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autoware_planning_launch package from autoware_launch repo

autoware_launch autoware_sample_designs autoware_control_config autoware_control_launch autoware_localization_config autoware_localization_launch autoware_map_config autoware_map_launch autoware_perception_config autoware_perception_launch autoware_planning_config autoware_planning_launch autoware_sensing_launch autoware_sensor_driver_launch awsim_labs_sensor_kit_description awsim_labs_sensor_kit_launch awsim_sensor_kit_description awsim_sensor_kit_launch carla_sensor_kit_description carla_sensor_kit_launch sample_sensor_kit_description sample_sensor_kit_launch single_lidar_sensor_kit_description single_lidar_sensor_kit_launch tier4_autoware_api_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch awsim_labs_vehicle_description awsim_labs_vehicle_launch sample_vehicle_description sample_vehicle_launch

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Package Summary

Version 0.53.0
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 2026-10-26
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_universe_launch/autoware_planning_launch/README.md

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

autoware_planning_launch

Launch files

  • planning.launch.xml — the entry point. It includes the module preset, resolves every parameter file, and pushes the planning namespace. planning_setting selects the trajectory source: rule_based runs scenario_planning/, diffusion_planner runs learning_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 the lane_driving and parking scenarios. lane_driving chains 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

0.53.0 (2026-10-13)

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

  • feat(autoware_sample_designs): compose the AD API, system and vehicle components from design modules (#1976)

    * fix(control, planning): connect the operation mode state and velocity limit inputs Wires collision_detector's operation_mode_state and remaining_distance_time_calculator's planning_velocity through the module designs; their node designs now declare the fixed topic names as remap targets.

    * fix(planning): connect the internal velocity limit path to the selector Forwards motion_velocity_planner's velocity_limit and clear_velocity_limit up to ScenarioPlanning and feeds them into external_velocity_limit_selector, whose internal inputs were unconnected.

    * fix(control, planning): connect the remaining module inputs to their sources Wires the operation mode transition manager's gate and selector inputs, the stop mode operator's vehicle status, the manual lane change handler's route availability and preferred primitive service, the parking costmap, and the route marker. Exposes the vehicle control mode service, the preferred lane service and the system hazard lights command as component interfaces.

    • fix(planning): follow the hazard lights selector input rename
    • fix(planning): add steering_status subscriber to various planning modules
    • feat(vehicle): add vehicle wrapper and launch file for vehicle interface
    • style(pre-commit): autofix
    • fix(planning): add planning factors publishers and connections for various modules
    • refactor(autoware_sample_designs): compose the AD API from design modules
    • Refactor ADAPI module structure and enhance planning factors
    • Updated AdapiRvizHelpers.module.yaml to include helper prefixes for instances and connections.
    • Modified AutowareSample.system.yaml to reorganize ADAPI components, introducing default_adapi for better structure.
    • Expanded planning factors in Planning.module.yaml, LaneDriving.module.yaml, ScenarioPlanning.module.yaml, and associated modules to include additional factors for improved behavior and motion planning.
    • Enhanced connections in behavior planning and motion planning modules to accommodate new planning factors.
    • Ensured consistency across scenario planning modules by aligning publisher and subscriber connections for new planning factors.
    • refactor: reorganize clients and servers in module configurations
    • fix(control): drop the collision detector operation mode link bound globally by the node design
    • implement system modules
    • vehicle modules and nodes, need validations
    • fix api topic remapped
    • reorganize to adapi and api
    • fix: update perception obstacle segmentation filters for clarity and functionality

    * refactor: update trigger conditions and outcomes in topic tools configuration ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

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

  • refactor(planning): migrate planning design modules to autoware_planning_launch (#1967)

    * refactor(planning): migrate planning design modules to autoware_planning_launch Planning.module and its sub-modules move from autoware_sample_designs into autoware_planning_launch/design/module/, laid out on the same subtree as launch/.

    * chore(package): add Maxime CLEMENT as a maintainer in package.xml ---------

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

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

    * feat(planning): make the diffusion planner tracked objects topic

File truncated at 100 lines see the full file

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

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autoware_planning_launch package from autoware_launch repo

autoware_launch autoware_sample_designs autoware_control_config autoware_control_launch autoware_localization_config autoware_localization_launch autoware_map_config autoware_map_launch autoware_perception_config autoware_perception_launch autoware_planning_config autoware_planning_launch autoware_sensing_launch autoware_sensor_driver_launch awsim_labs_sensor_kit_description awsim_labs_sensor_kit_launch awsim_sensor_kit_description awsim_sensor_kit_launch carla_sensor_kit_description carla_sensor_kit_launch sample_sensor_kit_description sample_sensor_kit_launch single_lidar_sensor_kit_description single_lidar_sensor_kit_launch tier4_autoware_api_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch awsim_labs_vehicle_description awsim_labs_vehicle_launch sample_vehicle_description sample_vehicle_launch

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Package Summary

Version 0.53.0
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 2026-10-26
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_universe_launch/autoware_planning_launch/README.md

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

autoware_planning_launch

Launch files

  • planning.launch.xml — the entry point. It includes the module preset, resolves every parameter file, and pushes the planning namespace. planning_setting selects the trajectory source: rule_based runs scenario_planning/, diffusion_planner runs learning_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 the lane_driving and parking scenarios. lane_driving chains 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

0.53.0 (2026-10-13)

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

  • feat(autoware_sample_designs): compose the AD API, system and vehicle components from design modules (#1976)

    * fix(control, planning): connect the operation mode state and velocity limit inputs Wires collision_detector's operation_mode_state and remaining_distance_time_calculator's planning_velocity through the module designs; their node designs now declare the fixed topic names as remap targets.

