Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Mamoru Sobue
- Takayuki Murooka
- Satoshi Ota
- Kyoichi Sugahara
- Taiki Tanaka
- Kosuke Takeuchi
- Tomohito Ando
- Makoto Kurihara
- Maxime Clement
- Tomoya Kimura
- Shumpei Wakabayashi
Authors
- Taiki Tanaka
- Mamoru Sobue
- Satoshi Ota
- Kyoichi Sugahara
- Kosuke Takeuchi
- Yutaka Shimizu
- Tomohito Ando
- Yukihiro Saito
Behavior Velocity Planner
Overview
behavior_velocity_planner
is a planner that adjust velocity based on the traffic rules.
It loads modules as plugins. Please refer to the links listed below for detail on each module.
- Blind Spot
- Crosswalk
- Walkway
- Detection Area
- Intersection
- MergeFromPrivate
- Stop Line
- Virtual Traffic Light
- Traffic Light
- Occlusion Spot
- No Stopping Area
- Run Out
- Speed Bump
- Out of Lane
When each module plans velocity, it considers based on base_link
(center of rear-wheel axis) pose.
So for example, in order to stop at a stop line with the vehicles’ front on the stop line, it calculates base_link
position from the distance between base_link
to front and modifies path velocity from the base_link
position.
Input topics
Name | Type | Description |
---|---|---|
~input/path_with_lane_id |
autoware_auto_planning_msgs::msg::PathWithLaneId | path with lane_id |
~input/vector_map |
autoware_auto_mapping_msgs::msg::HADMapBin | vector map |
~input/vehicle_odometry |
nav_msgs::msg::Odometry | vehicle velocity |
~input/dynamic_objects |
autoware_auto_perception_msgs::msg::PredictedObjects | dynamic objects |
~input/no_ground_pointcloud |
sensor_msgs::msg::PointCloud2 | obstacle pointcloud |
~/input/compare_map_filtered_pointcloud |
sensor_msgs::msg::PointCloud2 | obstacle pointcloud filtered by compare map. Note that this is used only when the detection method of run out module is Points. |
~input/traffic_signals |
autoware_perception_msgs::msg::TrafficSignalArray | traffic light states |
Output topics
Name | Type | Description |
---|---|---|
~output/path |
autoware_auto_planning_msgs::msg::Path | path to be followed |
~output/stop_reasons |
tier4_planning_msgs::msg::StopReasonArray | reasons that cause the vehicle to stop |
Node parameters
Parameter | Type | Description |
---|---|---|
launch_modules |
vector<string> | module names to launch |
forward_path_length |
double | forward path length |
backward_path_length |
double | backward path length |
max_accel |
double | (to be a global parameter) max acceleration of the vehicle |
system_delay |
double | (to be a global parameter) delay time until output control command |
delay_response_time |
double | (to be a global parameter) delay time of the vehicle’s response to control commands |
Package Dependencies
System Dependencies
Name |
---|
eigen |
libboost-dev |
Dependant Packages
Launch files
- launch/behavior_velocity_planner.launch.xml
-
- common_param_path
- vehicle_param_file
- nearest_search_param_path
- behavior_velocity_planner_launch_modules
- behavior_velocity_config_path
- behavior_velocity_smoother_type_param_path
- behavior_velocity_planner_common_param_path
- behavior_velocity_planner_blind_spot_module_param_path
- behavior_velocity_planner_crosswalk_module_param_path
- behavior_velocity_planner_walkway_module_param_path
- behavior_velocity_planner_detection_area_module_param_path
- behavior_velocity_planner_intersection_module_param_path
- behavior_velocity_planner_stop_line_module_param_path
- behavior_velocity_planner_traffic_light_module_param_path
- behavior_velocity_planner_virtual_traffic_light_module_param_path
- behavior_velocity_planner_occlusion_spot_module_param_path
- behavior_velocity_planner_no_stopping_area_module_param_path
- behavior_velocity_planner_run_out_module_param_path
- behavior_velocity_planner_speed_bump_module_param_path
- behavior_velocity_planner_out_of_lane_module_param_path
- behavior_velocity_planner_no_drivable_lane_module_param_path
- behavior_velocity_planner_param_file [default: $(find-pkg-share behavior_velocity_planner)/config/behavior_velocity_planner.param.yaml]
Messages
Services
Plugins
Recent questions tagged behavior_velocity_planner at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Mamoru Sobue
- Takayuki Murooka
- Satoshi Ota
- Kyoichi Sugahara
- Taiki Tanaka
- Kosuke Takeuchi
- Tomohito Ando
- Makoto Kurihara
- Maxime Clement
- Tomoya Kimura
- Shumpei Wakabayashi
Authors
- Taiki Tanaka
- Mamoru Sobue
- Satoshi Ota
- Kyoichi Sugahara
- Kosuke Takeuchi
- Yutaka Shimizu
- Tomohito Ando
- Yukihiro Saito
Behavior Velocity Planner
Overview
behavior_velocity_planner
is a planner that adjust velocity based on the traffic rules.
