ROS IndexNo version for distro humble showing github. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 0.48.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-12-05 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The tier4_planning_launch package
Additional Links
No additional links.
Maintainers
- Zulfaqar Azmi
- Kosuke Takeuchi
- Kosuke Takeuchi
- Fumiya Watanabe
- Takamasa Horibe
- Satoshi Ota
- Zulfaqar Azmi
- Satoshi Ota
- Mamoru Sobue
- Takayuki Murooka
- Mamoru Sobue
- Satoshi Ota
- Kyoichi Sugahara
- Taiki Tanaka
- Kosuke Takeuchi
- Satoshi Ota
- Mamoru Sobue
- Fumiya Watanabe
- Zhe Shen
- Kosuke Takeuchi
- Tomohito Ando
- Makoto Kurihara
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
Authors
No additional authors.
tier4_planning_launch
Structure
Package Dependencies
Please see <exec_depend> in package.xml.
Usage
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_planning_launch)/launch/planning.launch.xml">
<!-- Parameter files -->
<arg name="FOO_NODE_param_path" value="..."/>
<arg name="BAR_NODE_param_path" value="..."/>
...
</include>
CHANGELOG
Changelog for package tier4_planning_launch
0.48.0 (2025-11-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
feat(mission_planner): manual lane selection (#11169)
- manual lane change
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
-
feat(behavior_velocity_rtc_interface, behavior_velocity_*_module): replace PathWithLaneId with Trajectory<> class (#11555)
-
feat(planning_evaluator): refactor the obstacle_distance and obstacle_ttc metric (#11478)
- tmp save
- refactor and pre-commit
- tmp save
- fix start point bug and apply deceleration lower bound
- remove unused launch parm
- polish code
- fix unit tests
* update readme ---------
-
feat(launch): update input topic parameters to allow dynamic configuration (#11389)
-
feat(roundabout): add autoware_behavior_velocity_roundabout_module (#11142)
- feat(behavior_velocity_roundabout_module): add roundabout behavior velocity planner module
- feat(behavior_planning): add roundabout module to behavior planning launch and RTC interface
- Add functions for behavior velocity planner in roundabout module
- Refactor roundabout module
- feat(roundabout_module): integrate Roundabout regulatory element
- refactor(roundabout_module): remove associative_ids from attention lane
- move header files to include
- refactor(roundabout_module): remove util files and update includes for intersection module
- fix(roundabout_module): update include path for interpolated_path_info
- refactor(roundabout_module): update include paths for consistency
- fix(scene_roundabout): update include path for result.hpp
- refactor(roundabout_module): clean up unused structures and methods
- refactor(roundabout_module): clean up and optimize code structure and comments
- refactor(object_manager): remove unused stopline handling from ObjectInfo initialization
- refactor(roundabout_module): remove unused variables and comments related to second pass judge line
- refactor(roundabout_module): improve comments and remove unnecessary code in decision result and collision handling
- feat(ttc_visualizer): add TTC visualizer script for time-to-collision analysis
- refactor(roundabout_module): remove consider_wrong_direction_vehicle parameter and related code
- refactor(roundabout_module): simplify object management and improve code clarity
- style(pre-commit): autofix
- fix(manager): include <set> header for improved functionality
- fix(roundabout): update parameter name
- docs(roundabout): update README to clarify module role and functionality
- fix(readme): fix README
- fix(readme): fix README
- style(pre-commit): autofix
- refactor(roundabout): fix attention lanelet logic
- style(pre-commit): autofix
- review roundabout
- update utils
- refactor(roundabout): fix attention lanelet logic
- feat(cmake): add installation for ttc.py script
- refactor(detectOcclusion): fix cppcheck error
- style(pre-commit): autofix
- docs(README): fix unkown word ci error
- style(pre-commit): autofix
- fix: update copyright year to 2025 in multiple files
- docs(README): add flowchart for roundabout behavior velocity module logic
- style(pre-commit): autofix
- fix: correct capitalization in copyright notice
- refactor(roundabout-module): streamline roundabout module initialization and remove unused conflicting area logic
- refactor(roundabout-module): remove unnecessary comments and
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
Launch files
- launch/mission_planning/mission_planning.launch.xml
-
- mission_planner_param_path [default: $(find-pkg-share autoware_mission_planner_universe)/config/mission_planner.param.yaml]
- launch/planning.launch.xml
-
- mission_planner_param_path
- freespace_planner_param_path
- planning_validator_param_path
- planning_validator_latency_checker_param_path
- planning_validator_trajectory_checker_param_path
- planning_validator_intersection_collision_checker_param_path
- planning_validator_rear_collision_checker_param_path
- enable_all_modules_auto_mode
- is_simulation
- launch_remaining_distance_time_calculator [default: false]
- input_objects_topic_name
- input_pointcloud_topic_name
- launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
-
- input_route_topic_name [default: /planning/mission_planning/route]
- input_traffic_light_topic_name [default: /perception/traffic_light_recognition/traffic_signals]
- input_virtual_traffic_light_topic_name [default: /awapi/tmp/virtual_traffic_light_states]
- input_vector_map_topic_name [default: /map/vector_map]
- input_pointcloud_map_topic_name [default: /map/pointcloud_map]
- input_objects_topic_name
- input_pointcloud_topic_name
- enable_all_modules_auto_mode
- is_simulation
- behavior_path_planner_type [default: behavior_path_planner]
- launch_static_obstacle_avoidance [default: true]
- launch_avoidance_by_lane_change_module [default: true]
- launch_dynamic_obstacle_avoidance [default: true]
- launch_lane_change_right_module [default: true]
- launch_lane_change_left_module [default: true]
- launch_external_request_lane_change_right_module [default: true]
- launch_external_request_lane_change_left_module [default: true]
- launch_goal_planner_module [default: true]
- launch_start_planner_module [default: true]
- launch_sampling_planner_module [default: true]
- launch_side_shift_module [default: true]
- launch_bidirectional_traffic_module [default: true]
- launch_crosswalk_module [default: true]
- launch_walkway_module [default: true]
- launch_traffic_light_module [default: true]
- launch_intersection_module [default: true]
- launch_roundabout_module [default: true]
- launch_merge_from_private_module [default: true]
- launch_blind_spot_module [default: true]
- launch_detection_area_module [default: true]
- launch_virtual_traffic_light_module [default: true]
- launch_no_stopping_area_module [default: true]
- launch_stop_line_module [default: true]
- launch_occlusion_spot_module [default: true]
- launch_speed_bump_module [default: true]
- launch_no_drivable_lane_module [default: true]
- launch_module_list_end [default: ""]]
- behavior_path_planner_launch_modules [default: []
- behavior_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving/behavior_planning/behavior_planning_deprecated.launch.xml
-
- input_route_topic_name [default: /planning/mission_planning/route]
- input_traffic_light_topic_name [default: /perception/traffic_light_recognition/traffic_signals]
- input_virtual_traffic_light_topic_name [default: /awapi/tmp/virtual_traffic_light_states]
- input_vector_map_topic_name [default: /map/vector_map]
- input_pointcloud_map_topic_name [default: /map/pointcloud_map]
- input_objects_topic_name
- input_pointcloud_topic_name
- enable_all_modules_auto_mode
- is_simulation
- behavior_path_planner_type [default: behavior_path_planner]
- launch_static_obstacle_avoidance [default: true]
- launch_avoidance_by_lane_change_module [default: true]
- launch_dynamic_obstacle_avoidance [default: true]
- launch_lane_change_right_module [default: true]
- launch_lane_change_left_module [default: true]
- launch_external_request_lane_change_right_module [default: true]
- launch_external_request_lane_change_left_module [default: true]
- launch_goal_planner_module [default: true]
- launch_start_planner_module [default: true]
- launch_sampling_planner_module [default: true]
- launch_side_shift_module [default: true]
- launch_bidirectional_traffic_module [default: true]
- launch_crosswalk_module [default: true]
- launch_walkway_module [default: true]
- launch_traffic_light_module [default: true]
- launch_intersection_module [default: true]
- launch_roundabout_module [default: true]
- launch_merge_from_private_module [default: true]
- launch_blind_spot_module [default: true]
- launch_detection_area_module [default: true]
- launch_virtual_traffic_light_module [default: true]
- launch_no_stopping_area_module [default: true]
- launch_stop_line_module [default: true]
- launch_occlusion_spot_module [default: true]
- launch_speed_bump_module [default: true]
- launch_no_drivable_lane_module [default: true]
- launch_module_list_end [default: ""]]
- behavior_path_planner_launch_modules [default: []
- behavior_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
-
- input_objects_topic_name
- input_pointcloud_topic_name
- interface_input_topic [default: /planning/scenario_planning/lane_driving/behavior_planning/path]
- interface_output_topic [default: /planning/scenario_planning/lane_driving/trajectory]
- launch_obstacle_stop_module [default: true]
- launch_obstacle_slow_down_module [default: true]
- launch_obstacle_cruise_module [default: true]
- launch_dynamic_obstacle_stop_module [default: true]
- launch_out_of_lane_module [default: true]
- launch_obstacle_velocity_limiter_module [default: true]
- launch_run_out_module [default: true]
- launch_boundary_departure_prevention_module [default: true]
- launch_road_user_stop_module [default: true]
- launch_module_list_end [default: ""]]
- motion_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving.launch.xml
-
- enable_all_modules_auto_mode
- is_simulation
- input_objects_topic_name
- input_pointcloud_topic_name
- launch/scenario_planning/parking.launch.xml
-
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- launch/scenario_planning/scenario_planning.launch.xml
-
- enable_all_modules_auto_mode
- is_simulation
- input_objects_topic_name
- input_pointcloud_topic_name
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged tier4_planning_launch 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 | 0.48.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-12-05 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The tier4_planning_launch package
Additional Links
No additional links.
Maintainers
- Zulfaqar Azmi
- Kosuke Takeuchi
- Kosuke Takeuchi
- Fumiya Watanabe
- Takamasa Horibe
- Satoshi Ota
- Zulfaqar Azmi
- Satoshi Ota
- Mamoru Sobue
- Takayuki Murooka
- Mamoru Sobue
- Satoshi Ota
- Kyoichi Sugahara
- Taiki Tanaka
- Kosuke Takeuchi
- Satoshi Ota
- Mamoru Sobue
- Fumiya Watanabe
- Zhe Shen
- Kosuke Takeuchi
- Tomohito Ando
- Makoto Kurihara
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
Authors
No additional authors.
tier4_planning_launch
Structure
Package Dependencies
Please see <exec_depend> in package.xml.
Usage
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_planning_launch)/launch/planning.launch.xml">
<!-- Parameter files -->
<arg name="FOO_NODE_param_path" value="..."/>
<arg name="BAR_NODE_param_path" value="..."/>
...
