ROS Index
Package Summary
| Version | 0.53.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-10-27 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
- Fumiya Watanabe
- Takamasa Horibe
- Takayuki Murooka
Authors
- Satoshi Ota
autoware_scenario_selector
scenario_selector_node
scenario_selector_node is a node that switches trajectories from each scenario.
Input topics
| Name | Type | Description |
|---|---|---|
~input/lane_driving/trajectory |
autoware_planning_msgs::Trajectory | trajectory of LaneDriving scenario |
~input/parking/trajectory |
autoware_planning_msgs::Trajectory | trajectory of Parking scenario |
~input/lanelet_map |
autoware_map_msgs::msg::LaneletMapBin | |
~input/route |
autoware_planning_msgs::LaneletRoute | route and goal pose |
~input/odometry |
nav_msgs::Odometry | for checking whether vehicle is stopped |
is_parking_completed |
bool (implemented as rosparam) | whether all split trajectory of Parking are published |
Output topics
| Name | Type | Description |
|---|---|---|
~output/scenario |
tier4_planning_msgs::Scenario | current scenario and scenarios to be activated |
~output/trajectory |
autoware_planning_msgs::Trajectory | trajectory to be followed |
Output TFs
None
How to launch
- Write your remapping info in
scenario_selector.launchor add args when executingroslaunch -
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
- If you would like to use only a single scenario,
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
0.53.0 (2026-09-29)
- Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
- chore(planning): update package maintainers (#13186)
- refactor(planning): move node design files into each package (#13102) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
- Contributors: Ryohsuke Mitsudome, Satoshi OTA, Taekjin LEE
0.52.0 (2026-06-30)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(direction_change_module): propagate [allow_area]{.title-ref} to downstream modules for area-primitive route support (#12815)
- feat: ignore lane_departure in area primitive
- feat: add area primitive for isRouteValid() in mission_planner_universe
- feat: add allow_area for scenario_selector
- feat: add allow_area to planning_validator
- feat: add missing params in scenario module manager
- fix: set allow_area to false by default
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
-
Contributors: emmeyteja, github-actions
0.51.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
refactor(autoware_universe): use autoware_ament_auto_package in planning packages (#12291) Co-authored-by: github-actions <<github-actions@github.com>>
-
chore(planning): remove unused lanelet2_extension header (#12294)
- unused lanelet2_extension in planning component
- unused lanelet2_extension in planning component (2)
* unused lanelet2_extension in planning component (3) ---------Co-authored-by: Mamoru Sobue <<hilo.soblin@gmail.com>>
-
feat(autoware_scenario_selector): apply autoware_agnocast_wrapper for CIE (#12334)
-
Contributors: Sarun MUKDAPITAK, Vishal Chauhan, atsushi yano, github-actions
0.50.0 (2026-02-14)
- Merge remote-tracking branch 'origin/main' into humble
- feat!: remove ROS 2 Galactic codes (#11905)
- Contributors: Ryohsuke Mitsudome
0.49.0 (2025-12-30)
0.48.0 (2025-11-18)
0.47.1 (2025-08-14)
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)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| autoware_planning_launch |
Launch files
- launch/dummy_scenario_selector_lane_driving.launch.xml
-
- input_lane_driving_trajectory
- output_scenario
- output_trajectory
- input_parking_trajectory [default: ]
- input_lanelet_map [default: ]
- input_route [default: ]
- input_odometry [default: ]
- is_parking_completed [default: ]
- cmd [default: ros2 topic pub $(var output_scenario) tier4_planning_msgs/msg/Scenario '{current_scenario: LaneDriving, activating_scenarios: [LaneDriving]}']
- launch/dummy_scenario_selector_parking.launch.xml
-
- input_parking_trajectory
- output_scenario
- output_trajectory
- input_lane_driving_trajectory [default: ]
- input_lanelet_map [default: ]
- input_route [default: ]
- input_odometry [default: ]
- is_parking_completed [default: ]
- cmd [default: ros2 topic pub $(var output_scenario) tier4_planning_msgs/msg/Scenario '{current_scenario: Parking, activating_scenarios: [Parking]}']
- launch/scenario_selector.launch.xml
-
- input_lane_driving_trajectory
- input_parking_trajectory
- input_lanelet_map
- input_route
- input_odometry
- input_operation_mode_state
- is_parking_completed
- output_scenario
- output_trajectory
- config_file [default: $(find-pkg-share autoware_scenario_selector)/config/scenario_selector.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_scenario_selector at Robotics Stack Exchange
Package Summary
| Version | 0.53.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-10-27 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
- Fumiya Watanabe
- Takamasa Horibe
- Takayuki Murooka
Authors
- Satoshi Ota
autoware_scenario_selector
scenario_selector_node
scenario_selector_node is a node that switches trajectories from each scenario.