It loads modules as plugins. Please refer to the links listed below for detail on each module.
- Blind Spot
- Crosswalk
- Walkway
- Detection Area
- Intersection
- MergeFromPrivate
- Stop Line
- Virtual Traffic Light
- Traffic Light
- Occlusion Spot
- No Stopping Area
- Run Out
- Speed Bump
- Out of Lane
When each module plans velocity, it considers based on base_link
(center of rear-wheel axis) pose.
So for example, in order to stop at a stop line with the vehicles’ front on the stop line, it calculates base_link
position from the distance between base_link
to front and modifies path velocity from the base_link
position.
Input topics
Name | Type | Description |
---|---|---|
~input/path_with_lane_id |
autoware_auto_planning_msgs::msg::PathWithLaneId | path with lane_id |
~input/vector_map |
autoware_auto_mapping_msgs::msg::HADMapBin | vector map |
~input/vehicle_odometry |
nav_msgs::msg::Odometry | vehicle velocity |
~input/dynamic_objects |
autoware_auto_perception_msgs::msg::PredictedObjects | dynamic objects |
~input/no_ground_pointcloud |
sensor_msgs::msg::PointCloud2 | obstacle pointcloud |
~/input/compare_map_filtered_pointcloud |
sensor_msgs::msg::PointCloud2 | obstacle pointcloud filtered by compare map. Note that this is used only when the detection method of run out module is Points. |
~input/traffic_signals |
autoware_perception_msgs::msg::TrafficSignalArray | traffic light states |
Output topics
Name | Type | Description |
---|---|---|
~output/path |
autoware_auto_planning_msgs::msg::Path | path to be followed |
~output/stop_reasons |
tier4_planning_msgs::msg::StopReasonArray | reasons that cause the vehicle to stop |
Node parameters
Parameter | Type | Description |
---|---|---|
launch_modules |
vector<string> | module names to launch |
forward_path_length |
double | forward path length |
backward_path_length |
double | backward path length |
max_accel |
double | (to be a global parameter) max acceleration of the vehicle |
system_delay |
double | (to be a global parameter) delay time until output control command |
delay_response_time |
double | (to be a global parameter) delay time of the vehicle’s response to control commands |
Package Dependencies
System Dependencies
Name |
---|
eigen |
libboost-dev |
Dependant Packages
Launch files
- launch/behavior_velocity_planner.launch.xml
-
- common_param_path
- vehicle_param_file
- nearest_search_param_path
- behavior_velocity_planner_launch_modules
- behavior_velocity_config_path
- behavior_velocity_smoother_type_param_path
- behavior_velocity_planner_common_param_path
- behavior_velocity_planner_blind_spot_module_param_path
- behavior_velocity_planner_crosswalk_module_param_path
- behavior_velocity_planner_walkway_module_param_path
- behavior_velocity_planner_detection_area_module_param_path
- behavior_velocity_planner_intersection_module_param_path
- behavior_velocity_planner_stop_line_module_param_path
- behavior_velocity_planner_traffic_light_module_param_path
- behavior_velocity_planner_virtual_traffic_light_module_param_path
- behavior_velocity_planner_occlusion_spot_module_param_path
- behavior_velocity_planner_no_stopping_area_module_param_path
- behavior_velocity_planner_run_out_module_param_path
- behavior_velocity_planner_speed_bump_module_param_path
- behavior_velocity_planner_out_of_lane_module_param_path
- behavior_velocity_planner_no_drivable_lane_module_param_path
- behavior_velocity_planner_param_file [default: $(find-pkg-share behavior_velocity_planner)/config/behavior_velocity_planner.param.yaml]
Messages
Services
Plugins
Recent questions tagged behavior_velocity_planner at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Mamoru Sobue
- Takayuki Murooka
- Satoshi Ota
- Kyoichi Sugahara
- Taiki Tanaka
- Kosuke Takeuchi
- Tomohito Ando
- Makoto Kurihara
- Maxime Clement
- Tomoya Kimura
- Shumpei Wakabayashi
Authors
- Taiki Tanaka
- Mamoru Sobue
- Satoshi Ota
- Kyoichi Sugahara
- Kosuke Takeuchi
- Yutaka Shimizu
- Tomohito Ando
- Yukihiro Saito
Behavior Velocity Planner
Overview
behavior_velocity_planner
is a planner that adjust velocity based on the traffic rules.
It loads modules as plugins. Please refer to the links listed below for detail on each module.
- Blind Spot
- Crosswalk
- Walkway
- Detection Area
- Intersection
- MergeFromPrivate
- Stop Line
- Virtual Traffic Light
- Traffic Light
- Occlusion Spot
- No Stopping Area
- Run Out
- Speed Bump
- Out of Lane
When each module plans velocity, it considers based on base_link
(center of rear-wheel axis) pose.
