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autoware_path_optimizer package from autoware_universe repo

autoware_adapi_specs autoware_agnocast_wrapper autoware_auto_common autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_gyro_odometer autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_ndt_scan_matcher autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initializer autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_tf_generator autoware_bytetrack autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_crossing_objects_noise_filter autoware_radar_fusion_to_detected_object autoware_radar_object_clustering autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simple_object_merger autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_mission_planner_universe autoware_obstacle_cruise_planner autoware_obstacle_stop_planner autoware_path_optimizer autoware_path_smoother autoware_planning_validator autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker 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_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_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_component_monitor autoware_component_state_monitor autoware_default_adapi autoware_adapi_adaptors autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_processing_time_checker autoware_system_diagnostic_monitor autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_mission_details_overlay_rviz_plugin autoware_overlay_rviz_plugin autoware_string_stamped_rviz_plugin autoware_perception_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_datetime_rviz_plugin tier4_localization_rviz_plugin tier4_planning_factor_rviz_plugin tier4_planning_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

Package Summary

Tags No category tags.
Version 0.43.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2025-04-04
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

The autoware_path_optimizer package

Additional Links

No additional links.

Maintainers

  • Takayuki Murooka
  • Kosuke Takeuchi
  • Takamasa Horibe

Authors

  • Takayuki Murooka

Path optimizer

Purpose

This package generates a trajectory that is kinematically-feasible to drive and collision-free based on the input path, drivable area. Only position and orientation of trajectory are updated in this module, and velocity is just taken over from the one in the input path.

Feature

This package is able to

  • make the trajectory inside the drivable area as much as possible
    • NOTE: Static obstacles to avoid can be removed from the drivable area.
  • insert stop point before the planned footprint will be outside the drivable area

Note that the velocity is just taken over from the input path.

Inputs / Outputs

input

Name Type Description
~/input/path autoware_planning_msgs/msg/Path Reference path and the corresponding drivable area
~/input/odometry nav_msgs/msg/Odometry Current Velocity of ego vehicle

output

Name Type Description
~/output/trajectory autoware_planning_msgs/msg/Trajectory Optimized trajectory that is feasible to drive and collision-free

Flowchart

Flowchart of functions is explained here.

@startuml
title pathCallback
start

:isDataReady;

:createPlannerData;

group generateOptimizedTrajectory
  group optimizeTrajectory
    :check replan;
    if (replanning required?) then (yes)
      :getEBTrajectory;
      :getModelPredictiveTrajectory;
      if (optimization failed?) then (no)
      else (yes)
        :send previous\n trajectory;
      endif
    else (no)
      :send previous\n trajectory;
    endif
  end group

  :applyInputVelocity;
  :insertZeroVelocityOutsideDrivableArea;
  :publishDebugMarkerOfOptimization;
end group


:extendTrajectory;

:setZeroVelocityAfterStopPoint;

:publishDebugData;

stop
@enduml

createPlannerData

The following data for planning is created.

struct PlannerData
{
  // input
  Header header;
  std::vector<TrajectoryPoint> traj_points; // converted from the input path
  std::vector<geometry_msgs::msg::Point> left_bound;
  std::vector<geometry_msgs::msg::Point> right_bound;

  // ego
  geometry_msgs::msg::Pose ego_pose;
  double ego_vel;
};

check replan

When one of the following conditions are met, trajectory optimization will be executed. Otherwise, previously optimized trajectory is used with updating the velocity from the latest input path.

max_path_shape_around_ego_lat_dist

  • Ego moves longer than replan.max_ego_moving_dist in one cycle. (default: 3.0 [m])
    • This is for when the ego pose is set again in the simulation.
  • Trajectory’s end, which is considered as the goal pose, moves longer than replan.max_goal_moving_dist in one cycle. (default: 15.0 [ms])
    • When the goal pose is set again, the planning should be reset.
  • Time passes. (default: 1.0 [s])
    • The optimization is skipped for a while sine the optimization is sometimes heavy.
  • The input path changes laterally longer than replan.max_path_shape_around_ego_lat_dist in one cycle. (default: 2.0)

getModelPredictiveTrajectory

This module makes the trajectory kinematically-feasible and collision-free. We define vehicle pose in the frenet coordinate, and minimize tracking errors by optimization. This optimization considers vehicle kinematics and collision checking with road boundary and obstacles. To decrease the computation cost, the optimization is applied to the shorter trajectory (default: 50 [m]) than the whole trajectory, and concatenate the remained trajectory with the optimized one at last.

