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autoware_planning_validator package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.47.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2025-08-16
Dev Status UNKNOWN
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

ros node for autoware_planning_validator

Additional Links

No additional links.

Maintainers

  • Takamasa Horibe
  • Kosuke Takeuchi
  • Kyoichi Sugahara
  • Alqudah Mohammad
  • Satoshi Ota

Authors

  • Takamasa Horibe
  • Yutaka Shimizu
planning/planning_validator/autoware_planning_validator/README.md

Planning Validator

The autoware_planning_validator node is the last module executed in the planning component, it responsible for checking the validity of the planning trajectory before it is published to control component. The status of the validation can be viewed in the /diagnostics and /validation_status topics. When an invalidity is detected, the autoware_planning_validator will process the trajectory following the selected option: “0. publish the trajectory as it is”, “1. stop publishing the trajectory”, “2. publish the last validated trajectory”.

The autoware_planning_validator node loads multiple plugins modules, each responsible for running specific validation checks on the planning trajectory:

  • Latency Checker: The autoware_planning_validator_latency_checker is responsible for checking the validity of planning trajectory age
  • Trajectory Checker: The autoware_planning_validator_trajectory_checker is responsible for checking the validity of planning trajectory shape
  • Intersection Collision Checker: The autoware_planning_validator_intersection_collision_checker is responsible for verifying planning trajectory does not result in collision at intersections
  • Rear Collision Checker: The autoware_planning_validator_rear_collision_checker is responsible for verifying planning trajectory does not result in collision with rear vehicles

autoware_planning_validator

Inputs/Outputs

Inputs

The autoware_planning_validator takes in the following inputs:

Name Type Description
~/input/kinematics nav_msgs/Odometry ego pose and twist
~/input/acceleration geometry_msgs/AccelWithCovarianceStamped current acceleration of the ego vehicle
~/input/trajectory autoware_planning_msgs/Trajectory target trajectory to be validated in this node
~/input/route autoware_planning_msgs/LaneletRoute route information
~/input/lanelet_map_bin autoware_map_msgs/LaneletMapBin lanelet vector map information
~/input/pointcloud sensor_msgs/PointCloud2 obstacle pointcloud with ground removed

Outputs

It outputs the following:

Name Type Description
~/output/trajectory autoware_planning_msgs/Trajectory validated trajectory
~/output/validation_status planning_validator/PlanningValidatorStatus validator status to inform the reason why the trajectory is valid/invalid
/diagnostics diagnostic_msgs/DiagnosticStatus diagnostics to report errors

Parameters

The following parameters can be set for the autoware_planning_validator:

Name Type Description Default value
default_handling_type int set default handling type for when invalidity is detected.
0: publish invalid traj as it is,
1: publish last valid traj,
2: publish last valid traj with soft stop		 0
publish_diag bool if true, diagnostics msg is published. true
diag_error_count_threshold int Number of consecutive invalid trajectories to set the Diag to ERROR. (Fe.g, threshold = 1 means, even if the trajectory is invalid, the Diag will not be ERROR if the next trajectory is valid.) 0
display_on_terminal bool show error msg on terminal true
soft_stop_deceleration double deceleration value to be used for soft stop action. [m/ss] -1.0
soft_stop_jerk_lim double jerk limit value to be used for soft stop action. [m/sss] 0.3
CHANGELOG

Changelog for package autoware_planning_validator

0.47.0 (2025-08-11)

  • feat: change planning output topic name to /planning/trajectory (#11135)

    • change planning output topic name to /planning/trajectory

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • fix(planning_validator): init validation status (#11119)

    • fix(planning_validator): init validation status

    * fix(control_validator): init validation status ---------

  • refactor(planning_validator): refactor planning validator configuration and error handling (#11081)

    • refactor trajectory check error handling
    • define set_diag_status function for each module locally

    * update documentation ---------

  • chore: sync files (#11091) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: M. Fatih Cırıt <<mfc@autoware.org>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • fix(planning_validator): suppress unnecessary error messages (#11007)

  • perf(planning_validator): switch planning_validator back to event driven (#10979) make planning_validator node event driven on trajectory msg

  • feat(intersection_collision_checker): improve icc debug markers (#10967)

    • add DebugData struct
    • refactor and publish debug info and markers
    • always publish lanelet debug markers
    • refactor debug markers code
    • remove unused functions
    • pass string by reference
    • set is_safe flag for rear_collision_checker debug data
    • fix for cpp check

    * add maintainer ---------

  • fix(planning_validator): fix conflict between trajectory shift and distance deviation checks (#10799)

    • use global is_critical_error flag for trajectory diagnostics update
    • add warning to readme

    * Update planning/planning_validator/autoware_planning_validator/README.md ---------

  • feat(intersection_collision_checker): improve feature to reduce false positive occurrence (#10899)

    • keep a map of already detected target lanelets
    • fix on/off time buffers logic
    • add debug marker to visualize colliding object
    • use resampled trajectory instead of raw trajectory
    • fix overlap index computation
    • fix on/off time buffers logic for rear collision checker
    • fix planning .pages file, fix format
    • update readme
    • ignore not moving pcd object

    * handle case when object is very close to overlap point ---------

  • fix: a launch mistake (#10891) fix mistake

  • feat(planning_validator): improve intersection collision checker implementation (#10839)

    • use parameter generator library
    • add pointcloud latency compensation
    • change msg field name
    • add readme file
    • add parameters dection to readme

File truncated at 100 lines see the full file

Launch files

  • launch/invalid_trajectory_publisher.launch.xml
      • input/trajectory [default: /planning/scenario_planning/velocity_smoother/trajectory]
      • output/trajectory [default: /planning/scenario_planning/velocity_smoother/trajectory]
  • launch/planning_validator.launch.xml
      • launch_latency_checker [default: true]
      • launch_trajectory_checker [default: true]
      • launch_intersection_collision_checker [default: true]
      • launch_rear_collision_checker [default: true]
      • launch_modules_list_end [default: ""]]
      • planning_validator_launch_modules [default: []
      • planning_validator_param_path [default: $(find-pkg-share autoware_planning_validator)/config/planning_validator.param.yaml]
      • planning_validator_latency_checker_param_path
      • planning_validator_trajectory_checker_param_path
      • planning_validator_intersection_collision_checker_param_path
      • planning_validator_rear_collision_checker_param_path
      • input_trajectory [default: /planning/scenario_planning/velocity_smoother/trajectory]
      • input_pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • input_route_topic_name [default: /planning/mission_planning/route]
      • input_vector_map_topic_name [default: /map/vector_map]
      • output_trajectory [default: /planning/trajectory]

Messages

Services

No service files found

Plugins

No plugins found.

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autoware_planning_validator package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.47.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2025-08-16
Dev Status UNKNOWN
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

ros node for autoware_planning_validator

Additional Links

No additional links.

Maintainers

  • Takamasa Horibe
  • Kosuke Takeuchi
  • Kyoichi Sugahara
  • Alqudah Mohammad
  • Satoshi Ota

Authors

  • Takamasa Horibe
  • Yutaka Shimizu
planning/planning_validator/autoware_planning_validator/README.md

Planning Validator

The autoware_planning_validator node is the last module executed in the planning component, it responsible for checking the validity of the planning trajectory before it is published to control component. The status of the validation can be viewed in the /diagnostics and /validation_status topics. When an invalidity is detected, the autoware_planning_validator will process the trajectory following the selected option: “0. publish the trajectory as it is”, “1. stop publishing the trajectory”, “2. publish the last validated trajectory”.

