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

1.10.0 (2026-09-28)

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

• test(autoware_route_handler): implement characterization test (#1439)

  • added test for verifying lane change inetrval
  • added etst for checking area routing state and termination when traversing cyclic route
  • added test to check if bicycle & opposite direction lane quesies on standard map
  • verifies pullover pullout and deadend queries
  • added test to check route planning when routing cost permits nondrivable lanelets
  • added test to check route metadata accerssors and clearning a route resets raedy state
  • verifies public topological queries
  • verifies planning & segment creation via LaneletOrArea
  • verifies routing/segment conversion/traversal etc.
  • added more details on each test case and why I put em there, lcov coverage, etc.
  • split into multi tests, change name to Harry Porter style, run and build and test all good
  • [komiya]added custom map-relied test for findDrivableLanePathIncludeAreas func
  • added brief comments on each test case
  • const reference
  • added star/goal poses (just to be clear)
  • [ishikawa] removed all set test route calls that overlaps with fixture
  • [komiya] fixed that useless EXPECT_TRUE(success || .…); assertion
  • [komiya] fixed that useless EXPECT_TRUE(success || .…); assertion

  * strengthen assertions with lane IDs instead ---------

• fix(planning): declare the dependencies these packages use (#1372) Each of these packages uses a package it never declares. Either it includes a header of that package, or it names a symbol of it while the header arrives through another dependency. Both build today only because some declared dependency re-exports the owner, so a change in an unrelated repository can break them without anything here changing. The tag follows where the dependency is used: a use in an installed header or in code compiled into the library takes <depend>, one reached only from test/ takes <test_depend>. System libraries are named by the rosdep key this workspace already prefers. A clean-context review of the pull request found five more direct uses with no manifest entry. Add one entry for each:

  • autoware_path_generator: tf2 (tf2::getYaw in src/utils.cpp)
  • autoware_motion_velocity_planner_common: tf2 (tf2::getYaw in src/planner_data.cpp and src/polygon_utils.cpp)
  • autoware_motion_velocity_obstacle_stop_module: autoware_planning_factor_interface (constructed in src/obstacle_stop_module.cpp)
  • autoware_behavior_velocity_stop_line_module: autoware_planning_factor_interface (used in src/experimental/scene.cpp)
  • autoware_velocity_smoother: rclcpp_components (register_node_macro.hpp in src/node.cpp)

• refactor(autoware_route_handler): remove rclcpp::ok() from lanelet sequence loops (#1289)

  • feat(autoware_route_handler): use agnocast_wrapper::ok() for lanelet sequence loops
  • fix to delete rclcpp::ok

  * test(autoware_route_handler): add regression tests for lanelet sequence loop termination ---------

• fix(autoware_route_handler): use portable lanelet ID logging (#1271)

• Contributors: Koichi Imai, Mete Fatih Cırıt, Tobias Fischer, Tran Huu Nhat Huy, github-actions

1.9.0 (2026-06-24)

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

File truncated at 100 lines see the full file