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Package Summary
| Version | 0.52.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_launch.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-10-09 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The autoware_planning_launch package
Maintainers
- Zulfaqar Azmi
- Kosuke Takeuchi
- Kosuke Takeuchi
- Fumiya Watanabe
- Takamasa Horibe
- Zulfaqar Azmi
- Mamoru Sobue
- Takayuki Murooka
- Mamoru Sobue
- Taiki Tanaka
- Kosuke Takeuchi
- Mamoru Sobue
- Fumiya Watanabe
- Zhe Shen
- Kosuke Takeuchi
- Tomohito Ando
- Makoto Kurihara
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
- Maxime CLEMENT
Authors
- Satoshi Ota
autoware_planning_launch
Shared planning launch library. The system component launcher lives in the product layer (autoware_launch/launch/components/component_planning.launch.xml); this package hosts the planning feature launchers it combines:
launch/
├── planning.launch.xml # planning entry: mission planning, trajectory source, validator and evaluator tail
├── mission_planning/
├── learning_based_planning/ # diffusion planner trajectory source
└── scenario_planning/ # rule-based trajectory source
├── scenario_planning.launch.xml
├── lane_driving.launch.xml
├── parking.launch.xml
└── lane_driving/
├── behavior_planning/
└── motion_planning/
design/module/ # Autoware System Designer modules; same subtree as launch/
├── Planning.module.yaml
├── mission_planning/
└── scenario_planning/
└── lane_driving/
├── behavior_planning/
└── motion_planning/
Structure
Launch files
-
planning.launch.xml— the entry point. It includes the module preset, resolves every parameter file, and pushes theplanningnamespace.planning_settingselects the trajectory source:rule_basedrunsscenario_planning/,diffusion_plannerrunslearning_based_planning/. The planning validator and the planning evaluator run for both, wired to the source-specific trajectory topics. -
scenario_planning/— the rule-based source: the scenario selector, the velocity smoother tail, and thelane_drivingandparkingscenarios.lane_drivingchains behavior planning into motion planning. -
learning_based_planning/diffusion_planner.launch.xml— the neural-network source: the diffusion planner followed by the trajectory modifier and its optimizer plugins.
Config
Parameter files are resolved from a config/ tree addressed through the planning_config_pkg argument, which defaults to autoware_planning_config. A product can relocate the whole tree by setting planning_config_pkg once at its entry point — the launch configuration propagates through every include — but it must then ship the same config/ layout. Products that differ in only a few files instead override the corresponding *_param_path arguments, which are all declared at the top of planning.launch.xml:
<include file="$(find-pkg-share autoware_planning_launch)/launch/planning.launch.xml">
<arg name="planning_config_pkg" value="my_planning_config"/>
<arg name="FOO_NODE_param_path" value="..."/>
</include>
Which modules launch is a separate axis, selected by module_preset; the presets live in the config package under config/preset/.
Package Dependencies
Please see <exec_depend> in package.xml.
CHANGELOG
Changelog for package tier4_planning_launch
0.52.0 (2026-06-30)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(diffusion_planner): update launch file (#1854) update arg names for modifier, define input topics args
-
fix(neural_net_planner): add temporal MPT optimizer config for trajec… (#1878) fix(neural_net_planner): add temporal MPT optimizer config for trajectory_optimizer The autoware_trajectory_optimizer node now declares use_temporal_mpt_optimizer as a statically typed parameter, so it crashes on startup (UninitializedStaticallyTypedParameterException) when launched with the autoware_launch config, which did not provide it.
- Add use_temporal_mpt_optimizer: false to trajectory_optimizer.param.yaml
- Add trajectory_temporal_mpt_optimizer.param.yaml plugin config
- Wire trajectory_temporal_mpt_optimizer_param_path through the launch chain
-
feat: add launch params and configs for direction_change module (#1857)
- feat: add launch params and configs for direction_change module
* feat: add launch param in default_preset.yaml ---------
-
fix(tier4_planning_launch): rename virtual traffic light state (#1827) feat(tier4_planning_launch): rename virtual traffic light state input
-
fix: assign acados-prepended [LD_LIBRARY_PATH]{.title-ref} for motion planning container (#1842)
-
chore: sync files (#1338)
- chore: sync files
* style(pre-commit): autofix ---------Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
Contributors: Go Sakayori, Taeseung Sohn, Takagi, Isamu, awf-autoware-bot[bot], emmeyteja, github-actions, mkquda
0.51.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(planning): wire data_path through to diffusion_planner (#1834) feat(autoware_launch,tier4_planning_launch): wire data_path through planning to diffusion_planner Propagate the [data_path]{.title-ref} arg from [autoware.launch.xml]{.title-ref} through the planning chain so the integrated diffusion_planner picks up the root artifacts directory the same way perception does. Chain wired: autoware.launch.xml -> tier4_planning_component.launch.xml -> tier4_planning_launch/launch/planning.launch.xml -> tier4_planning_launch/learning_based_planning/diffusion_planner.launch.xml -> autoware_diffusion_planner/launch/diffusion_planner.launch.xml Replaces the hardcoded [$(env HOME)/autoware_data/diffusion_planner/v4.0/...]{.title-ref} literals in [autoware_launch/config/planning/neural_net_planner/diffusion_planner.param.yaml]{.title-ref} with [$(var data_path)/diffusion_planner/v4.0/...]{.title-ref}, matching the perception convention (literal package subdir under [data_path]{.title-ref}). After this commit, flipping [data_path]{.title-ref} in [autoware.launch.xml]{.title-ref} (or overriding it on the command line) controls the diffusion_planner artifact root end-to-end without further edits to the parallel YAML. Refs: https://github.com/autowarefoundation/autoware/issues/7068 Refs: https://github.com/autowarefoundation/autoware_universe/pull/12521
-
feat: allow conditionally launch diffusion planner (#1752)
- feat: allow conditionally launch e2e/dp
- rule base default
- feat: adding dp rviz markers to other rviz configs
* feat: adding dp rviz markers ---------
-
feat(tier4_planning_launch): apply CIE via inline ENABLE_AGNOCAST switching (#1795) Switch component containers based on ENABLE_AGNOCAST environment variable directly in each launch file, without using
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| autoware_launch |
Launch files
- launch/learning_based_planning/diffusion_planner.launch.xml
-
- data_path
- diffusion_planner_param_path
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_tracked_objects_topic_name [default: /perception/object_recognition/tracking/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- trajectory_modifier_param_path
- jerk_filtered_smoother_param_path
- velocity_smoother_param_path
- common_smoother_param_path
- elastic_band_param_path
- trajectory_point_fixer_param_path
- trajectory_extender_param_path
- trajectory_spline_smoother_param_path
- trajectory_qp_smoother_param_path
- trajectory_velocity_optimizer_param_path
- trajectory_kinematic_feasibility_enforcer_param_path
- trajectory_mpt_optimizer_param_path
- trajectory_temporal_mpt_optimizer_param_path
- launch/mission_planning/mission_planning.launch.xml
-
- mission_planner_param_path [default: $(find-pkg-share autoware_mission_planner_universe)/config/mission_planner.param.yaml]
- launch/planning.launch.xml
-
- planning_config_pkg [default: autoware_planning_config]
- module_preset [default: default]
- planning_setting [default: rule_based]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- launch_remaining_distance_time_calculator [default: false]
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_tracked_objects_topic_name [default: /perception/object_recognition/tracking/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- vehicle_model [default: sample_vehicle]
- vehicle_param_file [default: $(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml]
- data_path [default: $(env HOME)/autoware_data/ml_models]
- common_param_path [default: $(var planning_common_config_dir)/common.param.yaml]
- nearest_search_param_path [default: $(var planning_common_config_dir)/nearest_search.param.yaml]
- costmap_generator_param_path [default: $(var planning_common_config_dir)/costmap_generator.param.yaml]
- mission_planner_param_path [default: $(var planning_config_dir)/mission_planning/mission_planner/mission_planner.param.yaml]
- behavior_path_planner_common_param_path [default: $(var behavior_path_config_dir)/behavior_path_planner.param.yaml]
- behavior_path_planner_scene_module_manager_param_path [default: $(var behavior_path_config_dir)/scene_module_manager.param.yaml]
- behavior_path_planner_drivable_area_expansion_param_path [default: $(var behavior_path_config_dir)/drivable_area_expansion.param.yaml]
- behavior_path_planner_side_shift_module_param_path [default: $(var behavior_path_config_dir)/side_shift/side_shift.param.yaml]
- behavior_path_planner_static_obstacle_avoidance_module_param_path [default: $(var behavior_path_config_dir)/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml]
- behavior_path_planner_dynamic_obstacle_avoidance_module_param_path [default: $(var behavior_path_config_dir)/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml]
- behavior_path_planner_avoidance_by_lc_module_param_path [default: $(var behavior_path_config_dir)/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml]
- behavior_path_planner_sampling_planner_module_param_path [default: $(var behavior_path_config_dir)/sampling_planner/sampling_planner.param.yaml]
- behavior_path_planner_lane_change_module_param_path [default: $(var behavior_path_config_dir)/lane_change/lane_change.param.yaml]
- behavior_path_planner_goal_planner_module_param_path [default: $(var behavior_path_config_dir)/goal_planner/goal_planner.param.yaml]
- behavior_path_planner_start_planner_module_param_path [default: $(var behavior_path_config_dir)/start_planner/start_planner.param.yaml]
- behavior_path_bidirectional_traffic_module_param_path [default: $(var behavior_path_config_dir)/autoware_behavior_path_bidirectional_traffic_module/bidirectional_traffic.param.yaml]
- behavior_path_planner_direction_change_module_param_path [default: $(var behavior_path_config_dir)/autoware_behavior_path_direction_change_module/direction_change.param.yaml]
- path_generator_param_path [default: $(var planning_config_dir)/scenario_planning/lane_driving/behavior_planning/path_generator/path_generator.param.yaml]
- hazard_lights_selector_param_path [default: $(var planning_common_config_dir)/autoware_hazard_lights_selector/hazard_lights_selector.param.yaml]
- behavior_velocity_smoother_type_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/Analytical.param.yaml]
- behavior_velocity_planner_param_path [default: $(var behavior_velocity_config_dir)/behavior_velocity_planner.param.yaml]
- behavior_velocity_planner_common_param_path [default: $(var behavior_velocity_config_dir)/behavior_velocity_planner_common.param.yaml]
- behavior_velocity_planner_blind_spot_module_param_path [default: $(var behavior_velocity_config_dir)/blind_spot.param.yaml]
- behavior_velocity_planner_crosswalk_module_param_path [default: $(var behavior_velocity_config_dir)/crosswalk.param.yaml]
- behavior_velocity_planner_walkway_module_param_path [default: $(var behavior_velocity_config_dir)/walkway.param.yaml]
- behavior_velocity_planner_detection_area_module_param_path [default: $(var behavior_velocity_config_dir)/detection_area.param.yaml]
- behavior_velocity_planner_intersection_module_param_path [default: $(var behavior_velocity_config_dir)/intersection.param.yaml]
- behavior_velocity_planner_stop_line_module_param_path [default: $(var behavior_velocity_config_dir)/stop_line.param.yaml]
- behavior_velocity_planner_traffic_light_module_param_path [default: $(var behavior_velocity_config_dir)/traffic_light.param.yaml]
- behavior_velocity_planner_virtual_traffic_light_module_param_path [default: $(var behavior_velocity_config_dir)/virtual_traffic_light.param.yaml]
- behavior_velocity_planner_occlusion_spot_module_param_path [default: $(var behavior_velocity_config_dir)/occlusion_spot.param.yaml]
- behavior_velocity_planner_no_stopping_area_module_param_path [default: $(var behavior_velocity_config_dir)/no_stopping_area.param.yaml]
- behavior_velocity_planner_roundabout_module_param_path [default: $(var behavior_velocity_config_dir)/roundabout.param.yaml]
- behavior_velocity_planner_speed_bump_module_param_path [default: $(var behavior_velocity_config_dir)/speed_bump.param.yaml]
- behavior_velocity_planner_no_drivable_lane_module_param_path [default: $(var behavior_velocity_config_dir)/no_drivable_lane.param.yaml]
- elastic_band_smoother_param_path [default: $(var motion_planning_config_dir)/path_smoother/elastic_band_smoother.param.yaml]
- path_optimizer_param_path [default: $(var motion_planning_config_dir)/autoware_path_optimizer/path_optimizer.param.yaml]
- path_sampler_param_path [default: $(var motion_planning_config_dir)/path_sampler/path_sampler.param.yaml]
- surround_obstacle_checker_param_path [default: $(var motion_planning_config_dir)/surround_obstacle_checker/surround_obstacle_checker.param.yaml]
- motion_velocity_planner_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/motion_velocity_planner.param.yaml]
- motion_velocity_planner_obstacle_stop_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/obstacle_stop.param.yaml]
- motion_velocity_planner_obstacle_slow_down_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/obstacle_slow_down.param.yaml]
- motion_velocity_planner_obstacle_cruise_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/obstacle_cruise.param.yaml]
- motion_velocity_planner_dynamic_obstacle_stop_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/dynamic_obstacle_stop.param.yaml]
- motion_velocity_planner_out_of_lane_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/out_of_lane.param.yaml]
- motion_velocity_planner_obstacle_velocity_limiter_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/obstacle_velocity_limiter.param.yaml]
- motion_velocity_planner_run_out_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/run_out.param.yaml]
- motion_velocity_planner_boundary_departure_prevention_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/boundary_departure_prevention.param.yaml]
- motion_velocity_planner_road_user_stop_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/road_user_stop.param.yaml]
- motion_velocity_planner_velocity_smoother_type_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/Analytical.param.yaml]
- velocity_smoother_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/velocity_smoother.param.yaml]
- velocity_smoother_type_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/$(var velocity_smoother_type).param.yaml]
- freespace_planner_param_path [default: $(var planning_config_dir)/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml]
- planning_validator_param_path [default: $(var planning_common_config_dir)/planning_validator/planning_validator.param.yaml]
- planning_validator_latency_checker_param_path [default: $(var planning_common_config_dir)/planning_validator/latency_checker.param.yaml]
- planning_validator_trajectory_checker_param_path [default: $(var planning_common_config_dir)/planning_validator/trajectory_checker.param.yaml]
- planning_validator_intersection_collision_checker_param_path [default: $(var planning_common_config_dir)/planning_validator/intersection_collision_checker.param.yaml]
- planning_validator_rear_collision_checker_param_path [default: $(var planning_common_config_dir)/planning_validator/rear_collision_checker.param.yaml]
- diffusion_planner_param_path [default: $(var neural_net_planner_config_dir)/diffusion_planner.param.yaml]
- trajectory_modifier_param_path [default: $(var neural_net_planner_config_dir)/trajectory_modifier.param.yaml]
- jerk_filtered_smoother_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/JerkFiltered.param.yaml]
- common_smoother_param_path [default: $(var planning_common_config_dir)/common.param.yaml]
- elastic_band_param_path [default: $(var motion_planning_config_dir)/path_smoother/elastic_band_smoother.param.yaml]
- trajectory_point_fixer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_point_fixer.param.yaml]
- trajectory_extender_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_extender.param.yaml]
- trajectory_spline_smoother_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_spline_smoother.param.yaml]
- trajectory_qp_smoother_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_qp_smoother.param.yaml]
- trajectory_velocity_optimizer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_velocity_optimizer.param.yaml]
- trajectory_kinematic_feasibility_enforcer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_kinematic_feasibility_enforcer.param.yaml]
- trajectory_mpt_optimizer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_mpt_optimizer.param.yaml]
- trajectory_temporal_mpt_optimizer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_temporal_mpt_optimizer.param.yaml]
- launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
-
- input_route_topic_name [default: /planning/mission_planning/route]
- input_traffic_light_topic_name [default: /perception/traffic_light_recognition/traffic_signals]
- input_vector_map_topic_name [default: /map/vector_map]
- input_pointcloud_map_topic_name [default: /map/pointcloud_map]
- input_objects_topic_name
- input_pointcloud_topic_name
- enable_all_modules_auto_mode
- is_simulation
- behavior_path_planner_type [default: behavior_path_planner]
- launch_static_obstacle_avoidance [default: true]
- launch_avoidance_by_lane_change_module [default: true]
- launch_dynamic_obstacle_avoidance [default: true]
- launch_lane_change_right_module [default: true]
- launch_lane_change_left_module [default: true]
- launch_external_request_lane_change_right_module [default: true]
- launch_external_request_lane_change_left_module [default: true]
- launch_goal_planner_module [default: true]
- launch_start_planner_module [default: true]
- launch_sampling_planner_module [default: true]
- launch_side_shift_module [default: true]
- launch_bidirectional_traffic_module [default: true]
- launch_direction_change_module [default: false]
- launch_crosswalk_module [default: true]
- launch_walkway_module [default: true]
- launch_traffic_light_module [default: true]
- launch_intersection_module [default: true]
- launch_roundabout_module [default: true]
- launch_merge_from_private_module [default: true]
- launch_blind_spot_module [default: true]
- launch_detection_area_module [default: true]
- launch_virtual_traffic_light_module [default: true]
- launch_no_stopping_area_module [default: true]
- launch_stop_line_module [default: true]
- launch_occlusion_spot_module [default: true]
- launch_speed_bump_module [default: true]
- launch_no_drivable_lane_module [default: true]
- launch_module_list_end [default: ""]]
- behavior_path_planner_launch_modules [default: []
- behavior_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving/behavior_planning/behavior_planning_deprecated.launch.xml
-
- input_route_topic_name [default: /planning/mission_planning/route]
- input_traffic_light_topic_name [default: /perception/traffic_light_recognition/traffic_signals]
- input_vector_map_topic_name [default: /map/vector_map]
- input_pointcloud_map_topic_name [default: /map/pointcloud_map]
- input_objects_topic_name
- input_pointcloud_topic_name
- enable_all_modules_auto_mode
- is_simulation
- behavior_path_planner_type [default: behavior_path_planner]
- launch_static_obstacle_avoidance [default: true]
- launch_avoidance_by_lane_change_module [default: true]
- launch_dynamic_obstacle_avoidance [default: true]
- launch_lane_change_right_module [default: true]
- launch_lane_change_left_module [default: true]
- launch_external_request_lane_change_right_module [default: true]
- launch_external_request_lane_change_left_module [default: true]
- launch_goal_planner_module [default: true]
- launch_start_planner_module [default: true]
- launch_sampling_planner_module [default: true]
- launch_side_shift_module [default: true]
- launch_bidirectional_traffic_module [default: true]
- launch_crosswalk_module [default: true]
- launch_walkway_module [default: true]
- launch_traffic_light_module [default: true]
- launch_intersection_module [default: true]
- launch_roundabout_module [default: true]
- launch_merge_from_private_module [default: true]
- launch_blind_spot_module [default: true]
- launch_detection_area_module [default: true]
- launch_virtual_traffic_light_module [default: true]
- launch_no_stopping_area_module [default: true]
- launch_stop_line_module [default: true]
- launch_occlusion_spot_module [default: true]
- launch_speed_bump_module [default: true]
- launch_no_drivable_lane_module [default: true]
- launch_module_list_end [default: ""]]
- behavior_path_planner_launch_modules [default: []
- behavior_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
-
- input_objects_topic_name
- input_pointcloud_topic_name
- interface_input_topic [default: /planning/scenario_planning/lane_driving/behavior_planning/path]
- interface_output_topic [default: /planning/scenario_planning/lane_driving/trajectory]
- launch_obstacle_stop_module [default: true]
- launch_obstacle_slow_down_module [default: true]
- launch_obstacle_cruise_module [default: true]
- launch_dynamic_obstacle_stop_module [default: true]
- launch_out_of_lane_module [default: true]
- launch_obstacle_velocity_limiter_module [default: true]
- launch_run_out_module [default: true]
- launch_boundary_departure_prevention_module [default: true]
- launch_road_user_stop_module [default: true]
- launch_module_list_end [default: ""]]
- motion_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving.launch.xml
-
- enable_all_modules_auto_mode
- is_simulation
- input_objects_topic_name
- input_pointcloud_topic_name
- launch/scenario_planning/parking.launch.xml
-
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- launch/scenario_planning/scenario_planning.launch.xml
-
- enable_all_modules_auto_mode
- is_simulation
- input_objects_topic_name
- input_pointcloud_topic_name
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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Package Summary
| Version | 0.52.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_launch.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-10-09 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
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Package Description
The autoware_planning_launch package
Maintainers
- Zulfaqar Azmi
- Kosuke Takeuchi
- Kosuke Takeuchi
- Fumiya Watanabe
- Takamasa Horibe
- Zulfaqar Azmi
- Mamoru Sobue
- Takayuki Murooka
- Mamoru Sobue
- Taiki Tanaka
- Kosuke Takeuchi
- Mamoru Sobue
- Fumiya Watanabe
- Zhe Shen
- Kosuke Takeuchi
- Tomohito Ando
- Makoto Kurihara
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
- Maxime CLEMENT
Authors
- Satoshi Ota
autoware_planning_launch
Shared planning launch library. The system component launcher lives in the product layer (autoware_launch/launch/components/component_planning.launch.xml); this package hosts the planning feature launchers it combines:
launch/
├── planning.launch.xml # planning entry: mission planning, trajectory source, validator and evaluator tail
├── mission_planning/
├── learning_based_planning/ # diffusion planner trajectory source
└── scenario_planning/ # rule-based trajectory source
├── scenario_planning.launch.xml
├── lane_driving.launch.xml
├── parking.launch.xml
└── lane_driving/
├── behavior_planning/
└── motion_planning/
design/module/ # Autoware System Designer modules; same subtree as launch/
├── Planning.module.yaml
├── mission_planning/
└── scenario_planning/
└── lane_driving/
├── behavior_planning/
└── motion_planning/
Structure
Launch files
-
planning.launch.xml— the entry point. It includes the module preset, resolves every parameter file, and pushes theplanningnamespace.planning_settingselects the trajectory source:rule_basedrunsscenario_planning/,diffusion_plannerrunslearning_based_planning/. The planning validator and the planning evaluator run for both, wired to the source-specific trajectory topics. -
scenario_planning/— the rule-based source: the scenario selector, the velocity smoother tail, and thelane_drivingandparkingscenarios.lane_drivingchains behavior planning into motion planning. -
learning_based_planning/diffusion_planner.launch.xml— the neural-network source: the diffusion planner followed by the trajectory modifier and its optimizer plugins.
Config
Parameter files are resolved from a config/ tree addressed through the planning_config_pkg argument, which defaults to autoware_planning_config. A product can relocate the whole tree by setting planning_config_pkg once at its entry point — the launch configuration propagates through every include — but it must then ship the same config/ layout. Products that differ in only a few files instead override the corresponding *_param_path arguments, which are all declared at the top of planning.launch.xml:
<include file="$(find-pkg-share autoware_planning_launch)/launch/planning.launch.xml">
<arg name="planning_config_pkg" value="my_planning_config"/>
<arg name="FOO_NODE_param_path" value="..."/>
</include>
Which modules launch is a separate axis, selected by module_preset; the presets live in the config package under config/preset/.
Package Dependencies
Please see <exec_depend> in package.xml.
CHANGELOG
Changelog for package tier4_planning_launch
0.52.0 (2026-06-30)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(diffusion_planner): update launch file (#1854) update arg names for modifier, define input topics args
-
fix(neural_net_planner): add temporal MPT optimizer config for trajec… (#1878) fix(neural_net_planner): add temporal MPT optimizer config for trajectory_optimizer The autoware_trajectory_optimizer node now declares use_temporal_mpt_optimizer as a statically typed parameter, so it crashes on startup (UninitializedStaticallyTypedParameterException) when launched with the autoware_launch config, which did not provide it.