The trajectory just in front of the ego must not be changed a lot so that the steering wheel will be stable. Therefore, we use the previously generated trajectory in front of the ego.

Optimization center on the vehicle, that tries to locate just on the trajectory, can be tuned along side the vehicle vertical axis. This parameter mpt.kinematics.optimization center offset is defined as the signed length from the back-wheel center to the optimization center. Some examples are shown in the following figure, and it is shown that the trajectory of vehicle shape differs according to the optimization center even if the reference trajectory (green one) is the same.

mpt_optimization_offset

More details can be seen here.

applyInputVelocity

Velocity is assigned in the optimized trajectory from the velocity in the behavior path. The shapes of the optimized trajectory and the path are different, therefore the each nearest trajectory point to the path is searched and the velocity is interpolated with zero-order hold.

insertZeroVelocityOutsideDrivableArea

Optimized trajectory is too short for velocity planning, therefore extend the trajectory by concatenating the optimized trajectory and the behavior path considering drivability. Generated trajectory is checked if it is inside the drivable area or not, and if outside drivable area, output a trajectory inside drivable area with the behavior path or the previously generated trajectory.

As described above, the behavior path is separated into two paths: one is for optimization and the other is the remain. The first path becomes optimized trajectory, and the second path just is transformed to a trajectory. Then a trajectory inside the drivable area is calculated as follows.

  • If optimized trajectory is inside the drivable area, and the remained trajectory is inside/outside the drivable area,
    • the output trajectory will be just concatenation of those two trajectories.
    • In this case, we do not care if the remained trajectory is inside or outside the drivable area since generally it is outside the drivable area (especially in a narrow road), but we want to pass a trajectory as long as possible to the latter module.
  • If optimized trajectory is outside the drivable area, and the remained trajectory is inside/outside the drivable area,
    • and if the previously generated trajectory is memorized,
      • the output trajectory will be the previously generated trajectory, where zero velocity is inserted to the point firstly going outside the drivable area.
    • and if the previously generated trajectory is not memorized,
      • the output trajectory will be a part of trajectory just transformed from the behavior path, where zero velocity is inserted to the point firstly going outside the drivable area.

Optimization failure is dealt with the same as if the optimized trajectory is outside the drivable area. The output trajectory is memorized as a previously generated trajectory for the next cycle.

Rationale In the current design, since there are some modelling errors, the constraints are considered to be soft constraints. Therefore, we have to make sure that the optimized trajectory is inside the drivable area or not after optimization.

Limitation

  • Computation cost is sometimes high.
  • Because of the approximation such as linearization, some narrow roads cannot be run by the planner.
  • Roles of planning for behavior_path_planner and path_optimizer are not decided clearly. Both can avoid obstacles.

Comparison to other methods

Trajectory planning problem that satisfies kinematically-feasibility and collision-free has two main characteristics that makes hard to be solved: one is non-convex and the other is high dimension. Based on the characteristics, we investigate pros/cons of the typical planning methods: optimization-based, sampling-based, and learning-based method.

Optimization-based method

  • pros: comparatively fast against high dimension by leveraging the gradient descent
  • cons: often converge to the local minima in the non-convex problem

Sampling-based method

  • pros: realize global optimization
  • cons: high computation cost especially in the complex case

Learning-based method

  • under research yet

Based on these pros/cons, we chose the optimization-based planner first. Although it has a cons to converge to the local minima, it can get a good solution by the preprocessing to approximate the problem to convex that almost equals to the original non-convex problem.

How to Tune Parameters

Drivability in narrow roads

  • modify mpt.clearance.soft_clearance_from_road
    • This parameter describes how much margin to make between the trajectory and road boundaries.
    • Due to the model error for optimization, the constraint such as collision-free is not fully met.
      • By making this parameter larger, the is for narrow-road driving may be resolved. 12180
  • modify mpt.kinematics.optimization_center_offset

    • The point on the vehicle, offset forward with this parameter from the base link` tries to follow the reference path.
  • change or tune the method to approximate footprints with a set of circles.
    • See here
    • Tuning means changing the ratio of circle’s radius.

Computation time

  • under construction

Robustness

  • Check if the trajectory before or after MPT is not robust
    • if the trajectory before MPT is not robust
    • if the trajectory after MPT is not robust
      • make mpt.weight.steer_input_weight or mpt.weight.steer_rate_weight larger, which are stability of steering wheel along the trajectory.

