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waypoint_planner package from autoware_learn repo

amathutils_lib autoware_build_flags autoware_health_checker emergency_handler gnss lanelet2_extension libvectormap libwaypoint_follower map_file object_map op_planner op_ros_helpers op_simu op_utility ros_observer tvm_utility vector_map vector_map_server vehicle_sim_model autoware_connector ekf_localizer gnss_localizer image_processor imm_ukf_pda_track lidar_apollo_cnn_seg_detect lidar_euclidean_cluster_detect lidar_fake_perception lidar_kf_contour_track lidar_localizer lidar_naive_l_shape_detect lidar_point_pillars lidar_shape_estimation naive_motion_predict ndt_cpu ndt_gpu ndt_tku obj_db pcl_omp_registration pixel_cloud_fusion points_downsampler points_preprocessor pos_db range_vision_fusion road_occupancy_processor roi_object_filter trafficlight_recognizer twist_generator vel_pose_diff_checker vision_beyond_track vision_darknet_detect vision_lane_detect vision_segment_enet_detect vision_ssd_detect astar_search costmap_generator decision_maker dp_planner ff_waypoint_follower freespace_planner lane_planner lattice_planner ll2_global_planner mpc_follower op_global_planner op_local_planner op_simulation_package op_utilities pure_pursuit state_machine_lib twist_filter twist_gate way_planner waypoint_maker waypoint_planner autoware_quickstart_examples autoware_can_msgs autoware_config_msgs autoware_external_msgs autoware_lanelet2_msgs autoware_map_msgs autoware_msgs autoware_system_msgs tablet_socket_msgs vector_map_msgs carla_autoware_bridge gazebo_camera_description gazebo_imu_description lgsvl_simulator_bridge vehicle_gazebo_simulation_interface vehicle_gazebo_simulation_launcher wf_simulator autoware_bag_tools autoware_camera_lidar_calibrator autoware_launcher autoware_launcher_rviz calibration_publisher data_preprocessor graph_tools kitti_box_publisher kitti_launch kitti_player lanelet_aisan_converter log_tools map_tf_generator map_tools marker_downsampler mqtt_socket multi_lidar_calibrator oculus_socket pc2_downsampler rosbag_controller runtime_manager sound_player system_monitor tablet_socket twist2odom udon_socket vehicle_engage_panel vehicle_socket decision_maker_panel detected_objects_visualizer fastvirtualscan gazebo_world_description glviewer integrated_viewer points2image rosinterface autoware_rviz_plugins vehicle_description vehicle_model adi_driver as autoware_driveworks_gmsl_interface autoware_driveworks_interface vlg22c_cam custom_msgs garmin hokuyo javad_navsat_driver kvaser sick_lms5xx memsic_imu microstrain_driver nmea_navsat autoware_pointgrey_drivers sick_ldmrs_description sick_ldmrs_driver sick_ldmrs_laser sick_ldmrs_msgs sick_ldmrs_tools vectacam xsens_driver ymc ds4 ds4_driver ds4_msgs lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation mrt_cmake_modules

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.12.0
License Apache 2
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description autoware src learn and recode.
Checkout URI https://github.com/is-whale/autoware_learn.git
VCS Type git
VCS Version 1.14
Last Updated 2025-03-14
Dev Status UNKNOWN
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 waypoint_planner package

Additional Links

No additional links.

Maintainers

  • Akihito OHSATO

Authors

  • Akihito OHSATO
  • ando
autoware/core_planning/waypoint_planner/README.md

Waypoint Planner

Waypoint planner package provides the local planner nodes that dynamically plan avoidance behavior, velocity on waypoints, and so on.

Waypoint Planner - Astar Avoid

astar_avoid node has two mode, Relay mode and Avoidance mode. You can switch these modes by enable_avoidance parameter.

  • Relay mode: Not avoid planning and just publishing waypoints from self pose.
  • Avoidance mode: Avoiding obstacles by Hybrid-A* search algorithm in astar_search package with internal state transition

NOTE : If you have wayarea in your ADAS map, it’s possible to limit search area and realize more safety planning by enabling Use Wayarea in costmap_generator node. Please see the results in below demo videos.