</include>
CHANGELOG
Changelog for package tier4_planning_launch
0.48.0 (2025-11-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
feat(mission_planner): manual lane selection (#11169)
- manual lane change
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
-
feat(behavior_velocity_rtc_interface, behavior_velocity_*_module): replace PathWithLaneId with Trajectory<> class (#11555)
-
feat(planning_evaluator): refactor the obstacle_distance and obstacle_ttc metric (#11478)
- tmp save
- refactor and pre-commit
- tmp save
- fix start point bug and apply deceleration lower bound
- remove unused launch parm
- polish code
- fix unit tests
* update readme ---------
-
feat(launch): update input topic parameters to allow dynamic configuration (#11389)
-
feat(roundabout): add autoware_behavior_velocity_roundabout_module (#11142)
- feat(behavior_velocity_roundabout_module): add roundabout behavior velocity planner module
- feat(behavior_planning): add roundabout module to behavior planning launch and RTC interface
- Add functions for behavior velocity planner in roundabout module
- Refactor roundabout module
- feat(roundabout_module): integrate Roundabout regulatory element
- refactor(roundabout_module): remove associative_ids from attention lane
- move header files to include
- refactor(roundabout_module): remove util files and update includes for intersection module
- fix(roundabout_module): update include path for interpolated_path_info
- refactor(roundabout_module): update include paths for consistency
- fix(scene_roundabout): update include path for result.hpp
- refactor(roundabout_module): clean up unused structures and methods
- refactor(roundabout_module): clean up and optimize code structure and comments
- refactor(object_manager): remove unused stopline handling from ObjectInfo initialization
- refactor(roundabout_module): remove unused variables and comments related to second pass judge line
- refactor(roundabout_module): improve comments and remove unnecessary code in decision result and collision handling
- feat(ttc_visualizer): add TTC visualizer script for time-to-collision analysis
- refactor(roundabout_module): remove consider_wrong_direction_vehicle parameter and related code
- refactor(roundabout_module): simplify object management and improve code clarity
- style(pre-commit): autofix
- fix(manager): include <set> header for improved functionality
- fix(roundabout): update parameter name
- docs(roundabout): update README to clarify module role and functionality
- fix(readme): fix README
- fix(readme): fix README
- style(pre-commit): autofix
- refactor(roundabout): fix attention lanelet logic
- style(pre-commit): autofix
- review roundabout
- update utils
- refactor(roundabout): fix attention lanelet logic
- feat(cmake): add installation for ttc.py script
- refactor(detectOcclusion): fix cppcheck error
- style(pre-commit): autofix
- docs(README): fix unkown word ci error
- style(pre-commit): autofix
- fix: update copyright year to 2025 in multiple files
- docs(README): add flowchart for roundabout behavior velocity module logic
- style(pre-commit): autofix
- fix: correct capitalization in copyright notice
- refactor(roundabout-module): streamline roundabout module initialization and remove unused conflicting area logic
- refactor(roundabout-module): remove unnecessary comments and
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
Launch files
- launch/mission_planning/mission_planning.launch.xml
-
- mission_planner_param_path [default: $(find-pkg-share autoware_mission_planner_universe)/config/mission_planner.param.yaml]
- launch/planning.launch.xml
-
- mission_planner_param_path
- freespace_planner_param_path
- planning_validator_param_path
- planning_validator_latency_checker_param_path
- planning_validator_trajectory_checker_param_path
- planning_validator_intersection_collision_checker_param_path
- planning_validator_rear_collision_checker_param_path
- enable_all_modules_auto_mode
- is_simulation
- launch_remaining_distance_time_calculator [default: false]
- input_objects_topic_name
- input_pointcloud_topic_name
- launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
-
- input_route_topic_name [default: /planning/mission_planning/route]
- input_traffic_light_topic_name [default: /perception/traffic_light_recognition/traffic_signals]
- input_virtual_traffic_light_topic_name [default: /awapi/tmp/virtual_traffic_light_states]
- input_vector_map_topic_name [default: /map/vector_map]
- input_pointcloud_map_topic_name [default: /map/pointcloud_map]
- input_objects_topic_name
- input_pointcloud_topic_name
- enable_all_modules_auto_mode
- is_simulation
- behavior_path_planner_type [default: behavior_path_planner]
- launch_static_obstacle_avoidance [default: true]
- launch_avoidance_by_lane_change_module [default: true]
- launch_dynamic_obstacle_avoidance [default: true]
- launch_lane_change_right_module [default: true]
- launch_lane_change_left_module [default: true]
- launch_external_request_lane_change_right_module [default: true]
- launch_external_request_lane_change_left_module [default: true]
- launch_goal_planner_module [default: true]
- launch_start_planner_module [default: true]
- launch_sampling_planner_module [default: true]
- launch_side_shift_module [default: true]
- launch_bidirectional_traffic_module [default: true]
- launch_crosswalk_module [default: true]
- launch_walkway_module [default: true]
- launch_traffic_light_module [default: true]
- launch_intersection_module [default: true]
- launch_roundabout_module [default: true]
- launch_merge_from_private_module [default: true]
- launch_blind_spot_module [default: true]
- launch_detection_area_module [default: true]
- launch_virtual_traffic_light_module [default: true]
- launch_no_stopping_area_module [default: true]
- launch_stop_line_module [default: true]
- launch_occlusion_spot_module [default: true]
- launch_speed_bump_module [default: true]
- launch_no_drivable_lane_module [default: true]
- launch_module_list_end [default: ""]]
- behavior_path_planner_launch_modules [default: []
- behavior_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving/behavior_planning/behavior_planning_deprecated.launch.xml
-
- input_route_topic_name [default: /planning/mission_planning/route]
- input_traffic_light_topic_name [default: /perception/traffic_light_recognition/traffic_signals]
- input_virtual_traffic_light_topic_name [default: /awapi/tmp/virtual_traffic_light_states]
- input_vector_map_topic_name [default: /map/vector_map]
- input_pointcloud_map_topic_name [default: /map/pointcloud_map]
- input_objects_topic_name
- input_pointcloud_topic_name
- enable_all_modules_auto_mode
- is_simulation
- behavior_path_planner_type [default: behavior_path_planner]
- launch_static_obstacle_avoidance [default: true]
- launch_avoidance_by_lane_change_module [default: true]
- launch_dynamic_obstacle_avoidance [default: true]
- launch_lane_change_right_module [default: true]
- launch_lane_change_left_module [default: true]
- launch_external_request_lane_change_right_module [default: true]
- launch_external_request_lane_change_left_module [default: true]
- launch_goal_planner_module [default: true]
- launch_start_planner_module [default: true]
- launch_sampling_planner_module [default: true]
- launch_side_shift_module [default: true]
- launch_bidirectional_traffic_module [default: true]
- launch_crosswalk_module [default: true]
- launch_walkway_module [default: true]
- launch_traffic_light_module [default: true]
- launch_intersection_module [default: true]
- launch_roundabout_module [default: true]
- launch_merge_from_private_module [default: true]
- launch_blind_spot_module [default: true]
- launch_detection_area_module [default: true]
- launch_virtual_traffic_light_module [default: true]
- launch_no_stopping_area_module [default: true]
- launch_stop_line_module [default: true]
- launch_occlusion_spot_module [default: true]
- launch_speed_bump_module [default: true]
- launch_no_drivable_lane_module [default: true]
- launch_module_list_end [default: ""]]
- behavior_path_planner_launch_modules [default: []
- behavior_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
-
- input_objects_topic_name
- input_pointcloud_topic_name
- interface_input_topic [default: /planning/scenario_planning/lane_driving/behavior_planning/path]
- interface_output_topic [default: /planning/scenario_planning/lane_driving/trajectory]
- launch_obstacle_stop_module [default: true]
- launch_obstacle_slow_down_module [default: true]
- launch_obstacle_cruise_module [default: true]
- launch_dynamic_obstacle_stop_module [default: true]
- launch_out_of_lane_module [default: true]
- launch_obstacle_velocity_limiter_module [default: true]
- launch_run_out_module [default: true]
- launch_boundary_departure_prevention_module [default: true]
- launch_road_user_stop_module [default: true]
- launch_module_list_end [default: ""]]
- motion_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving.launch.xml
-
- enable_all_modules_auto_mode
- is_simulation
- input_objects_topic_name
- input_pointcloud_topic_name
- launch/scenario_planning/parking.launch.xml
-
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- launch/scenario_planning/scenario_planning.launch.xml
-
- enable_all_modules_auto_mode
- is_simulation
- input_objects_topic_name
- input_pointcloud_topic_name
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged tier4_planning_launch 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 | 0.48.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-12-05 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The tier4_planning_launch package
Additional Links
No additional links.
Maintainers
- Zulfaqar Azmi
- Kosuke Takeuchi
- Kosuke Takeuchi
- Fumiya Watanabe
- Takamasa Horibe
- Satoshi Ota
- Zulfaqar Azmi
- Satoshi Ota
- Mamoru Sobue
- Takayuki Murooka
- Mamoru Sobue
- Satoshi Ota
- Kyoichi Sugahara
- Taiki Tanaka
- Kosuke Takeuchi
- Satoshi Ota
- Mamoru Sobue
- Fumiya Watanabe
- Zhe Shen
- Kosuke Takeuchi
- Tomohito Ando
- Makoto Kurihara
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
Authors
No additional authors.
tier4_planning_launch
Structure
Package Dependencies
Please see <exec_depend> in package.xml.
Usage
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_planning_launch)/launch/planning.launch.xml">
<!-- Parameter files -->
<arg name="FOO_NODE_param_path" value="..."/>
<arg name="BAR_NODE_param_path" value="..."/>
...