Input topics
| Name | Type | Description |
|---|---|---|
~input/lane_driving/trajectory |
autoware_planning_msgs::Trajectory | trajectory of LaneDriving scenario |
~input/parking/trajectory |
autoware_planning_msgs::Trajectory | trajectory of Parking scenario |
~input/lanelet_map |
autoware_map_msgs::msg::LaneletMapBin | |
~input/route |
autoware_planning_msgs::LaneletRoute | route and goal pose |
~input/odometry |
nav_msgs::Odometry | for checking whether vehicle is stopped |
is_parking_completed |
bool (implemented as rosparam) | whether all split trajectory of Parking are published |
Output topics
| Name | Type | Description |
|---|---|---|
~output/scenario |
tier4_planning_msgs::Scenario | current scenario and scenarios to be activated |
~output/trajectory |
autoware_planning_msgs::Trajectory | trajectory to be followed |
Output TFs
None
How to launch
- Write your remapping info in
scenario_selector.launchor add args when executingroslaunch -
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
- If you would like to use only a single scenario,
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
0.53.0 (2026-09-29)
- Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
- chore(planning): update package maintainers (#13186)
- refactor(planning): move node design files into each package (#13102) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
- Contributors: Ryohsuke Mitsudome, Satoshi OTA, Taekjin LEE
0.52.0 (2026-06-30)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(direction_change_module): propagate [allow_area]{.title-ref} to downstream modules for area-primitive route support (#12815)
- feat: ignore lane_departure in area primitive
- feat: add area primitive for isRouteValid() in mission_planner_universe
- feat: add allow_area for scenario_selector
- feat: add allow_area to planning_validator
- feat: add missing params in scenario module manager
- fix: set allow_area to false by default
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
-
Contributors: emmeyteja, github-actions
0.51.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
refactor(autoware_universe): use autoware_ament_auto_package in planning packages (#12291) Co-authored-by: github-actions <<github-actions@github.com>>
-
chore(planning): remove unused lanelet2_extension header (#12294)
- unused lanelet2_extension in planning component
- unused lanelet2_extension in planning component (2)
* unused lanelet2_extension in planning component (3) ---------Co-authored-by: Mamoru Sobue <<hilo.soblin@gmail.com>>
-
feat(autoware_scenario_selector): apply autoware_agnocast_wrapper for CIE (#12334)
-
Contributors: Sarun MUKDAPITAK, Vishal Chauhan, atsushi yano, github-actions
0.50.0 (2026-02-14)
- Merge remote-tracking branch 'origin/main' into humble
- feat!: remove ROS 2 Galactic codes (#11905)
- Contributors: Ryohsuke Mitsudome
0.49.0 (2025-12-30)
0.48.0 (2025-11-18)
0.47.1 (2025-08-14)
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)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| autoware_planning_launch |
Launch files
- launch/dummy_scenario_selector_lane_driving.launch.xml
-
- input_lane_driving_trajectory
- output_scenario
- output_trajectory
- input_parking_trajectory [default: ]
- input_lanelet_map [default: ]
- input_route [default: ]
- input_odometry [default: ]
- is_parking_completed [default: ]
- cmd [default: ros2 topic pub $(var output_scenario) tier4_planning_msgs/msg/Scenario '{current_scenario: LaneDriving, activating_scenarios: [LaneDriving]}']
- launch/dummy_scenario_selector_parking.launch.xml
-
- input_parking_trajectory
- output_scenario
- output_trajectory
- input_lane_driving_trajectory [default: ]
- input_lanelet_map [default: ]
- input_route [default: ]
- input_odometry [default: ]
- is_parking_completed [default: ]
- cmd [default: ros2 topic pub $(var output_scenario) tier4_planning_msgs/msg/Scenario '{current_scenario: Parking, activating_scenarios: [Parking]}']
- launch/scenario_selector.launch.xml
-
- input_lane_driving_trajectory
- input_parking_trajectory
- input_lanelet_map
- input_route
- input_odometry
- input_operation_mode_state
- is_parking_completed
- output_scenario
- output_trajectory
- config_file [default: $(find-pkg-share autoware_scenario_selector)/config/scenario_selector.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_scenario_selector at Robotics Stack Exchange
Package Summary
| Version | 0.53.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-10-27 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
- Fumiya Watanabe
- Takamasa Horibe
- Takayuki Murooka
Authors
- Satoshi Ota
autoware_scenario_selector
scenario_selector_node
scenario_selector_node is a node that switches trajectories from each scenario.
Input topics
| Name | Type | Description |
|---|---|---|
~input/lane_driving/trajectory |
autoware_planning_msgs::Trajectory | trajectory of LaneDriving scenario |
~input/parking/trajectory |
autoware_planning_msgs::Trajectory | trajectory of Parking scenario |
~input/lanelet_map |
autoware_map_msgs::msg::LaneletMapBin | |
~input/route |
autoware_planning_msgs::LaneletRoute | route and goal pose |
~input/odometry |
nav_msgs::Odometry | for checking whether vehicle is stopped |
is_parking_completed |
bool (implemented as rosparam) | whether all split trajectory of Parking are published |
Output topics
| Name | Type | Description |
|---|---|---|
~output/scenario |
tier4_planning_msgs::Scenario | current scenario and scenarios to be activated |
~output/trajectory |
autoware_planning_msgs::Trajectory | trajectory to be followed |
Output TFs
None
How to launch
- Write your remapping info in
scenario_selector.launchor add args when executingroslaunch -
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
- If you would like to use only a single scenario,
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
0.53.0 (2026-09-29)
- Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
- chore(planning): update package maintainers (#13186)
- refactor(planning): move node design files into each package (#13102) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
- Contributors: Ryohsuke Mitsudome, Satoshi OTA, Taekjin LEE
0.52.0 (2026-06-30)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(direction_change_module): propagate [allow_area]{.title-ref} to downstream modules for area-primitive route support (#12815)
- feat: ignore lane_departure in area primitive
- feat: add area primitive for isRouteValid() in mission_planner_universe
- feat: add allow_area for scenario_selector
- feat: add allow_area to planning_validator
- feat: add missing params in scenario module manager
- fix: set allow_area to false by default
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
-
Contributors: emmeyteja, github-actions
0.51.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
refactor(autoware_universe): use autoware_ament_auto_package in planning packages (#12291) Co-authored-by: github-actions <<github-actions@github.com>>
-
chore(planning): remove unused lanelet2_extension header (#12294)
- unused lanelet2_extension in planning component