- Add use_temporal_mpt_optimizer: false to trajectory_optimizer.param.yaml
- Add trajectory_temporal_mpt_optimizer.param.yaml plugin config
- Wire trajectory_temporal_mpt_optimizer_param_path through the launch chain
-
feat: add launch params and configs for direction_change module (#1857)
- feat: add launch params and configs for direction_change module
* feat: add launch param in default_preset.yaml ---------
-
fix(tier4_planning_launch): rename virtual traffic light state (#1827) feat(tier4_planning_launch): rename virtual traffic light state input
-
fix: assign acados-prepended [LD_LIBRARY_PATH]{.title-ref} for motion planning container (#1842)
-
chore: sync files (#1338)
- chore: sync files
* style(pre-commit): autofix ---------Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
Contributors: Go Sakayori, Taeseung Sohn, Takagi, Isamu, awf-autoware-bot[bot], emmeyteja, github-actions, mkquda
0.51.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(planning): wire data_path through to diffusion_planner (#1834) feat(autoware_launch,tier4_planning_launch): wire data_path through planning to diffusion_planner Propagate the [data_path]{.title-ref} arg from [autoware.launch.xml]{.title-ref} through the planning chain so the integrated diffusion_planner picks up the root artifacts directory the same way perception does. Chain wired: autoware.launch.xml -> tier4_planning_component.launch.xml -> tier4_planning_launch/launch/planning.launch.xml -> tier4_planning_launch/learning_based_planning/diffusion_planner.launch.xml -> autoware_diffusion_planner/launch/diffusion_planner.launch.xml Replaces the hardcoded [$(env HOME)/autoware_data/diffusion_planner/v4.0/...]{.title-ref} literals in [autoware_launch/config/planning/neural_net_planner/diffusion_planner.param.yaml]{.title-ref} with [$(var data_path)/diffusion_planner/v4.0/...]{.title-ref}, matching the perception convention (literal package subdir under [data_path]{.title-ref}). After this commit, flipping [data_path]{.title-ref} in [autoware.launch.xml]{.title-ref} (or overriding it on the command line) controls the diffusion_planner artifact root end-to-end without further edits to the parallel YAML. Refs: https://github.com/autowarefoundation/autoware/issues/7068 Refs: https://github.com/autowarefoundation/autoware_universe/pull/12521
-
feat: allow conditionally launch diffusion planner (#1752)
- feat: allow conditionally launch e2e/dp
- rule base default
- feat: adding dp rviz markers to other rviz configs
* feat: adding dp rviz markers ---------
-
feat(tier4_planning_launch): apply CIE via inline ENABLE_AGNOCAST switching (#1795) Switch component containers based on ENABLE_AGNOCAST environment variable directly in each launch file, without using
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| autoware_launch |
Launch files
- launch/learning_based_planning/diffusion_planner.launch.xml
-
- data_path
- diffusion_planner_param_path
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_tracked_objects_topic_name [default: /perception/object_recognition/tracking/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- trajectory_modifier_param_path
- jerk_filtered_smoother_param_path
- velocity_smoother_param_path
- common_smoother_param_path
- elastic_band_param_path
- trajectory_point_fixer_param_path
- trajectory_extender_param_path
- trajectory_spline_smoother_param_path
- trajectory_qp_smoother_param_path
- trajectory_velocity_optimizer_param_path
- trajectory_kinematic_feasibility_enforcer_param_path
- trajectory_mpt_optimizer_param_path
- trajectory_temporal_mpt_optimizer_param_path
- launch/mission_planning/mission_planning.launch.xml
-
- mission_planner_param_path [default: $(find-pkg-share autoware_mission_planner_universe)/config/mission_planner.param.yaml]
- launch/planning.launch.xml
-
- planning_config_pkg [default: autoware_planning_config]
- module_preset [default: default]
- planning_setting [default: rule_based]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- launch_remaining_distance_time_calculator [default: false]
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_tracked_objects_topic_name [default: /perception/object_recognition/tracking/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- vehicle_model [default: sample_vehicle]
- vehicle_param_file [default: $(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml]
- data_path [default: $(env HOME)/autoware_data/ml_models]
- common_param_path [default: $(var planning_common_config_dir)/common.param.yaml]
- nearest_search_param_path [default: $(var planning_common_config_dir)/nearest_search.param.yaml]
- costmap_generator_param_path [default: $(var planning_common_config_dir)/costmap_generator.param.yaml]
- mission_planner_param_path [default: $(var planning_config_dir)/mission_planning/mission_planner/mission_planner.param.yaml]
- behavior_path_planner_common_param_path [default: $(var behavior_path_config_dir)/behavior_path_planner.param.yaml]
- behavior_path_planner_scene_module_manager_param_path [default: $(var behavior_path_config_dir)/scene_module_manager.param.yaml]
- behavior_path_planner_drivable_area_expansion_param_path [default: $(var behavior_path_config_dir)/drivable_area_expansion.param.yaml]
- behavior_path_planner_side_shift_module_param_path [default: $(var behavior_path_config_dir)/side_shift/side_shift.param.yaml]
- behavior_path_planner_static_obstacle_avoidance_module_param_path [default: $(var behavior_path_config_dir)/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml]
- behavior_path_planner_dynamic_obstacle_avoidance_module_param_path [default: $(var behavior_path_config_dir)/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml]
- behavior_path_planner_avoidance_by_lc_module_param_path [default: $(var behavior_path_config_dir)/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml]
- behavior_path_planner_sampling_planner_module_param_path [default: $(var behavior_path_config_dir)/sampling_planner/sampling_planner.param.yaml]
- behavior_path_planner_lane_change_module_param_path [default: $(var behavior_path_config_dir)/lane_change/lane_change.param.yaml]
- behavior_path_planner_goal_planner_module_param_path [default: $(var behavior_path_config_dir)/goal_planner/goal_planner.param.yaml]
- behavior_path_planner_start_planner_module_param_path [default: $(var behavior_path_config_dir)/start_planner/start_planner.param.yaml]
- behavior_path_bidirectional_traffic_module_param_path [default: $(var behavior_path_config_dir)/autoware_behavior_path_bidirectional_traffic_module/bidirectional_traffic.param.yaml]
- behavior_path_planner_direction_change_module_param_path [default: $(var behavior_path_config_dir)/autoware_behavior_path_direction_change_module/direction_change.param.yaml]
- path_generator_param_path [default: $(var planning_config_dir)/scenario_planning/lane_driving/behavior_planning/path_generator/path_generator.param.yaml]
- hazard_lights_selector_param_path [default: $(var planning_common_config_dir)/autoware_hazard_lights_selector/hazard_lights_selector.param.yaml]
- behavior_velocity_smoother_type_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/Analytical.param.yaml]
- behavior_velocity_planner_param_path [default: $(var behavior_velocity_config_dir)/behavior_velocity_planner.param.yaml]
- behavior_velocity_planner_common_param_path [default: $(var behavior_velocity_config_dir)/behavior_velocity_planner_common.param.yaml]
- behavior_velocity_planner_blind_spot_module_param_path [default: $(var behavior_velocity_config_dir)/blind_spot.param.yaml]
- behavior_velocity_planner_crosswalk_module_param_path [default: $(var behavior_velocity_config_dir)/crosswalk.param.yaml]
- behavior_velocity_planner_walkway_module_param_path [default: $(var behavior_velocity_config_dir)/walkway.param.yaml]
- behavior_velocity_planner_detection_area_module_param_path [default: $(var behavior_velocity_config_dir)/detection_area.param.yaml]
- behavior_velocity_planner_intersection_module_param_path [default: $(var behavior_velocity_config_dir)/intersection.param.yaml]
- behavior_velocity_planner_stop_line_module_param_path [default: $(var behavior_velocity_config_dir)/stop_line.param.yaml]
- behavior_velocity_planner_traffic_light_module_param_path [default: $(var behavior_velocity_config_dir)/traffic_light.param.yaml]
- behavior_velocity_planner_virtual_traffic_light_module_param_path [default: $(var behavior_velocity_config_dir)/virtual_traffic_light.param.yaml]
- behavior_velocity_planner_occlusion_spot_module_param_path [default: $(var behavior_velocity_config_dir)/occlusion_spot.param.yaml]
- behavior_velocity_planner_no_stopping_area_module_param_path [default: $(var behavior_velocity_config_dir)/no_stopping_area.param.yaml]
- behavior_velocity_planner_roundabout_module_param_path [default: $(var behavior_velocity_config_dir)/roundabout.param.yaml]
- behavior_velocity_planner_speed_bump_module_param_path [default: $(var behavior_velocity_config_dir)/speed_bump.param.yaml]
- behavior_velocity_planner_no_drivable_lane_module_param_path [default: $(var behavior_velocity_config_dir)/no_drivable_lane.param.yaml]
- elastic_band_smoother_param_path [default: $(var motion_planning_config_dir)/path_smoother/elastic_band_smoother.param.yaml]
- path_optimizer_param_path [default: $(var motion_planning_config_dir)/autoware_path_optimizer/path_optimizer.param.yaml]
- path_sampler_param_path [default: $(var motion_planning_config_dir)/path_sampler/path_sampler.param.yaml]
- surround_obstacle_checker_param_path [default: $(var motion_planning_config_dir)/surround_obstacle_checker/surround_obstacle_checker.param.yaml]
- motion_velocity_planner_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/motion_velocity_planner.param.yaml]
- motion_velocity_planner_obstacle_stop_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/obstacle_stop.param.yaml]
- motion_velocity_planner_obstacle_slow_down_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/obstacle_slow_down.param.yaml]
- motion_velocity_planner_obstacle_cruise_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/obstacle_cruise.param.yaml]
- motion_velocity_planner_dynamic_obstacle_stop_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/dynamic_obstacle_stop.param.yaml]
- motion_velocity_planner_out_of_lane_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/out_of_lane.param.yaml]
- motion_velocity_planner_obstacle_velocity_limiter_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/obstacle_velocity_limiter.param.yaml]
- motion_velocity_planner_run_out_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/run_out.param.yaml]
- motion_velocity_planner_boundary_departure_prevention_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/boundary_departure_prevention.param.yaml]
- motion_velocity_planner_road_user_stop_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/road_user_stop.param.yaml]
- motion_velocity_planner_velocity_smoother_type_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/Analytical.param.yaml]
- velocity_smoother_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/velocity_smoother.param.yaml]
- velocity_smoother_type_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/$(var velocity_smoother_type).param.yaml]
- freespace_planner_param_path [default: $(var planning_config_dir)/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml]
- planning_validator_param_path [default: $(var planning_common_config_dir)/planning_validator/planning_validator.param.yaml]
- planning_validator_latency_checker_param_path [default: $(var planning_common_config_dir)/planning_validator/latency_checker.param.yaml]
- planning_validator_trajectory_checker_param_path [default: $(var planning_common_config_dir)/planning_validator/trajectory_checker.param.yaml]
- planning_validator_intersection_collision_checker_param_path [default: $(var planning_common_config_dir)/planning_validator/intersection_collision_checker.param.yaml]
- planning_validator_rear_collision_checker_param_path [default: $(var planning_common_config_dir)/planning_validator/rear_collision_checker.param.yaml]
- diffusion_planner_param_path [default: $(var neural_net_planner_config_dir)/diffusion_planner.param.yaml]
- trajectory_modifier_param_path [default: $(var neural_net_planner_config_dir)/trajectory_modifier.param.yaml]
- jerk_filtered_smoother_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/JerkFiltered.param.yaml]
- common_smoother_param_path [default: $(var planning_common_config_dir)/common.param.yaml]
- elastic_band_param_path [default: $(var motion_planning_config_dir)/path_smoother/elastic_band_smoother.param.yaml]
- trajectory_point_fixer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_point_fixer.param.yaml]
- trajectory_extender_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_extender.param.yaml]
- trajectory_spline_smoother_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_spline_smoother.param.yaml]
- trajectory_qp_smoother_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_qp_smoother.param.yaml]
- trajectory_velocity_optimizer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_velocity_optimizer.param.yaml]
- trajectory_kinematic_feasibility_enforcer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_kinematic_feasibility_enforcer.param.yaml]
- trajectory_mpt_optimizer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_mpt_optimizer.param.yaml]
- trajectory_temporal_mpt_optimizer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_temporal_mpt_optimizer.param.yaml]
- launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
-
- input_route_topic_name [default: /planning/mission_planning/route]
- input_traffic_light_topic_name [default: /perception/traffic_light_recognition/traffic_signals]
- input_vector_map_topic_name [default: /map/vector_map]
- input_pointcloud_map_topic_name [default: /map/pointcloud_map]
- input_objects_topic_name
- input_pointcloud_topic_name
- enable_all_modules_auto_mode
- is_simulation
- behavior_path_planner_type [default: behavior_path_planner]
- launch_static_obstacle_avoidance [default: true]
- launch_avoidance_by_lane_change_module [default: true]
- launch_dynamic_obstacle_avoidance [default: true]
- launch_lane_change_right_module [default: true]
- launch_lane_change_left_module [default: true]
- launch_external_request_lane_change_right_module [default: true]
- launch_external_request_lane_change_left_module [default: true]
- launch_goal_planner_module [default: true]
- launch_start_planner_module [default: true]
- launch_sampling_planner_module [default: true]
- launch_side_shift_module [default: true]
- launch_bidirectional_traffic_module [default: true]
- launch_direction_change_module [default: false]
- launch_crosswalk_module [default: true]
- launch_walkway_module [default: true]
- launch_traffic_light_module [default: true]
- launch_intersection_module [default: true]
- launch_roundabout_module [default: true]
- launch_merge_from_private_module [default: true]
- launch_blind_spot_module [default: true]
- launch_detection_area_module [default: true]
- launch_virtual_traffic_light_module [default: true]
- launch_no_stopping_area_module [default: true]
- launch_stop_line_module [default: true]
- launch_occlusion_spot_module [default: true]
- launch_speed_bump_module [default: true]
- launch_no_drivable_lane_module [default: true]
- launch_module_list_end [default: ""]]
- behavior_path_planner_launch_modules [default: []
- behavior_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving/behavior_planning/behavior_planning_deprecated.launch.xml
-
- input_route_topic_name [default: /planning/mission_planning/route]
- input_traffic_light_topic_name [default: /perception/traffic_light_recognition/traffic_signals]
- input_vector_map_topic_name [default: /map/vector_map]
- input_pointcloud_map_topic_name [default: /map/pointcloud_map]
- input_objects_topic_name
- input_pointcloud_topic_name
- enable_all_modules_auto_mode
- is_simulation
- behavior_path_planner_type [default: behavior_path_planner]
- launch_static_obstacle_avoidance [default: true]
- launch_avoidance_by_lane_change_module [default: true]
- launch_dynamic_obstacle_avoidance [default: true]
- launch_lane_change_right_module [default: true]
- launch_lane_change_left_module [default: true]
- launch_external_request_lane_change_right_module [default: true]
- launch_external_request_lane_change_left_module [default: true]
- launch_goal_planner_module [default: true]
- launch_start_planner_module [default: true]
- launch_sampling_planner_module [default: true]
- launch_side_shift_module [default: true]
- launch_bidirectional_traffic_module [default: true]
- launch_crosswalk_module [default: true]
- launch_walkway_module [default: true]
- launch_traffic_light_module [default: true]
- launch_intersection_module [default: true]
- launch_roundabout_module [default: true]
- launch_merge_from_private_module [default: true]
- launch_blind_spot_module [default: true]
- launch_detection_area_module [default: true]
- launch_virtual_traffic_light_module [default: true]
- launch_no_stopping_area_module [default: true]
- launch_stop_line_module [default: true]
- launch_occlusion_spot_module [default: true]
- launch_speed_bump_module [default: true]
- launch_no_drivable_lane_module [default: true]
- launch_module_list_end [default: ""]]
- behavior_path_planner_launch_modules [default: []
- behavior_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
-
- input_objects_topic_name
- input_pointcloud_topic_name
- interface_input_topic [default: /planning/scenario_planning/lane_driving/behavior_planning/path]
- interface_output_topic [default: /planning/scenario_planning/lane_driving/trajectory]
- launch_obstacle_stop_module [default: true]
- launch_obstacle_slow_down_module [default: true]
- launch_obstacle_cruise_module [default: true]
- launch_dynamic_obstacle_stop_module [default: true]
- launch_out_of_lane_module [default: true]
- launch_obstacle_velocity_limiter_module [default: true]
- launch_run_out_module [default: true]
- launch_boundary_departure_prevention_module [default: true]
- launch_road_user_stop_module [default: true]
- launch_module_list_end [default: ""]]
- motion_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving.launch.xml
-
- enable_all_modules_auto_mode
- is_simulation
- input_objects_topic_name
- input_pointcloud_topic_name
- launch/scenario_planning/parking.launch.xml
-
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- launch/scenario_planning/scenario_planning.launch.xml
-
- enable_all_modules_auto_mode
- is_simulation
- input_objects_topic_name
- input_pointcloud_topic_name
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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Package Summary
| Version | 0.52.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_launch.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-10-09 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The autoware_planning_launch package
Maintainers
- Zulfaqar Azmi
- Kosuke Takeuchi
- Kosuke Takeuchi
- Fumiya Watanabe
- Takamasa Horibe
- Zulfaqar Azmi
- Mamoru Sobue
- Takayuki Murooka
- Mamoru Sobue
- Taiki Tanaka
- Kosuke Takeuchi
- Mamoru Sobue
- Fumiya Watanabe
- Zhe Shen
- Kosuke Takeuchi
- Tomohito Ando
- Makoto Kurihara
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
- Maxime CLEMENT
Authors
- Satoshi Ota
autoware_planning_launch
Shared planning launch library. The system component launcher lives in the product layer (autoware_launch/launch/components/component_planning.launch.xml); this package hosts the planning feature launchers it combines:
launch/
├── planning.launch.xml # planning entry: mission planning, trajectory source, validator and evaluator tail
├── mission_planning/
├── learning_based_planning/ # diffusion planner trajectory source
└── scenario_planning/ # rule-based trajectory source
├── scenario_planning.launch.xml
├── lane_driving.launch.xml
├── parking.launch.xml
└── lane_driving/
├── behavior_planning/
└── motion_planning/
design/module/ # Autoware System Designer modules; same subtree as launch/
├── Planning.module.yaml
├── mission_planning/
└── scenario_planning/
└── lane_driving/
├── behavior_planning/
└── motion_planning/
Structure
Launch files
-
planning.launch.xml— the entry point. It includes the module preset, resolves every parameter file, and pushes theplanningnamespace.planning_settingselects the trajectory source:rule_basedrunsscenario_planning/,diffusion_plannerrunslearning_based_planning/. The planning validator and the planning evaluator run for both, wired to the source-specific trajectory topics. -
scenario_planning/— the rule-based source: the scenario selector, the velocity smoother tail, and thelane_drivingandparkingscenarios.lane_drivingchains behavior planning into motion planning. -
learning_based_planning/diffusion_planner.launch.xml— the neural-network source: the diffusion planner followed by the trajectory modifier and its optimizer plugins.
Config
Parameter files are resolved from a config/ tree addressed through the planning_config_pkg argument, which defaults to autoware_planning_config. A product can relocate the whole tree by setting planning_config_pkg once at its entry point — the launch configuration propagates through every include — but it must then ship the same config/ layout. Products that differ in only a few files instead override the corresponding *_param_path arguments, which are all declared at the top of planning.launch.xml:
<include file="$(find-pkg-share autoware_planning_launch)/launch/planning.launch.xml">
<arg name="planning_config_pkg" value="my_planning_config"/>
<arg name="FOO_NODE_param_path" value="..."/>
</include>
Which modules launch is a separate axis, selected by module_preset; the presets live in the config package under config/preset/.
Package Dependencies
Please see <exec_depend> in package.xml.
CHANGELOG
Changelog for package tier4_planning_launch
0.52.0 (2026-06-30)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(diffusion_planner): update launch file (#1854) update arg names for modifier, define input topics args
-
fix(neural_net_planner): add temporal MPT optimizer config for trajec… (#1878) fix(neural_net_planner): add temporal MPT optimizer config for trajectory_optimizer The autoware_trajectory_optimizer node now declares use_temporal_mpt_optimizer as a statically typed parameter, so it crashes on startup (UninitializedStaticallyTypedParameterException) when launched with the autoware_launch config, which did not provide it.
