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autoware_simple_planning_simulator 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 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

simple_planning_simulator as a ROS 2 node

Additional Links

No additional links.

Maintainers

Takamasa Horibe
Tomoya Kimura
Maxime Clement
Mamoru Sobue
Zulfaqar Azmi
Temkei Kem
Junya Sasaki
Kotaro Yoshimoto

Authors

No additional authors.

simulator/autoware_simple_planning_simulator/README.md

autoware_simple_planning_simulator

Purpose / Use cases

This node simulates the vehicle motion for a vehicle command in 2D using a simple vehicle model.

Design

The purpose of this simulator is for the integration test of planning and control modules. This does not simulate sensing or perception, but is implemented in pure c++ only and works without GPU.

Assumptions / Known limits

It simulates only in 2D motion.
It does not perform physical operations such as collision and sensing, but only calculates the integral results of vehicle dynamics.

Inputs / Outputs / API

input

input/initialpose [geometry_msgs/msg/PoseWithCovarianceStamped] : for initial pose
input/ackermann_control_command [autoware_control_msgs/msg/Control] : target command to drive a vehicle
input/manual_ackermann_control_command [autoware_control_msgs/msg/Control] : manual target command to drive a vehicle (used when control_mode_request = Manual)
input/gear_command [autoware_vehicle_msgs/msg/GearCommand] : target gear command.
input/manual_gear_command [autoware_vehicle_msgs/msg/GearCommand] : target gear command (used when control_mode_request = Manual)
input/turn_indicators_command [autoware_vehicle_msgs/msg/TurnIndicatorsCommand] : target turn indicator command
input/hazard_lights_command [autoware_vehicle_msgs/msg/HazardLightsCommand] : target hazard lights command
input/control_mode_request [tier4_vehicle_msgs::srv::ControlModeRequest] : mode change for Auto/Manual driving

output

/tf [tf2_msgs/msg/TFMessage] : simulated vehicle pose (base_link)
/output/odometry [nav_msgs/msg/Odometry] : simulated vehicle pose and twist
/output/steering [autoware_vehicle_msgs/msg/SteeringReport] : simulated steering angle
/output/control_mode_report [autoware_vehicle_msgs/msg/ControlModeReport] : current control mode (Auto/Manual)
/output/gear_report [autoware_vehicle_msgs/msg/ControlModeReport] : simulated gear
/output/turn_indicators_report [autoware_vehicle_msgs/msg/ControlModeReport] : simulated turn indicator status
/output/hazard_lights_report [autoware_vehicle_msgs/msg/ControlModeReport] : simulated hazard lights status

Inner-workings / Algorithms

Common Parameters

Name	Type	Description	Default value
simulated_frame_id	string	set to the child_frame_id in output tf	“base_link”
origin_frame_id	string	set to the frame_id in output tf	“odom”
initialize_source	string	If “ORIGIN”, the initial pose is set at (0,0,0). If “INITIAL_POSE_TOPIC”, node will wait until the `input/initialpose` topic is published.	“INITIAL_POSE_TOPIC”
add_measurement_noise	bool	If true, the Gaussian noise is added to the simulated results.	true
pos_noise_stddev	double	Standard deviation for position noise	0.01
rpy_noise_stddev	double	Standard deviation for Euler angle noise	0.0001
vel_noise_stddev	double	Standard deviation for longitudinal velocity noise	0.0
angvel_noise_stddev	double	Standard deviation for angular velocity noise	0.0
steer_noise_stddev	double	Standard deviation for steering angle noise	0.0001

Vehicle Model Parameters

vehicle_model_type options

IDEAL_STEER_VEL
IDEAL_STEER_ACC
IDEAL_STEER_ACC_GEARED
DELAY_STEER_VEL
DELAY_STEER_ACC
DELAY_STEER_ACC_GEARED
DELAY_STEER_ACC_GEARED_WO_FALL_GUARD
DELAY_STEER_MAP_ACC_GEARED: applies 1D dynamics and time delay to the steering and acceleration commands. The simulated acceleration is determined by a value converted through the provided acceleration map. This model is valuable for an accurate simulation with acceleration deviations in a real vehicle.
LEARNED_STEER_VEL: launches learned python models. More about this here.

The following models receive ACTUATION_CMD generated from raw_vehicle_cmd_converter. Therefore, when these models are selected, the raw_vehicle_cmd_converter is also launched.

ACTUATION_CMD: This model only converts accel/brake commands and use steer command as it is.
ACTUATION_CMD_STEER_MAP: The steer command is converted to the steer rate command using the steer map.
ACTUATION_CMD_VGR: The steer command is converted to the steer rate command using the variable gear ratio.
ACTUATION_CMD_MECHANICAL: This model has mechanical dynamics and controller for that.

The IDEAL model moves ideally as commanded, while the DELAY model moves based on a 1st-order with time delay model. The STEER means the model receives the steer command. The VEL means the model receives the target velocity command, while the ACC model receives the target acceleration command. The GEARED suffix means that the motion will consider the gear command: the vehicle moves only one direction following the gear.

