route handler

route_handler is a library for calculating driving route on the lanelet map.

Unit Testing

The unit testing depends on autoware_test_utils package. autoware_test_utils is a library that provides several common functions to simplify unit test creating.

By default, route file is necessary to create tests. The following illustrates the route that are used in the unit test

Lane change test route

• The route is based on map that can be obtained from autoware_test_utils\test_map

Changelog for package autoware_route_handler

1.1.0 (2025-05-01)

• feat(route_handler): use a cost metric to select start lane (#357)

  • feat(route_handler): use a cost metric to select start lane

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

• Contributors: Mert Çolak

1.7.0 (2026-02-14)

• Merge remote-tracking branch 'origin/main' into humble

• refactor(planning): deprecate lanelet_extension geometry conversion function (#834) Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>

• feat(lanelet2_extension): port some lanelet2_extension query functions (2) (#809)

• feat(lanelet2_extension): port some lanelet2_extension query functions (#790)

  • port left/right/all_neighbor_lanelets and their tests
  • replace getAllNeighbors* with ported functions
  • add neighbors order description and verify in test
  • add ported functions to API table
  • add example code snippet

  * Remove optional from return value Assume one lanelet is always in return value (itself)

  • change usage of left/right_lanelets (always check access)
  • fix README for example code snippet
  • fix cppcheck-differential

  * fix README description ---------Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>> Co-authored-by: Mamoru Sobue <<hilo.soblin@gmail.com>>

• refactor(planning, common): replace lanelet2_extension function (#796)

• Contributors: Mamoru Sobue, Ryohsuke Mitsudome, Sarun MUKDAPITAK

1.6.0 (2025-12-30)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• feat(autoware_lanelet2_utils): replace from/toBinMsg (#737) Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>> Co-authored-by: Mamoru Sobue <<hilo.soblin@gmail.com>>
• ci(pre-commit): autoupdate (#723)
  • pre-commit formatting changes
• Contributors: Mete Fatih Cırıt, Sarun MUKDAPITAK, github-actions

1.5.0 (2025-11-16)

• Merge remote-tracking branch 'origin/main' into humble

• feat(autoware_lanelet2_utils): replace ported functions from autoware_lanelet2_extension (#695)

• feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)

  • replace ament_auto_package to autoware_ament_auto_package

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

• fix(route_handler): use next lane velocity when merging points (#690)

• feat(autoware_lanelet2_utils): porting functions from lanelet2_extension to autoware_lanelet2_utils package (#621)

• fix(route_handler): add same lane ID check in getRightLanelet/getLeftLanelet function (#632)

  • fix(route_handler): add same lane ID check in getRightLanelet/getLeftLanelet function

  * remove unnecessary changes ---------

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