</include>
CHANGELOG
Changelog for package tier4_planning_launch
0.48.0 (2025-11-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
feat(mission_planner): manual lane selection (#11169)
- manual lane change
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
-
feat(behavior_velocity_rtc_interface, behavior_velocity_*_module): replace PathWithLaneId with Trajectory<> class (#11555)
-
feat(planning_evaluator): refactor the obstacle_distance and obstacle_ttc metric (#11478)
- tmp save
- refactor and pre-commit
- tmp save
- fix start point bug and apply deceleration lower bound
- remove unused launch parm
- polish code
- fix unit tests
* update readme ---------
-
feat(launch): update input topic parameters to allow dynamic configuration (#11389)
-
feat(roundabout): add autoware_behavior_velocity_roundabout_module (#11142)
- feat(behavior_velocity_roundabout_module): add roundabout behavior velocity planner module
- feat(behavior_planning): add roundabout module to behavior planning launch and RTC interface
- Add functions for behavior velocity planner in roundabout module
- Refactor roundabout module
- feat(roundabout_module): integrate Roundabout regulatory element
- refactor(roundabout_module): remove associative_ids from attention lane
- move header files to include
- refactor(roundabout_module): remove util files and update includes for intersection module
- fix(roundabout_module): update include path for interpolated_path_info
- refactor(roundabout_module): update include paths for consistency
- fix(scene_roundabout): update include path for result.hpp
- refactor(roundabout_module): clean up unused structures and methods
- refactor(roundabout_module): clean up and optimize code structure and comments
- refactor(object_manager): remove unused stopline handling from ObjectInfo initialization
- refactor(roundabout_module): remove unused variables and comments related to second pass judge line
- refactor(roundabout_module): improve comments and remove unnecessary code in decision result and collision handling
- feat(ttc_visualizer): add TTC visualizer script for time-to-collision analysis
- refactor(roundabout_module): remove consider_wrong_direction_vehicle parameter and related code
- refactor(roundabout_module): simplify object management and improve code clarity
- style(pre-commit): autofix
- fix(manager): include <set> header for improved functionality
- fix(roundabout): update parameter name
- docs(roundabout): update README to clarify module role and functionality
- fix(readme): fix README
- fix(readme): fix README
- style(pre-commit): autofix
- refactor(roundabout): fix attention lanelet logic
- style(pre-commit): autofix
- review roundabout
- update utils
- refactor(roundabout): fix attention lanelet logic
- feat(cmake): add installation for ttc.py script
- refactor(detectOcclusion): fix cppcheck error
- style(pre-commit): autofix
- docs(README): fix unkown word ci error
- style(pre-commit): autofix
- fix: update copyright year to 2025 in multiple files
- docs(README): add flowchart for roundabout behavior velocity module logic
- style(pre-commit): autofix
- fix: correct capitalization in copyright notice
- refactor(roundabout-module): streamline roundabout module initialization and remove unused conflicting area logic
- refactor(roundabout-module): remove unnecessary comments and
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
Launch files
- launch/mission_planning/mission_planning.launch.xml
-
- mission_planner_param_path [default: $(find-pkg-share autoware_mission_planner_universe)/config/mission_planner.param.yaml]
- launch/planning.launch.xml
-
- mission_planner_param_path
- freespace_planner_param_path
- planning_validator_param_path
- planning_validator_latency_checker_param_path
- planning_validator_trajectory_checker_param_path
- planning_validator_intersection_collision_checker_param_path
- planning_validator_rear_collision_checker_param_path
- enable_all_modules_auto_mode
- is_simulation
- launch_remaining_distance_time_calculator [default: false]
- input_objects_topic_name
- input_pointcloud_topic_name
- launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
-
- input_route_topic_name [default: /planning/mission_planning/route]
- input_traffic_light_topic_name [default: /perception/traffic_light_recognition/traffic_signals]
- input_virtual_traffic_light_topic_name [default: /awapi/tmp/virtual_traffic_light_states]
- input_vector_map_topic_name [default: /map/vector_map]
- input_pointcloud_map_topic_name [default: /map/pointcloud_map]
- input_objects_topic_name
- input_pointcloud_topic_name
- enable_all_modules_auto_mode
- is_simulation
- behavior_path_planner_type [default: behavior_path_planner]
- launch_static_obstacle_avoidance [default: true]
- launch_avoidance_by_lane_change_module [default: true]
- launch_dynamic_obstacle_avoidance [default: true]
- launch_lane_change_right_module [default: true]
- launch_lane_change_left_module [default: true]
- launch_external_request_lane_change_right_module [default: true]
- launch_external_request_lane_change_left_module [default: true]
- launch_goal_planner_module [default: true]
- launch_start_planner_module [default: true]
- launch_sampling_planner_module [default: true]
- launch_side_shift_module [default: true]
- launch_bidirectional_traffic_module [default: true]
- launch_crosswalk_module [default: true]
- launch_walkway_module [default: true]
- launch_traffic_light_module [default: true]
- launch_intersection_module [default: true]
- launch_roundabout_module [default: true]
- launch_merge_from_private_module [default: true]
- launch_blind_spot_module [default: true]
- launch_detection_area_module [default: true]
- launch_virtual_traffic_light_module [default: true]
- launch_no_stopping_area_module [default: true]
- launch_stop_line_module [default: true]
- launch_occlusion_spot_module [default: true]
- launch_speed_bump_module [default: true]
- launch_no_drivable_lane_module [default: true]
- launch_module_list_end [default: ""]]
- behavior_path_planner_launch_modules [default: []
- behavior_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving/behavior_planning/behavior_planning_deprecated.launch.xml
-
- input_route_topic_name [default: /planning/mission_planning/route]
- input_traffic_light_topic_name [default: /perception/traffic_light_recognition/traffic_signals]
- input_virtual_traffic_light_topic_name [default: /awapi/tmp/virtual_traffic_light_states]
- input_vector_map_topic_name [default: /map/vector_map]
- input_pointcloud_map_topic_name [default: /map/pointcloud_map]
- input_objects_topic_name
- input_pointcloud_topic_name
- enable_all_modules_auto_mode
- is_simulation
- behavior_path_planner_type [default: behavior_path_planner]
- launch_static_obstacle_avoidance [default: true]
- launch_avoidance_by_lane_change_module [default: true]
- launch_dynamic_obstacle_avoidance [default: true]
- launch_lane_change_right_module [default: true]
- launch_lane_change_left_module [default: true]
- launch_external_request_lane_change_right_module [default: true]
- launch_external_request_lane_change_left_module [default: true]
- launch_goal_planner_module [default: true]
- launch_start_planner_module [default: true]
- launch_sampling_planner_module [default: true]
- launch_side_shift_module [default: true]
- launch_bidirectional_traffic_module [default: true]
- launch_crosswalk_module [default: true]
- launch_walkway_module [default: true]
- launch_traffic_light_module [default: true]
- launch_intersection_module [default: true]
- launch_roundabout_module [default: true]
- launch_merge_from_private_module [default: true]
- launch_blind_spot_module [default: true]
- launch_detection_area_module [default: true]
- launch_virtual_traffic_light_module [default: true]
- launch_no_stopping_area_module [default: true]
- launch_stop_line_module [default: true]
- launch_occlusion_spot_module [default: true]
- launch_speed_bump_module [default: true]
- launch_no_drivable_lane_module [default: true]
- launch_module_list_end [default: ""]]
- behavior_path_planner_launch_modules [default: []
- behavior_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
-
- input_objects_topic_name
- input_pointcloud_topic_name
- interface_input_topic [default: /planning/scenario_planning/lane_driving/behavior_planning/path]
- interface_output_topic [default: /planning/scenario_planning/lane_driving/trajectory]
- launch_obstacle_stop_module [default: true]
- launch_obstacle_slow_down_module [default: true]
- launch_obstacle_cruise_module [default: true]
- launch_dynamic_obstacle_stop_module [default: true]
- launch_out_of_lane_module [default: true]
- launch_obstacle_velocity_limiter_module [default: true]
- launch_run_out_module [default: true]
- launch_boundary_departure_prevention_module [default: true]
- launch_road_user_stop_module [default: true]
- launch_module_list_end [default: ""]]
- motion_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving.launch.xml
-
- enable_all_modules_auto_mode
- is_simulation
- input_objects_topic_name
- input_pointcloud_topic_name
- launch/scenario_planning/parking.launch.xml
-
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- launch/scenario_planning/scenario_planning.launch.xml
-
- enable_all_modules_auto_mode
- is_simulation
- input_objects_topic_name
- input_pointcloud_topic_name
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged tier4_planning_launch 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 | 0.48.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-12-05 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The tier4_planning_launch package
Additional Links
No additional links.
Maintainers
- Zulfaqar Azmi
- Kosuke Takeuchi
- Kosuke Takeuchi
- Fumiya Watanabe
- Takamasa Horibe
- Satoshi Ota
- Zulfaqar Azmi
- Satoshi Ota
- Mamoru Sobue
- Takayuki Murooka
- Mamoru Sobue
- Satoshi Ota
- Kyoichi Sugahara
- Taiki Tanaka
- Kosuke Takeuchi
- Satoshi Ota
- Mamoru Sobue
- Fumiya Watanabe
- Zhe Shen
- Kosuke Takeuchi
- Tomohito Ando
- Makoto Kurihara
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
Authors
No additional authors.
tier4_planning_launch
Structure
Package Dependencies
Please see <exec_depend> in package.xml.
Usage
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_planning_launch)/launch/planning.launch.xml">
<!-- Parameter files -->
<arg name="FOO_NODE_param_path" value="..."/>
<arg name="BAR_NODE_param_path" value="..."/>
...