The autoware_planning_validator node loads multiple plugins modules, each responsible for running specific validation checks on the planning trajectory:

  • Latency Checker: The autoware_planning_validator_latency_checker is responsible for checking the validity of planning trajectory age
  • Trajectory Checker: The autoware_planning_validator_trajectory_checker is responsible for checking the validity of planning trajectory shape
  • Intersection Collision Checker: The autoware_planning_validator_intersection_collision_checker is responsible for verifying planning trajectory does not result in collision at intersections
  • Rear Collision Checker: The autoware_planning_validator_rear_collision_checker is responsible for verifying planning trajectory does not result in collision with rear vehicles

autoware_planning_validator

Inputs/Outputs

Inputs

The autoware_planning_validator takes in the following inputs:

Name Type Description
~/input/kinematics nav_msgs/Odometry ego pose and twist
~/input/acceleration geometry_msgs/AccelWithCovarianceStamped current acceleration of the ego vehicle
~/input/trajectory autoware_planning_msgs/Trajectory target trajectory to be validated in this node
~/input/route autoware_planning_msgs/LaneletRoute route information
~/input/lanelet_map_bin autoware_map_msgs/LaneletMapBin lanelet vector map information
~/input/pointcloud sensor_msgs/PointCloud2 obstacle pointcloud with ground removed

Outputs

It outputs the following:

Name Type Description
~/output/trajectory autoware_planning_msgs/Trajectory validated trajectory
~/output/validation_status planning_validator/PlanningValidatorStatus validator status to inform the reason why the trajectory is valid/invalid
/diagnostics diagnostic_msgs/DiagnosticStatus diagnostics to report errors

Parameters

The following parameters can be set for the autoware_planning_validator:

Name Type Description Default value
default_handling_type int set default handling type for when invalidity is detected.
0: publish invalid traj as it is,
1: publish last valid traj,
2: publish last valid traj with soft stop		 0
publish_diag bool if true, diagnostics msg is published. true
diag_error_count_threshold int Number of consecutive invalid trajectories to set the Diag to ERROR. (Fe.g, threshold = 1 means, even if the trajectory is invalid, the Diag will not be ERROR if the next trajectory is valid.) 0
display_on_terminal bool show error msg on terminal true
soft_stop_deceleration double deceleration value to be used for soft stop action. [m/ss] -1.0
soft_stop_jerk_lim double jerk limit value to be used for soft stop action. [m/sss] 0.3
CHANGELOG

Changelog for package autoware_planning_validator

0.47.0 (2025-08-11)

  • feat: change planning output topic name to /planning/trajectory (#11135)

    • change planning output topic name to /planning/trajectory

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • fix(planning_validator): init validation status (#11119)

    • fix(planning_validator): init validation status

    * fix(control_validator): init validation status ---------

  • refactor(planning_validator): refactor planning validator configuration and error handling (#11081)

    • refactor trajectory check error handling
    • define set_diag_status function for each module locally

    * update documentation ---------

  • chore: sync files (#11091) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: M. Fatih Cırıt <<mfc@autoware.org>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • fix(planning_validator): suppress unnecessary error messages (#11007)

  • perf(planning_validator): switch planning_validator back to event driven (#10979) make planning_validator node event driven on trajectory msg

  • feat(intersection_collision_checker): improve icc debug markers (#10967)

    • add DebugData struct
    • refactor and publish debug info and markers
    • always publish lanelet debug markers
    • refactor debug markers code
    • remove unused functions
    • pass string by reference
    • set is_safe flag for rear_collision_checker debug data
    • fix for cpp check

    * add maintainer ---------

  • fix(planning_validator): fix conflict between trajectory shift and distance deviation checks (#10799)

    • use global is_critical_error flag for trajectory diagnostics update
    • add warning to readme

    * Update planning/planning_validator/autoware_planning_validator/README.md ---------

  • feat(intersection_collision_checker): improve feature to reduce false positive occurrence (#10899)

    • keep a map of already detected target lanelets
    • fix on/off time buffers logic
    • add debug marker to visualize colliding object
    • use resampled trajectory instead of raw trajectory
    • fix overlap index computation
    • fix on/off time buffers logic for rear collision checker
    • fix planning .pages file, fix format
    • update readme
    • ignore not moving pcd object

    * handle case when object is very close to overlap point ---------

  • fix: a launch mistake (#10891) fix mistake

  • feat(planning_validator): improve intersection collision checker implementation (#10839)

    • use parameter generator library
    • add pointcloud latency compensation
    • change msg field name
    • add readme file
    • add parameters dection to readme

File truncated at 100 lines see the full file

Launch files

  • launch/invalid_trajectory_publisher.launch.xml
      • input/trajectory [default: /planning/scenario_planning/velocity_smoother/trajectory]
      • output/trajectory [default: /planning/scenario_planning/velocity_smoother/trajectory]
  • launch/planning_validator.launch.xml
      • launch_latency_checker [default: true]
      • launch_trajectory_checker [default: true]
      • launch_intersection_collision_checker [default: true]
      • launch_rear_collision_checker [default: true]
      • launch_modules_list_end [default: ""]]
      • planning_validator_launch_modules [default: []
      • planning_validator_param_path [default: $(find-pkg-share autoware_planning_validator)/config/planning_validator.param.yaml]
      • planning_validator_latency_checker_param_path
      • planning_validator_trajectory_checker_param_path
      • planning_validator_intersection_collision_checker_param_path
      • planning_validator_rear_collision_checker_param_path
      • input_trajectory [default: /planning/scenario_planning/velocity_smoother/trajectory]
      • input_pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • input_route_topic_name [default: /planning/mission_planning/route]
      • input_vector_map_topic_name [default: /map/vector_map]
      • output_trajectory [default: /planning/trajectory]

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_planning_validator at Robotics Stack Exchange

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autoware_planning_validator package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Tags No category tags.
Version 0.47.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2025-08-16
Dev Status UNKNOWN
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

ros node for autoware_planning_validator

Additional Links

No additional links.

Maintainers

  • Takamasa Horibe
  • Kosuke Takeuchi
  • Kyoichi Sugahara
  • Alqudah Mohammad
  • Satoshi Ota

Authors

  • Takamasa Horibe
  • Yutaka Shimizu
planning/planning_validator/autoware_planning_validator/README.md

Planning Validator

The autoware_planning_validator node is the last module executed in the planning component, it responsible for checking the validity of the planning trajectory before it is published to control component. The status of the validation can be viewed in the /diagnostics and /validation_status topics. When an invalidity is detected, the autoware_planning_validator will process the trajectory following the selected option: “0. publish the trajectory as it is”, “1. stop publishing the trajectory”, “2. publish the last validated trajectory”.