Please see also: mission/packages/freespace_planner/README.md

How to launch

  • From Runtime Manager:

Computing -> Motion Planning -> waypoint_planner -> astar_avoid

  • From CLI:

$ roslaunch waypoint_planner astar_avoid.launch

Parameters

Parameters can be set in both Launch file and Runtime manager:

Parameter in RM Parameter in Launch Type Description Default
Enable Avoidance enable_avoidance Bool Enable avoidance mode false
Costmap Topic costmap_topic String Costmap topic for Hybrid-A* search semantics/costmap_generator/occupancy_grid
Waypoint Velocity avoid_waypoints_velocity Double Constant velocity on planned waypoints [km/h] 10.0
Avoidance Start Velocity avoid_start_velocity Double Self velocity for staring avoidance behavior [km/h] 5.0
Replan Interval replan_interval Double Replan interval for avoidance planning [Hz] 2.0
- safety_waypoints_size Int Output waypoint size [-] 100
- update_rate Double Publishing rate [Hz] 10.0
- search_waypoints_size Int Range of waypoints for incremental search [-] 50
- search_waypoints_delta Int Skipped waypoints for incremental search [-] 2

Subscriptions/Publications

Node [/astar_avoid]
Publications:
 * /safety_waypoints [autoware_msgs/Lane]

Subscriptions:
 * /base_waypoints [autoware_msgs/Lane]
 * /closest_waypoint [std_msgs/Int32]
 * /current_pose [geometry_msgs/PoseStamped]
 * /current_velocity [geometry_msgs/TwistStamped]
 * /semantics/costmap_generator/occupancy_grid [nav_msgs/OccupancyGrid]
 * /obstacle_waypoint [std_msgs/Int32]
 * /tf [tf2_msgs/TFMessage]
 * /tf_static [tf2_msgs/TFMessage]

Demo videos

Dynamically avoiding (senario 1)

Hybrid A*, dynamically avoiding (scenario 1)

Dynamically avoiding (senario 2)

Hybrid A*, dynamically avoiding (scenario 12

Statically avoiding by big re-routing

Hybrid A*, statically avoiding by big re-routing

Waypoint Planner - Velocity Set

// TODO

CHANGELOG

Changelog for package waypoint_planner

1.11.0 (2019-03-21)

  • [Feature] Improve Hybrid A* planner (#1594)
    • Delete obstacle_sim from astar_planner package, replaced to lidar_fake_perception
    • Modify package name, astar_planner -> waypoint_planner, and create astar_planner library package
    • Delete obstacle_avoid/astar* and modify its dependency to astar_planner library
    • Fix astar_navi with astar_planner library
    • Refactor astar_navi by separating HAstar library and fixing coodinate system
    • Rename obstacle_avoid -> astar_avoid and under refactoring
    • Fix cost function and configures
    • Fix backward search and refactor configurations
    • Apply clang-format
    • Refactor include
    • Fix typo and so on
    • Improve astar_avoid by incremental goal search
    • Apply clang-format
    • Revert package names
    • Fix package/code names
    • Update runtime_manager
    • Improve astar_avoid to execute avoidance behavior by state transition (by rebuild decision maker)
    • Fix PascalCase message names by #1408
    • Remove obstacle_avoid directory
    • Fix default parameter for costmap topic
    • Fix warning and initialize condition
    • Remove use_avoidance_state mode (TODO: after merging rebuild decision maker)
    • Improve astar_avoid behavior by simple state transition and multi-threading
    • Apply clang-format
    • Fix replan_interval in astar_avoid
    • Add descriptions for paramters
    • Rename pkg name, astar_planner -> waypoint_planner
    • Fix param name
    • Fix avoid waypoints height
    • Fix parameter and formalize code
    • Add README for freespace/waypoint_planner

    * Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Fix CHANGELOG Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>>

    • Fix astar_navi/README.md
    • Add License terms
    • Fix const pointer
    • Added unit test base
    • Restructured folders
    • Fix bug by adding AstarSearch reset

    * Fix WaveFrontNode initialization Co-Authored-By: aohsato <<aohsato@gmail.com>>

    • Fix variable name
    • Refactor threading
    • Re-adding lidar_fake_perception
    • Fix the condition to judge reaching goal
    • Add 'use_decision state' mode to transit avoidance state by decision_maker
    • Fix calcDiffOfRadian (if diff > 2pi)
    • Feature/test astar planner (#1753)
    • Restructured folders
    • Added unit test base
    • Removed remaining folder
    • Test WIP
    • Added astar_util tests and base file for astar_search tests
    • Updated to ROS Cpp Style guidelines
    • Added test for SimpleNode constructor
    • Updated Copyright date
    • Added tests for astar algorithm
    • Added default constructor to WaveFront struct
    • Revert use_state_decision mode (94af7b6)
    • Fix costmap topic names by merging costmap_generator
  • Contributors: Akihito Ohsato

1.10.0 (2019-01-17)

  • Switch to Apache 2 license (develop branch) (#1741)
    • Switch to Apache 2

    * Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.