</include>
CHANGELOG
Changelog for package tier4_planning_launch
0.48.0 (2025-11-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
feat(mission_planner): manual lane selection (#11169)
- manual lane change
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
-
feat(behavior_velocity_rtc_interface, behavior_velocity_*_module): replace PathWithLaneId with Trajectory<> class (#11555)
-
feat(planning_evaluator): refactor the obstacle_distance and obstacle_ttc metric (#11478)
- tmp save
- refactor and pre-commit
- tmp save
- fix start point bug and apply deceleration lower bound
- remove unused launch parm
- polish code
- fix unit tests
* update readme ---------
-
feat(launch): update input topic parameters to allow dynamic configuration (#11389)
-
feat(roundabout): add autoware_behavior_velocity_roundabout_module (#11142)
- feat(behavior_velocity_roundabout_module): add roundabout behavior velocity planner module
- feat(behavior_planning): add roundabout module to behavior planning launch and RTC interface
- Add functions for behavior velocity planner in roundabout module
- Refactor roundabout module
- feat(roundabout_module): integrate Roundabout regulatory element
- refactor(roundabout_module): remove associative_ids from attention lane
- move header files to include
- refactor(roundabout_module): remove util files and update includes for intersection module
- fix(roundabout_module): update include path for interpolated_path_info
- refactor(roundabout_module): update include paths for consistency
- fix(scene_roundabout): update include path for result.hpp
- refactor(roundabout_module): clean up unused structures and methods
- refactor(roundabout_module): clean up and optimize code structure and comments
- refactor(object_manager): remove unused stopline handling from ObjectInfo initialization
- refactor(roundabout_module): remove unused variables and comments related to second pass judge line
- refactor(roundabout_module): improve comments and remove unnecessary code in decision result and collision handling
- feat(ttc_visualizer): add TTC visualizer script for time-to-collision analysis
- refactor(roundabout_module): remove consider_wrong_direction_vehicle parameter and related code
- refactor(roundabout_module): simplify object management and improve code clarity
- style(pre-commit): autofix
- fix(manager): include <set> header for improved functionality
- fix(roundabout): update parameter name
- docs(roundabout): update README to clarify module role and functionality
- fix(readme): fix README
- fix(readme): fix README
- style(pre-commit): autofix
- refactor(roundabout): fix attention lanelet logic
- style(pre-commit): autofix
- review roundabout
- update utils
- refactor(roundabout): fix attention lanelet logic
- feat(cmake): add installation for ttc.py script
- refactor(detectOcclusion): fix cppcheck error
- style(pre-commit): autofix
- docs(README): fix unkown word ci error
- style(pre-commit): autofix
- fix: update copyright year to 2025 in multiple files
- docs(README): add flowchart for roundabout behavior velocity module logic
- style(pre-commit): autofix
- fix: correct capitalization in copyright notice
- refactor(roundabout-module): streamline roundabout module initialization and remove unused conflicting area logic
- refactor(roundabout-module): remove unnecessary comments and
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
Launch files
- launch/mission_planning/mission_planning.launch.xml
-
- mission_planner_param_path [default: $(find-pkg-share autoware_mission_planner_universe)/config/mission_planner.param.yaml]
- launch/planning.launch.xml
-
- mission_planner_param_path
- freespace_planner_param_path
- planning_validator_param_path
- planning_validator_latency_checker_param_path
- planning_validator_trajectory_checker_param_path
- planning_validator_intersection_collision_checker_param_path
- planning_validator_rear_collision_checker_param_path
- enable_all_modules_auto_mode
- is_simulation
- launch_remaining_distance_time_calculator [default: false]
- input_objects_topic_name
- input_pointcloud_topic_name
- launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
-
- input_route_topic_name [default: /planning/mission_planning/route]
- input_traffic_light_topic_name [default: /perception/traffic_light_recognition/traffic_signals]
- input_virtual_traffic_light_topic_name [default: /awapi/tmp/virtual_traffic_light_states]
- input_vector_map_topic_name [default: /map/vector_map]
- input_pointcloud_map_topic_name [default: /map/pointcloud_map]
- input_objects_topic_name
- input_pointcloud_topic_name
- enable_all_modules_auto_mode
- is_simulation
- behavior_path_planner_type [default: behavior_path_planner]
- launch_static_obstacle_avoidance [default: true]
- launch_avoidance_by_lane_change_module [default: true]
- launch_dynamic_obstacle_avoidance [default: true]
- launch_lane_change_right_module [default: true]
- launch_lane_change_left_module [default: true]
- launch_external_request_lane_change_right_module [default: true]
- launch_external_request_lane_change_left_module [default: true]
- launch_goal_planner_module [default: true]
- launch_start_planner_module [default: true]
- launch_sampling_planner_module [default: true]
- launch_side_shift_module [default: true]
- launch_bidirectional_traffic_module [default: true]
- launch_crosswalk_module [default: true]
- launch_walkway_module [default: true]
- launch_traffic_light_module [default: true]
- launch_intersection_module [default: true]
- launch_roundabout_module [default: true]
- launch_merge_from_private_module [default: true]
- launch_blind_spot_module [default: true]
- launch_detection_area_module [default: true]
- launch_virtual_traffic_light_module [default: true]
- launch_no_stopping_area_module [default: true]
- launch_stop_line_module [default: true]
- launch_occlusion_spot_module [default: true]
- launch_speed_bump_module [default: true]
- launch_no_drivable_lane_module [default: true]
- launch_module_list_end [default: ""]]
- behavior_path_planner_launch_modules [default: []
- behavior_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving/behavior_planning/behavior_planning_deprecated.launch.xml
-
- input_route_topic_name [default: /planning/mission_planning/route]
- input_traffic_light_topic_name [default: /perception/traffic_light_recognition/traffic_signals]
- input_virtual_traffic_light_topic_name [default: /awapi/tmp/virtual_traffic_light_states]
- input_vector_map_topic_name [default: /map/vector_map]
- input_pointcloud_map_topic_name [default: /map/pointcloud_map]
- input_objects_topic_name
- input_pointcloud_topic_name
- enable_all_modules_auto_mode
- is_simulation
- behavior_path_planner_type [default: behavior_path_planner]
- launch_static_obstacle_avoidance [default: true]
- launch_avoidance_by_lane_change_module [default: true]
- launch_dynamic_obstacle_avoidance [default: true]
- launch_lane_change_right_module [default: true]
- launch_lane_change_left_module [default: true]
- launch_external_request_lane_change_right_module [default: true]
- launch_external_request_lane_change_left_module [default: true]
- launch_goal_planner_module [default: true]
- launch_start_planner_module [default: true]
- launch_sampling_planner_module [default: true]
- launch_side_shift_module [default: true]
- launch_bidirectional_traffic_module [default: true]
- launch_crosswalk_module [default: true]
- launch_walkway_module [default: true]
- launch_traffic_light_module [default: true]
- launch_intersection_module [default: true]
- launch_roundabout_module [default: true]
- launch_merge_from_private_module [default: true]
- launch_blind_spot_module [default: true]
- launch_detection_area_module [default: true]
- launch_virtual_traffic_light_module [default: true]
- launch_no_stopping_area_module [default: true]
- launch_stop_line_module [default: true]
- launch_occlusion_spot_module [default: true]
- launch_speed_bump_module [default: true]
- launch_no_drivable_lane_module [default: true]
- launch_module_list_end [default: ""]]
- behavior_path_planner_launch_modules [default: []
- behavior_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
-
- input_objects_topic_name
- input_pointcloud_topic_name
- interface_input_topic [default: /planning/scenario_planning/lane_driving/behavior_planning/path]
- interface_output_topic [default: /planning/scenario_planning/lane_driving/trajectory]
- launch_obstacle_stop_module [default: true]
- launch_obstacle_slow_down_module [default: true]
- launch_obstacle_cruise_module [default: true]
- launch_dynamic_obstacle_stop_module [default: true]
- launch_out_of_lane_module [default: true]
- launch_obstacle_velocity_limiter_module [default: true]
- launch_run_out_module [default: true]
- launch_boundary_departure_prevention_module [default: true]
- launch_road_user_stop_module [default: true]
- launch_module_list_end [default: ""]]
- motion_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving.launch.xml
-
- enable_all_modules_auto_mode
- is_simulation
- input_objects_topic_name
- input_pointcloud_topic_name
- launch/scenario_planning/parking.launch.xml
-
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- launch/scenario_planning/scenario_planning.launch.xml
-
- enable_all_modules_auto_mode
- is_simulation
- input_objects_topic_name
- input_pointcloud_topic_name
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged tier4_planning_launch at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 0.48.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-12-05 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The tier4_planning_launch package
Additional Links
No additional links.
Maintainers
- Zulfaqar Azmi
- Kosuke Takeuchi
- Kosuke Takeuchi
- Fumiya Watanabe
- Takamasa Horibe
- Satoshi Ota
- Zulfaqar Azmi
- Satoshi Ota
- Mamoru Sobue
- Takayuki Murooka
- Mamoru Sobue
- Satoshi Ota
- Kyoichi Sugahara
- Taiki Tanaka
- Kosuke Takeuchi
- Satoshi Ota
- Mamoru Sobue
- Fumiya Watanabe
- Zhe Shen
- Kosuke Takeuchi
- Tomohito Ando
- Makoto Kurihara
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
Authors
No additional authors.
tier4_planning_launch
Structure
Package Dependencies
Please see <exec_depend> in package.xml.
Usage
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_planning_launch)/launch/planning.launch.xml">
<!-- Parameter files -->
<arg name="FOO_NODE_param_path" value="..."/>
<arg name="BAR_NODE_param_path" value="..."/>
...
</include>
CHANGELOG
Changelog for package tier4_planning_launch
0.48.0 (2025-11-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
feat(mission_planner): manual lane selection (#11169)
- manual lane change
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
-
feat(behavior_velocity_rtc_interface, behavior_velocity_*_module): replace PathWithLaneId with Trajectory<> class (#11555)
-
feat(planning_evaluator): refactor the obstacle_distance and obstacle_ttc metric (#11478)
- tmp save
- refactor and pre-commit
- tmp save
- fix start point bug and apply deceleration lower bound
- remove unused launch parm
- polish code
- fix unit tests
* update readme ---------
-
feat(launch): update input topic parameters to allow dynamic configuration (#11389)
-
feat(roundabout): add autoware_behavior_velocity_roundabout_module (#11142)
- feat(behavior_velocity_roundabout_module): add roundabout behavior velocity planner module
- feat(behavior_planning): add roundabout module to behavior planning launch and RTC interface
- Add functions for behavior velocity planner in roundabout module
- Refactor roundabout module
- feat(roundabout_module): integrate Roundabout regulatory element
- refactor(roundabout_module): remove associative_ids from attention lane
- move header files to include
- refactor(roundabout_module): remove util files and update includes for intersection module
- fix(roundabout_module): update include path for interpolated_path_info
- refactor(roundabout_module): update include paths for consistency
- fix(scene_roundabout): update include path for result.hpp
- refactor(roundabout_module): clean up unused structures and methods
- refactor(roundabout_module): clean up and optimize code structure and comments
- refactor(object_manager): remove unused stopline handling from ObjectInfo initialization
- refactor(roundabout_module): remove unused variables and comments related to second pass judge line
- refactor(roundabout_module): improve comments and remove unnecessary code in decision result and collision handling
- feat(ttc_visualizer): add TTC visualizer script for time-to-collision analysis
- refactor(roundabout_module): remove consider_wrong_direction_vehicle parameter and related code
- refactor(roundabout_module): simplify object management and improve code clarity
- style(pre-commit): autofix
- fix(manager): include <set> header for improved functionality
- fix(roundabout): update parameter name
- docs(roundabout): update README to clarify module role and functionality
- fix(readme): fix README
- fix(readme): fix README
- style(pre-commit): autofix
- refactor(roundabout): fix attention lanelet logic
- style(pre-commit): autofix
- review roundabout
- update utils
- refactor(roundabout): fix attention lanelet logic
- feat(cmake): add installation for ttc.py script
- refactor(detectOcclusion): fix cppcheck error
- style(pre-commit): autofix
- docs(README): fix unkown word ci error
- style(pre-commit): autofix
- fix: update copyright year to 2025 in multiple files
- docs(README): add flowchart for roundabout behavior velocity module logic
- style(pre-commit): autofix
- fix: correct capitalization in copyright notice
