning modules launch)
├── mission_planning/
├── neural_net_planner/            # diffusion planner and its trajectory modifier plugins
└── scenario_planning/
    ├── common/                    # shared planning params, velocity smoother, planning validator
    ├── lane_driving/
    │   ├── behavior_planning/     # behavior path planner, behavior velocity planner, path generator
    │   └── motion_planning/       # path smoother, path optimizer, motion velocity planner
    └── parking/

Usage

autoware_planning_launch resolves the tree through its planning_config_pkg argument, which defaults to this package:

<include file="$(find-pkg-share autoware_planning_launch)/launch/planning.launch.xml">
  <arg name="planning_config_pkg" value="my_planning_config"/>
</include>

A product that sets planning_config_pkg to its own package must ship the same config/ layout, since the launch package addresses individual files by relative path. Products that differ in only a few files instead override the corresponding *_param_path arguments.

Changelog for package autoware_planning_config

0.53.0 (2026-10-13)

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

• chore(autoware_trajectory_processor): rename to autoware_trajectory_modifier (#1986) rename processor -> modifier

• chore(sync-params): update planning params (#1978) Co-authored-by: SakodaShintaro <<28504069+SakodaShintaro@users.noreply.github.com>>

• feat(trajectory_selectory): add missing config files (#1979) add missing config files

  • add validator.param.yaml config file
  • add ranker.param.yaml config file
  • add selector.param.yaml config file
  • update sync-params.yaml

• chore(sync-params): update planning params (#1977) Co-authored-by: SakodaShintaro <<28504069+SakodaShintaro@users.noreply.github.com>>

• fix(sync-params): correct the trajectory_processor source header and sync planning params (#1959) The sync-params header of trajectory_processor.param.yaml pointed to trajectory_modifier.param.yaml while the workflow config maps it to trajectory_processor.param.yaml, making sync_params.py fail with 'Source path mismatch' on both the scheduled sync-params job and the check-params PR job for the planning category. Fix the header source path and run 'sync_params.py planning' to bring the planning params back in sync with the upstream repositories (new diffusion_planner ego_snap_to_prev_trajectory params, refreshed source commit hashes). Co-authored-by: Claude Fable 5 <<noreply@anthropic.com>>

• refactor(planning)!: migrate tier4_planning_launch to autoware_planning_launch with a separate config package (#1954)

  • Add autoware_planning_launch package and related files
  • Created package.xml for autoware_planning_launch with dependencies and maintainers.
  • Added planning_launch.drawio.svg for visual representation of the planning launch structure.
  • Removed obsolete README.md and planning.launch.xml from tier4_planning_launch.

  * feat(planning): make the diffusion planner tracked objects topic configurable Expose the tracked objects topic as [input_tracked_objects_topic_name]{.title-ref} alongside the objects and pointcloud topics, plumbed from the planning component down to the diffusion planner unit.

  * refactor(planning): drop the redundant group around the planning component include [<group>]{.title-ref} is scoped by default, so the conditional group already bounds the component's launch configurations. The extra group is only needed where sibling component includes share a scope.

  * Update .github/CODEOWNERS Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

  • refactor: update CODEOWNERS and package maintainers for planning components

  * chore: restore auto-generated CODEOWNERS ---------Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

• Contributors: Masaya Kataoka, Maxime CLEMENT, Taekjin LEE, awf-autoware-bot[bot], github-actions, mkquda