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world_model package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.1.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-02-24
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Central world state database providing lanelet services, entity tracking, and traffic light state

Maintainers

  • WATonomous

Authors

No additional authors.
src/world_modeling/world_model/README.md

World Model

ROS2 Lifecycle Node that maintains a unified view of the world for autonomous driving.

Overview

The world model aggregates data from multiple sources (perception, prediction, HD map) into a single queryable state. It provides:

  • Entity tracking: Cars, humans, bicycles, motorcycles, traffic lights
  • Lanelet map queries: Routes, corridors, regulatory elements
  • Lane context: Current lanelet, distances to events

Parameters

Parameter Type Default Description
osm_map_path string ”” Path to OSM lanelet map
map_frame string “map” Map frame ID
base_frame string “base_link” Robot base frame ID
utm_frame string “utm” UTM frame for map loading
projector_type string “utm” Projector: “utm” or “local_cartesian”
entity_history_duration_sec double 5.0 How long to keep entity history
entity_prune_timeout_sec double 2.0 Prune entities not seen for this long
traffic_light_timeout_sec double 1.0 Traffic light prune timeout
cleanup_interval_ms double 1000.0 Cleanup worker interval
lane_context_publish_rate_hz double 10.0 Lane context publish rate
map_viz_publish_rate_hz double 1.0 Map visualization publish rate
map_viz_radius_m double 100.0 Radius for map visualization
dynamic_objects_publish_rate_hz double 10.0 Dynamic objects publish rate
route_ahead_publish_rate_hz double 10.0 Route ahead publish rate
route_ahead_lookahead_m double 100.0 Lookahead distance for route lanelets

Topics

Subscribed

| Topic | Type | Description | |——-|——|————-| | detections | vision_msgs/Detection3DArray | 3D object detections | | traffic_light_detections | vision_msgs/Detection2DArray | Traffic light detections | | predictions | prediction_msgs/PredictionHypothesesArray | Predicted trajectories |

Published

| Topic | Type | Description | |——-|——|————-| | lane_context | lanelet_msgs/CurrentLaneContext | Current lane information (route-aware) | | route_ahead | lanelet_msgs/RouteAhead | Route lanelets ahead within lookahead distance | | map_visualization | lanelet_msgs/MapVisualization | Nearby lanelets for viz | | dynamic_objects | world_model_msgs/DynamicObjectArray | All tracked entities |

Services

Service Type Description
set_route lanelet_msgs/SetRoute Set destination and cache route
get_shortest_route lanelet_msgs/GetShortestRoute Get entire shortest route from ego to goal
get_lanelets_by_reg_elem lanelet_msgs/GetLaneletsByRegElem Find lanelets by regulatory element

License

Apache 2.0 - Copyright (c) 2025-present WATonomous

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged world_model at Robotics Stack Exchange

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

world_model package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.1.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-02-24
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Central world state database providing lanelet services, entity tracking, and traffic light state

Maintainers

  • WATonomous

Authors

No additional authors.
src/world_modeling/world_model/README.md

World Model

ROS2 Lifecycle Node that maintains a unified view of the world for autonomous driving.

Overview

The world model aggregates data from multiple sources (perception, prediction, HD map) into a single queryable state. It provides:

  • Entity tracking: Cars, humans, bicycles, motorcycles, traffic lights
  • Lanelet map queries: Routes, corridors, regulatory elements
  • Lane context: Current lanelet, distances to events

Parameters

Parameter Type Default Description
osm_map_path string ”” Path to OSM lanelet map
map_frame string “map” Map frame ID
base_frame string “base_link” Robot base frame ID
utm_frame string “utm” UTM frame for map loading
projector_type string “utm” Projector: “utm” or “local_cartesian”
entity_history_duration_sec double 5.0 How long to keep entity history
entity_prune_timeout_sec double 2.0 Prune entities not seen for this long
traffic_light_timeout_sec double 1.0 Traffic light prune timeout
cleanup_interval_ms double 1000.0 Cleanup worker interval
lane_context_publish_rate_hz double 10.0 Lane context publish rate
map_viz_publish_rate_hz double 1.0 Map visualization publish rate
map_viz_radius_m double 100.0 Radius for map visualization
dynamic_objects_publish_rate_hz double 10.0 Dynamic objects publish rate
route_ahead_publish_rate_hz double 10.0 Route ahead publish rate
route_ahead_lookahead_m double 100.0 Lookahead distance for route lanelets