    * fix(planning): connect the internal velocity limit path to the selector Forwards motion_velocity_planner's velocity_limit and clear_velocity_limit up to ScenarioPlanning and feeds them into external_velocity_limit_selector, whose internal inputs were unconnected.

    * fix(control, planning): connect the remaining module inputs to their sources Wires the operation mode transition manager's gate and selector inputs, the stop mode operator's vehicle status, the manual lane change handler's route availability and preferred primitive service, the parking costmap, and the route marker. Exposes the vehicle control mode service, the preferred lane service and the system hazard lights command as component interfaces.

    • fix(planning): follow the hazard lights selector input rename
    • fix(planning): add steering_status subscriber to various planning modules
    • feat(vehicle): add vehicle wrapper and launch file for vehicle interface
    • style(pre-commit): autofix
    • fix(planning): add planning factors publishers and connections for various modules
    • refactor(autoware_sample_designs): compose the AD API from design modules
    • Refactor ADAPI module structure and enhance planning factors
    • Updated AdapiRvizHelpers.module.yaml to include helper prefixes for instances and connections.
    • Modified AutowareSample.system.yaml to reorganize ADAPI components, introducing default_adapi for better structure.
    • Expanded planning factors in Planning.module.yaml, LaneDriving.module.yaml, ScenarioPlanning.module.yaml, and associated modules to include additional factors for improved behavior and motion planning.
    • Enhanced connections in behavior planning and motion planning modules to accommodate new planning factors.
    • Ensured consistency across scenario planning modules by aligning publisher and subscriber connections for new planning factors.
    • refactor: reorganize clients and servers in module configurations
    • fix(control): drop the collision detector operation mode link bound globally by the node design
    • implement system modules
    • vehicle modules and nodes, need validations
    • fix api topic remapped
    • reorganize to adapi and api
    • fix: update perception obstacle segmentation filters for clarity and functionality

    * refactor: update trigger conditions and outcomes in topic tools configuration ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

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

  • refactor(planning): migrate planning design modules to autoware_planning_launch (#1967)

    * refactor(planning): migrate planning design modules to autoware_planning_launch Planning.module and its sub-modules move from autoware_sample_designs into autoware_planning_launch/design/module/, laid out on the same subtree as launch/.

    * chore(package): add Maxime CLEMENT as a maintainer in package.xml ---------

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

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

    * feat(planning): make the diffusion planner tracked objects topic

File truncated at 100 lines see the full file

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.

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Plugins

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autoware_planning_launch package from autoware_launch repo

autoware_launch autoware_sample_designs autoware_control_config autoware_control_launch autoware_localization_config autoware_localization_launch autoware_map_config autoware_map_launch autoware_perception_config autoware_perception_launch autoware_planning_config autoware_planning_launch autoware_sensing_launch autoware_sensor_driver_launch awsim_labs_sensor_kit_description awsim_labs_sensor_kit_launch awsim_sensor_kit_description awsim_sensor_kit_launch carla_sensor_kit_description carla_sensor_kit_launch sample_sensor_kit_description sample_sensor_kit_launch single_lidar_sensor_kit_description single_lidar_sensor_kit_launch tier4_autoware_api_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch awsim_labs_vehicle_description awsim_labs_vehicle_launch sample_vehicle_description sample_vehicle_launch

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Package Summary

Version 0.53.0
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 2026-10-26
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_universe_launch/autoware_planning_launch/README.md

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

autoware_planning_launch

Launch files

  • planning.launch.xml — the entry point. It includes the module preset, resolves every parameter file, and pushes the planning namespace. planning_setting selects the trajectory source: rule_based runs scenario_planning/, diffusion_planner runs learning_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 the lane_driving and parking scenarios. lane_driving chains 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

0.53.0 (2026-10-13)

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

  • feat(autoware_sample_designs): compose the AD API, system and vehicle components from design modules (#1976)

    * fix(control, planning): connect the operation mode state and velocity limit inputs Wires collision_detector's operation_mode_state and remaining_distance_time_calculator's planning_velocity through the module designs; their node designs now declare the fixed topic names as remap targets.

    * fix(planning): connect the internal velocity limit path to the selector Forwards motion_velocity_planner's velocity_limit and clear_velocity_limit up to ScenarioPlanning and feeds them into external_velocity_limit_selector, whose internal inputs were unconnected.

    * fix(control, planning): connect the remaining module inputs to their sources Wires the operation mode transition manager's gate and selector inputs, the stop mode operator's vehicle status, the manual lane change handler's route availability and preferred primitive service, the parking costmap, and the route marker. Exposes the vehicle control mode service, the preferred lane service and the system hazard lights command as component interfaces.