- Add use_temporal_mpt_optimizer: false to trajectory_optimizer.param.yaml
- Add trajectory_temporal_mpt_optimizer.param.yaml plugin config
- Wire trajectory_temporal_mpt_optimizer_param_path through the launch chain
-
feat: add launch params and configs for direction_change module (#1857)
- feat: add launch params and configs for direction_change module
* feat: add launch param in default_preset.yaml ---------
-
fix(tier4_planning_launch): rename virtual traffic light state (#1827) feat(tier4_planning_launch): rename virtual traffic light state input
-
fix: assign acados-prepended [LD_LIBRARY_PATH]{.title-ref} for motion planning container (#1842)
-
chore: sync files (#1338)
- chore: sync files
* style(pre-commit): autofix ---------Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
Contributors: Go Sakayori, Taeseung Sohn, Takagi, Isamu, awf-autoware-bot[bot], emmeyteja, github-actions, mkquda
0.51.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(planning): wire data_path through to diffusion_planner (#1834) feat(autoware_launch,tier4_planning_launch): wire data_path through planning to diffusion_planner Propagate the [data_path]{.title-ref} arg from [autoware.launch.xml]{.title-ref} through the planning chain so the integrated diffusion_planner picks up the root artifacts directory the same way perception does. Chain wired: autoware.launch.xml -> tier4_planning_component.launch.xml -> tier4_planning_launch/launch/planning.launch.xml -> tier4_planning_launch/learning_based_planning/diffusion_planner.launch.xml -> autoware_diffusion_planner/launch/diffusion_planner.launch.xml Replaces the hardcoded [$(env HOME)/autoware_data/diffusion_planner/v4.0/...]{.title-ref} literals in [autoware_launch/config/planning/neural_net_planner/diffusion_planner.param.yaml]{.title-ref} with [$(var data_path)/diffusion_planner/v4.0/...]{.title-ref}, matching the perception convention (literal package subdir under [data_path]{.title-ref}). After this commit, flipping [data_path]{.title-ref} in [autoware.launch.xml]{.title-ref} (or overriding it on the command line) controls the diffusion_planner artifact root end-to-end without further edits to the parallel YAML. Refs: https://github.com/autowarefoundation/autoware/issues/7068 Refs: https://github.com/autowarefoundation/autoware_universe/pull/12521
-
feat: allow conditionally launch diffusion planner (#1752)
- feat: allow conditionally launch e2e/dp
- rule base default
- feat: adding dp rviz markers to other rviz configs
* feat: adding dp rviz markers ---------
-
feat(tier4_planning_launch): apply CIE via inline ENABLE_AGNOCAST switching (#1795) Switch component containers based on ENABLE_AGNOCAST environment variable directly in each launch file, without using
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| autoware_launch |
Launch files
- launch/learning_based_planning/diffusion_planner.launch.xml
-
- data_path
- diffusion_planner_param_path
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_tracked_objects_topic_name [default: /perception/object_recognition/tracking/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- trajectory_modifier_param_path
- jerk_filtered_smoother_param_path
- velocity_smoother_param_path
- common_smoother_param_path
- elastic_band_param_path
- trajectory_point_fixer_param_path
- trajectory_extender_param_path
- trajectory_spline_smoother_param_path
- trajectory_qp_smoother_param_path
- trajectory_velocity_optimizer_param_path
- trajectory_kinematic_feasibility_enforcer_param_path
- trajectory_mpt_optimizer_param_path
- trajectory_temporal_mpt_optimizer_param_path
- launch/mission_planning/mission_planning.launch.xml
-
- mission_planner_param_path [default: $(find-pkg-share autoware_mission_planner_universe)/config/mission_planner.param.yaml]
- launch/planning.launch.xml
-
- planning_config_pkg [default: autoware_planning_config]
- module_preset [default: default]
- planning_setting [default: rule_based]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- launch_remaining_distance_time_calculator [default: false]
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_tracked_objects_topic_name [default: /perception/object_recognition/tracking/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- vehicle_model [default: sample_vehicle]
- vehicle_param_file [default: $(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml]
- data_path [default: $(env HOME)/autoware_data/ml_models]
- common_param_path [default: $(var planning_common_config_dir)/common.param.yaml]
- nearest_search_param_path [default: $(var planning_common_config_dir)/nearest_search.param.yaml]
- costmap_generator_param_path [default: $(var planning_common_config_dir)/costmap_generator.param.yaml]
- mission_planner_param_path [default: $(var planning_config_dir)/mission_planning/mission_planner/mission_planner.param.yaml]
- behavior_path_planner_common_param_path [default: $(var behavior_path_config_dir)/behavior_path_planner.param.yaml]
- behavior_path_planner_scene_module_manager_param_path [default: $(var behavior_path_config_dir)/scene_module_manager.param.yaml]
- behavior_path_planner_drivable_area_expansion_param_path [default: $(var behavior_path_config_dir)/drivable_area_expansion.param.yaml]
- behavior_path_planner_side_shift_module_param_path [default: $(var behavior_path_config_dir)/side_shift/side_shift.param.yaml]
- behavior_path_planner_static_obstacle_avoidance_module_param_path [default: $(var behavior_path_config_dir)/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml]
- behavior_path_planner_dynamic_obstacle_avoidance_module_param_path [default: $(var behavior_path_config_dir)/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml]
- behavior_path_planner_avoidance_by_lc_module_param_path [default: $(var behavior_path_config_dir)/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml]
- behavior_path_planner_sampling_planner_module_param_path [default: $(var behavior_path_config_dir)/sampling_planner/sampling_planner.param.yaml]
- behavior_path_planner_lane_change_module_param_path [default: $(var behavior_path_config_dir)/lane_change/lane_change.param.yaml]
- behavior_path_planner_goal_planner_module_param_path [default: $(var behavior_path_config_dir)/goal_planner/goal_planner.param.yaml]
- behavior_path_planner_start_planner_module_param_path [default: $(var behavior_path_config_dir)/start_planner/start_planner.param.yaml]
- behavior_path_bidirectional_traffic_module_param_path [default: $(var behavior_path_config_dir)/autoware_behavior_path_bidirectional_traffic_module/bidirectional_traffic.param.yaml]
- behavior_path_planner_direction_change_module_param_path [default: $(var behavior_path_config_dir)/autoware_behavior_path_direction_change_module/direction_change.param.yaml]
- path_generator_param_path [default: $(var planning_config_dir)/scenario_planning/lane_driving/behavior_planning/path_generator/path_generator.param.yaml]
- hazard_lights_selector_param_path [default: $(var planning_common_config_dir)/autoware_hazard_lights_selector/hazard_lights_selector.param.yaml]
- behavior_velocity_smoother_type_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/Analytical.param.yaml]
- behavior_velocity_planner_param_path [default: $(var behavior_velocity_config_dir)/behavior_velocity_planner.param.yaml]
- behavior_velocity_planner_common_param_path [default: $(var behavior_velocity_config_dir)/behavior_velocity_planner_common.param.yaml]
- behavior_velocity_planner_blind_spot_module_param_path [default: $(var behavior_velocity_config_dir)/blind_spot.param.yaml]
- behavior_velocity_planner_crosswalk_module_param_path [default: $(var behavior_velocity_config_dir)/crosswalk.param.yaml]
- behavior_velocity_planner_walkway_module_param_path [default: $(var behavior_velocity_config_dir)/walkway.param.yaml]
- behavior_velocity_planner_detection_area_module_param_path [default: $(var behavior_velocity_config_dir)/detection_area.param.yaml]
- behavior_velocity_planner_intersection_module_param_path [default: $(var behavior_velocity_config_dir)/intersection.param.yaml]
- behavior_velocity_planner_stop_line_module_param_path [default: $(var behavior_velocity_config_dir)/stop_line.param.yaml]
- behavior_velocity_planner_traffic_light_module_param_path [default: $(var behavior_velocity_config_dir)/traffic_light.param.yaml]
- behavior_velocity_planner_virtual_traffic_light_module_param_path [default: $(var behavior_velocity_config_dir)/virtual_traffic_light.param.yaml]
- behavior_velocity_planner_occlusion_spot_module_param_path [default: $(var behavior_velocity_config_dir)/occlusion_spot.param.yaml]
- behavior_velocity_planner_no_stopping_area_module_param_path [default: $(var behavior_velocity_config_dir)/no_stopping_area.param.yaml]
- behavior_velocity_planner_roundabout_module_param_path [default: $(var behavior_velocity_config_dir)/roundabout.param.yaml]
- behavior_velocity_planner_speed_bump_module_param_path [default: $(var behavior_velocity_config_dir)/speed_bump.param.yaml]
- behavior_velocity_planner_no_drivable_lane_module_param_path [default: $(var behavior_velocity_config_dir)/no_drivable_lane.param.yaml]
- elastic_band_smoother_param_path [default: $(var motion_planning_config_dir)/path_smoother/elastic_band_smoother.param.yaml]
- path_optimizer_param_path [default: $(var motion_planning_config_dir)/autoware_path_optimizer/path_optimizer.param.yaml]
- path_sampler_param_path [default: $(var motion_planning_config_dir)/path_sampler/path_sampler.param.yaml]
- surround_obstacle_checker_param_path [default: $(var motion_planning_config_dir)/surround_obstacle_checker/surround_obstacle_checker.param.yaml]
- motion_velocity_planner_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/motion_velocity_planner.param.yaml]
- motion_velocity_planner_obstacle_stop_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/obstacle_stop.param.yaml]
- motion_velocity_planner_obstacle_slow_down_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/obstacle_slow_down.param.yaml]
- motion_velocity_planner_obstacle_cruise_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/obstacle_cruise.param.yaml]
- motion_velocity_planner_dynamic_obstacle_stop_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/dynamic_obstacle_stop.param.yaml]
- motion_velocity_planner_out_of_lane_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/out_of_lane.param.yaml]
- motion_velocity_planner_obstacle_velocity_limiter_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/obstacle_velocity_limiter.param.yaml]
- motion_velocity_planner_run_out_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/run_out.param.yaml]
- motion_velocity_planner_boundary_departure_prevention_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/boundary_departure_prevention.param.yaml]
- motion_velocity_planner_road_user_stop_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/road_user_stop.param.yaml]
- motion_velocity_planner_velocity_smoother_type_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/Analytical.param.yaml]
- velocity_smoother_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/velocity_smoother.param.yaml]
- velocity_smoother_type_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/$(var velocity_smoother_type).param.yaml]
- freespace_planner_param_path [default: $(var planning_config_dir)/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml]
- planning_validator_param_path [default: $(var planning_common_config_dir)/planning_validator/planning_validator.param.yaml]
- planning_validator_latency_checker_param_path [default: $(var planning_common_config_dir)/planning_validator/latency_checker.param.yaml]
- planning_validator_trajectory_checker_param_path [default: $(var planning_common_config_dir)/planning_validator/trajectory_checker.param.yaml]
- planning_validator_intersection_collision_checker_param_path [default: $(var planning_common_config_dir)/planning_validator/intersection_collision_checker.param.yaml]
- planning_validator_rear_collision_checker_param_path [default: $(var planning_common_config_dir)/planning_validator/rear_collision_checker.param.yaml]
- diffusion_planner_param_path [default: $(var neural_net_planner_config_dir)/diffusion_planner.param.yaml]
- trajectory_modifier_param_path [default: $(var neural_net_planner_config_dir)/trajectory_modifier.param.yaml]
- jerk_filtered_smoother_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/JerkFiltered.param.yaml]
- common_smoother_param_path [default: $(var planning_common_config_dir)/common.param.yaml]
- elastic_band_param_path [default: $(var motion_planning_config_dir)/path_smoother/elastic_band_smoother.param.yaml]
- trajectory_point_fixer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_point_fixer.param.yaml]
- trajectory_extender_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_extender.param.yaml]
- trajectory_spline_smoother_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_spline_smoother.param.yaml]
- trajectory_qp_smoother_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_qp_smoother.param.yaml]
- trajectory_velocity_optimizer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_velocity_optimizer.param.yaml]
- trajectory_kinematic_feasibility_enforcer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_kinematic_feasibility_enforcer.param.yaml]
- trajectory_mpt_optimizer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_mpt_optimizer.param.yaml]
- trajectory_temporal_mpt_optimizer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_temporal_mpt_optimizer.param.yaml]
- launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
-
- input_route_topic_name [default: /planning/mission_planning/route]
- input_traffic_light_topic_name [default: /perception/traffic_light_recognition/traffic_signals]
- input_vector_map_topic_name [default: /map/vector_map]
- input_pointcloud_map_topic_name [default: /map/pointcloud_map]
- input_objects_topic_name
- input_pointcloud_topic_name
- enable_all_modules_auto_mode
- is_simulation
- behavior_path_planner_type [default: behavior_path_planner]
- launch_static_obstacle_avoidance [default: true]
- launch_avoidance_by_lane_change_module [default: true]
- launch_dynamic_obstacle_avoidance [default: true]
- launch_lane_change_right_module [default: true]
- launch_lane_change_left_module [default: true]
- launch_external_request_lane_change_right_module [default: true]
- launch_external_request_lane_change_left_module [default: true]
- launch_goal_planner_module [default: true]
- launch_start_planner_module [default: true]
- launch_sampling_planner_module [default: true]
- launch_side_shift_module [default: true]
- launch_bidirectional_traffic_module [default: true]
- launch_direction_change_module [default: false]
- launch_crosswalk_module [default: true]
- launch_walkway_module [default: true]
- launch_traffic_light_module [default: true]
- launch_intersection_module [default: true]
- launch_roundabout_module [default: true]
- launch_merge_from_private_module [default: true]
- launch_blind_spot_module [default: true]
- launch_detection_area_module [default: true]
- launch_virtual_traffic_light_module [default: true]
- launch_no_stopping_area_module [default: true]
- launch_stop_line_module [default: true]
- launch_occlusion_spot_module [default: true]
- launch_speed_bump_module [default: true]
- launch_no_drivable_lane_module [default: true]
- launch_module_list_end [default: ""]]
- behavior_path_planner_launch_modules [default: []
- behavior_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving/behavior_planning/behavior_planning_deprecated.launch.xml
-
- input_route_topic_name [default: /planning/mission_planning/route]
- input_traffic_light_topic_name [default: /perception/traffic_light_recognition/traffic_signals]
- input_vector_map_topic_name [default: /map/vector_map]
- input_pointcloud_map_topic_name [default: /map/pointcloud_map]
- input_objects_topic_name
- input_pointcloud_topic_name
- enable_all_modules_auto_mode
- is_simulation
- behavior_path_planner_type [default: behavior_path_planner]
- launch_static_obstacle_avoidance [default: true]
- launch_avoidance_by_lane_change_module [default: true]
- launch_dynamic_obstacle_avoidance [default: true]
- launch_lane_change_right_module [default: true]
- launch_lane_change_left_module [default: true]
- launch_external_request_lane_change_right_module [default: true]
- launch_external_request_lane_change_left_module [default: true]
- launch_goal_planner_module [default: true]
- launch_start_planner_module [default: true]
- launch_sampling_planner_module [default: true]
- launch_side_shift_module [default: true]
- launch_bidirectional_traffic_module [default: true]
- launch_crosswalk_module [default: true]
- launch_walkway_module [default: true]
- launch_traffic_light_module [default: true]
- launch_intersection_module [default: true]
- launch_roundabout_module [default: true]
- launch_merge_from_private_module [default: true]
- launch_blind_spot_module [default: true]
- launch_detection_area_module [default: true]
- launch_virtual_traffic_light_module [default: true]
- launch_no_stopping_area_module [default: true]
- launch_stop_line_module [default: true]
- launch_occlusion_spot_module [default: true]
- launch_speed_bump_module [default: true]
- launch_no_drivable_lane_module [default: true]
- launch_module_list_end [default: ""]]
- behavior_path_planner_launch_modules [default: []
- behavior_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
-
- input_objects_topic_name
- input_pointcloud_topic_name
- interface_input_topic [default: /planning/scenario_planning/lane_driving/behavior_planning/path]
- interface_output_topic [default: /planning/scenario_planning/lane_driving/trajectory]
- launch_obstacle_stop_module [default: true]
- launch_obstacle_slow_down_module [default: true]
- launch_obstacle_cruise_module [default: true]
- launch_dynamic_obstacle_stop_module [default: true]
- launch_out_of_lane_module [default: true]
- launch_obstacle_velocity_limiter_module [default: true]
- launch_run_out_module [default: true]
- launch_boundary_departure_prevention_module [default: true]
- launch_road_user_stop_module [default: true]
- launch_module_list_end [default: ""]]
- motion_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving.launch.xml
-
- enable_all_modules_auto_mode
- is_simulation
- input_objects_topic_name
- input_pointcloud_topic_name
- launch/scenario_planning/parking.launch.xml
-
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- launch/scenario_planning/scenario_planning.launch.xml
-
- enable_all_modules_auto_mode
- is_simulation
- input_objects_topic_name
- input_pointcloud_topic_name
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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Package Summary
| Version | 0.52.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_launch.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-10-09 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The autoware_planning_launch package
Maintainers
- Zulfaqar Azmi
- Kosuke Takeuchi
- Kosuke Takeuchi
- Fumiya Watanabe
- Takamasa Horibe
- Zulfaqar Azmi
- Mamoru Sobue
- Takayuki Murooka
- Mamoru Sobue
- Taiki Tanaka
- Kosuke Takeuchi
- Mamoru Sobue
- Fumiya Watanabe
- Zhe Shen
- Kosuke Takeuchi
- Tomohito Ando
- Makoto Kurihara
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
- Maxime CLEMENT
Authors
- Satoshi Ota
autoware_planning_launch
Shared planning launch library. The system component launcher lives in the product layer (autoware_launch/launch/components/component_planning.launch.xml); this package hosts the planning feature launchers it combines:
launch/
├── planning.launch.xml # planning entry: mission planning, trajectory source, validator and evaluator tail
├── mission_planning/
├── learning_based_planning/ # diffusion planner trajectory source
└── scenario_planning/ # rule-based trajectory source
├── scenario_planning.launch.xml
├── lane_driving.launch.xml
├── parking.launch.xml
└── lane_driving/
├── behavior_planning/
└── motion_planning/
design/module/ # Autoware System Designer modules; same subtree as launch/
├── Planning.module.yaml
├── mission_planning/
└── scenario_planning/
└── lane_driving/
├── behavior_planning/
└── motion_planning/
Structure
Launch files
-
planning.launch.xml— the entry point. It includes the module preset, resolves every parameter file, and pushes theplanningnamespace.planning_settingselects the trajectory source:rule_basedrunsscenario_planning/,diffusion_plannerrunslearning_based_planning/. The planning validator and the planning evaluator run for both, wired to the source-specific trajectory topics. -
scenario_planning/— the rule-based source: the scenario selector, the velocity smoother tail, and thelane_drivingandparkingscenarios.lane_drivingchains behavior planning into motion planning. -
learning_based_planning/diffusion_planner.launch.xml— the neural-network source: the diffusion planner followed by the trajectory modifier and its optimizer plugins.
Config
Parameter files are resolved from a config/ tree addressed through the planning_config_pkg argument, which defaults to autoware_planning_config. A product can relocate the whole tree by setting planning_config_pkg once at its entry point — the launch configuration propagates through every include — but it must then ship the same config/ layout. Products that differ in only a few files instead override the corresponding *_param_path arguments, which are all declared at the top of planning.launch.xml:
<include file="$(find-pkg-share autoware_planning_launch)/launch/planning.launch.xml">
<arg name="planning_config_pkg" value="my_planning_config"/>
<arg name="FOO_NODE_param_path" value="..."/>
</include>
Which modules launch is a separate axis, selected by module_preset; the presets live in the config package under config/preset/.
Package Dependencies
Please see <exec_depend> in package.xml.
CHANGELOG
Changelog for package tier4_planning_launch
0.52.0 (2026-06-30)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(diffusion_planner): update launch file (#1854) update arg names for modifier, define input topics args
-
fix(neural_net_planner): add temporal MPT optimizer config for trajec… (#1878) fix(neural_net_planner): add temporal MPT optimizer config for trajectory_optimizer The autoware_trajectory_optimizer node now declares use_temporal_mpt_optimizer as a statically typed parameter, so it crashes on startup (UninitializedStaticallyTypedParameterException) when launched with the autoware_launch config, which did not provide it.
- Add use_temporal_mpt_optimizer: false to trajectory_optimizer.param.yaml
- Add trajectory_temporal_mpt_optimizer.param.yaml plugin config
- Wire trajectory_temporal_mpt_optimizer_param_path through the launch chain
-
feat: add launch params and configs for direction_change module (#1857)
- feat: add launch params and configs for direction_change module
* feat: add launch param in default_preset.yaml ---------
-
fix(tier4_planning_launch): rename virtual traffic light state (#1827) feat(tier4_planning_launch): rename virtual traffic light state input
-
fix: assign acados-prepended [LD_LIBRARY_PATH]{.title-ref} for motion planning container (#1842)
-
chore: sync files (#1338)
- chore: sync files
* style(pre-commit): autofix ---------Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
Contributors: Go Sakayori, Taeseung Sohn, Takagi, Isamu, awf-autoware-bot[bot], emmeyteja, github-actions, mkquda
0.51.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(planning): wire data_path through to diffusion_planner (#1834) feat(autoware_launch,tier4_planning_launch): wire data_path through planning to diffusion_planner Propagate the [data_path]{.title-ref} arg from [autoware.launch.xml]{.title-ref} through the planning chain so the integrated diffusion_planner picks up the root artifacts directory the same way perception does. Chain wired: autoware.launch.xml -> tier4_planning_component.launch.xml -> tier4_planning_launch/launch/planning.launch.xml -> tier4_planning_launch/learning_based_planning/diffusion_planner.launch.xml -> autoware_diffusion_planner/launch/diffusion_planner.launch.xml Replaces the hardcoded [$(env HOME)/autoware_data/diffusion_planner/v4.0/...]{.title-ref} literals in [autoware_launch/config/planning/neural_net_planner/diffusion_planner.param.yaml]{.title-ref} with [$(var data_path)/diffusion_planner/v4.0/...]{.title-ref}, matching the perception convention (literal package subdir under [data_path]{.title-ref}). After this commit, flipping [data_path]{.title-ref} in [autoware.launch.xml]{.title-ref} (or overriding it on the command line) controls the diffusion_planner artifact root end-to-end without further edits to the parallel YAML. Refs: https://github.com/autowarefoundation/autoware/issues/7068 Refs: https://github.com/autowarefoundation/autoware_universe/pull/12521
-
feat: allow conditionally launch diffusion planner (#1752)
- feat: allow conditionally launch e2e/dp
- rule base default
- feat: adding dp rviz markers to other rviz configs
* feat: adding dp rviz markers ---------
-
feat(tier4_planning_launch): apply CIE via inline ENABLE_AGNOCAST switching (#1795) Switch component containers based on ENABLE_AGNOCAST environment variable directly in each launch file, without using
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| autoware_launch |
Launch files
- launch/learning_based_planning/diffusion_planner.launch.xml
-
- data_path
- diffusion_planner_param_path
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_tracked_objects_topic_name [default: /perception/object_recognition/tracking/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- trajectory_modifier_param_path
- jerk_filtered_smoother_param_path
- velocity_smoother_param_path
- common_smoother_param_path
- elastic_band_param_path
- trajectory_point_fixer_param_path
- trajectory_extender_param_path
- trajectory_spline_smoother_param_path
- trajectory_qp_smoother_param_path
- trajectory_velocity_optimizer_param_path
- trajectory_kinematic_feasibility_enforcer_param_path
- trajectory_mpt_optimizer_param_path
- trajectory_temporal_mpt_optimizer_param_path
- launch/mission_planning/mission_planning.launch.xml
-
- mission_planner_param_path [default: $(find-pkg-share autoware_mission_planner_universe)/config/mission_planner.param.yaml]
- launch/planning.launch.xml
-
- planning_config_pkg [default: autoware_planning_config]
- module_preset [default: default]
- planning_setting [default: rule_based]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- launch_remaining_distance_time_calculator [default: false]
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_tracked_objects_topic_name [default: /perception/object_recognition/tracking/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- vehicle_model [default: sample_vehicle]
- vehicle_param_file [default: $(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml]
- data_path [default: $(env HOME)/autoware_data/ml_models]
- common_param_path [default: $(var planning_common_config_dir)/common.param.yaml]
- nearest_search_param_path [default: $(var planning_common_config_dir)/nearest_search.param.yaml]
- costmap_generator_param_path [default: $(var planning_common_config_dir)/costmap_generator.param.yaml]
- mission_planner_param_path [default: $(var planning_config_dir)/mission_planning/mission_planner/mission_planner.param.yaml]
- behavior_path_planner_common_param_path [default: $(var behavior_path_config_dir)/behavior_path_planner.param.yaml]
- behavior_path_planner_scene_module_manager_param_path [default: $(var behavior_path_config_dir)/scene_module_manager.param.yaml]
- behavior_path_planner_drivable_area_expansion_param_path [default: $(var behavior_path_config_dir)/drivable_area_expansion.param.yaml]
- behavior_path_planner_side_shift_module_param_path [default: $(var behavior_path_config_dir)/side_shift/side_shift.param.yaml]
- behavior_path_planner_static_obstacle_avoidance_module_param_path [default: $(var behavior_path_config_dir)/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml]
- behavior_path_planner_dynamic_obstacle_avoidance_module_param_path [default: $(var behavior_path_config_dir)/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml]
- behavior_path_planner_avoidance_by_lc_module_param_path [default: $(var behavior_path_config_dir)/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml]
- behavior_path_planner_sampling_planner_module_param_path [default: $(var behavior_path_config_dir)/sampling_planner/sampling_planner.param.yaml]
- behavior_path_planner_lane_change_module_param_path [default: $(var behavior_path_config_dir)/lane_change/lane_change.param.yaml]
- behavior_path_planner_goal_planner_module_param_path [default: $(var behavior_path_config_dir)/goal_planner/goal_planner.param.yaml]
- behavior_path_planner_start_planner_module_param_path [default: $(var behavior_path_config_dir)/start_planner/start_planner.param.yaml]
- behavior_path_bidirectional_traffic_module_param_path [default: $(var behavior_path_config_dir)/autoware_behavior_path_bidirectional_traffic_module/bidirectional_traffic.param.yaml]
- behavior_path_planner_direction_change_module_param_path [default: $(var behavior_path_config_dir)/autoware_behavior_path_direction_change_module/direction_change.param.yaml]
- path_generator_param_path [default: $(var planning_config_dir)/scenario_planning/lane_driving/behavior_planning/path_generator/path_generator.param.yaml]
- hazard_lights_selector_param_path [default: $(var planning_common_config_dir)/autoware_hazard_lights_selector/hazard_lights_selector.param.yaml]
- behavior_velocity_smoother_type_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/Analytical.param.yaml]
- behavior_velocity_planner_param_path [default: $(var behavior_velocity_config_dir)/behavior_velocity_planner.param.yaml]
- behavior_velocity_planner_common_param_path [default: $(var behavior_velocity_config_dir)/behavior_velocity_planner_common.param.yaml]
- behavior_velocity_planner_blind_spot_module_param_path [default: $(var behavior_velocity_config_dir)/blind_spot.param.yaml]
- behavior_velocity_planner_crosswalk_module_param_path [default: $(var behavior_velocity_config_dir)/crosswalk.param.yaml]
- behavior_velocity_planner_walkway_module_param_path [default: $(var behavior_velocity_config_dir)/walkway.param.yaml]
- behavior_velocity_planner_detection_area_module_param_path [default: $(var behavior_velocity_config_dir)/detection_area.param.yaml]
- behavior_velocity_planner_intersection_module_param_path [default: $(var behavior_velocity_config_dir)/intersection.param.yaml]
- behavior_velocity_planner_stop_line_module_param_path [default: $(var behavior_velocity_config_dir)/stop_line.param.yaml]
- behavior_velocity_planner_traffic_light_module_param_path [default: $(var behavior_velocity_config_dir)/traffic_light.param.yaml]
- behavior_velocity_planner_virtual_traffic_light_module_param_path [default: $(var behavior_velocity_config_dir)/virtual_traffic_light.param.yaml]
- behavior_velocity_planner_occlusion_spot_module_param_path [default: $(var behavior_velocity_config_dir)/occlusion_spot.param.yaml]
- behavior_velocity_planner_no_stopping_area_module_param_path [default: $(var behavior_velocity_config_dir)/no_stopping_area.param.yaml]
- behavior_velocity_planner_roundabout_module_param_path [default: $(var behavior_velocity_config_dir)/roundabout.param.yaml]
- behavior_velocity_planner_speed_bump_module_param_path [default: $(var behavior_velocity_config_dir)/speed_bump.param.yaml]
- behavior_velocity_planner_no_drivable_lane_module_param_path [default: $(var behavior_velocity_config_dir)/no_drivable_lane.param.yaml]
- elastic_band_smoother_param_path [default: $(var motion_planning_config_dir)/path_smoother/elastic_band_smoother.param.yaml]
- path_optimizer_param_path [default: $(var motion_planning_config_dir)/autoware_path_optimizer/path_optimizer.param.yaml]
- path_sampler_param_path [default: $(var motion_planning_config_dir)/path_sampler/path_sampler.param.yaml]
- surround_obstacle_checker_param_path [default: $(var motion_planning_config_dir)/surround_obstacle_checker/surround_obstacle_checker.param.yaml]
- motion_velocity_planner_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/motion_velocity_planner.param.yaml]
- motion_velocity_planner_obstacle_stop_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/obstacle_stop.param.yaml]
- motion_velocity_planner_obstacle_slow_down_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/obstacle_slow_down.param.yaml]
- motion_velocity_planner_obstacle_cruise_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/obstacle_cruise.param.yaml]
- motion_velocity_planner_dynamic_obstacle_stop_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/dynamic_obstacle_stop.param.yaml]
- motion_velocity_planner_out_of_lane_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/out_of_lane.param.yaml]
- motion_velocity_planner_obstacle_velocity_limiter_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/obstacle_velocity_limiter.param.yaml]
- motion_velocity_planner_run_out_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/run_out.param.yaml]
- motion_velocity_planner_boundary_departure_prevention_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/boundary_departure_prevention.param.yaml]
- motion_velocity_planner_road_user_stop_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/road_user_stop.param.yaml]
- motion_velocity_planner_velocity_smoother_type_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/Analytical.param.yaml]
- velocity_smoother_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/velocity_smoother.param.yaml]
- velocity_smoother_type_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/$(var velocity_smoother_type).param.yaml]
- freespace_planner_param_path [default: $(var planning_config_dir)/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml]
- planning_validator_param_path [default: $(var planning_common_config_dir)/planning_validator/planning_validator.param.yaml]
- planning_validator_latency_checker_param_path [default: $(var planning_common_config_dir)/planning_validator/latency_checker.param.yaml]
- planning_validator_trajectory_checker_param_path [default: $(var planning_common_config_dir)/planning_validator/trajectory_checker.param.yaml]
- planning_validator_intersection_collision_checker_param_path [default: $(var planning_common_config_dir)/planning_validator/intersection_collision_checker.param.yaml]
- planning_validator_rear_collision_checker_param_path [default: $(var planning_common_config_dir)/planning_validator/rear_collision_checker.param.yaml]
- diffusion_planner_param_path [default: $(var neural_net_planner_config_dir)/diffusion_planner.param.yaml]
- trajectory_modifier_param_path [default: $(var neural_net_planner_config_dir)/trajectory_modifier.param.yaml]
- jerk_filtered_smoother_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/JerkFiltered.param.yaml]
- common_smoother_param_path [default: $(var planning_common_config_dir)/common.param.yaml]
- elastic_band_param_path [default: $(var motion_planning_config_dir)/path_smoother/elastic_band_smoother.param.yaml]
- trajectory_point_fixer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_point_fixer.param.yaml]
- trajectory_extender_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_extender.param.yaml]
- trajectory_spline_smoother_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_spline_smoother.param.yaml]
- trajectory_qp_smoother_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_qp_smoother.param.yaml]
- trajectory_velocity_optimizer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_velocity_optimizer.param.yaml]
- trajectory_kinematic_feasibility_enforcer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_kinematic_feasibility_enforcer.param.yaml]
- trajectory_mpt_optimizer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_mpt_optimizer.param.yaml]
- trajectory_temporal_mpt_optimizer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_temporal_mpt_optimizer.param.yaml]
- launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
-
- input_route_topic_name [default: /planning/mission_planning/route]
- input_traffic_light_topic_name [default: /perception/traffic_light_recognition/traffic_signals]
- input_vector_map_topic_name [default: /map/vector_map]
- input_pointcloud_map_topic_name [default: /map/pointcloud_map]
- input_objects_topic_name
- input_pointcloud_topic_name
- enable_all_modules_auto_mode
- is_simulation
- behavior_path_planner_type [default: behavior_path_planner]
- launch_static_obstacle_avoidance [default: true]
- launch_avoidance_by_lane_change_module [default: true]
- launch_dynamic_obstacle_avoidance [default: true]
- launch_lane_change_right_module [default: true]
- launch_lane_change_left_module [default: true]
- launch_external_request_lane_change_right_module [default: true]
- launch_external_request_lane_change_left_module [default: true]
- launch_goal_planner_module [default: true]
- launch_start_planner_module [default: true]
- launch_sampling_planner_module [default: true]
- launch_side_shift_module [default: true]
- launch_bidirectional_traffic_module [default: true]
- launch_direction_change_module [default: false]
- launch_crosswalk_module [default: true]
- launch_walkway_module [default: true]
- launch_traffic_light_module [default: true]
- launch_intersection_module [default: true]
- launch_roundabout_module [default: true]
- launch_merge_from_private_module [default: true]
- launch_blind_spot_module [default: true]
- launch_detection_area_module [default: true]
- launch_virtual_traffic_light_module [default: true]
- launch_no_stopping_area_module [default: true]
- launch_stop_line_module [default: true]
- launch_occlusion_spot_module [default: true]
- launch_speed_bump_module [default: true]
- launch_no_drivable_lane_module [default: true]
- launch_module_list_end [default: ""]]
- behavior_path_planner_launch_modules [default: []
- behavior_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving/behavior_planning/behavior_planning_deprecated.launch.xml
-
- input_route_topic_name [default: /planning/mission_planning/route]
- input_traffic_light_topic_name [default: /perception/traffic_light_recognition/traffic_signals]
- input_vector_map_topic_name [default: /map/vector_map]
- input_pointcloud_map_topic_name [default: /map/pointcloud_map]
- input_objects_topic_name
- input_pointcloud_topic_name
- enable_all_modules_auto_mode
- is_simulation
- behavior_path_planner_type [default: behavior_path_planner]
- launch_static_obstacle_avoidance [default: true]
- launch_avoidance_by_lane_change_module [default: true]
- launch_dynamic_obstacle_avoidance [default: true]
- launch_lane_change_right_module [default: true]
- launch_lane_change_left_module [default: true]
- launch_external_request_lane_change_right_module [default: true]
- launch_external_request_lane_change_left_module [default: true]
- launch_goal_planner_module [default: true]
- launch_start_planner_module [default: true]
- launch_sampling_planner_module [default: true]
- launch_side_shift_module [default: true]
- launch_bidirectional_traffic_module [default: true]
- launch_crosswalk_module [default: true]
- launch_walkway_module [default: true]
- launch_traffic_light_module [default: true]
- launch_intersection_module [default: true]
- launch_roundabout_module [default: true]
- launch_merge_from_private_module [default: true]
- launch_blind_spot_module [default: true]
- launch_detection_area_module [default: true]
- launch_virtual_traffic_light_module [default: true]
- launch_no_stopping_area_module [default: true]
- launch_stop_line_module [default: true]
- launch_occlusion_spot_module [default: true]
- launch_speed_bump_module [default: true]
- launch_no_drivable_lane_module [default: true]
- launch_module_list_end [default: ""]]
- behavior_path_planner_launch_modules [default: []
- behavior_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
-
- input_objects_topic_name
- input_pointcloud_topic_name
- interface_input_topic [default: /planning/scenario_planning/lane_driving/behavior_planning/path]
- interface_output_topic [default: /planning/scenario_planning/lane_driving/trajectory]
- launch_obstacle_stop_module [default: true]
- launch_obstacle_slow_down_module [default: true]
- launch_obstacle_cruise_module [default: true]
- launch_dynamic_obstacle_stop_module [default: true]
- launch_out_of_lane_module [default: true]
- launch_obstacle_velocity_limiter_module [default: true]
- launch_run_out_module [default: true]
- launch_boundary_departure_prevention_module [default: true]
- launch_road_user_stop_module [default: true]
- launch_module_list_end [default: ""]]
- motion_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving.launch.xml
-
- enable_all_modules_auto_mode
- is_simulation
- input_objects_topic_name
- input_pointcloud_topic_name
- launch/scenario_planning/parking.launch.xml
-
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- launch/scenario_planning/scenario_planning.launch.xml
-
- enable_all_modules_auto_mode
- is_simulation
- input_objects_topic_name
- input_pointcloud_topic_name
Messages
No message files found.
