fix(goal_planner): failed to generate candidate paths when entering another lane for avoidance#11560
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## main #11560 +/- ##
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+ Coverage 18.89% 21.39% +2.49%
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+ Partials 18132 15596 -2536
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…nother lane for avoidance Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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…nother lane for avoidance (autowarefoundation#11560) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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…nother lane for avoidance (#2476) fix(goal_planner): failed to generate candidate paths when entering another lane for avoidance (autowarefoundation#11560) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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commit b006c2b2abda06ee3a1873cb663ea26aa5e4f706
Author: SakodaShintaro <shintaro.sakoda@tier4.jp>
Date: Wed Nov 26 16:01:20 2025 +0900
feat(diffusion_planner): diffusion_planner v2 (#11690)
* Fixed for v2
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
* Applied cpplint
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
* Fixed to v2.0
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
* Fixed as cpplint
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
* Fixed the model path
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
* Fixed ConvertLaneletManyInterpolationPoints
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
* Fixed ConvertToLaneSegments
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
* Updated a comment
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
* Updated README.md
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
* Removed trailing spaces
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
* Added specific notations
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
* Fixed the position of `ego_history_` and `turn_indicators_history_`
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
* Added checking `centerline.size() < 2`
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
* Added a comment
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
* Applied `pre-commit run -a`
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
* Added turn_indicators into the input/output table of README.md
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
* Applied `pre-commit run -a`
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
---------
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
commit 27adadcbafd78244edc909df3df2453b18d7e661
Author: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>
Date: Tue Nov 25 14:48:53 2025 +0900
chore(planning): add diffusion planner document to .pages file (#11689)
commit 9d5596450f86cb377d6bcb924192cb622619709c
Author: ralwing <58466562+ralwing@users.noreply.github.com>
Date: Tue Nov 25 06:27:32 2025 +0100
fix: resolve clock type mismatch in tf2 lookups with simulation time (#11523)
* fix: resolve clock type mismatch in tf2 transform lookups
Replace rclcpp::Time(0) with tf2::TimePointZero in lookupTransform calls
to fix clock type conflicts when using simulation time.
The issue:
- rclcpp::Time(0) creates a time with SYSTEM_TIME clock type
- When nodes run with use_sim_time:=true, transforms use ROS_TIME clock
- This causes clock type mismatch errors in tf2 lookups
- Error: "Lookup would require extrapolation into the past"
The fix:
- tf2::TimePointZero is clock-type agnostic
- Correctly represents "get latest available transform"
- Also replaced rclcpp::Duration::from_seconds() with tf2::durationFromSec()
This bug affects transform lookups in critical safety and planning
components, causing runtime errors when simulation time is enabled.
Affected packages:
- autoware_autonomous_emergency_braking
- autoware_planning_evaluator
- autoware_freespace_planner
Signed-off-by: Grzegorz Głowacki <gglowacki@autonomous-systems.pl>
* style(pre-commit): autofix
---------
Signed-off-by: Grzegorz Głowacki <gglowacki@autonomous-systems.pl>
Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com>
commit 2dca71f1387337df81015802e9a29c0c0bfee11b
Author: danielsanchezaran <daniel.sanchez@tier4.jp>
Date: Tue Nov 25 10:56:18 2025 +0900
feat(autoware_trajectory_optimizer): fix acceleration recalculation after speed cropping (#11686)
* WIP recalc acceleration
Signed-off-by: Daniel <danielsanchezaran@gmail.com>
* add tests
Signed-off-by: Daniel <danielsanchezaran@gmail.com>
* add constexpr to replace magic number
Signed-off-by: Daniel <danielsanchezaran@gmail.com>
---------
Signed-off-by: Daniel <danielsanchezaran@gmail.com>
commit d5b6cb182a9f10d9e971c53102258ba2557814f0
Author: awf-autoware-bot[bot] <94889083+awf-autoware-bot[bot]@users.noreply.github.com>
Date: Fri Nov 21 11:02:33 2025 +0000
chore: update CODEOWNERS (#11639)
Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>
Co-authored-by: github-actions <github-actions@github.com>
commit 829ee6cfe25c9ee402411bff4a0e83daa407e9a9
Author: awf-autoware-bot[bot] <94889083+awf-autoware-bot[bot]@users.noreply.github.com>
Date: Fri Nov 21 13:51:08 2025 +0300
chore: sync files (#11500)
* chore: sync files
Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>
* clang-format fixes
Signed-off-by: Mete Fatih Cırıt <mfc@autoware.org>