- unused lanelet2_extension in planning component (2)
* unused lanelet2_extension in planning component (3) ---------Co-authored-by: Mamoru Sobue <<hilo.soblin@gmail.com>>
-
feat(autoware_scenario_selector): apply autoware_agnocast_wrapper for CIE (#12334)
-
Contributors: Sarun MUKDAPITAK, Vishal Chauhan, atsushi yano, github-actions
0.50.0 (2026-02-14)
- Merge remote-tracking branch 'origin/main' into humble
- feat!: remove ROS 2 Galactic codes (#11905)
- Contributors: Ryohsuke Mitsudome
0.49.0 (2025-12-30)
0.48.0 (2025-11-18)
0.47.1 (2025-08-14)
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)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| autoware_planning_launch |
Launch files
- launch/dummy_scenario_selector_lane_driving.launch.xml
-
- input_lane_driving_trajectory
- output_scenario
- output_trajectory
- input_parking_trajectory [default: ]
- input_lanelet_map [default: ]
- input_route [default: ]
- input_odometry [default: ]
- is_parking_completed [default: ]
- cmd [default: ros2 topic pub $(var output_scenario) tier4_planning_msgs/msg/Scenario '{current_scenario: LaneDriving, activating_scenarios: [LaneDriving]}']
- launch/dummy_scenario_selector_parking.launch.xml
-
- input_parking_trajectory
- output_scenario
- output_trajectory
- input_lane_driving_trajectory [default: ]
- input_lanelet_map [default: ]
- input_route [default: ]
- input_odometry [default: ]
- is_parking_completed [default: ]
- cmd [default: ros2 topic pub $(var output_scenario) tier4_planning_msgs/msg/Scenario '{current_scenario: Parking, activating_scenarios: [Parking]}']
- launch/scenario_selector.launch.xml
-
- input_lane_driving_trajectory
- input_parking_trajectory
- input_lanelet_map
- input_route
- input_odometry
- input_operation_mode_state
- is_parking_completed
- output_scenario
- output_trajectory
- config_file [default: $(find-pkg-share autoware_scenario_selector)/config/scenario_selector.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_scenario_selector at Robotics Stack Exchange
Package Summary
| Version | 0.53.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-10-27 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
- Fumiya Watanabe
- Takamasa Horibe
- Takayuki Murooka
Authors
- Satoshi Ota
autoware_scenario_selector
scenario_selector_node
scenario_selector_node is a node that switches trajectories from each scenario.
Input topics
| Name | Type | Description |
|---|---|---|
~input/lane_driving/trajectory |
autoware_planning_msgs::Trajectory | trajectory of LaneDriving scenario |
~input/parking/trajectory |
autoware_planning_msgs::Trajectory | trajectory of Parking scenario |
~input/lanelet_map |
autoware_map_msgs::msg::LaneletMapBin | |
~input/route |
autoware_planning_msgs::LaneletRoute | route and goal pose |
~input/odometry |
nav_msgs::Odometry | for checking whether vehicle is stopped |
is_parking_completed |
bool (implemented as rosparam) | whether all split trajectory of Parking are published |
Output topics
| Name | Type | Description |
|---|---|---|
~output/scenario |
tier4_planning_msgs::Scenario | current scenario and scenarios to be activated |
~output/trajectory |
autoware_planning_msgs::Trajectory | trajectory to be followed |
Output TFs
None
How to launch
- Write your remapping info in
scenario_selector.launchor add args when executingroslaunch -
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
- If you would like to use only a single scenario,
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
0.53.0 (2026-09-29)
- Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
- chore(planning): update package maintainers (#13186)
- refactor(planning): move node design files into each package (#13102) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
- Contributors: Ryohsuke Mitsudome, Satoshi OTA, Taekjin LEE
0.52.0 (2026-06-30)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(direction_change_module): propagate [allow_area]{.title-ref} to downstream modules for area-primitive route support (#12815)
- feat: ignore lane_departure in area primitive
- feat: add area primitive for isRouteValid() in mission_planner_universe
- feat: add allow_area for scenario_selector
- feat: add allow_area to planning_validator
- feat: add missing params in scenario module manager
- fix: set allow_area to false by default
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
-
Contributors: emmeyteja, github-actions
0.51.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
refactor(autoware_universe): use autoware_ament_auto_package in planning packages (#12291) Co-authored-by: github-actions <<github-actions@github.com>>
-
chore(planning): remove unused lanelet2_extension header (#12294)
- unused lanelet2_extension in planning component
- unused lanelet2_extension in planning component (2)
* unused lanelet2_extension in planning component (3) ---------Co-authored-by: Mamoru Sobue <<hilo.soblin@gmail.com>>
-
feat(autoware_scenario_selector): apply autoware_agnocast_wrapper for CIE (#12334)
-
Contributors: Sarun MUKDAPITAK, Vishal Chauhan, atsushi yano, github-actions
0.50.0 (2026-02-14)
- Merge remote-tracking branch 'origin/main' into humble
- feat!: remove ROS 2 Galactic codes (#11905)
- Contributors: Ryohsuke Mitsudome
0.49.0 (2025-12-30)
0.48.0 (2025-11-18)
0.47.1 (2025-08-14)
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)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| autoware_planning_launch |
Launch files
- launch/dummy_scenario_selector_lane_driving.launch.xml
-
- input_lane_driving_trajectory
- output_scenario
- output_trajectory
- input_parking_trajectory [default: ]
- input_lanelet_map [default: ]
- input_route [default: ]
- input_odometry [default: ]
- is_parking_completed [default: ]
- cmd [default: ros2 topic pub $(var output_scenario) tier4_planning_msgs/msg/Scenario '{current_scenario: LaneDriving, activating_scenarios: [LaneDriving]}']
- launch/dummy_scenario_selector_parking.launch.xml
-
- input_parking_trajectory
- output_scenario
- output_trajectory
- input_lane_driving_trajectory [default: ]
- input_lanelet_map [default: ]
- input_route [default: ]
- input_odometry [default: ]
- is_parking_completed [default: ]
- cmd [default: ros2 topic pub $(var output_scenario) tier4_planning_msgs/msg/Scenario '{current_scenario: Parking, activating_scenarios: [Parking]}']
- launch/scenario_selector.launch.xml
-
- input_lane_driving_trajectory
- input_parking_trajectory
- input_lanelet_map
- input_route
- input_odometry
- input_operation_mode_state
- is_parking_completed
- output_scenario
- output_trajectory
- config_file [default: $(find-pkg-share autoware_scenario_selector)/config/scenario_selector.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_scenario_selector at Robotics Stack Exchange
Package Summary
| Version | 0.53.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-10-27 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
- Fumiya Watanabe
- Takamasa Horibe
- Takayuki Murooka
Authors
- Satoshi Ota
autoware_scenario_selector
scenario_selector_node
scenario_selector_node is a node that switches trajectories from each scenario.