Topics

Subscribed

| Topic | Type | Description | |——-|——|————-| | detections | vision_msgs/Detection3DArray | 3D object detections | | traffic_light_detections | vision_msgs/Detection2DArray | Traffic light detections | | predictions | prediction_msgs/PredictionHypothesesArray | Predicted trajectories |

Published

| Topic | Type | Description | |——-|——|————-| | lane_context | lanelet_msgs/CurrentLaneContext | Current lane information (route-aware) | | route_ahead | lanelet_msgs/RouteAhead | Route lanelets ahead within lookahead distance | | map_visualization | lanelet_msgs/MapVisualization | Nearby lanelets for viz | | dynamic_objects | world_model_msgs/DynamicObjectArray | All tracked entities |

Services

Service Type Description
set_route lanelet_msgs/SetRoute Set destination and cache route
get_shortest_route lanelet_msgs/GetShortestRoute Get entire shortest route from ego to goal
get_lanelets_by_reg_elem lanelet_msgs/GetLaneletsByRegElem Find lanelets by regulatory element

License

Apache 2.0 - Copyright (c) 2025-present WATonomous

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged world_model at Robotics Stack Exchange

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

world_model package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.1.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-02-24
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Central world state database providing lanelet services, entity tracking, and traffic light state

Maintainers

  • WATonomous

Authors

No additional authors.
src/world_modeling/world_model/README.md

World Model

ROS2 Lifecycle Node that maintains a unified view of the world for autonomous driving.

Overview

The world model aggregates data from multiple sources (perception, prediction, HD map) into a single queryable state. It provides:

  • Entity tracking: Cars, humans, bicycles, motorcycles, traffic lights
  • Lanelet map queries: Routes, corridors, regulatory elements
  • Lane context: Current lanelet, distances to events

Parameters

Parameter Type Default Description
osm_map_path string ”” Path to OSM lanelet map
map_frame string “map” Map frame ID
base_frame string “base_link” Robot base frame ID
utm_frame string “utm” UTM frame for map loading
projector_type string “utm” Projector: “utm” or “local_cartesian”
entity_history_duration_sec double 5.0 How long to keep entity history
entity_prune_timeout_sec double 2.0 Prune entities not seen for this long
traffic_light_timeout_sec double 1.0 Traffic light prune timeout
cleanup_interval_ms double 1000.0 Cleanup worker interval
lane_context_publish_rate_hz double 10.0 Lane context publish rate
map_viz_publish_rate_hz double 1.0 Map visualization publish rate
map_viz_radius_m double 100.0 Radius for map visualization
dynamic_objects_publish_rate_hz double 10.0 Dynamic objects publish rate
route_ahead_publish_rate_hz double 10.0 Route ahead publish rate
route_ahead_lookahead_m double 100.0 Lookahead distance for route lanelets

Topics

Subscribed

| Topic | Type | Description | |——-|——|————-| | detections | vision_msgs/Detection3DArray | 3D object detections | | traffic_light_detections | vision_msgs/Detection2DArray | Traffic light detections | | predictions | prediction_msgs/PredictionHypothesesArray | Predicted trajectories |

Published

| Topic | Type | Description | |——-|——|————-| | lane_context | lanelet_msgs/CurrentLaneContext | Current lane information (route-aware) | | route_ahead | lanelet_msgs/RouteAhead | Route lanelets ahead within lookahead distance | | map_visualization | lanelet_msgs/MapVisualization | Nearby lanelets for viz | | dynamic_objects | world_model_msgs/DynamicObjectArray | All tracked entities |

Services

Service Type Description
set_route lanelet_msgs/SetRoute Set destination and cache route
get_shortest_route lanelet_msgs/GetShortestRoute Get entire shortest route from ego to goal
get_lanelets_by_reg_elem lanelet_msgs/GetLaneletsByRegElem Find lanelets by regulatory element

License

Apache 2.0 - Copyright (c) 2025-present WATonomous

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged world_model at Robotics Stack Exchange

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

world_model package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.1.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-02-24
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Central world state database providing lanelet services, entity tracking, and traffic light state

Maintainers

  • WATonomous

Authors

No additional authors.
src/world_modeling/world_model/README.md

World Model

ROS2 Lifecycle Node that maintains a unified view of the world for autonomous driving.

