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tier4_control_launch package from autoware_launch repo

autoware_launch awsim_labs_sensor_kit_description awsim_labs_sensor_kit_launch common_awsim_labs_sensor_launch awsim_sensor_kit_description awsim_sensor_kit_launch carla_sensor_kit_description carla_sensor_kit_launch common_sensor_launch sample_sensor_kit_description sample_sensor_kit_launch single_lidar_common_launch single_lidar_sensor_kit_description single_lidar_sensor_kit_launch tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch awsim_labs_vehicle_description awsim_labs_vehicle_launch sample_vehicle_description sample_vehicle_launch

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Package Summary

Version	0.50.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/autowarefoundation/autoware_launch.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-25
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The tier4_control_launch package

Maintainers

Takamasa Horibe
Takayuki Murooka
Kyoichi Sugahara
Satoshi Ota
Takumi Odashima

Authors

No additional authors.

tier4_universe_launch/tier4_control_launch/README.md

tier4_control_launch

Structure

Package Dependencies

Please see <exec_depend> in package.xml.

Usage

You can include as follows in *.launch.xml to use control.launch.py.

Note that you should provide parameter paths as PACKAGE_param_path. The list of parameter paths you should provide is written at the top of planning.launch.xml.

<include file="$(find-pkg-share tier4_control_launch)/launch/control.launch.py">
  <!-- options for lateral_controller_mode: mpc_follower, pure_pursuit -->
  <!-- Parameter files -->
  <arg name="FOO_NODE_param_path" value="..."/>
  <arg name="BAR_NODE_param_path" value="..."/>
  ...
  <arg name="lateral_controller_mode" value="mpc_follower" />
</include>

Notes

For reducing processing load, we use the Component feature in ROS 2 (similar to Nodelet in ROS 1 )

CHANGELOG

Changelog for package tier4_control_launch

0.50.0 (2026-02-13)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore: import tier4 launchers from universe (#1740)
Contributors: Taeseung Sohn, github-actions

0.49.0 (2025-12-30)

Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog
fix(launch): correct arg name for control_evaluator input object (#11669) Co-authored-by: Takahisa.Ishikawa <<takahisa.ishikawa@tier4.jp>>
Contributors: Ryohsuke Mitsudome, Takahisa Ishikawa

0.48.0 (2025-11-18)

Merge remote-tracking branch 'origin/main' into humble
feat(launch): update input topic parameters to allow dynamic configuration (#11389)
refactor(launch): topic remapping for object recognition and point cloud input to planning/control module (#11242)

* feat(planning): introduce dynamic topic remapping for input objects and pointcloud ---------
chore(tier4_control_launch): add maintainers (#11256) chore(tier4_control_launch): add maintainers to package.xml
Contributors: Kyoichi Sugahara, Ryohsuke Mitsudome

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

feat: change planning output topic name to /planning/trajectory (#11135)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
chore: sync files (#11091) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: M. Fatih Cırıt <<mfc@autoware.org>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
feat: enable to remap control cmd from autoware launch (#11019)
- feat: add args
- feat: add another cmd
- fix
- feat: add comment
- style(pre-commit): autofix
- feat: remove ~/
* feat: remap vehicle cmd gate as well ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
feat(control_validator): disable control validator error report when not in autonomous control (#10871)
- feat(control_validator): disable control validator error report when not in autonomous control
- also fix control validator launch
- fix: work with yaw validator; fix yaw validator missing in all valid; add a debug info
- chore: get rid of the yaw warn in is_all_valid
* chore: fix topic remapping in launch file ---------
Contributors: Tetsuhiro Kawaguchi, Yukihiro Saito, Yuxuan Liu, awf-autoware-bot[bot]

0.46.0 (2025-06-20)

Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
feat(launch): add option for control command gate (#10173)
- feat(launch): add option for control command gate
- rename package

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_control_command_gate
	autoware_control_evaluator
	autoware_external_cmd_converter
	autoware_external_cmd_selector
	autoware_lane_departure_checker
	autoware_shift_decider
	autoware_stop_mode_operator
	autoware_trajectory_follower_node
	autoware_vehicle_cmd_gate
	ament_lint_auto
	autoware_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_launch
autoware_launch
autoware_launch
autoware_launch

Launch files

launch/control.launch.xml
- - trajectory_follower_mode [default: trajectory_follower_node]
  - lateral_controller_mode
  - longitudinal_controller_mode
  - check_external_emergency_heartbeat
  - launch_external_cmd_selector [default: true]
  - launch_external_cmd_converter [default: true]
  - launch_lane_departure_checker [default: true]
  - launch_control_validator [default: true]
  - launch_autonomous_emergency_braking [default: true]
  - launch_collision_detector [default: true]
  - launch_obstacle_collision_checker [default: false]
  - launch_predicted_path_checker [default: false]
  - launch_control_evaluator [default: true]
  - use_aeb_autoware_state_check
  - vehicle_param_file
  - nearest_search_param_path
  - trajectory_follower_node_param_path
  - lat_controller_param_path
  - lon_controller_param_path
  - vehicle_cmd_gate_param_path
  - lane_departure_checker_param_path
  - control_validator_param_path
  - operation_mode_transition_manager_param_path
  - shift_decider_param_path
  - obstacle_collision_checker_param_path
  - external_cmd_selector_param_path
  - aeb_param_path
  - predicted_path_checker_param_path
  - collision_detector_param_path
  - control_command_gate_param_path [default: $(find-pkg-share autoware_control_command_gate)/config/default.param.yaml]
  - use_intra_process [default: false]
  - use_multithread [default: true]
  - use_control_command_gate [default: false]
  - input_objects_topic_name
  - input_pointcloud_topic_name
  - output_control_cmd [default: /control/command/control_cmd]
  - output_gear_cmd [default: /control/command/gear_cmd]
  - output_turn_indicators_cmd [default: /control/command/turn_indicators_cmd]
  - output_hazard_lights_cmd [default: /control/command/hazard_lights_cmd]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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