Input topics
| Name | Type | Description |
|---|---|---|
~input/lane_driving/trajectory |
autoware_planning_msgs::Trajectory | trajectory of LaneDriving scenario |
~input/parking/trajectory |
autoware_planning_msgs::Trajectory | trajectory of Parking scenario |
~input/lanelet_map |
autoware_map_msgs::msg::LaneletMapBin | |
~input/route |
autoware_planning_msgs::LaneletRoute | route and goal pose |
~input/odometry |
nav_msgs::Odometry | for checking whether vehicle is stopped |
is_parking_completed |
bool (implemented as rosparam) | whether all split trajectory of Parking are published |
Output topics
| Name | Type | Description |
|---|---|---|
~output/scenario |
tier4_planning_msgs::Scenario | current scenario and scenarios to be activated |
~output/trajectory |
autoware_planning_msgs::Trajectory | trajectory to be followed |
Output TFs
None
How to launch
- Write your remapping info in
scenario_selector.launchor add args when executingroslaunch -
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
- If you would like to use only a single scenario,
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
0.53.0 (2026-09-29)
- Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
- chore(planning): update package maintainers (#13186)
- refactor(planning): move node design files into each package (#13102) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
- Contributors: Ryohsuke Mitsudome, Satoshi OTA, Taekjin LEE
0.52.0 (2026-06-30)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(direction_change_module): propagate [allow_area]{.title-ref} to downstream modules for area-primitive route support (#12815)
- feat: ignore lane_departure in area primitive
- feat: add area primitive for isRouteValid() in mission_planner_universe
- feat: add allow_area for scenario_selector
- feat: add allow_area to planning_validator
- feat: add missing params in scenario module manager
- fix: set allow_area to false by default
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
-
Contributors: emmeyteja, github-actions
0.51.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
refactor(autoware_universe): use autoware_ament_auto_package in planning packages (#12291) Co-authored-by: github-actions <<github-actions@github.com>>
-
chore(planning): remove unused lanelet2_extension header (#12294)
- unused lanelet2_extension in planning component
- unused lanelet2_extension in planning component (2)
* unused lanelet2_extension in planning component (3) ---------Co-authored-by: Mamoru Sobue <<hilo.soblin@gmail.com>>
-
feat(autoware_scenario_selector): apply autoware_agnocast_wrapper for CIE (#12334)
-
Contributors: Sarun MUKDAPITAK, Vishal Chauhan, atsushi yano, github-actions
0.50.0 (2026-02-14)
- Merge remote-tracking branch 'origin/main' into humble
- feat!: remove ROS 2 Galactic codes (#11905)
- Contributors: Ryohsuke Mitsudome
0.49.0 (2025-12-30)
0.48.0 (2025-11-18)
0.47.1 (2025-08-14)
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)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| autoware_planning_launch |
Launch files
- launch/dummy_scenario_selector_lane_driving.launch.xml
-
- input_lane_driving_trajectory
- output_scenario
- output_trajectory
- input_parking_trajectory [default: ]
- input_lanelet_map [default: ]
- input_route [default: ]
- input_odometry [default: ]
- is_parking_completed [default: ]
- cmd [default: ros2 topic pub $(var output_scenario) tier4_planning_msgs/msg/Scenario '{current_scenario: LaneDriving, activating_scenarios: [LaneDriving]}']
- launch/dummy_scenario_selector_parking.launch.xml
-
- input_parking_trajectory
- output_scenario
- output_trajectory
- input_lane_driving_trajectory [default: ]
- input_lanelet_map [default: ]
- input_route [default: ]
- input_odometry [default: ]
- is_parking_completed [default: ]
- cmd [default: ros2 topic pub $(var output_scenario) tier4_planning_msgs/msg/Scenario '{current_scenario: Parking, activating_scenarios: [Parking]}']
- launch/scenario_selector.launch.xml
-
- input_lane_driving_trajectory
- input_parking_trajectory
- input_lanelet_map
- input_route
- input_odometry
- input_operation_mode_state
- is_parking_completed
- output_scenario
- output_trajectory
- config_file [default: $(find-pkg-share autoware_scenario_selector)/config/scenario_selector.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_scenario_selector at Robotics Stack Exchange
Package Summary
| Version | 0.53.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-10-27 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
- Fumiya Watanabe
- Takamasa Horibe
- Takayuki Murooka
Authors
- Satoshi Ota
autoware_scenario_selector
scenario_selector_node
scenario_selector_node is a node that switches trajectories from each scenario.
