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waypoint_planner package from autoware_learn repo

amathutils_lib autoware_build_flags autoware_health_checker emergency_handler gnss lanelet2_extension libvectormap libwaypoint_follower map_file object_map op_planner op_ros_helpers op_simu op_utility ros_observer tvm_utility vector_map vector_map_server vehicle_sim_model autoware_connector ekf_localizer gnss_localizer image_processor imm_ukf_pda_track lidar_apollo_cnn_seg_detect lidar_euclidean_cluster_detect lidar_fake_perception lidar_kf_contour_track lidar_localizer lidar_naive_l_shape_detect lidar_point_pillars lidar_shape_estimation naive_motion_predict ndt_cpu ndt_gpu ndt_tku obj_db pcl_omp_registration pixel_cloud_fusion points_downsampler points_preprocessor pos_db range_vision_fusion road_occupancy_processor roi_object_filter trafficlight_recognizer twist_generator vel_pose_diff_checker vision_beyond_track vision_darknet_detect vision_lane_detect vision_segment_enet_detect vision_ssd_detect astar_search costmap_generator decision_maker dp_planner ff_waypoint_follower freespace_planner lane_planner lattice_planner ll2_global_planner mpc_follower op_global_planner op_local_planner op_simulation_package op_utilities pure_pursuit state_machine_lib twist_filter twist_gate way_planner waypoint_maker waypoint_planner autoware_quickstart_examples autoware_can_msgs autoware_config_msgs autoware_external_msgs autoware_lanelet2_msgs autoware_map_msgs autoware_msgs autoware_system_msgs tablet_socket_msgs vector_map_msgs carla_autoware_bridge gazebo_camera_description gazebo_imu_description lgsvl_simulator_bridge vehicle_gazebo_simulation_interface vehicle_gazebo_simulation_launcher wf_simulator autoware_bag_tools autoware_camera_lidar_calibrator autoware_launcher autoware_launcher_rviz calibration_publisher data_preprocessor graph_tools kitti_box_publisher kitti_launch kitti_player lanelet_aisan_converter log_tools map_tf_generator map_tools marker_downsampler mqtt_socket multi_lidar_calibrator oculus_socket pc2_downsampler rosbag_controller runtime_manager sound_player system_monitor tablet_socket twist2odom udon_socket vehicle_engage_panel vehicle_socket decision_maker_panel detected_objects_visualizer fastvirtualscan gazebo_world_description glviewer integrated_viewer points2image rosinterface autoware_rviz_plugins vehicle_description vehicle_model adi_driver as autoware_driveworks_gmsl_interface autoware_driveworks_interface vlg22c_cam custom_msgs garmin hokuyo javad_navsat_driver kvaser sick_lms5xx memsic_imu microstrain_driver nmea_navsat autoware_pointgrey_drivers sick_ldmrs_description sick_ldmrs_driver sick_ldmrs_laser sick_ldmrs_msgs sick_ldmrs_tools vectacam xsens_driver ymc ds4 ds4_driver ds4_msgs lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation mrt_cmake_modules

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.12.0
License Apache 2
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description autoware.ai perf
Checkout URI https://github.com/is-whale/autoware_learn.git
VCS Type git
VCS Version 1.14
Last Updated 2025-03-14
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The waypoint_planner package

Additional Links

No additional links.

Maintainers

  • Akihito OHSATO

Authors

  • Akihito OHSATO
  • ando
autoware/core_planning/waypoint_planner/README.md

Waypoint Planner

Waypoint planner package provides the local planner nodes that dynamically plan avoidance behavior, velocity on waypoints, and so on.

Waypoint Planner - Astar Avoid

astar_avoid node has two mode, Relay mode and Avoidance mode. You can switch these modes by enable_avoidance parameter.

  • Relay mode: Not avoid planning and just publishing waypoints from self pose.
  • Avoidance mode: Avoiding obstacles by Hybrid-A* search algorithm in astar_search package with internal state transition

NOTE : If you have wayarea in your ADAS map, it’s possible to limit search area and realize more safety planning by enabling Use Wayarea in costmap_generator node. Please see the results in below demo videos.

Please see also: mission/packages/freespace_planner/README.md

How to launch

  • From Runtime Manager:

Computing -> Motion Planning -> waypoint_planner -> astar_avoid

  • From CLI:

$ roslaunch waypoint_planner astar_avoid.launch

Parameters

Parameters can be set in both Launch file and Runtime manager:

Parameter in RM Parameter in Launch Type Description Default
Enable Avoidance enable_avoidance Bool Enable avoidance mode false
Costmap Topic costmap_topic String Costmap topic for Hybrid-A* search semantics/costmap_generator/occupancy_grid
Waypoint Velocity avoid_waypoints_velocity Double Constant velocity on planned waypoints [km/h] 10.0
Avoidance Start Velocity avoid_start_velocity Double Self velocity for staring avoidance behavior [km/h] 5.0
Replan Interval replan_interval Double Replan interval for avoidance planning [Hz] 2.0
- safety_waypoints_size Int Output waypoint size [-] 100
- update_rate Double Publishing rate [Hz] 10.0
- search_waypoints_size Int Range of waypoints for incremental search [-] 50
- search_waypoints_delta Int Skipped waypoints for incremental search [-] 2

Subscriptions/Publications

Node [/astar_avoid]
Publications:
 * /safety_waypoints [autoware_msgs/Lane]

Subscriptions:
 * /base_waypoints [autoware_msgs/Lane]
 * /closest_waypoint [std_msgs/Int32]
 * /current_pose [geometry_msgs/PoseStamped]
 * /current_velocity [geometry_msgs/TwistStamped]
 * /semantics/costmap_generator/occupancy_grid [nav_msgs/OccupancyGrid]
 * /obstacle_waypoint [std_msgs/Int32]
 * /tf [tf2_msgs/TFMessage]
 * /tf_static [tf2_msgs/TFMessage]

Demo videos

Dynamically avoiding (senario 1)

Hybrid A*, dynamically avoiding (scenario 1)

Dynamically avoiding (senario 2)

Hybrid A*, dynamically avoiding (scenario 12

Statically avoiding by big re-routing

Hybrid A*, statically avoiding by big re-routing

Waypoint Planner - Velocity Set

// TODO

CHANGELOG

Changelog for package waypoint_planner

1.11.0 (2019-03-21)

  • [Feature] Improve Hybrid A* planner (#1594)
    • Delete obstacle_sim from astar_planner package, replaced to lidar_fake_perception
    • Modify package name, astar_planner -> waypoint_planner, and create astar_planner library package
    • Delete obstacle_avoid/astar* and modify its dependency to astar_planner library
    • Fix astar_navi with astar_planner library
    • Refactor astar_navi by separating HAstar library and fixing coodinate system
    • Rename obstacle_avoid -> astar_avoid and under refactoring
    • Fix cost function and configures
    • Fix backward search and refactor configurations
    • Apply clang-format
    • Refactor include
    • Fix typo and so on
    • Improve astar_avoid by incremental goal search
    • Apply clang-format
    • Revert package names
    • Fix package/code names
    • Update runtime_manager
    • Improve astar_avoid to execute avoidance behavior by state transition (by rebuild decision maker)
    • Fix PascalCase message names by #1408
    • Remove obstacle_avoid directory
    • Fix default parameter for costmap topic
    • Fix warning and initialize condition
    • Remove use_avoidance_state mode (TODO: after merging rebuild decision maker)
    • Improve astar_avoid behavior by simple state transition and multi-threading
    • Apply clang-format
    • Fix replan_interval in astar_avoid
    • Add descriptions for paramters
    • Rename pkg name, astar_planner -> waypoint_planner
    • Fix param name
    • Fix avoid waypoints height
    • Fix parameter and formalize code
    • Add README for freespace/waypoint_planner

    * Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Fix CHANGELOG Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>>

    • Fix astar_navi/README.md
    • Add License terms
    • Fix const pointer
    • Added unit test base
    • Restructured folders
    • Fix bug by adding AstarSearch reset

    * Fix WaveFrontNode initialization Co-Authored-By: aohsato <<aohsato@gmail.com>>

    • Fix variable name
    • Refactor threading
    • Re-adding lidar_fake_perception
    • Fix the condition to judge reaching goal
    • Add 'use_decision state' mode to transit avoidance state by decision_maker
    • Fix calcDiffOfRadian (if diff > 2pi)
    • Feature/test astar planner (#1753)
    • Restructured folders
    • Added unit test base
    • Removed remaining folder
    • Test WIP
    • Added astar_util tests and base file for astar_search tests
    • Updated to ROS Cpp Style guidelines
    • Added test for SimpleNode constructor
    • Updated Copyright date
    • Added tests for astar algorithm
    • Added default constructor to WaveFront struct
    • Revert use_state_decision mode (94af7b6)
    • Fix costmap topic names by merging costmap_generator
  • Contributors: Akihito Ohsato

1.10.0 (2019-01-17)

  • Switch to Apache 2 license (develop branch) (#1741)
    • Switch to Apache 2

    * Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.

    • Update license on Python files
    • Update copyright years
    • Add #ifndef/define _POINTS_IMAGE_H_
    • Updated license comment
  • Use colcon as the build tool (#1704)

File truncated at 100 lines see the full file

Launch files

  • launch/astar_avoid.launch
      • safety_waypoints_size [default: 100]
      • update_rate [default: 10]
      • costmap_topic [default: semantics/costmap_generator/occupancy_grid]
      • enable_avoidance [default: false]
      • avoid_waypoints_velocity [default: 10.0]
      • avoid_start_velocity [default: 3.0]
      • replan_interval [default: 2.0]
      • search_waypoints_size [default: 50]
      • search_waypoints_delta [default: 2]
      • closest_search_size [default: 30]
      • use_back [default: false]
      • use_potential_heuristic [default: true]
      • use_wavefront_heuristic [default: false]
      • time_limit [default: 1000.0]
      • robot_length [default: 4.5]
      • robot_width [default: 1.75]
      • robot_base2back [default: 1.0]
      • minimum_turning_radius [default: 6.0]
      • theta_size [default: 48]
      • curve_weight [default: 1.2]
      • reverse_weight [default: 2.00]
      • lateral_goal_range [default: 0.5]
      • longitudinal_goal_range [default: 2.0]
      • angle_goal_range [default: 6.0]
      • obstacle_threshold [default: 100]
      • potential_weight [default: 10.0]
      • distance_heuristic_weight [default: 1.0]
  • launch/velocity_set.launch
      • update_rate [default: 10.0]
      • use_crosswalk_detection [default: true]
      • enable_multiple_crosswalk_detection [default: true]
      • points_topic [default: points_no_ground]
      • velocity_offset [default: 1.2]
      • decelerate_vel_min [default: 1.3]
      • remove_points_upto [default: 2.3]
      • stop_distance_obstacle [default: 10.0]
      • stop_distance_stopline [default: 5.0]
      • detection_range [default: 1.3]
      • points_threshold [default: 10]
      • detection_height_top [default: 0.2]
      • detection_height_bottom [default: -1.7]
      • deceleration_obstacle [default: 0.8]
      • deceleration_stopline [default: 0.6]
      • velocity_change_limit [default: 9.972]
      • deceleration_range [default: 0]
      • temporal_waypoints_size [default: 100]
  • launch/velocity_set_lanelet2.launch
      • use_crosswalk_detection [default: true]
      • points_topic [default: points_no_ground]
      • velocity_offset [default: 1.2]
      • decelerate_vel_min [default: 1.3]
      • remove_points_upto [default: 2.3]
      • enable_multiple_crosswalk_detection [default: true]
      • stop_distance_obstacle [default: 10.0]
      • stop_distance_stopline [default: 5.0]
      • detection_range [default: 1.3]
      • points_threshold [default: 10]
      • detection_height_top [default: 0.2]
      • detection_height_bottom [default: -1.7]
      • deceleration_obstacle [default: 0.8]
      • deceleration_stopline [default: 0.6]
      • velocity_change_limit [default: 9.972]
      • deceleration_range [default: 0]
      • temporal_waypoints_size [default: 100]
  • launch/velocity_set_option.launch
      • use_crosswalk_detection [default: true]
      • points_topic [default: points_no_ground]
      • velocity_offset [default: 1.2]
      • decelerate_vel_min [default: 1.3]
      • remove_points_upto [default: 2.3]
      • enable_multiple_crosswalk_detection [default: true]
      • stop_distance_obstacle [default: 10.0]
      • stop_distance_stopline [default: 5.0]
      • detection_range [default: 1.3]
      • points_threshold [default: 10]
      • detection_height_top [default: 0.2]
      • detection_height_bottom [default: -1.7]
      • deceleration_obstacle [default: 0.8]
      • deceleration_stopline [default: 0.6]
      • velocity_change_limit [default: 9.972]
      • deceleration_range [default: 0]
      • temporal_waypoints_size [default: 100]
      • use_ll2 [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged waypoint_planner at Robotics Stack Exchange

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.
Package symbol

waypoint_planner package from autoware_learn repo

amathutils_lib autoware_build_flags autoware_health_checker emergency_handler gnss lanelet2_extension libvectormap libwaypoint_follower map_file object_map op_planner op_ros_helpers op_simu op_utility ros_observer tvm_utility vector_map vector_map_server vehicle_sim_model autoware_connector ekf_localizer gnss_localizer image_processor imm_ukf_pda_track lidar_apollo_cnn_seg_detect lidar_euclidean_cluster_detect lidar_fake_perception lidar_kf_contour_track lidar_localizer lidar_naive_l_shape_detect lidar_point_pillars lidar_shape_estimation naive_motion_predict ndt_cpu ndt_gpu ndt_tku obj_db pcl_omp_registration pixel_cloud_fusion points_downsampler points_preprocessor pos_db range_vision_fusion road_occupancy_processor roi_object_filter trafficlight_recognizer twist_generator vel_pose_diff_checker vision_beyond_track vision_darknet_detect vision_lane_detect vision_segment_enet_detect vision_ssd_detect astar_search costmap_generator decision_maker dp_planner ff_waypoint_follower freespace_planner lane_planner lattice_planner ll2_global_planner mpc_follower op_global_planner op_local_planner op_simulation_package op_utilities pure_pursuit state_machine_lib twist_filter twist_gate way_planner waypoint_maker waypoint_planner autoware_quickstart_examples autoware_can_msgs autoware_config_msgs autoware_external_msgs autoware_lanelet2_msgs autoware_map_msgs autoware_msgs autoware_system_msgs tablet_socket_msgs vector_map_msgs carla_autoware_bridge gazebo_camera_description gazebo_imu_description lgsvl_simulator_bridge vehicle_gazebo_simulation_interface vehicle_gazebo_simulation_launcher wf_simulator autoware_bag_tools autoware_camera_lidar_calibrator autoware_launcher autoware_launcher_rviz calibration_publisher data_preprocessor graph_tools kitti_box_publisher kitti_launch kitti_player lanelet_aisan_converter log_tools map_tf_generator map_tools marker_downsampler mqtt_socket multi_lidar_calibrator oculus_socket pc2_downsampler rosbag_controller runtime_manager sound_player system_monitor tablet_socket twist2odom udon_socket vehicle_engage_panel vehicle_socket decision_maker_panel detected_objects_visualizer fastvirtualscan gazebo_world_description glviewer integrated_viewer points2image rosinterface autoware_rviz_plugins vehicle_description vehicle_model adi_driver as autoware_driveworks_gmsl_interface autoware_driveworks_interface vlg22c_cam custom_msgs garmin hokuyo javad_navsat_driver kvaser sick_lms5xx memsic_imu microstrain_driver nmea_navsat autoware_pointgrey_drivers sick_ldmrs_description sick_ldmrs_driver sick_ldmrs_laser sick_ldmrs_msgs sick_ldmrs_tools vectacam xsens_driver ymc ds4 ds4_driver ds4_msgs lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation mrt_cmake_modules

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.12.0
License Apache 2
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description autoware.ai perf
Checkout URI https://github.com/is-whale/autoware_learn.git
VCS Type git
VCS Version 1.14
Last Updated 2025-03-14
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The waypoint_planner package

Additional Links

No additional links.