So for example, in order to stop at a stop line with the vehicles’ front on the stop line, it calculates base_link
position from the distance between base_link
to front and modifies path velocity from the base_link
position.
Input topics
Name | Type | Description |
---|---|---|
~input/path_with_lane_id |
autoware_auto_planning_msgs::msg::PathWithLaneId | path with lane_id |
~input/vector_map |
autoware_auto_mapping_msgs::msg::HADMapBin | vector map |
~input/vehicle_odometry |
nav_msgs::msg::Odometry | vehicle velocity |
~input/dynamic_objects |
autoware_auto_perception_msgs::msg::PredictedObjects | dynamic objects |
~input/no_ground_pointcloud |
sensor_msgs::msg::PointCloud2 | obstacle pointcloud |
~/input/compare_map_filtered_pointcloud |
sensor_msgs::msg::PointCloud2 | obstacle pointcloud filtered by compare map. Note that this is used only when the detection method of run out module is Points. |
~input/traffic_signals |
autoware_perception_msgs::msg::TrafficSignalArray | traffic light states |
Output topics
Name | Type | Description |
---|---|---|
~output/path |
autoware_auto_planning_msgs::msg::Path | path to be followed |
~output/stop_reasons |
tier4_planning_msgs::msg::StopReasonArray | reasons that cause the vehicle to stop |
Node parameters
Parameter | Type | Description |
---|---|---|
launch_modules |
vector<string> | module names to launch |
forward_path_length |
double | forward path length |
backward_path_length |
double | backward path length |
max_accel |
double | (to be a global parameter) max acceleration of the vehicle |
system_delay |
double | (to be a global parameter) delay time until output control command |
delay_response_time |
double | (to be a global parameter) delay time of the vehicle’s response to control commands |
Package Dependencies
System Dependencies
Name |
---|
eigen |
libboost-dev |
Dependant Packages
Launch files
- launch/behavior_velocity_planner.launch.xml
-
- common_param_path
- vehicle_param_file
- nearest_search_param_path
- behavior_velocity_planner_launch_modules
- behavior_velocity_config_path
- behavior_velocity_smoother_type_param_path
- behavior_velocity_planner_common_param_path
- behavior_velocity_planner_blind_spot_module_param_path
- behavior_velocity_planner_crosswalk_module_param_path
- behavior_velocity_planner_walkway_module_param_path
- behavior_velocity_planner_detection_area_module_param_path
- behavior_velocity_planner_intersection_module_param_path
- behavior_velocity_planner_stop_line_module_param_path
- behavior_velocity_planner_traffic_light_module_param_path
- behavior_velocity_planner_virtual_traffic_light_module_param_path
- behavior_velocity_planner_occlusion_spot_module_param_path
- behavior_velocity_planner_no_stopping_area_module_param_path
- behavior_velocity_planner_run_out_module_param_path
- behavior_velocity_planner_speed_bump_module_param_path
- behavior_velocity_planner_out_of_lane_module_param_path
- behavior_velocity_planner_no_drivable_lane_module_param_path
- behavior_velocity_planner_param_file [default: $(find-pkg-share behavior_velocity_planner)/config/behavior_velocity_planner.param.yaml]
Messages
Services
Plugins
Recent questions tagged behavior_velocity_planner at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Mamoru Sobue
- Takayuki Murooka
- Satoshi Ota
- Kyoichi Sugahara
- Taiki Tanaka
- Kosuke Takeuchi
- Tomohito Ando
- Makoto Kurihara
- Maxime Clement
- Tomoya Kimura
- Shumpei Wakabayashi
Authors
- Taiki Tanaka
- Mamoru Sobue
- Satoshi Ota
- Kyoichi Sugahara
- Kosuke Takeuchi
- Yutaka Shimizu
- Tomohito Ando
- Yukihiro Saito
Behavior Velocity Planner
Overview
behavior_velocity_planner
is a planner that adjust velocity based on the traffic rules.
It loads modules as plugins. Please refer to the links listed below for detail on each module.
- Blind Spot
- Crosswalk
- Walkway
- Detection Area
- Intersection
- MergeFromPrivate
- Stop Line
- Virtual Traffic Light
- Traffic Light
- Occlusion Spot
- No Stopping Area
- Run Out
- Speed Bump
- Out of Lane
When each module plans velocity, it considers based on base_link
(center of rear-wheel axis) pose.
So for example, in order to stop at a stop line with the vehicles’ front on the stop line, it calculates base_link
position from the distance between base_link
to front and modifies path velocity from the base_link
position.
