Changelog for package autoware_behavior_path_planner_common

0.43.0 (2025-03-21)

• Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
• chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
• fix(safety_check): set safety condition properly (#10307)
• feat!: replace VelocityLimit messages with autoware_internal_planning_msgs (#10273)
• fix(autoware_behavior_path_planner_common): add explicit test dependency (#10262)
• feat(behavior_path_planner_common): modify drivable area expansion to be able to avoid static objects (#10220)
  • modify drivable area expansion to avoid static objects
  • rename parameters and update drivable area design md

  * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_drivable_area_design.md Co-authored-by: Maxime CLEMENT <<78338830+maxime-clem@users.noreply.github.com>> * correct parameters description ---------Co-authored-by: Maxime CLEMENT <<78338830+maxime-clem@users.noreply.github.com>>

• feat(Autoware_planning_factor_interface): replace tier4_msgs with autoware_internal_msgs (#10204)
• Contributors: Hayato Mizushima, Mete Fatih Cırıt, Ryohsuke Mitsudome, Satoshi OTA, Yutaka Kondo, mkquda, 心刚

0.42.0 (2025-03-03)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
• feat(autoware_vehicle_info_utils): replace autoware_universe_utils with autoware_utils (#10167)
• refactor(bpp_common): refactor calcBound (#10096) refactor(bpp_common): refactor caclBound
• perf(behavior_path_planner): improve getOverlappedLaneletId (#10094)
• fix: add missing includes to autoware_universe_utils (#10091)
• feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (#10023)
• docs(behaivor_path_planner_common): includes minor corrections (#10042) fix(planning): includes minor corrections
• docs(behavior_path_planner): fix dead link in path_generator (#10040)
• Contributors: Atto Armoo, Fumiya Watanabe, Kosuke Takeuchi, Mamoru Sobue, Ryohsuke Mitsudome, 心刚

0.41.2 (2025-02-19)

• chore: bump version to 0.41.1 (#10088)
• Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• feat(start_planner): visualize planner evaluation table in rviz (#10029) visualize planner evaluation table in rviz
• feat(static_obstacle_avoidance): output safety factor (#10000)
  • feat(safety_check): convert to SafetyFactor
  • feat(static_obstacle_avoidance): use safety factor

  * fix(bpp): output detail ---------

• chore(planning): move package directory for planning factor interface (#9948)
  • chore: add new package for planning factor interface
  • chore(surround_obstacle_checker): update include file
  • chore(obstacle_stop_planner): update include file
  • chore(obstacle_cruise_planner): update include file
  • chore(motion_velocity_planner): update include file
  • chore(bpp): update include file
  • chore(bvp-common): update include file
  • chore(blind_spot): update include file
  • chore(crosswalk): update include file
  • chore(detection_area): update include file
  • chore(intersection): update include file
  • chore(no_drivable_area): update include file
  • chore(no_stopping_area): update include file
  • chore(occlusion_spot): update include file
  • chore(run_out): update include file
  • chore(speed_bump): update include file
  • chore(stop_line): update include file
  • chore(template_module): update include file
  • chore(traffic_light): update include file
  • chore(vtl): update include file
  • chore(walkway): update include file

  * chore(motion_utils): remove factor interface ---------

• feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (#9927) Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>> Co-authored-by: Ryohsuke Mitsudome <<43976834+mitsudome-r@users.noreply.github.com>> Co-authored-by: satoshi-ota <<satoshi.ota928@gmail.com>>
• fix(autoware_behavior_path_planner_common): fix bugprone-errors (#9700) fix: bugprone-error
• Contributors: Fumiya Watanabe, Kyoichi Sugahara, Mamoru Sobue, Satoshi OTA, kobayu858

0.40.0 (2024-12-12)

• Merge branch 'main' into release-0.40.0
• Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
• build(behavior_path_planner_common): fix #include <rclcpp/clock.hpp> (#6297)
• feat(behavior_path_planner): add detail text to virutal wall (#9600)
  • feat(behavior_path_planner): add detail text to virutal wall
  • goal is far
  • pull over start pose is far
  • fix lc build
  • fix build

  * Update planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp ---------

• fix: fix ticket links in CHANGELOG.rst (#9588)
• fix(lane_change): check obj predicted path when filtering (#9385)
  • RT1-8537 check object's predicted path when filtering
  • use ranges view in get_line_string_paths
  • check only vehicle type predicted path
  • Refactor naming
  • fix grammatical

  * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp Co-authored-by: Maxime CLEMENT <<78338830+maxime-clem@users.noreply.github.com>> * precommit and grammar fix ---------Co-authored-by: Maxime CLEMENT <<78338830+maxime-clem@users.noreply.github.com>>

• chore(package.xml): bump version to 0.39.0 (#9587)
  • chore(package.xml): bump version to 0.39.0
  • fix: fix ticket links in CHANGELOG.rst

  * fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

• fix: fix ticket links in CHANGELOG.rst (#9588)
• fix(cpplint): include what you use - planning (#9570)
• test(bpp_common): add unit test for utils (#9469)
  • add easy unit test
  • fix clang tidy warning and add unit test
  • add more unit test

  * add docstring ---------

• test(bpp_common): add unit test for object filtering (#9408)
  • add unit test for all function

  * add function to create bounding nox object ---------

• test(bpp_common): add unit test for traffic light utils (#9441)
  • add test data for traffic light utils
  • add unit test function
  • fix style

  * use test_utils::resolve_plg_share_uri for map path ---------

• fix(bpp)!: remove stop reason (#9449) fix(bpp): remove stop reason
• 0.39.0
• update changelog
• Merge commit '6a1ddbd08bd' into release-0.39.0
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• chore(behavior_path_planner_common): add package maintainer (#9429) add package maintainer
• refactor(lane_change): separate target lane leading based on obj behavior (#9372)
  • separate target lane leading objects based on behavior (RT1-8532)
  • fixed overlapped filtering and lanes debug marker
  • combine filteredObjects function
  • renaming functions and type
  • update some logic to check is stopped
  • rename expanded to stopped_outside_boundary
  • Include docstring
  • rename stopped_outside_boundary → stopped_at_bound

  * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp Co-authored-by: mkquda <<168697710+mkquda@users.noreply.github.com>> * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp Co-authored-by: mkquda <<168697710+mkquda@users.noreply.github.com>> * spell-check ---------Co-authored-by: mkquda <<168697710+mkquda@users.noreply.github.com>>

• refactor(goal_planner): rename shoulder_lane to pull_over_lane (#9422)
• fix(behavior_path_planner_common): prevent duplicated point insertion in cutOverlappedLanes (#9363)
• feat(behavior_path_planner_common): use azimuth for interpolatePose (#9362)
• test(bpp_common): add unit test for safety check (#9386)
  • fix docstring
  • add basic collision test
  • add some more tests
  • add unit test for all functions

  * remove unecessary header and space ---------

• refactor(traffic_light_utils): prefix package and namespace with autoware (#9251)
• feat(bpp): add velocity interface (#9344)
  • feat(bpp): add velocity interface

  * fix(adapi): subscribe additional velocity factors ---------

• refactor(factor): move steering factor interface to motion utils (#9337)
• fix(bpp): update collided polygon pose only once (#9338)
  • fix(bpp): update collided polygon pose only once

  * add expected pose ---------

• refactor(bpp): rework steering factor interface (#9325)
  • refactor(bpp): rework steering factor interface
  • refactor(soa): rework steering factor interface
  • refactor(AbLC): rework steering factor interface
  • refactor(doa): rework steering factor interface
  • refactor(lc): rework steering factor interface
  • refactor(gp): rework steering factor interface
  • refactor(sp): rework steering factor interface
  • refactor(sbp): rework steering factor interface

  * refactor(ss): rework steering factor interface ---------

• test(bpp_common): add tests for the static drivable area (#9324)
• feat(goal_planner): safety check with only parking path (#9293)
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• fix(behavior_path_planner_common): use boost intersects instead of overlaps (#9289)
  • fix(behavior_path_planner_common): use boost intersects instead of overlaps

  * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp Co-authored-by: Go Sakayori <<go-sakayori@users.noreply.github.com>> ---------Co-authored-by: Go Sakayori <<go-sakayori@users.noreply.github.com>>

• chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
  • unify package.xml version to 0.37.0
  • remove system_monitor/CHANGELOG.rst
  • add changelog

  * 0.38.0

• fix(bpp): prevent accessing nullopt (#9269)
• test(behavior_path_planner_common): add unit test for path shifter (#9239)
  • add unit test for path shifter
  • fix unnecessary modification
  • fix spelling mistake