Maintainers

  • Akihito OHSATO

Authors

  • Akihito OHSATO
  • ando
autoware/core_planning/waypoint_planner/README.md

Waypoint Planner

Waypoint planner package provides the local planner nodes that dynamically plan avoidance behavior, velocity on waypoints, and so on.

Waypoint Planner - Astar Avoid

astar_avoid node has two mode, Relay mode and Avoidance mode. You can switch these modes by enable_avoidance parameter.

  • Relay mode: Not avoid planning and just publishing waypoints from self pose.
  • Avoidance mode: Avoiding obstacles by Hybrid-A* search algorithm in astar_search package with internal state transition

NOTE : If you have wayarea in your ADAS map, it’s possible to limit search area and realize more safety planning by enabling Use Wayarea in costmap_generator node. Please see the results in below demo videos.

Please see also: mission/packages/freespace_planner/README.md

How to launch

  • From Runtime Manager:

Computing -> Motion Planning -> waypoint_planner -> astar_avoid

  • From CLI:

$ roslaunch waypoint_planner astar_avoid.launch

Parameters

Parameters can be set in both Launch file and Runtime manager:

Parameter in RM Parameter in Launch Type Description Default
Enable Avoidance enable_avoidance Bool Enable avoidance mode false
Costmap Topic costmap_topic String Costmap topic for Hybrid-A* search semantics/costmap_generator/occupancy_grid
Waypoint Velocity avoid_waypoints_velocity Double Constant velocity on planned waypoints [km/h] 10.0
Avoidance Start Velocity avoid_start_velocity Double Self velocity for staring avoidance behavior [km/h] 5.0
Replan Interval replan_interval Double Replan interval for avoidance planning [Hz] 2.0
- safety_waypoints_size Int Output waypoint size [-] 100
- update_rate Double Publishing rate [Hz] 10.0
- search_waypoints_size Int Range of waypoints for incremental search [-] 50
- search_waypoints_delta Int Skipped waypoints for incremental search [-] 2

Subscriptions/Publications

Node [/astar_avoid]
Publications:
 * /safety_waypoints [autoware_msgs/Lane]

Subscriptions:
 * /base_waypoints [autoware_msgs/Lane]
 * /closest_waypoint [std_msgs/Int32]
 * /current_pose [geometry_msgs/PoseStamped]
 * /current_velocity [geometry_msgs/TwistStamped]
 * /semantics/costmap_generator/occupancy_grid [nav_msgs/OccupancyGrid]
 * /obstacle_waypoint [std_msgs/Int32]
 * /tf [tf2_msgs/TFMessage]
 * /tf_static [tf2_msgs/TFMessage]

Demo videos

Dynamically avoiding (senario 1)

Hybrid A*, dynamically avoiding (scenario 1)

Dynamically avoiding (senario 2)

Hybrid A*, dynamically avoiding (scenario 12

Statically avoiding by big re-routing

Hybrid A*, statically avoiding by big re-routing

Waypoint Planner - Velocity Set

// TODO

CHANGELOG

Changelog for package waypoint_planner

1.11.0 (2019-03-21)

  • [Feature] Improve Hybrid A* planner (#1594)
    • Delete obstacle_sim from astar_planner package, replaced to lidar_fake_perception
    • Modify package name, astar_planner -> waypoint_planner, and create astar_planner library package
    • Delete obstacle_avoid/astar* and modify its dependency to astar_planner library
    • Fix astar_navi with astar_planner library
    • Refactor astar_navi by separating HAstar library and fixing coodinate system
    • Rename obstacle_avoid -> astar_avoid and under refactoring
    • Fix cost function and configures
    • Fix backward search and refactor configurations
    • Apply clang-format
    • Refactor include
    • Fix typo and so on
    • Improve astar_avoid by incremental goal search
    • Apply clang-format
    • Revert package names
    • Fix package/code names
    • Update runtime_manager
    • Improve astar_avoid to execute avoidance behavior by state transition (by rebuild decision maker)
    • Fix PascalCase message names by #1408
    • Remove obstacle_avoid directory
    • Fix default parameter for costmap topic
    • Fix warning and initialize condition
    • Remove use_avoidance_state mode (TODO: after merging rebuild decision maker)
    • Improve astar_avoid behavior by simple state transition and multi-threading
    • Apply clang-format
    • Fix replan_interval in astar_avoid
    • Add descriptions for paramters
    • Rename pkg name, astar_planner -> waypoint_planner
    • Fix param name
    • Fix avoid waypoints height
    • Fix parameter and formalize code
    • Add README for freespace/waypoint_planner

    * Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Fix CHANGELOG Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>>

    • Fix astar_navi/README.md
    • Add License terms
    • Fix const pointer
    • Added unit test base
    • Restructured folders
    • Fix bug by adding AstarSearch reset

    * Fix WaveFrontNode initialization Co-Authored-By: aohsato <<aohsato@gmail.com>>

    • Fix variable name
    • Refactor threading
    • Re-adding lidar_fake_perception
    • Fix the condition to judge reaching goal
    • Add 'use_decision state' mode to transit avoidance state by decision_maker
    • Fix calcDiffOfRadian (if diff > 2pi)
    • Feature/test astar planner (#1753)
    • Restructured folders
    • Added unit test base
    • Removed remaining folder
    • Test WIP
    • Added astar_util tests and base file for astar_search tests
    • Updated to ROS Cpp Style guidelines
    • Added test for SimpleNode constructor
    • Updated Copyright date
    • Added tests for astar algorithm
    • Added default constructor to WaveFront struct
    • Revert use_state_decision mode (94af7b6)
    • Fix costmap topic names by merging costmap_generator
  • Contributors: Akihito Ohsato

1.10.0 (2019-01-17)

  • Switch to Apache 2 license (develop branch) (#1741)
    • Switch to Apache 2

    * Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.

    • Update license on Python files
    • Update copyright years
    • Add #ifndef/define _POINTS_IMAGE_H_
    • Updated license comment
  • Use colcon as the build tool (#1704)

File truncated at 100 lines see the full file

Launch files

  • launch/astar_avoid.launch
      • safety_waypoints_size [default: 100]
      • update_rate [default: 10]
      • costmap_topic [default: semantics/costmap_generator/occupancy_grid]
      • enable_avoidance [default: false]
      • avoid_waypoints_velocity [default: 10.0]
      • avoid_start_velocity [default: 3.0]
      • replan_interval [default: 2.0]
      • search_waypoints_size [default: 50]
      • search_waypoints_delta [default: 2]
      • closest_search_size [default: 30]
      • use_back [default: false]
      • use_potential_heuristic [default: true]
      • use_wavefront_heuristic [default: false]
      • time_limit [default: 1000.0]
      • robot_length [default: 4.5]
      • robot_width [default: 1.75]
      • robot_base2back [default: 1.0]
      • minimum_turning_radius [default: 6.0]
      • theta_size [default: 48]
      • curve_weight [default: 1.2]
      • reverse_weight [default: 2.00]
      • lateral_goal_range [default: 0.5]
      • longitudinal_goal_range [default: 2.0]
      • angle_goal_range [default: 6.0]
      • obstacle_threshold [default: 100]
      • potential_weight [default: 10.0]
      • distance_heuristic_weight [default: 1.0]
  • launch/velocity_set.launch
      • update_rate [default: 10.0]
      • use_crosswalk_detection [default: true]
      • enable_multiple_crosswalk_detection [default: true]
      • points_topic [default: points_no_ground]
      • velocity_offset [default: 1.2]
      • decelerate_vel_min [default: 1.3]
      • remove_points_upto [default: 2.3]
      • stop_distance_obstacle [default: 10.0]
      • stop_distance_stopline [default: 5.0]
      • detection_range [default: 1.3]
      • points_threshold [default: 10]
      • detection_height_top [default: 0.2]
      • detection_height_bottom [default: -1.7]
      • deceleration_obstacle [default: 0.8]
      • deceleration_stopline [default: 0.6]
      • velocity_change_limit [default: 9.972]
      • deceleration_range [default: 0]
      • temporal_waypoints_size [default: 100]
  • launch/velocity_set_lanelet2.launch
      • use_crosswalk_detection [default: true]
      • points_topic [default: points_no_ground]
      • velocity_offset [default: 1.2]
      • decelerate_vel_min [default: 1.3]
      • remove_points_upto [default: 2.3]
      • enable_multiple_crosswalk_detection [default: true]
      • stop_distance_obstacle [default: 10.0]
      • stop_distance_stopline [default: 5.0]
      • detection_range [default: 1.3]
      • points_threshold [default: 10]
      • detection_height_top [default: 0.2]
      • detection_height_bottom [default: -1.7]
      • deceleration_obstacle [default: 0.8]
      • deceleration_stopline [default: 0.6]
      • velocity_change_limit [default: 9.972]
      • deceleration_range [default: 0]
      • temporal_waypoints_size [default: 100]
  • launch/velocity_set_option.launch
      • use_crosswalk_detection [default: true]
      • points_topic [default: points_no_ground]
      • velocity_offset [default: 1.2]
      • decelerate_vel_min [default: 1.3]
      • remove_points_upto [default: 2.3]
      • enable_multiple_crosswalk_detection [default: true]
      • stop_distance_obstacle [default: 10.0]
      • stop_distance_stopline [default: 5.0]
      • detection_range [default: 1.3]
      • points_threshold [default: 10]
      • detection_height_top [default: 0.2]
      • detection_height_bottom [default: -1.7]
      • deceleration_obstacle [default: 0.8]
      • deceleration_stopline [default: 0.6]
      • velocity_change_limit [default: 9.972]
      • deceleration_range [default: 0]
      • temporal_waypoints_size [default: 100]
      • use_ll2 [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged waypoint_planner at Robotics Stack Exchange

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.
Package symbol

waypoint_planner package from autoware_learn repo

amathutils_lib autoware_build_flags autoware_health_checker emergency_handler gnss lanelet2_extension libvectormap libwaypoint_follower map_file object_map op_planner op_ros_helpers op_simu op_utility ros_observer tvm_utility vector_map vector_map_server vehicle_sim_model autoware_connector ekf_localizer gnss_localizer image_processor imm_ukf_pda_track lidar_apollo_cnn_seg_detect lidar_euclidean_cluster_detect lidar_fake_perception lidar_kf_contour_track lidar_localizer lidar_naive_l_shape_detect lidar_point_pillars lidar_shape_estimation naive_motion_predict ndt_cpu ndt_gpu ndt_tku obj_db pcl_omp_registration pixel_cloud_fusion points_downsampler points_preprocessor pos_db range_vision_fusion road_occupancy_processor roi_object_filter trafficlight_recognizer twist_generator vel_pose_diff_checker vision_beyond_track vision_darknet_detect vision_lane_detect vision_segment_enet_detect vision_ssd_detect astar_search costmap_generator decision_maker dp_planner ff_waypoint_follower freespace_planner lane_planner lattice_planner ll2_global_planner mpc_follower op_global_planner op_local_planner op_simulation_package op_utilities pure_pursuit state_machine_lib twist_filter twist_gate way_planner waypoint_maker waypoint_planner autoware_quickstart_examples autoware_can_msgs autoware_config_msgs autoware_external_msgs autoware_lanelet2_msgs autoware_map_msgs autoware_msgs autoware_system_msgs tablet_socket_msgs vector_map_msgs carla_autoware_bridge gazebo_camera_description gazebo_imu_description lgsvl_simulator_bridge vehicle_gazebo_simulation_interface vehicle_gazebo_simulation_launcher wf_simulator autoware_bag_tools autoware_camera_lidar_calibrator autoware_launcher autoware_launcher_rviz calibration_publisher data_preprocessor graph_tools kitti_box_publisher kitti_launch kitti_player lanelet_aisan_converter log_tools map_tf_generator map_tools marker_downsampler mqtt_socket multi_lidar_calibrator oculus_socket pc2_downsampler rosbag_controller runtime_manager sound_player system_monitor tablet_socket twist2odom udon_socket vehicle_engage_panel vehicle_socket decision_maker_panel detected_objects_visualizer fastvirtualscan gazebo_world_description glviewer integrated_viewer points2image rosinterface autoware_rviz_plugins vehicle_description vehicle_model adi_driver as autoware_driveworks_gmsl_interface autoware_driveworks_interface vlg22c_cam custom_msgs garmin hokuyo javad_navsat_driver kvaser sick_lms5xx memsic_imu microstrain_driver nmea_navsat autoware_pointgrey_drivers sick_ldmrs_description sick_ldmrs_driver sick_ldmrs_laser sick_ldmrs_msgs sick_ldmrs_tools vectacam xsens_driver ymc ds4 ds4_driver ds4_msgs lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation mrt_cmake_modules

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.12.0
License Apache 2
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description autoware.ai perf
Checkout URI https://github.com/is-whale/autoware_learn.git
VCS Type git
VCS Version 1.14
Last Updated 2025-03-14
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The waypoint_planner package

Additional Links

No additional links.

