Mission Planner

Purpose

Mission Planner calculates a route that navigates from the current ego pose to the goal pose following the given check points. The route is made of a sequence of lanes on a static map. Dynamic objects (e.g. pedestrians and other vehicles) and dynamic map information (e.g. road construction which blocks some lanes) are not considered during route planning. Therefore, the output topic is only published when the goal pose or check points are given and will be latched until the new goal pose or check points are given.

The core implementation does not depend on a map format. Any planning algorithms can be added as plugin modules. In current Autoware Universe, only the plugin for Lanelet2 map format is supported.

This package also manages routes for MRM. The route_selector node duplicates the mission_planner interface and provides it for normal and MRM respectively. It distributes route requests and planning results according to current MRM operation state.

Interfaces

Parameters

Services

Subscriptions

Publications

Route section

Route section, whose type is autoware_planning_msgs/LaneletSegment, is a “slice” of a road that bundles lane changeable lanes. Note that the most atomic unit of route is autoware_planning_msgs/LaneletPrimitive, which has the unique id of a lane in a vector map and its type. Therefore, route message does not contain geometric information about the lane since we did not want to have planning module’s message to have dependency on map data structure.

The ROS message of route section contains following three elements for each route section.

• preferred_primitive: Preferred lane to follow towards the goal.
• primitives: All neighbor lanes in the same direction including the preferred lane.

Goal Validation

The mission planner has control mechanism to validate the given goal pose and create a route. If goal pose angle between goal pose lanelet and goal pose’ yaw is greater than goal_angle_threshold parameter, the goal is rejected. Another control mechanism is the creation of a footprint of the goal pose according to the dimensions of the vehicle and checking whether this footprint is within the lanelets. If goal footprint exceeds lanelets, then the goal is rejected.

At the image below, there are sample goal pose validation cases.

Implementation

Mission Planner

Two callbacks (goal and check points) are a trigger for route planning.

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Changelog for package autoware_mission_planner_universe

0.48.0 (2025-11-18)

• Merge remote-tracking branch 'origin/main' into humble

• feat(autoware_lanelet2_utils): replace ported functions from autoware_lanelet2_extension (#11593) Co-authored-by: Mamoru Sobue <<hilo.soblin@gmail.com>>

• feat(manual_lane_change_handler): publishing shift-number (#11641)

  • publishing shift-number

  * changed warn to info ---------Co-authored-by: Taiki Yamada <<129915538+TaikiYamada4@users.noreply.github.com>>

• feat(mission_planner): manual lane selection (#11169)

  • manual lane change

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

• fix: tf2 uses hpp headers in rolling (and is backported) (#11620)

• feat(autoware_lanelet2_extension): remove redundant autoware_lanelet2_extension depend from packages (#11492)

• feat(autoware_lanelet2_utils): porting functions from lanelet2_extension to autoware_lanelet2_utils package (replacing usage) in planning component (#11374) Co-authored-by: Mamoru Sobue <<hilo.soblin@gmail.com>>

• fix(mission_planner_universe): fix parameter schema (#11415)

• feat(planning, perception): replace wall_timer with generic timer (#11005)

  • feat(planning, perception): replace wall_timer with generic timer
  • use rclcpp::create_timer

  * remove period_ns ---------

• feat(arrived_goal): improve arrival judgment when ego-vehicle overshoots goal (#11134)

  • improve arrived goal judgement
  • add a missed variable
  • style(pre-commit): autofix
  • update arrival_check pass_goal_distance to arrival_check_overshoot_distance
  • register arrival_check_overshoot_distance variable to README
  • rename some variables
  • style(pre-commit): autofix
  • add arrival_check_overshoot_distance to mission_planner schema
  • update lateral ditance judgement
  • style(pre-commit): autofix
  • fix bugs, and refactor arrival_check logic
  • style(pre-commit): autofix
  • rename longitudinal_distance to longitudinal_undershoot_distance

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

• Contributors: Arjun Jagdish Ram, Mamoru Sobue, Ryohsuke Mitsudome, Sarun MUKDAPITAK, Takagi, Isamu, Tim Clephas, Zhanhong Yan

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

• fix(autoware_trajectory_follower, autoware_mission_planner_universe, autoware_scenario_selector): use transient_local for operation_mode_state (#11101)

  • subscribe operation-mode with transient_local
  • fix mistake
  • fix unit test code

  * pre-commit ---------

• feat(mission_planner): print set route api type (#10884)

• Contributors: Kem (TiankuiXian), Kosuke Takeuchi

0.46.0 (2025-06-20)

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