Input topics
| Name | Type | Description |
|---|---|---|
~input/lane_driving/trajectory |
autoware_planning_msgs::Trajectory | trajectory of LaneDriving scenario |
~input/parking/trajectory |
autoware_planning_msgs::Trajectory | trajectory of Parking scenario |
~input/lanelet_map |
autoware_map_msgs::msg::LaneletMapBin | |
~input/route |
autoware_planning_msgs::LaneletRoute | route and goal pose |
~input/odometry |
nav_msgs::Odometry | for checking whether vehicle is stopped |
is_parking_completed |
bool (implemented as rosparam) | whether all split trajectory of Parking are published |
Output topics
| Name | Type | Description |
|---|---|---|
~output/scenario |
tier4_planning_msgs::Scenario | current scenario and scenarios to be activated |
~output/trajectory |
autoware_planning_msgs::Trajectory | trajectory to be followed |
Output TFs
None
How to launch
- Write your remapping info in
scenario_selector.launchor add args when executingroslaunch -
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
- If you would like to use only a single scenario,
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
0.53.0 (2026-09-29)
- Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
- chore(planning): update package maintainers (#13186)
- refactor(planning): move node design files into each package (#13102) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
- Contributors: Ryohsuke Mitsudome, Satoshi OTA, Taekjin LEE
0.52.0 (2026-06-30)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(direction_change_module): propagate [allow_area]{.title-ref} to downstream modules for area-primitive route support (#12815)
- feat: ignore lane_departure in area primitive
- feat: add area primitive for isRouteValid() in mission_planner_universe
- feat: add allow_area for scenario_selector
- feat: add allow_area to planning_validator
- feat: add missing params in scenario module manager
- fix: set allow_area to false by default
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
-
Contributors: emmeyteja, github-actions
0.51.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
refactor(autoware_universe): use autoware_ament_auto_package in planning packages (#12291) Co-authored-by: github-actions <<github-actions@github.com>>
-
chore(planning): remove unused lanelet2_extension header (#12294)
- unused lanelet2_extension in planning component
- unused lanelet2_extension in planning component (2)
* unused lanelet2_extension in planning component (3) ---------Co-authored-by: Mamoru Sobue <<hilo.soblin@gmail.com>>
-
feat(autoware_scenario_selector): apply autoware_agnocast_wrapper for CIE (#12334)
-
Contributors: Sarun MUKDAPITAK, Vishal Chauhan, atsushi yano, github-actions
0.50.0 (2026-02-14)
- Merge remote-tracking branch 'origin/main' into humble
- feat!: remove ROS 2 Galactic codes (#11905)
- Contributors: Ryohsuke Mitsudome
0.49.0 (2025-12-30)
0.48.0 (2025-11-18)
0.47.1 (2025-08-14)
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)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| autoware_planning_launch |
Launch files
- launch/dummy_scenario_selector_lane_driving.launch.xml
-
- input_lane_driving_trajectory
- output_scenario
- output_trajectory
- input_parking_trajectory [default: ]
- input_lanelet_map [default: ]
- input_route [default: ]
- input_odometry [default: ]
- is_parking_completed [default: ]
- cmd [default: ros2 topic pub $(var output_scenario) tier4_planning_msgs/msg/Scenario '{current_scenario: LaneDriving, activating_scenarios: [LaneDriving]}']
- launch/dummy_scenario_selector_parking.launch.xml
-
- input_parking_trajectory
- output_scenario
- output_trajectory
- input_lane_driving_trajectory [default: ]
- input_lanelet_map [default: ]
- input_route [default: ]
- input_odometry [default: ]
- is_parking_completed [default: ]
- cmd [default: ros2 topic pub $(var output_scenario) tier4_planning_msgs/msg/Scenario '{current_scenario: Parking, activating_scenarios: [Parking]}']
- launch/scenario_selector.launch.xml
-
- input_lane_driving_trajectory
- input_parking_trajectory
- input_lanelet_map
- input_route
- input_odometry
- input_operation_mode_state
- is_parking_completed
- output_scenario
- output_trajectory
- config_file [default: $(find-pkg-share autoware_scenario_selector)/config/scenario_selector.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_scenario_selector at Robotics Stack Exchange
Package Summary
| Version | 0.53.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-10-27 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
- Fumiya Watanabe
- Takamasa Horibe
- Takayuki Murooka
Authors
- Satoshi Ota
autoware_scenario_selector
scenario_selector_node
scenario_selector_node is a node that switches trajectories from each scenario.