Maintainers

  • Akihito OHSATO

Authors

  • Akihito OHSATO
  • ando
autoware/core_planning/waypoint_planner/README.md

Waypoint Planner

Waypoint planner package provides the local planner nodes that dynamically plan avoidance behavior, velocity on waypoints, and so on.

Waypoint Planner - Astar Avoid

astar_avoid node has two mode, Relay mode and Avoidance mode. You can switch these modes by enable_avoidance parameter.

  • Relay mode: Not avoid planning and just publishing waypoints from self pose.
  • Avoidance mode: Avoiding obstacles by Hybrid-A* search algorithm in astar_search package with internal state transition

NOTE : If you have wayarea in your ADAS map, it’s possible to limit search area and realize more safety planning by enabling Use Wayarea in costmap_generator node. Please see the results in below demo videos.

Please see also: mission/packages/freespace_planner/README.md

How to launch

  • From Runtime Manager:

Computing -> Motion Planning -> waypoint_planner -> astar_avoid

  • From CLI:

$ roslaunch waypoint_planner astar_avoid.launch

Parameters

Parameters can be set in both Launch file and Runtime manager:

Parameter in RM Parameter in Launch Type Description Default
Enable Avoidance enable_avoidance Bool Enable avoidance mode false
Costmap Topic costmap_topic String Costmap topic for Hybrid-A* search semantics/costmap_generator/occupancy_grid
Waypoint Velocity avoid_waypoints_velocity Double Constant velocity on planned waypoints [km/h] 10.0
Avoidance Start Velocity avoid_start_velocity Double Self velocity for staring avoidance behavior [km/h] 5.0
Replan Interval replan_interval Double Replan interval for avoidance planning [Hz] 2.0
- safety_waypoints_size Int Output waypoint size [-] 100
- update_rate Double Publishing rate [Hz] 10.0
- search_waypoints_size Int Range of waypoints for incremental search [-] 50
- search_waypoints_delta Int Skipped waypoints for incremental search [-] 2

Subscriptions/Publications

Node [/astar_avoid]
Publications:
 * /safety_waypoints [autoware_msgs/Lane]

Subscriptions:
 * /base_waypoints [autoware_msgs/Lane]
 * /closest_waypoint [std_msgs/Int32]
 * /current_pose [geometry_msgs/PoseStamped]
 * /current_velocity [geometry_msgs/TwistStamped]
 * /semantics/costmap_generator/occupancy_grid [nav_msgs/OccupancyGrid]
 * /obstacle_waypoint [std_msgs/Int32]
 * /tf [tf2_msgs/TFMessage]
 * /tf_static [tf2_msgs/TFMessage]

Demo videos

Dynamically avoiding (senario 1)

Hybrid A*, dynamically avoiding (scenario 1)

Dynamically avoiding (senario 2)

Hybrid A*, dynamically avoiding (scenario 12

Statically avoiding by big re-routing

Hybrid A*, statically avoiding by big re-routing

Waypoint Planner - Velocity Set

// TODO

CHANGELOG

Changelog for package waypoint_planner

1.11.0 (2019-03-21)

  • [Feature] Improve Hybrid A* planner (#1594)
    • Delete obstacle_sim from astar_planner package, replaced to lidar_fake_perception
    • Modify package name, astar_planner -> waypoint_planner, and create astar_planner library package
    • Delete obstacle_avoid/astar* and modify its dependency to astar_planner library
    • Fix astar_navi with astar_planner library
    • Refactor astar_navi by separating HAstar library and fixing coodinate system
    • Rename obstacle_avoid -> astar_avoid and under refactoring
    • Fix cost function and configures
    • Fix backward search and refactor configurations
    • Apply clang-format
    • Refactor include
    • Fix typo and so on
    • Improve astar_avoid by incremental goal search
    • Apply clang-format
    • Revert package names
    • Fix package/code names
    • Update runtime_manager
    • Improve astar_avoid to execute avoidance behavior by state transition (by rebuild decision maker)
    • Fix PascalCase message names by #1408
    • Remove obstacle_avoid directory
    • Fix default parameter for costmap topic
    • Fix warning and initialize condition
    • Remove use_avoidance_state mode (TODO: after merging rebuild decision maker)
    • Improve astar_avoid behavior by simple state transition and multi-threading
    • Apply clang-format
    • Fix replan_interval in astar_avoid
    • Add descriptions for paramters
    • Rename pkg name, astar_planner -> waypoint_planner
    • Fix param name
    • Fix avoid waypoints height
    • Fix parameter and formalize code
    • Add README for freespace/waypoint_planner

    * Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Fix CHANGELOG Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>>

    • Fix astar_navi/README.md
    • Add License terms
    • Fix const pointer
    • Added unit test base
    • Restructured folders
    • Fix bug by adding AstarSearch reset

    * Fix WaveFrontNode initialization Co-Authored-By: aohsato <<aohsato@gmail.com>>

    • Fix variable name
    • Refactor threading
    • Re-adding lidar_fake_perception
    • Fix the condition to judge reaching goal
    • Add 'use_decision state' mode to transit avoidance state by decision_maker
    • Fix calcDiffOfRadian (if diff > 2pi)
    • Feature/test astar planner (#1753)
    • Restructured folders
    • Added unit test base
    • Removed remaining folder
    • Test WIP
    • Added astar_util tests and base file for astar_search tests
    • Updated to ROS Cpp Style guidelines
    • Added test for SimpleNode constructor
    • Updated Copyright date
    • Added tests for astar algorithm
    • Added default constructor to WaveFront struct
    • Revert use_state_decision mode (94af7b6)
    • Fix costmap topic names by merging costmap_generator
  • Contributors: Akihito Ohsato

1.10.0 (2019-01-17)

  • Switch to Apache 2 license (develop branch) (#1741)
    • Switch to Apache 2

    * Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.

    • Update license on Python files
    • Update copyright years
    • Add #ifndef/define _POINTS_IMAGE_H_
    • Updated license comment
  • Use colcon as the build tool (#1704)

File truncated at 100 lines see the full file

Launch files

  • launch/astar_avoid.launch
      • safety_waypoints_size [default: 100]
      • update_rate [default: 10]
      • costmap_topic [default: semantics/costmap_generator/occupancy_grid]
      • enable_avoidance [default: false]
      • avoid_waypoints_velocity [default: 10.0]
      • avoid_start_velocity [default: 3.0]
      • replan_interval [default: 2.0]
      • search_waypoints_size [default: 50]
      • search_waypoints_delta [default: 2]
      • closest_search_size [default: 30]
      • use_back [default: false]
      • use_potential_heuristic [default: true]
      • use_wavefront_heuristic [default: false]
      • time_limit [default: 1000.0]
      • robot_length [default: 4.5]
      • robot_width [default: 1.75]
      • robot_base2back [default: 1.0]
      • minimum_turning_radius [default: 6.0]
      • theta_size [default: 48]
      • curve_weight [default: 1.2]
      • reverse_weight [default: 2.00]
      • lateral_goal_range [default: 0.5]
      • longitudinal_goal_range [default: 2.0]
      • angle_goal_range [default: 6.0]
      • obstacle_threshold [default: 100]
      • potential_weight [default: 10.0]
      • distance_heuristic_weight [default: 1.0]
  • launch/velocity_set.launch
      • update_rate [default: 10.0]
      • use_crosswalk_detection [default: true]
      • enable_multiple_crosswalk_detection [default: true]
      • points_topic [default: points_no_ground]
      • velocity_offset [default: 1.2]
      • decelerate_vel_min [default: 1.3]
      • remove_points_upto [default: 2.3]
      • stop_distance_obstacle [default: 10.0]
      • stop_distance_stopline [default: 5.0]
      • detection_range [default: 1.3]
      • points_threshold [default: 10]
      • detection_height_top [default: 0.2]
      • detection_height_bottom [default: -1.7]
      • deceleration_obstacle [default: 0.8]
      • deceleration_stopline [default: 0.6]
      • velocity_change_limit [default: 9.972]
      • deceleration_range [default: 0]
      • temporal_waypoints_size [default: 100]
  • launch/velocity_set_lanelet2.launch
      • use_crosswalk_detection [default: true]
      • points_topic [default: points_no_ground]
      • velocity_offset [default: 1.2]
      • decelerate_vel_min [default: 1.3]
      • remove_points_upto [default: 2.3]
      • enable_multiple_crosswalk_detection [default: true]
      • stop_distance_obstacle [default: 10.0]
      • stop_distance_stopline [default: 5.0]
      • detection_range [default: 1.3]
      • points_threshold [default: 10]
      • detection_height_top [default: 0.2]
      • detection_height_bottom [default: -1.7]
      • deceleration_obstacle [default: 0.8]
      • deceleration_stopline [default: 0.6]
      • velocity_change_limit [default: 9.972]
      • deceleration_range [default: 0]
      • temporal_waypoints_size [default: 100]
  • launch/velocity_set_option.launch
      • use_crosswalk_detection [default: true]
      • points_topic [default: points_no_ground]
      • velocity_offset [default: 1.2]
      • decelerate_vel_min [default: 1.3]
      • remove_points_upto [default: 2.3]
      • enable_multiple_crosswalk_detection [default: true]
      • stop_distance_obstacle [default: 10.0]
      • stop_distance_stopline [default: 5.0]
      • detection_range [default: 1.3]
      • points_threshold [default: 10]
      • detection_height_top [default: 0.2]
      • detection_height_bottom [default: -1.7]
      • deceleration_obstacle [default: 0.8]
      • deceleration_stopline [default: 0.6]
      • velocity_change_limit [default: 9.972]
      • deceleration_range [default: 0]
      • temporal_waypoints_size [default: 100]
      • use_ll2 [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged waypoint_planner at Robotics Stack Exchange

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.
Package symbol

waypoint_planner package from autoware_learn repo

amathutils_lib autoware_build_flags autoware_health_checker emergency_handler gnss lanelet2_extension libvectormap libwaypoint_follower map_file object_map op_planner op_ros_helpers op_simu op_utility ros_observer tvm_utility vector_map vector_map_server vehicle_sim_model autoware_connector ekf_localizer gnss_localizer image_processor imm_ukf_pda_track lidar_apollo_cnn_seg_detect lidar_euclidean_cluster_detect lidar_fake_perception lidar_kf_contour_track lidar_localizer lidar_naive_l_shape_detect lidar_point_pillars lidar_shape_estimation naive_motion_predict ndt_cpu ndt_gpu ndt_tku obj_db pcl_omp_registration pixel_cloud_fusion points_downsampler points_preprocessor pos_db range_vision_fusion road_occupancy_processor roi_object_filter trafficlight_recognizer twist_generator vel_pose_diff_checker vision_beyond_track vision_darknet_detect vision_lane_detect vision_segment_enet_detect vision_ssd_detect astar_search costmap_generator decision_maker dp_planner ff_waypoint_follower freespace_planner lane_planner lattice_planner ll2_global_planner mpc_follower op_global_planner op_local_planner op_simulation_package op_utilities pure_pursuit state_machine_lib twist_filter twist_gate way_planner waypoint_maker waypoint_planner autoware_quickstart_examples autoware_can_msgs autoware_config_msgs autoware_external_msgs autoware_lanelet2_msgs autoware_map_msgs autoware_msgs autoware_system_msgs tablet_socket_msgs vector_map_msgs carla_autoware_bridge gazebo_camera_description gazebo_imu_description lgsvl_simulator_bridge vehicle_gazebo_simulation_interface vehicle_gazebo_simulation_launcher wf_simulator autoware_bag_tools autoware_camera_lidar_calibrator autoware_launcher autoware_launcher_rviz calibration_publisher data_preprocessor graph_tools kitti_box_publisher kitti_launch kitti_player lanelet_aisan_converter log_tools map_tf_generator map_tools marker_downsampler mqtt_socket multi_lidar_calibrator oculus_socket pc2_downsampler rosbag_controller runtime_manager sound_player system_monitor tablet_socket twist2odom udon_socket vehicle_engage_panel vehicle_socket decision_maker_panel detected_objects_visualizer fastvirtualscan gazebo_world_description glviewer integrated_viewer points2image rosinterface autoware_rviz_plugins vehicle_description vehicle_model adi_driver as autoware_driveworks_gmsl_interface autoware_driveworks_interface vlg22c_cam custom_msgs garmin hokuyo javad_navsat_driver kvaser sick_lms5xx memsic_imu microstrain_driver nmea_navsat autoware_pointgrey_drivers sick_ldmrs_description sick_ldmrs_driver sick_ldmrs_laser sick_ldmrs_msgs sick_ldmrs_tools vectacam xsens_driver ymc ds4 ds4_driver ds4_msgs lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation mrt_cmake_modules

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.12.0
License Apache 2
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description autoware.ai perf
Checkout URI https://github.com/is-whale/autoware_learn.git
VCS Type git
VCS Version 1.14
Last Updated 2025-03-14
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The waypoint_planner package

Additional Links

No additional links.

Maintainers

  • Akihito OHSATO

Authors

  • Akihito OHSATO
  • ando
autoware/core_planning/waypoint_planner/README.md

Waypoint Planner

Waypoint planner package provides the local planner nodes that dynamically plan avoidance behavior, velocity on waypoints, and so on.

Waypoint Planner - Astar Avoid

astar_avoid node has two mode, Relay mode and Avoidance mode. You can switch these modes by enable_avoidance parameter.

  • Relay mode: Not avoid planning and just publishing waypoints from self pose.
  • Avoidance mode: Avoiding obstacles by Hybrid-A* search algorithm in astar_search package with internal state transition

NOTE : If you have wayarea in your ADAS map, it’s possible to limit search area and realize more safety planning by enabling Use Wayarea in costmap_generator node. Please see the results in below demo videos.