Overview

The world model aggregates data from multiple sources (perception, prediction, HD map) into a single queryable state. It provides:

  • Entity tracking: Cars, humans, bicycles, motorcycles, traffic lights
  • Lanelet map queries: Routes, corridors, regulatory elements
  • Lane context: Current lanelet, distances to events

Parameters

Parameter Type Default Description
osm_map_path string ”” Path to OSM lanelet map
map_frame string “map” Map frame ID
base_frame string “base_link” Robot base frame ID
utm_frame string “utm” UTM frame for map loading
projector_type string “utm” Projector: “utm” or “local_cartesian”
entity_history_duration_sec double 5.0 How long to keep entity history
entity_prune_timeout_sec double 2.0 Prune entities not seen for this long
traffic_light_timeout_sec double 1.0 Traffic light prune timeout
cleanup_interval_ms double 1000.0 Cleanup worker interval
lane_context_publish_rate_hz double 10.0 Lane context publish rate
map_viz_publish_rate_hz double 1.0 Map visualization publish rate
map_viz_radius_m double 100.0 Radius for map visualization
dynamic_objects_publish_rate_hz double 10.0 Dynamic objects publish rate
route_ahead_publish_rate_hz double 10.0 Route ahead publish rate
route_ahead_lookahead_m double 100.0 Lookahead distance for route lanelets

Topics

Subscribed

| Topic | Type | Description | |——-|——|————-| | detections | vision_msgs/Detection3DArray | 3D object detections | | traffic_light_detections | vision_msgs/Detection2DArray | Traffic light detections | | predictions | prediction_msgs/PredictionHypothesesArray | Predicted trajectories |

Published

| Topic | Type | Description | |——-|——|————-| | lane_context | lanelet_msgs/CurrentLaneContext | Current lane information (route-aware) | | route_ahead | lanelet_msgs/RouteAhead | Route lanelets ahead within lookahead distance | | map_visualization | lanelet_msgs/MapVisualization | Nearby lanelets for viz | | dynamic_objects | world_model_msgs/DynamicObjectArray | All tracked entities |

Services

Service Type Description
set_route lanelet_msgs/SetRoute Set destination and cache route
get_shortest_route lanelet_msgs/GetShortestRoute Get entire shortest route from ego to goal
get_lanelets_by_reg_elem lanelet_msgs/GetLaneletsByRegElem Find lanelets by regulatory element

License

Apache 2.0 - Copyright (c) 2025-present WATonomous

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged world_model at Robotics Stack Exchange

Package symbol

world_model package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.1.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-02-24
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Central world state database providing lanelet services, entity tracking, and traffic light state

Maintainers

  • WATonomous

Authors

No additional authors.
src/world_modeling/world_model/README.md

World Model

ROS2 Lifecycle Node that maintains a unified view of the world for autonomous driving.

Overview

The world model aggregates data from multiple sources (perception, prediction, HD map) into a single queryable state. It provides:

  • Entity tracking: Cars, humans, bicycles, motorcycles, traffic lights
  • Lanelet map queries: Routes, corridors, regulatory elements
  • Lane context: Current lanelet, distances to events

Parameters

Parameter Type Default Description
osm_map_path string ”” Path to OSM lanelet map
map_frame string “map” Map frame ID
base_frame string “base_link” Robot base frame ID
utm_frame string “utm” UTM frame for map loading
projector_type string “utm” Projector: “utm” or “local_cartesian”
entity_history_duration_sec double 5.0 How long to keep entity history
entity_prune_timeout_sec double 2.0 Prune entities not seen for this long
traffic_light_timeout_sec double 1.0 Traffic light prune timeout
cleanup_interval_ms double 1000.0 Cleanup worker interval
lane_context_publish_rate_hz double 10.0 Lane context publish rate
map_viz_publish_rate_hz double 1.0 Map visualization publish rate
map_viz_radius_m double 100.0 Radius for map visualization
dynamic_objects_publish_rate_hz double 10.0 Dynamic objects publish rate
route_ahead_publish_rate_hz double 10.0 Route ahead publish rate
route_ahead_lookahead_m double 100.0 Lookahead distance for route lanelets

