Trajectory Selector

Purpose/Role

trajectory_selector_node is the ROS 2 node that orchestrates the full candidate trajectory pipeline. It buffers trajectory candidates from multiple upstream planners via autoware_trajectory_concatenator, validates each candidate against the safety and traffic-rule plugins of autoware_trajectory_validator, and publishes the surviving trajectories for downstream processing.

Algorithm Overview

1. Candidate trajectories arrive on two separate input topics. ~/input/trajectories_generative acts as an anchor: receiving a message on this topic triggers an immediate concatenation and validation cycle. ~/input/trajectories_backup messages are buffered and processed in the next cycle.
2. A 100 ms timer also fires periodically to ensure output is published even if the anchor input is delayed or missing. The timer is reset whenever an anchor message is received.
3. During each cycle (triggered by the anchor or the timer), the concatenator prunes stale entries (older than duration_time) and returns the merged trajectory set from all registered generators.
4. If any mandatory sensor input (odometry, predicted objects, acceleration, or HD map) is unavailable, the cycle returns early without publishing.
5. The validator runs all loaded plugins against each trajectory. Trajectories rejected by any enforced plugin (listed in filter_names) are removed from the output set.
6. The surviving trajectories are published to ~/output/trajectories.

Interface

Topics

Parameters

{{ json_to_markdown(“planning/autoware_trajectory_selector/schema/trajectory_selector.schema.json”) }}

Other configuration is provided through the sub-package parameter files loaded at launch:

• Concatenation parameters: see autoware_trajectory_concatenator
• Validation parameters: see autoware_trajectory_validator

Changelog for package autoware_trajectory_selector

0.53.0 (2026-09-29)

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

• fix(planning): fix ENABLE_AGNOCAST=1 build and startup of trajectory_selector (#13364)

  • fix(trajectory_selector): fix ENABLE_AGNOCAST=1 build

  * build(trajectory_ranker): add autoware_agnocast_wrapper_setup to the library target ---------

• refactor(trajectory_adapter): integrate trajectory adapter into selector node (#13355)

  * feat(trajectory_adapter): integrate trajectory adapter into selector node (#3312) integrate trajectory adapter into selector node

  • Extract TrajectoryAdapter and TrajectoryAdapterWrapper from the standalone adapter node
  • Integrate adapter into the selector pipeline after trajectory ranking
  • Publish planning trajectory and turn indicators from trajectory_selector_node
  • Keep latency debug publishing in TrajectoryAdapterWrapper
  • Convert autoware_trajectory_adapter from a standalone node into a shared library
  • Remove the standalone trajectory adapter node and its launch file
  • Add autoware_trajectory_adapter, autoware_planning_msgs, and autoware_vehicle_msgs dependencies to the selector package
  • Update trajectory_selector.launch.xml with trajectory and turn-indicator output remaps
  • apply pre-commit checks

  * add missing include ---------

• feat(trajectory_ranker): implement and integrate ranker into selector node (#13353)

  • feat(trajectory_ranker): implement new ranker module and integrate into selector component (#3208)
  • add trajectory_ranker_wrapper framework
  • refactor trajectory ranker parameter handling
  • implement trajectory_ranker class framework
  • implement core ranker logic
  • add logic to evaluate trajectories based on risk level
  • add logic to evaluate trajectories based on source
  • use existing metrics based evaluation to evaluate trajectory quality
  • integrate new ranker into trajectory_selector_node
  • refactor code
  • remove obsolete ranker node
  • refactor for debugging
  • add flag to enable/disable ranker within selectory node
  • fix parameter update logic, cleanup code
  • update launch files
  • disable quality evaluation by default
  • fix topic name
  • minor refactor
  • output debug to console when best trajectory has low score
  • support new backup planner dual go/stop trajectories
  • populate generator info of ScoredCandidateTrajectories
  • filter out shadow mode metrics before assigning combined trajectory risk level
  • update source penalties
  • add integration tests for trajectory ranker
  • add ranker parameters schema, update readme
  • remove simple_trajectory_ranker_node
  • remove launch prefix
  • pass active_filter_names to validator from wrapper

  * add missing includes ---------

  • replace rclcpp::Node usage by agnocast_wrapper::Node
  • fix selector node tests

  * add missing selector config file ---------

• fix(trajectory_selector, trajectory_validator): sync changes to the (#13344)

  • fix(trajectory_selector): pass route to validator context and expose validation report

  * feat(trajectory_validator): publish planning factors from validator filters ---------

• refactor(planning): move node design files into each package (#13102) Co-authored-by: Claude Opus 5 (1M context)

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