Please see also: mission/packages/freespace_planner/README.md

How to launch

  • From Runtime Manager:

Computing -> Motion Planning -> waypoint_planner -> astar_avoid

  • From CLI:

$ roslaunch waypoint_planner astar_avoid.launch

Parameters

Parameters can be set in both Launch file and Runtime manager:

Parameter in RM Parameter in Launch Type Description Default
Enable Avoidance enable_avoidance Bool Enable avoidance mode false
Costmap Topic costmap_topic String Costmap topic for Hybrid-A* search semantics/costmap_generator/occupancy_grid
Waypoint Velocity avoid_waypoints_velocity Double Constant velocity on planned waypoints [km/h] 10.0
Avoidance Start Velocity avoid_start_velocity Double Self velocity for staring avoidance behavior [km/h] 5.0
Replan Interval replan_interval Double Replan interval for avoidance planning [Hz] 2.0
- safety_waypoints_size Int Output waypoint size [-] 100
- update_rate Double Publishing rate [Hz] 10.0
- search_waypoints_size Int Range of waypoints for incremental search [-] 50
- search_waypoints_delta Int Skipped waypoints for incremental search [-] 2

Subscriptions/Publications

Node [/astar_avoid]
Publications:
 * /safety_waypoints [autoware_msgs/Lane]

Subscriptions:
 * /base_waypoints [autoware_msgs/Lane]
 * /closest_waypoint [std_msgs/Int32]
 * /current_pose [geometry_msgs/PoseStamped]
 * /current_velocity [geometry_msgs/TwistStamped]
 * /semantics/costmap_generator/occupancy_grid [nav_msgs/OccupancyGrid]
 * /obstacle_waypoint [std_msgs/Int32]
 * /tf [tf2_msgs/TFMessage]
 * /tf_static [tf2_msgs/TFMessage]

Demo videos

Dynamically avoiding (senario 1)

Hybrid A*, dynamically avoiding (scenario 1)

Dynamically avoiding (senario 2)

Hybrid A*, dynamically avoiding (scenario 12

Statically avoiding by big re-routing

Hybrid A*, statically avoiding by big re-routing

Waypoint Planner - Velocity Set

// TODO

CHANGELOG

Changelog for package waypoint_planner

1.11.0 (2019-03-21)

  • [Feature] Improve Hybrid A* planner (#1594)
    • Delete obstacle_sim from astar_planner package, replaced to lidar_fake_perception
    • Modify package name, astar_planner -> waypoint_planner, and create astar_planner library package
    • Delete obstacle_avoid/astar* and modify its dependency to astar_planner library
    • Fix astar_navi with astar_planner library
    • Refactor astar_navi by separating HAstar library and fixing coodinate system
    • Rename obstacle_avoid -> astar_avoid and under refactoring
    • Fix cost function and configures
    • Fix backward search and refactor configurations
    • Apply clang-format
    • Refactor include
    • Fix typo and so on
    • Improve astar_avoid by incremental goal search
    • Apply clang-format
    • Revert package names
    • Fix package/code names
    • Update runtime_manager
    • Improve astar_avoid to execute avoidance behavior by state transition (by rebuild decision maker)
    • Fix PascalCase message names by #1408
    • Remove obstacle_avoid directory
    • Fix default parameter for costmap topic
    • Fix warning and initialize condition
    • Remove use_avoidance_state mode (TODO: after merging rebuild decision maker)
    • Improve astar_avoid behavior by simple state transition and multi-threading
    • Apply clang-format
    • Fix replan_interval in astar_avoid
    • Add descriptions for paramters
    • Rename pkg name, astar_planner -> waypoint_planner
    • Fix param name
    • Fix avoid waypoints height
    • Fix parameter and formalize code
    • Add README for freespace/waypoint_planner

    * Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Fix CHANGELOG Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>>

    • Fix astar_navi/README.md
    • Add License terms
    • Fix const pointer
    • Added unit test base
    • Restructured folders
    • Fix bug by adding AstarSearch reset

    * Fix WaveFrontNode initialization Co-Authored-By: aohsato <<aohsato@gmail.com>>

    • Fix variable name
    • Refactor threading
    • Re-adding lidar_fake_perception
    • Fix the condition to judge reaching goal
    • Add 'use_decision state' mode to transit avoidance state by decision_maker
    • Fix calcDiffOfRadian (if diff > 2pi)
    • Feature/test astar planner (#1753)
    • Restructured folders
    • Added unit test base
    • Removed remaining folder
    • Test WIP
    • Added astar_util tests and base file for astar_search tests
    • Updated to ROS Cpp Style guidelines
    • Added test for SimpleNode constructor
    • Updated Copyright date
    • Added tests for astar algorithm
    • Added default constructor to WaveFront struct
    • Revert use_state_decision mode (94af7b6)
    • Fix costmap topic names by merging costmap_generator
  • Contributors: Akihito Ohsato

1.10.0 (2019-01-17)

  • Switch to Apache 2 license (develop branch) (#1741)
    • Switch to Apache 2

    * Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.

    • Update license on Python files
    • Update copyright years
    • Add #ifndef/define _POINTS_IMAGE_H_
    • Updated license comment
  • Use colcon as the build tool (#1704)

File truncated at 100 lines see the full file

Launch files

  • launch/astar_avoid.launch
      • safety_waypoints_size [default: 100]
      • update_rate [default: 10]
      • costmap_topic [default: semantics/costmap_generator/occupancy_grid]
      • enable_avoidance [default: false]
      • avoid_waypoints_velocity [default: 10.0]
      • avoid_start_velocity [default: 3.0]
      • replan_interval [default: 2.0]
      • search_waypoints_size [default: 50]
      • search_waypoints_delta [default: 2]
      • closest_search_size [default: 30]
      • use_back [default: false]
      • use_potential_heuristic [default: true]
      • use_wavefront_heuristic [default: false]
      • time_limit [default: 1000.0]
      • robot_length [default: 4.5]
      • robot_width [default: 1.75]
      • robot_base2back [default: 1.0]
      • minimum_turning_radius [default: 6.0]
      • theta_size [default: 48]
      • curve_weight [default: 1.2]
      • reverse_weight [default: 2.00]
      • lateral_goal_range [default: 0.5]
      • longitudinal_goal_range [default: 2.0]
      • angle_goal_range [default: 6.0]
      • obstacle_threshold [default: 100]
      • potential_weight [default: 10.0]
      • distance_heuristic_weight [default: 1.0]
  • launch/velocity_set.launch
      • update_rate [default: 10.0]
      • use_crosswalk_detection [default: true]
      • enable_multiple_crosswalk_detection [default: true]
      • points_topic [default: points_no_ground]
      • velocity_offset [default: 1.2]
      • decelerate_vel_min [default: 1.3]
      • remove_points_upto [default: 2.3]
      • stop_distance_obstacle [default: 10.0]
      • stop_distance_stopline [default: 5.0]
      • detection_range [default: 1.3]
      • points_threshold [default: 10]
      • detection_height_top [default: 0.2]
      • detection_height_bottom [default: -1.7]
      • deceleration_obstacle [default: 0.8]
      • deceleration_stopline [default: 0.6]
      • velocity_change_limit [default: 9.972]
      • deceleration_range [default: 0]
      • temporal_waypoints_size [default: 100]
  • launch/velocity_set_lanelet2.launch
      • use_crosswalk_detection [default: true]
      • points_topic [default: points_no_ground]
      • velocity_offset [default: 1.2]
      • decelerate_vel_min [default: 1.3]
      • remove_points_upto [default: 2.3]
      • enable_multiple_crosswalk_detection [default: true]
      • stop_distance_obstacle [default: 10.0]
      • stop_distance_stopline [default: 5.0]
      • detection_range [default: 1.3]
      • points_threshold [default: 10]
      • detection_height_top [default: 0.2]
      • detection_height_bottom [default: -1.7]
      • deceleration_obstacle [default: 0.8]
      • deceleration_stopline [default: 0.6]
      • velocity_change_limit [default: 9.972]
      • deceleration_range [default: 0]
      • temporal_waypoints_size [default: 100]
  • launch/velocity_set_option.launch
      • use_crosswalk_detection [default: true]
      • points_topic [default: points_no_ground]
      • velocity_offset [default: 1.2]
      • decelerate_vel_min [default: 1.3]
      • remove_points_upto [default: 2.3]
      • enable_multiple_crosswalk_detection [default: true]
      • stop_distance_obstacle [default: 10.0]
      • stop_distance_stopline [default: 5.0]
      • detection_range [default: 1.3]
      • points_threshold [default: 10]
      • detection_height_top [default: 0.2]
      • detection_height_bottom [default: -1.7]
      • deceleration_obstacle [default: 0.8]
      • deceleration_stopline [default: 0.6]
      • velocity_change_limit [default: 9.972]
      • deceleration_range [default: 0]
      • temporal_waypoints_size [default: 100]
      • use_ll2 [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged waypoint_planner at Robotics Stack Exchange

Package symbol

waypoint_planner package from autoware_learn repo

amathutils_lib autoware_build_flags autoware_health_checker emergency_handler gnss lanelet2_extension libvectormap libwaypoint_follower map_file object_map op_planner op_ros_helpers op_simu op_utility ros_observer tvm_utility vector_map vector_map_server vehicle_sim_model autoware_connector ekf_localizer gnss_localizer image_processor imm_ukf_pda_track lidar_apollo_cnn_seg_detect lidar_euclidean_cluster_detect lidar_fake_perception lidar_kf_contour_track lidar_localizer lidar_naive_l_shape_detect lidar_point_pillars lidar_shape_estimation naive_motion_predict ndt_cpu ndt_gpu ndt_tku obj_db pcl_omp_registration pixel_cloud_fusion points_downsampler points_preprocessor pos_db range_vision_fusion road_occupancy_processor roi_object_filter trafficlight_recognizer twist_generator vel_pose_diff_checker vision_beyond_track vision_darknet_detect vision_lane_detect vision_segment_enet_detect vision_ssd_detect astar_search costmap_generator decision_maker dp_planner ff_waypoint_follower freespace_planner lane_planner lattice_planner ll2_global_planner mpc_follower op_global_planner op_local_planner op_simulation_package op_utilities pure_pursuit state_machine_lib twist_filter twist_gate way_planner waypoint_maker waypoint_planner autoware_quickstart_examples autoware_can_msgs autoware_config_msgs autoware_external_msgs autoware_lanelet2_msgs autoware_map_msgs autoware_msgs autoware_system_msgs tablet_socket_msgs vector_map_msgs carla_autoware_bridge gazebo_camera_description gazebo_imu_description lgsvl_simulator_bridge vehicle_gazebo_simulation_interface vehicle_gazebo_simulation_launcher wf_simulator autoware_bag_tools autoware_camera_lidar_calibrator autoware_launcher autoware_launcher_rviz calibration_publisher data_preprocessor graph_tools kitti_box_publisher kitti_launch kitti_player lanelet_aisan_converter log_tools map_tf_generator map_tools marker_downsampler mqtt_socket multi_lidar_calibrator oculus_socket pc2_downsampler rosbag_controller runtime_manager sound_player system_monitor tablet_socket twist2odom udon_socket vehicle_engage_panel vehicle_socket decision_maker_panel detected_objects_visualizer fastvirtualscan gazebo_world_description glviewer integrated_viewer points2image rosinterface autoware_rviz_plugins vehicle_description vehicle_model adi_driver as autoware_driveworks_gmsl_interface autoware_driveworks_interface vlg22c_cam custom_msgs garmin hokuyo javad_navsat_driver kvaser sick_lms5xx memsic_imu microstrain_driver nmea_navsat autoware_pointgrey_drivers sick_ldmrs_description sick_ldmrs_driver sick_ldmrs_laser sick_ldmrs_msgs sick_ldmrs_tools vectacam xsens_driver ymc ds4 ds4_driver ds4_msgs lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation mrt_cmake_modules

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.12.0
License Apache 2
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description autoware.ai perf
Checkout URI https://github.com/is-whale/autoware_learn.git
VCS Type git
VCS Version 1.14
Last Updated 2025-03-14
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The waypoint_planner package

Additional Links

No additional links.

Maintainers

  • Akihito OHSATO

Authors

  • Akihito OHSATO
  • ando
autoware/core_planning/waypoint_planner/README.md

Waypoint Planner

Waypoint planner package provides the local planner nodes that dynamically plan avoidance behavior, velocity on waypoints, and so on.

Waypoint Planner - Astar Avoid

astar_avoid node has two mode, Relay mode and Avoidance mode. You can switch these modes by enable_avoidance parameter.

  • Relay mode: Not avoid planning and just publishing waypoints from self pose.
  • Avoidance mode: Avoiding obstacles by Hybrid-A* search algorithm in astar_search package with internal state transition

NOTE : If you have wayarea in your ADAS map, it’s possible to limit search area and realize more safety planning by enabling Use Wayarea in costmap_generator node. Please see the results in below demo videos.

Please see also: mission/packages/freespace_planner/README.md

How to launch

  • From Runtime Manager:

Computing -> Motion Planning -> waypoint_planner -> astar_avoid

  • From CLI:

$ roslaunch waypoint_planner astar_avoid.launch

Parameters

Parameters can be set in both Launch file and Runtime manager:

Parameter in RM Parameter in Launch Type Description Default
Enable Avoidance enable_avoidance Bool Enable avoidance mode false
Costmap Topic costmap_topic String Costmap topic for Hybrid-A* search semantics/costmap_generator/occupancy_grid
Waypoint Velocity avoid_waypoints_velocity Double Constant velocity on planned waypoints [km/h] 10.0
Avoidance Start Velocity avoid_start_velocity Double Self velocity for staring avoidance behavior [km/h] 5.0
Replan Interval replan_interval Double Replan interval for avoidance planning [Hz] 2.0
- safety_waypoints_size Int Output waypoint size [-] 100
- update_rate Double Publishing rate [Hz] 10.0
- search_waypoints_size Int Range of waypoints for incremental search [-] 50
- search_waypoints_delta Int Skipped waypoints for incremental search [-] 2

Subscriptions/Publications

Node [/astar_avoid]
Publications:
 * /safety_waypoints [autoware_msgs/Lane]

Subscriptions:
 * /base_waypoints [autoware_msgs/Lane]
 * /closest_waypoint [std_msgs/Int32]
 * /current_pose [geometry_msgs/PoseStamped]
 * /current_velocity [geometry_msgs/TwistStamped]
 * /semantics/costmap_generator/occupancy_grid [nav_msgs/OccupancyGrid]
 * /obstacle_waypoint [std_msgs/Int32]
 * /tf [tf2_msgs/TFMessage]
 * /tf_static [tf2_msgs/TFMessage]

Demo videos

Dynamically avoiding (senario 1)

Hybrid A*, dynamically avoiding (scenario 1)

Dynamically avoiding (senario 2)

Hybrid A*, dynamically avoiding (scenario 12

Statically avoiding by big re-routing

Hybrid A*, statically avoiding by big re-routing

Waypoint Planner - Velocity Set

// TODO

CHANGELOG

Changelog for package waypoint_planner

1.11.0 (2019-03-21)

