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Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_core.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
Node of the motion_velocity_planner
Additional Links
No additional links.
Maintainers
- Maxime Clement
- Alqudah Mohammad
- Yutaka Kondo
Authors
- Maxime Clement
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.
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.
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:
- nearest search parameters;
- vehicle info parameters;
- common planning parameters;
- smoother parameters
- Parameters of each plugin that will be loaded.
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.
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
| libboost-dev |
Dependant Packages
| Name | Deps |
|---|---|
| autoware_core_planning |
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
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