Services
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Plugins
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Package Summary
| Version | 0.52.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_launch.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-10-09 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The autoware_planning_launch package
Maintainers
- Zulfaqar Azmi
- Kosuke Takeuchi
- Kosuke Takeuchi
- Fumiya Watanabe
- Takamasa Horibe
- Zulfaqar Azmi
- Mamoru Sobue
- Takayuki Murooka
- Mamoru Sobue
- Taiki Tanaka
- Kosuke Takeuchi
- Mamoru Sobue
- Fumiya Watanabe
- Zhe Shen
- Kosuke Takeuchi
- Tomohito Ando
- Makoto Kurihara
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
- Maxime CLEMENT
Authors
- Satoshi Ota
autoware_planning_launch
Shared planning launch library. The system component launcher lives in the product layer (autoware_launch/launch/components/component_planning.launch.xml); this package hosts the planning feature launchers it combines:
launch/
├── planning.launch.xml # planning entry: mission planning, trajectory source, validator and evaluator tail
├── mission_planning/
├── learning_based_planning/ # diffusion planner trajectory source
└── scenario_planning/ # rule-based trajectory source
├── scenario_planning.launch.xml
├── lane_driving.launch.xml
├── parking.launch.xml
└── lane_driving/
├── behavior_planning/
└── motion_planning/
design/module/ # Autoware System Designer modules; same subtree as launch/
├── Planning.module.yaml
├── mission_planning/
└── scenario_planning/
└── lane_driving/
├── behavior_planning/
└── motion_planning/
Structure
Launch files
-
planning.launch.xml— the entry point. It includes the module preset, resolves every parameter file, and pushes theplanningnamespace.planning_settingselects the trajectory source:rule_basedrunsscenario_planning/,diffusion_plannerrunslearning_based_planning/. The planning validator and the planning evaluator run for both, wired to the source-specific trajectory topics. -
scenario_planning/— the rule-based source: the scenario selector, the velocity smoother tail, and thelane_drivingandparkingscenarios.lane_drivingchains behavior planning into motion planning. -
learning_based_planning/diffusion_planner.launch.xml— the neural-network source: the diffusion planner followed by the trajectory modifier and its optimizer plugins.
Config
Parameter files are resolved from a config/ tree addressed through the planning_config_pkg argument, which defaults to autoware_planning_config. A product can relocate the whole tree by setting planning_config_pkg once at its entry point — the launch configuration propagates through every include — but it must then ship the same config/ layout. Products that differ in only a few files instead override the corresponding *_param_path arguments, which are all declared at the top of planning.launch.xml:
<include file="$(find-pkg-share autoware_planning_launch)/launch/planning.launch.xml">
<arg name="planning_config_pkg" value="my_planning_config"/>
<arg name="FOO_NODE_param_path" value="..."/>
</include>
Which modules launch is a separate axis, selected by module_preset; the presets live in the config package under config/preset/.
Package Dependencies
Please see <exec_depend> in package.xml.
CHANGELOG
Changelog for package tier4_planning_launch
0.52.0 (2026-06-30)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(diffusion_planner): update launch file (#1854) update arg names for modifier, define input topics args
-
fix(neural_net_planner): add temporal MPT optimizer config for trajec… (#1878) fix(neural_net_planner): add temporal MPT optimizer config for trajectory_optimizer The autoware_trajectory_optimizer node now declares use_temporal_mpt_optimizer as a statically typed parameter, so it crashes on startup (UninitializedStaticallyTypedParameterException) when launched with the autoware_launch config, which did not provide it.
- Add use_temporal_mpt_optimizer: false to trajectory_optimizer.param.yaml
- Add trajectory_temporal_mpt_optimizer.param.yaml plugin config
- Wire trajectory_temporal_mpt_optimizer_param_path through the launch chain
-
feat: add launch params and configs for direction_change module (#1857)
- feat: add launch params and configs for direction_change module
* feat: add launch param in default_preset.yaml ---------
-
fix(tier4_planning_launch): rename virtual traffic light state (#1827) feat(tier4_planning_launch): rename virtual traffic light state input
-
fix: assign acados-prepended [LD_LIBRARY_PATH]{.title-ref} for motion planning container (#1842)
-
chore: sync files (#1338)
- chore: sync files
* style(pre-commit): autofix ---------Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
Contributors: Go Sakayori, Taeseung Sohn, Takagi, Isamu, awf-autoware-bot[bot], emmeyteja, github-actions, mkquda
0.51.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(planning): wire data_path through to diffusion_planner (#1834) feat(autoware_launch,tier4_planning_launch): wire data_path through planning to diffusion_planner Propagate the [data_path]{.title-ref} arg from [autoware.launch.xml]{.title-ref} through the planning chain so the integrated diffusion_planner picks up the root artifacts directory the same way perception does. Chain wired: autoware.launch.xml -> tier4_planning_component.launch.xml -> tier4_planning_launch/launch/planning.launch.xml -> tier4_planning_launch/learning_based_planning/diffusion_planner.launch.xml -> autoware_diffusion_planner/launch/diffusion_planner.launch.xml Replaces the hardcoded [$(env HOME)/autoware_data/diffusion_planner/v4.0/...]{.title-ref} literals in [autoware_launch/config/planning/neural_net_planner/diffusion_planner.param.yaml]{.title-ref} with [$(var data_path)/diffusion_planner/v4.0/...]{.title-ref}, matching the perception convention (literal package subdir under [data_path]{.title-ref}). After this commit, flipping [data_path]{.title-ref} in [autoware.launch.xml]{.title-ref} (or overriding it on the command line) controls the diffusion_planner artifact root end-to-end without further edits to the parallel YAML. Refs: https://github.com/autowarefoundation/autoware/issues/7068 Refs: https://github.com/autowarefoundation/autoware_universe/pull/12521
-
feat: allow conditionally launch diffusion planner (#1752)
- feat: allow conditionally launch e2e/dp
- rule base default
- feat: adding dp rviz markers to other rviz configs
* feat: adding dp rviz markers ---------
-
feat(tier4_planning_launch): apply CIE via inline ENABLE_AGNOCAST switching (#1795) Switch component containers based on ENABLE_AGNOCAST environment variable directly in each launch file, without using
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| autoware_launch |
Launch files
- launch/learning_based_planning/diffusion_planner.launch.xml
-
- data_path
- diffusion_planner_param_path
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_tracked_objects_topic_name [default: /perception/object_recognition/tracking/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- trajectory_modifier_param_path
- jerk_filtered_smoother_param_path
- velocity_smoother_param_path
- common_smoother_param_path
- elastic_band_param_path
- trajectory_point_fixer_param_path
- trajectory_extender_param_path
- trajectory_spline_smoother_param_path
- trajectory_qp_smoother_param_path
- trajectory_velocity_optimizer_param_path
- trajectory_kinematic_feasibility_enforcer_param_path
- trajectory_mpt_optimizer_param_path
- trajectory_temporal_mpt_optimizer_param_path
- launch/mission_planning/mission_planning.launch.xml
-
- mission_planner_param_path [default: $(find-pkg-share autoware_mission_planner_universe)/config/mission_planner.param.yaml]
- launch/planning.launch.xml
-
- planning_config_pkg [default: autoware_planning_config]
- module_preset [default: default]
- planning_setting [default: rule_based]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- launch_remaining_distance_time_calculator [default: false]
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_tracked_objects_topic_name [default: /perception/object_recognition/tracking/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- vehicle_model [default: sample_vehicle]
- vehicle_param_file [default: $(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml]
- data_path [default: $(env HOME)/autoware_data/ml_models]
- common_param_path [default: $(var planning_common_config_dir)/common.param.yaml]
- nearest_search_param_path [default: $(var planning_common_config_dir)/nearest_search.param.yaml]
- costmap_generator_param_path [default: $(var planning_common_config_dir)/costmap_generator.param.yaml]
- mission_planner_param_path [default: $(var planning_config_dir)/mission_planning/mission_planner/mission_planner.param.yaml]
- behavior_path_planner_common_param_path [default: $(var behavior_path_config_dir)/behavior_path_planner.param.yaml]
- behavior_path_planner_scene_module_manager_param_path [default: $(var behavior_path_config_dir)/scene_module_manager.param.yaml]
- behavior_path_planner_drivable_area_expansion_param_path [default: $(var behavior_path_config_dir)/drivable_area_expansion.param.yaml]
- behavior_path_planner_side_shift_module_param_path [default: $(var behavior_path_config_dir)/side_shift/side_shift.param.yaml]
- behavior_path_planner_static_obstacle_avoidance_module_param_path [default: $(var behavior_path_config_dir)/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml]
- behavior_path_planner_dynamic_obstacle_avoidance_module_param_path [default: $(var behavior_path_config_dir)/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml]
- behavior_path_planner_avoidance_by_lc_module_param_path [default: $(var behavior_path_config_dir)/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml]
- behavior_path_planner_sampling_planner_module_param_path [default: $(var behavior_path_config_dir)/sampling_planner/sampling_planner.param.yaml]
- behavior_path_planner_lane_change_module_param_path [default: $(var behavior_path_config_dir)/lane_change/lane_change.param.yaml]
- behavior_path_planner_goal_planner_module_param_path [default: $(var behavior_path_config_dir)/goal_planner/goal_planner.param.yaml]
- behavior_path_planner_start_planner_module_param_path [default: $(var behavior_path_config_dir)/start_planner/start_planner.param.yaml]
- behavior_path_bidirectional_traffic_module_param_path [default: $(var behavior_path_config_dir)/autoware_behavior_path_bidirectional_traffic_module/bidirectional_traffic.param.yaml]
- behavior_path_planner_direction_change_module_param_path [default: $(var behavior_path_config_dir)/autoware_behavior_path_direction_change_module/direction_change.param.yaml]
- path_generator_param_path [default: $(var planning_config_dir)/scenario_planning/lane_driving/behavior_planning/path_generator/path_generator.param.yaml]
- hazard_lights_selector_param_path [default: $(var planning_common_config_dir)/autoware_hazard_lights_selector/hazard_lights_selector.param.yaml]
- behavior_velocity_smoother_type_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/Analytical.param.yaml]
- behavior_velocity_planner_param_path [default: $(var behavior_velocity_config_dir)/behavior_velocity_planner.param.yaml]
- behavior_velocity_planner_common_param_path [default: $(var behavior_velocity_config_dir)/behavior_velocity_planner_common.param.yaml]
- behavior_velocity_planner_blind_spot_module_param_path [default: $(var behavior_velocity_config_dir)/blind_spot.param.yaml]
- behavior_velocity_planner_crosswalk_module_param_path [default: $(var behavior_velocity_config_dir)/crosswalk.param.yaml]
- behavior_velocity_planner_walkway_module_param_path [default: $(var behavior_velocity_config_dir)/walkway.param.yaml]
- behavior_velocity_planner_detection_area_module_param_path [default: $(var behavior_velocity_config_dir)/detection_area.param.yaml]
- behavior_velocity_planner_intersection_module_param_path [default: $(var behavior_velocity_config_dir)/intersection.param.yaml]
- behavior_velocity_planner_stop_line_module_param_path [default: $(var behavior_velocity_config_dir)/stop_line.param.yaml]
- behavior_velocity_planner_traffic_light_module_param_path [default: $(var behavior_velocity_config_dir)/traffic_light.param.yaml]
- behavior_velocity_planner_virtual_traffic_light_module_param_path [default: $(var behavior_velocity_config_dir)/virtual_traffic_light.param.yaml]
- behavior_velocity_planner_occlusion_spot_module_param_path [default: $(var behavior_velocity_config_dir)/occlusion_spot.param.yaml]
- behavior_velocity_planner_no_stopping_area_module_param_path [default: $(var behavior_velocity_config_dir)/no_stopping_area.param.yaml]
- behavior_velocity_planner_roundabout_module_param_path [default: $(var behavior_velocity_config_dir)/roundabout.param.yaml]
- behavior_velocity_planner_speed_bump_module_param_path [default: $(var behavior_velocity_config_dir)/speed_bump.param.yaml]
- behavior_velocity_planner_no_drivable_lane_module_param_path [default: $(var behavior_velocity_config_dir)/no_drivable_lane.param.yaml]
- elastic_band_smoother_param_path [default: $(var motion_planning_config_dir)/path_smoother/elastic_band_smoother.param.yaml]
- path_optimizer_param_path [default: $(var motion_planning_config_dir)/autoware_path_optimizer/path_optimizer.param.yaml]
- path_sampler_param_path [default: $(var motion_planning_config_dir)/path_sampler/path_sampler.param.yaml]
- surround_obstacle_checker_param_path [default: $(var motion_planning_config_dir)/surround_obstacle_checker/surround_obstacle_checker.param.yaml]
- motion_velocity_planner_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/motion_velocity_planner.param.yaml]
- motion_velocity_planner_obstacle_stop_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/obstacle_stop.param.yaml]
- motion_velocity_planner_obstacle_slow_down_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/obstacle_slow_down.param.yaml]
- motion_velocity_planner_obstacle_cruise_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/obstacle_cruise.param.yaml]
- motion_velocity_planner_dynamic_obstacle_stop_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/dynamic_obstacle_stop.param.yaml]
- motion_velocity_planner_out_of_lane_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/out_of_lane.param.yaml]
- motion_velocity_planner_obstacle_velocity_limiter_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/obstacle_velocity_limiter.param.yaml]
- motion_velocity_planner_run_out_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/run_out.param.yaml]
- motion_velocity_planner_boundary_departure_prevention_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/boundary_departure_prevention.param.yaml]
- motion_velocity_planner_road_user_stop_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/road_user_stop.param.yaml]
- motion_velocity_planner_velocity_smoother_type_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/Analytical.param.yaml]
- velocity_smoother_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/velocity_smoother.param.yaml]
- velocity_smoother_type_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/$(var velocity_smoother_type).param.yaml]
- freespace_planner_param_path [default: $(var planning_config_dir)/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml]
- planning_validator_param_path [default: $(var planning_common_config_dir)/planning_validator/planning_validator.param.yaml]
- planning_validator_latency_checker_param_path [default: $(var planning_common_config_dir)/planning_validator/latency_checker.param.yaml]
- planning_validator_trajectory_checker_param_path [default: $(var planning_common_config_dir)/planning_validator/trajectory_checker.param.yaml]
- planning_validator_intersection_collision_checker_param_path [default: $(var planning_common_config_dir)/planning_validator/intersection_collision_checker.param.yaml]
- planning_validator_rear_collision_checker_param_path [default: $(var planning_common_config_dir)/planning_validator/rear_collision_checker.param.yaml]
- diffusion_planner_param_path [default: $(var neural_net_planner_config_dir)/diffusion_planner.param.yaml]
- trajectory_modifier_param_path [default: $(var neural_net_planner_config_dir)/trajectory_modifier.param.yaml]
- jerk_filtered_smoother_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/JerkFiltered.param.yaml]
- common_smoother_param_path [default: $(var planning_common_config_dir)/common.param.yaml]
- elastic_band_param_path [default: $(var motion_planning_config_dir)/path_smoother/elastic_band_smoother.param.yaml]
- trajectory_point_fixer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_point_fixer.param.yaml]
- trajectory_extender_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_extender.param.yaml]
- trajectory_spline_smoother_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_spline_smoother.param.yaml]
- trajectory_qp_smoother_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_qp_smoother.param.yaml]
- trajectory_velocity_optimizer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_velocity_optimizer.param.yaml]
- trajectory_kinematic_feasibility_enforcer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_kinematic_feasibility_enforcer.param.yaml]
- trajectory_mpt_optimizer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_mpt_optimizer.param.yaml]
- trajectory_temporal_mpt_optimizer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_temporal_mpt_optimizer.param.yaml]
- launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
-
- input_route_topic_name [default: /planning/mission_planning/route]
- input_traffic_light_topic_name [default: /perception/traffic_light_recognition/traffic_signals]
- input_vector_map_topic_name [default: /map/vector_map]
- input_pointcloud_map_topic_name [default: /map/pointcloud_map]
- input_objects_topic_name
- input_pointcloud_topic_name
- enable_all_modules_auto_mode
- is_simulation
- behavior_path_planner_type [default: behavior_path_planner]
- launch_static_obstacle_avoidance [default: true]
- launch_avoidance_by_lane_change_module [default: true]
- launch_dynamic_obstacle_avoidance [default: true]
- launch_lane_change_right_module [default: true]
- launch_lane_change_left_module [default: true]
- launch_external_request_lane_change_right_module [default: true]
- launch_external_request_lane_change_left_module [default: true]
- launch_goal_planner_module [default: true]
- launch_start_planner_module [default: true]
- launch_sampling_planner_module [default: true]
- launch_side_shift_module [default: true]
- launch_bidirectional_traffic_module [default: true]
- launch_direction_change_module [default: false]
- launch_crosswalk_module [default: true]
- launch_walkway_module [default: true]
- launch_traffic_light_module [default: true]
- launch_intersection_module [default: true]
- launch_roundabout_module [default: true]
- launch_merge_from_private_module [default: true]
- launch_blind_spot_module [default: true]
- launch_detection_area_module [default: true]
- launch_virtual_traffic_light_module [default: true]
- launch_no_stopping_area_module [default: true]
- launch_stop_line_module [default: true]
- launch_occlusion_spot_module [default: true]
- launch_speed_bump_module [default: true]
- launch_no_drivable_lane_module [default: true]
- launch_module_list_end [default: ""]]
- behavior_path_planner_launch_modules [default: []
- behavior_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving/behavior_planning/behavior_planning_deprecated.launch.xml
-
- input_route_topic_name [default: /planning/mission_planning/route]
- input_traffic_light_topic_name [default: /perception/traffic_light_recognition/traffic_signals]
- input_vector_map_topic_name [default: /map/vector_map]
- input_pointcloud_map_topic_name [default: /map/pointcloud_map]
- input_objects_topic_name
- input_pointcloud_topic_name
- enable_all_modules_auto_mode
- is_simulation
- behavior_path_planner_type [default: behavior_path_planner]
- launch_static_obstacle_avoidance [default: true]
- launch_avoidance_by_lane_change_module [default: true]
- launch_dynamic_obstacle_avoidance [default: true]
- launch_lane_change_right_module [default: true]
- launch_lane_change_left_module [default: true]
- launch_external_request_lane_change_right_module [default: true]
- launch_external_request_lane_change_left_module [default: true]
- launch_goal_planner_module [default: true]
- launch_start_planner_module [default: true]
- launch_sampling_planner_module [default: true]
- launch_side_shift_module [default: true]
- launch_bidirectional_traffic_module [default: true]
- launch_crosswalk_module [default: true]
- launch_walkway_module [default: true]
- launch_traffic_light_module [default: true]
- launch_intersection_module [default: true]
- launch_roundabout_module [default: true]
- launch_merge_from_private_module [default: true]
- launch_blind_spot_module [default: true]
- launch_detection_area_module [default: true]
- launch_virtual_traffic_light_module [default: true]
- launch_no_stopping_area_module [default: true]
- launch_stop_line_module [default: true]
- launch_occlusion_spot_module [default: true]
- launch_speed_bump_module [default: true]
- launch_no_drivable_lane_module [default: true]
- launch_module_list_end [default: ""]]
- behavior_path_planner_launch_modules [default: []
- behavior_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
-
- input_objects_topic_name
- input_pointcloud_topic_name
- interface_input_topic [default: /planning/scenario_planning/lane_driving/behavior_planning/path]
- interface_output_topic [default: /planning/scenario_planning/lane_driving/trajectory]
- launch_obstacle_stop_module [default: true]
- launch_obstacle_slow_down_module [default: true]
- launch_obstacle_cruise_module [default: true]
- launch_dynamic_obstacle_stop_module [default: true]
- launch_out_of_lane_module [default: true]
- launch_obstacle_velocity_limiter_module [default: true]
- launch_run_out_module [default: true]
- launch_boundary_departure_prevention_module [default: true]
- launch_road_user_stop_module [default: true]
- launch_module_list_end [default: ""]]
- motion_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving.launch.xml
-
- enable_all_modules_auto_mode
- is_simulation
- input_objects_topic_name
- input_pointcloud_topic_name
- launch/scenario_planning/parking.launch.xml
-
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- launch/scenario_planning/scenario_planning.launch.xml
-
- enable_all_modules_auto_mode
- is_simulation
- input_objects_topic_name
- input_pointcloud_topic_name
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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Package Summary
| Version | 0.52.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_launch.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-10-09 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The autoware_planning_launch package
Maintainers
- Zulfaqar Azmi
- Kosuke Takeuchi
- Kosuke Takeuchi
- Fumiya Watanabe
- Takamasa Horibe
- Zulfaqar Azmi
- Mamoru Sobue
- Takayuki Murooka
- Mamoru Sobue
- Taiki Tanaka
- Kosuke Takeuchi
- Mamoru Sobue
- Fumiya Watanabe
- Zhe Shen
- Kosuke Takeuchi
- Tomohito Ando
- Makoto Kurihara
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
- Maxime CLEMENT
Authors
- Satoshi Ota
autoware_planning_launch
Shared planning launch library. The system component launcher lives in the product layer (autoware_launch/launch/components/component_planning.launch.xml); this package hosts the planning feature launchers it combines:
launch/
├── planning.launch.xml # planning entry: mission planning, trajectory source, validator and evaluator tail
├── mission_planning/
├── learning_based_planning/ # diffusion planner trajectory source
└── scenario_planning/ # rule-based trajectory source
├── scenario_planning.launch.xml
├── lane_driving.launch.xml
├── parking.launch.xml
└── lane_driving/
├── behavior_planning/
└── motion_planning/
design/module/ # Autoware System Designer modules; same subtree as launch/
├── Planning.module.yaml
├── mission_planning/
└── scenario_planning/
└── lane_driving/
├── behavior_planning/
└── motion_planning/
Structure
Launch files
-
planning.launch.xml— the entry point. It includes the module preset, resolves every parameter file, and pushes theplanningnamespace.planning_settingselects the trajectory source:rule_basedrunsscenario_planning/,diffusion_plannerrunslearning_based_planning/. The planning validator and the planning evaluator run for both, wired to the source-specific trajectory topics. -
scenario_planning/— the rule-based source: the scenario selector, the velocity smoother tail, and thelane_drivingandparkingscenarios.lane_drivingchains behavior planning into motion planning. -
learning_based_planning/diffusion_planner.launch.xml— the neural-network source: the diffusion planner followed by the trajectory modifier and its optimizer plugins.