  • [Feature] Improve Hybrid A* planner (#1594)
    • Delete obstacle_sim from astar_planner package, replaced to lidar_fake_perception
    • Modify package name, astar_planner -> waypoint_planner, and create astar_planner library package
    • Delete obstacle_avoid/astar* and modify its dependency to astar_planner library
    • Fix astar_navi with astar_planner library
    • Refactor astar_navi by separating HAstar library and fixing coodinate system
    • Rename obstacle_avoid -> astar_avoid and under refactoring
    • Fix cost function and configures
    • Fix backward search and refactor configurations
    • Apply clang-format
    • Refactor include
    • Fix typo and so on
    • Improve astar_avoid by incremental goal search
    • Apply clang-format
    • Revert package names
    • Fix package/code names
    • Update runtime_manager
    • Improve astar_avoid to execute avoidance behavior by state transition (by rebuild decision maker)
    • Fix PascalCase message names by #1408
    • Remove obstacle_avoid directory
    • Fix default parameter for costmap topic
    • Fix warning and initialize condition
    • Remove use_avoidance_state mode (TODO: after merging rebuild decision maker)
    • Improve astar_avoid behavior by simple state transition and multi-threading
    • Apply clang-format
    • Fix replan_interval in astar_avoid
    • Add descriptions for paramters
    • Rename pkg name, astar_planner -> waypoint_planner
    • Fix param name
    • Fix avoid waypoints height
    • Fix parameter and formalize code
    • Add README for freespace/waypoint_planner

    * Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Fix CHANGELOG Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>>

    • Fix astar_navi/README.md
    • Add License terms
    • Fix const pointer
    • Added unit test base
    • Restructured folders
    • Fix bug by adding AstarSearch reset

    * Fix WaveFrontNode initialization Co-Authored-By: aohsato <<aohsato@gmail.com>>

    • Fix variable name
    • Refactor threading
    • Re-adding lidar_fake_perception
    • Fix the condition to judge reaching goal
    • Add 'use_decision state' mode to transit avoidance state by decision_maker
    • Fix calcDiffOfRadian (if diff > 2pi)
    • Feature/test astar planner (#1753)
    • Restructured folders
    • Added unit test base
    • Removed remaining folder
    • Test WIP
    • Added astar_util tests and base file for astar_search tests
    • Updated to ROS Cpp Style guidelines
    • Added test for SimpleNode constructor
    • Updated Copyright date
    • Added tests for astar algorithm
    • Added default constructor to WaveFront struct
    • Revert use_state_decision mode (94af7b6)
    • Fix costmap topic names by merging costmap_generator
  • Contributors: Akihito Ohsato

1.10.0 (2019-01-17)

  • Switch to Apache 2 license (develop branch) (#1741)
    • Switch to Apache 2

    * Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.

    • Update license on Python files
    • Update copyright years
    • Add #ifndef/define _POINTS_IMAGE_H_
    • Updated license comment
  • Use colcon as the build tool (#1704)

File truncated at 100 lines see the full file

Launch files

  • launch/astar_avoid.launch
      • safety_waypoints_size [default: 100]
      • update_rate [default: 10]
      • costmap_topic [default: semantics/costmap_generator/occupancy_grid]
      • enable_avoidance [default: false]
      • avoid_waypoints_velocity [default: 10.0]
      • avoid_start_velocity [default: 3.0]
      • replan_interval [default: 2.0]
      • search_waypoints_size [default: 50]
      • search_waypoints_delta [default: 2]
      • closest_search_size [default: 30]
      • use_back [default: false]
      • use_potential_heuristic [default: true]
      • use_wavefront_heuristic [default: false]
      • time_limit [default: 1000.0]
      • robot_length [default: 4.5]
      • robot_width [default: 1.75]
      • robot_base2back [default: 1.0]
      • minimum_turning_radius [default: 6.0]
      • theta_size [default: 48]
      • curve_weight [default: 1.2]
      • reverse_weight [default: 2.00]
      • lateral_goal_range [default: 0.5]
      • longitudinal_goal_range [default: 2.0]
      • angle_goal_range [default: 6.0]
      • obstacle_threshold [default: 100]
      • potential_weight [default: 10.0]
      • distance_heuristic_weight [default: 1.0]
  • launch/velocity_set.launch
      • update_rate [default: 10.0]
      • use_crosswalk_detection [default: true]
      • enable_multiple_crosswalk_detection [default: true]
      • points_topic [default: points_no_ground]
      • velocity_offset [default: 1.2]
      • decelerate_vel_min [default: 1.3]
      • remove_points_upto [default: 2.3]
      • stop_distance_obstacle [default: 10.0]
      • stop_distance_stopline [default: 5.0]
      • detection_range [default: 1.3]
      • points_threshold [default: 10]
      • detection_height_top [default: 0.2]
      • detection_height_bottom [default: -1.7]
      • deceleration_obstacle [default: 0.8]
      • deceleration_stopline [default: 0.6]
      • velocity_change_limit [default: 9.972]
      • deceleration_range [default: 0]
      • temporal_waypoints_size [default: 100]
  • launch/velocity_set_lanelet2.launch
      • use_crosswalk_detection [default: true]
      • points_topic [default: points_no_ground]
      • velocity_offset [default: 1.2]
      • decelerate_vel_min [default: 1.3]
      • remove_points_upto [default: 2.3]
      • enable_multiple_crosswalk_detection [default: true]
      • stop_distance_obstacle [default: 10.0]
      • stop_distance_stopline [default: 5.0]
      • detection_range [default: 1.3]
      • points_threshold [default: 10]
      • detection_height_top [default: 0.2]
      • detection_height_bottom [default: -1.7]
      • deceleration_obstacle [default: 0.8]
      • deceleration_stopline [default: 0.6]
      • velocity_change_limit [default: 9.972]
      • deceleration_range [default: 0]
      • temporal_waypoints_size [default: 100]
  • launch/velocity_set_option.launch
      • use_crosswalk_detection [default: true]
      • points_topic [default: points_no_ground]
      • velocity_offset [default: 1.2]
      • decelerate_vel_min [default: 1.3]
      • remove_points_upto [default: 2.3]
      • enable_multiple_crosswalk_detection [default: true]
      • stop_distance_obstacle [default: 10.0]
      • stop_distance_stopline [default: 5.0]
      • detection_range [default: 1.3]
      • points_threshold [default: 10]
      • detection_height_top [default: 0.2]
      • detection_height_bottom [default: -1.7]
      • deceleration_obstacle [default: 0.8]
      • deceleration_stopline [default: 0.6]
      • velocity_change_limit [default: 9.972]
      • deceleration_range [default: 0]
      • temporal_waypoints_size [default: 100]
      • use_ll2 [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged waypoint_planner at Robotics Stack Exchange

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.
Package symbol

waypoint_planner package from autoware_learn repo

amathutils_lib autoware_build_flags autoware_health_checker emergency_handler gnss lanelet2_extension libvectormap libwaypoint_follower map_file object_map op_planner op_ros_helpers op_simu op_utility ros_observer tvm_utility vector_map vector_map_server vehicle_sim_model autoware_connector ekf_localizer gnss_localizer image_processor imm_ukf_pda_track lidar_apollo_cnn_seg_detect lidar_euclidean_cluster_detect lidar_fake_perception lidar_kf_contour_track lidar_localizer lidar_naive_l_shape_detect lidar_point_pillars lidar_shape_estimation naive_motion_predict ndt_cpu ndt_gpu ndt_tku obj_db pcl_omp_registration pixel_cloud_fusion points_downsampler points_preprocessor pos_db range_vision_fusion road_occupancy_processor roi_object_filter trafficlight_recognizer twist_generator vel_pose_diff_checker vision_beyond_track vision_darknet_detect vision_lane_detect vision_segment_enet_detect vision_ssd_detect astar_search costmap_generator decision_maker dp_planner ff_waypoint_follower freespace_planner lane_planner lattice_planner ll2_global_planner mpc_follower op_global_planner op_local_planner op_simulation_package op_utilities pure_pursuit state_machine_lib twist_filter twist_gate way_planner waypoint_maker waypoint_planner autoware_quickstart_examples autoware_can_msgs autoware_config_msgs autoware_external_msgs autoware_lanelet2_msgs autoware_map_msgs autoware_msgs autoware_system_msgs tablet_socket_msgs vector_map_msgs carla_autoware_bridge gazebo_camera_description gazebo_imu_description lgsvl_simulator_bridge vehicle_gazebo_simulation_interface vehicle_gazebo_simulation_launcher wf_simulator autoware_bag_tools autoware_camera_lidar_calibrator autoware_launcher autoware_launcher_rviz calibration_publisher data_preprocessor graph_tools kitti_box_publisher kitti_launch kitti_player lanelet_aisan_converter log_tools map_tf_generator map_tools marker_downsampler mqtt_socket multi_lidar_calibrator oculus_socket pc2_downsampler rosbag_controller runtime_manager sound_player system_monitor tablet_socket twist2odom udon_socket vehicle_engage_panel vehicle_socket decision_maker_panel detected_objects_visualizer fastvirtualscan gazebo_world_description glviewer integrated_viewer points2image rosinterface autoware_rviz_plugins vehicle_description vehicle_model adi_driver as autoware_driveworks_gmsl_interface autoware_driveworks_interface vlg22c_cam custom_msgs garmin hokuyo javad_navsat_driver kvaser sick_lms5xx memsic_imu microstrain_driver nmea_navsat autoware_pointgrey_drivers sick_ldmrs_description sick_ldmrs_driver sick_ldmrs_laser sick_ldmrs_msgs sick_ldmrs_tools vectacam xsens_driver ymc ds4 ds4_driver ds4_msgs lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation mrt_cmake_modules

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.12.0
License Apache 2
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description autoware.ai perf
Checkout URI https://github.com/is-whale/autoware_learn.git
VCS Type git
VCS Version 1.14
Last Updated 2025-03-14
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The waypoint_planner package

Additional Links

No additional links.

Maintainers

  • Akihito OHSATO

Authors

  • Akihito OHSATO
  • ando
autoware/core_planning/waypoint_planner/README.md

Waypoint Planner

Waypoint planner package provides the local planner nodes that dynamically plan avoidance behavior, velocity on waypoints, and so on.

Waypoint Planner - Astar Avoid

astar_avoid node has two mode, Relay mode and Avoidance mode. You can switch these modes by enable_avoidance parameter.

  • Relay mode: Not avoid planning and just publishing waypoints from self pose.
  • Avoidance mode: Avoiding obstacles by Hybrid-A* search algorithm in astar_search package with internal state transition

NOTE : If you have wayarea in your ADAS map, it’s possible to limit search area and realize more safety planning by enabling Use Wayarea in costmap_generator node. Please see the results in below demo videos.

Please see also: mission/packages/freespace_planner/README.md

How to launch

  • From Runtime Manager:

Computing -> Motion Planning -> waypoint_planner -> astar_avoid

  • From CLI:

$ roslaunch waypoint_planner astar_avoid.launch

Parameters

Parameters can be set in both Launch file and Runtime manager:

Parameter in RM Parameter in Launch Type Description Default
Enable Avoidance enable_avoidance Bool Enable avoidance mode false
Costmap Topic costmap_topic String Costmap topic for Hybrid-A* search semantics/costmap_generator/occupancy_grid
Waypoint Velocity avoid_waypoints_velocity Double Constant velocity on planned waypoints [km/h] 10.0
Avoidance Start Velocity avoid_start_velocity Double Self velocity for staring avoidance behavior [km/h] 5.0
Replan Interval replan_interval Double Replan interval for avoidance planning [Hz] 2.0
- safety_waypoints_size Int Output waypoint size [-] 100
- update_rate Double Publishing rate [Hz] 10.0
- search_waypoints_size Int Range of waypoints for incremental search [-] 50
- search_waypoints_delta Int Skipped waypoints for incremental search [-] 2

Subscriptions/Publications

Node [/astar_avoid]
Publications:
 * /safety_waypoints [autoware_msgs/Lane]

Subscriptions:
 * /base_waypoints [autoware_msgs/Lane]
 * /closest_waypoint [std_msgs/Int32]
 * /current_pose [geometry_msgs/PoseStamped]
 * /current_velocity [geometry_msgs/TwistStamped]
 * /semantics/costmap_generator/occupancy_grid [nav_msgs/OccupancyGrid]
 * /obstacle_waypoint [std_msgs/Int32]
 * /tf [tf2_msgs/TFMessage]
 * /tf_static [tf2_msgs/TFMessage]

Demo videos

Dynamically avoiding (senario 1)

Hybrid A*, dynamically avoiding (scenario 1)

Dynamically avoiding (senario 2)

Hybrid A*, dynamically avoiding (scenario 12

Statically avoiding by big re-routing

Hybrid A*, statically avoiding by big re-routing

Waypoint Planner - Velocity Set

// TODO

CHANGELOG

Changelog for package waypoint_planner

1.11.0 (2019-03-21)

  • [Feature] Improve Hybrid A* planner (#1594)
    • Delete obstacle_sim from astar_planner package, replaced to lidar_fake_perception
    • Modify package name, astar_planner -> waypoint_planner, and create astar_planner library package
    • Delete obstacle_avoid/astar* and modify its dependency to astar_planner library
    • Fix astar_navi with astar_planner library
    • Refactor astar_navi by separating HAstar library and fixing coodinate system
    • Rename obstacle_avoid -> astar_avoid and under refactoring
    • Fix cost function and configures
    • Fix backward search and refactor configurations
    • Apply clang-format
    • Refactor include
    • Fix typo and so on
    • Improve astar_avoid by incremental goal search
    • Apply clang-format
    • Revert package names
    • Fix package/code names
    • Update runtime_manager
    • Improve astar_avoid to execute avoidance behavior by state transition (by rebuild decision maker)
    • Fix PascalCase message names by #1408
    • Remove obstacle_avoid directory
    • Fix default parameter for costmap topic
    • Fix warning and initialize condition
    • Remove use_avoidance_state mode (TODO: after merging rebuild decision maker)
    • Improve astar_avoid behavior by simple state transition and multi-threading
    • Apply clang-format
    • Fix replan_interval in astar_avoid
    • Add descriptions for paramters
    • Rename pkg name, astar_planner -> waypoint_planner
    • Fix param name
    • Fix avoid waypoints height
    • Fix parameter and formalize code
    • Add README for freespace/waypoint_planner

    * Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Fix CHANGELOG Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>>

    • Fix astar_navi/README.md
    • Add License terms
    • Fix const pointer
    • Added unit test base
    • Restructured folders
    • Fix bug by adding AstarSearch reset

    * Fix WaveFrontNode initialization Co-Authored-By: aohsato <<aohsato@gmail.com>>

    • Fix variable name
    • Refactor threading
    • Re-adding lidar_fake_perception
    • Fix the condition to judge reaching goal
    • Add 'use_decision state' mode to transit avoidance state by decision_maker
    • Fix calcDiffOfRadian (if diff > 2pi)
    • Feature/test astar planner (#1753)
    • Restructured folders
    • Added unit test base
    • Removed remaining folder
    • Test WIP
    • Added astar_util tests and base file for astar_search tests
    • Updated to ROS Cpp Style guidelines
    • Added test for SimpleNode constructor
    • Updated Copyright date
    • Added tests for astar algorithm
    • Added default constructor to WaveFront struct
    • Revert use_state_decision mode (94af7b6)
    • Fix costmap topic names by merging costmap_generator
  • Contributors: Akihito Ohsato

1.10.0 (2019-01-17)

  • Switch to Apache 2 license (develop branch) (#1741)
    • Switch to Apache 2

    * Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.