Input topics
Name | Type | Description |
---|---|---|
~input/path_with_lane_id |
autoware_auto_planning_msgs::msg::PathWithLaneId | path with lane_id |
~input/vector_map |
autoware_auto_mapping_msgs::msg::HADMapBin | vector map |
~input/vehicle_odometry |
nav_msgs::msg::Odometry | vehicle velocity |
~input/dynamic_objects |
autoware_auto_perception_msgs::msg::PredictedObjects | dynamic objects |
~input/no_ground_pointcloud |
sensor_msgs::msg::PointCloud2 | obstacle pointcloud |
~/input/compare_map_filtered_pointcloud |
sensor_msgs::msg::PointCloud2 | obstacle pointcloud filtered by compare map. Note that this is used only when the detection method of run out module is Points. |
~input/traffic_signals |
autoware_perception_msgs::msg::TrafficSignalArray | traffic light states |
Output topics
Name | Type | Description |
---|---|---|
~output/path |
autoware_auto_planning_msgs::msg::Path | path to be followed |
~output/stop_reasons |
tier4_planning_msgs::msg::StopReasonArray | reasons that cause the vehicle to stop |
Node parameters
Parameter | Type | Description |
---|---|---|
launch_modules |
vector<string> | module names to launch |
forward_path_length |
double | forward path length |
backward_path_length |
double | backward path length |
max_accel |
double | (to be a global parameter) max acceleration of the vehicle |
system_delay |
double | (to be a global parameter) delay time until output control command |
delay_response_time |
double | (to be a global parameter) delay time of the vehicle’s response to control commands |
Package Dependencies
System Dependencies
Name |
---|
eigen |
libboost-dev |
Dependant Packages
Launch files
- launch/behavior_velocity_planner.launch.xml
-
- common_param_path
- vehicle_param_file
- nearest_search_param_path
- behavior_velocity_planner_launch_modules
- behavior_velocity_config_path
- behavior_velocity_smoother_type_param_path
- behavior_velocity_planner_common_param_path
- behavior_velocity_planner_blind_spot_module_param_path
- behavior_velocity_planner_crosswalk_module_param_path
- behavior_velocity_planner_walkway_module_param_path
- behavior_velocity_planner_detection_area_module_param_path
- behavior_velocity_planner_intersection_module_param_path
- behavior_velocity_planner_stop_line_module_param_path
- behavior_velocity_planner_traffic_light_module_param_path
- behavior_velocity_planner_virtual_traffic_light_module_param_path
- behavior_velocity_planner_occlusion_spot_module_param_path
- behavior_velocity_planner_no_stopping_area_module_param_path
- behavior_velocity_planner_run_out_module_param_path
- behavior_velocity_planner_speed_bump_module_param_path
- behavior_velocity_planner_out_of_lane_module_param_path
- behavior_velocity_planner_no_drivable_lane_module_param_path
- behavior_velocity_planner_param_file [default: $(find-pkg-share behavior_velocity_planner)/config/behavior_velocity_planner.param.yaml]
Messages
Services
Plugins
Recent questions tagged behavior_velocity_planner at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Mamoru Sobue
- Takayuki Murooka
- Satoshi Ota
- Kyoichi Sugahara
- Taiki Tanaka
- Kosuke Takeuchi
- Tomohito Ando
- Makoto Kurihara
- Maxime Clement
- Tomoya Kimura
- Shumpei Wakabayashi
Authors
- Taiki Tanaka
- Mamoru Sobue
- Satoshi Ota
- Kyoichi Sugahara
- Kosuke Takeuchi
- Yutaka Shimizu
- Tomohito Ando
- Yukihiro Saito
Behavior Velocity Planner
Overview
behavior_velocity_planner
is a planner that adjust velocity based on the traffic rules.
It loads modules as plugins. Please refer to the links listed below for detail on each module.
- Blind Spot
- Crosswalk
- Walkway
- Detection Area
- Intersection
- MergeFromPrivate
- Stop Line
- Virtual Traffic Light
- Traffic Light
- Occlusion Spot
- No Stopping Area
- Run Out
- Speed Bump
- Out of Lane
When each module plans velocity, it considers based on base_link
(center of rear-wheel axis) pose.
So for example, in order to stop at a stop line with the vehicles’ front on the stop line, it calculates base_link
position from the distance between base_link
to front and modifies path velocity from the base_link
position.