    • Update license on Python files
    • Update copyright years
    • Add #ifndef/define _POINTS_IMAGE_H_
    • Updated license comment
  • Use colcon as the build tool (#1704)
    • Switch to colcon as the build tool instead of catkin
    • Added cmake-target
    • Added note about the second colcon call
    • Added warning about catkin* scripts being deprecated
    • Fix COLCON_OPTS
    • Added install targets
    • Update Docker image tags
    • Message packages fixes
    • Fix missing dependency
  • Contributors: Esteve Fernandez

1.9.1 (2018-11-06)

1.9.0 (2018-10-31)

  • Moved configuration messages to autoware_config_msgs
  • [fix] PascalCase messages (#1408)
    • Switch message files to pascal case
    • Switch message names to pascal case in Runtime Manager
    • Switch message names to pascal case in *.yaml
    • Rename brake_cmd and steer_cmd to BrakeCmd and SteerCmd in main.yaml
  • Contributors: Esteve Fernandez

1.8.0 (2018-08-31)

  • [Fix] Moved C++11 flag to autoware_build_flags (#1395)
  • [Feature] Makes sure that all binaries have their dependencies linked (#1385)
  • [Fix] Extend and Update interface.yaml (#1291)
  • Contributors: Esteve Fernandez, Kenji Funaoka

1.7.0 (2018-05-18)

  • update Version from 1.6.3 to 1.7.0 in package.xml and CHANGELOG.rst
  • Add 'EControl::STOPLINE' state and detected object type 'EObstacleType' to change speed planning
  • Separate configration for speed planning against obstacle/stopline (Note: no logics changed)
  • Fix checking input for detection in velocity_set::pointsDetection
  • VelocitySet support to stop by stopline
  • Contributors: Akihito Ohsato, Kosuke Murakami, Yusuke FUJII

1.6.3 (2018-03-06)

1.6.2 (2018-02-27)

  • Update CHANGELOG
  • Contributors: Yusuke FUJII

1.6.1 (2018-01-20)

  • update CHANGELOG
  • Contributors: Yusuke FUJII

1.6.0 (2017-12-11)

  • Prepare release for 1.6.0
  • Update velocity_set.launch set value to false
  • fix video settings
  • launch file missing parameter setting. missing parameter setting, when launch motion plan, report error :enablePlannerDynamicSwitch arg to be set. see : https://github.com/CPFL/Autoware/issues/871
  • Contributors: Yamato ANDO, asimay, hironari.yashiro

1.5.1 (2017-09-25)

  • Release/1.5.1 (#816)
    • fix a build error by gcc version
    • fix build error for older indigo version
    • update changelog for v1.5.1
    • 1.5.1
  • Contributors: Yusuke FUJII

1.5.0 (2017-09-21)

  • Update changelog
  • add web ui
  • Change parameter for obstacle avoid
  • Change color of a simulated obstacle
  • fix a planner selector
    • lane select got to be able to change topicname for planner selector
  • Add changing topic name option for the planner selector.
  • fix segv
  • Add feature to put simulated obstacles in astar planner
  • R.I.P.
  • apply clang-format
  • add multiple crosswalk detection
  • Change the method to decide stop point
  • Fix indentation
  • Add parameter to ignore points nearby the vehicle
  • Contributors: TomohitoAndo, Yusuke FUJII, hironari.yashiro

1.4.0 (2017-08-04)

  • version number must equal current release number so we can start releasing in the future
  • added changelogs
  • Contributors: Dejan Pangercic

1.3.1 (2017-07-16)

1.3.0 (2017-07-14)

  • fix build issues due to autoware_msgs
  • Apply clang-formt
  • Add obstacle avoid feature in waypoint_planner
  • convert to autoware_msgs
  • Contributors: TomohitoAndo, YamatoAndo, Yusuke FUJII

1.2.0 (2017-06-07)

  • fix circular-dependency
  • Contributors: Shohei Fujii

1.1.2 (2017-02-27 23:10)

1.1.1 (2017-02-27 22:25)

  • Fix incorrect check for the waypoint index
  • Contributors: TomohitoAndo

1.1.0 (2017-02-24)

  • Use enum class instead of enum
  • improve deceleratiion for obstacles
  • Make function names more concise
  • Decide the number of zero velocity from the position of the obstacle
  • Avoid sudden acceleration after changing waypoints for deceleration
  • Remove unnecessary calcalation
  • Add get size method for new waypoints
  • Fix typo
  • improve acceleration
  • Use integer size with temporal waypoints
  • Avoid sudden aceleration after changing waypoints
  • Remove unnecessary comments
  • Remove unnecessary include
  • Remove unnecessary comment
  • Comment out publishing of the obstacle marker
  • Make constans all capitals
  • Make the function more concise
  • Use local variables for publishers
  • Implement callbacks in class
  • Use local variables instead of global variables
  • Remove the dependency of libvelocity_set
  • Use constexpr for constant values
  • Make obstacle detection function more concise
  • Modify variable names
  • Remove ignore range
  • Don't use call by reference with primitive data types
  • Remove unused variables
  • Fix dependencies
  • Remove unused function
  • Format comments
  • Split class into separate files
  • Subscribe closest waypoint
  • Contributors: TomohitoAndo