    • Update license on Python files
    • Update copyright years
    • Add #ifndef/define _POINTS_IMAGE_H_
    • Updated license comment
  • Use colcon as the build tool (#1704)

File truncated at 100 lines see the full file

Launch files

  • launch/astar_avoid.launch
      • safety_waypoints_size [default: 100]
      • update_rate [default: 10]
      • costmap_topic [default: semantics/costmap_generator/occupancy_grid]
      • enable_avoidance [default: false]
      • avoid_waypoints_velocity [default: 10.0]
      • avoid_start_velocity [default: 3.0]
      • replan_interval [default: 2.0]
      • search_waypoints_size [default: 50]
      • search_waypoints_delta [default: 2]
      • closest_search_size [default: 30]
      • use_back [default: false]
      • use_potential_heuristic [default: true]
      • use_wavefront_heuristic [default: false]
      • time_limit [default: 1000.0]
      • robot_length [default: 4.5]
      • robot_width [default: 1.75]
      • robot_base2back [default: 1.0]
      • minimum_turning_radius [default: 6.0]
      • theta_size [default: 48]
      • curve_weight [default: 1.2]
      • reverse_weight [default: 2.00]
      • lateral_goal_range [default: 0.5]
      • longitudinal_goal_range [default: 2.0]
      • angle_goal_range [default: 6.0]
      • obstacle_threshold [default: 100]
      • potential_weight [default: 10.0]
      • distance_heuristic_weight [default: 1.0]
  • launch/velocity_set.launch
      • update_rate [default: 10.0]
      • use_crosswalk_detection [default: true]
      • enable_multiple_crosswalk_detection [default: true]
      • points_topic [default: points_no_ground]
      • velocity_offset [default: 1.2]
      • decelerate_vel_min [default: 1.3]
      • remove_points_upto [default: 2.3]
      • stop_distance_obstacle [default: 10.0]
      • stop_distance_stopline [default: 5.0]
      • detection_range [default: 1.3]
      • points_threshold [default: 10]
      • detection_height_top [default: 0.2]
      • detection_height_bottom [default: -1.7]
      • deceleration_obstacle [default: 0.8]
      • deceleration_stopline [default: 0.6]
      • velocity_change_limit [default: 9.972]
      • deceleration_range [default: 0]
      • temporal_waypoints_size [default: 100]
  • launch/velocity_set_lanelet2.launch
      • use_crosswalk_detection [default: true]
      • points_topic [default: points_no_ground]
      • velocity_offset [default: 1.2]
      • decelerate_vel_min [default: 1.3]
      • remove_points_upto [default: 2.3]
      • enable_multiple_crosswalk_detection [default: true]
      • stop_distance_obstacle [default: 10.0]
      • stop_distance_stopline [default: 5.0]
      • detection_range [default: 1.3]
      • points_threshold [default: 10]
      • detection_height_top [default: 0.2]
      • detection_height_bottom [default: -1.7]
      • deceleration_obstacle [default: 0.8]
      • deceleration_stopline [default: 0.6]
      • velocity_change_limit [default: 9.972]
      • deceleration_range [default: 0]
      • temporal_waypoints_size [default: 100]
  • launch/velocity_set_option.launch
      • use_crosswalk_detection [default: true]
      • points_topic [default: points_no_ground]
      • velocity_offset [default: 1.2]
      • decelerate_vel_min [default: 1.3]
      • remove_points_upto [default: 2.3]
      • enable_multiple_crosswalk_detection [default: true]
      • stop_distance_obstacle [default: 10.0]
      • stop_distance_stopline [default: 5.0]
      • detection_range [default: 1.3]
      • points_threshold [default: 10]
      • detection_height_top [default: 0.2]
      • detection_height_bottom [default: -1.7]
      • deceleration_obstacle [default: 0.8]
      • deceleration_stopline [default: 0.6]
      • velocity_change_limit [default: 9.972]
      • deceleration_range [default: 0]
      • temporal_waypoints_size [default: 100]
      • use_ll2 [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged waypoint_planner at Robotics Stack Exchange

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.
Package symbol

waypoint_planner package from autoware_learn repo

amathutils_lib autoware_build_flags autoware_health_checker emergency_handler gnss lanelet2_extension libvectormap libwaypoint_follower map_file object_map op_planner op_ros_helpers op_simu op_utility ros_observer tvm_utility vector_map vector_map_server vehicle_sim_model autoware_connector ekf_localizer gnss_localizer image_processor imm_ukf_pda_track lidar_apollo_cnn_seg_detect lidar_euclidean_cluster_detect lidar_fake_perception lidar_kf_contour_track lidar_localizer lidar_naive_l_shape_detect lidar_point_pillars lidar_shape_estimation naive_motion_predict ndt_cpu ndt_gpu ndt_tku obj_db pcl_omp_registration pixel_cloud_fusion points_downsampler points_preprocessor pos_db range_vision_fusion road_occupancy_processor roi_object_filter trafficlight_recognizer twist_generator vel_pose_diff_checker vision_beyond_track vision_darknet_detect vision_lane_detect vision_segment_enet_detect vision_ssd_detect astar_search costmap_generator decision_maker dp_planner ff_waypoint_follower freespace_planner lane_planner lattice_planner ll2_global_planner mpc_follower op_global_planner op_local_planner op_simulation_package op_utilities pure_pursuit state_machine_lib twist_filter twist_gate way_planner waypoint_maker waypoint_planner autoware_quickstart_examples autoware_can_msgs autoware_config_msgs autoware_external_msgs autoware_lanelet2_msgs autoware_map_msgs autoware_msgs autoware_system_msgs tablet_socket_msgs vector_map_msgs carla_autoware_bridge gazebo_camera_description gazebo_imu_description lgsvl_simulator_bridge vehicle_gazebo_simulation_interface vehicle_gazebo_simulation_launcher wf_simulator autoware_bag_tools autoware_camera_lidar_calibrator autoware_launcher autoware_launcher_rviz calibration_publisher data_preprocessor graph_tools kitti_box_publisher kitti_launch kitti_player lanelet_aisan_converter log_tools map_tf_generator map_tools marker_downsampler mqtt_socket multi_lidar_calibrator oculus_socket pc2_downsampler rosbag_controller runtime_manager sound_player system_monitor tablet_socket twist2odom udon_socket vehicle_engage_panel vehicle_socket decision_maker_panel detected_objects_visualizer fastvirtualscan gazebo_world_description glviewer integrated_viewer points2image rosinterface autoware_rviz_plugins vehicle_description vehicle_model adi_driver as autoware_driveworks_gmsl_interface autoware_driveworks_interface vlg22c_cam custom_msgs garmin hokuyo javad_navsat_driver kvaser sick_lms5xx memsic_imu microstrain_driver nmea_navsat autoware_pointgrey_drivers sick_ldmrs_description sick_ldmrs_driver sick_ldmrs_laser sick_ldmrs_msgs sick_ldmrs_tools vectacam xsens_driver ymc ds4 ds4_driver ds4_msgs lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation mrt_cmake_modules

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.12.0
License Apache 2
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description autoware.ai perf
Checkout URI https://github.com/is-whale/autoware_learn.git
VCS Type git
VCS Version 1.14
Last Updated 2025-03-14
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The waypoint_planner package

Additional Links

No additional links.

Maintainers

  • Akihito OHSATO

Authors

  • Akihito OHSATO
  • ando
autoware/core_planning/waypoint_planner/README.md

Waypoint Planner

Waypoint planner package provides the local planner nodes that dynamically plan avoidance behavior, velocity on waypoints, and so on.

Waypoint Planner - Astar Avoid

astar_avoid node has two mode, Relay mode and Avoidance mode. You can switch these modes by enable_avoidance parameter.

  • Relay mode: Not avoid planning and just publishing waypoints from self pose.
  • Avoidance mode: Avoiding obstacles by Hybrid-A* search algorithm in astar_search package with internal state transition

NOTE : If you have wayarea in your ADAS map, it’s possible to limit search area and realize more safety planning by enabling Use Wayarea in costmap_generator node. Please see the results in below demo videos.

Please see also: mission/packages/freespace_planner/README.md

How to launch

  • From Runtime Manager:

Computing -> Motion Planning -> waypoint_planner -> astar_avoid

  • From CLI:

$ roslaunch waypoint_planner astar_avoid.launch

Parameters

Parameters can be set in both Launch file and Runtime manager:

Parameter in RM Parameter in Launch Type Description Default
Enable Avoidance enable_avoidance Bool Enable avoidance mode false
Costmap Topic costmap_topic String Costmap topic for Hybrid-A* search semantics/costmap_generator/occupancy_grid
Waypoint Velocity avoid_waypoints_velocity Double Constant velocity on planned waypoints [km/h] 10.0
Avoidance Start Velocity avoid_start_velocity Double Self velocity for staring avoidance behavior [km/h] 5.0
Replan Interval replan_interval Double Replan interval for avoidance planning [Hz] 2.0
- safety_waypoints_size Int Output waypoint size [-] 100
- update_rate Double Publishing rate [Hz] 10.0
- search_waypoints_size Int Range of waypoints for incremental search [-] 50
- search_waypoints_delta Int Skipped waypoints for incremental search [-] 2

Subscriptions/Publications

Node [/astar_avoid]
Publications:
 * /safety_waypoints [autoware_msgs/Lane]

Subscriptions:
 * /base_waypoints [autoware_msgs/Lane]
 * /closest_waypoint [std_msgs/Int32]
 * /current_pose [geometry_msgs/PoseStamped]
 * /current_velocity [geometry_msgs/TwistStamped]
 * /semantics/costmap_generator/occupancy_grid [nav_msgs/OccupancyGrid]
 * /obstacle_waypoint [std_msgs/Int32]
 * /tf [tf2_msgs/TFMessage]
 * /tf_static [tf2_msgs/TFMessage]

Demo videos

Dynamically avoiding (senario 1)

Hybrid A*, dynamically avoiding (scenario 1)

Dynamically avoiding (senario 2)

Hybrid A*, dynamically avoiding (scenario 12

Statically avoiding by big re-routing

Hybrid A*, statically avoiding by big re-routing

Waypoint Planner - Velocity Set

// TODO

CHANGELOG

Changelog for package waypoint_planner

1.11.0 (2019-03-21)

  • [Feature] Improve Hybrid A* planner (#1594)
    • Delete obstacle_sim from astar_planner package, replaced to lidar_fake_perception
    • Modify package name, astar_planner -> waypoint_planner, and create astar_planner library package
    • Delete obstacle_avoid/astar* and modify its dependency to astar_planner library
    • Fix astar_navi with astar_planner library
    • Refactor astar_navi by separating HAstar library and fixing coodinate system
    • Rename obstacle_avoid -> astar_avoid and under refactoring
    • Fix cost function and configures
    • Fix backward search and refactor configurations
    • Apply clang-format
    • Refactor include
    • Fix typo and so on
    • Improve astar_avoid by incremental goal search
    • Apply clang-format
    • Revert package names
    • Fix package/code names
    • Update runtime_manager
    • Improve astar_avoid to execute avoidance behavior by state transition (by rebuild decision maker)
    • Fix PascalCase message names by #1408
    • Remove obstacle_avoid directory
    • Fix default parameter for costmap topic
    • Fix warning and initialize condition
    • Remove use_avoidance_state mode (TODO: after merging rebuild decision maker)
    • Improve astar_avoid behavior by simple state transition and multi-threading
    • Apply clang-format
    • Fix replan_interval in astar_avoid
    • Add descriptions for paramters
    • Rename pkg name, astar_planner -> waypoint_planner
    • Fix param name
    • Fix avoid waypoints height
    • Fix parameter and formalize code
    • Add README for freespace/waypoint_planner

    * Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Fix CHANGELOG Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>>

    • Fix astar_navi/README.md
    • Add License terms
    • Fix const pointer
    • Added unit test base
    • Restructured folders
    • Fix bug by adding AstarSearch reset

    * Fix WaveFrontNode initialization Co-Authored-By: aohsato <<aohsato@gmail.com>>

    • Fix variable name
    • Refactor threading
    • Re-adding lidar_fake_perception
    • Fix the condition to judge reaching goal
    • Add 'use_decision state' mode to transit avoidance state by decision_maker
    • Fix calcDiffOfRadian (if diff > 2pi)
    • Feature/test astar planner (#1753)
    • Restructured folders
    • Added unit test base
    • Removed remaining folder
    • Test WIP
    • Added astar_util tests and base file for astar_search tests
    • Updated to ROS Cpp Style guidelines
    • Added test for SimpleNode constructor
    • Updated Copyright date
    • Added tests for astar algorithm
    • Added default constructor to WaveFront struct
    • Revert use_state_decision mode (94af7b6)
    • Fix costmap topic names by merging costmap_generator
  • Contributors: Akihito Ohsato

1.10.0 (2019-01-17)

  • Switch to Apache 2 license (develop branch) (#1741)
    • Switch to Apache 2

    * Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.