Input topics
| Name | Type | Description |
|---|---|---|
~input/lane_driving/trajectory |
autoware_planning_msgs::Trajectory | trajectory of LaneDriving scenario |
~input/parking/trajectory |
autoware_planning_msgs::Trajectory | trajectory of Parking scenario |
~input/lanelet_map |
autoware_map_msgs::msg::LaneletMapBin | |
~input/route |
autoware_planning_msgs::LaneletRoute | route and goal pose |
~input/odometry |
nav_msgs::Odometry | for checking whether vehicle is stopped |
is_parking_completed |
bool (implemented as rosparam) | whether all split trajectory of Parking are published |
Output topics
| Name | Type | Description |
|---|---|---|
~output/scenario |
tier4_planning_msgs::Scenario | current scenario and scenarios to be activated |
~output/trajectory |
autoware_planning_msgs::Trajectory | trajectory to be followed |
Output TFs
None
How to launch
- Write your remapping info in
scenario_selector.launchor add args when executingroslaunch -
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
- If you would like to use only a single scenario,
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
0.53.0 (2026-09-29)
- Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
- chore(planning): update package maintainers (#13186)
- refactor(planning): move node design files into each package (#13102) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
- Contributors: Ryohsuke Mitsudome, Satoshi OTA, Taekjin LEE
0.52.0 (2026-06-30)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(direction_change_module): propagate [allow_area]{.title-ref} to downstream modules for area-primitive route support (#12815)
- feat: ignore lane_departure in area primitive
- feat: add area primitive for isRouteValid() in mission_planner_universe
- feat: add allow_area for scenario_selector
- feat: add allow_area to planning_validator
- feat: add missing params in scenario module manager
- fix: set allow_area to false by default
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
-
Contributors: emmeyteja, github-actions
0.51.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
refactor(autoware_universe): use autoware_ament_auto_package in planning packages (#12291) Co-authored-by: github-actions <<github-actions@github.com>>
-
chore(planning): remove unused lanelet2_extension header (#12294)
- unused lanelet2_extension in planning component
- unused lanelet2_extension in planning component (2)
* unused lanelet2_extension in planning component (3) ---------Co-authored-by: Mamoru Sobue <<hilo.soblin@gmail.com>>
-
feat(autoware_scenario_selector): apply autoware_agnocast_wrapper for CIE (#12334)
-
Contributors: Sarun MUKDAPITAK, Vishal Chauhan, atsushi yano, github-actions
0.50.0 (2026-02-14)
- Merge remote-tracking branch 'origin/main' into humble
- feat!: remove ROS 2 Galactic codes (#11905)
- Contributors: Ryohsuke Mitsudome
0.49.0 (2025-12-30)
0.48.0 (2025-11-18)
0.47.1 (2025-08-14)
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)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| autoware_planning_launch |
Launch files
- launch/dummy_scenario_selector_lane_driving.launch.xml
-
- input_lane_driving_trajectory
- output_scenario
- output_trajectory
- input_parking_trajectory [default: ]
- input_lanelet_map [default: ]
- input_route [default: ]
- input_odometry [default: ]
- is_parking_completed [default: ]
- cmd [default: ros2 topic pub $(var output_scenario) tier4_planning_msgs/msg/Scenario '{current_scenario: LaneDriving, activating_scenarios: [LaneDriving]}']
- launch/dummy_scenario_selector_parking.launch.xml
-
- input_parking_trajectory
- output_scenario
- output_trajectory
- input_lane_driving_trajectory [default: ]
- input_lanelet_map [default: ]
- input_route [default: ]
- input_odometry [default: ]
- is_parking_completed [default: ]
- cmd [default: ros2 topic pub $(var output_scenario) tier4_planning_msgs/msg/Scenario '{current_scenario: Parking, activating_scenarios: [Parking]}']
- launch/scenario_selector.launch.xml
-
- input_lane_driving_trajectory
- input_parking_trajectory
- input_lanelet_map
- input_route
- input_odometry
- input_operation_mode_state
- is_parking_completed
- output_scenario
- output_trajectory
- config_file [default: $(find-pkg-share autoware_scenario_selector)/config/scenario_selector.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_scenario_selector at Robotics Stack Exchange
Package Summary
| Version | 0.53.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-10-27 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
- Fumiya Watanabe
- Takamasa Horibe
- Takayuki Murooka
Authors
- Satoshi Ota
autoware_scenario_selector
scenario_selector_node
scenario_selector_node is a node that switches trajectories from each scenario.
Input topics
| Name | Type | Description |
|---|---|---|
~input/lane_driving/trajectory |
autoware_planning_msgs::Trajectory | trajectory of LaneDriving scenario |
~input/parking/trajectory |
autoware_planning_msgs::Trajectory | trajectory of Parking scenario |
~input/lanelet_map |
autoware_map_msgs::msg::LaneletMapBin | |
~input/route |
autoware_planning_msgs::LaneletRoute | route and goal pose |
~input/odometry |
nav_msgs::Odometry | for checking whether vehicle is stopped |
is_parking_completed |
bool (implemented as rosparam) | whether all split trajectory of Parking are published |
Output topics
| Name | Type | Description |
|---|---|---|
~output/scenario |
tier4_planning_msgs::Scenario | current scenario and scenarios to be activated |
~output/trajectory |
autoware_planning_msgs::Trajectory | trajectory to be followed |
Output TFs
None
How to launch
- Write your remapping info in
scenario_selector.launchor add args when executingroslaunch -
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
- If you would like to use only a single scenario,
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
0.53.0 (2026-09-29)
- Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
- chore(planning): update package maintainers (#13186)
- refactor(planning): move node design files into each package (#13102) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
- Contributors: Ryohsuke Mitsudome, Satoshi OTA, Taekjin LEE
0.52.0 (2026-06-30)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(direction_change_module): propagate [allow_area]{.title-ref} to downstream modules for area-primitive route support (#12815)
- feat: ignore lane_departure in area primitive
- feat: add area primitive for isRouteValid() in mission_planner_universe
- feat: add allow_area for scenario_selector
- feat: add allow_area to planning_validator
- feat: add missing params in scenario module manager
- fix: set allow_area to false by default
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
-
Contributors: emmeyteja, github-actions
0.51.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
refactor(autoware_universe): use autoware_ament_auto_package in planning packages (#12291) Co-authored-by: github-actions <<github-actions@github.com>>
-
chore(planning): remove unused lanelet2_extension header (#12294)
- unused lanelet2_extension in planning component
- unused lanelet2_extension in planning component (2)