Input topics
Name | Type | Description |
---|---|---|
~input/path_with_lane_id |
autoware_auto_planning_msgs::msg::PathWithLaneId | path with lane_id |
~input/vector_map |
autoware_auto_mapping_msgs::msg::HADMapBin | vector map |
~input/vehicle_odometry |
nav_msgs::msg::Odometry | vehicle velocity |
~input/dynamic_objects |
autoware_auto_perception_msgs::msg::PredictedObjects | dynamic objects |
~input/no_ground_pointcloud |
sensor_msgs::msg::PointCloud2 | obstacle pointcloud |
~/input/compare_map_filtered_pointcloud |
sensor_msgs::msg::PointCloud2 | obstacle pointcloud filtered by compare map. Note that this is used only when the detection method of run out module is Points. |
~input/traffic_signals |
autoware_perception_msgs::msg::TrafficSignalArray | traffic light states |
Output topics
Name | Type | Description |
---|---|---|
~output/path |
autoware_auto_planning_msgs::msg::Path | path to be followed |
~output/stop_reasons |
tier4_planning_msgs::msg::StopReasonArray | reasons that cause the vehicle to stop |
Node parameters
Parameter | Type | Description |
---|---|---|
launch_modules |
vector<string> | module names to launch |
forward_path_length |
double | forward path length |
backward_path_length |
double | backward path length |
max_accel |
double | (to be a global parameter) max acceleration of the vehicle |
system_delay |
double | (to be a global parameter) delay time until output control command |
delay_response_time |
double | (to be a global parameter) delay time of the vehicle’s response to control commands |
Package Dependencies
System Dependencies
Name |
---|
eigen |
libboost-dev |
Dependant Packages
Launch files
- launch/behavior_velocity_planner.launch.xml
-
- common_param_path
- vehicle_param_file
- nearest_search_param_path
- behavior_velocity_planner_launch_modules
- behavior_velocity_config_path
- behavior_velocity_smoother_type_param_path
- behavior_velocity_planner_common_param_path
- behavior_velocity_planner_blind_spot_module_param_path
- behavior_velocity_planner_crosswalk_module_param_path
- behavior_velocity_planner_walkway_module_param_path
- behavior_velocity_planner_detection_area_module_param_path
- behavior_velocity_planner_intersection_module_param_path
- behavior_velocity_planner_stop_line_module_param_path
- behavior_velocity_planner_traffic_light_module_param_path
- behavior_velocity_planner_virtual_traffic_light_module_param_path
- behavior_velocity_planner_occlusion_spot_module_param_path
- behavior_velocity_planner_no_stopping_area_module_param_path
- behavior_velocity_planner_run_out_module_param_path
- behavior_velocity_planner_speed_bump_module_param_path
- behavior_velocity_planner_out_of_lane_module_param_path
- behavior_velocity_planner_no_drivable_lane_module_param_path
- behavior_velocity_planner_param_file [default: $(find-pkg-share behavior_velocity_planner)/config/behavior_velocity_planner.param.yaml]
Messages
Services
Plugins
Recent questions tagged behavior_velocity_planner at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Mamoru Sobue
- Takayuki Murooka
- Satoshi Ota
- Kyoichi Sugahara
- Taiki Tanaka
- Kosuke Takeuchi
- Tomohito Ando
- Makoto Kurihara
- Maxime Clement
- Tomoya Kimura
- Shumpei Wakabayashi
Authors
- Taiki Tanaka
- Mamoru Sobue
- Satoshi Ota
- Kyoichi Sugahara
- Kosuke Takeuchi
- Yutaka Shimizu
- Tomohito Ando
- Yukihiro Saito
Behavior Velocity Planner
Overview
behavior_velocity_planner
is a planner that adjust velocity based on the traffic rules.
It loads modules as plugins. Please refer to the links listed below for detail on each module.
- Blind Spot
- Crosswalk
- Walkway
- Detection Area
- Intersection
- MergeFromPrivate
- Stop Line
- Virtual Traffic Light
- Traffic Light
- Occlusion Spot
- No Stopping Area
- Run Out
- Speed Bump
- Out of Lane
When each module plans velocity, it considers based on base_link
(center of rear-wheel axis) pose.
So for example, in order to stop at a stop line with the vehicles’ front on the stop line, it calculates base_link
position from the distance between base_link
to front and modifies path velocity from the base_link
position.
