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autoware_external_velocity_limit_selector package from autoware_universe repo

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autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_run_out_module autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter 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Package Summary

Tags No category tags.
Version 0.44.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2025-04-25
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The autoware_external_velocity_limit_selector ROS 2 package

Additional Links

No additional links.

Maintainers

  • Satoshi Ota
  • Shinnosuke Hirakawa
  • Shumpei Wakabayashi
  • Tomohito Ando
  • Tomoya Kimura

Authors

  • Satoshi Ota
planning/autoware_external_velocity_limit_selector/README.md

External Velocity Limit Selector

Purpose

The external_velocity_limit_selector_node is a node that keeps consistency of external velocity limits. This module subscribes

  1. velocity limit command sent by API,
  2. velocity limit command sent by Autoware internal modules.

VelocityLimit.msg contains not only max velocity but also information about the acceleration/jerk constraints on deceleration. The external_velocity_limit_selector_node integrates the lowest velocity limit and the highest jerk constraint to calculate the hardest velocity limit that protects all the deceleration points and max velocities sent by API and Autoware internal modules.

selector algorithm

Inner-workings / Algorithms

WIP

Inputs

Name Type Description
~input/velocity_limit_from_api autoware_internal_planning_msgs::msg::VelocityLimit velocity limit from api
~input/velocity_limit_from_internal autoware_internal_planning_msgs::msg::VelocityLimit velocity limit from autoware internal modules
~input/velocity_limit_clear_command_from_internal autoware_internal_planning_msgs::msg::VelocityLimitClearCommand velocity limit clear command

Outputs

Name Type Description
~output/max_velocity autoware_internal_planning_msgs::msg::VelocityLimit current information of the hardest velocity limit

Parameters

Parameter Type Description
max_velocity double default max velocity [m/s]
normal.min_acc double minimum acceleration [m/ss]
normal.max_acc double maximum acceleration [m/ss]
normal.min_jerk double minimum jerk [m/sss]
normal.max_jerk double maximum jerk [m/sss]
limit.min_acc double minimum acceleration to be observed [m/ss]
limit.max_acc double maximum acceleration to be observed [m/ss]
limit.min_jerk double minimum jerk to be observed [m/sss]
limit.max_jerk double maximum jerk to be observed [m/sss]

Assumptions / Known limits

(Optional) Error detection and handling

(Optional) Performance characterization

(Optional) Future extensions / Unimplemented parts

CHANGELOG

Changelog for package autoware_external_velocity_limit_selector

0.44.0 (2025-04-18)

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)
  • feat!: replace VelocityLimit messages with autoware_internal_planning_msgs (#10273)
  • Contributors: Hayato Mizushima, Ryohsuke Mitsudome, Yutaka Kondo

0.42.0 (2025-03-03)

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: tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (#9902) feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files planning/autoware_external_velocity_limit_selector
  • test(external_velocity_limit_selector): add node test (#8944) add node smoke test
  • Contributors: Fumiya Watanabe, Maxime CLEMENT, Vishal Chauhan

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.
  • fix: fix ticket links in CHANGELOG.rst (#9588)
  • 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)
  • feat(velocity_smoother, external_velocity_limit_selector): enable stronger acceleration when requested (#9502)
    • change max acceleration and max jerk according to external velocity request
    • modify external velocity limit selector
    • fix external velocity limit selector

    * fix format ---------

  • 0.39.0
  • update changelog
  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
  • 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

  • Contributors: Esteve Fernandez, Fumiya Watanabe, Go Sakayori, Ryohsuke Mitsudome, Yutaka Kondo

0.39.0 (2024-11-25)

0.38.0 (2024-11-08)

  • unify package.xml version to 0.37.0
  • feat(external_velocity_limit_selector): integrate generate_parameter_library (#8770)
    • add parameter description

    * use parameter listener ---------

  • feat(external_velocity_limit_selector): rename to include/autoware/{package_name} (#7516)
  • chore(autoware_external_velocity_limit_selector): add prefix [autoware_]{.title-ref} (#7295) chore(autoware_external_velocity_limit_selector): rename
  • Contributors: Mitsuhiro Sakamoto, Satoshi OTA, Takayuki Murooka, Yutaka Kondo

0.26.0 (2024-04-03)

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/external_velocity_limit_selector.launch.xml
      • common_param_path [default: $(find-pkg-share autoware_external_velocity_limit_selector)/config/default_common.param.yaml]
      • param_path [default: $(find-pkg-share autoware_external_velocity_limit_selector)/config/default.param.yaml]
      • input_velocity_limit_from_api [default: /planning/scenario_planning/max_velocity_default]
      • input_velocity_limit_from_internal [default: /planning/scenario_planning/max_velocity_candidates]
      • input_velocity_limit_clear_command_from_internal [default: /planning/scenario_planning/clear_velocity_limit]
      • output_velocity_limit_from_selector [default: /planning/scenario_planning/max_velocity]
      • output_debug_string [default: /planning/scenario_planning/external_velocity_limit_selector/debug]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_external_velocity_limit_selector at Robotics Stack Exchange

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