* unused lanelet2_extension in planning component (3) ---------Co-authored-by: Mamoru Sobue <<hilo.soblin@gmail.com>>
-
feat(autoware_scenario_selector): apply autoware_agnocast_wrapper for CIE (#12334)
-
Contributors: Sarun MUKDAPITAK, Vishal Chauhan, atsushi yano, github-actions
0.50.0 (2026-02-14)
- Merge remote-tracking branch 'origin/main' into humble
- feat!: remove ROS 2 Galactic codes (#11905)
- Contributors: Ryohsuke Mitsudome
0.49.0 (2025-12-30)
0.48.0 (2025-11-18)
0.47.1 (2025-08-14)
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)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| autoware_planning_launch |
Launch files
- launch/dummy_scenario_selector_lane_driving.launch.xml
-
- input_lane_driving_trajectory
- output_scenario
- output_trajectory
- input_parking_trajectory [default: ]
- input_lanelet_map [default: ]
- input_route [default: ]
- input_odometry [default: ]
- is_parking_completed [default: ]
- cmd [default: ros2 topic pub $(var output_scenario) tier4_planning_msgs/msg/Scenario '{current_scenario: LaneDriving, activating_scenarios: [LaneDriving]}']
- launch/dummy_scenario_selector_parking.launch.xml
-
- input_parking_trajectory
- output_scenario
- output_trajectory
- input_lane_driving_trajectory [default: ]
- input_lanelet_map [default: ]
- input_route [default: ]
- input_odometry [default: ]
- is_parking_completed [default: ]
- cmd [default: ros2 topic pub $(var output_scenario) tier4_planning_msgs/msg/Scenario '{current_scenario: Parking, activating_scenarios: [Parking]}']
- launch/scenario_selector.launch.xml
-
- input_lane_driving_trajectory
- input_parking_trajectory
- input_lanelet_map
- input_route
- input_odometry
- input_operation_mode_state
- is_parking_completed
- output_scenario
- output_trajectory
- config_file [default: $(find-pkg-share autoware_scenario_selector)/config/scenario_selector.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_scenario_selector at Robotics Stack Exchange
Package Summary
| Version | 0.53.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-10-27 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
- Fumiya Watanabe
- Takamasa Horibe
- Takayuki Murooka
Authors
- Satoshi Ota
autoware_scenario_selector
scenario_selector_node
scenario_selector_node is a node that switches trajectories from each scenario.
Input topics
| Name | Type | Description |
|---|---|---|
~input/lane_driving/trajectory |
autoware_planning_msgs::Trajectory | trajectory of LaneDriving scenario |
~input/parking/trajectory |
autoware_planning_msgs::Trajectory | trajectory of Parking scenario |
~input/lanelet_map |
autoware_map_msgs::msg::LaneletMapBin | |
~input/route |
autoware_planning_msgs::LaneletRoute | route and goal pose |
~input/odometry |
nav_msgs::Odometry | for checking whether vehicle is stopped |
is_parking_completed |
bool (implemented as rosparam) | whether all split trajectory of Parking are published |
Output topics
| Name | Type | Description |
|---|---|---|
~output/scenario |
tier4_planning_msgs::Scenario | current scenario and scenarios to be activated |
~output/trajectory |
autoware_planning_msgs::Trajectory | trajectory to be followed |
Output TFs
None
How to launch
- Write your remapping info in
scenario_selector.launchor add args when executingroslaunch -
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
- If you would like to use only a single scenario,
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
0.53.0 (2026-09-29)
- Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
- chore(planning): update package maintainers (#13186)
- refactor(planning): move node design files into each package (#13102) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
- Contributors: Ryohsuke Mitsudome, Satoshi OTA, Taekjin LEE
0.52.0 (2026-06-30)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(direction_change_module): propagate [allow_area]{.title-ref} to downstream modules for area-primitive route support (#12815)
- feat: ignore lane_departure in area primitive
- feat: add area primitive for isRouteValid() in mission_planner_universe
- feat: add allow_area for scenario_selector
- feat: add allow_area to planning_validator
- feat: add missing params in scenario module manager
- fix: set allow_area to false by default
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
-
Contributors: emmeyteja, github-actions
0.51.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
refactor(autoware_universe): use autoware_ament_auto_package in planning packages (#12291) Co-authored-by: github-actions <<github-actions@github.com>>
-
chore(planning): remove unused lanelet2_extension header (#12294)
- unused lanelet2_extension in planning component
- unused lanelet2_extension in planning component (2)
* unused lanelet2_extension in planning component (3) ---------Co-authored-by: Mamoru Sobue <<hilo.soblin@gmail.com>>
-
feat(autoware_scenario_selector): apply autoware_agnocast_wrapper for CIE (#12334)
-
Contributors: Sarun MUKDAPITAK, Vishal Chauhan, atsushi yano, github-actions
0.50.0 (2026-02-14)
- Merge remote-tracking branch 'origin/main' into humble
- feat!: remove ROS 2 Galactic codes (#11905)
- Contributors: Ryohsuke Mitsudome
0.49.0 (2025-12-30)
0.48.0 (2025-11-18)
0.47.1 (2025-08-14)
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)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| autoware_planning_launch |
Launch files
- launch/dummy_scenario_selector_lane_driving.launch.xml
-
- input_lane_driving_trajectory
- output_scenario
- output_trajectory
- input_parking_trajectory [default: ]
- input_lanelet_map [default: ]
- input_route [default: ]
- input_odometry [default: ]
- is_parking_completed [default: ]
- cmd [default: ros2 topic pub $(var output_scenario) tier4_planning_msgs/msg/Scenario '{current_scenario: LaneDriving, activating_scenarios: [LaneDriving]}']
- launch/dummy_scenario_selector_parking.launch.xml
-
- input_parking_trajectory
- output_scenario
- output_trajectory
- input_lane_driving_trajectory [default: ]
- input_lanelet_map [default: ]
- input_route [default: ]
- input_odometry [default: ]
- is_parking_completed [default: ]
- cmd [default: ros2 topic pub $(var output_scenario) tier4_planning_msgs/msg/Scenario '{current_scenario: Parking, activating_scenarios: [Parking]}']
- launch/scenario_selector.launch.xml
-
- input_lane_driving_trajectory
- input_parking_trajectory
- input_lanelet_map
- input_route
- input_odometry
- input_operation_mode_state
- is_parking_completed
- output_scenario
- output_trajectory
- config_file [default: $(find-pkg-share autoware_scenario_selector)/config/scenario_selector.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_scenario_selector at Robotics Stack Exchange
Package Summary
| Version | 0.53.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-10-27 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Maintainers
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
- Fumiya Watanabe
- Takamasa Horibe
- Takayuki Murooka
Authors
- Satoshi Ota
autoware_scenario_selector
scenario_selector_node
scenario_selector_node is a node that switches trajectories from each scenario.