Other options

  • option.enable_skip_optimization skips MPT optimization.
  • option.enable_calculation_time_info enables showing each calculation time for functions and total calculation time on the terminal.
  • option.enable_outside_drivable_area_stop enables stopping just before the generated trajectory point will be outside the drivable area.

How To Debug

How to debug can be seen here.

CHANGELOG

Changelog for package autoware_path_optimizer

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(autoware_path_optimizer): hotfix for wrong logic triggering MRM on start in 3 seconds (#10305) fix
  • feat(path_optimizer): additional failure logging and failure mode handling (#10276) MRM when MPT fails
  • feat: apply splitting of autoware_utils_geometry (#10270)
    • fix build error

    * merge namespace ---------

  • feat: adaption to ROS nodes guidelines about directory structure (#10268)
  • fix(path_optimizer): remove unnecesary optional (#10181)
  • fix(planning): add missing exec_depend (#10134)
    • fix(planning): add missing exec_depend
    • fix find-pkg-share

    * fix find-pkg-share ---------

  • Contributors: Arjun Jagdish Ram, Hayato Mizushima, NorahXiong, Takagi, Isamu, Takayuki Murooka, Yutaka Kondo

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: remove dependency on autoware_universe_utils from autoware_interpolation and autoware_motion_utils (#10092) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>
  • feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (#10023)
  • feat(planning_test_manager): abstract message-specific functions (#9882)
    • abstract message-specific functions
    • include necessary header
    • adapt velocity_smoother to new test manager
    • adapt behavior_velocity_planner to new test manager
    • adapt path_optimizer to new test manager
    • fix output subscription
    • adapt behavior_path_planner to new test manager
    • adapt scenario_selector to new test manager
    • adapt freespace_planner to new test manager
    • adapt planning_validator to new test manager
    • adapt obstacle_stop_planner to new test manager
    • adapt obstacle_cruise_planner to new test manager
    • disable test for freespace_planner
    • adapt behavior_velocity_crosswalk_module to new test manager
    • adapt behavior_path_lane_change_module to new test manager
    • adapt behavior_path_avoidance_by_lane_change_module to new test manager
    • adapt behavior_path_dynamic_obstacle_avoidance_module to new test manager
    • adapt behavior_path_external_request_lane_change_module to new test manager
    • adapt behavior_path_side_shift_module to new test manager
    • adapt behavior_path_static_obstacle_avoidance_module to new test manager
    • adapt path_smoother to new test manager
    • adapt behavior_velocity_blind_spot_module to new test manager
    • adapt behavior_velocity_detection_area_module to new test manager
    • adapt behavior_velocity_intersection_module to new test manager
    • adapt behavior_velocity_no_stopping_area_module to new test manager
    • adapt behavior_velocity_run_out_module to new test manager
    • adapt behavior_velocity_stop_line_module to new test manager
    • adapt behavior_velocity_traffic_light_module to new test manager
    • adapt behavior_velocity_virtual_traffic_light_module to new test manager
    • adapt behavior_velocity_walkway_module to new test manager
    • adapt motion_velocity_planner_node_universe to new test manager
    • include necessary headers

    * Odometries -> Odometry ---------Co-authored-by: Takayuki Murooka <<takayuki5168@gmail.com>>

  • fix(path_optimizer): fix possible zero division (#10022)
  • Contributors: Fumiya Watanabe, Mamoru Sobue, Mitsuhiro Sakamoto, 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(autoware_path_optimizer)!: tier4_debug_msgs changed to autoware-internal_debug_msgs in autoware_path_optimizer (#9907)
    • feat: tier4_debug_msgs changed to autoware-internal_debug_msgs in files planning/autoware_path_optimizer

    * Update planning/autoware_path_optimizer/package.xml ---------Co-authored-by: Ryohsuke Mitsudome <<43976834+mitsudome-r@users.noreply.github.com>>

  • feat(motion_planning): use StringStamped in autoware_internal_debug_msgs (#9742) feat(motion planning): use StringStamped in autoware_internal_debug_msgs
  • Contributors: Fumiya Watanabe, Takayuki Murooka, 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)
  • fix(cpplint): include what you use - planning (#9570)
  • refactor(global_parameter_loader): prefix package and namespace with autoware (#9303)
  • docs: update the list styles (#9555)
  • fix(path_optimizer): solve issue with time keeper (#9483) solve issue with time keeper
  • 0.39.0
  • update changelog
  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
  • refactor(fake_test_node): prefix package and namespace with autoware (#9249)
  • 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, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo, danielsanchezaran

0.39.0 (2024-11-25)

0.38.0 (2024-11-08)