The autoware_planning_validator node loads multiple plugins modules, each responsible for running specific validation checks on the planning trajectory:

  • Latency Checker: The autoware_planning_validator_latency_checker is responsible for checking the validity of planning trajectory age
  • Trajectory Checker: The autoware_planning_validator_trajectory_checker is responsible for checking the validity of planning trajectory shape
  • Intersection Collision Checker: The autoware_planning_validator_intersection_collision_checker is responsible for verifying planning trajectory does not result in collision at intersections
  • Rear Collision Checker: The autoware_planning_validator_rear_collision_checker is responsible for verifying planning trajectory does not result in collision with rear vehicles

autoware_planning_validator

Inputs/Outputs

Inputs

The autoware_planning_validator takes in the following inputs:

Name Type Description
~/input/kinematics nav_msgs/Odometry ego pose and twist
~/input/acceleration geometry_msgs/AccelWithCovarianceStamped current acceleration of the ego vehicle
~/input/trajectory autoware_planning_msgs/Trajectory target trajectory to be validated in this node
~/input/route autoware_planning_msgs/LaneletRoute route information
~/input/lanelet_map_bin autoware_map_msgs/LaneletMapBin lanelet vector map information
~/input/pointcloud sensor_msgs/PointCloud2 obstacle pointcloud with ground removed

Outputs

It outputs the following:

Name Type Description
~/output/trajectory autoware_planning_msgs/Trajectory validated trajectory
~/output/validation_status planning_validator/PlanningValidatorStatus validator status to inform the reason why the trajectory is valid/invalid
/diagnostics diagnostic_msgs/DiagnosticStatus diagnostics to report errors

Parameters

The following parameters can be set for the autoware_planning_validator:

Name Type Description Default value
default_handling_type int set default handling type for when invalidity is detected.
0: publish invalid traj as it is,
1: publish last valid traj,
2: publish last valid traj with soft stop		 0
publish_diag bool if true, diagnostics msg is published. true
diag_error_count_threshold int Number of consecutive invalid trajectories to set the Diag to ERROR. (Fe.g, threshold = 1 means, even if the trajectory is invalid, the Diag will not be ERROR if the next trajectory is valid.) 0
display_on_terminal bool show error msg on terminal true
soft_stop_deceleration double deceleration value to be used for soft stop action. [m/ss] -1.0
soft_stop_jerk_lim double jerk limit value to be used for soft stop action. [m/sss] 0.3
CHANGELOG

Changelog for package autoware_planning_validator

0.47.0 (2025-08-11)

  • feat: change planning output topic name to /planning/trajectory (#11135)

    • change planning output topic name to /planning/trajectory

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • fix(planning_validator): init validation status (#11119)

    • fix(planning_validator): init validation status

    * fix(control_validator): init validation status ---------

  • refactor(planning_validator): refactor planning validator configuration and error handling (#11081)

    • refactor trajectory check error handling
    • define set_diag_status function for each module locally

    * update documentation ---------

  • chore: sync files (#11091) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: M. Fatih Cırıt <<mfc@autoware.org>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • fix(planning_validator): suppress unnecessary error messages (#11007)

  • perf(planning_validator): switch planning_validator back to event driven (#10979) make planning_validator node event driven on trajectory msg

  • feat(intersection_collision_checker): improve icc debug markers (#10967)

    • add DebugData struct
    • refactor and publish debug info and markers
    • always publish lanelet debug markers
    • refactor debug markers code
    • remove unused functions
    • pass string by reference
    • set is_safe flag for rear_collision_checker debug data
    • fix for cpp check

    * add maintainer ---------

  • fix(planning_validator): fix conflict between trajectory shift and distance deviation checks (#10799)

    • use global is_critical_error flag for trajectory diagnostics update
    • add warning to readme

    * Update planning/planning_validator/autoware_planning_validator/README.md ---------

  • feat(intersection_collision_checker): improve feature to reduce false positive occurrence (#10899)

    • keep a map of already detected target lanelets
    • fix on/off time buffers logic
    • add debug marker to visualize colliding object
    • use resampled trajectory instead of raw trajectory
    • fix overlap index computation
    • fix on/off time buffers logic for rear collision checker
    • fix planning .pages file, fix format
    • update readme
    • ignore not moving pcd object

    * handle case when object is very close to overlap point ---------

  • fix: a launch mistake (#10891) fix mistake

  • feat(planning_validator): improve intersection collision checker implementation (#10839)

    • use parameter generator library
    • add pointcloud latency compensation
    • change msg field name
    • add readme file
    • add parameters dection to readme

File truncated at 100 lines see the full file

Launch files

  • launch/invalid_trajectory_publisher.launch.xml
      • input/trajectory [default: /planning/scenario_planning/velocity_smoother/trajectory]
      • output/trajectory [default: /planning/scenario_planning/velocity_smoother/trajectory]
  • launch/planning_validator.launch.xml
      • launch_latency_checker [default: true]
      • launch_trajectory_checker [default: true]
      • launch_intersection_collision_checker [default: true]
      • launch_rear_collision_checker [default: true]
      • launch_modules_list_end [default: ""]]
      • planning_validator_launch_modules [default: []
      • planning_validator_param_path [default: $(find-pkg-share autoware_planning_validator)/config/planning_validator.param.yaml]
      • planning_validator_latency_checker_param_path
      • planning_validator_trajectory_checker_param_path
      • planning_validator_intersection_collision_checker_param_path
      • planning_validator_rear_collision_checker_param_path
      • input_trajectory [default: /planning/scenario_planning/velocity_smoother/trajectory]
      • input_pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • input_route_topic_name [default: /planning/mission_planning/route]
      • input_vector_map_topic_name [default: /map/vector_map]
      • output_trajectory [default: /planning/trajectory]

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_planning_validator at Robotics Stack Exchange

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autoware_planning_validator package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.47.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2025-08-16
Dev Status UNKNOWN
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

ros node for autoware_planning_validator

Additional Links

No additional links.

Maintainers

  • Takamasa Horibe
  • Kosuke Takeuchi
  • Kyoichi Sugahara
  • Alqudah Mohammad
  • Satoshi Ota

Authors

  • Takamasa Horibe
  • Yutaka Shimizu
planning/planning_validator/autoware_planning_validator/README.md

Planning Validator

The autoware_planning_validator node is the last module executed in the planning component, it responsible for checking the validity of the planning trajectory before it is published to control component. The status of the validation can be viewed in the /diagnostics and /validation_status topics. When an invalidity is detected, the autoware_planning_validator will process the trajectory following the selected option: “0. publish the trajectory as it is”, “1. stop publishing the trajectory”, “2. publish the last validated trajectory”.

The autoware_planning_validator node loads multiple plugins modules, each responsible for running specific validation checks on the planning trajectory:

  • Latency Checker: The autoware_planning_validator_latency_checker is responsible for checking the validity of planning trajectory age
  • Trajectory Checker: The autoware_planning_validator_trajectory_checker is responsible for checking the validity of planning trajectory shape
  • Intersection Collision Checker: The autoware_planning_validator_intersection_collision_checker is responsible for verifying planning trajectory does not result in collision at intersections
  • Rear Collision Checker: The autoware_planning_validator_rear_collision_checker is responsible for verifying planning trajectory does not result in collision with rear vehicles

autoware_planning_validator

Inputs/Outputs

Inputs

The autoware_planning_validator takes in the following inputs:

Name Type Description
~/input/kinematics nav_msgs/Odometry ego pose and twist
~/input/acceleration geometry_msgs/AccelWithCovarianceStamped current acceleration of the ego vehicle
~/input/trajectory autoware_planning_msgs/Trajectory target trajectory to be validated in this node
~/input/route autoware_planning_msgs/LaneletRoute route information
~/input/lanelet_map_bin autoware_map_msgs/LaneletMapBin lanelet vector map information
~/input/pointcloud sensor_msgs/PointCloud2 obstacle pointcloud with ground removed

Outputs

It outputs the following:

Name Type Description
~/output/trajectory autoware_planning_msgs/Trajectory validated trajectory
~/output/validation_status planning_validator/PlanningValidatorStatus validator status to inform the reason why the trajectory is valid/invalid
/diagnostics diagnostic_msgs/DiagnosticStatus diagnostics to report errors

Parameters

The following parameters can be set for the autoware_planning_validator:

Name Type Description Default value
default_handling_type int set default handling type for when invalidity is detected.
0: publish invalid traj as it is,
1: publish last valid traj,
2: publish last valid traj with soft stop		 0
publish_diag bool if true, diagnostics msg is published. true
diag_error_count_threshold int Number of consecutive invalid trajectories to set the Diag to ERROR. (Fe.g, threshold = 1 means, even if the trajectory is invalid, the Diag will not be ERROR if the next trajectory is valid.) 0
display_on_terminal bool show error msg on terminal true
soft_stop_deceleration double deceleration value to be used for soft stop action. [m/ss] -1.0
soft_stop_jerk_lim double jerk limit value to be used for soft stop action. [m/sss] 0.3
CHANGELOG

Changelog for package autoware_planning_validator

0.47.0 (2025-08-11)

  • feat: change planning output topic name to /planning/trajectory (#11135)

    • change planning output topic name to /planning/trajectory

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • fix(planning_validator): init validation status (#11119)

    • fix(planning_validator): init validation status

    * fix(control_validator): init validation status ---------

  • refactor(planning_validator): refactor planning validator configuration and error handling (#11081)

    • refactor trajectory check error handling
    • define set_diag_status function for each module locally

    * update documentation ---------

  • chore: sync files (#11091) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: M. Fatih Cırıt <<mfc@autoware.org>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • fix(planning_validator): suppress unnecessary error messages (#11007)

  • perf(planning_validator): switch planning_validator back to event driven (#10979) make planning_validator node event driven on trajectory msg

  • feat(intersection_collision_checker): improve icc debug markers (#10967)

    • add DebugData struct
    • refactor and publish debug info and markers
    • always publish lanelet debug markers
    • refactor debug markers code
    • remove unused functions
    • pass string by reference
    • set is_safe flag for rear_collision_checker debug data
    • fix for cpp check

    * add maintainer ---------

  • fix(planning_validator): fix conflict between trajectory shift and distance deviation checks (#10799)

    • use global is_critical_error flag for trajectory diagnostics update
    • add warning to readme

    * Update planning/planning_validator/autoware_planning_validator/README.md ---------

  • feat(intersection_collision_checker): improve feature to reduce false positive occurrence (#10899)

    • keep a map of already detected target lanelets
    • fix on/off time buffers logic
    • add debug marker to visualize colliding object
    • use resampled trajectory instead of raw trajectory
    • fix overlap index computation
    • fix on/off time buffers logic for rear collision checker
    • fix planning .pages file, fix format
    • update readme
    • ignore not moving pcd object

    * handle case when object is very close to overlap point ---------

  • fix: a launch mistake (#10891) fix mistake

  • feat(planning_validator): improve intersection collision checker implementation (#10839)

    • use parameter generator library
    • add pointcloud latency compensation
    • change msg field name
    • add readme file
    • add parameters dection to readme

File truncated at 100 lines see the full file

Launch files

  • launch/invalid_trajectory_publisher.launch.xml
      • input/trajectory [default: /planning/scenario_planning/velocity_smoother/trajectory]
      • output/trajectory [default: /planning/scenario_planning/velocity_smoother/trajectory]
  • launch/planning_validator.launch.xml
      • launch_latency_checker [default: true]
      • launch_trajectory_checker [default: true]
      • launch_intersection_collision_checker [default: true]
      • launch_rear_collision_checker [default: true]
      • launch_modules_list_end [default: ""]]
      • planning_validator_launch_modules [default: []
      • planning_validator_param_path [default: $(find-pkg-share autoware_planning_validator)/config/planning_validator.param.yaml]
      • planning_validator_latency_checker_param_path
      • planning_validator_trajectory_checker_param_path
      • planning_validator_intersection_collision_checker_param_path
      • planning_validator_rear_collision_checker_param_path
      • input_trajectory [default: /planning/scenario_planning/velocity_smoother/trajectory]
      • input_pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • input_route_topic_name [default: /planning/mission_planning/route]
      • input_vector_map_topic_name [default: /map/vector_map]
      • output_trajectory [default: /planning/trajectory]

Messages

Services

No service files found

Plugins

No plugins found.

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autoware_planning_validator package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.47.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2025-08-16
Dev Status UNKNOWN
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

ros node for autoware_planning_validator

Additional Links

No additional links.

Maintainers

  • Takamasa Horibe
  • Kosuke Takeuchi
  • Kyoichi Sugahara
  • Alqudah Mohammad
  • Satoshi Ota

Authors

  • Takamasa Horibe
  • Yutaka Shimizu
planning/planning_validator/autoware_planning_validator/README.md

Planning Validator

The autoware_planning_validator node is the last module executed in the planning component, it responsible for checking the validity of the planning trajectory before it is published to control component. The status of the validation can be viewed in the /diagnostics and /validation_status topics. When an invalidity is detected, the autoware_planning_validator will process the trajectory following the selected option: “0. publish the trajectory as it is”, “1. stop publishing the trajectory”, “2. publish the last validated trajectory”.

The autoware_planning_validator node loads multiple plugins modules, each responsible for running specific validation checks on the planning trajectory:

  • Latency Checker: The autoware_planning_validator_latency_checker is responsible for checking the validity of planning trajectory age
  • Trajectory Checker: The autoware_planning_validator_trajectory_checker is responsible for checking the validity of planning trajectory shape
  • Intersection Collision Checker: The autoware_planning_validator_intersection_collision_checker is responsible for verifying planning trajectory does not result in collision at intersections
  • Rear Collision Checker: The autoware_planning_validator_rear_collision_checker is responsible for verifying planning trajectory does not result in collision with rear vehicles

autoware_planning_validator

Inputs/Outputs

Inputs

The autoware_planning_validator takes in the following inputs:

Name Type Description
~/input/kinematics nav_msgs/Odometry ego pose and twist
~/input/acceleration geometry_msgs/AccelWithCovarianceStamped current acceleration of the ego vehicle
~/input/trajectory autoware_planning_msgs/Trajectory target trajectory to be validated in this node
~/input/route autoware_planning_msgs/LaneletRoute route information
~/input/lanelet_map_bin autoware_map_msgs/LaneletMapBin lanelet vector map information
~/input/pointcloud sensor_msgs/PointCloud2 obstacle pointcloud with ground removed

Outputs

It outputs the following:

Name Type Description
~/output/trajectory autoware_planning_msgs/Trajectory validated trajectory
~/output/validation_status planning_validator/PlanningValidatorStatus validator status to inform the reason why the trajectory is valid/invalid
/diagnostics diagnostic_msgs/DiagnosticStatus diagnostics to report errors

Parameters

The following parameters can be set for the autoware_planning_validator:

Name Type Description Default value
default_handling_type int set default handling type for when invalidity is detected.
0: publish invalid traj as it is,
1: publish last valid traj,
2: publish last valid traj with soft stop		 0
publish_diag bool if true, diagnostics msg is published. true
diag_error_count_threshold int Number of consecutive invalid trajectories to set the Diag to ERROR. (Fe.g, threshold = 1 means, even if the trajectory is invalid, the Diag will not be ERROR if the next trajectory is valid.) 0
display_on_terminal bool show error msg on terminal true
soft_stop_deceleration double deceleration value to be used for soft stop action. [m/ss] -1.0
soft_stop_jerk_lim double jerk limit value to be used for soft stop action. [m/sss] 0.3
CHANGELOG

Changelog for package autoware_planning_validator

0.47.0 (2025-08-11)