1.0.1 (2017-01-14)

1.0.0 (2016-12-22)

  • Ignore close points
  • Stop publishing obstacle marker
  • Use the result of lidar_tracker
  • Change launch file to output log
  • Fix license
  • Remove needless dependencies
  • Remove comments
  • Separate motion planning package
  • Contributors: TomohitoAndo, pdsljp

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/velocity_set.launch
      • update_rate [default: 10.0]
      • use_crosswalk_detection [default: true]
      • enable_multiple_crosswalk_detection [default: true]
      • points_topic [default: points_no_ground]
      • velocity_offset [default: 1.2]
      • decelerate_vel_min [default: 1.3]
      • remove_points_upto [default: 2.3]
      • stop_distance_obstacle [default: 10.0]
      • stop_distance_stopline [default: 5.0]
      • detection_range [default: 1.3]
      • points_threshold [default: 10]
      • detection_height_top [default: 0.2]
      • detection_height_bottom [default: -1.7]
      • deceleration_obstacle [default: 0.8]
      • deceleration_stopline [default: 0.6]
      • velocity_change_limit [default: 9.972]
      • deceleration_range [default: 0]
      • temporal_waypoints_size [default: 100]
  • launch/velocity_set_lanelet2.launch
      • use_crosswalk_detection [default: true]
      • points_topic [default: points_no_ground]
      • velocity_offset [default: 1.2]
      • decelerate_vel_min [default: 1.3]
      • remove_points_upto [default: 2.3]
      • enable_multiple_crosswalk_detection [default: true]
      • stop_distance_obstacle [default: 10.0]
      • stop_distance_stopline [default: 5.0]
      • detection_range [default: 1.3]
      • points_threshold [default: 10]
      • detection_height_top [default: 0.2]
      • detection_height_bottom [default: -1.7]
      • deceleration_obstacle [default: 0.8]
      • deceleration_stopline [default: 0.6]
      • velocity_change_limit [default: 9.972]
      • deceleration_range [default: 0]
      • temporal_waypoints_size [default: 100]
  • launch/astar_avoid.launch
      • safety_waypoints_size [default: 100]
      • update_rate [default: 10]
      • costmap_topic [default: semantics/costmap_generator/occupancy_grid]
      • enable_avoidance [default: false]
      • avoid_waypoints_velocity [default: 10.0]
      • avoid_start_velocity [default: 3.0]
      • replan_interval [default: 2.0]
      • search_waypoints_size [default: 50]
      • search_waypoints_delta [default: 2]
      • closest_search_size [default: 30]
      • use_back [default: false]
      • use_potential_heuristic [default: true]
      • use_wavefront_heuristic [default: false]
      • time_limit [default: 1000.0]
      • robot_length [default: 4.5]
      • robot_width [default: 1.75]
      • robot_base2back [default: 1.0]
      • minimum_turning_radius [default: 6.0]
      • theta_size [default: 48]
      • curve_weight [default: 1.2]
      • reverse_weight [default: 2.00]
      • lateral_goal_range [default: 0.5]
      • longitudinal_goal_range [default: 2.0]
      • angle_goal_range [default: 6.0]
      • obstacle_threshold [default: 100]
      • potential_weight [default: 10.0]
      • distance_heuristic_weight [default: 1.0]
  • launch/velocity_set_option.launch
      • use_crosswalk_detection [default: true]
      • points_topic [default: points_no_ground]
      • velocity_offset [default: 1.2]
      • decelerate_vel_min [default: 1.3]
      • remove_points_upto [default: 2.3]
      • enable_multiple_crosswalk_detection [default: true]
      • stop_distance_obstacle [default: 10.0]
      • stop_distance_stopline [default: 5.0]
      • detection_range [default: 1.3]
      • points_threshold [default: 10]
      • detection_height_top [default: 0.2]
      • detection_height_bottom [default: -1.7]
      • deceleration_obstacle [default: 0.8]
      • deceleration_stopline [default: 0.6]
      • velocity_change_limit [default: 9.972]
      • deceleration_range [default: 0]
      • temporal_waypoints_size [default: 100]
      • use_ll2 [default: false]

Messages

No message files found.

Services

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Plugins

No plugins found.

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