route handler

route_handler is a library for calculating driving route on the lanelet map.

Unit Testing

The unit testing depends on autoware_test_utils package. autoware_test_utils is a library that provides several common functions to simplify unit test creating.

By default, route file is necessary to create tests. The following illustrates the route that are used in the unit test

Lane change test route

• The route is based on map that can be obtained from autoware_test_utils\test_map

Changelog for package autoware_route_handler

1.1.0 (2025-05-01)

• feat(route_handler): use a cost metric to select start lane (#357)

  • feat(route_handler): use a cost metric to select start lane

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

• Contributors: Mert Çolak

1.5.0 (2025-11-16)

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

• feat(autoware_lanelet2_utils): replace ported functions from autoware_lanelet2_extension (#695)

• feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)

  • replace ament_auto_package to autoware_ament_auto_package

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

• fix(route_handler): use next lane velocity when merging points (#690)

• feat(autoware_lanelet2_utils): porting functions from lanelet2_extension to autoware_lanelet2_utils package (#621)

• fix(route_handler): add same lane ID check in getRightLanelet/getLeftLanelet function (#632)

  • fix(route_handler): add same lane ID check in getRightLanelet/getLeftLanelet function

  * remove unnecessary changes ---------

• fix(route_handler): correct handling of centerline point retrieval when requested distance is longer than lanelet length (#622)

  • fix: correct handling of centerline point retrieval when requested distance is longer than lanelet length

  * fix: return last point ---------

• chore: bump version (1.4.0) and update changelog (#608)

• Contributors: Mete Fatih Cırıt, Sarun MUKDAPITAK, Satoshi OTA, Yukinari Hisaki, Yutaka Kondo, Zulfaqar Azmi, mitsudome-r

1.4.0 (2025-08-11)

• Merge remote-tracking branch 'origin/main' into humble
• feat(route_handler): add bicycle lane getter (#589)
• chore: bump version to 1.3.0 (#554)
• Contributors: Mamoru Sobue, Ryohsuke Mitsudome

1.3.0 (2025-06-23)

• fix: to be consistent version in all package.xml(s)

• perf(route_handler): improve functions to get nearest route lanelet (#532)

• fix(autoware_route_handler): fix deprecated autoware_utils header (#446)

  • fix autoware_utils header
  • style(pre-commit): autofix

  * fix to autoware_utils_geometry ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

• fix: tf2 uses hpp headers in rolling (and is backported) (#483)

  • tf2 uses hpp headers in rolling (and is backported)

  * fixup! tf2 uses hpp headers in rolling (and is backported) ---------

• fix(route_handler): fix error message for the route planning failure

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