  • feat: change planning output topic name to /planning/trajectory (#11135)

    • change planning output topic name to /planning/trajectory

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • fix(planning_validator): init validation status (#11119)

    • fix(planning_validator): init validation status

    * fix(control_validator): init validation status ---------

  • refactor(planning_validator): refactor planning validator configuration and error handling (#11081)

    • refactor trajectory check error handling
    • define set_diag_status function for each module locally

    * update documentation ---------

  • chore: sync files (#11091) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: M. Fatih Cırıt <<mfc@autoware.org>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • fix(planning_validator): suppress unnecessary error messages (#11007)

  • perf(planning_validator): switch planning_validator back to event driven (#10979) make planning_validator node event driven on trajectory msg

  • feat(intersection_collision_checker): improve icc debug markers (#10967)

    • add DebugData struct
    • refactor and publish debug info and markers
    • always publish lanelet debug markers
    • refactor debug markers code
    • remove unused functions
    • pass string by reference
    • set is_safe flag for rear_collision_checker debug data
    • fix for cpp check

    * add maintainer ---------

  • fix(planning_validator): fix conflict between trajectory shift and distance deviation checks (#10799)

    • use global is_critical_error flag for trajectory diagnostics update
    • add warning to readme

    * Update planning/planning_validator/autoware_planning_validator/README.md ---------

  • feat(intersection_collision_checker): improve feature to reduce false positive occurrence (#10899)

    • keep a map of already detected target lanelets
    • fix on/off time buffers logic
    • add debug marker to visualize colliding object
    • use resampled trajectory instead of raw trajectory
    • fix overlap index computation
    • fix on/off time buffers logic for rear collision checker
    • fix planning .pages file, fix format
    • update readme
    • ignore not moving pcd object

    * handle case when object is very close to overlap point ---------

  • fix: a launch mistake (#10891) fix mistake

  • feat(planning_validator): improve intersection collision checker implementation (#10839)

    • use parameter generator library
    • add pointcloud latency compensation
    • change msg field name
    • add readme file
    • add parameters dection to readme

File truncated at 100 lines see the full file

Launch files

  • launch/invalid_trajectory_publisher.launch.xml
      • input/trajectory [default: /planning/scenario_planning/velocity_smoother/trajectory]
      • output/trajectory [default: /planning/scenario_planning/velocity_smoother/trajectory]
  • launch/planning_validator.launch.xml
      • launch_latency_checker [default: true]
      • launch_trajectory_checker [default: true]
      • launch_intersection_collision_checker [default: true]
      • launch_rear_collision_checker [default: true]
      • launch_modules_list_end [default: ""]]
      • planning_validator_launch_modules [default: []
      • planning_validator_param_path [default: $(find-pkg-share autoware_planning_validator)/config/planning_validator.param.yaml]
      • planning_validator_latency_checker_param_path
      • planning_validator_trajectory_checker_param_path
      • planning_validator_intersection_collision_checker_param_path
      • planning_validator_rear_collision_checker_param_path
      • input_trajectory [default: /planning/scenario_planning/velocity_smoother/trajectory]
      • input_pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • input_route_topic_name [default: /planning/mission_planning/route]
      • input_vector_map_topic_name [default: /map/vector_map]
      • output_trajectory [default: /planning/trajectory]

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_planning_validator at Robotics Stack Exchange

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autoware_planning_validator package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Tags No category tags.
Version 0.47.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2025-08-16
Dev Status UNKNOWN
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

ros node for autoware_planning_validator

Additional Links

No additional links.

Maintainers

  • Takamasa Horibe
  • Kosuke Takeuchi
  • Kyoichi Sugahara
  • Alqudah Mohammad
  • Satoshi Ota

Authors

  • Takamasa Horibe
  • Yutaka Shimizu
planning/planning_validator/autoware_planning_validator/README.md

Planning Validator

The autoware_planning_validator node is the last module executed in the planning component, it responsible for checking the validity of the planning trajectory before it is published to control component. The status of the validation can be viewed in the /diagnostics and /validation_status topics. When an invalidity is detected, the autoware_planning_validator will process the trajectory following the selected option: “0. publish the trajectory as it is”, “1. stop publishing the trajectory”, “2. publish the last validated trajectory”.

The autoware_planning_validator node loads multiple plugins modules, each responsible for running specific validation checks on the planning trajectory:

  • Latency Checker: The autoware_planning_validator_latency_checker is responsible for checking the validity of planning trajectory age
  • Trajectory Checker: The autoware_planning_validator_trajectory_checker is responsible for checking the validity of planning trajectory shape
  • Intersection Collision Checker: The autoware_planning_validator_intersection_collision_checker is responsible for verifying planning trajectory does not result in collision at intersections
  • Rear Collision Checker: The autoware_planning_validator_rear_collision_checker is responsible for verifying planning trajectory does not result in collision with rear vehicles

autoware_planning_validator

Inputs/Outputs

Inputs

The autoware_planning_validator takes in the following inputs:

Name Type Description
~/input/kinematics nav_msgs/Odometry ego pose and twist
~/input/acceleration geometry_msgs/AccelWithCovarianceStamped current acceleration of the ego vehicle
~/input/trajectory autoware_planning_msgs/Trajectory target trajectory to be validated in this node
~/input/route autoware_planning_msgs/LaneletRoute route information
~/input/lanelet_map_bin autoware_map_msgs/LaneletMapBin lanelet vector map information
~/input/pointcloud sensor_msgs/PointCloud2 obstacle pointcloud with ground removed

Outputs

It outputs the following:

Name Type Description
~/output/trajectory autoware_planning_msgs/Trajectory validated trajectory
~/output/validation_status planning_validator/PlanningValidatorStatus validator status to inform the reason why the trajectory is valid/invalid
/diagnostics diagnostic_msgs/DiagnosticStatus diagnostics to report errors

Parameters

The following parameters can be set for the autoware_planning_validator:

Name Type Description Default value
default_handling_type int set default handling type for when invalidity is detected.
0: publish invalid traj as it is,
1: publish last valid traj,
2: publish last valid traj with soft stop		 0
publish_diag bool if true, diagnostics msg is published. true
diag_error_count_threshold int Number of consecutive invalid trajectories to set the Diag to ERROR. (Fe.g, threshold = 1 means, even if the trajectory is invalid, the Diag will not be ERROR if the next trajectory is valid.) 0
display_on_terminal bool show error msg on terminal true
soft_stop_deceleration double deceleration value to be used for soft stop action. [m/ss] -1.0
soft_stop_jerk_lim double jerk limit value to be used for soft stop action. [m/sss] 0.3
CHANGELOG

Changelog for package autoware_planning_validator

0.47.0 (2025-08-11)

  • feat: change planning output topic name to /planning/trajectory (#11135)

    • change planning output topic name to /planning/trajectory

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • fix(planning_validator): init validation status (#11119)

    • fix(planning_validator): init validation status

    * fix(control_validator): init validation status ---------

  • refactor(planning_validator): refactor planning validator configuration and error handling (#11081)

    • refactor trajectory check error handling
    • define set_diag_status function for each module locally

    * update documentation ---------

  • chore: sync files (#11091) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: M. Fatih Cırıt <<mfc@autoware.org>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • fix(planning_validator): suppress unnecessary error messages (#11007)

  • perf(planning_validator): switch planning_validator back to event driven (#10979) make planning_validator node event driven on trajectory msg

  • feat(intersection_collision_checker): improve icc debug markers (#10967)