Topics

Subscribed

| Topic | Type | Description | |——-|——|————-| | detections | vision_msgs/Detection3DArray | 3D object detections | | traffic_light_detections | vision_msgs/Detection2DArray | Traffic light detections | | predictions | prediction_msgs/PredictionHypothesesArray | Predicted trajectories |

Published

| Topic | Type | Description | |——-|——|————-| | lane_context | lanelet_msgs/CurrentLaneContext | Current lane information (route-aware) | | route_ahead | lanelet_msgs/RouteAhead | Route lanelets ahead within lookahead distance | | map_visualization | lanelet_msgs/MapVisualization | Nearby lanelets for viz | | dynamic_objects | world_model_msgs/DynamicObjectArray | All tracked entities |

Services

Service Type Description
set_route lanelet_msgs/SetRoute Set destination and cache route
get_shortest_route lanelet_msgs/GetShortestRoute Get entire shortest route from ego to goal
get_lanelets_by_reg_elem lanelet_msgs/GetLaneletsByRegElem Find lanelets by regulatory element

License

Apache 2.0 - Copyright (c) 2025-present WATonomous

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged world_model at Robotics Stack Exchange

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

world_model package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.1.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-02-24
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Central world state database providing lanelet services, entity tracking, and traffic light state

Maintainers

  • WATonomous

Authors

No additional authors.
src/world_modeling/world_model/README.md

World Model

ROS2 Lifecycle Node that maintains a unified view of the world for autonomous driving.

Overview

The world model aggregates data from multiple sources (perception, prediction, HD map) into a single queryable state. It provides:

  • Entity tracking: Cars, humans, bicycles, motorcycles, traffic lights
  • Lanelet map queries: Routes, corridors, regulatory elements
  • Lane context: Current lanelet, distances to events

Parameters

Parameter Type Default Description
osm_map_path string ”” Path to OSM lanelet map
map_frame string “map” Map frame ID
base_frame string “base_link” Robot base frame ID
utm_frame string “utm” UTM frame for map loading
projector_type string “utm” Projector: “utm” or “local_cartesian”
entity_history_duration_sec double 5.0 How long to keep entity history
entity_prune_timeout_sec double 2.0 Prune entities not seen for this long
traffic_light_timeout_sec double 1.0 Traffic light prune timeout
cleanup_interval_ms double 1000.0 Cleanup worker interval
lane_context_publish_rate_hz double 10.0 Lane context publish rate
map_viz_publish_rate_hz double 1.0 Map visualization publish rate
map_viz_radius_m double 100.0 Radius for map visualization
dynamic_objects_publish_rate_hz double 10.0 Dynamic objects publish rate
route_ahead_publish_rate_hz double 10.0 Route ahead publish rate
route_ahead_lookahead_m double 100.0 Lookahead distance for route lanelets

Topics

Subscribed

| Topic | Type | Description | |——-|——|————-| | detections | vision_msgs/Detection3DArray | 3D object detections | | traffic_light_detections | vision_msgs/Detection2DArray | Traffic light detections | | predictions | prediction_msgs/PredictionHypothesesArray | Predicted trajectories |

Published

| Topic | Type | Description | |——-|——|————-| | lane_context | lanelet_msgs/CurrentLaneContext | Current lane information (route-aware) | | route_ahead | lanelet_msgs/RouteAhead | Route lanelets ahead within lookahead distance | | map_visualization | lanelet_msgs/MapVisualization | Nearby lanelets for viz | | dynamic_objects | world_model_msgs/DynamicObjectArray | All tracked entities |

Services

Service Type Description
set_route lanelet_msgs/SetRoute Set destination and cache route
get_shortest_route lanelet_msgs/GetShortestRoute Get entire shortest route from ego to goal
get_lanelets_by_reg_elem lanelet_msgs/GetLaneletsByRegElem Find lanelets by regulatory element

License

Apache 2.0 - Copyright (c) 2025-present WATonomous

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged world_model at Robotics Stack Exchange

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

world_model package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.1.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-02-24
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Central world state database providing lanelet services, entity tracking, and traffic light state

Maintainers

  • WATonomous

Authors

No additional authors.
src/world_modeling/world_model/README.md

World Model

ROS2 Lifecycle Node that maintains a unified view of the world for autonomous driving.