Input topics
Name | Type | Description |
---|---|---|
~input/path_with_lane_id |
autoware_auto_planning_msgs::msg::PathWithLaneId | path with lane_id |
~input/vector_map |
autoware_auto_mapping_msgs::msg::HADMapBin | vector map |
~input/vehicle_odometry |
nav_msgs::msg::Odometry | vehicle velocity |
~input/dynamic_objects |
autoware_auto_perception_msgs::msg::PredictedObjects | dynamic objects |
~input/no_ground_pointcloud |
sensor_msgs::msg::PointCloud2 | obstacle pointcloud |
~/input/compare_map_filtered_pointcloud |
sensor_msgs::msg::PointCloud2 | obstacle pointcloud filtered by compare map. Note that this is used only when the detection method of run out module is Points. |
~input/traffic_signals |
autoware_perception_msgs::msg::TrafficSignalArray | traffic light states |
Output topics
Name | Type | Description |
---|---|---|
~output/path |
autoware_auto_planning_msgs::msg::Path | path to be followed |
~output/stop_reasons |
tier4_planning_msgs::msg::StopReasonArray | reasons that cause the vehicle to stop |
Node parameters
Parameter | Type | Description |
---|---|---|
launch_modules |
vector<string> | module names to launch |
forward_path_length |
double | forward path length |
backward_path_length |
double | backward path length |
max_accel |
double | (to be a global parameter) max acceleration of the vehicle |
system_delay |
double | (to be a global parameter) delay time until output control command |
delay_response_time |
double | (to be a global parameter) delay time of the vehicle’s response to control commands |
Package Dependencies
System Dependencies
Name |
---|
eigen |
libboost-dev |
Dependant Packages
Launch files
- launch/behavior_velocity_planner.launch.xml
-
- common_param_path
- vehicle_param_file
- nearest_search_param_path
- behavior_velocity_planner_launch_modules
- behavior_velocity_config_path
- behavior_velocity_smoother_type_param_path
- behavior_velocity_planner_common_param_path
- behavior_velocity_planner_blind_spot_module_param_path
- behavior_velocity_planner_crosswalk_module_param_path
- behavior_velocity_planner_walkway_module_param_path
- behavior_velocity_planner_detection_area_module_param_path
- behavior_velocity_planner_intersection_module_param_path
- behavior_velocity_planner_stop_line_module_param_path
- behavior_velocity_planner_traffic_light_module_param_path
- behavior_velocity_planner_virtual_traffic_light_module_param_path
- behavior_velocity_planner_occlusion_spot_module_param_path
- behavior_velocity_planner_no_stopping_area_module_param_path
- behavior_velocity_planner_run_out_module_param_path
- behavior_velocity_planner_speed_bump_module_param_path
- behavior_velocity_planner_out_of_lane_module_param_path
- behavior_velocity_planner_no_drivable_lane_module_param_path
- behavior_velocity_planner_param_file [default: $(find-pkg-share behavior_velocity_planner)/config/behavior_velocity_planner.param.yaml]
Messages
Services
Plugins
Recent questions tagged behavior_velocity_planner at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Mamoru Sobue
- Takayuki Murooka
- Satoshi Ota
- Kyoichi Sugahara
- Taiki Tanaka
- Kosuke Takeuchi
- Tomohito Ando
- Makoto Kurihara
- Maxime Clement
- Tomoya Kimura
- Shumpei Wakabayashi
Authors
- Taiki Tanaka
- Mamoru Sobue
- Satoshi Ota
- Kyoichi Sugahara
- Kosuke Takeuchi
- Yutaka Shimizu
- Tomohito Ando
- Yukihiro Saito
Behavior Velocity Planner
Overview
behavior_velocity_planner
is a planner that adjust velocity based on the traffic rules.
It loads modules as plugins. Please refer to the links listed below for detail on each module.
- Blind Spot
- Crosswalk
- Walkway
- Detection Area
- Intersection
- MergeFromPrivate
- Stop Line
- Virtual Traffic Light
- Traffic Light
- Occlusion Spot
- No Stopping Area
- Run Out
- Speed Bump
- Out of Lane
When each module plans velocity, it considers based on base_link
(center of rear-wheel axis) pose.
So for example, in order to stop at a stop line with the vehicles’ front on the stop line, it calculates base_link
position from the distance between base_link
to front and modifies path velocity from the base_link
position.
Input topics
Name | Type | Description |
---|---|---|
~input/path_with_lane_id |
autoware_auto_planning_msgs::msg::PathWithLaneId | path with lane_id |
~input/vector_map |
autoware_auto_mapping_msgs::msg::HADMapBin | vector map |
~input/vehicle_odometry |
nav_msgs::msg::Odometry | vehicle velocity |
~input/dynamic_objects |
autoware_auto_perception_msgs::msg::PredictedObjects | dynamic objects |
~input/no_ground_pointcloud |
sensor_msgs::msg::PointCloud2 | obstacle pointcloud |
~/input/compare_map_filtered_pointcloud |
sensor_msgs::msg::PointCloud2 | obstacle pointcloud filtered by compare map. Note that this is used only when the detection method of run out module is Points. |
~input/traffic_signals |
autoware_perception_msgs::msg::TrafficSignalArray | traffic light states |
Output topics
Name | Type | Description |
---|---|---|
~output/path |
autoware_auto_planning_msgs::msg::Path | path to be followed |
~output/stop_reasons |
tier4_planning_msgs::msg::StopReasonArray | reasons that cause the vehicle to stop |
Node parameters
Parameter | Type | Description |
---|---|---|
launch_modules |
vector<string> | module names to launch |
forward_path_length |
double | forward path length |
backward_path_length |
double | backward path length |
max_accel |
double | (to be a global parameter) max acceleration of the vehicle |
system_delay |
double | (to be a global parameter) delay time until output control command |
delay_response_time |
double | (to be a global parameter) delay time of the vehicle’s response to control commands |
Package Dependencies
System Dependencies
Name |
---|
eigen |
libboost-dev |
Dependant Packages
Launch files
- launch/behavior_velocity_planner.launch.xml
-
- common_param_path
- vehicle_param_file
