ROS IndexNo version for distro humble showing github. Known supported distros are highlighted in the buttons above.
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
The scenario_selector ROS 2 package
Additional Links
No additional links.
Maintainers
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
- Fumiya Watanabe
- Takamasa Horibe
- Satoshi Ota
- Takayuki Murooka
Authors
No additional authors.
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_auto_planning_msgs::Trajectory | trajectory of LaneDriving scenario |
~input/parking/trajectory |
autoware_auto_planning_msgs::Trajectory | trajectory of Parking scenario |
~input/lanelet_map |
autoware_auto_mapping_msgs::HADMapBin | |
~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_auto_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 scenario_selector scenario_selector.launch- If you would like to use only a single scenario,
roslaunch scenario_selector dummy_scenario_selector_{scenario_name}.launch
- If you would like to use only a single scenario,
Parameters
{{ json_to_markdown(“planning/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
No CHANGELOG found.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
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
- is_parking_completed
- output_scenario
- output_trajectory
- config_file [default: $(find-pkg-share scenario_selector)/config/scenario_selector.param.yaml]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged scenario_selector at Robotics Stack Exchange
No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.
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
The scenario_selector ROS 2 package
Additional Links
No additional links.
Maintainers
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
- Fumiya Watanabe
- Takamasa Horibe
- Satoshi Ota
- Takayuki Murooka
Authors
No additional authors.
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_auto_planning_msgs::Trajectory | trajectory of LaneDriving scenario |
~input/parking/trajectory |
autoware_auto_planning_msgs::Trajectory | trajectory of Parking scenario |
~input/lanelet_map |
autoware_auto_mapping_msgs::HADMapBin | |
~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_auto_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 scenario_selector scenario_selector.launch- If you would like to use only a single scenario,
roslaunch scenario_selector dummy_scenario_selector_{scenario_name}.launch
- If you would like to use only a single scenario,
Parameters
{{ json_to_markdown(“planning/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
No CHANGELOG found.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
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
- is_parking_completed
- output_scenario
- output_trajectory
- config_file [default: $(find-pkg-share scenario_selector)/config/scenario_selector.param.yaml]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged scenario_selector at Robotics Stack Exchange
No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.
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
The scenario_selector ROS 2 package
Additional Links
No additional links.
Maintainers
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
- Fumiya Watanabe
- Takamasa Horibe
- Satoshi Ota
- Takayuki Murooka
Authors
No additional authors.
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_auto_planning_msgs::Trajectory | trajectory of LaneDriving scenario |
~input/parking/trajectory |
autoware_auto_planning_msgs::Trajectory | trajectory of Parking scenario |
~input/lanelet_map |
autoware_auto_mapping_msgs::HADMapBin | |
~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_auto_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 scenario_selector scenario_selector.launch- If you would like to use only a single scenario,
roslaunch scenario_selector dummy_scenario_selector_{scenario_name}.launch
- If you would like to use only a single scenario,
Parameters
{{ json_to_markdown(“planning/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
No CHANGELOG found.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
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
- is_parking_completed
- output_scenario
- output_trajectory
- config_file [default: $(find-pkg-share scenario_selector)/config/scenario_selector.param.yaml]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged scenario_selector at Robotics Stack Exchange
No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.
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
The scenario_selector ROS 2 package
Additional Links
No additional links.
Maintainers
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
- Fumiya Watanabe
- Takamasa Horibe
- Satoshi Ota
- Takayuki Murooka
Authors
No additional authors.
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_auto_planning_msgs::Trajectory | trajectory of LaneDriving scenario |
~input/parking/trajectory |
autoware_auto_planning_msgs::Trajectory | trajectory of Parking scenario |
~input/lanelet_map |
autoware_auto_mapping_msgs::HADMapBin | |
~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_auto_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 scenario_selector scenario_selector.launch- If you would like to use only a single scenario,
roslaunch scenario_selector dummy_scenario_selector_{scenario_name}.launch
- If you would like to use only a single scenario,
Parameters
{{ json_to_markdown(“planning/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
No CHANGELOG found.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
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
- is_parking_completed
- output_scenario
- output_trajectory
- config_file [default: $(find-pkg-share scenario_selector)/config/scenario_selector.param.yaml]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged scenario_selector 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
The scenario_selector ROS 2 package
Additional Links
No additional links.
Maintainers
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
- Fumiya Watanabe
- Takamasa Horibe
- Satoshi Ota
- Takayuki Murooka
Authors
No additional authors.