Overview

The world model aggregates data from multiple sources (perception, prediction, HD map) into a single queryable state. It provides:

  • Entity tracking: Cars, humans, bicycles, motorcycles, traffic lights
  • Lanelet map queries: Routes, corridors, regulatory elements
  • Lane context: Current lanelet, distances to events

Parameters

Parameter Type Default Description
osm_map_path string ”” Path to OSM lanelet map
map_frame string “map” Map frame ID
base_frame string “base_link” Robot base frame ID
utm_frame string “utm” UTM frame for map loading
projector_type string “utm” Projector: “utm” or “local_cartesian”
entity_history_duration_sec double 5.0 How long to keep entity history
entity_prune_timeout_sec double 2.0 Prune entities not seen for this long
traffic_light_timeout_sec double 1.0 Traffic light prune timeout
cleanup_interval_ms double 1000.0 Cleanup worker interval
lane_context_publish_rate_hz double 10.0 Lane context publish rate
map_viz_publish_rate_hz double 1.0 Map visualization publish rate
map_viz_radius_m double 100.0 Radius for map visualization
dynamic_objects_publish_rate_hz double 10.0 Dynamic objects publish rate
route_ahead_publish_rate_hz double 10.0 Route ahead publish rate
route_ahead_lookahead_m double 100.0 Lookahead distance for route lanelets

Topics

Subscribed

| Topic | Type | Description | |——-|——|————-| | detections | vision_msgs/Detection3DArray | 3D object detections | | traffic_light_detections | vision_msgs/Detection2DArray | Traffic light detections | | predictions | prediction_msgs/PredictionHypothesesArray | Predicted trajectories |

Published

| Topic | Type | Description | |——-|——|————-| | lane_context | lanelet_msgs/CurrentLaneContext | Current lane information (route-aware) | | route_ahead | lanelet_msgs/RouteAhead | Route lanelets ahead within lookahead distance | | map_visualization | lanelet_msgs/MapVisualization | Nearby lanelets for viz | | dynamic_objects | world_model_msgs/DynamicObjectArray | All tracked entities |

Services

Service Type Description
set_route lanelet_msgs/SetRoute Set destination and cache route
get_shortest_route lanelet_msgs/GetShortestRoute Get entire shortest route from ego to goal
get_lanelets_by_reg_elem lanelet_msgs/GetLaneletsByRegElem Find lanelets by regulatory element

License

Apache 2.0 - Copyright (c) 2025-present WATonomous

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged world_model at Robotics Stack Exchange

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

world_model package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Version 0.1.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-02-24
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Central world state database providing lanelet services, entity tracking, and traffic light state

Maintainers

  • WATonomous

Authors

No additional authors.
src/world_modeling/world_model/README.md

World Model

ROS2 Lifecycle Node that maintains a unified view of the world for autonomous driving.

Overview

The world model aggregates data from multiple sources (perception, prediction, HD map) into a single queryable state. It provides:

  • Entity tracking: Cars, humans, bicycles, motorcycles, traffic lights
  • Lanelet map queries: Routes, corridors, regulatory elements
  • Lane context: Current lanelet, distances to events

Parameters

Parameter Type Default Description
osm_map_path string ”” Path to OSM lanelet map
map_frame string “map” Map frame ID
base_frame string “base_link” Robot base frame ID
utm_frame string “utm” UTM frame for map loading
projector_type string “utm” Projector: “utm” or “local_cartesian”
entity_history_duration_sec double 5.0 How long to keep entity history
entity_prune_timeout_sec double 2.0 Prune entities not seen for this long
traffic_light_timeout_sec double 1.0 Traffic light prune timeout
cleanup_interval_ms double 1000.0 Cleanup worker interval
lane_context_publish_rate_hz double 10.0 Lane context publish rate
map_viz_publish_rate_hz double 1.0 Map visualization publish rate
map_viz_radius_m double 100.0 Radius for map visualization
dynamic_objects_publish_rate_hz double 10.0 Dynamic objects publish rate
route_ahead_publish_rate_hz double 10.0 Route ahead publish rate
route_ahead_lookahead_m double 100.0 Lookahead distance for route lanelets