- nearest_search_param_path
- behavior_velocity_planner_launch_modules
- behavior_velocity_config_path
- behavior_velocity_smoother_type_param_path
- behavior_velocity_planner_common_param_path
- behavior_velocity_planner_blind_spot_module_param_path
- behavior_velocity_planner_crosswalk_module_param_path
- behavior_velocity_planner_walkway_module_param_path
- behavior_velocity_planner_detection_area_module_param_path
- behavior_velocity_planner_intersection_module_param_path
- behavior_velocity_planner_stop_line_module_param_path
- behavior_velocity_planner_traffic_light_module_param_path
- behavior_velocity_planner_virtual_traffic_light_module_param_path
- behavior_velocity_planner_occlusion_spot_module_param_path
- behavior_velocity_planner_no_stopping_area_module_param_path
- behavior_velocity_planner_run_out_module_param_path
- behavior_velocity_planner_speed_bump_module_param_path
- behavior_velocity_planner_out_of_lane_module_param_path
- behavior_velocity_planner_no_drivable_lane_module_param_path
- behavior_velocity_planner_param_file [default: $(find-pkg-share behavior_velocity_planner)/config/behavior_velocity_planner.param.yaml]
Messages
Services
Plugins
Recent questions tagged behavior_velocity_planner at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Mamoru Sobue
- Takayuki Murooka
- Satoshi Ota
- Kyoichi Sugahara
- Taiki Tanaka
- Kosuke Takeuchi
- Tomohito Ando
- Makoto Kurihara
- Maxime Clement
- Tomoya Kimura
- Shumpei Wakabayashi
Authors
- Taiki Tanaka
- Mamoru Sobue
- Satoshi Ota
- Kyoichi Sugahara
- Kosuke Takeuchi
- Yutaka Shimizu
- Tomohito Ando
- Yukihiro Saito
Behavior Velocity Planner
Overview
behavior_velocity_planner
is a planner that adjust velocity based on the traffic rules.
It loads modules as plugins. Please refer to the links listed below for detail on each module.
- Blind Spot
- Crosswalk
- Walkway
- Detection Area
- Intersection
- MergeFromPrivate
- Stop Line
- Virtual Traffic Light
- Traffic Light
- Occlusion Spot
- No Stopping Area
- Run Out
- Speed Bump
- Out of Lane
When each module plans velocity, it considers based on base_link
(center of rear-wheel axis) pose.
So for example, in order to stop at a stop line with the vehicles’ front on the stop line, it calculates base_link
position from the distance between base_link
to front and modifies path velocity from the base_link
position.
Input topics
Name | Type | Description |
---|---|---|
~input/path_with_lane_id |
autoware_auto_planning_msgs::msg::PathWithLaneId | path with lane_id |
~input/vector_map |
autoware_auto_mapping_msgs::msg::HADMapBin | vector map |
~input/vehicle_odometry |
nav_msgs::msg::Odometry | vehicle velocity |
~input/dynamic_objects |
autoware_auto_perception_msgs::msg::PredictedObjects | dynamic objects |
~input/no_ground_pointcloud |
sensor_msgs::msg::PointCloud2 | obstacle pointcloud |
~/input/compare_map_filtered_pointcloud |
sensor_msgs::msg::PointCloud2 | obstacle pointcloud filtered by compare map. Note that this is used only when the detection method of run out module is Points. |
~input/traffic_signals |
autoware_perception_msgs::msg::TrafficSignalArray | traffic light states |
Output topics
Name | Type | Description |
---|---|---|
~output/path |
autoware_auto_planning_msgs::msg::Path | path to be followed |
~output/stop_reasons |
tier4_planning_msgs::msg::StopReasonArray | reasons that cause the vehicle to stop |
Node parameters
Parameter | Type | Description |
---|---|---|
launch_modules |
vector<string> | module names to launch |
forward_path_length |
double | forward path length |
backward_path_length |
double | backward path length |
max_accel |
double | (to be a global parameter) max acceleration of the vehicle |
system_delay |
double | (to be a global parameter) delay time until output control command |
delay_response_time |
double | (to be a global parameter) delay time of the vehicle’s response to control commands |
Package Dependencies
System Dependencies
Name |
---|
eigen |
libboost-dev |
Dependant Packages
Launch files
- launch/behavior_velocity_planner.launch.xml
-
- common_param_path
- vehicle_param_file
- nearest_search_param_path
- behavior_velocity_planner_launch_modules
- behavior_velocity_config_path
- behavior_velocity_smoother_type_param_path
- behavior_velocity_planner_common_param_path
- behavior_velocity_planner_blind_spot_module_param_path
- behavior_velocity_planner_crosswalk_module_param_path
- behavior_velocity_planner_walkway_module_param_path
- behavior_velocity_planner_detection_area_module_param_path
- behavior_velocity_planner_intersection_module_param_path
- behavior_velocity_planner_stop_line_module_param_path
- behavior_velocity_planner_traffic_light_module_param_path
- behavior_velocity_planner_virtual_traffic_light_module_param_path
- behavior_velocity_planner_occlusion_spot_module_param_path
- behavior_velocity_planner_no_stopping_area_module_param_path
- behavior_velocity_planner_run_out_module_param_path
- behavior_velocity_planner_speed_bump_module_param_path
- behavior_velocity_planner_out_of_lane_module_param_path
- behavior_velocity_planner_no_drivable_lane_module_param_path
- behavior_velocity_planner_param_file [default: $(find-pkg-share behavior_velocity_planner)/config/behavior_velocity_planner.param.yaml]
Messages
Services
Plugins
Recent questions tagged behavior_velocity_planner at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Mamoru Sobue
- Takayuki Murooka
- Satoshi Ota
- Kyoichi Sugahara
- Taiki Tanaka
- Kosuke Takeuchi
- Tomohito Ando
- Makoto Kurihara
- Maxime Clement
- Tomoya Kimura
- Shumpei Wakabayashi
Authors
- Taiki Tanaka
- Mamoru Sobue
- Satoshi Ota
- Kyoichi Sugahara
- Kosuke Takeuchi
- Yutaka Shimizu
- Tomohito Ando
- Yukihiro Saito
Behavior Velocity Planner
Overview
behavior_velocity_planner
is a planner that adjust velocity based on the traffic rules.
