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autoware_static_centerline_generator package from autoware_tools repo

autoware_dependency_checker bag2lanelet autoware_debug_tools autoware_sample_vehicle_description mission_planner_rviz_plugin rtc_manager_rviz_plugin tier4_automatic_goal_rviz_plugin tier4_calibration_msgs tier4_calibration_rviz_plugin tier4_control_rviz_plugin tier4_debug_rviz_plugin tier4_debug_tools tier4_logging_level_configure_rviz_plugin tier4_screen_capture_rviz_plugin tier4_simulated_clock_rviz_plugin tier4_string_viewer_rviz_plugin tier4_target_object_type_rviz_plugin control_debug_tools vehicle_cmd_analyzer control_data_collecting_tool driving_environment_analyzer tier4_metrics_rviz_plugin autoware_localization_evaluation_scripts deviation_estimator deviation_evaluator autoware_lanelet2_map_utils autoware_lanelet2_map_validator autoware_pointcloud_divider autoware_pointcloud_merger autoware_tp_manager autoware_planning_data_analyzer autoware_route_client autoware_rtc_replayer autoware_static_centerline_generator planning_debug_tools simulator_compatibility_test rqt_diagnostic_graph_monitor calibration_adapter estimator_utils parameter_estimator pitch_checker time_delay_estimator

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Package Summary

Tags No category tags.
Version 0.2.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/autowarefoundation/autoware_tools.git
VCS Type git
VCS Version main
Last Updated 2025-04-03
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_static_centerline_generator package

Additional Links

No additional links.

Maintainers

  • Takayuki Murooka
  • Kosuke Takeuchi

Authors

  • Takayuki Murooka
planning/autoware_static_centerline_generator/README.md

Static Centerline Generator

Purpose

This package statically calculates the centerline satisfying path footprints inside the drivable area.

On narrow-road driving, the default centerline, which is the middle line between lanelets’ right and left boundaries, often causes path footprints outside the drivable area. To make path footprints inside the drivable area, we use online path shape optimization by the autoware_path_optimizer package.

Instead of online path shape optimization, we introduce static centerline optimization. With this static centerline optimization, we have following advantages.

  • We can see the optimized centerline shape in advance.
    • With the default autoware, path shape is not determined until the vehicle drives there.
    • This enables offline path shape evaluation.
  • We do not have to calculate a heavy and sometimes unstable path optimization since the path footprints are already inside the drivable area.

Use cases

There are two interfaces to communicate with the centerline optimizer.

Vector Map Builder Interface

Note: This function of Vector Map Builder has not been released. Please wait for a while. Currently there is no documentation about Vector Map Builder’s operation for this function.

The optimized centerline can be generated from Vector Map Builder’s operation.

We can run

  • path planning server
  • http server to connect path planning server and Vector Map Builder

with the following command by designating <vehicle_model>

ros2 launch autoware_static_centerline_generator run_planning_server.launch.xml vehicle_model:=<vehicle-model>

FYI, port ID of the http server is 4010 by default.

Command Line Interface

The optimized centerline can be generated from the command line interface by designating

  • <input-osm-path>
  • <output-osm-path> (not mandatory)
  • <start-lanelet-id>
  • <end-lanelet-id>
  • <vehicle-model>
ros2 launch autoware_static_centerline_generator static_centerline_generator.launch.xml run_backgrond:=false lanelet2_input_file_path:=<input-osm-path> lanelet2_output_file_path:=<output-osm-path> start_lanelet_id:=<start-lane-id> end_lanelet_id:=<end-lane-id> vehicle_model:=<vehicle-model>

The default output map path containing the optimized centerline locates /tmp/lanelet2_map.osm. If you want to change the output map path, you can remap the path by designating <output-osm-path>.

Visualization

When launching the path planning server, rviz is launched as well as follows. rviz

  • The yellow footprints are the original ones from the osm map file.
    • FYI: Footprints are generated based on the centerline and vehicle size.
  • The red footprints are the optimized ones.
  • The gray area is the drivable area.
  • You can see that the red footprints are inside the drivable area although the yellow ones are outside.

Unsafe footprints

Sometimes the optimized centerline footprints are close to the lanes’ boundaries. We can check how close they are with unsafe footprints marker as follows.

Footprints’ color depends on its distance to the boundaries, and text expresses its distance.

rviz

By default, footprints’ color is

  • when the distance is less than 0.1 [m] : red
  • when the distance is less than 0.2 [m] : green
  • when the distance is less than 0.3 [m] : blue
CHANGELOG

Changelog for package autoware_static_centerline_generator

0.2.0 (2025-03-24)

  • fix static_centerline parameter path (#218)
  • fix(autoware_static_centerline_generator): changes to support modifications made to autoware.core (#225)
  • feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (#206)
    • feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId
  • Contributors: Arjun Jagdish Ram, Ryohsuke Mitsudome, Zhanhong Yan

0.1.0 (2025-01-28)

  • unify version to 0.0.0
  • feat(autoware_static_centerline_generator): rename autoware_mission_planner to autoware_mission_planner_universe (#195)
  • test(static_centerline_generator): add launch test with autoware_sample_vehicle_launch package (#190)
    • test(static_centerline_generator): add launch test with autoware_sample_vehicle_launch package
    • fix

    * fix dependency to autoware_launch ---------

  • feat: add autoware_static_centerline_generator (#189)
    • feat: add autoware_static_centerline_generator

    * fix

  • Contributors: Ryohsuke Mitsudome, Takayuki Murooka, Yutaka Kondo

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/run_planning_server.launch.xml
      • vehicle_model
  • launch/static_centerline_generator.launch.xml
      • vehicle_model [default: autoware_sample_vehicle]
      • mode [default: AUTO]
      • rviz [default: true]
      • centerline_source [default: optimization_trajectory_base]
      • lanelet2_input_file_path [default: ]
      • lanelet2_output_file_path [default: /tmp/autoware_static_centerline_generator/lanelet2_map.osm]
      • start_lanelet_id [default: ]
      • end_lanelet_id [default: ]
      • bag_filename [default: bag.db3]
      • lanelet2_map_topic [default: /map/vector_map]
      • lanelet2_map_marker_topic [default: /map/vector_map_marker]
      • common_param [default: $(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/common.param.yaml]
      • nearest_search_param [default: $(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/nearest_search.param.yaml]
      • map_loader_param [default: $(find-pkg-share autoware_launch)/config/map/lanelet2_map_loader.param.yaml]
      • behavior_path_planner_param [default: $(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml]
      • behavior_velocity_planner_param [default: $(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml]
      • path_smoother_param [default: $(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml]
      • path_optimizer_param [default: $(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning/autoware_path_optimizer/path_optimizer.param.yaml]
      • mission_planner_param [default: $(find-pkg-share autoware_launch)/config/planning/mission_planning/mission_planner/mission_planner.param.yaml]

Messages

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