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tier4_planning_launch package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Tags	No category tags.
Version	0.47.0
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	2025-08-16
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.

launch/tier4_planning_launch/README.md

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

0.47.0 (2025-08-11)

feat: change planning output topic name to /planning/trajectory (#11135)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
chore: sync files (#11091) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: M. Fatih Cırıt <<mfc@autoware.org>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
feat(road_user_stop): add road_user_stop module (#11041)
- initial commit of road_user_stop module
- add stop condition for wrong user and masked adjacent lanelet
- update detection and stop planning method
- change stop plan algorithm
- use generate_parameter_library
- chattering prevention and on/off parameterize of intersection and crosswalk
- change detection method of intersection, and tidy up
- enable gtest
- fix default parameter to match obstacle_stop
- code tidy up
- update readme
- fix based on PR review
- remove dead code
- align function name convention
- change calculation method of ego lanelets and stop distance.
- fix typo
- remove dead code
- change stop planning for opposing traffic
- fix typo
- add ScopedTimeTrack
- use obstacle_stop based logic
- performance improvement
- update README
- tidyup
- add scoped time track
- add virtual wall
- (test) empty debug marker
- minimum debug marker
- remove unnecessary maybe_unused
* rename scoped time track variables ---------
feat(launch): add flag to launch remaining distance calculator (#11052)
Contributors: Kotakku, Satoshi OTA, Yukihiro Saito, awf-autoware-bot[bot]

0.46.0 (2025-06-20)

Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
feat(motion_velocity_planner): boundary departure prevention module (#10817)
- feat(motion_velocity_planner): boundary departure prevention module
- add maintainers
- Add initial readme
- Adds abnormalities explanation
- fix infinite loop error
- fix goal getter
- add flowchart
- add initial image folder
- Add remaining abnormality footprints images
- docstring on the boundary departure checker
- Revert motion_planning.launch.xml to state before 14323161e3
- Additional docstrings and separating slow down interpolator file
- Update closest projection
- jsonschema for parameters
- fix json schema error
- fix jsonschema
- Departure type explanation
- fix cppcheck failure
- remove author tag
- Fix misleading explanation
- removed unused member variable
- move boundary departure to experimental namespace
* update maintainer's email address Co-authored-by: Maxime CLEMENT <<78338830+maxime-clem@users.noreply.github.com>>

* grammar fix Co-authored-by: Maxime CLEMENT <<78338830+maxime-clem@users.noreply.github.com>>

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	autoware_behavior_path_planner
	autoware_behavior_velocity_planner
	autoware_costmap_generator
	autoware_external_cmd_selector
	autoware_external_velocity_limit_selector
	autoware_freespace_planner
	autoware_glog_component
	autoware_hazard_lights_selector
	autoware_mission_planner_universe
	autoware_path_optimizer
	autoware_planning_evaluator
	autoware_planning_topic_converter
	autoware_planning_validator
	autoware_remaining_distance_time_calculator
	autoware_scenario_selector
	autoware_surround_obstacle_checker
	autoware_velocity_smoother
	ament_lint_auto
	autoware_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
autoware_launch
autoware_launch
autoware_launch
autoware_launch

Launch files

launch/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]
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]
  - 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_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_run_out_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
- - 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_mvp_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
launch/scenario_planning/parking.launch.xml
launch/scenario_planning/scenario_planning.launch.xml
- - enable_all_modules_auto_mode
  - is_simulation

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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