- refactor(roundabout-module): streamline roundabout module initialization and remove unused conflicting area logic
- refactor(roundabout-module): remove unnecessary comments and
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
Launch files
- launch/mission_planning/mission_planning.launch.xml
-
- mission_planner_param_path [default: $(find-pkg-share autoware_mission_planner_universe)/config/mission_planner.param.yaml]
- launch/planning.launch.xml
-
- mission_planner_param_path
- freespace_planner_param_path
- planning_validator_param_path
- planning_validator_latency_checker_param_path
- planning_validator_trajectory_checker_param_path
- planning_validator_intersection_collision_checker_param_path
- planning_validator_rear_collision_checker_param_path
- enable_all_modules_auto_mode
- is_simulation
- launch_remaining_distance_time_calculator [default: false]
- input_objects_topic_name
- input_pointcloud_topic_name
- launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
-
- input_route_topic_name [default: /planning/mission_planning/route]
- input_traffic_light_topic_name [default: /perception/traffic_light_recognition/traffic_signals]
- input_virtual_traffic_light_topic_name [default: /awapi/tmp/virtual_traffic_light_states]
- input_vector_map_topic_name [default: /map/vector_map]
- input_pointcloud_map_topic_name [default: /map/pointcloud_map]
- input_objects_topic_name
- input_pointcloud_topic_name
- enable_all_modules_auto_mode
- is_simulation
- behavior_path_planner_type [default: behavior_path_planner]
- launch_static_obstacle_avoidance [default: true]
- launch_avoidance_by_lane_change_module [default: true]
- launch_dynamic_obstacle_avoidance [default: true]
- launch_lane_change_right_module [default: true]
- launch_lane_change_left_module [default: true]
- launch_external_request_lane_change_right_module [default: true]
- launch_external_request_lane_change_left_module [default: true]
- launch_goal_planner_module [default: true]
- launch_start_planner_module [default: true]
- launch_sampling_planner_module [default: true]
- launch_side_shift_module [default: true]
- launch_bidirectional_traffic_module [default: true]
- launch_crosswalk_module [default: true]
- launch_walkway_module [default: true]
- launch_traffic_light_module [default: true]
- launch_intersection_module [default: true]
- launch_roundabout_module [default: true]
- launch_merge_from_private_module [default: true]
- launch_blind_spot_module [default: true]
- launch_detection_area_module [default: true]
- launch_virtual_traffic_light_module [default: true]
- launch_no_stopping_area_module [default: true]
- launch_stop_line_module [default: true]
- launch_occlusion_spot_module [default: true]
- launch_speed_bump_module [default: true]
- launch_no_drivable_lane_module [default: true]
- launch_module_list_end [default: ""]]
- behavior_path_planner_launch_modules [default: []
- behavior_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving/behavior_planning/behavior_planning_deprecated.launch.xml
-
- input_route_topic_name [default: /planning/mission_planning/route]
- input_traffic_light_topic_name [default: /perception/traffic_light_recognition/traffic_signals]
- input_virtual_traffic_light_topic_name [default: /awapi/tmp/virtual_traffic_light_states]
- input_vector_map_topic_name [default: /map/vector_map]
- input_pointcloud_map_topic_name [default: /map/pointcloud_map]
- input_objects_topic_name
- input_pointcloud_topic_name
- enable_all_modules_auto_mode
- is_simulation
- behavior_path_planner_type [default: behavior_path_planner]
- launch_static_obstacle_avoidance [default: true]
- launch_avoidance_by_lane_change_module [default: true]
- launch_dynamic_obstacle_avoidance [default: true]
- launch_lane_change_right_module [default: true]
- launch_lane_change_left_module [default: true]
- launch_external_request_lane_change_right_module [default: true]
- launch_external_request_lane_change_left_module [default: true]
- launch_goal_planner_module [default: true]
- launch_start_planner_module [default: true]
- launch_sampling_planner_module [default: true]
- launch_side_shift_module [default: true]
- launch_bidirectional_traffic_module [default: true]
- launch_crosswalk_module [default: true]
- launch_walkway_module [default: true]
- launch_traffic_light_module [default: true]
- launch_intersection_module [default: true]
- launch_roundabout_module [default: true]
- launch_merge_from_private_module [default: true]
- launch_blind_spot_module [default: true]
- launch_detection_area_module [default: true]
- launch_virtual_traffic_light_module [default: true]
- launch_no_stopping_area_module [default: true]
- launch_stop_line_module [default: true]
- launch_occlusion_spot_module [default: true]
- launch_speed_bump_module [default: true]
- launch_no_drivable_lane_module [default: true]
- launch_module_list_end [default: ""]]
- behavior_path_planner_launch_modules [default: []
- behavior_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
-
- input_objects_topic_name
- input_pointcloud_topic_name
- interface_input_topic [default: /planning/scenario_planning/lane_driving/behavior_planning/path]
- interface_output_topic [default: /planning/scenario_planning/lane_driving/trajectory]
- launch_obstacle_stop_module [default: true]
- launch_obstacle_slow_down_module [default: true]
- launch_obstacle_cruise_module [default: true]
- launch_dynamic_obstacle_stop_module [default: true]
- launch_out_of_lane_module [default: true]
- launch_obstacle_velocity_limiter_module [default: true]
- launch_run_out_module [default: true]
- launch_boundary_departure_prevention_module [default: true]
- launch_road_user_stop_module [default: true]
- launch_module_list_end [default: ""]]
- motion_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving.launch.xml
-
- enable_all_modules_auto_mode
- is_simulation
- input_objects_topic_name
- input_pointcloud_topic_name
- launch/scenario_planning/parking.launch.xml
-
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- launch/scenario_planning/scenario_planning.launch.xml
-
- enable_all_modules_auto_mode
- is_simulation
- input_objects_topic_name
- input_pointcloud_topic_name
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged tier4_planning_launch 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 | 0.48.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-12-05 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The tier4_planning_launch package
Additional Links
No additional links.
Maintainers
- Zulfaqar Azmi
- Kosuke Takeuchi
- Kosuke Takeuchi
- Fumiya Watanabe
- Takamasa Horibe
- Satoshi Ota
- Zulfaqar Azmi
- Satoshi Ota
- Mamoru Sobue
- Takayuki Murooka
- Mamoru Sobue
- Satoshi Ota
- Kyoichi Sugahara
- Taiki Tanaka
- Kosuke Takeuchi
- Satoshi Ota
- Mamoru Sobue
- Fumiya Watanabe
- Zhe Shen
- Kosuke Takeuchi
- Tomohito Ando
- Makoto Kurihara
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
Authors
No additional authors.
tier4_planning_launch
Structure
Package Dependencies
Please see <exec_depend> in package.xml.
Usage
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_planning_launch)/launch/planning.launch.xml">
<!-- Parameter files -->
<arg name="FOO_NODE_param_path" value="..."/>
<arg name="BAR_NODE_param_path" value="..."/>
...
</include>
CHANGELOG
Changelog for package tier4_planning_launch
0.48.0 (2025-11-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
feat(mission_planner): manual lane selection (#11169)
- manual lane change
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
-
feat(behavior_velocity_rtc_interface, behavior_velocity_*_module): replace PathWithLaneId with Trajectory<> class (#11555)
-
feat(planning_evaluator): refactor the obstacle_distance and obstacle_ttc metric (#11478)
- tmp save
- refactor and pre-commit
- tmp save
- fix start point bug and apply deceleration lower bound
- remove unused launch parm
- polish code
- fix unit tests
* update readme ---------
-
feat(launch): update input topic parameters to allow dynamic configuration (#11389)
-
feat(roundabout): add autoware_behavior_velocity_roundabout_module (#11142)
- feat(behavior_velocity_roundabout_module): add roundabout behavior velocity planner module
- feat(behavior_planning): add roundabout module to behavior planning launch and RTC interface
- Add functions for behavior velocity planner in roundabout module
- Refactor roundabout module
- feat(roundabout_module): integrate Roundabout regulatory element
- refactor(roundabout_module): remove associative_ids from attention lane
- move header files to include
- refactor(roundabout_module): remove util files and update includes for intersection module
- fix(roundabout_module): update include path for interpolated_path_info
- refactor(roundabout_module): update include paths for consistency
- fix(scene_roundabout): update include path for result.hpp
- refactor(roundabout_module): clean up unused structures and methods
- refactor(roundabout_module): clean up and optimize code structure and comments
- refactor(object_manager): remove unused stopline handling from ObjectInfo initialization
- refactor(roundabout_module): remove unused variables and comments related to second pass judge line
- refactor(roundabout_module): improve comments and remove unnecessary code in decision result and collision handling
- feat(ttc_visualizer): add TTC visualizer script for time-to-collision analysis
- refactor(roundabout_module): remove consider_wrong_direction_vehicle parameter and related code
- refactor(roundabout_module): simplify object management and improve code clarity
- style(pre-commit): autofix
- fix(manager): include <set> header for improved functionality
- fix(roundabout): update parameter name
- docs(roundabout): update README to clarify module role and functionality
- fix(readme): fix README
- fix(readme): fix README
- style(pre-commit): autofix
- refactor(roundabout): fix attention lanelet logic
- style(pre-commit): autofix
- review roundabout
- update utils
- refactor(roundabout): fix attention lanelet logic
- feat(cmake): add installation for ttc.py script
- refactor(detectOcclusion): fix cppcheck error
- style(pre-commit): autofix
- docs(README): fix unkown word ci error
- style(pre-commit): autofix
- fix: update copyright year to 2025 in multiple files
- docs(README): add flowchart for roundabout behavior velocity module logic
- style(pre-commit): autofix
- fix: correct capitalization in copyright notice
- refactor(roundabout-module): streamline roundabout module initialization and remove unused conflicting area logic
- refactor(roundabout-module): remove unnecessary comments and
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
Launch files
- launch/mission_planning/mission_planning.launch.xml
-
- mission_planner_param_path [default: $(find-pkg-share autoware_mission_planner_universe)/config/mission_planner.param.yaml]
- launch/planning.launch.xml
-
- mission_planner_param_path
- freespace_planner_param_path
- planning_validator_param_path
- planning_validator_latency_checker_param_path
- planning_validator_trajectory_checker_param_path
- planning_validator_intersection_collision_checker_param_path
- planning_validator_rear_collision_checker_param_path
- enable_all_modules_auto_mode
- is_simulation
- launch_remaining_distance_time_calculator [default: false]
- input_objects_topic_name
- input_pointcloud_topic_name
- launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
-
- input_route_topic_name [default: /planning/mission_planning/route]
- input_traffic_light_topic_name [default: /perception/traffic_light_recognition/traffic_signals]
- input_virtual_traffic_light_topic_name [default: /awapi/tmp/virtual_traffic_light_states]
- input_vector_map_topic_name [default: /map/vector_map]
- input_pointcloud_map_topic_name [default: /map/pointcloud_map]
- input_objects_topic_name
- input_pointcloud_topic_name
- enable_all_modules_auto_mode
- is_simulation
- behavior_path_planner_type [default: behavior_path_planner]
- launch_static_obstacle_avoidance [default: true]
- launch_avoidance_by_lane_change_module [default: true]
- launch_dynamic_obstacle_avoidance [default: true]
- launch_lane_change_right_module [default: true]
- launch_lane_change_left_module [default: true]
- launch_external_request_lane_change_right_module [default: true]
- launch_external_request_lane_change_left_module [default: true]
- launch_goal_planner_module [default: true]
- launch_start_planner_module [default: true]
- launch_sampling_planner_module [default: true]
- launch_side_shift_module [default: true]
- launch_bidirectional_traffic_module [default: true]
- launch_crosswalk_module [default: true]
- launch_walkway_module [default: true]
- launch_traffic_light_module [default: true]
- launch_intersection_module [default: true]
- launch_roundabout_module [default: true]
- launch_merge_from_private_module [default: true]
- launch_blind_spot_module [default: true]
- launch_detection_area_module [default: true]
- launch_virtual_traffic_light_module [default: true]
- launch_no_stopping_area_module [default: true]
- launch_stop_line_module [default: true]
- launch_occlusion_spot_module [default: true]
- launch_speed_bump_module [default: true]
- launch_no_drivable_lane_module [default: true]
- launch_module_list_end [default: ""]]
- behavior_path_planner_launch_modules [default: []
- behavior_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving/behavior_planning/behavior_planning_deprecated.launch.xml
-
- input_route_topic_name [default: /planning/mission_planning/route]
- input_traffic_light_topic_name [default: /perception/traffic_light_recognition/traffic_signals]
- input_virtual_traffic_light_topic_name [default: /awapi/tmp/virtual_traffic_light_states]