  * add docstring ---------

• test(bpp_common): add unit test for safety check (#9223)
  • add test for object collision
  • add test for more functions
  • add docstring

  * fix lane change ---------

• fix(bpp): prevent accessing nullopt (#9204) fix(bpp): calcDistanceToRedTrafficLight null
• Contributors: Esteve Fernandez, Felix F Xu, Fumiya Watanabe, Go Sakayori, Kosuke Takeuchi, M. Fatih Cırıt, Maxime CLEMENT, Ryohsuke Mitsudome, Satoshi OTA, Shumpei Wakabayashi, Yutaka Kondo, Zulfaqar Azmi, mkquda

0.39.0 (2024-11-25)

• Merge commit '6a1ddbd08bd' into release-0.39.0
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• feat(goal_planner): safety check with only parking path (#9293)
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• fix(behavior_path_planner_common): use boost intersects instead of overlaps (#9289)
  • fix(behavior_path_planner_common): use boost intersects instead of overlaps

  * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp Co-authored-by: Go Sakayori <<go-sakayori@users.noreply.github.com>> ---------Co-authored-by: Go Sakayori <<go-sakayori@users.noreply.github.com>>

• chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
  • unify package.xml version to 0.37.0
  • remove system_monitor/CHANGELOG.rst
  • add changelog

  * 0.38.0

• fix(bpp): prevent accessing nullopt (#9269)
• test(behavior_path_planner_common): add unit test for path shifter (#9239)
  • add unit test for path shifter
  • fix unnecessary modification
  • fix spelling mistake

  * add docstring ---------

• test(bpp_common): add unit test for safety check (#9223)
  • add test for object collision
  • add test for more functions
  • add docstring

  * fix lane change ---------

• fix(bpp): prevent accessing nullopt (#9204) fix(bpp): calcDistanceToRedTrafficLight null
• Contributors: Esteve Fernandez, Go Sakayori, Kosuke Takeuchi, Shumpei Wakabayashi, Yutaka Kondo

0.38.0 (2024-11-08)

• unify package.xml version to 0.37.0
• fix(traffic_light_utils): prevent accessing nullopt (#9163)
• fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID (#9103)
  • fix(behavior_path_planner, behavior_velocity_planner): fix to not read invalid ID
  • style(pre-commit): autofix
  • fix typo

  * fix(behavior_path_planner, behavior_velocity_planner): fix typo and indentation ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• feat(autoware_test_utils): move test_map, add launcher for test_map (#9045)
• test(bpp_common): add test for path utils (#9122)
  • add test file for path utils
  • fix
  • add tests for map irrelevant function
  • add test for getUnshiftedEgoPose

  * add docstring and remove unneccesary function ---------

• feat(test_utils): add simple path with lane id generator (#9113)
  • add simple path with lane id generator
  • chnage to explicit template
  • fix
  • add static cast

  * remove header file ---------

• feat(lane_change): add unit test for normal lane change class (RT1-7970) (#9090)
  • RT1-7970 testing base class
  • additional test
  • Added update lanes
  • check path generation
  • check is lane change required

  * fix PRs comment ---------

• test(bpp_common): add test for objects filtering except for lanelet using functions (#9049)
  • add test for objects filtering except for lanelet using functions
  • remove unnecessary include file

  * add doxygen ---------

• refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (#8946)
• refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (#9081)
  • remove unused function
  • mover path shifter utils function to autoware motion utils
  • minor change in license header
  • fix warning message

  * remove header file ---------

• test(bpp_common): add test for occupancy grid based collision detector (#9066)
  • add test for occupancy grid based collision detector
  • remove unnnecessary header
  • fix

  * change map resolution and corresponding index ---------

• test(bpp_common): add test for parking departure utils (#9055)
  • add test for parking departure utils
  • fix
  • fix typo

  * use EXPECT_DOUBLE_EQ instead of EXPECT_NEAR ---------

• test(bpp_common): add test for object related functions (#9062)
  • add test for object related functions
  • use EXPECT_DOUBLE_EQ instead of EXPECT_NEAR

  * fix build error ---------

• test(bpp_common): add test for footprint (#9056) add test for footprint
• refactor(lane_change): refactor get_lane_change_lanes function (#9044)
  • refactor(lane_change): refactor get_lane_change_lanes function