    • Update license on Python files
    • Update copyright years
    • Add #ifndef/define _POINTS_IMAGE_H_
    • Updated license comment
  • Use colcon as the build tool (#1704)

File truncated at 100 lines see the full file

Launch files

  • launch/astar_avoid.launch
      • safety_waypoints_size [default: 100]
      • update_rate [default: 10]
      • costmap_topic [default: semantics/costmap_generator/occupancy_grid]
      • enable_avoidance [default: false]
      • avoid_waypoints_velocity [default: 10.0]
      • avoid_start_velocity [default: 3.0]
      • replan_interval [default: 2.0]
      • search_waypoints_size [default: 50]
      • search_waypoints_delta [default: 2]
      • closest_search_size [default: 30]
      • use_back [default: false]
      • use_potential_heuristic [default: true]
      • use_wavefront_heuristic [default: false]
      • time_limit [default: 1000.0]
      • robot_length [default: 4.5]
      • robot_width [default: 1.75]
      • robot_base2back [default: 1.0]
      • minimum_turning_radius [default: 6.0]
      • theta_size [default: 48]
      • curve_weight [default: 1.2]
      • reverse_weight [default: 2.00]
      • lateral_goal_range [default: 0.5]
      • longitudinal_goal_range [default: 2.0]
      • angle_goal_range [default: 6.0]
      • obstacle_threshold [default: 100]
      • potential_weight [default: 10.0]
      • distance_heuristic_weight [default: 1.0]
  • launch/velocity_set.launch
      • update_rate [default: 10.0]
      • use_crosswalk_detection [default: true]
      • enable_multiple_crosswalk_detection [default: true]
      • points_topic [default: points_no_ground]
      • velocity_offset [default: 1.2]
      • decelerate_vel_min [default: 1.3]
      • remove_points_upto [default: 2.3]
      • stop_distance_obstacle [default: 10.0]
      • stop_distance_stopline [default: 5.0]
      • detection_range [default: 1.3]
      • points_threshold [default: 10]
      • detection_height_top [default: 0.2]
      • detection_height_bottom [default: -1.7]
      • deceleration_obstacle [default: 0.8]
      • deceleration_stopline [default: 0.6]
      • velocity_change_limit [default: 9.972]
      • deceleration_range [default: 0]
      • temporal_waypoints_size [default: 100]
  • launch/velocity_set_lanelet2.launch
      • use_crosswalk_detection [default: true]
      • points_topic [default: points_no_ground]
      • velocity_offset [default: 1.2]
      • decelerate_vel_min [default: 1.3]
      • remove_points_upto [default: 2.3]
      • enable_multiple_crosswalk_detection [default: true]
      • stop_distance_obstacle [default: 10.0]
      • stop_distance_stopline [default: 5.0]
      • detection_range [default: 1.3]
      • points_threshold [default: 10]
      • detection_height_top [default: 0.2]
      • detection_height_bottom [default: -1.7]
      • deceleration_obstacle [default: 0.8]
      • deceleration_stopline [default: 0.6]
      • velocity_change_limit [default: 9.972]
      • deceleration_range [default: 0]
      • temporal_waypoints_size [default: 100]
  • launch/velocity_set_option.launch
      • use_crosswalk_detection [default: true]
      • points_topic [default: points_no_ground]
      • velocity_offset [default: 1.2]
      • decelerate_vel_min [default: 1.3]
      • remove_points_upto [default: 2.3]
      • enable_multiple_crosswalk_detection [default: true]
      • stop_distance_obstacle [default: 10.0]
      • stop_distance_stopline [default: 5.0]
      • detection_range [default: 1.3]
      • points_threshold [default: 10]
      • detection_height_top [default: 0.2]
      • detection_height_bottom [default: -1.7]
      • deceleration_obstacle [default: 0.8]
      • deceleration_stopline [default: 0.6]
      • velocity_change_limit [default: 9.972]
      • deceleration_range [default: 0]
      • temporal_waypoints_size [default: 100]
      • use_ll2 [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged waypoint_planner at Robotics Stack Exchange

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.
Package symbol

waypoint_planner package from autoware_learn repo

amathutils_lib autoware_build_flags autoware_health_checker emergency_handler gnss lanelet2_extension libvectormap libwaypoint_follower map_file object_map op_planner op_ros_helpers op_simu op_utility ros_observer tvm_utility vector_map vector_map_server vehicle_sim_model autoware_connector ekf_localizer gnss_localizer image_processor imm_ukf_pda_track lidar_apollo_cnn_seg_detect lidar_euclidean_cluster_detect lidar_fake_perception lidar_kf_contour_track lidar_localizer lidar_naive_l_shape_detect lidar_point_pillars lidar_shape_estimation naive_motion_predict ndt_cpu ndt_gpu ndt_tku obj_db pcl_omp_registration pixel_cloud_fusion points_downsampler points_preprocessor pos_db range_vision_fusion road_occupancy_processor roi_object_filter trafficlight_recognizer twist_generator vel_pose_diff_checker vision_beyond_track vision_darknet_detect vision_lane_detect vision_segment_enet_detect vision_ssd_detect astar_search costmap_generator decision_maker dp_planner ff_waypoint_follower freespace_planner lane_planner lattice_planner ll2_global_planner mpc_follower op_global_planner op_local_planner op_simulation_package op_utilities pure_pursuit state_machine_lib twist_filter twist_gate way_planner waypoint_maker waypoint_planner autoware_quickstart_examples autoware_can_msgs autoware_config_msgs autoware_external_msgs autoware_lanelet2_msgs autoware_map_msgs autoware_msgs autoware_system_msgs tablet_socket_msgs vector_map_msgs carla_autoware_bridge gazebo_camera_description gazebo_imu_description lgsvl_simulator_bridge vehicle_gazebo_simulation_interface vehicle_gazebo_simulation_launcher wf_simulator autoware_bag_tools autoware_camera_lidar_calibrator autoware_launcher autoware_launcher_rviz calibration_publisher data_preprocessor graph_tools kitti_box_publisher kitti_launch kitti_player lanelet_aisan_converter log_tools map_tf_generator map_tools marker_downsampler mqtt_socket multi_lidar_calibrator oculus_socket pc2_downsampler rosbag_controller runtime_manager sound_player system_monitor tablet_socket twist2odom udon_socket vehicle_engage_panel vehicle_socket decision_maker_panel detected_objects_visualizer fastvirtualscan gazebo_world_description glviewer integrated_viewer points2image rosinterface autoware_rviz_plugins vehicle_description vehicle_model adi_driver as autoware_driveworks_gmsl_interface autoware_driveworks_interface vlg22c_cam custom_msgs garmin hokuyo javad_navsat_driver kvaser sick_lms5xx memsic_imu microstrain_driver nmea_navsat autoware_pointgrey_drivers sick_ldmrs_description sick_ldmrs_driver sick_ldmrs_laser sick_ldmrs_msgs sick_ldmrs_tools vectacam xsens_driver ymc ds4 ds4_driver ds4_msgs lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation mrt_cmake_modules

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 1.12.0
License Apache 2
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description autoware.ai perf
Checkout URI https://github.com/is-whale/autoware_learn.git
VCS Type git
VCS Version 1.14
Last Updated 2025-03-14
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The waypoint_planner package

Additional Links

No additional links.

Maintainers

  • Akihito OHSATO

Authors

  • Akihito OHSATO
  • ando
autoware/core_planning/waypoint_planner/README.md

Waypoint Planner

Waypoint planner package provides the local planner nodes that dynamically plan avoidance behavior, velocity on waypoints, and so on.

Waypoint Planner - Astar Avoid

astar_avoid node has two mode, Relay mode and Avoidance mode. You can switch these modes by enable_avoidance parameter.

  • Relay mode: Not avoid planning and just publishing waypoints from self pose.
  • Avoidance mode: Avoiding obstacles by Hybrid-A* search algorithm in astar_search package with internal state transition

NOTE : If you have wayarea in your ADAS map, it’s possible to limit search area and realize more safety planning by enabling Use Wayarea in costmap_generator node. Please see the results in below demo videos.

Please see also: mission/packages/freespace_planner/README.md

How to launch

  • From Runtime Manager:

Computing -> Motion Planning -> waypoint_planner -> astar_avoid

  • From CLI:

$ roslaunch waypoint_planner astar_avoid.launch

Parameters

Parameters can be set in both Launch file and Runtime manager:

Parameter in RM Parameter in Launch Type Description Default
Enable Avoidance enable_avoidance Bool Enable avoidance mode false
Costmap Topic costmap_topic String Costmap topic for Hybrid-A* search semantics/costmap_generator/occupancy_grid
Waypoint Velocity avoid_waypoints_velocity Double Constant velocity on planned waypoints [km/h] 10.0
Avoidance Start Velocity avoid_start_velocity Double Self velocity for staring avoidance behavior [km/h] 5.0
Replan Interval replan_interval Double Replan interval for avoidance planning [Hz] 2.0
- safety_waypoints_size Int Output waypoint size [-] 100
- update_rate Double Publishing rate [Hz] 10.0
- search_waypoints_size Int Range of waypoints for incremental search [-] 50
- search_waypoints_delta Int Skipped waypoints for incremental search [-] 2

Subscriptions/Publications

Node [/astar_avoid]
Publications:
 * /safety_waypoints [autoware_msgs/Lane]

Subscriptions:
 * /base_waypoints [autoware_msgs/Lane]
 * /closest_waypoint [std_msgs/Int32]
 * /current_pose [geometry_msgs/PoseStamped]
 * /current_velocity [geometry_msgs/TwistStamped]
 * /semantics/costmap_generator/occupancy_grid [nav_msgs/OccupancyGrid]
 * /obstacle_waypoint [std_msgs/Int32]
 * /tf [tf2_msgs/TFMessage]
 * /tf_static [tf2_msgs/TFMessage]

Demo videos

Dynamically avoiding (senario 1)

Hybrid A*, dynamically avoiding (scenario 1)

Dynamically avoiding (senario 2)

Hybrid A*, dynamically avoiding (scenario 12

Statically avoiding by big re-routing

Hybrid A*, statically avoiding by big re-routing

Waypoint Planner - Velocity Set

// TODO

CHANGELOG

Changelog for package waypoint_planner

1.11.0 (2019-03-21)

  • [Feature] Improve Hybrid A* planner (#1594)
    • Delete obstacle_sim from astar_planner package, replaced to lidar_fake_perception
    • Modify package name, astar_planner -> waypoint_planner, and create astar_planner library package
    • Delete obstacle_avoid/astar* and modify its dependency to astar_planner library
    • Fix astar_navi with astar_planner library
    • Refactor astar_navi by separating HAstar library and fixing coodinate system
    • Rename obstacle_avoid -> astar_avoid and under refactoring
    • Fix cost function and configures
    • Fix backward search and refactor configurations
    • Apply clang-format
    • Refactor include
    • Fix typo and so on
    • Improve astar_avoid by incremental goal search
    • Apply clang-format
    • Revert package names
    • Fix package/code names
    • Update runtime_manager
    • Improve astar_avoid to execute avoidance behavior by state transition (by rebuild decision maker)
    • Fix PascalCase message names by #1408
    • Remove obstacle_avoid directory
    • Fix default parameter for costmap topic
    • Fix warning and initialize condition
    • Remove use_avoidance_state mode (TODO: after merging rebuild decision maker)
    • Improve astar_avoid behavior by simple state transition and multi-threading
    • Apply clang-format
    • Fix replan_interval in astar_avoid
    • Add descriptions for paramters
    • Rename pkg name, astar_planner -> waypoint_planner
    • Fix param name
    • Fix avoid waypoints height
    • Fix parameter and formalize code
    • Add README for freespace/waypoint_planner

    * Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Fix CHANGELOG Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>>

    • Fix astar_navi/README.md
    • Add License terms
    • Fix const pointer
    • Added unit test base
    • Restructured folders
    • Fix bug by adding AstarSearch reset

    * Fix WaveFrontNode initialization Co-Authored-By: aohsato <<aohsato@gmail.com>>

    • Fix variable name
    • Refactor threading
    • Re-adding lidar_fake_perception
    • Fix the condition to judge reaching goal
    • Add 'use_decision state' mode to transit avoidance state by decision_maker
    • Fix calcDiffOfRadian (if diff > 2pi)
    • Feature/test astar planner (#1753)
    • Restructured folders
    • Added unit test base
    • Removed remaining folder
    • Test WIP
    • Added astar_util tests and base file for astar_search tests
    • Updated to ROS Cpp Style guidelines
    • Added test for SimpleNode constructor
    • Updated Copyright date
    • Added tests for astar algorithm
    • Added default constructor to WaveFront struct
    • Revert use_state_decision mode (94af7b6)
    • Fix costmap topic names by merging costmap_generator
  • Contributors: Akihito Ohsato

1.10.0 (2019-01-17)

  • Switch to Apache 2 license (develop branch) (#1741)
    • Switch to Apache 2

    * Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.

    • Update license on Python files
    • Update copyright years
    • Add #ifndef/define _POINTS_IMAGE_H_
    • Updated license comment
  • Use colcon as the build tool (#1704)

File truncated at 100 lines see the full file

Launch files

  • launch/astar_avoid.launch
      • safety_waypoints_size [default: 100]
      • update_rate [default: 10]
      • costmap_topic [default: semantics/costmap_generator/occupancy_grid]
      • enable_avoidance [default: false]
      • avoid_waypoints_velocity [default: 10.0]
      • avoid_start_velocity [default: 3.0]
      • replan_interval [default: 2.0]
      • search_waypoints_size [default: 50]
      • search_waypoints_delta [default: 2]
      • closest_search_size [default: 30]
      • use_back [default: false]
      • use_potential_heuristic [default: true]
      • use_wavefront_heuristic [default: false]
      • time_limit [default: 1000.0]
      • robot_length [default: 4.5]
      • robot_width [default: 1.75]
      • robot_base2back [default: 1.0]
      • minimum_turning_radius [default: 6.0]
      • theta_size [default: 48]
      • curve_weight [default: 1.2]
      • reverse_weight [default: 2.00]
      • lateral_goal_range [default: 0.5]
      • longitudinal_goal_range [default: 2.0]
      • angle_goal_range [default: 6.0]
      • obstacle_threshold [default: 100]
      • potential_weight [default: 10.0]
      • distance_heuristic_weight [default: 1.0]
  • launch/velocity_set.launch
      • update_rate [default: 10.0]
      • use_crosswalk_detection [default: true]
      • enable_multiple_crosswalk_detection [default: true]
      • points_topic [default: points_no_ground]
      • velocity_offset [default: 1.2]
      • decelerate_vel_min [default: 1.3]
      • remove_points_upto [default: 2.3]
      • stop_distance_obstacle [default: 10.0]
      • stop_distance_stopline [default: 5.0]
      • detection_range [default: 1.3]
      • points_threshold [default: 10]
      • detection_height_top [default: 0.2]
      • detection_height_bottom [default: -1.7]
      • deceleration_obstacle [default: 0.8]
      • deceleration_stopline [default: 0.6]
      • velocity_change_limit [default: 9.972]
      • deceleration_range [default: 0]
      • temporal_waypoints_size [default: 100]
  • launch/velocity_set_lanelet2.launch
      • use_crosswalk_detection [default: true]
      • points_topic [default: points_no_ground]
      • velocity_offset [default: 1.2]
      • decelerate_vel_min [default: 1.3]
      • remove_points_upto [default: 2.3]
      • enable_multiple_crosswalk_detection [default: true]
      • stop_distance_obstacle [default: 10.0]
      • stop_distance_stopline [default: 5.0]
      • detection_range [default: 1.3]
      • points_threshold [default: 10]
      • detection_height_top [default: 0.2]
      • detection_height_bottom [default: -1.7]
      • deceleration_obstacle [default: 0.8]
      • deceleration_stopline [default: 0.6]
      • velocity_change_limit [default: 9.972]
      • deceleration_range [default: 0]
      • temporal_waypoints_size [default: 100]
  • launch/velocity_set_option.launch
      • use_crosswalk_detection [default: true]
      • points_topic [default: points_no_ground]
      • velocity_offset [default: 1.2]
      • decelerate_vel_min [default: 1.3]
      • remove_points_upto [default: 2.3]
      • enable_multiple_crosswalk_detection [default: true]
      • stop_distance_obstacle [default: 10.0]
      • stop_distance_stopline [default: 5.0]
      • detection_range [default: 1.3]
      • points_threshold [default: 10]
      • detection_height_top [default: 0.2]
      • detection_height_bottom [default: -1.7]
      • deceleration_obstacle [default: 0.8]
      • deceleration_stopline [default: 0.6]
      • velocity_change_limit [default: 9.972]
      • deceleration_range [default: 0]
      • temporal_waypoints_size [default: 100]
      • use_ll2 [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged waypoint_planner at Robotics Stack Exchange