- input_vector_map_topic_name [default: /map/vector_map]
- input_pointcloud_map_topic_name [default: /map/pointcloud_map]
- input_objects_topic_name
- input_pointcloud_topic_name
- enable_all_modules_auto_mode
- is_simulation
- behavior_path_planner_type [default: behavior_path_planner]
- launch_static_obstacle_avoidance [default: true]
- launch_avoidance_by_lane_change_module [default: true]
- launch_dynamic_obstacle_avoidance [default: true]
- launch_lane_change_right_module [default: true]
- launch_lane_change_left_module [default: true]
- launch_external_request_lane_change_right_module [default: true]
- launch_external_request_lane_change_left_module [default: true]
- launch_goal_planner_module [default: true]
- launch_start_planner_module [default: true]
- launch_sampling_planner_module [default: true]
- launch_side_shift_module [default: true]
- launch_bidirectional_traffic_module [default: true]
- launch_crosswalk_module [default: true]
- launch_walkway_module [default: true]
- launch_traffic_light_module [default: true]
- launch_intersection_module [default: true]
- launch_roundabout_module [default: true]
- launch_merge_from_private_module [default: true]
- launch_blind_spot_module [default: true]
- launch_detection_area_module [default: true]
- launch_virtual_traffic_light_module [default: true]
- launch_no_stopping_area_module [default: true]
- launch_stop_line_module [default: true]
- launch_occlusion_spot_module [default: true]
- launch_speed_bump_module [default: true]
- launch_no_drivable_lane_module [default: true]
- launch_module_list_end [default: ""]]
- behavior_path_planner_launch_modules [default: []
- behavior_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
-
- input_objects_topic_name
- input_pointcloud_topic_name
- interface_input_topic [default: /planning/scenario_planning/lane_driving/behavior_planning/path]
- interface_output_topic [default: /planning/scenario_planning/lane_driving/trajectory]
- launch_obstacle_stop_module [default: true]
- launch_obstacle_slow_down_module [default: true]
- launch_obstacle_cruise_module [default: true]
- launch_dynamic_obstacle_stop_module [default: true]
- launch_out_of_lane_module [default: true]
- launch_obstacle_velocity_limiter_module [default: true]
- launch_run_out_module [default: true]
- launch_boundary_departure_prevention_module [default: true]
- launch_road_user_stop_module [default: true]
- launch_module_list_end [default: ""]]
- motion_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving.launch.xml
-
- enable_all_modules_auto_mode
- is_simulation
- input_objects_topic_name
- input_pointcloud_topic_name
- launch/scenario_planning/parking.launch.xml
-
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- launch/scenario_planning/scenario_planning.launch.xml
-
- enable_all_modules_auto_mode
- is_simulation
- input_objects_topic_name
- input_pointcloud_topic_name
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged tier4_planning_launch 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 | 0.48.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-12-05 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The tier4_planning_launch package
Additional Links
No additional links.
Maintainers
- Zulfaqar Azmi
- Kosuke Takeuchi
- Kosuke Takeuchi
- Fumiya Watanabe
- Takamasa Horibe
- Satoshi Ota
- Zulfaqar Azmi
- Satoshi Ota
- Mamoru Sobue
- Takayuki Murooka
- Mamoru Sobue
- Satoshi Ota
- Kyoichi Sugahara
- Taiki Tanaka
- Kosuke Takeuchi
- Satoshi Ota
- Mamoru Sobue
- Fumiya Watanabe
- Zhe Shen
- Kosuke Takeuchi
- Tomohito Ando
- Makoto Kurihara
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
Authors
No additional authors.
tier4_planning_launch
Structure
Package Dependencies
Please see <exec_depend> in package.xml.
Usage
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_planning_launch)/launch/planning.launch.xml">
<!-- Parameter files -->
<arg name="FOO_NODE_param_path" value="..."/>
<arg name="BAR_NODE_param_path" value="..."/>
...
</include>
CHANGELOG
Changelog for package tier4_planning_launch
0.48.0 (2025-11-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
feat(mission_planner): manual lane selection (#11169)
- manual lane change
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
-
feat(behavior_velocity_rtc_interface, behavior_velocity_*_module): replace PathWithLaneId with Trajectory<> class (#11555)
-
feat(planning_evaluator): refactor the obstacle_distance and obstacle_ttc metric (#11478)
- tmp save
- refactor and pre-commit
- tmp save
- fix start point bug and apply deceleration lower bound
- remove unused launch parm
- polish code
- fix unit tests
* update readme ---------
-
feat(launch): update input topic parameters to allow dynamic configuration (#11389)
-
feat(roundabout): add autoware_behavior_velocity_roundabout_module (#11142)
- feat(behavior_velocity_roundabout_module): add roundabout behavior velocity planner module
- feat(behavior_planning): add roundabout module to behavior planning launch and RTC interface
- Add functions for behavior velocity planner in roundabout module
- Refactor roundabout module
- feat(roundabout_module): integrate Roundabout regulatory element
- refactor(roundabout_module): remove associative_ids from attention lane
- move header files to include
- refactor(roundabout_module): remove util files and update includes for intersection module
- fix(roundabout_module): update include path for interpolated_path_info
- refactor(roundabout_module): update include paths for consistency
- fix(scene_roundabout): update include path for result.hpp
- refactor(roundabout_module): clean up unused structures and methods
- refactor(roundabout_module): clean up and optimize code structure and comments
- refactor(object_manager): remove unused stopline handling from ObjectInfo initialization
- refactor(roundabout_module): remove unused variables and comments related to second pass judge line
- refactor(roundabout_module): improve comments and remove unnecessary code in decision result and collision handling
- feat(ttc_visualizer): add TTC visualizer script for time-to-collision analysis
- refactor(roundabout_module): remove consider_wrong_direction_vehicle parameter and related code
- refactor(roundabout_module): simplify object management and improve code clarity
- style(pre-commit): autofix
- fix(manager): include <set> header for improved functionality
- fix(roundabout): update parameter name
- docs(roundabout): update README to clarify module role and functionality
- fix(readme): fix README
- fix(readme): fix README
- style(pre-commit): autofix
- refactor(roundabout): fix attention lanelet logic
- style(pre-commit): autofix
- review roundabout
- update utils
- refactor(roundabout): fix attention lanelet logic
- feat(cmake): add installation for ttc.py script
- refactor(detectOcclusion): fix cppcheck error
- style(pre-commit): autofix
- docs(README): fix unkown word ci error
- style(pre-commit): autofix
- fix: update copyright year to 2025 in multiple files
- docs(README): add flowchart for roundabout behavior velocity module logic
- style(pre-commit): autofix
- fix: correct capitalization in copyright notice
- refactor(roundabout-module): streamline roundabout module initialization and remove unused conflicting area logic
- refactor(roundabout-module): remove unnecessary comments and
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
Launch files
- launch/mission_planning/mission_planning.launch.xml
-
- mission_planner_param_path [default: $(find-pkg-share autoware_mission_planner_universe)/config/mission_planner.param.yaml]
- launch/planning.launch.xml
-
- mission_planner_param_path
- freespace_planner_param_path
- planning_validator_param_path
- planning_validator_latency_checker_param_path
- planning_validator_trajectory_checker_param_path
- planning_validator_intersection_collision_checker_param_path
- planning_validator_rear_collision_checker_param_path
- enable_all_modules_auto_mode
- is_simulation
- launch_remaining_distance_time_calculator [default: false]
- input_objects_topic_name
- input_pointcloud_topic_name
- launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
-
- input_route_topic_name [default: /planning/mission_planning/route]
- input_traffic_light_topic_name [default: /perception/traffic_light_recognition/traffic_signals]
- input_virtual_traffic_light_topic_name [default: /awapi/tmp/virtual_traffic_light_states]
- input_vector_map_topic_name [default: /map/vector_map]
- input_pointcloud_map_topic_name [default: /map/pointcloud_map]
- input_objects_topic_name
- input_pointcloud_topic_name
- enable_all_modules_auto_mode
- is_simulation
- behavior_path_planner_type [default: behavior_path_planner]
- launch_static_obstacle_avoidance [default: true]
- launch_avoidance_by_lane_change_module [default: true]
- launch_dynamic_obstacle_avoidance [default: true]
- launch_lane_change_right_module [default: true]
- launch_lane_change_left_module [default: true]
- launch_external_request_lane_change_right_module [default: true]
- launch_external_request_lane_change_left_module [default: true]
- launch_goal_planner_module [default: true]
- launch_start_planner_module [default: true]
- launch_sampling_planner_module [default: true]
- launch_side_shift_module [default: true]
- launch_bidirectional_traffic_module [default: true]
- launch_crosswalk_module [default: true]
- launch_walkway_module [default: true]
- launch_traffic_light_module [default: true]
- launch_intersection_module [default: true]
- launch_roundabout_module [default: true]
- launch_merge_from_private_module [default: true]
- launch_blind_spot_module [default: true]
- launch_detection_area_module [default: true]
- launch_virtual_traffic_light_module [default: true]
- launch_no_stopping_area_module [default: true]
- launch_stop_line_module [default: true]
- launch_occlusion_spot_module [default: true]
- launch_speed_bump_module [default: true]
- launch_no_drivable_lane_module [default: true]
- launch_module_list_end [default: ""]]
- behavior_path_planner_launch_modules [default: []
- behavior_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving/behavior_planning/behavior_planning_deprecated.launch.xml
-
- input_route_topic_name [default: /planning/mission_planning/route]
- input_traffic_light_topic_name [default: /perception/traffic_light_recognition/traffic_signals]
- input_virtual_traffic_light_topic_name [default: /awapi/tmp/virtual_traffic_light_states]
- input_vector_map_topic_name [default: /map/vector_map]
- input_pointcloud_map_topic_name [default: /map/pointcloud_map]
- input_objects_topic_name
- input_pointcloud_topic_name
- enable_all_modules_auto_mode
- is_simulation
- behavior_path_planner_type [default: behavior_path_planner]
- launch_static_obstacle_avoidance [default: true]
- launch_avoidance_by_lane_change_module [default: true]
- launch_dynamic_obstacle_avoidance [default: true]
- launch_lane_change_right_module [default: true]
- launch_lane_change_left_module [default: true]
- launch_external_request_lane_change_right_module [default: true]
- launch_external_request_lane_change_left_module [default: true]
- launch_goal_planner_module [default: true]
- launch_start_planner_module [default: true]
- launch_sampling_planner_module [default: true]
- launch_side_shift_module [default: true]
- launch_bidirectional_traffic_module [default: true]
- launch_crosswalk_module [default: true]
- launch_walkway_module [default: true]
- launch_traffic_light_module [default: true]
- launch_intersection_module [default: true]
- launch_roundabout_module [default: true]
- launch_merge_from_private_module [default: true]
- launch_blind_spot_module [default: true]
- launch_detection_area_module [default: true]
- launch_virtual_traffic_light_module [default: true]
- launch_no_stopping_area_module [default: true]
- launch_stop_line_module [default: true]
- launch_occlusion_spot_module [default: true]
- launch_speed_bump_module [default: true]
- launch_no_drivable_lane_module [default: true]
- launch_module_list_end [default: ""]]
- behavior_path_planner_launch_modules [default: []
- behavior_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
-
- input_objects_topic_name
- input_pointcloud_topic_name
- interface_input_topic [default: /planning/scenario_planning/lane_driving/behavior_planning/path]
- interface_output_topic [default: /planning/scenario_planning/lane_driving/trajectory]
- launch_obstacle_stop_module [default: true]
- launch_obstacle_slow_down_module [default: true]
- launch_obstacle_cruise_module [default: true]
- launch_dynamic_obstacle_stop_module [default: true]
- launch_out_of_lane_module [default: true]
- launch_obstacle_velocity_limiter_module [default: true]
- launch_run_out_module [default: true]
- launch_boundary_departure_prevention_module [default: true]
- launch_road_user_stop_module [default: true]
- launch_module_list_end [default: ""]]
- motion_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving.launch.xml
-
- enable_all_modules_auto_mode
- is_simulation
- input_objects_topic_name
- input_pointcloud_topic_name
- launch/scenario_planning/parking.launch.xml
-
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- launch/scenario_planning/scenario_planning.launch.xml
-
- enable_all_modules_auto_mode
- is_simulation
- input_objects_topic_name
- input_pointcloud_topic_name
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged tier4_planning_launch 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 | 0.48.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-12-05 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The tier4_planning_launch package
Additional Links
No additional links.