    • fix(planning): follow the hazard lights selector input rename
    • fix(planning): add steering_status subscriber to various planning modules
    • feat(vehicle): add vehicle wrapper and launch file for vehicle interface
    • style(pre-commit): autofix
    • fix(planning): add planning factors publishers and connections for various modules
    • refactor(autoware_sample_designs): compose the AD API from design modules
    • Refactor ADAPI module structure and enhance planning factors
    • Updated AdapiRvizHelpers.module.yaml to include helper prefixes for instances and connections.
    • Modified AutowareSample.system.yaml to reorganize ADAPI components, introducing default_adapi for better structure.
    • Expanded planning factors in Planning.module.yaml, LaneDriving.module.yaml, ScenarioPlanning.module.yaml, and associated modules to include additional factors for improved behavior and motion planning.
    • Enhanced connections in behavior planning and motion planning modules to accommodate new planning factors.
    • Ensured consistency across scenario planning modules by aligning publisher and subscriber connections for new planning factors.
    • refactor: reorganize clients and servers in module configurations
    • fix(control): drop the collision detector operation mode link bound globally by the node design
    • implement system modules
    • vehicle modules and nodes, need validations
    • fix api topic remapped
    • reorganize to adapi and api
    • fix: update perception obstacle segmentation filters for clarity and functionality

    * refactor: update trigger conditions and outcomes in topic tools configuration ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

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

  • refactor(planning): migrate planning design modules to autoware_planning_launch (#1967)

    * refactor(planning): migrate planning design modules to autoware_planning_launch Planning.module and its sub-modules move from autoware_sample_designs into autoware_planning_launch/design/module/, laid out on the same subtree as launch/.

    * chore(package): add Maxime CLEMENT as a maintainer in package.xml ---------

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

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

    * feat(planning): make the diffusion planner tracked objects topic

File truncated at 100 lines see the full file

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

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autoware_planning_launch package from autoware_launch repo

autoware_launch autoware_sample_designs autoware_control_config autoware_control_launch autoware_localization_config autoware_localization_launch autoware_map_config autoware_map_launch autoware_perception_config autoware_perception_launch autoware_planning_config autoware_planning_launch autoware_sensing_launch autoware_sensor_driver_launch awsim_labs_sensor_kit_description awsim_labs_sensor_kit_launch awsim_sensor_kit_description awsim_sensor_kit_launch carla_sensor_kit_description carla_sensor_kit_launch sample_sensor_kit_description sample_sensor_kit_launch single_lidar_sensor_kit_description single_lidar_sensor_kit_launch tier4_autoware_api_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch awsim_labs_vehicle_description awsim_labs_vehicle_launch sample_vehicle_description sample_vehicle_launch

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Package Summary

Version 0.53.0
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 2026-10-26
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_universe_launch/autoware_planning_launch/README.md

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

autoware_planning_launch

Launch files

  • planning.launch.xml — the entry point. It includes the module preset, resolves every parameter file, and pushes the planning namespace. planning_setting selects the trajectory source: rule_based runs scenario_planning/, diffusion_planner runs learning_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 the lane_driving and parking scenarios. lane_driving chains 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

0.53.0 (2026-10-13)

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

  • feat(autoware_sample_designs): compose the AD API, system and vehicle components from design modules (#1976)

    * fix(control, planning): connect the operation mode state and velocity limit inputs Wires collision_detector's operation_mode_state and remaining_distance_time_calculator's planning_velocity through the module designs; their node designs now declare the fixed topic names as remap targets.

    * fix(planning): connect the internal velocity limit path to the selector Forwards motion_velocity_planner's velocity_limit and clear_velocity_limit up to ScenarioPlanning and feeds them into external_velocity_limit_selector, whose internal inputs were unconnected.

    * fix(control, planning): connect the remaining module inputs to their sources Wires the operation mode transition manager's gate and selector inputs, the stop mode operator's vehicle status, the manual lane change handler's route availability and preferred primitive service, the parking costmap, and the route marker. Exposes the vehicle control mode service, the preferred lane service and the system hazard lights command as component interfaces.

    • fix(planning): follow the hazard lights selector input rename
    • fix(planning): add steering_status subscriber to various planning modules
    • feat(vehicle): add vehicle wrapper and launch file for vehicle interface
    • style(pre-commit): autofix
    • fix(planning): add planning factors publishers and connections for various modules
    • refactor(autoware_sample_designs): compose the AD API from design modules
    • Refactor ADAPI module structure and enhance planning factors
    • Updated AdapiRvizHelpers.module.yaml to include helper prefixes for instances and connections.
    • Modified AutowareSample.system.yaml to reorganize ADAPI components, introducing default_adapi for better structure.
    • Expanded planning factors in Planning.module.yaml, LaneDriving.module.yaml, ScenarioPlanning.module.yaml, and associated modules to include additional factors for improved behavior and motion planning.
    • Enhanced connections in behavior planning and motion planning modules to accommodate new planning factors.
    • Ensured consistency across scenario planning modules by aligning publisher and subscriber connections for new planning factors.
    • refactor: reorganize clients and servers in module configurations
    • fix(control): drop the collision detector operation mode link bound globally by the node design
    • implement system modules
    • vehicle modules and nodes, need validations
    • fix api topic remapped
    • reorganize to adapi and api
    • fix: update perception obstacle segmentation filters for clarity and functionality