Config
Parameter files are resolved from a config/ tree addressed through the planning_config_pkg argument, which defaults to autoware_planning_config. A product can relocate the whole tree by setting planning_config_pkg once at its entry point — the launch configuration propagates through every include — but it must then ship the same config/ layout. Products that differ in only a few files instead override the corresponding *_param_path arguments, which are all declared at the top of planning.launch.xml:
<include file="$(find-pkg-share autoware_planning_launch)/launch/planning.launch.xml">
<arg name="planning_config_pkg" value="my_planning_config"/>
<arg name="FOO_NODE_param_path" value="..."/>
</include>
Which modules launch is a separate axis, selected by module_preset; the presets live in the config package under config/preset/.
Package Dependencies
Please see <exec_depend> in package.xml.
CHANGELOG
Changelog for package tier4_planning_launch
0.52.0 (2026-06-30)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(diffusion_planner): update launch file (#1854) update arg names for modifier, define input topics args
-
fix(neural_net_planner): add temporal MPT optimizer config for trajec… (#1878) fix(neural_net_planner): add temporal MPT optimizer config for trajectory_optimizer The autoware_trajectory_optimizer node now declares use_temporal_mpt_optimizer as a statically typed parameter, so it crashes on startup (UninitializedStaticallyTypedParameterException) when launched with the autoware_launch config, which did not provide it.
- Add use_temporal_mpt_optimizer: false to trajectory_optimizer.param.yaml
- Add trajectory_temporal_mpt_optimizer.param.yaml plugin config
- Wire trajectory_temporal_mpt_optimizer_param_path through the launch chain
-
feat: add launch params and configs for direction_change module (#1857)
- feat: add launch params and configs for direction_change module
* feat: add launch param in default_preset.yaml ---------
-
fix(tier4_planning_launch): rename virtual traffic light state (#1827) feat(tier4_planning_launch): rename virtual traffic light state input
-
fix: assign acados-prepended [LD_LIBRARY_PATH]{.title-ref} for motion planning container (#1842)
-
chore: sync files (#1338)
- chore: sync files
* style(pre-commit): autofix ---------Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
Contributors: Go Sakayori, Taeseung Sohn, Takagi, Isamu, awf-autoware-bot[bot], emmeyteja, github-actions, mkquda
0.51.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(planning): wire data_path through to diffusion_planner (#1834) feat(autoware_launch,tier4_planning_launch): wire data_path through planning to diffusion_planner Propagate the [data_path]{.title-ref} arg from [autoware.launch.xml]{.title-ref} through the planning chain so the integrated diffusion_planner picks up the root artifacts directory the same way perception does. Chain wired: autoware.launch.xml -> tier4_planning_component.launch.xml -> tier4_planning_launch/launch/planning.launch.xml -> tier4_planning_launch/learning_based_planning/diffusion_planner.launch.xml -> autoware_diffusion_planner/launch/diffusion_planner.launch.xml Replaces the hardcoded [$(env HOME)/autoware_data/diffusion_planner/v4.0/...]{.title-ref} literals in [autoware_launch/config/planning/neural_net_planner/diffusion_planner.param.yaml]{.title-ref} with [$(var data_path)/diffusion_planner/v4.0/...]{.title-ref}, matching the perception convention (literal package subdir under [data_path]{.title-ref}). After this commit, flipping [data_path]{.title-ref} in [autoware.launch.xml]{.title-ref} (or overriding it on the command line) controls the diffusion_planner artifact root end-to-end without further edits to the parallel YAML. Refs: https://github.com/autowarefoundation/autoware/issues/7068 Refs: https://github.com/autowarefoundation/autoware_universe/pull/12521
-
feat: allow conditionally launch diffusion planner (#1752)
- feat: allow conditionally launch e2e/dp
- rule base default
- feat: adding dp rviz markers to other rviz configs
* feat: adding dp rviz markers ---------
-
feat(tier4_planning_launch): apply CIE via inline ENABLE_AGNOCAST switching (#1795) Switch component containers based on ENABLE_AGNOCAST environment variable directly in each launch file, without using
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| autoware_launch |
Launch files
- launch/learning_based_planning/diffusion_planner.launch.xml
-
- data_path
- diffusion_planner_param_path
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_tracked_objects_topic_name [default: /perception/object_recognition/tracking/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- trajectory_modifier_param_path
- jerk_filtered_smoother_param_path
- velocity_smoother_param_path
- common_smoother_param_path
- elastic_band_param_path
- trajectory_point_fixer_param_path
- trajectory_extender_param_path
- trajectory_spline_smoother_param_path
- trajectory_qp_smoother_param_path
- trajectory_velocity_optimizer_param_path
- trajectory_kinematic_feasibility_enforcer_param_path
- trajectory_mpt_optimizer_param_path
- trajectory_temporal_mpt_optimizer_param_path
- launch/mission_planning/mission_planning.launch.xml
-
- mission_planner_param_path [default: $(find-pkg-share autoware_mission_planner_universe)/config/mission_planner.param.yaml]
- launch/planning.launch.xml
-
- planning_config_pkg [default: autoware_planning_config]
- module_preset [default: default]
- planning_setting [default: rule_based]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- launch_remaining_distance_time_calculator [default: false]
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_tracked_objects_topic_name [default: /perception/object_recognition/tracking/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- vehicle_model [default: sample_vehicle]
- vehicle_param_file [default: $(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml]
- data_path [default: $(env HOME)/autoware_data/ml_models]
- common_param_path [default: $(var planning_common_config_dir)/common.param.yaml]
- nearest_search_param_path [default: $(var planning_common_config_dir)/nearest_search.param.yaml]
- costmap_generator_param_path [default: $(var planning_common_config_dir)/costmap_generator.param.yaml]
- mission_planner_param_path [default: $(var planning_config_dir)/mission_planning/mission_planner/mission_planner.param.yaml]
- behavior_path_planner_common_param_path [default: $(var behavior_path_config_dir)/behavior_path_planner.param.yaml]
- behavior_path_planner_scene_module_manager_param_path [default: $(var behavior_path_config_dir)/scene_module_manager.param.yaml]
- behavior_path_planner_drivable_area_expansion_param_path [default: $(var behavior_path_config_dir)/drivable_area_expansion.param.yaml]
- behavior_path_planner_side_shift_module_param_path [default: $(var behavior_path_config_dir)/side_shift/side_shift.param.yaml]
- behavior_path_planner_static_obstacle_avoidance_module_param_path [default: $(var behavior_path_config_dir)/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml]
- behavior_path_planner_dynamic_obstacle_avoidance_module_param_path [default: $(var behavior_path_config_dir)/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml]
- behavior_path_planner_avoidance_by_lc_module_param_path [default: $(var behavior_path_config_dir)/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml]
- behavior_path_planner_sampling_planner_module_param_path [default: $(var behavior_path_config_dir)/sampling_planner/sampling_planner.param.yaml]
- behavior_path_planner_lane_change_module_param_path [default: $(var behavior_path_config_dir)/lane_change/lane_change.param.yaml]
- behavior_path_planner_goal_planner_module_param_path [default: $(var behavior_path_config_dir)/goal_planner/goal_planner.param.yaml]
- behavior_path_planner_start_planner_module_param_path [default: $(var behavior_path_config_dir)/start_planner/start_planner.param.yaml]
- behavior_path_bidirectional_traffic_module_param_path [default: $(var behavior_path_config_dir)/autoware_behavior_path_bidirectional_traffic_module/bidirectional_traffic.param.yaml]
- behavior_path_planner_direction_change_module_param_path [default: $(var behavior_path_config_dir)/autoware_behavior_path_direction_change_module/direction_change.param.yaml]
- path_generator_param_path [default: $(var planning_config_dir)/scenario_planning/lane_driving/behavior_planning/path_generator/path_generator.param.yaml]
- hazard_lights_selector_param_path [default: $(var planning_common_config_dir)/autoware_hazard_lights_selector/hazard_lights_selector.param.yaml]
- behavior_velocity_smoother_type_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/Analytical.param.yaml]
- behavior_velocity_planner_param_path [default: $(var behavior_velocity_config_dir)/behavior_velocity_planner.param.yaml]
- behavior_velocity_planner_common_param_path [default: $(var behavior_velocity_config_dir)/behavior_velocity_planner_common.param.yaml]
- behavior_velocity_planner_blind_spot_module_param_path [default: $(var behavior_velocity_config_dir)/blind_spot.param.yaml]
- behavior_velocity_planner_crosswalk_module_param_path [default: $(var behavior_velocity_config_dir)/crosswalk.param.yaml]
- behavior_velocity_planner_walkway_module_param_path [default: $(var behavior_velocity_config_dir)/walkway.param.yaml]
- behavior_velocity_planner_detection_area_module_param_path [default: $(var behavior_velocity_config_dir)/detection_area.param.yaml]
- behavior_velocity_planner_intersection_module_param_path [default: $(var behavior_velocity_config_dir)/intersection.param.yaml]
- behavior_velocity_planner_stop_line_module_param_path [default: $(var behavior_velocity_config_dir)/stop_line.param.yaml]
- behavior_velocity_planner_traffic_light_module_param_path [default: $(var behavior_velocity_config_dir)/traffic_light.param.yaml]
- behavior_velocity_planner_virtual_traffic_light_module_param_path [default: $(var behavior_velocity_config_dir)/virtual_traffic_light.param.yaml]
- behavior_velocity_planner_occlusion_spot_module_param_path [default: $(var behavior_velocity_config_dir)/occlusion_spot.param.yaml]
- behavior_velocity_planner_no_stopping_area_module_param_path [default: $(var behavior_velocity_config_dir)/no_stopping_area.param.yaml]
- behavior_velocity_planner_roundabout_module_param_path [default: $(var behavior_velocity_config_dir)/roundabout.param.yaml]
- behavior_velocity_planner_speed_bump_module_param_path [default: $(var behavior_velocity_config_dir)/speed_bump.param.yaml]
- behavior_velocity_planner_no_drivable_lane_module_param_path [default: $(var behavior_velocity_config_dir)/no_drivable_lane.param.yaml]
- elastic_band_smoother_param_path [default: $(var motion_planning_config_dir)/path_smoother/elastic_band_smoother.param.yaml]
- path_optimizer_param_path [default: $(var motion_planning_config_dir)/autoware_path_optimizer/path_optimizer.param.yaml]
- path_sampler_param_path [default: $(var motion_planning_config_dir)/path_sampler/path_sampler.param.yaml]
- surround_obstacle_checker_param_path [default: $(var motion_planning_config_dir)/surround_obstacle_checker/surround_obstacle_checker.param.yaml]
- motion_velocity_planner_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/motion_velocity_planner.param.yaml]
- motion_velocity_planner_obstacle_stop_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/obstacle_stop.param.yaml]
- motion_velocity_planner_obstacle_slow_down_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/obstacle_slow_down.param.yaml]
- motion_velocity_planner_obstacle_cruise_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/obstacle_cruise.param.yaml]
- motion_velocity_planner_dynamic_obstacle_stop_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/dynamic_obstacle_stop.param.yaml]
- motion_velocity_planner_out_of_lane_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/out_of_lane.param.yaml]
- motion_velocity_planner_obstacle_velocity_limiter_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/obstacle_velocity_limiter.param.yaml]
- motion_velocity_planner_run_out_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/run_out.param.yaml]
- motion_velocity_planner_boundary_departure_prevention_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/boundary_departure_prevention.param.yaml]
- motion_velocity_planner_road_user_stop_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/road_user_stop.param.yaml]
- motion_velocity_planner_velocity_smoother_type_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/Analytical.param.yaml]
- velocity_smoother_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/velocity_smoother.param.yaml]
- velocity_smoother_type_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/$(var velocity_smoother_type).param.yaml]
- freespace_planner_param_path [default: $(var planning_config_dir)/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml]
- planning_validator_param_path [default: $(var planning_common_config_dir)/planning_validator/planning_validator.param.yaml]
- planning_validator_latency_checker_param_path [default: $(var planning_common_config_dir)/planning_validator/latency_checker.param.yaml]
- planning_validator_trajectory_checker_param_path [default: $(var planning_common_config_dir)/planning_validator/trajectory_checker.param.yaml]
- planning_validator_intersection_collision_checker_param_path [default: $(var planning_common_config_dir)/planning_validator/intersection_collision_checker.param.yaml]
- planning_validator_rear_collision_checker_param_path [default: $(var planning_common_config_dir)/planning_validator/rear_collision_checker.param.yaml]
- diffusion_planner_param_path [default: $(var neural_net_planner_config_dir)/diffusion_planner.param.yaml]
- trajectory_modifier_param_path [default: $(var neural_net_planner_config_dir)/trajectory_modifier.param.yaml]
- jerk_filtered_smoother_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/JerkFiltered.param.yaml]
- common_smoother_param_path [default: $(var planning_common_config_dir)/common.param.yaml]
- elastic_band_param_path [default: $(var motion_planning_config_dir)/path_smoother/elastic_band_smoother.param.yaml]
- trajectory_point_fixer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_point_fixer.param.yaml]
- trajectory_extender_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_extender.param.yaml]
- trajectory_spline_smoother_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_spline_smoother.param.yaml]
- trajectory_qp_smoother_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_qp_smoother.param.yaml]
- trajectory_velocity_optimizer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_velocity_optimizer.param.yaml]
- trajectory_kinematic_feasibility_enforcer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_kinematic_feasibility_enforcer.param.yaml]
- trajectory_mpt_optimizer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_mpt_optimizer.param.yaml]
- trajectory_temporal_mpt_optimizer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_temporal_mpt_optimizer.param.yaml]
- launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
-
- input_route_topic_name [default: /planning/mission_planning/route]
- input_traffic_light_topic_name [default: /perception/traffic_light_recognition/traffic_signals]
- input_vector_map_topic_name [default: /map/vector_map]
- input_pointcloud_map_topic_name [default: /map/pointcloud_map]
- input_objects_topic_name
- input_pointcloud_topic_name
- enable_all_modules_auto_mode
- is_simulation
- behavior_path_planner_type [default: behavior_path_planner]
- launch_static_obstacle_avoidance [default: true]
- launch_avoidance_by_lane_change_module [default: true]
- launch_dynamic_obstacle_avoidance [default: true]
- launch_lane_change_right_module [default: true]
- launch_lane_change_left_module [default: true]
- launch_external_request_lane_change_right_module [default: true]
- launch_external_request_lane_change_left_module [default: true]
- launch_goal_planner_module [default: true]
- launch_start_planner_module [default: true]
- launch_sampling_planner_module [default: true]
- launch_side_shift_module [default: true]
- launch_bidirectional_traffic_module [default: true]
- launch_direction_change_module [default: false]
- launch_crosswalk_module [default: true]
- launch_walkway_module [default: true]
- launch_traffic_light_module [default: true]
- launch_intersection_module [default: true]
- launch_roundabout_module [default: true]
- launch_merge_from_private_module [default: true]
- launch_blind_spot_module [default: true]
- launch_detection_area_module [default: true]
- launch_virtual_traffic_light_module [default: true]
- launch_no_stopping_area_module [default: true]
- launch_stop_line_module [default: true]
- launch_occlusion_spot_module [default: true]
- launch_speed_bump_module [default: true]
- launch_no_drivable_lane_module [default: true]
- launch_module_list_end [default: ""]]
- behavior_path_planner_launch_modules [default: []
- behavior_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving/behavior_planning/behavior_planning_deprecated.launch.xml
-
- input_route_topic_name [default: /planning/mission_planning/route]
- input_traffic_light_topic_name [default: /perception/traffic_light_recognition/traffic_signals]
- input_vector_map_topic_name [default: /map/vector_map]
- input_pointcloud_map_topic_name [default: /map/pointcloud_map]
- input_objects_topic_name
- input_pointcloud_topic_name
- enable_all_modules_auto_mode
- is_simulation
- behavior_path_planner_type [default: behavior_path_planner]
- launch_static_obstacle_avoidance [default: true]
- launch_avoidance_by_lane_change_module [default: true]
- launch_dynamic_obstacle_avoidance [default: true]
- launch_lane_change_right_module [default: true]
- launch_lane_change_left_module [default: true]
- launch_external_request_lane_change_right_module [default: true]
- launch_external_request_lane_change_left_module [default: true]
- launch_goal_planner_module [default: true]
- launch_start_planner_module [default: true]
- launch_sampling_planner_module [default: true]
- launch_side_shift_module [default: true]
- launch_bidirectional_traffic_module [default: true]
- launch_crosswalk_module [default: true]
- launch_walkway_module [default: true]
- launch_traffic_light_module [default: true]
- launch_intersection_module [default: true]
- launch_roundabout_module [default: true]
- launch_merge_from_private_module [default: true]
- launch_blind_spot_module [default: true]
- launch_detection_area_module [default: true]
- launch_virtual_traffic_light_module [default: true]
- launch_no_stopping_area_module [default: true]
- launch_stop_line_module [default: true]
- launch_occlusion_spot_module [default: true]
- launch_speed_bump_module [default: true]
- launch_no_drivable_lane_module [default: true]
- launch_module_list_end [default: ""]]
- behavior_path_planner_launch_modules [default: []
- behavior_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
-
- input_objects_topic_name
- input_pointcloud_topic_name
- interface_input_topic [default: /planning/scenario_planning/lane_driving/behavior_planning/path]
- interface_output_topic [default: /planning/scenario_planning/lane_driving/trajectory]
- launch_obstacle_stop_module [default: true]
- launch_obstacle_slow_down_module [default: true]
- launch_obstacle_cruise_module [default: true]
- launch_dynamic_obstacle_stop_module [default: true]
- launch_out_of_lane_module [default: true]
- launch_obstacle_velocity_limiter_module [default: true]
- launch_run_out_module [default: true]
- launch_boundary_departure_prevention_module [default: true]
- launch_road_user_stop_module [default: true]
- launch_module_list_end [default: ""]]
- motion_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving.launch.xml
-
- enable_all_modules_auto_mode
- is_simulation
- input_objects_topic_name
- input_pointcloud_topic_name
- launch/scenario_planning/parking.launch.xml
-
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- launch/scenario_planning/scenario_planning.launch.xml
-
- enable_all_modules_auto_mode
- is_simulation
- input_objects_topic_name
- input_pointcloud_topic_name
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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Package Summary
| Version | 0.52.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_launch.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-10-09 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The autoware_planning_launch package
Maintainers
- Zulfaqar Azmi
- Kosuke Takeuchi
- Kosuke Takeuchi
- Fumiya Watanabe
- Takamasa Horibe
- Zulfaqar Azmi
- Mamoru Sobue
- Takayuki Murooka
- Mamoru Sobue
- Taiki Tanaka
- Kosuke Takeuchi
- Mamoru Sobue
- Fumiya Watanabe
- Zhe Shen
- Kosuke Takeuchi
- Tomohito Ando
- Makoto Kurihara
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
- Maxime CLEMENT
Authors
- Satoshi Ota
autoware_planning_launch
Shared planning launch library. The system component launcher lives in the product layer (autoware_launch/launch/components/component_planning.launch.xml); this package hosts the planning feature launchers it combines:
launch/
├── planning.launch.xml # planning entry: mission planning, trajectory source, validator and evaluator tail
├── mission_planning/
├── learning_based_planning/ # diffusion planner trajectory source
└── scenario_planning/ # rule-based trajectory source
├── scenario_planning.launch.xml
├── lane_driving.launch.xml
├── parking.launch.xml
└── lane_driving/
├── behavior_planning/
└── motion_planning/
design/module/ # Autoware System Designer modules; same subtree as launch/
├── Planning.module.yaml
├── mission_planning/
└── scenario_planning/
└── lane_driving/
├── behavior_planning/
└── motion_planning/
Structure
Launch files
-
planning.launch.xml— the entry point. It includes the module preset, resolves every parameter file, and pushes theplanningnamespace.planning_settingselects the trajectory source:rule_basedrunsscenario_planning/,diffusion_plannerrunslearning_based_planning/. The planning validator and the planning evaluator run for both, wired to the source-specific trajectory topics. -
scenario_planning/— the rule-based source: the scenario selector, the velocity smoother tail, and thelane_drivingandparkingscenarios.lane_drivingchains behavior planning into motion planning. -
learning_based_planning/diffusion_planner.launch.xml— the neural-network source: the diffusion planner followed by the trajectory modifier and its optimizer plugins.
Config
Parameter files are resolved from a config/ tree addressed through the planning_config_pkg argument, which defaults to autoware_planning_config. A product can relocate the whole tree by setting planning_config_pkg once at its entry point — the launch configuration propagates through every include — but it must then ship the same config/ layout. Products that differ in only a few files instead override the corresponding *_param_path arguments, which are all declared at the top of planning.launch.xml:
<include file="$(find-pkg-share autoware_planning_launch)/launch/planning.launch.xml">
<arg name="planning_config_pkg" value="my_planning_config"/>
<arg name="FOO_NODE_param_path" value="..."/>
</include>
Which modules launch is a separate axis, selected by module_preset; the presets live in the config package under config/preset/.
Package Dependencies
Please see <exec_depend> in package.xml.
CHANGELOG
Changelog for package tier4_planning_launch
0.52.0 (2026-06-30)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(diffusion_planner): update launch file (#1854) update arg names for modifier, define input topics args
-
fix(neural_net_planner): add temporal MPT optimizer config for trajec… (#1878) fix(neural_net_planner): add temporal MPT optimizer config for trajectory_optimizer The autoware_trajectory_optimizer node now declares use_temporal_mpt_optimizer as a statically typed parameter, so it crashes on startup (UninitializedStaticallyTypedParameterException) when launched with the autoware_launch config, which did not provide it.