Maintainers
- Zulfaqar Azmi
- Kosuke Takeuchi
- Kosuke Takeuchi
- Fumiya Watanabe
- Takamasa Horibe
- Satoshi Ota
- Zulfaqar Azmi
- Satoshi Ota
- Mamoru Sobue
- Takayuki Murooka
- Mamoru Sobue
- Satoshi Ota
- Kyoichi Sugahara
- Taiki Tanaka
- Kosuke Takeuchi
- Satoshi Ota
- Mamoru Sobue
- Fumiya Watanabe
- Zhe Shen
- Kosuke Takeuchi
- Tomohito Ando
- Makoto Kurihara
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
Authors
No additional authors.
tier4_planning_launch
Structure
Package Dependencies
Please see <exec_depend> in package.xml.
Usage
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_planning_launch)/launch/planning.launch.xml">
<!-- Parameter files -->
<arg name="FOO_NODE_param_path" value="..."/>
<arg name="BAR_NODE_param_path" value="..."/>
...
</include>
CHANGELOG
Changelog for package tier4_planning_launch
0.48.0 (2025-11-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
feat(mission_planner): manual lane selection (#11169)
- manual lane change
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
-
feat(behavior_velocity_rtc_interface, behavior_velocity_*_module): replace PathWithLaneId with Trajectory<> class (#11555)
-
feat(planning_evaluator): refactor the obstacle_distance and obstacle_ttc metric (#11478)
- tmp save
- refactor and pre-commit
- tmp save
- fix start point bug and apply deceleration lower bound
- remove unused launch parm
- polish code
- fix unit tests
* update readme ---------
-
feat(launch): update input topic parameters to allow dynamic configuration (#11389)
-
feat(roundabout): add autoware_behavior_velocity_roundabout_module (#11142)
- feat(behavior_velocity_roundabout_module): add roundabout behavior velocity planner module
- feat(behavior_planning): add roundabout module to behavior planning launch and RTC interface
- Add functions for behavior velocity planner in roundabout module
- Refactor roundabout module
- feat(roundabout_module): integrate Roundabout regulatory element
- refactor(roundabout_module): remove associative_ids from attention lane
- move header files to include
- refactor(roundabout_module): remove util files and update includes for intersection module
- fix(roundabout_module): update include path for interpolated_path_info
- refactor(roundabout_module): update include paths for consistency
- fix(scene_roundabout): update include path for result.hpp
- refactor(roundabout_module): clean up unused structures and methods
- refactor(roundabout_module): clean up and optimize code structure and comments
- refactor(object_manager): remove unused stopline handling from ObjectInfo initialization
- refactor(roundabout_module): remove unused variables and comments related to second pass judge line
- refactor(roundabout_module): improve comments and remove unnecessary code in decision result and collision handling
- feat(ttc_visualizer): add TTC visualizer script for time-to-collision analysis
- refactor(roundabout_module): remove consider_wrong_direction_vehicle parameter and related code
- refactor(roundabout_module): simplify object management and improve code clarity
- style(pre-commit): autofix
- fix(manager): include <set> header for improved functionality
- fix(roundabout): update parameter name
- docs(roundabout): update README to clarify module role and functionality
- fix(readme): fix README
- fix(readme): fix README
- style(pre-commit): autofix
- refactor(roundabout): fix attention lanelet logic
- style(pre-commit): autofix
- review roundabout
- update utils
- refactor(roundabout): fix attention lanelet logic
- feat(cmake): add installation for ttc.py script
- refactor(detectOcclusion): fix cppcheck error
- style(pre-commit): autofix
- docs(README): fix unkown word ci error
- style(pre-commit): autofix
- fix: update copyright year to 2025 in multiple files
- docs(README): add flowchart for roundabout behavior velocity module logic
- style(pre-commit): autofix
- fix: correct capitalization in copyright notice
- refactor(roundabout-module): streamline roundabout module initialization and remove unused conflicting area logic
- refactor(roundabout-module): remove unnecessary comments and
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
Launch files
- launch/mission_planning/mission_planning.launch.xml
-
- mission_planner_param_path [default: $(find-pkg-share autoware_mission_planner_universe)/config/mission_planner.param.yaml]
- launch/planning.launch.xml
-
- mission_planner_param_path
- freespace_planner_param_path
- planning_validator_param_path
- planning_validator_latency_checker_param_path
- planning_validator_trajectory_checker_param_path
- planning_validator_intersection_collision_checker_param_path
- planning_validator_rear_collision_checker_param_path
- enable_all_modules_auto_mode
- is_simulation
- launch_remaining_distance_time_calculator [default: false]
- input_objects_topic_name
- input_pointcloud_topic_name
- launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
-
- input_route_topic_name [default: /planning/mission_planning/route]
- input_traffic_light_topic_name [default: /perception/traffic_light_recognition/traffic_signals]
- input_virtual_traffic_light_topic_name [default: /awapi/tmp/virtual_traffic_light_states]
- input_vector_map_topic_name [default: /map/vector_map]
- input_pointcloud_map_topic_name [default: /map/pointcloud_map]
- input_objects_topic_name
- input_pointcloud_topic_name
- enable_all_modules_auto_mode
- is_simulation
- behavior_path_planner_type [default: behavior_path_planner]
- launch_static_obstacle_avoidance [default: true]
- launch_avoidance_by_lane_change_module [default: true]
- launch_dynamic_obstacle_avoidance [default: true]
- launch_lane_change_right_module [default: true]
- launch_lane_change_left_module [default: true]
- launch_external_request_lane_change_right_module [default: true]
- launch_external_request_lane_change_left_module [default: true]
- launch_goal_planner_module [default: true]
- launch_start_planner_module [default: true]
- launch_sampling_planner_module [default: true]
- launch_side_shift_module [default: true]
- launch_bidirectional_traffic_module [default: true]
- launch_crosswalk_module [default: true]
- launch_walkway_module [default: true]
- launch_traffic_light_module [default: true]
- launch_intersection_module [default: true]
- launch_roundabout_module [default: true]
- launch_merge_from_private_module [default: true]
- launch_blind_spot_module [default: true]
- launch_detection_area_module [default: true]
- launch_virtual_traffic_light_module [default: true]
- launch_no_stopping_area_module [default: true]
- launch_stop_line_module [default: true]
- launch_occlusion_spot_module [default: true]
- launch_speed_bump_module [default: true]
- launch_no_drivable_lane_module [default: true]
- launch_module_list_end [default: ""]]
- behavior_path_planner_launch_modules [default: []
- behavior_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving/behavior_planning/behavior_planning_deprecated.launch.xml
-
- input_route_topic_name [default: /planning/mission_planning/route]
- input_traffic_light_topic_name [default: /perception/traffic_light_recognition/traffic_signals]
- input_virtual_traffic_light_topic_name [default: /awapi/tmp/virtual_traffic_light_states]
- input_vector_map_topic_name [default: /map/vector_map]
- input_pointcloud_map_topic_name [default: /map/pointcloud_map]
- input_objects_topic_name
- input_pointcloud_topic_name
- enable_all_modules_auto_mode
- is_simulation
- behavior_path_planner_type [default: behavior_path_planner]
- launch_static_obstacle_avoidance [default: true]
- launch_avoidance_by_lane_change_module [default: true]
- launch_dynamic_obstacle_avoidance [default: true]
- launch_lane_change_right_module [default: true]
- launch_lane_change_left_module [default: true]
- launch_external_request_lane_change_right_module [default: true]
- launch_external_request_lane_change_left_module [default: true]
- launch_goal_planner_module [default: true]
- launch_start_planner_module [default: true]
- launch_sampling_planner_module [default: true]
- launch_side_shift_module [default: true]
- launch_bidirectional_traffic_module [default: true]
- launch_crosswalk_module [default: true]
- launch_walkway_module [default: true]
- launch_traffic_light_module [default: true]
- launch_intersection_module [default: true]
- launch_roundabout_module [default: true]
- launch_merge_from_private_module [default: true]
- launch_blind_spot_module [default: true]
- launch_detection_area_module [default: true]
- launch_virtual_traffic_light_module [default: true]
- launch_no_stopping_area_module [default: true]
- launch_stop_line_module [default: true]
- launch_occlusion_spot_module [default: true]
- launch_speed_bump_module [default: true]
- launch_no_drivable_lane_module [default: true]
- launch_module_list_end [default: ""]]
- behavior_path_planner_launch_modules [default: []
- behavior_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
-
- input_objects_topic_name
- input_pointcloud_topic_name
- interface_input_topic [default: /planning/scenario_planning/lane_driving/behavior_planning/path]
- interface_output_topic [default: /planning/scenario_planning/lane_driving/trajectory]
- launch_obstacle_stop_module [default: true]
- launch_obstacle_slow_down_module [default: true]
- launch_obstacle_cruise_module [default: true]
- launch_dynamic_obstacle_stop_module [default: true]
- launch_out_of_lane_module [default: true]
- launch_obstacle_velocity_limiter_module [default: true]
- launch_run_out_module [default: true]
- launch_boundary_departure_prevention_module [default: true]
- launch_road_user_stop_module [default: true]
- launch_module_list_end [default: ""]]
- motion_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving.launch.xml
-
- enable_all_modules_auto_mode
- is_simulation
- input_objects_topic_name
- input_pointcloud_topic_name
- launch/scenario_planning/parking.launch.xml
-
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- launch/scenario_planning/scenario_planning.launch.xml
-
- enable_all_modules_auto_mode
- is_simulation
- input_objects_topic_name
- input_pointcloud_topic_name
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged tier4_planning_launch 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 | 0.48.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-12-05 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The tier4_planning_launch package
Additional Links
No additional links.