    * refactor: update trigger conditions and outcomes in topic tools configuration ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

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

  • refactor(planning): migrate planning design modules to autoware_planning_launch (#1967)

    * refactor(planning): migrate planning design modules to autoware_planning_launch Planning.module and its sub-modules move from autoware_sample_designs into autoware_planning_launch/design/module/, laid out on the same subtree as launch/.

    * chore(package): add Maxime CLEMENT as a maintainer in package.xml ---------

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

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

    * feat(planning): make the diffusion planner tracked objects topic

File truncated at 100 lines see the full file

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

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No message files found.

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Plugins

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autoware_planning_launch package from autoware_launch repo

autoware_launch autoware_sample_designs autoware_control_config autoware_control_launch autoware_localization_config autoware_localization_launch autoware_map_config autoware_map_launch autoware_perception_config autoware_perception_launch autoware_planning_config autoware_planning_launch autoware_sensing_launch autoware_sensor_driver_launch awsim_labs_sensor_kit_description awsim_labs_sensor_kit_launch awsim_sensor_kit_description awsim_sensor_kit_launch carla_sensor_kit_description carla_sensor_kit_launch sample_sensor_kit_description sample_sensor_kit_launch single_lidar_sensor_kit_description single_lidar_sensor_kit_launch tier4_autoware_api_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch awsim_labs_vehicle_description awsim_labs_vehicle_launch sample_vehicle_description sample_vehicle_launch

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Package Summary

Version 0.53.0
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 2026-10-26
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_universe_launch/autoware_planning_launch/README.md

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

autoware_planning_launch

Launch files

  • planning.launch.xml — the entry point. It includes the module preset, resolves every parameter file, and pushes the planning namespace. planning_setting selects the trajectory source: rule_based runs scenario_planning/, diffusion_planner runs learning_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 the lane_driving and parking scenarios. lane_driving chains 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

0.53.0 (2026-10-13)

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

  • feat(autoware_sample_designs): compose the AD API, system and vehicle components from design modules (#1976)

    * fix(control, planning): connect the operation mode state and velocity limit inputs Wires collision_detector's operation_mode_state and remaining_distance_time_calculator's planning_velocity through the module designs; their node designs now declare the fixed topic names as remap targets.

    * fix(planning): connect the internal velocity limit path to the selector Forwards motion_velocity_planner's velocity_limit and clear_velocity_limit up to ScenarioPlanning and feeds them into external_velocity_limit_selector, whose internal inputs were unconnected.

    * fix(control, planning): connect the remaining module inputs to their sources Wires the operation mode transition manager's gate and selector inputs, the stop mode operator's vehicle status, the manual lane change handler's route availability and preferred primitive service, the parking costmap, and the route marker. Exposes the vehicle control mode service, the preferred lane service and the system hazard lights command as component interfaces.

    • fix(planning): follow the hazard lights selector input rename
    • fix(planning): add steering_status subscriber to various planning modules
    • feat(vehicle): add vehicle wrapper and launch file for vehicle interface
    • style(pre-commit): autofix
    • fix(planning): add planning factors publishers and connections for various modules
    • refactor(autoware_sample_designs): compose the AD API from design modules
    • Refactor ADAPI module structure and enhance planning factors
    • Updated AdapiRvizHelpers.module.yaml to include helper prefixes for instances and connections.
    • Modified AutowareSample.system.yaml to reorganize ADAPI components, introducing default_adapi for better structure.
    • Expanded planning factors in Planning.module.yaml, LaneDriving.module.yaml, ScenarioPlanning.module.yaml, and associated modules to include additional factors for improved behavior and motion planning.
    • Enhanced connections in behavior planning and motion planning modules to accommodate new planning factors.
    • Ensured consistency across scenario planning modules by aligning publisher and subscriber connections for new planning factors.
    • refactor: reorganize clients and servers in module configurations
    • fix(control): drop the collision detector operation mode link bound globally by the node design
    • implement system modules
    • vehicle modules and nodes, need validations
    • fix api topic remapped
    • reorganize to adapi and api
    • fix: update perception obstacle segmentation filters for clarity and functionality

    * refactor: update trigger conditions and outcomes in topic tools configuration ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

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

  • refactor(planning): migrate planning design modules to autoware_planning_launch (#1967)

    * refactor(planning): migrate planning design modules to autoware_planning_launch Planning.module and its sub-modules move from autoware_sample_designs into autoware_planning_launch/design/module/, laid out on the same subtree as launch/.