  * Add doxygen comment for to_geom_msg_pose ---------

• fix(behavior_path_planner_common): swap boolean for filterObjectsByVelocity (#9036) fix filter object by velocity

• feat(autoware_behavior_path_planner_common): disable feature of turning off blinker at low velocity (#9005) * feat(turn_signal_decider): disable feature of turning off blinker at low velocity ---------

• refactor(bpp): simplify ExtendedPredictedObject and add new member variables (#8889)
  • simplify ExtendedPredictedObject and add new member variables
  • replace self polygon to initial polygon
  • comment

  * add comments to dist of ego ---------

• refactor(autoware_interpolation): prefix package and namespace with autoware (#8088) Co-authored-by: kosuke55 <<kosuke.tnp@gmail.com>>
• fix(behavior_path_planner): fix rtc state update logic (#8899)
  • fix function updateRTCStatus

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

• test(autoware_behavior_path_planner_common): add tests for calcInterpolatedPoseWithVelocity (#8270)
  • test: add interpolated pose calculation function's test

  * disabled SpecialCases test ---------

• refactor(behavior_path_planner): planner data parameter initializer function (#8767)
• feat(behavior_planning): update test map for BusStopArea and bicycle_lanes (#8694)
• fix(autoware_behavior_path_planner_common): fix unusedFunction (#8736) fix:unusedFunction
• fix(autoware_behavior_path_planner_common): fix unusedFunction (#8707)
  • fix:createDrivableLanesMarkerArray and setDecelerationVelocity
  • fix:convertToSnakeCase

  * fix:clang format ---------

• fix(bpp): use common steering factor interface for same scene modules (#8675)
• fix(autoware_behavior_path_planner_common): fix unusedFunction (#8654)
  • fix:unusedFunction 0-2
  • fix:unusedFunction 3-5

  * fix:unusedFunction ---------

• chore(behavior_path_planner_common): update road_shoulder test_map (#8550)
• perf(goal_planner): faster path sorting and selection (#8457)
  • perf(goal_planner): faster path sorting and selection

  * path_id_to_rough_margin_map ---------

• feat(behavior_path_planner_common): add calculateRoughDistanceToObjects (#8464)
• fix(autoware_behavior_path_planner_common): fix variableScope (#8443) fix:variableScope
• refactor(safety_checker): remove redundant polygon creation (#8502)
• feat(lane_change): ensure LC merging lane stop point is safe (#8369)
  • function to check for merging lane
  • function to compute distance from last fit width center line point to lane end
  • ensure lane width at LC stop point is larger than ego width
  • refactor function isMergingLane
  • improve implementation
  • apply logic only when current ego foot print is within lane
  • change implementation to use intersection points of buffered centerline and lane polygon
  • minor refactoring

  * overload function isEgoWithinOriginalLane to pass lane polygon directly ---------

• feat(behavior_path_planner_common): add road_shoulder test map (#8454)
• fix(turn_signal, lane_change, goal_planner): add optional to tackle lane change turn signal and pull over turn signal (#8463)
  • add optional to tackle LC turn signal and pull over turn signal

  * CPP file should not re-define default value; typo in copying from internal repos ---------

• perf(static_obstacle_avoidance): improve logic to reduce computational cost (#8432)
  • perf(safety_check): check within first
  • perf(static_obstacle_avoidance): remove duplicated process

  * perf(static_obstacle_avoidance): remove heavy process ---------

• fix(start/goal_planner): align geometric parall parking start pose with center line (#8326)
• feat(behavior_path _planner): divide planner manager modules into dependent slots (#8117)
• feat(path_safety_checker): add rough collision check (#8193)
  • feat(path_safety_checker): add rough collision check

  * Update planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp ---------

• fix(autoware_behavior_path_planner_common): fix passedByValue (#8209)
  • fix:clang format
  • fix:passedByValue

  * fix:passedByValue ---------

• fix(behavior_path_planner_common): fix dynamic drivable area expansion with few input bound points (#8136)
• fix(bpp): fix approved request search (#8119) fix existApprovedRequest condition
• fix(bpp, rtc_interface): fix state transition (#7743)
  • fix(rtc_interface): check rtc state
  • fix(bpp_interface): check rtc state