Input topics
| Name | Type | Description |
|---|---|---|
~input/lane_driving/trajectory |
autoware_planning_msgs::Trajectory | trajectory of LaneDriving scenario |
~input/parking/trajectory |
autoware_planning_msgs::Trajectory | trajectory of Parking scenario |
~input/lanelet_map |
autoware_map_msgs::msg::LaneletMapBin | |
~input/route |
autoware_planning_msgs::LaneletRoute | route and goal pose |
~input/odometry |
nav_msgs::Odometry | for checking whether vehicle is stopped |
is_parking_completed |
bool (implemented as rosparam) | whether all split trajectory of Parking are published |
Output topics
| Name | Type | Description |
|---|---|---|
~output/scenario |
tier4_planning_msgs::Scenario | current scenario and scenarios to be activated |
~output/trajectory |
autoware_planning_msgs::Trajectory | trajectory to be followed |
Output TFs
None
How to launch
- Write your remapping info in
scenario_selector.launchor add args when executingroslaunch -
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
- If you would like to use only a single scenario,
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
0.53.0 (2026-09-29)
- Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
- chore(planning): update package maintainers (#13186)
- refactor(planning): move node design files into each package (#13102) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
- Contributors: Ryohsuke Mitsudome, Satoshi OTA, Taekjin LEE
0.52.0 (2026-06-30)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
feat(direction_change_module): propagate [allow_area]{.title-ref} to downstream modules for area-primitive route support (#12815)
- feat: ignore lane_departure in area primitive
- feat: add area primitive for isRouteValid() in mission_planner_universe
- feat: add allow_area for scenario_selector
- feat: add allow_area to planning_validator
- feat: add missing params in scenario module manager
- fix: set allow_area to false by default
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
-
Contributors: emmeyteja, github-actions
0.51.0 (2026-05-01)
-
Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
-
refactor(autoware_universe): use autoware_ament_auto_package in planning packages (#12291) Co-authored-by: github-actions <<github-actions@github.com>>
-
chore(planning): remove unused lanelet2_extension header (#12294)
- unused lanelet2_extension in planning component
- unused lanelet2_extension in planning component (2)
* unused lanelet2_extension in planning component (3) ---------Co-authored-by: Mamoru Sobue <<hilo.soblin@gmail.com>>
-
feat(autoware_scenario_selector): apply autoware_agnocast_wrapper for CIE (#12334)
-
Contributors: Sarun MUKDAPITAK, Vishal Chauhan, atsushi yano, github-actions
0.50.0 (2026-02-14)
- Merge remote-tracking branch 'origin/main' into humble
- feat!: remove ROS 2 Galactic codes (#11905)
- Contributors: Ryohsuke Mitsudome
0.49.0 (2025-12-30)
0.48.0 (2025-11-18)
0.47.1 (2025-08-14)
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)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| autoware_planning_launch |
Launch files
- launch/dummy_scenario_selector_lane_driving.launch.xml
-
- input_lane_driving_trajectory
- output_scenario
- output_trajectory
- input_parking_trajectory [default: ]
- input_lanelet_map [default: ]
- input_route [default: ]
- input_odometry [default: ]
- is_parking_completed [default: ]
- cmd [default: ros2 topic pub $(var output_scenario) tier4_planning_msgs/msg/Scenario '{current_scenario: LaneDriving, activating_scenarios: [LaneDriving]}']
- launch/dummy_scenario_selector_parking.launch.xml
-
- input_parking_trajectory
- output_scenario
- output_trajectory
- input_lane_driving_trajectory [default: ]
- input_lanelet_map [default: ]
- input_route [default: ]
- input_odometry [default: ]
- is_parking_completed [default: ]
- cmd [default: ros2 topic pub $(var output_scenario) tier4_planning_msgs/msg/Scenario '{current_scenario: Parking, activating_scenarios: [Parking]}']
- launch/scenario_selector.launch.xml
-
- input_lane_driving_trajectory
- input_parking_trajectory
- input_lanelet_map
- input_route
- input_odometry
- input_operation_mode_state
- is_parking_completed
- output_scenario
- output_trajectory
- config_file [default: $(find-pkg-share autoware_scenario_selector)/config/scenario_selector.param.yaml]