    * chore(package): add Maxime CLEMENT as a maintainer in package.xml ---------

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

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

    * feat(planning): make the diffusion planner tracked objects topic

File truncated at 100 lines see the full file

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

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autoware_planning_launch package from autoware_launch repo

autoware_launch autoware_sample_designs autoware_control_config autoware_control_launch autoware_localization_config autoware_localization_launch autoware_map_config autoware_map_launch autoware_perception_config autoware_perception_launch autoware_planning_config autoware_planning_launch autoware_sensing_launch autoware_sensor_driver_launch awsim_labs_sensor_kit_description awsim_labs_sensor_kit_launch awsim_sensor_kit_description awsim_sensor_kit_launch carla_sensor_kit_description carla_sensor_kit_launch sample_sensor_kit_description sample_sensor_kit_launch single_lidar_sensor_kit_description single_lidar_sensor_kit_launch tier4_autoware_api_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch awsim_labs_vehicle_description awsim_labs_vehicle_launch sample_vehicle_description sample_vehicle_launch

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Package Summary

Version 0.53.0
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 2026-10-26
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_universe_launch/autoware_planning_launch/README.md

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

autoware_planning_launch

Launch files

  • planning.launch.xml — the entry point. It includes the module preset, resolves every parameter file, and pushes the planning namespace. planning_setting selects the trajectory source: rule_based runs scenario_planning/, diffusion_planner runs learning_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 the lane_driving and parking scenarios. lane_driving chains 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

0.53.0 (2026-10-13)

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

  • feat(autoware_sample_designs): compose the AD API, system and vehicle components from design modules (#1976)

    * fix(control, planning): connect the operation mode state and velocity limit inputs Wires collision_detector's operation_mode_state and remaining_distance_time_calculator's planning_velocity through the module designs; their node designs now declare the fixed topic names as remap targets.

    * fix(planning): connect the internal velocity limit path to the selector Forwards motion_velocity_planner's velocity_limit and clear_velocity_limit up to ScenarioPlanning and feeds them into external_velocity_limit_selector, whose internal inputs were unconnected.

    * fix(control, planning): connect the remaining module inputs to their sources Wires the operation mode transition manager's gate and selector inputs, the stop mode operator's vehicle status, the manual lane change handler's route availability and preferred primitive service, the parking costmap, and the route marker. Exposes the vehicle control mode service, the preferred lane service and the system hazard lights command as component interfaces.

    • fix(planning): follow the hazard lights selector input rename
    • fix(planning): add steering_status subscriber to various planning modules
    • feat(vehicle): add vehicle wrapper and launch file for vehicle interface
    • style(pre-commit): autofix
    • fix(planning): add planning factors publishers and connections for various modules
    • refactor(autoware_sample_designs): compose the AD API from design modules
    • Refactor ADAPI module structure and enhance planning factors
    • Updated AdapiRvizHelpers.module.yaml to include helper prefixes for instances and connections.
    • Modified AutowareSample.system.yaml to reorganize ADAPI components, introducing default_adapi for better structure.
    • Expanded planning factors in Planning.module.yaml, LaneDriving.module.yaml, ScenarioPlanning.module.yaml, and associated modules to include additional factors for improved behavior and motion planning.
    • Enhanced connections in behavior planning and motion planning modules to accommodate new planning factors.
    • Ensured consistency across scenario planning modules by aligning publisher and subscriber connections for new planning factors.
    • refactor: reorganize clients and servers in module configurations
    • fix(control): drop the collision detector operation mode link bound globally by the node design
    • implement system modules
    • vehicle modules and nodes, need validations
    • fix api topic remapped
    • reorganize to adapi and api
    • fix: update perception obstacle segmentation filters for clarity and functionality

    * refactor: update trigger conditions and outcomes in topic tools configuration ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

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

  • refactor(planning): migrate planning design modules to autoware_planning_launch (#1967)

    * refactor(planning): migrate planning design modules to autoware_planning_launch Planning.module and its sub-modules move from autoware_sample_designs into autoware_planning_launch/design/module/, laid out on the same subtree as launch/.

    * chore(package): add Maxime CLEMENT as a maintainer in package.xml ---------

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

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

    * feat(planning): make the diffusion planner tracked objects topic

File truncated at 100 lines see the full file

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

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Plugins

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autoware_planning_launch package from autoware_launch repo

autoware_launch autoware_sample_designs autoware_control_config autoware_control_launch autoware_localization_config autoware_localization_launch autoware_map_config autoware_map_launch autoware_perception_config autoware_perception_launch autoware_planning_config autoware_planning_launch autoware_sensing_launch autoware_sensor_driver_launch awsim_labs_sensor_kit_description awsim_labs_sensor_kit_launch awsim_sensor_kit_description awsim_sensor_kit_launch carla_sensor_kit_description carla_sensor_kit_launch sample_sensor_kit_description sample_sensor_kit_launch single_lidar_sensor_kit_description single_lidar_sensor_kit_launch tier4_autoware_api_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch awsim_labs_vehicle_description awsim_labs_vehicle_launch sample_vehicle_description sample_vehicle_launch

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Package Summary

Version 0.53.0
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 2026-10-26
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_universe_launch/autoware_planning_launch/README.md

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

autoware_planning_launch

Launch files

  • planning.launch.xml — the entry point. It includes the module preset, resolves every parameter file, and pushes the planning namespace. planning_setting selects the trajectory source: rule_based runs scenario_planning/, diffusion_planner runs learning_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 the lane_driving and parking scenarios. lane_driving chains 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

0.53.0 (2026-10-13)

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

  • feat(autoware_sample_designs): compose the AD API, system and vehicle components from design modules (#1976)

    * fix(control, planning): connect the operation mode state and velocity limit inputs Wires collision_detector's operation_mode_state and remaining_distance_time_calculator's planning_velocity through the module designs; their node designs now declare the fixed topic names as remap targets.