  * feat(rtc_interface): print ---------

• fix(autoware_behavior_path_planner_common): fix constParameterReference (#8045) fix:constParameterReference
• feat(autoware_behavior_path_planner_common,autoware_behavior_path_lane_change_module): add time_keeper to bpp (#8004)
  • feat(autoware_behavior_path_planner_common,autoware_behavior_path_lane_change_module): add time_keeper to bpp

  * update

• fix(autoware_behavior_path_planner_common): fix shadowVariable (#7965) fix:shadowVariable
• feat(safety_check): filter safety check targe objects by yaw deviation between pose and lane (#7828)
  • fix(safety_check): filter by yaw deviation to check object belongs to lane

  * fix(static_obstacle_avoidance): check yaw only when the object is moving ---------

• fix(autoware_behavior_path_planner_common): fix knownConditionTrueFalse (#7816)

• feat(autoware_behavior_path_planner): remove max_module_size param (#7764) * feat(behavior_path_planner): remove max_module_size param The max_module_size param has been removed from the behavior_path_planner scene_module_manager.param.yaml file. This param was unnecessary and has been removed to simplify the configuration. ---------

• feat: add [autoware_]{.title-ref} prefix to [lanelet2_extension]{.title-ref} (#7640)
• feat(start_planner): yaw threshold for rss check (#7657)
  • add param to customize yaw th
  • add param to other modules
  • docs
  • update READMEs with params
  • fix LC README

  * use normalized yaw diff ---------

• fix(autoware_behavior_path_planner_common): fix containerOutOfBounds warning (#7675)
  • fix(autoware_behavior_path_planner_common): fix containerOutOfBounds warning

  * fix type ---------

• fix(autoware_behavior_path_planner_common): fix shadowArgument warning in getDistanceToCrosswalk (#7665)
• fix(autoware_behavior_path_planner_common): fix shadowArgument warning (#7623)
• refactor(universe_utils/motion_utils)!: add autoware namespace (#7594)
• fix(autoware_behavior_path_planner_common): fix redundantContinue warning (#7578)
• fix(behavior_path_planner): fix redundantAssignment warning (#7560)
• refactor(motion_utils)!: add autoware prefix and include dir (#7539) refactor(motion_utils): add autoware prefix and include dir
• feat(autoware_universe_utils)!: rename from tier4_autoware_utils (#7538) Co-authored-by: kosuke55 <<kosuke.tnp@gmail.com>>
• fix(behavior_path_planner): fix redundantIfRemove warning (#7544)
• refactor(route_handler)!: rename to include/autoware/{package_name} (#7530) refactor(route_handler)!: rename to include/autoware/{package_name}
• refactor(rtc_interface)!: rename to include/autoware/{package_name} (#7531) Co-authored-by: Fumiya Watanabe <<rej55.g@gmail.com>>
• refactor(freespace_planner)!: rename to include/autoware/{package_name} (#7525) refactor(freespace_planner)!: rename to include/autoware/{package_name} refactor(start_planner): make autoware include dir refactor(goal_planner): make autoware include dir sampling planner module fix sampling planner build dynamic_avoidance lc side shift autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_path_planner_common make behavior_path dir pre-commit fix pre-commit fix build autoware_freespace_planner freespace_planning_algorithms
• refactor(control)!: refactor directory structures of the control checkers (#7524)
  • aeb
  • control_validator
  • lane_departure_checker
  • shift_decider

  * fix

• refactor(objects_of_interest_marker_interface): rename to include/autoware/{package_name} (#7535)
• refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (#7522)
  • refactor(behavior_path_planner)!: make autoware dir in include
  • refactor(start_planner): make autoware include dir
  • refactor(goal_planner): make autoware include dir
  • sampling planner module
  • fix sampling planner build
  • dynamic_avoidance
  • lc
  • side shift
  • autoware_behavior_path_static_obstacle_avoidance_module
  • autoware_behavior_path_planner_common
  • make behavior_path dir
  • pre-commit
  • fix pre-commit

  * fix build ---------

• Contributors: Esteve Fernandez, Fumiya Watanabe, Go Sakayori, Koichi98, Kosuke Takeuchi, Kyoichi Sugahara, Mamoru Sobue, Maxime CLEMENT, Ryuta Kambe, Satoshi OTA, T-Kimura-MM, Takayuki Murooka, Yuki TAKAGI, Yukinari Hisaki, Yutaka Kondo, Yuxuan Liu, Zulfaqar Azmi, danielsanchezaran, kobayu858, mkquda

0.26.0 (2024-04-03)