- Add use_temporal_mpt_optimizer: false to trajectory_optimizer.param.yaml
- Add trajectory_temporal_mpt_optimizer.param.yaml plugin config
- Wire trajectory_temporal_mpt_optimizer_param_path through the launch chain
-
feat: add launch params and configs for direction_change module (#1857)
- feat: add launch params and configs for direction_change module
* feat: add launch param in default_preset.yaml ---------
-
fix(tier4_planning_launch): rename virtual traffic light state (#1827) feat(tier4_planning_launch): rename virtual traffic light state input
-
fix: assign acados-prepended [LD_LIBRARY_PATH]{.title-ref} for motion planning container (#1842)
-
chore: sync files (#1338)
- chore: sync files
* style(pre-commit): autofix ---------Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
Contributors: Go Sakayori, Taeseung Sohn, Takagi, Isamu, awf-autoware-bot[bot], emmeyteja, github-actions, mkquda
0.51.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(planning): wire data_path through to diffusion_planner (#1834) feat(autoware_launch,tier4_planning_launch): wire data_path through planning to diffusion_planner Propagate the [data_path]{.title-ref} arg from [autoware.launch.xml]{.title-ref} through the planning chain so the integrated diffusion_planner picks up the root artifacts directory the same way perception does. Chain wired: autoware.launch.xml -> tier4_planning_component.launch.xml -> tier4_planning_launch/launch/planning.launch.xml -> tier4_planning_launch/learning_based_planning/diffusion_planner.launch.xml -> autoware_diffusion_planner/launch/diffusion_planner.launch.xml Replaces the hardcoded [$(env HOME)/autoware_data/diffusion_planner/v4.0/...]{.title-ref} literals in [autoware_launch/config/planning/neural_net_planner/diffusion_planner.param.yaml]{.title-ref} with [$(var data_path)/diffusion_planner/v4.0/...]{.title-ref}, matching the perception convention (literal package subdir under [data_path]{.title-ref}). After this commit, flipping [data_path]{.title-ref} in [autoware.launch.xml]{.title-ref} (or overriding it on the command line) controls the diffusion_planner artifact root end-to-end without further edits to the parallel YAML. Refs: https://github.com/autowarefoundation/autoware/issues/7068 Refs: https://github.com/autowarefoundation/autoware_universe/pull/12521
-
feat: allow conditionally launch diffusion planner (#1752)
- feat: allow conditionally launch e2e/dp
- rule base default
- feat: adding dp rviz markers to other rviz configs
* feat: adding dp rviz markers ---------
-
feat(tier4_planning_launch): apply CIE via inline ENABLE_AGNOCAST switching (#1795) Switch component containers based on ENABLE_AGNOCAST environment variable directly in each launch file, without using
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| autoware_launch |
Launch files
- launch/learning_based_planning/diffusion_planner.launch.xml
-
- data_path
- diffusion_planner_param_path
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_tracked_objects_topic_name [default: /perception/object_recognition/tracking/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- trajectory_modifier_param_path
- jerk_filtered_smoother_param_path
- velocity_smoother_param_path
- common_smoother_param_path
- elastic_band_param_path
- trajectory_point_fixer_param_path
- trajectory_extender_param_path
- trajectory_spline_smoother_param_path
- trajectory_qp_smoother_param_path
- trajectory_velocity_optimizer_param_path
- trajectory_kinematic_feasibility_enforcer_param_path
- trajectory_mpt_optimizer_param_path
- trajectory_temporal_mpt_optimizer_param_path
- launch/mission_planning/mission_planning.launch.xml
-
- mission_planner_param_path [default: $(find-pkg-share autoware_mission_planner_universe)/config/mission_planner.param.yaml]
- launch/planning.launch.xml
-
- planning_config_pkg [default: autoware_planning_config]
- module_preset [default: default]
- planning_setting [default: rule_based]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- launch_remaining_distance_time_calculator [default: false]
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_tracked_objects_topic_name [default: /perception/object_recognition/tracking/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- vehicle_model [default: sample_vehicle]
- vehicle_param_file [default: $(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml]
- data_path [default: $(env HOME)/autoware_data/ml_models]
- common_param_path [default: $(var planning_common_config_dir)/common.param.yaml]
- nearest_search_param_path [default: $(var planning_common_config_dir)/nearest_search.param.yaml]
- costmap_generator_param_path [default: $(var planning_common_config_dir)/costmap_generator.param.yaml]
- mission_planner_param_path [default: $(var planning_config_dir)/mission_planning/mission_planner/mission_planner.param.yaml]
- behavior_path_planner_common_param_path [default: $(var behavior_path_config_dir)/behavior_path_planner.param.yaml]
- behavior_path_planner_scene_module_manager_param_path [default: $(var behavior_path_config_dir)/scene_module_manager.param.yaml]
- behavior_path_planner_drivable_area_expansion_param_path [default: $(var behavior_path_config_dir)/drivable_area_expansion.param.yaml]
- behavior_path_planner_side_shift_module_param_path [default: $(var behavior_path_config_dir)/side_shift/side_shift.param.yaml]
- behavior_path_planner_static_obstacle_avoidance_module_param_path [default: $(var behavior_path_config_dir)/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml]
- behavior_path_planner_dynamic_obstacle_avoidance_module_param_path [default: $(var behavior_path_config_dir)/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml]
- behavior_path_planner_avoidance_by_lc_module_param_path [default: $(var behavior_path_config_dir)/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml]
- behavior_path_planner_sampling_planner_module_param_path [default: $(var behavior_path_config_dir)/sampling_planner/sampling_planner.param.yaml]
- behavior_path_planner_lane_change_module_param_path [default: $(var behavior_path_config_dir)/lane_change/lane_change.param.yaml]
- behavior_path_planner_goal_planner_module_param_path [default: $(var behavior_path_config_dir)/goal_planner/goal_planner.param.yaml]
- behavior_path_planner_start_planner_module_param_path [default: $(var behavior_path_config_dir)/start_planner/start_planner.param.yaml]
- behavior_path_bidirectional_traffic_module_param_path [default: $(var behavior_path_config_dir)/autoware_behavior_path_bidirectional_traffic_module/bidirectional_traffic.param.yaml]
- behavior_path_planner_direction_change_module_param_path [default: $(var behavior_path_config_dir)/autoware_behavior_path_direction_change_module/direction_change.param.yaml]
- path_generator_param_path [default: $(var planning_config_dir)/scenario_planning/lane_driving/behavior_planning/path_generator/path_generator.param.yaml]
- hazard_lights_selector_param_path [default: $(var planning_common_config_dir)/autoware_hazard_lights_selector/hazard_lights_selector.param.yaml]
- behavior_velocity_smoother_type_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/Analytical.param.yaml]
- behavior_velocity_planner_param_path [default: $(var behavior_velocity_config_dir)/behavior_velocity_planner.param.yaml]
- behavior_velocity_planner_common_param_path [default: $(var behavior_velocity_config_dir)/behavior_velocity_planner_common.param.yaml]
- behavior_velocity_planner_blind_spot_module_param_path [default: $(var behavior_velocity_config_dir)/blind_spot.param.yaml]
- behavior_velocity_planner_crosswalk_module_param_path [default: $(var behavior_velocity_config_dir)/crosswalk.param.yaml]
- behavior_velocity_planner_walkway_module_param_path [default: $(var behavior_velocity_config_dir)/walkway.param.yaml]
- behavior_velocity_planner_detection_area_module_param_path [default: $(var behavior_velocity_config_dir)/detection_area.param.yaml]
- behavior_velocity_planner_intersection_module_param_path [default: $(var behavior_velocity_config_dir)/intersection.param.yaml]
- behavior_velocity_planner_stop_line_module_param_path [default: $(var behavior_velocity_config_dir)/stop_line.param.yaml]
- behavior_velocity_planner_traffic_light_module_param_path [default: $(var behavior_velocity_config_dir)/traffic_light.param.yaml]
- behavior_velocity_planner_virtual_traffic_light_module_param_path [default: $(var behavior_velocity_config_dir)/virtual_traffic_light.param.yaml]
- behavior_velocity_planner_occlusion_spot_module_param_path [default: $(var behavior_velocity_config_dir)/occlusion_spot.param.yaml]
- behavior_velocity_planner_no_stopping_area_module_param_path [default: $(var behavior_velocity_config_dir)/no_stopping_area.param.yaml]
- behavior_velocity_planner_roundabout_module_param_path [default: $(var behavior_velocity_config_dir)/roundabout.param.yaml]
- behavior_velocity_planner_speed_bump_module_param_path [default: $(var behavior_velocity_config_dir)/speed_bump.param.yaml]
- behavior_velocity_planner_no_drivable_lane_module_param_path [default: $(var behavior_velocity_config_dir)/no_drivable_lane.param.yaml]
- elastic_band_smoother_param_path [default: $(var motion_planning_config_dir)/path_smoother/elastic_band_smoother.param.yaml]
- path_optimizer_param_path [default: $(var motion_planning_config_dir)/autoware_path_optimizer/path_optimizer.param.yaml]
- path_sampler_param_path [default: $(var motion_planning_config_dir)/path_sampler/path_sampler.param.yaml]
- surround_obstacle_checker_param_path [default: $(var motion_planning_config_dir)/surround_obstacle_checker/surround_obstacle_checker.param.yaml]
- motion_velocity_planner_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/motion_velocity_planner.param.yaml]
- motion_velocity_planner_obstacle_stop_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/obstacle_stop.param.yaml]
- motion_velocity_planner_obstacle_slow_down_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/obstacle_slow_down.param.yaml]
- motion_velocity_planner_obstacle_cruise_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/obstacle_cruise.param.yaml]
- motion_velocity_planner_dynamic_obstacle_stop_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/dynamic_obstacle_stop.param.yaml]
- motion_velocity_planner_out_of_lane_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/out_of_lane.param.yaml]
- motion_velocity_planner_obstacle_velocity_limiter_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/obstacle_velocity_limiter.param.yaml]
- motion_velocity_planner_run_out_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/run_out.param.yaml]
- motion_velocity_planner_boundary_departure_prevention_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/boundary_departure_prevention.param.yaml]
- motion_velocity_planner_road_user_stop_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/road_user_stop.param.yaml]
- motion_velocity_planner_velocity_smoother_type_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/Analytical.param.yaml]
- velocity_smoother_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/velocity_smoother.param.yaml]
- velocity_smoother_type_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/$(var velocity_smoother_type).param.yaml]
- freespace_planner_param_path [default: $(var planning_config_dir)/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml]
- planning_validator_param_path [default: $(var planning_common_config_dir)/planning_validator/planning_validator.param.yaml]
- planning_validator_latency_checker_param_path [default: $(var planning_common_config_dir)/planning_validator/latency_checker.param.yaml]
- planning_validator_trajectory_checker_param_path [default: $(var planning_common_config_dir)/planning_validator/trajectory_checker.param.yaml]
- planning_validator_intersection_collision_checker_param_path [default: $(var planning_common_config_dir)/planning_validator/intersection_collision_checker.param.yaml]
- planning_validator_rear_collision_checker_param_path [default: $(var planning_common_config_dir)/planning_validator/rear_collision_checker.param.yaml]
- diffusion_planner_param_path [default: $(var neural_net_planner_config_dir)/diffusion_planner.param.yaml]
- trajectory_modifier_param_path [default: $(var neural_net_planner_config_dir)/trajectory_modifier.param.yaml]
- jerk_filtered_smoother_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/JerkFiltered.param.yaml]
- common_smoother_param_path [default: $(var planning_common_config_dir)/common.param.yaml]
- elastic_band_param_path [default: $(var motion_planning_config_dir)/path_smoother/elastic_band_smoother.param.yaml]
- trajectory_point_fixer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_point_fixer.param.yaml]
- trajectory_extender_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_extender.param.yaml]
- trajectory_spline_smoother_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_spline_smoother.param.yaml]
- trajectory_qp_smoother_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_qp_smoother.param.yaml]
- trajectory_velocity_optimizer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_velocity_optimizer.param.yaml]
- trajectory_kinematic_feasibility_enforcer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_kinematic_feasibility_enforcer.param.yaml]
- trajectory_mpt_optimizer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_mpt_optimizer.param.yaml]
- trajectory_temporal_mpt_optimizer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_temporal_mpt_optimizer.param.yaml]
- launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
-
- input_route_topic_name [default: /planning/mission_planning/route]
- input_traffic_light_topic_name [default: /perception/traffic_light_recognition/traffic_signals]
- input_vector_map_topic_name [default: /map/vector_map]
- input_pointcloud_map_topic_name [default: /map/pointcloud_map]
- input_objects_topic_name
- input_pointcloud_topic_name
- enable_all_modules_auto_mode
- is_simulation
- behavior_path_planner_type [default: behavior_path_planner]
- launch_static_obstacle_avoidance [default: true]
- launch_avoidance_by_lane_change_module [default: true]
- launch_dynamic_obstacle_avoidance [default: true]
- launch_lane_change_right_module [default: true]
- launch_lane_change_left_module [default: true]
- launch_external_request_lane_change_right_module [default: true]
- launch_external_request_lane_change_left_module [default: true]
- launch_goal_planner_module [default: true]
- launch_start_planner_module [default: true]
- launch_sampling_planner_module [default: true]
- launch_side_shift_module [default: true]
- launch_bidirectional_traffic_module [default: true]
- launch_direction_change_module [default: false]
- launch_crosswalk_module [default: true]
- launch_walkway_module [default: true]
- launch_traffic_light_module [default: true]
- launch_intersection_module [default: true]
- launch_roundabout_module [default: true]
- launch_merge_from_private_module [default: true]
- launch_blind_spot_module [default: true]
- launch_detection_area_module [default: true]
- launch_virtual_traffic_light_module [default: true]
- launch_no_stopping_area_module [default: true]
- launch_stop_line_module [default: true]
- launch_occlusion_spot_module [default: true]
- launch_speed_bump_module [default: true]
- launch_no_drivable_lane_module [default: true]
- launch_module_list_end [default: ""]]
- behavior_path_planner_launch_modules [default: []
- behavior_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving/behavior_planning/behavior_planning_deprecated.launch.xml
-
- input_route_topic_name [default: /planning/mission_planning/route]
- input_traffic_light_topic_name [default: /perception/traffic_light_recognition/traffic_signals]
- input_vector_map_topic_name [default: /map/vector_map]
- input_pointcloud_map_topic_name [default: /map/pointcloud_map]
- input_objects_topic_name
- input_pointcloud_topic_name
- enable_all_modules_auto_mode
- is_simulation
- behavior_path_planner_type [default: behavior_path_planner]
- launch_static_obstacle_avoidance [default: true]
- launch_avoidance_by_lane_change_module [default: true]
- launch_dynamic_obstacle_avoidance [default: true]
- launch_lane_change_right_module [default: true]
- launch_lane_change_left_module [default: true]
- launch_external_request_lane_change_right_module [default: true]
- launch_external_request_lane_change_left_module [default: true]
- launch_goal_planner_module [default: true]
- launch_start_planner_module [default: true]
- launch_sampling_planner_module [default: true]
- launch_side_shift_module [default: true]
- launch_bidirectional_traffic_module [default: true]
- launch_crosswalk_module [default: true]
- launch_walkway_module [default: true]
- launch_traffic_light_module [default: true]
- launch_intersection_module [default: true]
- launch_roundabout_module [default: true]
- launch_merge_from_private_module [default: true]
- launch_blind_spot_module [default: true]
- launch_detection_area_module [default: true]
- launch_virtual_traffic_light_module [default: true]
- launch_no_stopping_area_module [default: true]
- launch_stop_line_module [default: true]
- launch_occlusion_spot_module [default: true]
- launch_speed_bump_module [default: true]
- launch_no_drivable_lane_module [default: true]
- launch_module_list_end [default: ""]]
- behavior_path_planner_launch_modules [default: []
- behavior_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
-
- input_objects_topic_name
- input_pointcloud_topic_name
- interface_input_topic [default: /planning/scenario_planning/lane_driving/behavior_planning/path]
- interface_output_topic [default: /planning/scenario_planning/lane_driving/trajectory]
- launch_obstacle_stop_module [default: true]
- launch_obstacle_slow_down_module [default: true]
- launch_obstacle_cruise_module [default: true]
- launch_dynamic_obstacle_stop_module [default: true]
- launch_out_of_lane_module [default: true]
- launch_obstacle_velocity_limiter_module [default: true]
- launch_run_out_module [default: true]
- launch_boundary_departure_prevention_module [default: true]
- launch_road_user_stop_module [default: true]
- launch_module_list_end [default: ""]]
- motion_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving.launch.xml
-
- enable_all_modules_auto_mode
- is_simulation
- input_objects_topic_name
- input_pointcloud_topic_name
- launch/scenario_planning/parking.launch.xml
-
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- launch/scenario_planning/scenario_planning.launch.xml
-
- enable_all_modules_auto_mode
- is_simulation
- input_objects_topic_name
- input_pointcloud_topic_name
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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Package Summary
| Version | 0.52.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_launch.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-10-09 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The autoware_planning_launch package
Maintainers
- Zulfaqar Azmi
- Kosuke Takeuchi
- Kosuke Takeuchi
- Fumiya Watanabe
- Takamasa Horibe
- Zulfaqar Azmi
- Mamoru Sobue
- Takayuki Murooka
- Mamoru Sobue
- Taiki Tanaka
- Kosuke Takeuchi
- Mamoru Sobue
- Fumiya Watanabe
- Zhe Shen
- Kosuke Takeuchi
- Tomohito Ando
- Makoto Kurihara
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
- Maxime CLEMENT
Authors
- Satoshi Ota
autoware_planning_launch
Shared planning launch library. The system component launcher lives in the product layer (autoware_launch/launch/components/component_planning.launch.xml); this package hosts the planning feature launchers it combines:
launch/
├── planning.launch.xml # planning entry: mission planning, trajectory source, validator and evaluator tail
├── mission_planning/
├── learning_based_planning/ # diffusion planner trajectory source
└── scenario_planning/ # rule-based trajectory source
├── scenario_planning.launch.xml
├── lane_driving.launch.xml
├── parking.launch.xml
└── lane_driving/
├── behavior_planning/
└── motion_planning/
design/module/ # Autoware System Designer modules; same subtree as launch/
├── Planning.module.yaml
├── mission_planning/
└── scenario_planning/
└── lane_driving/
├── behavior_planning/
└── motion_planning/
Structure
Launch files
-
planning.launch.xml— the entry point. It includes the module preset, resolves every parameter file, and pushes theplanningnamespace.planning_settingselects the trajectory source:rule_basedrunsscenario_planning/,diffusion_plannerrunslearning_based_planning/. The planning validator and the planning evaluator run for both, wired to the source-specific trajectory topics. -
scenario_planning/— the rule-based source: the scenario selector, the velocity smoother tail, and thelane_drivingandparkingscenarios.lane_drivingchains behavior planning into motion planning. -
learning_based_planning/diffusion_planner.launch.xml— the neural-network source: the diffusion planner followed by the trajectory modifier and its optimizer plugins.
Config
Parameter files are resolved from a config/ tree addressed through the planning_config_pkg argument, which defaults to autoware_planning_config. A product can relocate the whole tree by setting planning_config_pkg once at its entry point — the launch configuration propagates through every include — but it must then ship the same config/ layout. Products that differ in only a few files instead override the corresponding *_param_path arguments, which are all declared at the top of planning.launch.xml:
<include file="$(find-pkg-share autoware_planning_launch)/launch/planning.launch.xml">
<arg name="planning_config_pkg" value="my_planning_config"/>
<arg name="FOO_NODE_param_path" value="..."/>
</include>
Which modules launch is a separate axis, selected by module_preset; the presets live in the config package under config/preset/.
Package Dependencies
Please see <exec_depend> in package.xml.
CHANGELOG
Changelog for package tier4_planning_launch
0.52.0 (2026-06-30)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(diffusion_planner): update launch file (#1854) update arg names for modifier, define input topics args
-
fix(neural_net_planner): add temporal MPT optimizer config for trajec… (#1878) fix(neural_net_planner): add temporal MPT optimizer config for trajectory_optimizer The autoware_trajectory_optimizer node now declares use_temporal_mpt_optimizer as a statically typed parameter, so it crashes on startup (UninitializedStaticallyTypedParameterException) when launched with the autoware_launch config, which did not provide it.
