ROS index logo ROS Index
  1. Home
  2. Packages
  3. autoware_motion_velocity_planner
 
No version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.

autoware_motion_velocity_planner package from autoware_core repo

autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_localization_util autoware_stop_filter autoware_twist2accel autoware_core_map autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_ground_filter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.0.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/autowarefoundation/autoware_core.git
VCS Type git
VCS Version main
Last Updated 2025-04-01
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Node of the motion_velocity_planner

Additional Links

No additional links.

Maintainers

  • Maxime Clement
  • Alqudah Mohammad
  • Yutaka Kondo

Authors

  • Maxime Clement
planning/motion_velocity_planner/autoware_motion_velocity_planner/README.md

Motion Velocity Planner

Overview

motion_velocity_planner is a planner to adjust the trajectory velocity based on the obstacles around the vehicle. It loads modules as plugins. Please refer to the links listed below for detail on each module.

Architecture

Each module calculates stop and slow down points to be inserted in the ego trajectory. These points are assumed to correspond to the base_link frame of the ego vehicle as it follows the trajectory. This means that to stop before a wall, a stop point is inserted in the trajectory at a distance ahead of the wall equal to the vehicle front offset (wheelbase + front overhang, see the vehicle dimensions.

set_stop_velocity

Input topics

Name Type Description
~/input/trajectory autoware_planning_msgs::msg::Trajectory input trajectory
~/input/vector_map autoware_map_msgs::msg::LaneletMapBin vector map
~/input/vehicle_odometry nav_msgs::msg::Odometry vehicle position and velocity
~/input/accel geometry_msgs::msg::AccelWithCovarianceStamped vehicle acceleration
~/input/dynamic_objects autoware_perception_msgs::msg::PredictedObjects dynamic objects
~/input/no_ground_pointcloud sensor_msgs::msg::PointCloud2 obstacle pointcloud
~/input/traffic_signals autoware_perception_msgs::msg::TrafficLightGroupArray traffic light states
~/input/occupancy_grid nav_msgs::msg::OccupancyGrid occupancy grid

Output topics

Name Type Description
~/output/trajectory autoware_planning_msgs::msg::Trajectory Ego trajectory with updated velocity profile
~/output/planning_factors/<MODULE_NAME> autoware_internal_planning_msgs::msg::PlanningFactorsArray factors causing change in the ego velocity profile

Services

Name Type Description
~/service/load_plugin autoware_motion_velocity_planner::srv::LoadPlugin To request loading a plugin
~/service/unload_plugin autoware_motion_velocity_planner::srv::UnloadPlugin To request unloaded a plugin

Node parameters

Parameter Type Description
launch_modules vector<string> module names to launch

In addition, the following parameters should be provided to the node:

CHANGELOG

Changelog for package autoware_motion_velocity_planner

1.0.0 (2025-03-31)

  • chore: update version in package.xml
  • feat: autoware_motion_velocity_planner and autoware_motion_velocity_planner_common to core (#242)
    • feat: modify autoware_universe_utils to autoware_utils
    • feat: remove useless dependecy
    • style(pre-commit): autofix
    • feat: modify autoware_universe_utils to autoware_utils
    • feat: autoware_motion_velocity_planner_node to core
    • style(pre-commit): autofix
    • feat: autoware_motion_velocity_planner_node to core
    • feat: modify autoware_universe_utils to autoware_utils
    • feat: remove useless dependecy
    • style(pre-commit): autofix
    • feat: modify autoware_universe_utils to autoware_utils
    • style(pre-commit): autofix
    • feat: port autoware_behavior_velocity_planner to core
    • fix: apply latest changes from autoware.universe
    • fix: deadlinks in README
    • fix(autoware_motion_velocity_planner): porting autoware_motion_velocity_planner, autoware_motion_velocity_planner, sync with latest universe: v0.2
    • style(pre-commit): autofix
    • Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner/include/autoware/behavior_velocity_planner/node.hpp
    • Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/util.hpp
    • Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/util.cpp
    • Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test/src/test_util.cpp
    • Update planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/debug.cpp
    • Update planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.cpp
    • style(pre-commit): autofix
    • Update planning/motion_velocity_planner/autoware_motion_velocity_planner/CMakeLists.txt
    • style(pre-commit): autofix
    • feat(autoware_motion_velocity_planner_node): porting autoware_motion_velocity_planner_node, autoware_motion_velocity_planner_node, remove metrics msgs publish according to pr-10342 under universe repo: v0.5
    • feat(autoware_motion_velocity_planner_common): porting autoware_motion_velocity_planner_common, autoware_motion_velocity_planner_common, port to core repo: v0.0
    • style(pre-commit): autofix
    • move
    • rename
    • fix exec
    • add maintainer
    • style(pre-commit): autofix
    • fix test_depend

    * feat(autoware_motion_velocity_planner_node): porting autoware_motion_velocity_planner_node, autoware_motion_velocity_planner_node, resolve build issue: v0.6 ---------Co-authored-by: suchang <<chang.su@autocore.ai>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <<ryohsuke.mitsudome@tier4.jp>> Co-authored-by: liuXinGangChina <<lxg19892021@gmail.com>> Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> Co-authored-by: Ryohsuke Mitsudome <<43976834+mitsudome-r@users.noreply.github.com>> Co-authored-by: 心刚 <<90366790+liuXinGangChina@users.noreply.github.com>>

  • Contributors: Ryohsuke Mitsudome, storrrrrrrrm

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/motion_velocity_planner.launch.xml
      • common_param_path
      • vehicle_param_file
      • nearest_search_param_path
      • motion_velocity_planner_launch_modules
      • motion_velocity_config_path
      • motion_velocity_planner_param_path
      • motion_velocity_planner_param_file [default: $(find-pkg-share autoware_motion_velocity_planner)/config/motion_velocity_planner.param.yaml]

Messages

No message files found.

Services

Plugins

No plugins found.

Recent questions tagged autoware_motion_velocity_planner at Robotics Stack Exchange

No version for distro noetic. Known supported distros are highlighted in the buttons above.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.