Maintainers
- Zulfaqar Azmi
- Kosuke Takeuchi
- Kosuke Takeuchi
- Fumiya Watanabe
- Takamasa Horibe
- Satoshi Ota
- Zulfaqar Azmi
- Satoshi Ota
- Mamoru Sobue
- Takayuki Murooka
- Mamoru Sobue
- Satoshi Ota
- Kyoichi Sugahara
- Taiki Tanaka
- Kosuke Takeuchi
- Satoshi Ota
- Mamoru Sobue
- Fumiya Watanabe
- Zhe Shen
- Kosuke Takeuchi
- Tomohito Ando
- Makoto Kurihara
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
Authors
No additional authors.
tier4_planning_launch
Structure
Package Dependencies
Please see <exec_depend> in package.xml.
Usage
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_planning_launch)/launch/planning.launch.xml">
<!-- Parameter files -->
<arg name="FOO_NODE_param_path" value="..."/>
<arg name="BAR_NODE_param_path" value="..."/>
...
</include>
CHANGELOG
Changelog for package tier4_planning_launch
0.48.0 (2025-11-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
feat(mission_planner): manual lane selection (#11169)
- manual lane change
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
-
feat(behavior_velocity_rtc_interface, behavior_velocity_*_module): replace PathWithLaneId with Trajectory<> class (#11555)
-
feat(planning_evaluator): refactor the obstacle_distance and obstacle_ttc metric (#11478)
- tmp save
- refactor and pre-commit
- tmp save
- fix start point bug and apply deceleration lower bound
- remove unused launch parm
- polish code
- fix unit tests
* update readme ---------
-
feat(launch): update input topic parameters to allow dynamic configuration (#11389)
-
feat(roundabout): add autoware_behavior_velocity_roundabout_module (#11142)
- feat(behavior_velocity_roundabout_module): add roundabout behavior velocity planner module
- feat(behavior_planning): add roundabout module to behavior planning launch and RTC interface
- Add functions for behavior velocity planner in roundabout module
- Refactor roundabout module
- feat(roundabout_module): integrate Roundabout regulatory element
- refactor(roundabout_module): remove associative_ids from attention lane
- move header files to include
- refactor(roundabout_module): remove util files and update includes for intersection module
- fix(roundabout_module): update include path for interpolated_path_info
- refactor(roundabout_module): update include paths for consistency
- fix(scene_roundabout): update include path for result.hpp
- refactor(roundabout_module): clean up unused structures and methods
- refactor(roundabout_module): clean up and optimize code structure and comments
- refactor(object_manager): remove unused stopline handling from ObjectInfo initialization
- refactor(roundabout_module): remove unused variables and comments related to second pass judge line
- refactor(roundabout_module): improve comments and remove unnecessary code in decision result and collision handling
- feat(ttc_visualizer): add TTC visualizer script for time-to-collision analysis
- refactor(roundabout_module): remove consider_wrong_direction_vehicle parameter and related code
- refactor(roundabout_module): simplify object management and improve code clarity
- style(pre-commit): autofix
- fix(manager): include <set> header for improved functionality
- fix(roundabout): update parameter name
- docs(roundabout): update README to clarify module role and functionality
- fix(readme): fix README
- fix(readme): fix README
- style(pre-commit): autofix
- refactor(roundabout): fix attention lanelet logic
- style(pre-commit): autofix
- review roundabout
- update utils
- refactor(roundabout): fix attention lanelet logic
- feat(cmake): add installation for ttc.py script
- refactor(detectOcclusion): fix cppcheck error
- style(pre-commit): autofix
- docs(README): fix unkown word ci error
- style(pre-commit): autofix
- fix: update copyright year to 2025 in multiple files
- docs(README): add flowchart for roundabout behavior velocity module logic
- style(pre-commit): autofix
- fix: correct capitalization in copyright notice
- refactor(roundabout-module): streamline roundabout module initialization and remove unused conflicting area logic
- refactor(roundabout-module): remove unnecessary comments and
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
Launch files
- launch/mission_planning/mission_planning.launch.xml
-
- mission_planner_param_path [default: $(find-pkg-share autoware_mission_planner_universe)/config/mission_planner.param.yaml]
- launch/planning.launch.xml
-
- mission_planner_param_path
- freespace_planner_param_path
- planning_validator_param_path
- planning_validator_latency_checker_param_path
- planning_validator_trajectory_checker_param_path
- planning_validator_intersection_collision_checker_param_path
- planning_validator_rear_collision_checker_param_path
- enable_all_modules_auto_mode
- is_simulation
- launch_remaining_distance_time_calculator [default: false]
- input_objects_topic_name
- input_pointcloud_topic_name
- launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
-
- input_route_topic_name [default: /planning/mission_planning/route]
- input_traffic_light_topic_name [default: /perception/traffic_light_recognition/traffic_signals]
- input_virtual_traffic_light_topic_name [default: /awapi/tmp/virtual_traffic_light_states]
- input_vector_map_topic_name [default: /map/vector_map]
- input_pointcloud_map_topic_name [default: /map/pointcloud_map]
- input_objects_topic_name
- input_pointcloud_topic_name
- enable_all_modules_auto_mode
- is_simulation
- behavior_path_planner_type [default: behavior_path_planner]
- launch_static_obstacle_avoidance [default: true]
- launch_avoidance_by_lane_change_module [default: true]
- launch_dynamic_obstacle_avoidance [default: true]
- launch_lane_change_right_module [default: true]
- launch_lane_change_left_module [default: true]
- launch_external_request_lane_change_right_module [default: true]
- launch_external_request_lane_change_left_module [default: true]
- launch_goal_planner_module [default: true]
- launch_start_planner_module [default: true]
- launch_sampling_planner_module [default: true]
- launch_side_shift_module [default: true]
- launch_bidirectional_traffic_module [default: true]
- launch_crosswalk_module [default: true]
- launch_walkway_module [default: true]
- launch_traffic_light_module [default: true]
- launch_intersection_module [default: true]
- launch_roundabout_module [default: true]
- launch_merge_from_private_module [default: true]
- launch_blind_spot_module [default: true]
- launch_detection_area_module [default: true]
- launch_virtual_traffic_light_module [default: true]
- launch_no_stopping_area_module [default: true]
- launch_stop_line_module [default: true]
- launch_occlusion_spot_module [default: true]
- launch_speed_bump_module [default: true]
- launch_no_drivable_lane_module [default: true]
- launch_module_list_end [default: ""]]
- behavior_path_planner_launch_modules [default: []
- behavior_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving/behavior_planning/behavior_planning_deprecated.launch.xml
-
- input_route_topic_name [default: /planning/mission_planning/route]
- input_traffic_light_topic_name [default: /perception/traffic_light_recognition/traffic_signals]
- input_virtual_traffic_light_topic_name [default: /awapi/tmp/virtual_traffic_light_states]
- input_vector_map_topic_name [default: /map/vector_map]
- input_pointcloud_map_topic_name [default: /map/pointcloud_map]
- input_objects_topic_name
- input_pointcloud_topic_name
- enable_all_modules_auto_mode
- is_simulation
- behavior_path_planner_type [default: behavior_path_planner]
- launch_static_obstacle_avoidance [default: true]
- launch_avoidance_by_lane_change_module [default: true]
- launch_dynamic_obstacle_avoidance [default: true]
- launch_lane_change_right_module [default: true]
- launch_lane_change_left_module [default: true]
- launch_external_request_lane_change_right_module [default: true]
- launch_external_request_lane_change_left_module [default: true]
- launch_goal_planner_module [default: true]
- launch_start_planner_module [default: true]
- launch_sampling_planner_module [default: true]
- launch_side_shift_module [default: true]
- launch_bidirectional_traffic_module [default: true]
- launch_crosswalk_module [default: true]
- launch_walkway_module [default: true]
- launch_traffic_light_module [default: true]
- launch_intersection_module [default: true]
- launch_roundabout_module [default: true]
- launch_merge_from_private_module [default: true]
- launch_blind_spot_module [default: true]
- launch_detection_area_module [default: true]
- launch_virtual_traffic_light_module [default: true]
- launch_no_stopping_area_module [default: true]
- launch_stop_line_module [default: true]
- launch_occlusion_spot_module [default: true]
- launch_speed_bump_module [default: true]
- launch_no_drivable_lane_module [default: true]
- launch_module_list_end [default: ""]]
- behavior_path_planner_launch_modules [default: []
- behavior_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
-
- input_objects_topic_name
- input_pointcloud_topic_name
- interface_input_topic [default: /planning/scenario_planning/lane_driving/behavior_planning/path]
- interface_output_topic [default: /planning/scenario_planning/lane_driving/trajectory]
- launch_obstacle_stop_module [default: true]
- launch_obstacle_slow_down_module [default: true]
- launch_obstacle_cruise_module [default: true]
- launch_dynamic_obstacle_stop_module [default: true]
- launch_out_of_lane_module [default: true]
- launch_obstacle_velocity_limiter_module [default: true]
- launch_run_out_module [default: true]
- launch_boundary_departure_prevention_module [default: true]
- launch_road_user_stop_module [default: true]
- launch_module_list_end [default: ""]]
- motion_velocity_planner_launch_modules [default: []
- launch/scenario_planning/lane_driving.launch.xml
-
- enable_all_modules_auto_mode
- is_simulation
- input_objects_topic_name
- input_pointcloud_topic_name
- launch/scenario_planning/parking.launch.xml
-
- input_objects_topic_name [default: /perception/object_recognition/objects]
- input_pointcloud_topic_name [default: /perception/obstacle_segmentation/pointcloud]
- launch/scenario_planning/scenario_planning.launch.xml
-
- enable_all_modules_auto_mode
- is_simulation
- input_objects_topic_name
- input_pointcloud_topic_name
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