- Add use_temporal_mpt_optimizer: false to trajectory_optimizer.param.yaml
- Add trajectory_temporal_mpt_optimizer.param.yaml plugin config
- Wire trajectory_temporal_mpt_optimizer_param_path through the launch chain
-
feat: add launch params and configs for direction_change module (#1857)
- feat: add launch params and configs for direction_change module
* feat: add launch param in default_preset.yaml ---------
-
fix(tier4_planning_launch): rename virtual traffic light state (#1827) feat(tier4_planning_launch): rename virtual traffic light state input
-
fix: assign acados-prepended [LD_LIBRARY_PATH]{.title-ref} for motion planning container (#1842)
-
chore: sync files (#1338)
- chore: sync files
* style(pre-commit): autofix ---------Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
Contributors: Go Sakayori, Taeseung Sohn, Takagi, Isamu, awf-autoware-bot[bot], emmeyteja, github-actions, mkquda
0.51.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(planning): wire data_path through to diffusion_planner (#1834) feat(autoware_launch,tier4_planning_launch): wire data_path through planning to diffusion_planner Propagate the [data_path]{.title-ref} arg from [autoware.launch.xml]{.title-ref} through the planning chain so the integrated diffusion_planner picks up the root artifacts directory the same way perception does. Chain wired: autoware.launch.xml -> tier4_planning_component.launch.xml -> tier4_planning_launch/launch/planning.launch.xml -> tier4_planning_launch/learning_based_planning/diffusion_planner.launch.xml -> autoware_diffusion_planner/launch/diffusion_planner.launch.xml Replaces the hardcoded [$(env HOME)/autoware_data/diffusion_planner/v4.0/...]{.title-ref} literals in [autoware_launch/config/planning/neural_net_planner/diffusion_planner.param.yaml]{.title-ref} with [$(var data_path)/diffusion_planner/v4.0/...]{.title-ref}, matching the perception convention (literal package subdir under [data_path]{.title-ref}). After this commit, flipping [data_path]{.title-ref} in [autoware.launch.xml]{.title-ref} (or overriding it on the command line) controls the diffusion_planner artifact root end-to-end without further edits to the parallel YAML. Refs: https://github.com/autowarefoundation/autoware/issues/7068 Refs: https://github.com/autowarefoundation/autoware_universe/pull/12521
-
feat: allow conditionally launch diffusion planner (#1752)
- feat: allow conditionally launch e2e/dp
- rule base default
- feat: adding dp rviz markers to other rviz configs
* feat: adding dp rviz markers ---------
-
feat(tier4_planning_launch): apply CIE via inline ENABLE_AGNOCAST switching (#1795) Switch component containers based on ENABLE_AGNOCAST environment variable directly in each launch file, without using
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| autoware_launch |
Launch files
- launch/learning_based_planning/diffusion_planner.launch.xml
-
- data_path
- diffusion_planner_param_path
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_tracked_objects_topic_name [default: /perception/object_recognition/tracking/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- trajectory_modifier_param_path
- jerk_filtered_smoother_param_path
- velocity_smoother_param_path
- common_smoother_param_path
- elastic_band_param_path
- trajectory_point_fixer_param_path
- trajectory_extender_param_path
- trajectory_spline_smoother_param_path
- trajectory_qp_smoother_param_path
- trajectory_velocity_optimizer_param_path
- trajectory_kinematic_feasibility_enforcer_param_path
- trajectory_mpt_optimizer_param_path
- trajectory_temporal_mpt_optimizer_param_path
- launch/mission_planning/mission_planning.launch.xml
-
- mission_planner_param_path [default: $(find-pkg-share autoware_mission_planner_universe)/config/mission_planner.param.yaml]
- launch/planning.launch.xml
-
- planning_config_pkg [default: autoware_planning_config]
- module_preset [default: default]
- planning_setting [default: rule_based]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- launch_remaining_distance_time_calculator [default: false]
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_tracked_objects_topic_name [default: /perception/object_recognition/tracking/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- vehicle_model [default: sample_vehicle]
- vehicle_param_file [default: $(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml]
- data_path [default: $(env HOME)/autoware_data/ml_models]
- common_param_path [default: $(var planning_common_config_dir)/common.param.yaml]
- nearest_search_param_path [default: $(var planning_common_config_dir)/nearest_search.param.yaml]
- costmap_generator_param_path [default: $(var planning_common_config_dir)/costmap_generator.param.yaml]
- mission_planner_param_path [default: $(var planning_config_dir)/mission_planning/mission_planner/mission_planner.param.yaml]
- behavior_path_planner_common_param_path [default: $(var behavior_path_config_dir)/behavior_path_planner.param.yaml]
- behavior_path_planner_scene_module_manager_param_path [default: $(var behavior_path_config_dir)/scene_module_manager.param.yaml]
- behavior_path_planner_drivable_area_expansion_param_path [default: $(var behavior_path_config_dir)/drivable_area_expansion.param.yaml]
- behavior_path_planner_side_shift_module_param_path [default: $(var behavior_path_config_dir)/side_shift/side_shift.param.yaml]
- behavior_path_planner_static_obstacle_avoidance_module_param_path [default: $(var behavior_path_config_dir)/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml]
- behavior_path_planner_dynamic_obstacle_avoidance_module_param_path [default: $(var behavior_path_config_dir)/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml]
- behavior_path_planner_avoidance_by_lc_module_param_path [default: $(var behavior_path_config_dir)/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml]
- behavior_path_planner_sampling_planner_module_param_path [default: $(var behavior_path_config_dir)/sampling_planner/sampling_planner.param.yaml]
- behavior_path_planner_lane_change_module_param_path [default: $(var behavior_path_config_dir)/lane_change/lane_change.param.yaml]
- behavior_path_planner_goal_planner_module_param_path [default: $(var behavior_path_config_dir)/goal_planner/goal_planner.param.yaml]
- behavior_path_planner_start_planner_module_param_path [default: $(var behavior_path_config_dir)/start_planner/start_planner.param.yaml]
- behavior_path_bidirectional_traffic_module_param_path [default: $(var behavior_path_config_dir)/autoware_behavior_path_bidirectional_traffic_module/bidirectional_traffic.param.yaml]
- behavior_path_planner_direction_change_module_param_path [default: $(var behavior_path_config_dir)/autoware_behavior_path_direction_change_module/direction_change.param.yaml]
- path_generator_param_path [default: $(var planning_config_dir)/scenario_planning/lane_driving/behavior_planning/path_generator/path_generator.param.yaml]
- hazard_lights_selector_param_path [default: $(var planning_common_config_dir)/autoware_hazard_lights_selector/hazard_lights_selector.param.yaml]
- behavior_velocity_smoother_type_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/Analytical.param.yaml]
- behavior_velocity_planner_param_path [default: $(var behavior_velocity_config_dir)/behavior_velocity_planner.param.yaml]
- behavior_velocity_planner_common_param_path [default: $(var behavior_velocity_config_dir)/behavior_velocity_planner_common.param.yaml]
- behavior_velocity_planner_blind_spot_module_param_path [default: $(var behavior_velocity_config_dir)/blind_spot.param.yaml]
- behavior_velocity_planner_crosswalk_module_param_path [default: $(var behavior_velocity_config_dir)/crosswalk.param.yaml]
- behavior_velocity_planner_walkway_module_param_path [default: $(var behavior_velocity_config_dir)/walkway.param.yaml]
- behavior_velocity_planner_detection_area_module_param_path [default: $(var behavior_velocity_config_dir)/detection_area.param.yaml]
- behavior_velocity_planner_intersection_module_param_path [default: $(var behavior_velocity_config_dir)/intersection.param.yaml]
- behavior_velocity_planner_stop_line_module_param_path [default: $(var behavior_velocity_config_dir)/stop_line.param.yaml]
- behavior_velocity_planner_traffic_light_module_param_path [default: $(var behavior_velocity_config_dir)/traffic_light.param.yaml]
- behavior_velocity_planner_virtual_traffic_light_module_param_path [default: $(var behavior_velocity_config_dir)/virtual_traffic_light.param.yaml]
- behavior_velocity_planner_occlusion_spot_module_param_path [default: $(var behavior_velocity_config_dir)/occlusion_spot.param.yaml]
- behavior_velocity_planner_no_stopping_area_module_param_path [default: $(var behavior_velocity_config_dir)/no_stopping_area.param.yaml]
- behavior_velocity_planner_roundabout_module_param_path [default: $(var behavior_velocity_config_dir)/roundabout.param.yaml]
- behavior_velocity_planner_speed_bump_module_param_path [default: $(var behavior_velocity_config_dir)/speed_bump.param.yaml]
- behavior_velocity_planner_no_drivable_lane_module_param_path [default: $(var behavior_velocity_config_dir)/no_drivable_lane.param.yaml]
- elastic_band_smoother_param_path [default: $(var motion_planning_config_dir)/path_smoother/elastic_band_smoother.param.yaml]
- path_optimizer_param_path [default: $(var motion_planning_config_dir)/autoware_path_optimizer/path_optimizer.param.yaml]
- path_sampler_param_path [default: $(var motion_planning_config_dir)/path_sampler/path_sampler.param.yaml]
- surround_obstacle_checker_param_path [default: $(var motion_planning_config_dir)/surround_obstacle_checker/surround_obstacle_checker.param.yaml]
- motion_velocity_planner_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/motion_velocity_planner.param.yaml]
- motion_velocity_planner_obstacle_stop_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/obstacle_stop.param.yaml]
- motion_velocity_planner_obstacle_slow_down_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/obstacle_slow_down.param.yaml]
- motion_velocity_planner_obstacle_cruise_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/obstacle_cruise.param.yaml]
- motion_velocity_planner_dynamic_obstacle_stop_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/dynamic_obstacle_stop.param.yaml]
- motion_velocity_planner_out_of_lane_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/out_of_lane.param.yaml]
- motion_velocity_planner_obstacle_velocity_limiter_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/obstacle_velocity_limiter.param.yaml]
- motion_velocity_planner_run_out_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/run_out.param.yaml]
- motion_velocity_planner_boundary_departure_prevention_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/boundary_departure_prevention.param.yaml]
- motion_velocity_planner_road_user_stop_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/road_user_stop.param.yaml]
- motion_velocity_planner_velocity_smoother_type_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/Analytical.param.yaml]
- velocity_smoother_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/velocity_smoother.param.yaml]
- velocity_smoother_type_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/$(var velocity_smoother_type).param.yaml]
- freespace_planner_param_path [default: $(var planning_config_dir)/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml]
- planning_validator_param_path [default: $(var planning_common_config_dir)/planning_validator/planning_validator.param.yaml]
- planning_validator_latency_checker_param_path [default: $(var planning_common_config_dir)/planning_validator/latency_checker.param.yaml]
- planning_validator_trajectory_checker_param_path [default: $(var planning_common_config_dir)/planning_validator/trajectory_checker.param.yaml]
- planning_validator_intersection_collision_checker_param_path [default: $(var planning_common_config_dir)/planning_validator/intersection_collision_checker.param.yaml]
- planning_validator_rear_collision_checker_param_path [default: $(var planning_common_config_dir)/planning_validator/rear_collision_checker.param.yaml]
- diffusion_planner_param_path [default: $(var neural_net_planner_config_dir)/diffusion_planner.param.yaml]
- trajectory_modifier_param_path [default: $(var neural_net_planner_config_dir)/trajectory_modifier.param.yaml]
- jerk_filtered_smoother_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/JerkFiltered.param.yaml]
- common_smoother_param_path [default: $(var planning_common_config_dir)/common.param.yaml]
- elastic_band_param_path [default: $(var motion_planning_config_dir)/path_smoother/elastic_band_smoother.param.yaml]
- trajectory_point_fixer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_point_fixer.param.yaml]
- trajectory_extender_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_extender.param.yaml]
- trajectory_spline_smoother_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_spline_smoother.param.yaml]
- trajectory_qp_smoother_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_qp_smoother.param.yaml]
- trajectory_velocity_optimizer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_velocity_optimizer.param.yaml]
- trajectory_kinematic_feasibility_enforcer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_kinematic_feasibility_enforcer.param.yaml]
- trajectory_mpt_optimizer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_mpt_optimizer.param.yaml]
- trajectory_temporal_mpt_optimizer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_temporal_mpt_optimizer.param.yaml]
- launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
-
- input_route_topic_name [default: /planning/mission_planning/route]
- input_traffic_light_topic_name [default: /perception/traffic_light_recognition/traffic_signals]
- input_vector_map_topic_name [default: /map/vector_map]
- input_pointcloud_map_topic_name [default: /map/pointcloud_map]
- input_objects_topic_name
- input_pointcloud_topic_name
- enable_all_modules_auto_mode
- is_simulation
- behavior_path_planner_type [default: behavior_path_planner]
- launch_static_obstacle_avoidance [default: true]
- launch_avoidance_by_lane_change_module [default: true]
- launch_dynamic_obstacle_avoidance [default: true]
- launch_lane_change_right_module [default: true]
- launch_lane_change_left_module [default: true]
- launch_external_request_lane_change_right_module [default: true]
- launch_external_request_lane_change_left_module [default: true]
- launch_goal_planner_module [default: true]
- launch_start_planner_module [default: true]
- launch_sampling_planner_module [default: true]
- launch_side_shift_module [default: true]
- launch_bidirectional_traffic_module [default: true]
- launch_direction_change_module [default: false]
- launch_crosswalk_module [default: true]
- launch_walkway_module [default: true]
- launch_traffic_light_module [default: true]
- launch_intersection_module [default: true]
- launch_roundabout_module [default: true]
- launch_merge_from_private_module [default: true]
- launch_blind_spot_module [default: true]
- launch_detection_area_module [default: true]
- launch_virtual_traffic_light_module [default: true]
- launch_no_stopping_area_module [default: true]
- launch_stop_line_module [default: true]
- launch_occlusion_spot_module [default: true]
- launch_speed_bump_module [default: true]
- launch_no_drivable_lane_module [default: true]
- launch_module_list_end [default: ""]]
- behavior_path_planner_launch_modules [default: []
- behavior_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving/behavior_planning/behavior_planning_deprecated.launch.xml
-
- input_route_topic_name [default: /planning/mission_planning/route]
- input_traffic_light_topic_name [default: /perception/traffic_light_recognition/traffic_signals]
- input_vector_map_topic_name [default: /map/vector_map]
- input_pointcloud_map_topic_name [default: /map/pointcloud_map]
- input_objects_topic_name
- input_pointcloud_topic_name
- enable_all_modules_auto_mode
- is_simulation
- behavior_path_planner_type [default: behavior_path_planner]
- launch_static_obstacle_avoidance [default: true]
- launch_avoidance_by_lane_change_module [default: true]
- launch_dynamic_obstacle_avoidance [default: true]
- launch_lane_change_right_module [default: true]
- launch_lane_change_left_module [default: true]
- launch_external_request_lane_change_right_module [default: true]
- launch_external_request_lane_change_left_module [default: true]
- launch_goal_planner_module [default: true]
- launch_start_planner_module [default: true]
- launch_sampling_planner_module [default: true]
- launch_side_shift_module [default: true]
- launch_bidirectional_traffic_module [default: true]
- launch_crosswalk_module [default: true]
- launch_walkway_module [default: true]
- launch_traffic_light_module [default: true]
- launch_intersection_module [default: true]
- launch_roundabout_module [default: true]
- launch_merge_from_private_module [default: true]
- launch_blind_spot_module [default: true]
- launch_detection_area_module [default: true]
- launch_virtual_traffic_light_module [default: true]
- launch_no_stopping_area_module [default: true]
- launch_stop_line_module [default: true]
- launch_occlusion_spot_module [default: true]
- launch_speed_bump_module [default: true]
- launch_no_drivable_lane_module [default: true]
- launch_module_list_end [default: ""]]
- behavior_path_planner_launch_modules [default: []
- behavior_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
-
- input_objects_topic_name
- input_pointcloud_topic_name
- interface_input_topic [default: /planning/scenario_planning/lane_driving/behavior_planning/path]
- interface_output_topic [default: /planning/scenario_planning/lane_driving/trajectory]
- launch_obstacle_stop_module [default: true]
- launch_obstacle_slow_down_module [default: true]
- launch_obstacle_cruise_module [default: true]
- launch_dynamic_obstacle_stop_module [default: true]
- launch_out_of_lane_module [default: true]
- launch_obstacle_velocity_limiter_module [default: true]
- launch_run_out_module [default: true]
- launch_boundary_departure_prevention_module [default: true]
- launch_road_user_stop_module [default: true]
- launch_module_list_end [default: ""]]
- motion_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving.launch.xml
-
- enable_all_modules_auto_mode
- is_simulation
- input_objects_topic_name
- input_pointcloud_topic_name
- launch/scenario_planning/parking.launch.xml
-
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- launch/scenario_planning/scenario_planning.launch.xml
-
- enable_all_modules_auto_mode
- is_simulation
- input_objects_topic_name
- input_pointcloud_topic_name
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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Package Summary
| Version | 0.52.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_launch.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-10-09 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The autoware_planning_launch package
Maintainers
- Zulfaqar Azmi
- Kosuke Takeuchi
- Kosuke Takeuchi
- Fumiya Watanabe
- Takamasa Horibe
- Zulfaqar Azmi
- Mamoru Sobue
- Takayuki Murooka
- Mamoru Sobue
- Taiki Tanaka
- Kosuke Takeuchi
- Mamoru Sobue
- Fumiya Watanabe
- Zhe Shen
- Kosuke Takeuchi
- Tomohito Ando
- Makoto Kurihara
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
- Maxime CLEMENT
Authors
- Satoshi Ota
autoware_planning_launch
Shared planning launch library. The system component launcher lives in the product layer (autoware_launch/launch/components/component_planning.launch.xml); this package hosts the planning feature launchers it combines:
launch/
├── planning.launch.xml # planning entry: mission planning, trajectory source, validator and evaluator tail
├── mission_planning/
├── learning_based_planning/ # diffusion planner trajectory source
└── scenario_planning/ # rule-based trajectory source
├── scenario_planning.launch.xml
├── lane_driving.launch.xml
├── parking.launch.xml
└── lane_driving/
├── behavior_planning/
└── motion_planning/
design/module/ # Autoware System Designer modules; same subtree as launch/
├── Planning.module.yaml
├── mission_planning/
└── scenario_planning/
└── lane_driving/
├── behavior_planning/
└── motion_planning/
Structure
Launch files
-
planning.launch.xml— the entry point. It includes the module preset, resolves every parameter file, and pushes theplanningnamespace.planning_settingselects the trajectory source:rule_basedrunsscenario_planning/,diffusion_plannerrunslearning_based_planning/. The planning validator and the planning evaluator run for both, wired to the source-specific trajectory topics. -
scenario_planning/— the rule-based source: the scenario selector, the velocity smoother tail, and thelane_drivingandparkingscenarios.lane_drivingchains behavior planning into motion planning. -
learning_based_planning/diffusion_planner.launch.xml— the neural-network source: the diffusion planner followed by the trajectory modifier and its optimizer plugins.
Config
Parameter files are resolved from a config/ tree addressed through the planning_config_pkg argument, which defaults to autoware_planning_config. A product can relocate the whole tree by setting planning_config_pkg once at its entry point — the launch configuration propagates through every include — but it must then ship the same config/ layout. Products that differ in only a few files instead override the corresponding *_param_path arguments, which are all declared at the top of planning.launch.xml:
<include file="$(find-pkg-share autoware_planning_launch)/launch/planning.launch.xml">
<arg name="planning_config_pkg" value="my_planning_config"/>
<arg name="FOO_NODE_param_path" value="..."/>
</include>
Which modules launch is a separate axis, selected by module_preset; the presets live in the config package under config/preset/.
Package Dependencies
Please see <exec_depend> in package.xml.
CHANGELOG
Changelog for package tier4_planning_launch
0.52.0 (2026-06-30)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(diffusion_planner): update launch file (#1854) update arg names for modifier, define input topics args
-
fix(neural_net_planner): add temporal MPT optimizer config for trajec… (#1878) fix(neural_net_planner): add temporal MPT optimizer config for trajectory_optimizer The autoware_trajectory_optimizer node now declares use_temporal_mpt_optimizer as a statically typed parameter, so it crashes on startup (UninitializedStaticallyTypedParameterException) when launched with the autoware_launch config, which did not provide it.
- Add use_temporal_mpt_optimizer: false to trajectory_optimizer.param.yaml
- Add trajectory_temporal_mpt_optimizer.param.yaml plugin config
- Wire trajectory_temporal_mpt_optimizer_param_path through the launch chain
-
feat: add launch params and configs for direction_change module (#1857)
- feat: add launch params and configs for direction_change module
* feat: add launch param in default_preset.yaml ---------
-
fix(tier4_planning_launch): rename virtual traffic light state (#1827) feat(tier4_planning_launch): rename virtual traffic light state input
-
fix: assign acados-prepended [LD_LIBRARY_PATH]{.title-ref} for motion planning container (#1842)
-
chore: sync files (#1338)
- chore: sync files
* style(pre-commit): autofix ---------Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
Contributors: Go Sakayori, Taeseung Sohn, Takagi, Isamu, awf-autoware-bot[bot], emmeyteja, github-actions, mkquda
0.51.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(planning): wire data_path through to diffusion_planner (#1834) feat(autoware_launch,tier4_planning_launch): wire data_path through planning to diffusion_planner Propagate the [data_path]{.title-ref} arg from [autoware.launch.xml]{.title-ref} through the planning chain so the integrated diffusion_planner picks up the root artifacts directory the same way perception does. Chain wired: autoware.launch.xml -> tier4_planning_component.launch.xml -> tier4_planning_launch/launch/planning.launch.xml -> tier4_planning_launch/learning_based_planning/diffusion_planner.launch.xml -> autoware_diffusion_planner/launch/diffusion_planner.launch.xml Replaces the hardcoded [$(env HOME)/autoware_data/diffusion_planner/v4.0/...]{.title-ref} literals in [autoware_launch/config/planning/neural_net_planner/diffusion_planner.param.yaml]{.title-ref} with [$(var data_path)/diffusion_planner/v4.0/...]{.title-ref}, matching the perception convention (literal package subdir under [data_path]{.title-ref}). After this commit, flipping [data_path]{.title-ref} in [autoware.launch.xml]{.title-ref} (or overriding it on the command line) controls the diffusion_planner artifact root end-to-end without further edits to the parallel YAML. Refs: https://github.com/autowarefoundation/autoware/issues/7068 Refs: https://github.com/autowarefoundation/autoware_universe/pull/12521
-
feat: allow conditionally launch diffusion planner (#1752)
- feat: allow conditionally launch e2e/dp
- rule base default
- feat: adding dp rviz markers to other rviz configs
* feat: adding dp rviz markers ---------
-
feat(tier4_planning_launch): apply CIE via inline ENABLE_AGNOCAST switching (#1795) Switch component containers based on ENABLE_AGNOCAST environment variable directly in each launch file, without using
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| autoware_launch |
Launch files
- launch/learning_based_planning/diffusion_planner.launch.xml
-
- data_path
- diffusion_planner_param_path
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_tracked_objects_topic_name [default: /perception/object_recognition/tracking/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- trajectory_modifier_param_path
- jerk_filtered_smoother_param_path
- velocity_smoother_param_path
- common_smoother_param_path
- elastic_band_param_path
- trajectory_point_fixer_param_path
- trajectory_extender_param_path
- trajectory_spline_smoother_param_path
- trajectory_qp_smoother_param_path
- trajectory_velocity_optimizer_param_path
- trajectory_kinematic_feasibility_enforcer_param_path
- trajectory_mpt_optimizer_param_path
- trajectory_temporal_mpt_optimizer_param_path
- launch/mission_planning/mission_planning.launch.xml
-
- mission_planner_param_path [default: $(find-pkg-share autoware_mission_planner_universe)/config/mission_planner.param.yaml]
- launch/planning.launch.xml
-
- planning_config_pkg [default: autoware_planning_config]
- module_preset [default: default]
- planning_setting [default: rule_based]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- launch_remaining_distance_time_calculator [default: false]
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_tracked_objects_topic_name [default: /perception/object_recognition/tracking/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- vehicle_model [default: sample_vehicle]
- vehicle_param_file [default: $(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml]
- data_path [default: $(env HOME)/autoware_data/ml_models]
- common_param_path [default: $(var planning_common_config_dir)/common.param.yaml]
- nearest_search_param_path [default: $(var planning_common_config_dir)/nearest_search.param.yaml]
- costmap_generator_param_path [default: $(var planning_common_config_dir)/costmap_generator.param.yaml]
- mission_planner_param_path [default: $(var planning_config_dir)/mission_planning/mission_planner/mission_planner.param.yaml]
- behavior_path_planner_common_param_path [default: $(var behavior_path_config_dir)/behavior_path_planner.param.yaml]
- behavior_path_planner_scene_module_manager_param_path [default: $(var behavior_path_config_dir)/scene_module_manager.param.yaml]
- behavior_path_planner_drivable_area_expansion_param_path [default: $(var behavior_path_config_dir)/drivable_area_expansion.param.yaml]
- behavior_path_planner_side_shift_module_param_path [default: $(var behavior_path_config_dir)/side_shift/side_shift.param.yaml]
- behavior_path_planner_static_obstacle_avoidance_module_param_path [default: $(var behavior_path_config_dir)/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml]
- behavior_path_planner_dynamic_obstacle_avoidance_module_param_path [default: $(var behavior_path_config_dir)/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml]
- behavior_path_planner_avoidance_by_lc_module_param_path [default: $(var behavior_path_config_dir)/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml]
- behavior_path_planner_sampling_planner_module_param_path [default: $(var behavior_path_config_dir)/sampling_planner/sampling_planner.param.yaml]
- behavior_path_planner_lane_change_module_param_path [default: $(var behavior_path_config_dir)/lane_change/lane_change.param.yaml]
- behavior_path_planner_goal_planner_module_param_path [default: $(var behavior_path_config_dir)/goal_planner/goal_planner.param.yaml]
- behavior_path_planner_start_planner_module_param_path [default: $(var behavior_path_config_dir)/start_planner/start_planner.param.yaml]
- behavior_path_bidirectional_traffic_module_param_path [default: $(var behavior_path_config_dir)/autoware_behavior_path_bidirectional_traffic_module/bidirectional_traffic.param.yaml]
- behavior_path_planner_direction_change_module_param_path [default: $(var behavior_path_config_dir)/autoware_behavior_path_direction_change_module/direction_change.param.yaml]
- path_generator_param_path [default: $(var planning_config_dir)/scenario_planning/lane_driving/behavior_planning/path_generator/path_generator.param.yaml]
- hazard_lights_selector_param_path [default: $(var planning_common_config_dir)/autoware_hazard_lights_selector/hazard_lights_selector.param.yaml]
- behavior_velocity_smoother_type_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/Analytical.param.yaml]
- behavior_velocity_planner_param_path [default: $(var behavior_velocity_config_dir)/behavior_velocity_planner.param.yaml]
- behavior_velocity_planner_common_param_path [default: $(var behavior_velocity_config_dir)/behavior_velocity_planner_common.param.yaml]
- behavior_velocity_planner_blind_spot_module_param_path [default: $(var behavior_velocity_config_dir)/blind_spot.param.yaml]
- behavior_velocity_planner_crosswalk_module_param_path [default: $(var behavior_velocity_config_dir)/crosswalk.param.yaml]
- behavior_velocity_planner_walkway_module_param_path [default: $(var behavior_velocity_config_dir)/walkway.param.yaml]
- behavior_velocity_planner_detection_area_module_param_path [default: $(var behavior_velocity_config_dir)/detection_area.param.yaml]
- behavior_velocity_planner_intersection_module_param_path [default: $(var behavior_velocity_config_dir)/intersection.param.yaml]
- behavior_velocity_planner_stop_line_module_param_path [default: $(var behavior_velocity_config_dir)/stop_line.param.yaml]
- behavior_velocity_planner_traffic_light_module_param_path [default: $(var behavior_velocity_config_dir)/traffic_light.param.yaml]
- behavior_velocity_planner_virtual_traffic_light_module_param_path [default: $(var behavior_velocity_config_dir)/virtual_traffic_light.param.yaml]
- behavior_velocity_planner_occlusion_spot_module_param_path [default: $(var behavior_velocity_config_dir)/occlusion_spot.param.yaml]
- behavior_velocity_planner_no_stopping_area_module_param_path [default: $(var behavior_velocity_config_dir)/no_stopping_area.param.yaml]
- behavior_velocity_planner_roundabout_module_param_path [default: $(var behavior_velocity_config_dir)/roundabout.param.yaml]
- behavior_velocity_planner_speed_bump_module_param_path [default: $(var behavior_velocity_config_dir)/speed_bump.param.yaml]
- behavior_velocity_planner_no_drivable_lane_module_param_path [default: $(var behavior_velocity_config_dir)/no_drivable_lane.param.yaml]
- elastic_band_smoother_param_path [default: $(var motion_planning_config_dir)/path_smoother/elastic_band_smoother.param.yaml]
- path_optimizer_param_path [default: $(var motion_planning_config_dir)/autoware_path_optimizer/path_optimizer.param.yaml]
- path_sampler_param_path [default: $(var motion_planning_config_dir)/path_sampler/path_sampler.param.yaml]
- surround_obstacle_checker_param_path [default: $(var motion_planning_config_dir)/surround_obstacle_checker/surround_obstacle_checker.param.yaml]
- motion_velocity_planner_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/motion_velocity_planner.param.yaml]
- motion_velocity_planner_obstacle_stop_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/obstacle_stop.param.yaml]
- motion_velocity_planner_obstacle_slow_down_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/obstacle_slow_down.param.yaml]
- motion_velocity_planner_obstacle_cruise_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/obstacle_cruise.param.yaml]
- motion_velocity_planner_dynamic_obstacle_stop_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/dynamic_obstacle_stop.param.yaml]
- motion_velocity_planner_out_of_lane_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/out_of_lane.param.yaml]
- motion_velocity_planner_obstacle_velocity_limiter_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/obstacle_velocity_limiter.param.yaml]
- motion_velocity_planner_run_out_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/run_out.param.yaml]
- motion_velocity_planner_boundary_departure_prevention_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/boundary_departure_prevention.param.yaml]
- motion_velocity_planner_road_user_stop_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/road_user_stop.param.yaml]
- motion_velocity_planner_velocity_smoother_type_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/Analytical.param.yaml]
- velocity_smoother_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/velocity_smoother.param.yaml]
- velocity_smoother_type_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/$(var velocity_smoother_type).param.yaml]
- freespace_planner_param_path [default: $(var planning_config_dir)/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml]
- planning_validator_param_path [default: $(var planning_common_config_dir)/planning_validator/planning_validator.param.yaml]
- planning_validator_latency_checker_param_path [default: $(var planning_common_config_dir)/planning_validator/latency_checker.param.yaml]
- planning_validator_trajectory_checker_param_path [default: $(var planning_common_config_dir)/planning_validator/trajectory_checker.param.yaml]
- planning_validator_intersection_collision_checker_param_path [default: $(var planning_common_config_dir)/planning_validator/intersection_collision_checker.param.yaml]
- planning_validator_rear_collision_checker_param_path [default: $(var planning_common_config_dir)/planning_validator/rear_collision_checker.param.yaml]
- diffusion_planner_param_path [default: $(var neural_net_planner_config_dir)/diffusion_planner.param.yaml]
- trajectory_modifier_param_path [default: $(var neural_net_planner_config_dir)/trajectory_modifier.param.yaml]
- jerk_filtered_smoother_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/JerkFiltered.param.yaml]
- common_smoother_param_path [default: $(var planning_common_config_dir)/common.param.yaml]
- elastic_band_param_path [default: $(var motion_planning_config_dir)/path_smoother/elastic_band_smoother.param.yaml]
- trajectory_point_fixer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_point_fixer.param.yaml]
- trajectory_extender_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_extender.param.yaml]
- trajectory_spline_smoother_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_spline_smoother.param.yaml]
- trajectory_qp_smoother_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_qp_smoother.param.yaml]
- trajectory_velocity_optimizer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_velocity_optimizer.param.yaml]
- trajectory_kinematic_feasibility_enforcer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_kinematic_feasibility_enforcer.param.yaml]
- trajectory_mpt_optimizer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_mpt_optimizer.param.yaml]
- trajectory_temporal_mpt_optimizer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_temporal_mpt_optimizer.param.yaml]
- launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
-
- input_route_topic_name [default: /planning/mission_planning/route]
- input_traffic_light_topic_name [default: /perception/traffic_light_recognition/traffic_signals]
- input_vector_map_topic_name [default: /map/vector_map]
- input_pointcloud_map_topic_name [default: /map/pointcloud_map]
- input_objects_topic_name
- input_pointcloud_topic_name
- enable_all_modules_auto_mode
- is_simulation
- behavior_path_planner_type [default: behavior_path_planner]
- launch_static_obstacle_avoidance [default: true]
- launch_avoidance_by_lane_change_module [default: true]
- launch_dynamic_obstacle_avoidance [default: true]
- launch_lane_change_right_module [default: true]
- launch_lane_change_left_module [default: true]
- launch_external_request_lane_change_right_module [default: true]
- launch_external_request_lane_change_left_module [default: true]
- launch_goal_planner_module [default: true]
- launch_start_planner_module [default: true]
- launch_sampling_planner_module [default: true]
- launch_side_shift_module [default: true]
- launch_bidirectional_traffic_module [default: true]
- launch_direction_change_module [default: false]
- launch_crosswalk_module [default: true]
- launch_walkway_module [default: true]
- launch_traffic_light_module [default: true]
- launch_intersection_module [default: true]
- launch_roundabout_module [default: true]
- launch_merge_from_private_module [default: true]
- launch_blind_spot_module [default: true]
- launch_detection_area_module [default: true]
- launch_virtual_traffic_light_module [default: true]
- launch_no_stopping_area_module [default: true]
- launch_stop_line_module [default: true]
- launch_occlusion_spot_module [default: true]
- launch_speed_bump_module [default: true]
- launch_no_drivable_lane_module [default: true]
- launch_module_list_end [default: ""]]
- behavior_path_planner_launch_modules [default: []
- behavior_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving/behavior_planning/behavior_planning_deprecated.launch.xml
-
- input_route_topic_name [default: /planning/mission_planning/route]
- input_traffic_light_topic_name [default: /perception/traffic_light_recognition/traffic_signals]
- input_vector_map_topic_name [default: /map/vector_map]
- input_pointcloud_map_topic_name [default: /map/pointcloud_map]
- input_objects_topic_name
- input_pointcloud_topic_name
- enable_all_modules_auto_mode
- is_simulation
- behavior_path_planner_type [default: behavior_path_planner]
- launch_static_obstacle_avoidance [default: true]
- launch_avoidance_by_lane_change_module [default: true]
- launch_dynamic_obstacle_avoidance [default: true]
- launch_lane_change_right_module [default: true]
- launch_lane_change_left_module [default: true]
- launch_external_request_lane_change_right_module [default: true]
- launch_external_request_lane_change_left_module [default: true]
- launch_goal_planner_module [default: true]
- launch_start_planner_module [default: true]
- launch_sampling_planner_module [default: true]
- launch_side_shift_module [default: true]
- launch_bidirectional_traffic_module [default: true]
- launch_crosswalk_module [default: true]
- launch_walkway_module [default: true]
- launch_traffic_light_module [default: true]
- launch_intersection_module [default: true]
- launch_roundabout_module [default: true]
- launch_merge_from_private_module [default: true]
- launch_blind_spot_module [default: true]
- launch_detection_area_module [default: true]
- launch_virtual_traffic_light_module [default: true]
- launch_no_stopping_area_module [default: true]
- launch_stop_line_module [default: true]
- launch_occlusion_spot_module [default: true]
- launch_speed_bump_module [default: true]
- launch_no_drivable_lane_module [default: true]
- launch_module_list_end [default: ""]]
- behavior_path_planner_launch_modules [default: []
- behavior_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
-
- input_objects_topic_name
- input_pointcloud_topic_name
- interface_input_topic [default: /planning/scenario_planning/lane_driving/behavior_planning/path]
- interface_output_topic [default: /planning/scenario_planning/lane_driving/trajectory]
- launch_obstacle_stop_module [default: true]
- launch_obstacle_slow_down_module [default: true]
- launch_obstacle_cruise_module [default: true]
- launch_dynamic_obstacle_stop_module [default: true]
- launch_out_of_lane_module [default: true]
- launch_obstacle_velocity_limiter_module [default: true]
- launch_run_out_module [default: true]
- launch_boundary_departure_prevention_module [default: true]
- launch_road_user_stop_module [default: true]
- launch_module_list_end [default: ""]]
- motion_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving.launch.xml
-
- enable_all_modules_auto_mode
- is_simulation
- input_objects_topic_name
- input_pointcloud_topic_name
- launch/scenario_planning/parking.launch.xml
-
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- launch/scenario_planning/scenario_planning.launch.xml
-
- enable_all_modules_auto_mode
- is_simulation
- input_objects_topic_name
- input_pointcloud_topic_name
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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Package Summary
| Version | 0.52.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_launch.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-10-09 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The autoware_planning_launch package
Maintainers
- Zulfaqar Azmi
- Kosuke Takeuchi
- Kosuke Takeuchi
- Fumiya Watanabe
- Takamasa Horibe
- Zulfaqar Azmi
- Mamoru Sobue
- Takayuki Murooka
- Mamoru Sobue
- Taiki Tanaka
- Kosuke Takeuchi
- Mamoru Sobue
- Fumiya Watanabe
- Zhe Shen
- Kosuke Takeuchi
- Tomohito Ando
- Makoto Kurihara
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
- Maxime CLEMENT
Authors
- Satoshi Ota
autoware_planning_launch
Shared planning launch library. The system component launcher lives in the product layer (autoware_launch/launch/components/component_planning.launch.xml); this package hosts the planning feature launchers it combines:
launch/
├── planning.launch.xml # planning entry: mission planning, trajectory source, validator and evaluator tail
├── mission_planning/
├── learning_based_planning/ # diffusion planner trajectory source
└── scenario_planning/ # rule-based trajectory source
├── scenario_planning.launch.xml
├── lane_driving.launch.xml
├── parking.launch.xml
└── lane_driving/
├── behavior_planning/
└── motion_planning/
design/module/ # Autoware System Designer modules; same subtree as launch/
├── Planning.module.yaml
├── mission_planning/
└── scenario_planning/
└── lane_driving/
├── behavior_planning/
└── motion_planning/
Structure
Launch files
-
planning.launch.xml— the entry point. It includes the module preset, resolves every parameter file, and pushes theplanningnamespace.planning_settingselects the trajectory source:rule_basedrunsscenario_planning/,diffusion_plannerrunslearning_based_planning/. The planning validator and the planning evaluator run for both, wired to the source-specific trajectory topics. -
scenario_planning/— the rule-based source: the scenario selector, the velocity smoother tail, and thelane_drivingandparkingscenarios.lane_drivingchains behavior planning into motion planning. -
learning_based_planning/diffusion_planner.launch.xml— the neural-network source: the diffusion planner followed by the trajectory modifier and its optimizer plugins.