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_auto_planning_msgs::Trajectory | trajectory of LaneDriving scenario |
~input/parking/trajectory |
autoware_auto_planning_msgs::Trajectory | trajectory of Parking scenario |
~input/lanelet_map |
autoware_auto_mapping_msgs::HADMapBin | |
~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_auto_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 scenario_selector scenario_selector.launch- If you would like to use only a single scenario,
roslaunch scenario_selector dummy_scenario_selector_{scenario_name}.launch
- If you would like to use only a single scenario,
Parameters
{{ json_to_markdown(“planning/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
No CHANGELOG found.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
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
- is_parking_completed
- output_scenario
- output_trajectory
- config_file [default: $(find-pkg-share scenario_selector)/config/scenario_selector.param.yaml]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged scenario_selector at Robotics Stack Exchange
No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.
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
The scenario_selector ROS 2 package
Additional Links
No additional links.
Maintainers
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
- Fumiya Watanabe
- Takamasa Horibe
- Satoshi Ota
- Takayuki Murooka
Authors
No additional authors.
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_auto_planning_msgs::Trajectory | trajectory of LaneDriving scenario |
~input/parking/trajectory |
autoware_auto_planning_msgs::Trajectory | trajectory of Parking scenario |
~input/lanelet_map |
autoware_auto_mapping_msgs::HADMapBin | |
~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_auto_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 scenario_selector scenario_selector.launch- If you would like to use only a single scenario,
roslaunch scenario_selector dummy_scenario_selector_{scenario_name}.launch
- If you would like to use only a single scenario,
Parameters
{{ json_to_markdown(“planning/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
No CHANGELOG found.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
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
- is_parking_completed
- output_scenario
- output_trajectory
- config_file [default: $(find-pkg-share scenario_selector)/config/scenario_selector.param.yaml]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged scenario_selector at Robotics Stack Exchange
No version for distro iron showing github. Known supported distros are highlighted in the buttons above.
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
The scenario_selector ROS 2 package
Additional Links
No additional links.
Maintainers
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
- Fumiya Watanabe
- Takamasa Horibe
- Satoshi Ota
- Takayuki Murooka
Authors
No additional authors.
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_auto_planning_msgs::Trajectory | trajectory of LaneDriving scenario |
~input/parking/trajectory |
autoware_auto_planning_msgs::Trajectory | trajectory of Parking scenario |
~input/lanelet_map |
autoware_auto_mapping_msgs::HADMapBin | |
~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_auto_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 scenario_selector scenario_selector.launch- If you would like to use only a single scenario,
roslaunch scenario_selector dummy_scenario_selector_{scenario_name}.launch
- If you would like to use only a single scenario,
Parameters
{{ json_to_markdown(“planning/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
No CHANGELOG found.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
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
- is_parking_completed
- output_scenario
- output_trajectory
- config_file [default: $(find-pkg-share scenario_selector)/config/scenario_selector.param.yaml]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged scenario_selector at Robotics Stack Exchange
No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.
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
The scenario_selector ROS 2 package
Additional Links
No additional links.
Maintainers
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
- Fumiya Watanabe
- Takamasa Horibe
- Satoshi Ota
- Takayuki Murooka
Authors
No additional authors.
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_auto_planning_msgs::Trajectory | trajectory of LaneDriving scenario |
~input/parking/trajectory |
autoware_auto_planning_msgs::Trajectory | trajectory of Parking scenario |
~input/lanelet_map |
autoware_auto_mapping_msgs::HADMapBin | |
~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_auto_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 scenario_selector scenario_selector.launch- If you would like to use only a single scenario,
roslaunch scenario_selector dummy_scenario_selector_{scenario_name}.launch
- If you would like to use only a single scenario,
Parameters
{{ json_to_markdown(“planning/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
No CHANGELOG found.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
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
- is_parking_completed
- output_scenario
- output_trajectory
- config_file [default: $(find-pkg-share scenario_selector)/config/scenario_selector.param.yaml]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged scenario_selector at Robotics Stack Exchange
No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.
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
The scenario_selector ROS 2 package
Additional Links
No additional links.
Maintainers
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
- Fumiya Watanabe
- Takamasa Horibe
- Satoshi Ota
- Takayuki Murooka
Authors
No additional authors.
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_auto_planning_msgs::Trajectory | trajectory of LaneDriving scenario |
~input/parking/trajectory |
autoware_auto_planning_msgs::Trajectory | trajectory of Parking scenario |
~input/lanelet_map |
autoware_auto_mapping_msgs::HADMapBin | |
~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_auto_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 scenario_selector scenario_selector.launch- If you would like to use only a single scenario,
roslaunch scenario_selector dummy_scenario_selector_{scenario_name}.launch
- If you would like to use only a single scenario,
Parameters
{{ json_to_markdown(“planning/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
No CHANGELOG found.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
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
- is_parking_completed
- output_scenario
- output_trajectory
- config_file [default: $(find-pkg-share scenario_selector)/config/scenario_selector.param.yaml]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.