The table below shows which models correspond to what parameters. The model names are written in abbreviated form (e.g. IDEAL_STEER_VEL = I_ST_V).

Name	Type	Description	I_ST_V	I_ST_A	I_ST_A_G	D_ST_V	D_ST_A	D_ST_A_G	D_ST_A_G_WO_FG	D_ST_M_ACC_G	L_S_V	A_C	Default value	unit
acc_time_delay	double	dead time for the acceleration input	x	x	x	x	o	o	o	o	x	x	0.1	[s]
steer_time_delay	double	dead time for the steering input	x	x	x	o	o	o	o	o	x	o	0.24	[s]
vel_time_delay	double	dead time for the velocity input	x	x	x	o	x	x	x	x	x	x	0.25	[s]
acc_time_constant	double	time constant of the 1st-order acceleration dynamics	x	x	x	x	o	o	o	o	x	x	0.1	[s]
steer_time_constant	double	time constant of the 1st-order steering dynamics	x	x	x	o	o	o	o	o	x	o	0.27	[s]
steer_dead_band	double	dead band for steering angle	x	x	x	o	o	o	o	x	x	o	0.0	[rad]
vel_time_constant	double	time constant of the 1st-order velocity dynamics	x	x	x	o	x	x	x	x	x	x	0.5	[s]
vel_lim	double	limit of velocity	x	x	x	o	o	o	o	o	x	x	50.0	[m/s]
vel_rate_lim	double	limit of acceleration	x	x	x	o	o	o	o	o	x	x	7.0	[m/ss]
steer_lim	double	limit of steering angle	x	x	x	o	o	o	o	o	x	o	1.0	[rad]
steer_rate_lim	double	limit of steering angle change rate	x	x	x	o	o	o	o	o	x	o	5.0	[rad/s]
steer_bias	double	bias for steering angle	x	x	x	o	o	o	o	o	x	o	0.0	[rad]
debug_acc_scaling_factor	double	scaling factor for accel command	x	x	x	x	o	o	o	x	x	x	1.0	[-]
debug_steer_scaling_factor	double	scaling factor for steer command	x	x	x	x	o	o	o	x	x	x	1.0	[-]
acceleration_map_path	string	path to csv file for acceleration map which converts velocity and ideal acceleration to actual acceleration	x	x	x	x	x	x	x	o	x	x	-	[-]
model_module_paths	string	path to a python module where the model is implemented	x	x	x	x	x	x	x	x	o	x	-	[-]
model_param_paths	string	path to the file where model parameters are stored (can be empty string if no parameter file is required)	x	x	x	x	x	x	x	x	o	x	-	[-]
model_class_names	string	name of the class that implements the model	x	x	x	x	x	x	x	x	o	x	-	[-]

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_simple_planning_simulator

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>
Contributors: Yukihiro Saito

0.46.0 (2025-06-20)

Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
fix(autoware_simple_planning_simulator ): fix deprecated autoware_utils header (#10520)
Contributors: Kazusa Hashimoto, TaikiYamada4

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

Merge remote-tracking branch 'origin/main' into humble
fix(simple_planning_simulator): fix a small turn_signal bug (#10386)
- fix turn bug
* pre-commit ---------
Contributors: Kem (TiankuiXian), Ryohsuke Mitsudome

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)
Contributors: Hayato Mizushima, 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)
Contributors: Fumiya Watanabe, 心刚

0.41.2 (2025-02-19)

chore: bump version to 0.41.1 (#10088)
Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
feat: apply [autoware_]{.title-ref} prefix for [learning_based_vehicle_model]{.title-ref} (#9991)
feat: apply [autoware_]{.title-ref} prefix for [simple_planning_simulator]{.title-ref} (#9995)

* feat(simple_planning_simulator): apply [autoware_]{.title-ref} prefix (see below): Note:

* In this commit, I did not organize a folder structure. The folder structure will be organized in the next some commits.
- The changes will follow the Autoware's guideline as below:
- https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/directory-structure/#package-folder
- rename(simple_planning_simulator): move headers under `include/autoware`:
- Fixes due to this changes for .hpp/.cpp files will be applied in the next commit
- fix(simple_planning_simulator): fix include header paths
- To follow the previous commit
- rename: [simple_planning_simulator]{.title-ref} => [autoware_simple_planning_simulator]{.title-ref}
- bug(autoware_simple_planning_simulator): fix missing changes
- style(pre-commit): autofix

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	autoware_cmake
	ament_cmake_auto
	launch_ros
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_control_msgs
	autoware_lanelet2_extension
	autoware_learning_based_vehicle_model
	autoware_map_msgs
	autoware_motion_utils
	autoware_planning_msgs
	autoware_utils_geometry
	autoware_utils_rclcpp
	autoware_vehicle_info_utils
	autoware_vehicle_msgs
	geometry_msgs
	lanelet2_core
	nav_msgs
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_geometry_msgs
	tf2_ros
	tier4_api_utils
	tier4_external_api_msgs
	tier4_vehicle_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
tier4_simulator_launch

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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