It loads modules as plugins. Please refer to the links listed below for detail on each module.
- Blind Spot
- Crosswalk
- Walkway
- Detection Area
- Intersection
- MergeFromPrivate
- Stop Line
- Virtual Traffic Light
- Traffic Light
- Occlusion Spot
- No Stopping Area
- Run Out
- Speed Bump
- Out of Lane
When each module plans velocity, it considers based on base_link
(center of rear-wheel axis) pose.
So for example, in order to stop at a stop line with the vehicles’ front on the stop line, it calculates base_link
position from the distance between base_link
to front and modifies path velocity from the base_link
position.
Input topics
Name | Type | Description |
---|---|---|
~input/path_with_lane_id |
autoware_auto_planning_msgs::msg::PathWithLaneId | path with lane_id |
~input/vector_map |
autoware_auto_mapping_msgs::msg::HADMapBin | vector map |
~input/vehicle_odometry |
nav_msgs::msg::Odometry | vehicle velocity |
~input/dynamic_objects |
autoware_auto_perception_msgs::msg::PredictedObjects | dynamic objects |
~input/no_ground_pointcloud |
sensor_msgs::msg::PointCloud2 | obstacle pointcloud |
~/input/compare_map_filtered_pointcloud |
sensor_msgs::msg::PointCloud2 | obstacle pointcloud filtered by compare map. Note that this is used only when the detection method of run out module is Points. |
~input/traffic_signals |
autoware_perception_msgs::msg::TrafficSignalArray | traffic light states |
Output topics
Name | Type | Description |
---|---|---|
~output/path |
autoware_auto_planning_msgs::msg::Path | path to be followed |
~output/stop_reasons |
tier4_planning_msgs::msg::StopReasonArray | reasons that cause the vehicle to stop |
Node parameters
Parameter | Type | Description |
---|---|---|
launch_modules |
vector<string> | module names to launch |
forward_path_length |
double | forward path length |
backward_path_length |
double | backward path length |
max_accel |
double | (to be a global parameter) max acceleration of the vehicle |
system_delay |
double | (to be a global parameter) delay time until output control command |
delay_response_time |
double | (to be a global parameter) delay time of the vehicle’s response to control commands |
Package Dependencies
System Dependencies
Name |
---|
eigen |
libboost-dev |
Dependant Packages
Launch files
- launch/behavior_velocity_planner.launch.xml
-
- common_param_path
- vehicle_param_file
- nearest_search_param_path
- behavior_velocity_planner_launch_modules
- behavior_velocity_config_path
- behavior_velocity_smoother_type_param_path
- behavior_velocity_planner_common_param_path
- behavior_velocity_planner_blind_spot_module_param_path
- behavior_velocity_planner_crosswalk_module_param_path
- behavior_velocity_planner_walkway_module_param_path
- behavior_velocity_planner_detection_area_module_param_path
- behavior_velocity_planner_intersection_module_param_path
- behavior_velocity_planner_stop_line_module_param_path
- behavior_velocity_planner_traffic_light_module_param_path
- behavior_velocity_planner_virtual_traffic_light_module_param_path
- behavior_velocity_planner_occlusion_spot_module_param_path
- behavior_velocity_planner_no_stopping_area_module_param_path
- behavior_velocity_planner_run_out_module_param_path
- behavior_velocity_planner_speed_bump_module_param_path
- behavior_velocity_planner_out_of_lane_module_param_path
- behavior_velocity_planner_no_drivable_lane_module_param_path
- behavior_velocity_planner_param_file [default: $(find-pkg-share behavior_velocity_planner)/config/behavior_velocity_planner.param.yaml]