    • add DebugData struct
    • refactor and publish debug info and markers
    • always publish lanelet debug markers
    • refactor debug markers code
    • remove unused functions
    • pass string by reference
    • set is_safe flag for rear_collision_checker debug data
    • fix for cpp check

    * add maintainer ---------

  • fix(planning_validator): fix conflict between trajectory shift and distance deviation checks (#10799)

    • use global is_critical_error flag for trajectory diagnostics update
    • add warning to readme

    * Update planning/planning_validator/autoware_planning_validator/README.md ---------

  • feat(intersection_collision_checker): improve feature to reduce false positive occurrence (#10899)

    • keep a map of already detected target lanelets
    • fix on/off time buffers logic
    • add debug marker to visualize colliding object
    • use resampled trajectory instead of raw trajectory
    • fix overlap index computation
    • fix on/off time buffers logic for rear collision checker
    • fix planning .pages file, fix format
    • update readme
    • ignore not moving pcd object

    * handle case when object is very close to overlap point ---------

  • fix: a launch mistake (#10891) fix mistake

  • feat(planning_validator): improve intersection collision checker implementation (#10839)

    • use parameter generator library
    • add pointcloud latency compensation
    • change msg field name
    • add readme file
    • add parameters dection to readme

File truncated at 100 lines see the full file

Launch files

  • launch/invalid_trajectory_publisher.launch.xml
      • input/trajectory [default: /planning/scenario_planning/velocity_smoother/trajectory]
      • output/trajectory [default: /planning/scenario_planning/velocity_smoother/trajectory]
  • launch/planning_validator.launch.xml
      • launch_latency_checker [default: true]
      • launch_trajectory_checker [default: true]
      • launch_intersection_collision_checker [default: true]
      • launch_rear_collision_checker [default: true]
      • launch_modules_list_end [default: ""]]
      • planning_validator_launch_modules [default: []
      • planning_validator_param_path [default: $(find-pkg-share autoware_planning_validator)/config/planning_validator.param.yaml]
      • planning_validator_latency_checker_param_path
      • planning_validator_trajectory_checker_param_path
      • planning_validator_intersection_collision_checker_param_path
      • planning_validator_rear_collision_checker_param_path
      • input_trajectory [default: /planning/scenario_planning/velocity_smoother/trajectory]
      • input_pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • input_route_topic_name [default: /planning/mission_planning/route]
      • input_vector_map_topic_name [default: /map/vector_map]
      • output_trajectory [default: /planning/trajectory]

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_planning_validator at Robotics Stack Exchange

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autoware_planning_validator package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Tags No category tags.
Version 0.47.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2025-08-16
Dev Status UNKNOWN
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

ros node for autoware_planning_validator

Additional Links

No additional links.

Maintainers

  • Takamasa Horibe
  • Kosuke Takeuchi
  • Kyoichi Sugahara
  • Alqudah Mohammad
  • Satoshi Ota

Authors

  • Takamasa Horibe
  • Yutaka Shimizu
planning/planning_validator/autoware_planning_validator/README.md

Planning Validator

The autoware_planning_validator node is the last module executed in the planning component, it responsible for checking the validity of the planning trajectory before it is published to control component. The status of the validation can be viewed in the /diagnostics and /validation_status topics. When an invalidity is detected, the autoware_planning_validator will process the trajectory following the selected option: “0. publish the trajectory as it is”, “1. stop publishing the trajectory”, “2. publish the last validated trajectory”.

The autoware_planning_validator node loads multiple plugins modules, each responsible for running specific validation checks on the planning trajectory:

  • Latency Checker: The autoware_planning_validator_latency_checker is responsible for checking the validity of planning trajectory age
  • Trajectory Checker: The autoware_planning_validator_trajectory_checker is responsible for checking the validity of planning trajectory shape
  • Intersection Collision Checker: The autoware_planning_validator_intersection_collision_checker is responsible for verifying planning trajectory does not result in collision at intersections
  • Rear Collision Checker: The autoware_planning_validator_rear_collision_checker is responsible for verifying planning trajectory does not result in collision with rear vehicles

autoware_planning_validator

Inputs/Outputs

Inputs

The autoware_planning_validator takes in the following inputs:

Name Type Description
~/input/kinematics nav_msgs/Odometry ego pose and twist
~/input/acceleration geometry_msgs/AccelWithCovarianceStamped current acceleration of the ego vehicle
~/input/trajectory autoware_planning_msgs/Trajectory target trajectory to be validated in this node
~/input/route autoware_planning_msgs/LaneletRoute route information
~/input/lanelet_map_bin autoware_map_msgs/LaneletMapBin lanelet vector map information
~/input/pointcloud sensor_msgs/PointCloud2 obstacle pointcloud with ground removed

Outputs

It outputs the following:

Name Type Description
~/output/trajectory autoware_planning_msgs/Trajectory validated trajectory
~/output/validation_status planning_validator/PlanningValidatorStatus validator status to inform the reason why the trajectory is valid/invalid
/diagnostics diagnostic_msgs/DiagnosticStatus diagnostics to report errors

Parameters

The following parameters can be set for the autoware_planning_validator:

Name Type Description Default value
default_handling_type int set default handling type for when invalidity is detected.
0: publish invalid traj as it is,
1: publish last valid traj,
2: publish last valid traj with soft stop		 0
publish_diag bool if true, diagnostics msg is published. true
diag_error_count_threshold int Number of consecutive invalid trajectories to set the Diag to ERROR. (Fe.g, threshold = 1 means, even if the trajectory is invalid, the Diag will not be ERROR if the next trajectory is valid.) 0
display_on_terminal bool show error msg on terminal true
soft_stop_deceleration double deceleration value to be used for soft stop action. [m/ss] -1.0
soft_stop_jerk_lim double jerk limit value to be used for soft stop action. [m/sss] 0.3
CHANGELOG

Changelog for package autoware_planning_validator

0.47.0 (2025-08-11)

  • feat: change planning output topic name to /planning/trajectory (#11135)

    • change planning output topic name to /planning/trajectory

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • fix(planning_validator): init validation status (#11119)

    • fix(planning_validator): init validation status

    * fix(control_validator): init validation status ---------

  • refactor(planning_validator): refactor planning validator configuration and error handling (#11081)

    • refactor trajectory check error handling
    • define set_diag_status function for each module locally

    * update documentation ---------

  • chore: sync files (#11091) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: M. Fatih Cırıt <<mfc@autoware.org>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • fix(planning_validator): suppress unnecessary error messages (#11007)

  • perf(planning_validator): switch planning_validator back to event driven (#10979) make planning_validator node event driven on trajectory msg

  • feat(intersection_collision_checker): improve icc debug markers (#10967)

    • add DebugData struct
    • refactor and publish debug info and markers
    • always publish lanelet debug markers
    • refactor debug markers code
    • remove unused functions
    • pass string by reference
    • set is_safe flag for rear_collision_checker debug data
    • fix for cpp check

    * add maintainer ---------

  • fix(planning_validator): fix conflict between trajectory shift and distance deviation checks (#10799)

    • use global is_critical_error flag for trajectory diagnostics update
    • add warning to readme

    * Update planning/planning_validator/autoware_planning_validator/README.md ---------

  • feat(intersection_collision_checker): improve feature to reduce false positive occurrence (#10899)

    • keep a map of already detected target lanelets
    • fix on/off time buffers logic
    • add debug marker to visualize colliding object
    • use resampled trajectory instead of raw trajectory
    • fix overlap index computation
    • fix on/off time buffers logic for rear collision checker
    • fix planning .pages file, fix format
    • update readme
    • ignore not moving pcd object