  • unify package.xml version to 0.37.0
  • refactor(osqp_interface): added autoware prefix to osqp_interface (#8958)
  • chore(path_optimizer): add warn msg for exceptional behavior (#9033)
  • refactor(autoware_interpolation): prefix package and namespace with autoware (#8088) Co-authored-by: kosuke55 <<kosuke.tnp@gmail.com>>
  • fix(motion_planning): align the parameters with launcher (#8792) parameters in motion_planning aligned
  • fix(autoware_path_optimizer): fix unusedFunction (#8644) fix:unusedFunction
  • fix(autoware_path_optimizer): fix unreadVariable (#8361)
    • fix:unreadVariable

    * fix:unreadVariable ---------

  • fix(autoware_path_optimizer): fix passedByValue (#8190) fix:passedByValue
  • fix(path_optimizer): revert the feature of publishing processing time (#8160)
  • feat(autoware_universe_utils): add TimeKeeper to track function's processing time (#7754)
  • fix(autoware_path_optimizer): fix redundantContinue warnings (#7577)
  • refactor(universe_utils/motion_utils)!: add autoware namespace (#7594)
  • 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>>
  • feat(path_optimizer): rename to include/autoware/{package_name} (#7529)
  • refactor(test_utils): move to common folder (#7158)
    • Move autoware planning test manager to autoware namespace
    • fix package share directory for behavior path planner
    • renaming files and directory
    • rename variables that has planning_test_utils in its name.
    • use autoware namespace for test utils
    • move folder to common
    • update .pages file
    • fix test error
    • removed obstacle velocity limiter test artifact

    * remove namespace from planning validator, it has using keyword ---------

  • refactor(vehicle_info_utils)!: prefix package and namespace with autoware (#7353)
    • chore(autoware_vehicle_info_utils): rename header
    • chore(bpp-common): vehicle info
    • chore(path_optimizer): vehicle info
    • chore(velocity_smoother): vehicle info
    • chore(bvp-common): vehicle info
    • chore(static_centerline_generator): vehicle info
    • chore(obstacle_cruise_planner): vehicle info
    • chore(obstacle_velocity_limiter): vehicle info
    • chore(mission_planner): vehicle info
    • chore(obstacle_stop_planner): vehicle info
    • chore(planning_validator): vehicle info
    • chore(surround_obstacle_checker): vehicle info
    • chore(goal_planner): vehicle info
    • chore(start_planner): vehicle info
    • chore(control_performance_analysis): vehicle info
    • chore(lane_departure_checker): vehicle info
    • chore(predicted_path_checker): vehicle info
    • chore(vehicle_cmd_gate): vehicle info
    • chore(obstacle_collision_checker): vehicle info
    • chore(operation_mode_transition_manager): vehicle info
    • chore(mpc): vehicle info
    • chore(control): vehicle info
    • chore(common): vehicle info
    • chore(perception): vehicle info
    • chore(evaluator): vehicle info
    • chore(freespace): vehicle info
    • chore(planning): vehicle info
    • chore(vehicle): vehicle info
    • chore(simulator): vehicle info
    • chore(launch): vehicle info
    • chore(system): vehicle info
    • chore(sensing): vehicle info

    * fix(autoware_joy_controller): remove unused deps ---------

  • refactor(path_optimizer, velocity_smoother)!: prefix package and namespace with autoware (#7354)
    • chore(autoware_velocity_smoother): update namespace

    * chore(autoware_path_optimizer): update namespace ---------

  • feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (#7246) Co-authored-by: Cynthia Liu <<cynthia.liu@autocore.ai>> Co-authored-by: NorahXiong <<norah.xiong@autocore.ai>> Co-authored-by: beginningfan <<beginning.fan@autocore.ai>>
  • chore(autoware_velocity_smoother, autoware_path_optimizer): rename packages (#7202)
    • chore(autoware_path_optimizer): rename package and namespace
    • chore(autoware_static_centerline_generator): rename package and namespace
    • chore: update module name
    • chore(autoware_velocity_smoother): rename package and namespace
    • chore(tier4_planning_launch): update module name
    • chore: update module name
    • fix: test
    • fix: test

    * fix: test ---------

  • Contributors: Esteve Fernandez, Kosuke Takeuchi, Ryohsuke Mitsudome, Ryuta Kambe, Satoshi OTA, Takayuki Murooka, Yuki TAKAGI, Yutaka Kondo, Zhe Shen, Zulfaqar Azmi, kobayu858

0.26.0 (2024-04-03)

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