Topics

Subscribed

| Topic | Type | Description | |——-|——|————-| | detections | vision_msgs/Detection3DArray | 3D object detections | | traffic_light_detections | vision_msgs/Detection2DArray | Traffic light detections | | predictions | prediction_msgs/PredictionHypothesesArray | Predicted trajectories |

Published

| Topic | Type | Description | |——-|——|————-| | lane_context | lanelet_msgs/CurrentLaneContext | Current lane information (route-aware) | | route_ahead | lanelet_msgs/RouteAhead | Route lanelets ahead within lookahead distance | | map_visualization | lanelet_msgs/MapVisualization | Nearby lanelets for viz | | dynamic_objects | world_model_msgs/DynamicObjectArray | All tracked entities |

Services

Service Type Description
set_route lanelet_msgs/SetRoute Set destination and cache route
get_shortest_route lanelet_msgs/GetShortestRoute Get entire shortest route from ego to goal
get_lanelets_by_reg_elem lanelet_msgs/GetLaneletsByRegElem Find lanelets by regulatory element

License

Apache 2.0 - Copyright (c) 2025-present WATonomous

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged world_model at Robotics Stack Exchange

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

world_model package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs lanelet_markers lanelet_msgs lidar_localization localization prediction simple_prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Version 0.1.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-02-24
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Central world state database providing lanelet services, entity tracking, and traffic light state

Maintainers

  • WATonomous

Authors

No additional authors.
src/world_modeling/world_model/README.md

World Model

ROS2 Lifecycle Node that maintains a unified view of the world for autonomous driving.

Overview

The world model aggregates data from multiple sources (perception, prediction, HD map) into a single queryable state. It provides:

  • Entity tracking: Cars, humans, bicycles, motorcycles, traffic lights
  • Lanelet map queries: Routes, corridors, regulatory elements
  • Lane context: Current lanelet, distances to events

Parameters

Parameter Type Default Description
osm_map_path string ”” Path to OSM lanelet map
map_frame string “map” Map frame ID
base_frame string “base_link” Robot base frame ID
utm_frame string “utm” UTM frame for map loading
projector_type string “utm” Projector: “utm” or “local_cartesian”
entity_history_duration_sec double 5.0 How long to keep entity history
entity_prune_timeout_sec double 2.0 Prune entities not seen for this long
traffic_light_timeout_sec double 1.0 Traffic light prune timeout
cleanup_interval_ms double 1000.0 Cleanup worker interval
lane_context_publish_rate_hz double 10.0 Lane context publish rate
map_viz_publish_rate_hz double 1.0 Map visualization publish rate
map_viz_radius_m double 100.0 Radius for map visualization
dynamic_objects_publish_rate_hz double 10.0 Dynamic objects publish rate
route_ahead_publish_rate_hz double 10.0 Route ahead publish rate
route_ahead_lookahead_m double 100.0 Lookahead distance for route lanelets

Topics

Subscribed

| Topic | Type | Description | |——-|——|————-| | detections | vision_msgs/Detection3DArray | 3D object detections | | traffic_light_detections | vision_msgs/Detection2DArray | Traffic light detections | | predictions | prediction_msgs/PredictionHypothesesArray | Predicted trajectories |

Published

| Topic | Type | Description | |——-|——|————-| | lane_context | lanelet_msgs/CurrentLaneContext | Current lane information (route-aware) | | route_ahead | lanelet_msgs/RouteAhead | Route lanelets ahead within lookahead distance | | map_visualization | lanelet_msgs/MapVisualization | Nearby lanelets for viz | | dynamic_objects | world_model_msgs/DynamicObjectArray | All tracked entities |

Services

Service Type Description
set_route lanelet_msgs/SetRoute Set destination and cache route
get_shortest_route lanelet_msgs/GetShortestRoute Get entire shortest route from ego to goal
get_lanelets_by_reg_elem lanelet_msgs/GetLaneletsByRegElem Find lanelets by regulatory element

License

Apache 2.0 - Copyright (c) 2025-present WATonomous

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged world_model at Robotics Stack Exchange