    * handle case when object is very close to overlap point ---------

  • fix: a launch mistake (#10891) fix mistake

  • feat(planning_validator): improve intersection collision checker implementation (#10839)

    • use parameter generator library
    • add pointcloud latency compensation
    • change msg field name
    • add readme file
    • add parameters dection to readme

File truncated at 100 lines see the full file

Launch files

  • launch/invalid_trajectory_publisher.launch.xml
      • input/trajectory [default: /planning/scenario_planning/velocity_smoother/trajectory]
      • output/trajectory [default: /planning/scenario_planning/velocity_smoother/trajectory]
  • launch/planning_validator.launch.xml
      • launch_latency_checker [default: true]
      • launch_trajectory_checker [default: true]
      • launch_intersection_collision_checker [default: true]
      • launch_rear_collision_checker [default: true]
      • launch_modules_list_end [default: ""]]
      • planning_validator_launch_modules [default: []
      • planning_validator_param_path [default: $(find-pkg-share autoware_planning_validator)/config/planning_validator.param.yaml]
      • planning_validator_latency_checker_param_path
      • planning_validator_trajectory_checker_param_path
      • planning_validator_intersection_collision_checker_param_path
      • planning_validator_rear_collision_checker_param_path
      • input_trajectory [default: /planning/scenario_planning/velocity_smoother/trajectory]
      • input_pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • input_route_topic_name [default: /planning/mission_planning/route]
      • input_vector_map_topic_name [default: /map/vector_map]
      • output_trajectory [default: /planning/trajectory]

Messages

Services

No service files found

Plugins

No plugins found.

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autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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github

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 0.47.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2025-08-16
Dev Status UNKNOWN
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

ros node for autoware_planning_validator

Additional Links

No additional links.

Maintainers

  • Takamasa Horibe
  • Kosuke Takeuchi
  • Kyoichi Sugahara
  • Alqudah Mohammad
  • Satoshi Ota

Authors

  • Takamasa Horibe
  • Yutaka Shimizu
planning/planning_validator/autoware_planning_validator/README.md

Planning Validator

The autoware_planning_validator node is the last module executed in the planning component, it responsible for checking the validity of the planning trajectory before it is published to control component. The status of the validation can be viewed in the /diagnostics and /validation_status topics. When an invalidity is detected, the autoware_planning_validator will process the trajectory following the selected option: “0. publish the trajectory as it is”, “1. stop publishing the trajectory”, “2. publish the last validated trajectory”.

The autoware_planning_validator node loads multiple plugins modules, each responsible for running specific validation checks on the planning trajectory:

  • Latency Checker: The autoware_planning_validator_latency_checker is responsible for checking the validity of planning trajectory age
  • Trajectory Checker: The autoware_planning_validator_trajectory_checker is responsible for checking the validity of planning trajectory shape
  • Intersection Collision Checker: The autoware_planning_validator_intersection_collision_checker is responsible for verifying planning trajectory does not result in collision at intersections
  • Rear Collision Checker: The autoware_planning_validator_rear_collision_checker is responsible for verifying planning trajectory does not result in collision with rear vehicles

autoware_planning_validator

Inputs/Outputs

Inputs

The autoware_planning_validator takes in the following inputs:

Name Type Description
~/input/kinematics nav_msgs/Odometry ego pose and twist
~/input/acceleration geometry_msgs/AccelWithCovarianceStamped current acceleration of the ego vehicle
~/input/trajectory autoware_planning_msgs/Trajectory target trajectory to be validated in this node
~/input/route autoware_planning_msgs/LaneletRoute route information
~/input/lanelet_map_bin autoware_map_msgs/LaneletMapBin lanelet vector map information
~/input/pointcloud sensor_msgs/PointCloud2 obstacle pointcloud with ground removed

Outputs

It outputs the following:

Name Type Description
~/output/trajectory autoware_planning_msgs/Trajectory validated trajectory
~/output/validation_status planning_validator/PlanningValidatorStatus validator status to inform the reason why the trajectory is valid/invalid
/diagnostics diagnostic_msgs/DiagnosticStatus diagnostics to report errors

Parameters

The following parameters can be set for the autoware_planning_validator:

Name Type Description Default value
default_handling_type int set default handling type for when invalidity is detected.
0: publish invalid traj as it is,
1: publish last valid traj,
2: publish last valid traj with soft stop		 0
publish_diag bool if true, diagnostics msg is published. true
diag_error_count_threshold int Number of consecutive invalid trajectories to set the Diag to ERROR. (Fe.g, threshold = 1 means, even if the trajectory is invalid, the Diag will not be ERROR if the next trajectory is valid.) 0
display_on_terminal bool show error msg on terminal true
soft_stop_deceleration double deceleration value to be used for soft stop action. [m/ss] -1.0
soft_stop_jerk_lim double jerk limit value to be used for soft stop action. [m/sss] 0.3
CHANGELOG

Changelog for package autoware_planning_validator

0.47.0 (2025-08-11)

  • feat: change planning output topic name to /planning/trajectory (#11135)

    • change planning output topic name to /planning/trajectory

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • fix(planning_validator): init validation status (#11119)

    • fix(planning_validator): init validation status

    * fix(control_validator): init validation status ---------

  • refactor(planning_validator): refactor planning validator configuration and error handling (#11081)

    • refactor trajectory check error handling
    • define set_diag_status function for each module locally

    * update documentation ---------

  • chore: sync files (#11091) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: M. Fatih Cırıt <<mfc@autoware.org>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • fix(planning_validator): suppress unnecessary error messages (#11007)

  • perf(planning_validator): switch planning_validator back to event driven (#10979) make planning_validator node event driven on trajectory msg

  • feat(intersection_collision_checker): improve icc debug markers (#10967)

    • add DebugData struct
    • refactor and publish debug info and markers
    • always publish lanelet debug markers
    • refactor debug markers code
    • remove unused functions
    • pass string by reference
    • set is_safe flag for rear_collision_checker debug data
    • fix for cpp check

    * add maintainer ---------

  • fix(planning_validator): fix conflict between trajectory shift and distance deviation checks (#10799)

    • use global is_critical_error flag for trajectory diagnostics update
    • add warning to readme

    * Update planning/planning_validator/autoware_planning_validator/README.md ---------

  • feat(intersection_collision_checker): improve feature to reduce false positive occurrence (#10899)

    • keep a map of already detected target lanelets
    • fix on/off time buffers logic
    • add debug marker to visualize colliding object
    • use resampled trajectory instead of raw trajectory
    • fix overlap index computation
    • fix on/off time buffers logic for rear collision checker
    • fix planning .pages file, fix format
    • update readme
    • ignore not moving pcd object

    * handle case when object is very close to overlap point ---------

  • fix: a launch mistake (#10891) fix mistake

  • feat(planning_validator): improve intersection collision checker implementation (#10839)

    • use parameter generator library
    • add pointcloud latency compensation
    • change msg field name
    • add readme file
    • add parameters dection to readme

File truncated at 100 lines see the full file

Launch files

  • launch/invalid_trajectory_publisher.launch.xml
      • input/trajectory [default: /planning/scenario_planning/velocity_smoother/trajectory]
      • output/trajectory [default: /planning/scenario_planning/velocity_smoother/trajectory]
  • launch/planning_validator.launch.xml
      • launch_latency_checker [default: true]
      • launch_trajectory_checker [default: true]
      • launch_intersection_collision_checker [default: true]
      • launch_rear_collision_checker [default: true]
      • launch_modules_list_end [default: ""]]
      • planning_validator_launch_modules [default: []
      • planning_validator_param_path [default: $(find-pkg-share autoware_planning_validator)/config/planning_validator.param.yaml]
      • planning_validator_latency_checker_param_path
      • planning_validator_trajectory_checker_param_path
      • planning_validator_intersection_collision_checker_param_path
      • planning_validator_rear_collision_checker_param_path
      • input_trajectory [default: /planning/scenario_planning/velocity_smoother/trajectory]
      • input_pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • input_route_topic_name [default: /planning/mission_planning/route]
      • input_vector_map_topic_name [default: /map/vector_map]
      • output_trajectory [default: /planning/trajectory]

Messages

Services

No service files found

Plugins

No plugins found.

