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autoware_planning_validator 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

ros node for autoware_planning_validator

Additional Links

No additional links.

Maintainers

  • Takamasa Horibe
  • Kosuke Takeuchi

Authors

  • Takamasa Horibe
  • Yutaka Shimizu

Planning Validator

The autoware_planning_validator is a module that checks the validity of a trajectory before it is published. The status of the validation can be viewed in the /diagnostics and /validation_status topics. When an invalid trajectory is detected, the autoware_planning_validator will process the trajectory following the selected option: “0. publish the trajectory as it is”, “1. stop publishing the trajectory”, “2. publish the last validated trajectory”.

autoware_planning_validator

Supported features

The following features are supported for trajectory validation and can have thresholds set by parameters:

  • Invalid field : e.g. Inf, Nan
  • Trajectory points interval : invalid if any of the distance of trajectory points is too large
  • Curvature : invalid if the trajectory has too sharp turns that is not feasible for the given vehicle kinematics
  • Relative angle : invalid if the yaw angle changes too fast in the sequence of trajectory points
  • Lateral acceleration : invalid if the expected lateral acceleration/deceleration is too large
  • Longitudinal acceleration/deceleration : invalid if the acceleration/deceleration in the trajectory point is too large
  • Steering angle : invalid if the expected steering value is too large estimated from trajectory curvature
  • Steering angle rate : invalid if the expected steering rate value is too large
  • Velocity deviation : invalid if the planning velocity is too far from the ego velocity
  • Distance deviation : invalid if the ego is too far from the trajectory
  • Longitudinal distance deviation : invalid if the trajectory is too far from ego in longitudinal direction
  • Forward trajectory length : invalid if the trajectory length is not enough to stop within a given deceleration
  • Yaw difference : invalid if the difference between the ego yaw and closest trajectory yaw is too large

The following features are to be implemented.

  • (TODO) TTC calculation : invalid if the expected time-to-collision is too short on the trajectory

Inputs/Outputs

Inputs

The autoware_planning_validator takes in the following inputs:

Name Type Description
~/input/kinematics nav_msgs/Odometry ego pose and twist
~/input/trajectory autoware_planning_msgs/Trajectory target trajectory to be validated in this node

Outputs

It outputs the following:

Name Type Description
~/output/trajectory autoware_planning_msgs/Trajectory validated trajectory
~/output/validation_status planning_validator/PlanningValidatorStatus validator status to inform the reason why the trajectory is valid/invalid
/diagnostics diagnostic_msgs/DiagnosticStatus diagnostics to report errors

Parameters

The following parameters can be set for the autoware_planning_validator:

System parameters

Name Type Description Default value
invalid_trajectory_handling_type int set the operation when the invalid trajectory is detected.
0: publish the trajectory even if it is invalid,
1: stop publishing the trajectory,
2: publish the last validated trajectory.
0
publish_diag bool the Diag will be set to ERROR when the number of consecutive invalid trajectory exceeds this threshold. (For example, threshold = 1 means, even if the trajectory is invalid, the Diag will not be ERROR if the next trajectory is valid.) true
diag_error_count_threshold int if true, diagnostics msg is published. true
display_on_terminal bool show error msg on terminal true

Algorithm parameters

Thresholds

The input trajectory is detected as invalid if the index exceeds the following thresholds.

Name Type Description Default value
thresholds.interval double invalid threshold of the distance of two neighboring trajectory points [m] 100.0
thresholds.relative_angle double invalid threshold of the relative angle of two neighboring trajectory points [rad] 2.0
thresholds.curvature double invalid threshold of the curvature in each trajectory point [1/m] 1.0
thresholds.lateral_acc double invalid threshold of the lateral acceleration in each trajectory point [m/ss] 9.8
thresholds.longitudinal_max_acc double invalid threshold of the maximum longitudinal acceleration in each trajectory point [m/ss] 9.8
thresholds.longitudinal_min_acc double invalid threshold of the minimum longitudinal deceleration in each trajectory point [m/ss] -9.8
thresholds.steering double invalid threshold of the steering angle in each trajectory point [rad] 1.414
thresholds.steering_rate double invalid threshold of the steering angle rate in each trajectory point [rad/s] 10.0
thresholds.velocity_deviation double invalid threshold of the velocity deviation between the ego velocity and the trajectory point closest to ego [m/s] 100.0
thresholds.distance_deviation double invalid threshold of the distance deviation between the ego position and the trajectory point closest to ego [m] 100.0
thresholds.yaw_deviation double invalid threshold of the difference between the ego yaw and the closest trajectory yaw [rad] 1.5708
parameters.longitudinal_distance_deviation double invalid threshold of the longitudinal distance deviation between the ego position and the trajectory [m] 2.0

Parameters

For parameters used e.g. to calculate threshold.

parameters.forward_trajectory_length_acceleration double This value is used to calculate required trajectory length. -5.0
parameters.forward_trajectory_length_margin double A margin of the required trajectory length not to raise an error when the ego slightly exceeds the trajectory end point. 2.0
CHANGELOG

Changelog for package autoware_planning_validator

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: adaption to ROS nodes guidelines about directory structure (#10268)
  • feat(planning_validator): add yaw deviation metric (#10258)
  • feat(planning_validator): add diag to check planning component latency (#10241)
    • feat(planning_validator): add diag to check planning component latency
    • fix: relax threshold
    • fix: lacking param
    • fix: relax threshold
    • fix: relax threshold

    * fix: add time stamp ---------

  • Contributors: Hayato Mizushima, Maxime CLEMENT, NorahXiong, Satoshi OTA, 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(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, 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_planning_validator)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_planning_validator (#9911) feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files planning/autoware_planning_validator
  • Contributors: Fumiya Watanabe, 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)
  • 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, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo

0.39.0 (2024-11-25)

0.38.0 (2024-11-08)

  • unify package.xml version to 0.37.0
  • fix(autoware_planning_validator): fix unusedFunction (#8646) fix:unusedFunction
  • fix(autoware_planning_validator): fix knownConditionTrueFalse (#7817)
  • 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(planning_validator): rename to include/autoware/{package_name} (#7514)
    • feat(planning_validator): 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(planning_validator)!: rename directory name (#7411) change directory name
  • Contributors: Kosuke Takeuchi, Kyoichi Sugahara, Ryuta Kambe, Takayuki Murooka, Yutaka Kondo, Zulfaqar Azmi, kobayu858

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/invalid_trajectory_publisher.launch.xml
      • input/trajectory [default: /planning/scenario_planning/velocity_smoother/trajectory]
      • output/trajectory [default: /planning/scenario_planning/velocity_smoother/trajectory]
  • launch/planning_validator.launch.xml
      • planning_validator_param_path [default: $(find-pkg-share autoware_planning_validator)/config/planning_validator.param.yaml]
      • input_trajectory [default: /planning/scenario_planning/velocity_smoother/trajectory]
      • output_trajectory [default: /planning/scenario_planning/trajectory]

Services

No service files found

Plugins

No plugins found.

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