    * fix(planning): connect the internal velocity limit path to the selector Forwards motion_velocity_planner's velocity_limit and clear_velocity_limit up to ScenarioPlanning and feeds them into external_velocity_limit_selector, whose internal inputs were unconnected.

    * fix(control, planning): connect the remaining module inputs to their sources Wires the operation mode transition manager's gate and selector inputs, the stop mode operator's vehicle status, the manual lane change handler's route availability and preferred primitive service, the parking costmap, and the route marker. Exposes the vehicle control mode service, the preferred lane service and the system hazard lights command as component interfaces.

    • fix(planning): follow the hazard lights selector input rename
    • fix(planning): add steering_status subscriber to various planning modules
    • feat(vehicle): add vehicle wrapper and launch file for vehicle interface
    • style(pre-commit): autofix
    • fix(planning): add planning factors publishers and connections for various modules
    • refactor(autoware_sample_designs): compose the AD API from design modules
    • Refactor ADAPI module structure and enhance planning factors
    • Updated AdapiRvizHelpers.module.yaml to include helper prefixes for instances and connections.
    • Modified AutowareSample.system.yaml to reorganize ADAPI components, introducing default_adapi for better structure.
    • Expanded planning factors in Planning.module.yaml, LaneDriving.module.yaml, ScenarioPlanning.module.yaml, and associated modules to include additional factors for improved behavior and motion planning.
    • Enhanced connections in behavior planning and motion planning modules to accommodate new planning factors.
    • Ensured consistency across scenario planning modules by aligning publisher and subscriber connections for new planning factors.
    • refactor: reorganize clients and servers in module configurations
    • fix(control): drop the collision detector operation mode link bound globally by the node design
    • implement system modules
    • vehicle modules and nodes, need validations
    • fix api topic remapped
    • reorganize to adapi and api
    • fix: update perception obstacle segmentation filters for clarity and functionality

    * refactor: update trigger conditions and outcomes in topic tools configuration ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

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

  • refactor(planning): migrate planning design modules to autoware_planning_launch (#1967)

    * refactor(planning): migrate planning design modules to autoware_planning_launch Planning.module and its sub-modules move from autoware_sample_designs into autoware_planning_launch/design/module/, laid out on the same subtree as launch/.

    * chore(package): add Maxime CLEMENT as a maintainer in package.xml ---------

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

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

    * feat(planning): make the diffusion planner tracked objects topic

File truncated at 100 lines see the full file

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

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Plugins

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autoware_planning_launch package from autoware_launch repo

autoware_launch autoware_sample_designs autoware_control_config autoware_control_launch autoware_localization_config autoware_localization_launch autoware_map_config autoware_map_launch autoware_perception_config autoware_perception_launch autoware_planning_config autoware_planning_launch autoware_sensing_launch autoware_sensor_driver_launch awsim_labs_sensor_kit_description awsim_labs_sensor_kit_launch awsim_sensor_kit_description awsim_sensor_kit_launch carla_sensor_kit_description carla_sensor_kit_launch sample_sensor_kit_description sample_sensor_kit_launch single_lidar_sensor_kit_description single_lidar_sensor_kit_launch tier4_autoware_api_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch awsim_labs_vehicle_description awsim_labs_vehicle_launch sample_vehicle_description sample_vehicle_launch

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Package Summary

Version 0.53.0
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 2026-10-26
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_universe_launch/autoware_planning_launch/README.md

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

autoware_planning_launch

Launch files

  • planning.launch.xml — the entry point. It includes the module preset, resolves every parameter file, and pushes the planning namespace. planning_setting selects the trajectory source: rule_based runs scenario_planning/, diffusion_planner runs learning_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 the lane_driving and parking scenarios. lane_driving chains 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

0.53.0 (2026-10-13)

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

  • feat(autoware_sample_designs): compose the AD API, system and vehicle components from design modules (#1976)

    * fix(control, planning): connect the operation mode state and velocity limit inputs Wires collision_detector's operation_mode_state and remaining_distance_time_calculator's planning_velocity through the module designs; their node designs now declare the fixed topic names as remap targets.

    * fix(planning): connect the internal velocity limit path to the selector Forwards motion_velocity_planner's velocity_limit and clear_velocity_limit up to ScenarioPlanning and feeds them into external_velocity_limit_selector, whose internal inputs were unconnected.

    * fix(control, planning): connect the remaining module inputs to their sources Wires the operation mode transition manager's gate and selector inputs, the stop mode operator's vehicle status, the manual lane change handler's route availability and preferred primitive service, the parking costmap, and the route marker. Exposes the vehicle control mode service, the preferred lane service and the system hazard lights command as component interfaces.

