Trajectory Concatenator

Purpose/Role

This node aggregates trajectory candidates from multiple trajectory generators into a single autoware_internal_planning_msgs/msg/CandidateTrajectories message. It is intended to be placed between trajectory generators and the selector/ranker.

Algorithm Overview

When a CandidateTrajectories message is received (from either ~/input/trajectories_generative or ~/input/trajectories_backup), the library splits it by generator_id and updates an in-memory buffer so that only the most recent trajectory set for each generator is retained.

A 100 ms timer then scans this buffer and drops any entry whose header stamp is older than the configured duration_time. Immediately after pruning, the timer concatenates all remaining trajectories and their accompanying generator_info arrays, publishes the aggregated message.

Interface

Topics

Parameters

{{ json_to_markdown(“planning/autoware_trajectory_concatenator/schema/trajectory_concatenator.schema.json”) }}

Changelog for package autoware_trajectory_concatenator

0.53.0 (2026-09-29)

• Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog

• feat(trajectory_selector): apply [agnocast_wrapper::Node]{.title-ref} to [autoware_trajectory_selector]{.title-ref} (#12920)

  • apply agnocast_wrapper::Node
  • apply agnocast_wrapper::Node
  • fix trajectory_concatenator_wrapper
  • style(pre-commit): autofix
  • fix to not use template
  • style(pre-commit): autofix
  • fix: move bug
  • fix: use {} for agnocast message_ptr null
  • fix: wrap test context assignments in agnocast msg_ptr
  • fix: executor
  • fix: polling
  • refactor: subscriber

  * refactor: skip test in cmake ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: kobayu858 <<yutaro.kobayashi.2@tier4.jp>>

• Contributors: Koichi Imai, Ryohsuke Mitsudome

0.52.0 (2026-06-30)

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

• feat(trajectory_selector): anchor the concatenation on the main input (#12722)

• feat(trajectory_selector): combine validator and concatenator (#12532)

  • feat(concatenator): add concatenator
  • feat: combine concatenator with validator
  • fix: remove explicit find package, and pre-commit
  • fix: failing test
  • fix: create public interface for concatenator, and move concatenator to detail folder
  • feat: separate validator to validator interface and initialize selector
  • fix loading parameters

  * fix(node): publish validated trajectories; remove dead member and unjustified mutable on_timer() computed the validated result but never called publish(), making the node a no-op at the output. Both integration tests were silently timing out because of this. Also removed sub_trajectories_ which was declared but never assigned in subscribers(), and dropped the unjustified [mutable]{.title-ref} qualifier from time_keeper_ (no const method ever writes to it). Co-Authored-By: Claude Sonnet 4.6 <<noreply@anthropic.com>>

  * fix(validator_interface): use validator_ptr_ in validate_trajectories validate_trajectories() was constructing a new TrajectoryValidator on every call (copying the plugins_ vector each time) instead of using the validator_ptr_ member that is initialized in the constructor for exactly this purpose. validator_ptr_ was live memory that was never called. Co-Authored-By: Claude Sonnet 4.6 <<noreply@anthropic.com>>

  * fix(validator_interface): remove redundant diagnostics clear; merge duplicate DebugPublisher Two cleanups in validate_trajectories / publishers():

  1. The first diagnostics_interface_ptr_->clear() was dead work: the diagnostics are cleared again five lines later, just before the add_key_value loop, so the first call never had observable effect.

  2. pub_validation_reports_ and pub_debug_ were both initialized to a DebugPublisher with the identical prefix "~/debug". A single DebugPublisher handles multiple sub-topics; the duplicate object added confusion without benefit. Removed pub_validation_reports_ and routed its one call-site through pub_debug_. Co-Authored-By: Claude Sonnet 4.6 <<noreply@anthropic.com>>

  • fix: add test
  • fix: rename context
  • style(pre-commit): autofix
  • fix: return if concatenated is empty
  • doc: docstring
  • fix: remove failed spellcheck

  * fix initial processing time value Co-authored-by: Copilot Autofix powered by AI <<175728472+Copilot@users.noreply.github.com>>

  • fix: rename interface to wrapper
  • remove processing time and add unit test
  • style(pre-commit): autofix
  • separate trajectory selector

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