Path Smoothing

Purpose

This package contains code to smooth a path or trajectory.

Features

Elastic Band

More details about the elastic band can be found here.

Changelog for package autoware_path_smoother

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(path_optimizer): additional failure logging and failure mode handling (#10276) MRM when MPT fails
• feat: adaption to ROS nodes guidelines about directory structure (#10268)
• Contributors: Arjun Jagdish Ram, Hayato Mizushima, NorahXiong, 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)
• fix: add missing includes to autoware_universe_utils (#10091)
• 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>>

• Contributors: Fumiya Watanabe, 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_smoother)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_path_smoother (#9910)
  • feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files planning/autoware_path_smoother

  * Update planning/autoware_path_smoother/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
• fix(autoware_path_smoother): fix bugprone-branch-clone (#9697)
  • fix: bugprone-error

  * fix: bugprone-error ---------

• Contributors: Fumiya Watanabe, Takayuki Murooka, Vishal Chauhan, 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.
• 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: correct spelling (#9528)
• 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

0.39.0 (2024-11-25)

• 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, Yutaka Kondo

0.38.0 (2024-11-08)

• unify package.xml version to 0.37.0
• refactor(osqp_interface): added autoware prefix to osqp_interface (#8958)
• 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_smoother): fix passedByValue (#8203) fix:passedByValue
• 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_smoother): rename to include/autoware/{package_name} (#7527)
  • feat(path_smoother): rename to include/autoware/{package_name}

  * fix

• 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(path_smoother)!: prefix package and namespace with autoware (#7381)
  • git mv
  • fix
  • fix launch
  • rever a part of prefix
  • fix test
  • fix
  • fix static_centerline_optimizer

  * fix

• Contributors: Esteve Fernandez, Kosuke Takeuchi, Takayuki Murooka, Yutaka Kondo, Zhe Shen, Zulfaqar Azmi, kobayu858

0.26.0 (2024-04-03)