    • fix(planning): follow the hazard lights selector input rename
    • fix(planning): add steering_status subscriber to various planning modules
    • feat(vehicle): add vehicle wrapper and launch file for vehicle interface
    • style(pre-commit): autofix
    • fix(planning): add planning factors publishers and connections for various modules
    • refactor(autoware_sample_designs): compose the AD API from design modules
    • Refactor ADAPI module structure and enhance planning factors
    • Updated AdapiRvizHelpers.module.yaml to include helper prefixes for instances and connections.
    • Modified AutowareSample.system.yaml to reorganize ADAPI components, introducing default_adapi for better structure.
    • Expanded planning factors in Planning.module.yaml, LaneDriving.module.yaml, ScenarioPlanning.module.yaml, and associated modules to include additional factors for improved behavior and motion planning.
    • Enhanced connections in behavior planning and motion planning modules to accommodate new planning factors.
    • Ensured consistency across scenario planning modules by aligning publisher and subscriber connections for new planning factors.
    • refactor: reorganize clients and servers in module configurations
    • fix(control): drop the collision detector operation mode link bound globally by the node design
    • implement system modules
    • vehicle modules and nodes, need validations
    • fix api topic remapped
    • reorganize to adapi and api
    • fix: update perception obstacle segmentation filters for clarity and functionality

    * refactor: update trigger conditions and outcomes in topic tools configuration ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

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

  • refactor(planning): migrate planning design modules to autoware_planning_launch (#1967)

    * refactor(planning): migrate planning design modules to autoware_planning_launch Planning.module and its sub-modules move from autoware_sample_designs into autoware_planning_launch/design/module/, laid out on the same subtree as launch/.

    * chore(package): add Maxime CLEMENT as a maintainer in package.xml ---------

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

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

    * feat(planning): make the diffusion planner tracked objects topic

File truncated at 100 lines see the full file

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

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No message files found.

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Plugins

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autoware_planning_launch package from autoware_launch repo

autoware_launch autoware_sample_designs autoware_control_config autoware_control_launch autoware_localization_config autoware_localization_launch autoware_map_config autoware_map_launch autoware_perception_config autoware_perception_launch autoware_planning_config autoware_planning_launch autoware_sensing_launch autoware_sensor_driver_launch awsim_labs_sensor_kit_description awsim_labs_sensor_kit_launch awsim_sensor_kit_description awsim_sensor_kit_launch carla_sensor_kit_description carla_sensor_kit_launch sample_sensor_kit_description sample_sensor_kit_launch single_lidar_sensor_kit_description single_lidar_sensor_kit_launch tier4_autoware_api_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch awsim_labs_vehicle_description awsim_labs_vehicle_launch sample_vehicle_description sample_vehicle_launch

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Package Summary

Version 0.53.0
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 2026-10-26
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_universe_launch/autoware_planning_launch/README.md

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

autoware_planning_launch

Launch files

  • planning.launch.xml — the entry point. It includes the module preset, resolves every parameter file, and pushes the planning namespace. planning_setting selects the trajectory source: rule_based runs scenario_planning/, diffusion_planner runs learning_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 the lane_driving and parking scenarios. lane_driving chains 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

0.53.0 (2026-10-13)

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

  • feat(autoware_sample_designs): compose the AD API, system and vehicle components from design modules (#1976)

    * fix(control, planning): connect the operation mode state and velocity limit inputs Wires collision_detector's operation_mode_state and remaining_distance_time_calculator's planning_velocity through the module designs; their node designs now declare the fixed topic names as remap targets.

    * fix(planning): connect the internal velocity limit path to the selector Forwards motion_velocity_planner's velocity_limit and clear_velocity_limit up to ScenarioPlanning and feeds them into external_velocity_limit_selector, whose internal inputs were unconnected.

    * fix(control, planning): connect the remaining module inputs to their sources Wires the operation mode transition manager's gate and selector inputs, the stop mode operator's vehicle status, the manual lane change handler's route availability and preferred primitive service, the parking costmap, and the route marker. Exposes the vehicle control mode service, the preferred lane service and the system hazard lights command as component interfaces.

    • fix(planning): follow the hazard lights selector input rename
    • fix(planning): add steering_status subscriber to various planning modules
    • feat(vehicle): add vehicle wrapper and launch file for vehicle interface
    • style(pre-commit): autofix
    • fix(planning): add planning factors publishers and connections for various modules
    • refactor(autoware_sample_designs): compose the AD API from design modules
    • Refactor ADAPI module structure and enhance planning factors
    • Updated AdapiRvizHelpers.module.yaml to include helper prefixes for instances and connections.
    • Modified AutowareSample.system.yaml to reorganize ADAPI components, introducing default_adapi for better structure.
    • Expanded planning factors in Planning.module.yaml, LaneDriving.module.yaml, ScenarioPlanning.module.yaml, and associated modules to include additional factors for improved behavior and motion planning.
    • Enhanced connections in behavior planning and motion planning modules to accommodate new planning factors.
    • Ensured consistency across scenario planning modules by aligning publisher and subscriber connections for new planning factors.
    • refactor: reorganize clients and servers in module configurations
    • fix(control): drop the collision detector operation mode link bound globally by the node design
    • implement system modules
    • vehicle modules and nodes, need validations
    • fix api topic remapped
    • reorganize to adapi and api
    • fix: update perception obstacle segmentation filters for clarity and functionality