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autoware_planning_validator package from autoware_universe repo

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autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer 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autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor 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Package Summary

Tags No category tags.
Version 0.47.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2025-08-16
Dev Status UNKNOWN
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

ros node for autoware_planning_validator

Additional Links

No additional links.

Maintainers

  • Takamasa Horibe
  • Kosuke Takeuchi
  • Kyoichi Sugahara
  • Alqudah Mohammad
  • Satoshi Ota

Authors

  • Takamasa Horibe
  • Yutaka Shimizu
planning/planning_validator/autoware_planning_validator/README.md

Planning Validator

The autoware_planning_validator node is the last module executed in the planning component, it responsible for checking the validity of the planning trajectory before it is published to control component. The status of the validation can be viewed in the /diagnostics and /validation_status topics. When an invalidity is detected, the autoware_planning_validator will process the trajectory following the selected option: “0. publish the trajectory as it is”, “1. stop publishing the trajectory”, “2. publish the last validated trajectory”.

The autoware_planning_validator node loads multiple plugins modules, each responsible for running specific validation checks on the planning trajectory:

  • Latency Checker: The autoware_planning_validator_latency_checker is responsible for checking the validity of planning trajectory age
  • Trajectory Checker: The autoware_planning_validator_trajectory_checker is responsible for checking the validity of planning trajectory shape
  • Intersection Collision Checker: The autoware_planning_validator_intersection_collision_checker is responsible for verifying planning trajectory does not result in collision at intersections
  • Rear Collision Checker: The autoware_planning_validator_rear_collision_checker is responsible for verifying planning trajectory does not result in collision with rear vehicles

autoware_planning_validator

Inputs/Outputs

Inputs

The autoware_planning_validator takes in the following inputs:

Name Type Description
~/input/kinematics nav_msgs/Odometry ego pose and twist
~/input/acceleration geometry_msgs/AccelWithCovarianceStamped current acceleration of the ego vehicle
~/input/trajectory autoware_planning_msgs/Trajectory target trajectory to be validated in this node
~/input/route autoware_planning_msgs/LaneletRoute route information
~/input/lanelet_map_bin autoware_map_msgs/LaneletMapBin lanelet vector map information
~/input/pointcloud sensor_msgs/PointCloud2 obstacle pointcloud with ground removed

Outputs

It outputs the following:

Name Type Description
~/output/trajectory autoware_planning_msgs/Trajectory validated trajectory
~/output/validation_status planning_validator/PlanningValidatorStatus validator status to inform the reason why the trajectory is valid/invalid
/diagnostics diagnostic_msgs/DiagnosticStatus diagnostics to report errors

Parameters

The following parameters can be set for the autoware_planning_validator:

Name Type Description Default value
default_handling_type int set default handling type for when invalidity is detected.
0: publish invalid traj as it is,
1: publish last valid traj,
2: publish last valid traj with soft stop		 0
publish_diag bool if true, diagnostics msg is published. true
diag_error_count_threshold int Number of consecutive invalid trajectories to set the Diag to ERROR. (Fe.g, threshold = 1 means, even if the trajectory is invalid, the Diag will not be ERROR if the next trajectory is valid.) 0
display_on_terminal bool show error msg on terminal true
soft_stop_deceleration double deceleration value to be used for soft stop action. [m/ss] -1.0
soft_stop_jerk_lim double jerk limit value to be used for soft stop action. [m/sss] 0.3
CHANGELOG

Changelog for package autoware_planning_validator

0.47.0 (2025-08-11)

  • feat: change planning output topic name to /planning/trajectory (#11135)

    • change planning output topic name to /planning/trajectory

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • fix(planning_validator): init validation status (#11119)

    • fix(planning_validator): init validation status

    * fix(control_validator): init validation status ---------

  • refactor(planning_validator): refactor planning validator configuration and error handling (#11081)

    • refactor trajectory check error handling
    • define set_diag_status function for each module locally

    * update documentation ---------

  • chore: sync files (#11091) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: M. Fatih Cırıt <<mfc@autoware.org>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • fix(planning_validator): suppress unnecessary error messages (#11007)

  • perf(planning_validator): switch planning_validator back to event driven (#10979) make planning_validator node event driven on trajectory msg

  • feat(intersection_collision_checker): improve icc debug markers (#10967)

    • add DebugData struct
    • refactor and publish debug info and markers
    • always publish lanelet debug markers
    • refactor debug markers code
    • remove unused functions
    • pass string by reference
    • set is_safe flag for rear_collision_checker debug data
    • fix for cpp check

    * add maintainer ---------

  • fix(planning_validator): fix conflict between trajectory shift and distance deviation checks (#10799)

    • use global is_critical_error flag for trajectory diagnostics update
    • add warning to readme

    * Update planning/planning_validator/autoware_planning_validator/README.md ---------

  • feat(intersection_collision_checker): improve feature to reduce false positive occurrence (#10899)

    • keep a map of already detected target lanelets
    • fix on/off time buffers logic
    • add debug marker to visualize colliding object
    • use resampled trajectory instead of raw trajectory
    • fix overlap index computation
    • fix on/off time buffers logic for rear collision checker
    • fix planning .pages file, fix format
    • update readme
    • ignore not moving pcd object

    * handle case when object is very close to overlap point ---------

  • fix: a launch mistake (#10891) fix mistake

  • feat(planning_validator): improve intersection collision checker implementation (#10839)

    • use parameter generator library
    • add pointcloud latency compensation
    • change msg field name
    • add readme file
    • add parameters dection to readme

File truncated at 100 lines see the full file

Launch files

  • launch/invalid_trajectory_publisher.launch.xml
      • input/trajectory [default: /planning/scenario_planning/velocity_smoother/trajectory]
      • output/trajectory [default: /planning/scenario_planning/velocity_smoother/trajectory]
  • launch/planning_validator.launch.xml
      • launch_latency_checker [default: true]
      • launch_trajectory_checker [default: true]
      • launch_intersection_collision_checker [default: true]
      • launch_rear_collision_checker [default: true]
      • launch_modules_list_end [default: ""]]
      • planning_validator_launch_modules [default: []
      • planning_validator_param_path [default: $(find-pkg-share autoware_planning_validator)/config/planning_validator.param.yaml]
      • planning_validator_latency_checker_param_path
      • planning_validator_trajectory_checker_param_path
      • planning_validator_intersection_collision_checker_param_path
      • planning_validator_rear_collision_checker_param_path
      • input_trajectory [default: /planning/scenario_planning/velocity_smoother/trajectory]
      • input_pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • input_route_topic_name [default: /planning/mission_planning/route]
      • input_vector_map_topic_name [default: /map/vector_map]
      • output_trajectory [default: /planning/trajectory]

Messages

Services

No service files found

Plugins

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