autoware_scenario_selector

scenario_selector_node

scenario_selector_node is a node that switches trajectories from each scenario.

Input topics

Output topics

Output TFs

None

How to launch

1. Write your remapping info in scenario_selector.launch or add args when executing roslaunch
2. roslaunch autoware_scenario_selector scenario_selector.launch
   • If you would like to use only a single scenario, roslaunch autoware_scenario_selector dummy_scenario_selector_{scenario_name}.launch

Parameters

{{ json_to_markdown(“planning/autoware_scenario_selector/schema/scenario_selector.schema.json”) }}

Flowchart

@startuml
title onTimer
start

:get current pose;

if (all input data are ready?) then (yes)
else (no)
  stop
endif

if (scenario is initialized?) then (yes)
else (no)
  :initialize scenario;
endif

:select scenario;

:publish scenario;

:extract scenario trajectory;

if (scenario trajectory is empty?) then (yes)
else (no)
  :publish trajectory;
endif

stop
@enduml

```plantuml @startuml title Scenario Transition start

if (current_scenario is completed?\n()) then (yes) else (no) stop endif

’ Empty if (scenario is initialized?) then (yes) else (no) if (is in lane?) then (yes) :set LaneDriving; else (no) :set Parking; endif

stop endif

’ LaneDriving if (current scenario is LaneDriving?) then (yes) if (is in parking lot & goal is not in lane?) then (yes) :set Parking; stop endif

File truncated at 100 lines see the full file

Changelog for package autoware_scenario_selector

0.47.0 (2025-08-11)

• fix(autoware_trajectory_follower, autoware_mission_planner_universe, autoware_scenario_selector): use transient_local for operation_mode_state (#11101)

  • subscribe operation-mode with transient_local
  • fix mistake
  • fix unit test code

  * pre-commit ---------

• Contributors: Kem (TiankuiXian)

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

0.43.0 (2025-03-21)

• Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
• chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
• feat: adaption to ROS nodes guidelines about directory structure (#10268)
• Contributors: Hayato Mizushima, NorahXiong, Yutaka Kondo

0.42.0 (2025-03-03)

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

• feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)

• feat!: replace scenario msg from tier4_planning_msgs to autoware_internal_planning_msgs (#10180)

• feat(planning_test_manager): abstract message-specific functions (#9882)

  • abstract message-specific functions
  • include necessary header
  • adapt velocity_smoother to new test manager
  • adapt behavior_velocity_planner to new test manager
  • adapt path_optimizer to new test manager
  • fix output subscription
  • adapt behavior_path_planner to new test manager
  • adapt scenario_selector to new test manager
  • adapt freespace_planner to new test manager
  • adapt planning_validator to new test manager
  • adapt obstacle_stop_planner to new test manager
  • adapt obstacle_cruise_planner to new test manager
  • disable test for freespace_planner
  • adapt behavior_velocity_crosswalk_module to new test manager
  • adapt behavior_path_lane_change_module to new test manager
  • adapt behavior_path_avoidance_by_lane_change_module to new test manager
  • adapt behavior_path_dynamic_obstacle_avoidance_module to new test manager
  • adapt behavior_path_external_request_lane_change_module to new test manager
  • adapt behavior_path_side_shift_module to new test manager
  • adapt behavior_path_static_obstacle_avoidance_module to new test manager
  • adapt path_smoother to new test manager
  • adapt behavior_velocity_blind_spot_module to new test manager
  • adapt behavior_velocity_detection_area_module to new test manager
  • adapt behavior_velocity_intersection_module to new test manager
  • adapt behavior_velocity_no_stopping_area_module to new test manager
  • adapt behavior_velocity_run_out_module to new test manager
  • adapt behavior_velocity_stop_line_module to new test manager
  • adapt behavior_velocity_traffic_light_module to new test manager
  • adapt behavior_velocity_virtual_traffic_light_module to new test manager
  • adapt behavior_velocity_walkway_module to new test manager
  • adapt motion_velocity_planner_node_universe to new test manager
  • include necessary headers

  * Odometries -> Odometry ---------Co-authored-by: Takayuki Murooka <<takayuki5168@gmail.com>>

• Contributors: Fumiya Watanabe, Mitsuhiro Sakamoto, Ryohsuke Mitsudome, 心刚

File truncated at 100 lines see the full file