    * refactor: update trigger conditions and outcomes in topic tools configuration ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

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

  • refactor(planning): migrate planning design modules to autoware_planning_launch (#1967)

    * refactor(planning): migrate planning design modules to autoware_planning_launch Planning.module and its sub-modules move from autoware_sample_designs into autoware_planning_launch/design/module/, laid out on the same subtree as launch/.

    * chore(package): add Maxime CLEMENT as a maintainer in package.xml ---------

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

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

    * feat(planning): make the diffusion planner tracked objects topic

File truncated at 100 lines see the full file

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

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Plugins

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autoware_planning_launch package from autoware_launch repo

autoware_launch autoware_sample_designs autoware_control_config autoware_control_launch autoware_localization_config autoware_localization_launch autoware_map_config autoware_map_launch autoware_perception_config autoware_perception_launch autoware_planning_config autoware_planning_launch autoware_sensing_launch autoware_sensor_driver_launch awsim_labs_sensor_kit_description awsim_labs_sensor_kit_launch awsim_sensor_kit_description awsim_sensor_kit_launch carla_sensor_kit_description carla_sensor_kit_launch sample_sensor_kit_description sample_sensor_kit_launch single_lidar_sensor_kit_description single_lidar_sensor_kit_launch tier4_autoware_api_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch awsim_labs_vehicle_description awsim_labs_vehicle_launch sample_vehicle_description sample_vehicle_launch

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Package Summary

Version 0.53.0
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 2026-10-26
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_universe_launch/autoware_planning_launch/README.md

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

autoware_planning_launch

Launch files

  • planning.launch.xml — the entry point. It includes the module preset, resolves every parameter file, and pushes the planning namespace. planning_setting selects the trajectory source: rule_based runs scenario_planning/, diffusion_planner runs learning_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 the lane_driving and parking scenarios. lane_driving chains 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

0.53.0 (2026-10-13)

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

  • feat(autoware_sample_designs): compose the AD API, system and vehicle components from design modules (#1976)

    * fix(control, planning): connect the operation mode state and velocity limit inputs Wires collision_detector's operation_mode_state and remaining_distance_time_calculator's planning_velocity through the module designs; their node designs now declare the fixed topic names as remap targets.

    * fix(planning): connect the internal velocity limit path to the selector Forwards motion_velocity_planner's velocity_limit and clear_velocity_limit up to ScenarioPlanning and feeds them into external_velocity_limit_selector, whose internal inputs were unconnected.

    * fix(control, planning): connect the remaining module inputs to their sources Wires the operation mode transition manager's gate and selector inputs, the stop mode operator's vehicle status, the manual lane change handler's route availability and preferred primitive service, the parking costmap, and the route marker. Exposes the vehicle control mode service, the preferred lane service and the system hazard lights command as component interfaces.

    • fix(planning): follow the hazard lights selector input rename
    • fix(planning): add steering_status subscriber to various planning modules
    • feat(vehicle): add vehicle wrapper and launch file for vehicle interface
    • style(pre-commit): autofix
    • fix(planning): add planning factors publishers and connections for various modules
    • refactor(autoware_sample_designs): compose the AD API from design modules
    • Refactor ADAPI module structure and enhance planning factors
    • Updated AdapiRvizHelpers.module.yaml to include helper prefixes for instances and connections.
    • Modified AutowareSample.system.yaml to reorganize ADAPI components, introducing default_adapi for better structure.
    • Expanded planning factors in Planning.module.yaml, LaneDriving.module.yaml, ScenarioPlanning.module.yaml, and associated modules to include additional factors for improved behavior and motion planning.
    • Enhanced connections in behavior planning and motion planning modules to accommodate new planning factors.
    • Ensured consistency across scenario planning modules by aligning publisher and subscriber connections for new planning factors.
    • refactor: reorganize clients and servers in module configurations
    • fix(control): drop the collision detector operation mode link bound globally by the node design
    • implement system modules
    • vehicle modules and nodes, need validations
    • fix api topic remapped
    • reorganize to adapi and api
    • fix: update perception obstacle segmentation filters for clarity and functionality

    * refactor: update trigger conditions and outcomes in topic tools configuration ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

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

  • refactor(planning): migrate planning design modules to autoware_planning_launch (#1967)

    * refactor(planning): migrate planning design modules to autoware_planning_launch Planning.module and its sub-modules move from autoware_sample_designs into autoware_planning_launch/design/module/, laid out on the same subtree as launch/.

    * chore(package): add Maxime CLEMENT as a maintainer in package.xml ---------

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

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

    * feat(planning): make the diffusion planner tracked objects topic

File truncated at 100 lines see the full file

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

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Services

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Plugins

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