Config
Parameter files are resolved from a config/ tree addressed through the planning_config_pkg argument, which defaults to autoware_planning_config. A product can relocate the whole tree by setting planning_config_pkg once at its entry point — the launch configuration propagates through every include — but it must then ship the same config/ layout. Products that differ in only a few files instead override the corresponding *_param_path arguments, which are all declared at the top of planning.launch.xml:
<include file="$(find-pkg-share autoware_planning_launch)/launch/planning.launch.xml">
<arg name="planning_config_pkg" value="my_planning_config"/>
<arg name="FOO_NODE_param_path" value="..."/>
</include>
Which modules launch is a separate axis, selected by module_preset; the presets live in the config package under config/preset/.
Package Dependencies
Please see <exec_depend> in package.xml.
CHANGELOG
Changelog for package tier4_planning_launch
0.52.0 (2026-06-30)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(diffusion_planner): update launch file (#1854) update arg names for modifier, define input topics args
-
fix(neural_net_planner): add temporal MPT optimizer config for trajec… (#1878) fix(neural_net_planner): add temporal MPT optimizer config for trajectory_optimizer The autoware_trajectory_optimizer node now declares use_temporal_mpt_optimizer as a statically typed parameter, so it crashes on startup (UninitializedStaticallyTypedParameterException) when launched with the autoware_launch config, which did not provide it.
- Add use_temporal_mpt_optimizer: false to trajectory_optimizer.param.yaml
- Add trajectory_temporal_mpt_optimizer.param.yaml plugin config
- Wire trajectory_temporal_mpt_optimizer_param_path through the launch chain
-
feat: add launch params and configs for direction_change module (#1857)
- feat: add launch params and configs for direction_change module
* feat: add launch param in default_preset.yaml ---------
-
fix(tier4_planning_launch): rename virtual traffic light state (#1827) feat(tier4_planning_launch): rename virtual traffic light state input
-
fix: assign acados-prepended [LD_LIBRARY_PATH]{.title-ref} for motion planning container (#1842)
-
chore: sync files (#1338)
- chore: sync files
* style(pre-commit): autofix ---------Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
Contributors: Go Sakayori, Taeseung Sohn, Takagi, Isamu, awf-autoware-bot[bot], emmeyteja, github-actions, mkquda
0.51.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(planning): wire data_path through to diffusion_planner (#1834) feat(autoware_launch,tier4_planning_launch): wire data_path through planning to diffusion_planner Propagate the [data_path]{.title-ref} arg from [autoware.launch.xml]{.title-ref} through the planning chain so the integrated diffusion_planner picks up the root artifacts directory the same way perception does. Chain wired: autoware.launch.xml -> tier4_planning_component.launch.xml -> tier4_planning_launch/launch/planning.launch.xml -> tier4_planning_launch/learning_based_planning/diffusion_planner.launch.xml -> autoware_diffusion_planner/launch/diffusion_planner.launch.xml Replaces the hardcoded [$(env HOME)/autoware_data/diffusion_planner/v4.0/...]{.title-ref} literals in [autoware_launch/config/planning/neural_net_planner/diffusion_planner.param.yaml]{.title-ref} with [$(var data_path)/diffusion_planner/v4.0/...]{.title-ref}, matching the perception convention (literal package subdir under [data_path]{.title-ref}). After this commit, flipping [data_path]{.title-ref} in [autoware.launch.xml]{.title-ref} (or overriding it on the command line) controls the diffusion_planner artifact root end-to-end without further edits to the parallel YAML. Refs: https://github.com/autowarefoundation/autoware/issues/7068 Refs: https://github.com/autowarefoundation/autoware_universe/pull/12521
-
feat: allow conditionally launch diffusion planner (#1752)
- feat: allow conditionally launch e2e/dp
- rule base default
- feat: adding dp rviz markers to other rviz configs
* feat: adding dp rviz markers ---------
-
feat(tier4_planning_launch): apply CIE via inline ENABLE_AGNOCAST switching (#1795) Switch component containers based on ENABLE_AGNOCAST environment variable directly in each launch file, without using
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| autoware_launch |
Launch files
- launch/learning_based_planning/diffusion_planner.launch.xml
-
- data_path
- diffusion_planner_param_path
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_tracked_objects_topic_name [default: /perception/object_recognition/tracking/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- trajectory_modifier_param_path
- jerk_filtered_smoother_param_path
- velocity_smoother_param_path
- common_smoother_param_path
- elastic_band_param_path
- trajectory_point_fixer_param_path
- trajectory_extender_param_path
- trajectory_spline_smoother_param_path
- trajectory_qp_smoother_param_path
- trajectory_velocity_optimizer_param_path
- trajectory_kinematic_feasibility_enforcer_param_path
- trajectory_mpt_optimizer_param_path
- trajectory_temporal_mpt_optimizer_param_path
- launch/mission_planning/mission_planning.launch.xml
-
- mission_planner_param_path [default: $(find-pkg-share autoware_mission_planner_universe)/config/mission_planner.param.yaml]
- launch/planning.launch.xml
-
- planning_config_pkg [default: autoware_planning_config]
- module_preset [default: default]
- planning_setting [default: rule_based]
- enable_all_modules_auto_mode [default: false]
- is_simulation [default: false]
- launch_remaining_distance_time_calculator [default: false]
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_tracked_objects_topic_name [default: /perception/object_recognition/tracking/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- vehicle_model [default: sample_vehicle]
- vehicle_param_file [default: $(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml]
- data_path [default: $(env HOME)/autoware_data/ml_models]
- common_param_path [default: $(var planning_common_config_dir)/common.param.yaml]
- nearest_search_param_path [default: $(var planning_common_config_dir)/nearest_search.param.yaml]
- costmap_generator_param_path [default: $(var planning_common_config_dir)/costmap_generator.param.yaml]
- mission_planner_param_path [default: $(var planning_config_dir)/mission_planning/mission_planner/mission_planner.param.yaml]
- behavior_path_planner_common_param_path [default: $(var behavior_path_config_dir)/behavior_path_planner.param.yaml]
- behavior_path_planner_scene_module_manager_param_path [default: $(var behavior_path_config_dir)/scene_module_manager.param.yaml]
- behavior_path_planner_drivable_area_expansion_param_path [default: $(var behavior_path_config_dir)/drivable_area_expansion.param.yaml]
- behavior_path_planner_side_shift_module_param_path [default: $(var behavior_path_config_dir)/side_shift/side_shift.param.yaml]
- behavior_path_planner_static_obstacle_avoidance_module_param_path [default: $(var behavior_path_config_dir)/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml]
- behavior_path_planner_dynamic_obstacle_avoidance_module_param_path [default: $(var behavior_path_config_dir)/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml]
- behavior_path_planner_avoidance_by_lc_module_param_path [default: $(var behavior_path_config_dir)/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml]
- behavior_path_planner_sampling_planner_module_param_path [default: $(var behavior_path_config_dir)/sampling_planner/sampling_planner.param.yaml]
- behavior_path_planner_lane_change_module_param_path [default: $(var behavior_path_config_dir)/lane_change/lane_change.param.yaml]
- behavior_path_planner_goal_planner_module_param_path [default: $(var behavior_path_config_dir)/goal_planner/goal_planner.param.yaml]
- behavior_path_planner_start_planner_module_param_path [default: $(var behavior_path_config_dir)/start_planner/start_planner.param.yaml]
- behavior_path_bidirectional_traffic_module_param_path [default: $(var behavior_path_config_dir)/autoware_behavior_path_bidirectional_traffic_module/bidirectional_traffic.param.yaml]
- behavior_path_planner_direction_change_module_param_path [default: $(var behavior_path_config_dir)/autoware_behavior_path_direction_change_module/direction_change.param.yaml]
- path_generator_param_path [default: $(var planning_config_dir)/scenario_planning/lane_driving/behavior_planning/path_generator/path_generator.param.yaml]
- hazard_lights_selector_param_path [default: $(var planning_common_config_dir)/autoware_hazard_lights_selector/hazard_lights_selector.param.yaml]
- behavior_velocity_smoother_type_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/Analytical.param.yaml]
- behavior_velocity_planner_param_path [default: $(var behavior_velocity_config_dir)/behavior_velocity_planner.param.yaml]
- behavior_velocity_planner_common_param_path [default: $(var behavior_velocity_config_dir)/behavior_velocity_planner_common.param.yaml]
- behavior_velocity_planner_blind_spot_module_param_path [default: $(var behavior_velocity_config_dir)/blind_spot.param.yaml]
- behavior_velocity_planner_crosswalk_module_param_path [default: $(var behavior_velocity_config_dir)/crosswalk.param.yaml]
- behavior_velocity_planner_walkway_module_param_path [default: $(var behavior_velocity_config_dir)/walkway.param.yaml]
- behavior_velocity_planner_detection_area_module_param_path [default: $(var behavior_velocity_config_dir)/detection_area.param.yaml]
- behavior_velocity_planner_intersection_module_param_path [default: $(var behavior_velocity_config_dir)/intersection.param.yaml]
- behavior_velocity_planner_stop_line_module_param_path [default: $(var behavior_velocity_config_dir)/stop_line.param.yaml]
- behavior_velocity_planner_traffic_light_module_param_path [default: $(var behavior_velocity_config_dir)/traffic_light.param.yaml]
- behavior_velocity_planner_virtual_traffic_light_module_param_path [default: $(var behavior_velocity_config_dir)/virtual_traffic_light.param.yaml]
- behavior_velocity_planner_occlusion_spot_module_param_path [default: $(var behavior_velocity_config_dir)/occlusion_spot.param.yaml]
- behavior_velocity_planner_no_stopping_area_module_param_path [default: $(var behavior_velocity_config_dir)/no_stopping_area.param.yaml]
- behavior_velocity_planner_roundabout_module_param_path [default: $(var behavior_velocity_config_dir)/roundabout.param.yaml]
- behavior_velocity_planner_speed_bump_module_param_path [default: $(var behavior_velocity_config_dir)/speed_bump.param.yaml]
- behavior_velocity_planner_no_drivable_lane_module_param_path [default: $(var behavior_velocity_config_dir)/no_drivable_lane.param.yaml]
- elastic_band_smoother_param_path [default: $(var motion_planning_config_dir)/path_smoother/elastic_band_smoother.param.yaml]
- path_optimizer_param_path [default: $(var motion_planning_config_dir)/autoware_path_optimizer/path_optimizer.param.yaml]
- path_sampler_param_path [default: $(var motion_planning_config_dir)/path_sampler/path_sampler.param.yaml]
- surround_obstacle_checker_param_path [default: $(var motion_planning_config_dir)/surround_obstacle_checker/surround_obstacle_checker.param.yaml]
- motion_velocity_planner_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/motion_velocity_planner.param.yaml]
- motion_velocity_planner_obstacle_stop_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/obstacle_stop.param.yaml]
- motion_velocity_planner_obstacle_slow_down_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/obstacle_slow_down.param.yaml]
- motion_velocity_planner_obstacle_cruise_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/obstacle_cruise.param.yaml]
- motion_velocity_planner_dynamic_obstacle_stop_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/dynamic_obstacle_stop.param.yaml]
- motion_velocity_planner_out_of_lane_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/out_of_lane.param.yaml]
- motion_velocity_planner_obstacle_velocity_limiter_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/obstacle_velocity_limiter.param.yaml]
- motion_velocity_planner_run_out_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/run_out.param.yaml]
- motion_velocity_planner_boundary_departure_prevention_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/boundary_departure_prevention.param.yaml]
- motion_velocity_planner_road_user_stop_module_param_path [default: $(var motion_planning_config_dir)/motion_velocity_planner/road_user_stop.param.yaml]
- motion_velocity_planner_velocity_smoother_type_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/Analytical.param.yaml]
- velocity_smoother_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/velocity_smoother.param.yaml]
- velocity_smoother_type_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/$(var velocity_smoother_type).param.yaml]
- freespace_planner_param_path [default: $(var planning_config_dir)/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml]
- planning_validator_param_path [default: $(var planning_common_config_dir)/planning_validator/planning_validator.param.yaml]
- planning_validator_latency_checker_param_path [default: $(var planning_common_config_dir)/planning_validator/latency_checker.param.yaml]
- planning_validator_trajectory_checker_param_path [default: $(var planning_common_config_dir)/planning_validator/trajectory_checker.param.yaml]
- planning_validator_intersection_collision_checker_param_path [default: $(var planning_common_config_dir)/planning_validator/intersection_collision_checker.param.yaml]
- planning_validator_rear_collision_checker_param_path [default: $(var planning_common_config_dir)/planning_validator/rear_collision_checker.param.yaml]
- diffusion_planner_param_path [default: $(var neural_net_planner_config_dir)/diffusion_planner.param.yaml]
- trajectory_modifier_param_path [default: $(var neural_net_planner_config_dir)/trajectory_modifier.param.yaml]
- jerk_filtered_smoother_param_path [default: $(var planning_common_config_dir)/autoware_velocity_smoother/JerkFiltered.param.yaml]
- common_smoother_param_path [default: $(var planning_common_config_dir)/common.param.yaml]
- elastic_band_param_path [default: $(var motion_planning_config_dir)/path_smoother/elastic_band_smoother.param.yaml]
- trajectory_point_fixer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_point_fixer.param.yaml]
- trajectory_extender_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_extender.param.yaml]
- trajectory_spline_smoother_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_spline_smoother.param.yaml]
- trajectory_qp_smoother_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_qp_smoother.param.yaml]
- trajectory_velocity_optimizer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_velocity_optimizer.param.yaml]
- trajectory_kinematic_feasibility_enforcer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_kinematic_feasibility_enforcer.param.yaml]
- trajectory_mpt_optimizer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_mpt_optimizer.param.yaml]
- trajectory_temporal_mpt_optimizer_param_path [default: $(var optimizer_plugins_config_dir)/trajectory_temporal_mpt_optimizer.param.yaml]
- launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
-
- input_route_topic_name [default: /planning/mission_planning/route]
- input_traffic_light_topic_name [default: /perception/traffic_light_recognition/traffic_signals]
- input_vector_map_topic_name [default: /map/vector_map]
- input_pointcloud_map_topic_name [default: /map/pointcloud_map]
- input_objects_topic_name
- input_pointcloud_topic_name
- enable_all_modules_auto_mode
- is_simulation
- behavior_path_planner_type [default: behavior_path_planner]
- launch_static_obstacle_avoidance [default: true]
- launch_avoidance_by_lane_change_module [default: true]
- launch_dynamic_obstacle_avoidance [default: true]
- launch_lane_change_right_module [default: true]
- launch_lane_change_left_module [default: true]
- launch_external_request_lane_change_right_module [default: true]
- launch_external_request_lane_change_left_module [default: true]
- launch_goal_planner_module [default: true]
- launch_start_planner_module [default: true]
- launch_sampling_planner_module [default: true]
- launch_side_shift_module [default: true]
- launch_bidirectional_traffic_module [default: true]
- launch_direction_change_module [default: false]
- launch_crosswalk_module [default: true]
- launch_walkway_module [default: true]
- launch_traffic_light_module [default: true]
- launch_intersection_module [default: true]
- launch_roundabout_module [default: true]
- launch_merge_from_private_module [default: true]
- launch_blind_spot_module [default: true]
- launch_detection_area_module [default: true]
- launch_virtual_traffic_light_module [default: true]
- launch_no_stopping_area_module [default: true]
- launch_stop_line_module [default: true]
- launch_occlusion_spot_module [default: true]
- launch_speed_bump_module [default: true]
- launch_no_drivable_lane_module [default: true]
- launch_module_list_end [default: ""]]
- behavior_path_planner_launch_modules [default: []
- behavior_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving/behavior_planning/behavior_planning_deprecated.launch.xml
-
- input_route_topic_name [default: /planning/mission_planning/route]
- input_traffic_light_topic_name [default: /perception/traffic_light_recognition/traffic_signals]
- input_vector_map_topic_name [default: /map/vector_map]
- input_pointcloud_map_topic_name [default: /map/pointcloud_map]
- input_objects_topic_name
- input_pointcloud_topic_name
- enable_all_modules_auto_mode
- is_simulation
- behavior_path_planner_type [default: behavior_path_planner]
- launch_static_obstacle_avoidance [default: true]
- launch_avoidance_by_lane_change_module [default: true]
- launch_dynamic_obstacle_avoidance [default: true]
- launch_lane_change_right_module [default: true]
- launch_lane_change_left_module [default: true]
- launch_external_request_lane_change_right_module [default: true]
- launch_external_request_lane_change_left_module [default: true]
- launch_goal_planner_module [default: true]
- launch_start_planner_module [default: true]
- launch_sampling_planner_module [default: true]
- launch_side_shift_module [default: true]
- launch_bidirectional_traffic_module [default: true]
- launch_crosswalk_module [default: true]
- launch_walkway_module [default: true]
- launch_traffic_light_module [default: true]
- launch_intersection_module [default: true]
- launch_roundabout_module [default: true]
- launch_merge_from_private_module [default: true]
- launch_blind_spot_module [default: true]
- launch_detection_area_module [default: true]
- launch_virtual_traffic_light_module [default: true]
- launch_no_stopping_area_module [default: true]
- launch_stop_line_module [default: true]
- launch_occlusion_spot_module [default: true]
- launch_speed_bump_module [default: true]
- launch_no_drivable_lane_module [default: true]
- launch_module_list_end [default: ""]]
- behavior_path_planner_launch_modules [default: []
- behavior_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
-
- input_objects_topic_name
- input_pointcloud_topic_name
- interface_input_topic [default: /planning/scenario_planning/lane_driving/behavior_planning/path]
- interface_output_topic [default: /planning/scenario_planning/lane_driving/trajectory]
- launch_obstacle_stop_module [default: true]
- launch_obstacle_slow_down_module [default: true]
- launch_obstacle_cruise_module [default: true]
- launch_dynamic_obstacle_stop_module [default: true]
- launch_out_of_lane_module [default: true]
- launch_obstacle_velocity_limiter_module [default: true]
- launch_run_out_module [default: true]
- launch_boundary_departure_prevention_module [default: true]
- launch_road_user_stop_module [default: true]
- launch_module_list_end [default: ""]]
- motion_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving.launch.xml
-
- enable_all_modules_auto_mode
- is_simulation
- input_objects_topic_name
- input_pointcloud_topic_name
- launch/scenario_planning/parking.launch.xml
-
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- launch/scenario_planning/scenario_planning.launch.xml
-
- enable_all_modules_auto_mode
- is_simulation
- input_objects_topic_name
- input_pointcloud_topic_name
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.