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waypoint_planner package from autoware_learn repo

amathutils_lib autoware_build_flags autoware_health_checker emergency_handler gnss lanelet2_extension libvectormap libwaypoint_follower map_file object_map op_planner op_ros_helpers op_simu op_utility ros_observer tvm_utility vector_map vector_map_server vehicle_sim_model autoware_connector ekf_localizer gnss_localizer image_processor imm_ukf_pda_track lidar_apollo_cnn_seg_detect lidar_euclidean_cluster_detect lidar_fake_perception lidar_kf_contour_track lidar_localizer lidar_naive_l_shape_detect lidar_point_pillars lidar_shape_estimation naive_motion_predict ndt_cpu ndt_gpu ndt_tku obj_db pcl_omp_registration pixel_cloud_fusion points_downsampler points_preprocessor pos_db range_vision_fusion road_occupancy_processor roi_object_filter trafficlight_recognizer twist_generator vel_pose_diff_checker vision_beyond_track vision_darknet_detect vision_lane_detect vision_segment_enet_detect vision_ssd_detect astar_search costmap_generator decision_maker dp_planner ff_waypoint_follower freespace_planner lane_planner lattice_planner ll2_global_planner mpc_follower op_global_planner op_local_planner op_simulation_package op_utilities pure_pursuit state_machine_lib twist_filter twist_gate way_planner waypoint_maker waypoint_planner autoware_quickstart_examples autoware_can_msgs autoware_config_msgs autoware_external_msgs autoware_lanelet2_msgs autoware_map_msgs autoware_msgs autoware_system_msgs tablet_socket_msgs vector_map_msgs carla_autoware_bridge gazebo_camera_description gazebo_imu_description lgsvl_simulator_bridge vehicle_gazebo_simulation_interface vehicle_gazebo_simulation_launcher wf_simulator autoware_bag_tools autoware_camera_lidar_calibrator autoware_launcher autoware_launcher_rviz calibration_publisher data_preprocessor graph_tools kitti_box_publisher kitti_launch kitti_player lanelet_aisan_converter log_tools map_tf_generator map_tools marker_downsampler mqtt_socket multi_lidar_calibrator oculus_socket pc2_downsampler rosbag_controller runtime_manager sound_player system_monitor tablet_socket twist2odom udon_socket vehicle_engage_panel vehicle_socket decision_maker_panel detected_objects_visualizer fastvirtualscan gazebo_world_description glviewer integrated_viewer points2image rosinterface autoware_rviz_plugins vehicle_description vehicle_model adi_driver as autoware_driveworks_gmsl_interface autoware_driveworks_interface vlg22c_cam custom_msgs garmin hokuyo javad_navsat_driver kvaser sick_lms5xx memsic_imu microstrain_driver nmea_navsat autoware_pointgrey_drivers sick_ldmrs_description sick_ldmrs_driver sick_ldmrs_laser sick_ldmrs_msgs sick_ldmrs_tools vectacam xsens_driver ymc ds4 ds4_driver ds4_msgs lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation mrt_cmake_modules

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Package Summary

Tags No category tags.
Version 1.12.0
License Apache 2
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description autoware.ai perf
Checkout URI https://github.com/is-whale/autoware_learn.git
VCS Type git
VCS Version 1.14
Last Updated 2025-03-14
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The waypoint_planner package

Additional Links

No additional links.

Maintainers

  • Akihito OHSATO

Authors

  • Akihito OHSATO
  • ando
autoware/core_planning/waypoint_planner/README.md

Waypoint Planner

Waypoint planner package provides the local planner nodes that dynamically plan avoidance behavior, velocity on waypoints, and so on.

Waypoint Planner - Astar Avoid

astar_avoid node has two mode, Relay mode and Avoidance mode. You can switch these modes by enable_avoidance parameter.

  • Relay mode: Not avoid planning and just publishing waypoints from self pose.
  • Avoidance mode: Avoiding obstacles by Hybrid-A* search algorithm in astar_search package with internal state transition

NOTE : If you have wayarea in your ADAS map, it’s possible to limit search area and realize more safety planning by enabling Use Wayarea in costmap_generator node. Please see the results in below demo videos.

Please see also: mission/packages/freespace_planner/README.md

How to launch

  • From Runtime Manager:

Computing -> Motion Planning -> waypoint_planner -> astar_avoid

  • From CLI:

$ roslaunch waypoint_planner astar_avoid.launch

Parameters

Parameters can be set in both Launch file and Runtime manager:

Parameter in RM Parameter in Launch Type Description Default
Enable Avoidance enable_avoidance Bool Enable avoidance mode false
Costmap Topic costmap_topic String Costmap topic for Hybrid-A* search semantics/costmap_generator/occupancy_grid
Waypoint Velocity avoid_waypoints_velocity Double Constant velocity on planned waypoints [km/h] 10.0
Avoidance Start Velocity avoid_start_velocity Double Self velocity for staring avoidance behavior [km/h] 5.0
Replan Interval replan_interval Double Replan interval for avoidance planning [Hz] 2.0
- safety_waypoints_size Int Output waypoint size [-] 100
- update_rate Double Publishing rate [Hz] 10.0
- search_waypoints_size Int Range of waypoints for incremental search [-] 50
- search_waypoints_delta Int Skipped waypoints for incremental search [-] 2

Subscriptions/Publications

Node [/astar_avoid]
Publications:
 * /safety_waypoints [autoware_msgs/Lane]

Subscriptions:
 * /base_waypoints [autoware_msgs/Lane]
 * /closest_waypoint [std_msgs/Int32]
 * /current_pose [geometry_msgs/PoseStamped]
 * /current_velocity [geometry_msgs/TwistStamped]
 * /semantics/costmap_generator/occupancy_grid [nav_msgs/OccupancyGrid]
 * /obstacle_waypoint [std_msgs/Int32]
 * /tf [tf2_msgs/TFMessage]
 * /tf_static [tf2_msgs/TFMessage]

Demo videos

Dynamically avoiding (senario 1)

Hybrid A*, dynamically avoiding (scenario 1)

Dynamically avoiding (senario 2)

Hybrid A*, dynamically avoiding (scenario 12

Statically avoiding by big re-routing

Hybrid A*, statically avoiding by big re-routing

Waypoint Planner - Velocity Set

// TODO

CHANGELOG

Changelog for package waypoint_planner

1.11.0 (2019-03-21)

  • [Feature] Improve Hybrid A* planner (#1594)
    • Delete obstacle_sim from astar_planner package, replaced to lidar_fake_perception
    • Modify package name, astar_planner -> waypoint_planner, and create astar_planner library package
    • Delete obstacle_avoid/astar* and modify its dependency to astar_planner library
    • Fix astar_navi with astar_planner library
    • Refactor astar_navi by separating HAstar library and fixing coodinate system
    • Rename obstacle_avoid -> astar_avoid and under refactoring
    • Fix cost function and configures
    • Fix backward search and refactor configurations
    • Apply clang-format
    • Refactor include
    • Fix typo and so on
    • Improve astar_avoid by incremental goal search
    • Apply clang-format
    • Revert package names
    • Fix package/code names
    • Update runtime_manager
    • Improve astar_avoid to execute avoidance behavior by state transition (by rebuild decision maker)
    • Fix PascalCase message names by #1408
    • Remove obstacle_avoid directory
    • Fix default parameter for costmap topic
    • Fix warning and initialize condition
    • Remove use_avoidance_state mode (TODO: after merging rebuild decision maker)
    • Improve astar_avoid behavior by simple state transition and multi-threading
    • Apply clang-format
    • Fix replan_interval in astar_avoid
    • Add descriptions for paramters
    • Rename pkg name, astar_planner -> waypoint_planner
    • Fix param name
    • Fix avoid waypoints height
    • Fix parameter and formalize code
    • Add README for freespace/waypoint_planner

    * Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Fix CHANGELOG Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>>

    • Fix astar_navi/README.md
    • Add License terms
    • Fix const pointer
    • Added unit test base
    • Restructured folders
    • Fix bug by adding AstarSearch reset

    * Fix WaveFrontNode initialization Co-Authored-By: aohsato <<aohsato@gmail.com>>

    • Fix variable name
    • Refactor threading
    • Re-adding lidar_fake_perception
    • Fix the condition to judge reaching goal
    • Add 'use_decision state' mode to transit avoidance state by decision_maker
    • Fix calcDiffOfRadian (if diff > 2pi)
    • Feature/test astar planner (#1753)
    • Restructured folders
    • Added unit test base
    • Removed remaining folder
    • Test WIP
    • Added astar_util tests and base file for astar_search tests
    • Updated to ROS Cpp Style guidelines
    • Added test for SimpleNode constructor
    • Updated Copyright date
    • Added tests for astar algorithm
    • Added default constructor to WaveFront struct
    • Revert use_state_decision mode (94af7b6)
    • Fix costmap topic names by merging costmap_generator
  • Contributors: Akihito Ohsato

1.10.0 (2019-01-17)

  • Switch to Apache 2 license (develop branch) (#1741)
    • Switch to Apache 2

    * Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.

    • Update license on Python files
    • Update copyright years
    • Add #ifndef/define _POINTS_IMAGE_H_
    • Updated license comment
  • Use colcon as the build tool (#1704)

File truncated at 100 lines see the full file

Launch files

  • launch/astar_avoid.launch
      • safety_waypoints_size [default: 100]
      • update_rate [default: 10]
      • costmap_topic [default: semantics/costmap_generator/occupancy_grid]
      • enable_avoidance [default: false]
      • avoid_waypoints_velocity [default: 10.0]
      • avoid_start_velocity [default: 3.0]
      • replan_interval [default: 2.0]
      • search_waypoints_size [default: 50]
      • search_waypoints_delta [default: 2]
      • closest_search_size [default: 30]
      • use_back [default: false]
      • use_potential_heuristic [default: true]
      • use_wavefront_heuristic [default: false]
      • time_limit [default: 1000.0]
      • robot_length [default: 4.5]
      • robot_width [default: 1.75]
      • robot_base2back [default: 1.0]
      • minimum_turning_radius [default: 6.0]
      • theta_size [default: 48]
      • curve_weight [default: 1.2]
      • reverse_weight [default: 2.00]
      • lateral_goal_range [default: 0.5]
      • longitudinal_goal_range [default: 2.0]
      • angle_goal_range [default: 6.0]
      • obstacle_threshold [default: 100]
      • potential_weight [default: 10.0]
      • distance_heuristic_weight [default: 1.0]
  • launch/velocity_set.launch
      • update_rate [default: 10.0]
      • use_crosswalk_detection [default: true]
      • enable_multiple_crosswalk_detection [default: true]
      • points_topic [default: points_no_ground]
      • velocity_offset [default: 1.2]
      • decelerate_vel_min [default: 1.3]
      • remove_points_upto [default: 2.3]
      • stop_distance_obstacle [default: 10.0]
      • stop_distance_stopline [default: 5.0]
      • detection_range [default: 1.3]
      • points_threshold [default: 10]
      • detection_height_top [default: 0.2]
      • detection_height_bottom [default: -1.7]
      • deceleration_obstacle [default: 0.8]
      • deceleration_stopline [default: 0.6]
      • velocity_change_limit [default: 9.972]
      • deceleration_range [default: 0]
      • temporal_waypoints_size [default: 100]
  • launch/velocity_set_lanelet2.launch
      • use_crosswalk_detection [default: true]
      • points_topic [default: points_no_ground]
      • velocity_offset [default: 1.2]
      • decelerate_vel_min [default: 1.3]
      • remove_points_upto [default: 2.3]
      • enable_multiple_crosswalk_detection [default: true]
      • stop_distance_obstacle [default: 10.0]
      • stop_distance_stopline [default: 5.0]
      • detection_range [default: 1.3]
      • points_threshold [default: 10]
      • detection_height_top [default: 0.2]
      • detection_height_bottom [default: -1.7]
      • deceleration_obstacle [default: 0.8]
      • deceleration_stopline [default: 0.6]
      • velocity_change_limit [default: 9.972]
      • deceleration_range [default: 0]
      • temporal_waypoints_size [default: 100]
  • launch/velocity_set_option.launch
      • use_crosswalk_detection [default: true]
      • points_topic [default: points_no_ground]
      • velocity_offset [default: 1.2]
      • decelerate_vel_min [default: 1.3]
      • remove_points_upto [default: 2.3]
      • enable_multiple_crosswalk_detection [default: true]
      • stop_distance_obstacle [default: 10.0]
      • stop_distance_stopline [default: 5.0]
      • detection_range [default: 1.3]
      • points_threshold [default: 10]
      • detection_height_top [default: 0.2]
      • detection_height_bottom [default: -1.7]
      • deceleration_obstacle [default: 0.8]
      • deceleration_stopline [default: 0.6]
      • velocity_change_limit [default: 9.972]
      • deceleration_range [default: 0]
      • temporal_waypoints_size [default: 100]
      • use_ll2 [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged waypoint_planner at Robotics Stack Exchange