autoware_scenario_selector

scenario_selector_node

scenario_selector_node is a node that switches trajectories from each scenario.

Input topics

Output topics

Output TFs

None

How to launch

1. Write your remapping info in scenario_selector.launch or add args when executing roslaunch
2. roslaunch autoware_scenario_selector scenario_selector.launch
   • If you would like to use only a single scenario, roslaunch autoware_scenario_selector dummy_scenario_selector_{scenario_name}.launch

Parameters

{{ json_to_markdown(“planning/autoware_scenario_selector/schema/scenario_selector.schema.json”) }}

Flowchart

@startuml
title onTimer
start

:get current pose;

if (all input data are ready?) then (yes)
else (no)
  stop
endif

if (scenario is initialized?) then (yes)
else (no)
  :initialize scenario;
endif

:select scenario;

:publish scenario;

:extract scenario trajectory;

if (scenario trajectory is empty?) then (yes)
else (no)
  :publish trajectory;
endif

stop
@enduml

@startuml
title Scenario Transition
start

if (current_scenario is completed?\n()) then (yes)
else (no)
  stop
endif

' Empty
if (scenario is initialized?) then (yes)
else (no)
  if (is in lane?) then (yes)
    :set LaneDriving;
  else (no)
    :set Parking;
  endif

  stop
endif

' LaneDriving
if (current scenario is LaneDriving?) then (yes)
  if (is in parking lot & goal is not in lane?) then (yes)
    :set Parking;
    stop
  endif
endif

' Parking
if (current scenario is Parking?) then (yes)
  if (parking is completed and is in lane?) then (yes)
    :set LaneDriving;
    stop
  endif
endif

:continue previous scenario;

stop
@enduml

Changelog for package autoware_scenario_selector

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)
• Contributors: 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)
• feat!: replace scenario msg from tier4_planning_msgs to autoware_internal_planning_msgs (#10180)
• 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_scenario_selector): tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_scenario_selector (#9914) feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files planning/autoware_scenario_selector
• fix(autoware_scenario_selector): fix bugprone-branch-clone (#9699) fix: bugprone-error
• Contributors: Fumiya Watanabe, 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)
• feat(costmap_generator, scenario_selector): improve freespace planning stability (#9579)
  • discretize updating grid center position by size of grid resolution
  • modify logic for switching to lane driving in scenario selector

  * fix spelling ---------

• 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, mkquda

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
• feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): add processing time pub. (#9065)
  • feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): Add: processing_time_pub
  • fix: pre-commit
  • feat(costmap_generator): fix: No output when not Active.
  • fix: clang-format

  * Re: fix: clang-format ---------

• feat(scenario_selector, freespace_planner): improve freespace planner edge case behavior (#8348)
  • refactor free space planner subscribers
  • implement scenario switching for edge cases
  • fix scenario selector test
  • implement confidence for checking if obstacle is on trajectory
  • fix isInLane check to work for case when provided position is on lane bound
  • update parameter schemas
  • fix format
  • improve near target logic

  * use timer based implementation for obstacle check ---------

• perf(costmap_generator, scenario_selector): faster getLinkedParkingLot (#7930)
• refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (#7443)
  • refactor(tier4_autoware_utils): Changed the API to be more intuitive and added documentation.
  • use raw shared ptr in PollingPolicy::NEWEST
  • update
  • fix

  * Update evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp Co-authored-by: danielsanchezaran <<daniel.sanchez@tier4.jp>> ---------Co-authored-by: danielsanchezaran <<daniel.sanchez@tier4.jp>>

• feat: add [autoware_]{.title-ref} prefix to [lanelet2_extension]{.title-ref} (#7640)
• refactor(universe_utils/motion_utils)!: add autoware namespace (#7594)
• feat(autoware_universe_utils)!: rename from tier4_autoware_utils (#7538) Co-authored-by: kosuke55 <<kosuke.tnp@gmail.com>>
• refactor(route_handler)!: rename to include/autoware/{package_name} (#7530) refactor(route_handler)!: rename to include/autoware/{package_name}
• feat(scenario_selector): rename to include/autoware/{package_name} (#7512)
• 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 ---------

• feat(scenario_selector): use polling subscribers (#7412)
• refactor(route_handler): route handler add autoware prefix (#7341)
  • rename route handler package
  • update packages dependencies
  • update include guards
  • update includes
  • put in autoware namespace
  • fix formats

  * keep header and source file name as before ---------

• refactor(scenario_selector): prefix package and namespace with autoware_ (#7379)
• Contributors: Kazunori-Nakajima, Kosuke Takeuchi, Maxime CLEMENT, Takayuki Murooka, Yukinari Hisaki, Yutaka Kondo, Zulfaqar Azmi, mkquda

0.26.0 (2024-04-03)