* markdownlint fix table
Signed-off-by: Mete Fatih Cırıt <mfc@autoware.org>
---------
Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>
Signed-off-by: Mete Fatih Cırıt <mfc@autoware.org>
Co-authored-by: github-actions <github-actions@github.com>
Co-authored-by: Mete Fatih Cırıt <mfc@autoware.org>
commit b20d6087dd256bdc2b1b67e63a97944a2872f5b5
Author: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com>
Date: Fri Nov 21 17:33:25 2025 +0900
fix(road_user_stop): fix topic name string (#11678)
Signed-off-by: yuki-takagi-66 <yuki.takagi@tier4.jp>
commit d24e903fcc9b32ef977d402208ca8e5e24e8bbd7
Author: SakodaShintaro <shintaro.sakoda@tier4.jp>
Date: Fri Nov 21 15:20:28 2025 +0900
docs(diffusion_planner): add `How to use` (#11685)
* Added `How to use`
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
* Added Note
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
* Applied pre-commit
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
---------
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
commit db46ba84647cbfffcbee43e46477cdfdaf5aa39d
Author: SergioReyesSan <sergioreyes.sanchez@tier4.jp>
Date: Fri Nov 21 14:10:18 2025 +0900
feat: implement bias correction controls and update README (#11474)
* chore: modified readme description for clarification on imu correction
Signed-off-by: Sergio Reyes Sanchez <sergioreyes.sanchez@tier4.jp>
* style(pre-commit): autofix
* new: flag for static or dynamic bias correction
Signed-off-by: Sergio Reyes Sanchez <sergioreyes.sanchez@tier4.jp>
* style(pre-commit): autofix
* chore: throw exception when dual bias correction is selected
Signed-off-by: Sergio Reyes Sanchez <sergioreyes.sanchez@tier4.jp>
* style(pre-commit): autofix
* chore: correction configuration loged and moved mutualexclusion
Signed-off-by: Sergio Reyes Sanchez <sergioreyes.sanchez@tier4.jp>
* style(pre-commit): autofix
* chore: disabled static bias correctio when static and dynamic are enabled
Signed-off-by: Sergio Reyes Sanchez <sergioreyes.sanchez@tier4.jp>
* fix: schema updated to pass review
Signed-off-by: Sergio Reyes Sanchez <sergioreyes.sanchez@tier4.jp>
* chore: enabled static bias by default
Signed-off-by: Sergio Reyes Sanchez <sergioreyes.sanchez@tier4.jp>
* chore: enhanced readme explanation and fixed default variables state
Signed-off-by: Sergio Reyes Sanchez <sergioreyes.sanchez@tier4.jp>
---------
Signed-off-by: Sergio Reyes Sanchez <sergioreyes.sanchez@tier4.jp>
Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
Co-authored-by: Taiki Yamada <129915538+TaikiYamada4@users.noreply.github.com>
commit cdea4c181a39c3fa4c46f80d6b93503ff8b6c65c
Author: Taekjin LEE <taekjin.lee@tier4.jp>
Date: Fri Nov 21 10:37:25 2025 +0900
fix(multi-object-tracker): correct sign of lateral and longitudinal velocity terms in state prediction matrix (#11683)
* fix(bicycle_motion_model): correct sign of lateral and longitudinal velocity terms in state prediction matrix
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* insert proper line change and space for equation comment
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
---------
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
commit a82889caf3b1154fde6e8327c4836466b8ed0960
Author: danielsanchezaran <daniel.sanchez@tier4.jp>
Date: Fri Nov 21 10:03:38 2025 +0900
feat(autoware_trajectory_optimizer): update optimizer config params (#11684)
feat(autoware_trajectory_optimizer): Update optimizer config params
Signed-off-by: Daniel <danielsanchezaran@gmail.com>
commit aeff4bfdd64ab70022d8fd60712033a925adb0c1
Author: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com>
Date: Thu Nov 20 19:47:51 2025 +0900
feat(intersection_module): add pass_judge_line_margin parameter (#11680)
* feat(intersection_module): add pass_judge_line_margin parameter
Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>
* fix(intersection_module): update pass_judge_line_margin to 0.0 in intersection.param.yaml
Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>
* feat(intersection_module): integrate pass_judge_line_margin into experimental
Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>
* change log level from WARN to ERROR for stuck vehicle detection
Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>
---------
Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>
commit ebc9927f3fdd7b978343c8f05eb2752e12d707cd
Author: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
Date: Thu Nov 20 19:12:56 2025 +0900
fix(run_out): reuse the previous stop pose when possible (#11681)
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
commit 83c9689107f86b91db62c4c2c666363b52a7b1c7
Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>
Date: Thu Nov 20 15:01:26 2025 +0900
fix(operation_mode_transition_manager): fix debug value update (#11664)
* fix debug value update
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* fix format
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* cppcheck
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
---------
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
commit 20cd2b47481b8683f096ce9b3cd132805e188645
Author: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com>
Date: Thu Nov 20 13:17:06 2025 +0900
fix(autoware_behavior_path_static_obstacle_avoidance): remove unnecessary postProcess (#11668)
* fix(autoware_behavior_path_static_obstacle_avoidance): remove unnecessary postProcess
Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>
* fix turn signal logic
Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>
---------
Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>
commit 4342baf455ab00e18f2ce3350c9519977db973f0
Author: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
Date: Wed Nov 19 18:36:29 2025 +0900
fix(crosswalk): always choose the nearest stop pose (incl previous one) (#11658)
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
commit 41ae917fa949ddeb7afcea46b408379ae447ae5b
Author: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com>
Date: Wed Nov 19 17:18:57 2025 +0900
feat(control_validator): add low-pass filter parameters for vehicle and target velocities only for over_velocity (#11610)
* feat(control_validator): add low-pass filter parameters for vehicle and target velocities for over_velocity
Signed-off-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp>
---------
Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
commit 5c1475323fe5efeb50999010dbf857ceb1998862
Author: Yoshi Ri <yoshiyoshidetteiu@gmail.com>
Date: Wed Nov 19 13:40:04 2025 +0900
feat(camera_streampetr): add camera streampetr to tracker input (#11635)
add camera streampetr to tracker
Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
commit c8f1a364d6a13383cebf46fd204474e4a4afd124
Author: Takahisa Ishikawa <interimadd@gmail.com>
Date: Wed Nov 19 12:38:20 2025 +0900
fix(launch): correct arg name for control_evaluator input object (#11669)
Signed-off-by: Takahisa.Ishikawa <takahisa.ishikawa@tier4.jp>
Co-authored-by: Takahisa.Ishikawa <takahisa.ishikawa@tier4.jp>
commit 190a0e8c415e8f55c81172e3759d637b1098e7ec
Author: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com>
Date: Wed Nov 19 11:48:03 2025 +0900
feat(motion_velocity_planner): refactor time publisher (#11646)
* delete bdp time publish
* delete dynamic_obstacle_stop time publish
* delete obstacle_cruise time publish
* delete obstacle_slow_down time publish
* delete obstacle_velocity_limiter time publish
* delete out of lane time publish
* delete run out time publish
* add short module name function
---------
Signed-off-by: yuki-takagi-66 <yuki.takagi@tier4.jp>
commit f65b5de4725a4850161399ed273242b6d6598daa
Author: Taekjin LEE <taekjin.lee@tier4.jp>
Date: Wed Nov 19 11:47:46 2025 +0900
fix(centerpoint): fix insufficient buffer clearing (#11675)
* fix(lidar_centerpoint): clear auxiliary points buffer in preprocessing
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
* fix(centerpoint_trt): move cudaStreamCreate to constructor initialization
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
---------
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
commit 3e07fc2b15afa0c65ef8aaddd15a1119f5465d41
Author: SakodaShintaro <shintaro.sakoda@tier4.jp>
Date: Wed Nov 19 08:44:27 2025 +0900
fix(diffusion_planner): fix `process_traffic_signals` (#11662)
* Fixed process_traffic_signals
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
* Fixed buffer size
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
* Added `#include <vector>`
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
* Added `#include <vector>`
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
---------
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
commit 3c7389687ba0a66e4ff8bdd2083834a07c004071
Author: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com>
Date: Wed Nov 19 04:13:12 2025 +0900
chore: generate changelog for 0.48.0 (#11648)
Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
commit 8c5ea5619c2018ccbaa9ad337c37e9e6790d570c
Author: Esteve Fernandez <33620+esteve@users.noreply.github.com>
Date: Tue Nov 18 17:04:50 2025 +0100
ci: increase ccache size to 900MB (#11665)
Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>
commit bc275726005a1d5fa7fd31e55b5ce22455cd6c6b
Author: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com>
Date: Tue Nov 18 23:04:47 2025 +0900
docs(predicted_path_postprocessor): update README (#11661)
commit 1c3328e1a680a1d3de15a781e8e158f8ca8fb05f
Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>
Date: Tue Nov 18 20:37:37 2025 +0900
fix(simple_trajectory_follower): update remapping (#11645)
* move private headers
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* use component
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* remove empty line
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* update topic names
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
---------
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
Co-authored-by: Junya Sasaki <junya.sasaki@tier4.jp>
commit 5ff36b082d4e62d8215d4f6b205d42f22263bf56
Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>
Date: Tue Nov 18 20:17:11 2025 +0900
fix(command_mode_decider): fix driving mode change condition (#11659)
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
commit cafd8fd3969a57fb442d2c2983de2d0906bf00af
Author: Esteve Fernandez <33620+esteve@users.noreply.github.com>
Date: Tue Nov 18 11:27:46 2025 +0100
ci: disable pulling Docker image from the cache (#11666)
Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>
commit 400e9a219361989cc8f353852838c69f88b93fcb
Author: Sarun MUKDAPITAK <72495070+sarun-hub@users.noreply.github.com>
Date: Tue Nov 18 15:21:57 2025 +0900
feat(autoware_lanelet2_utils): replace ported functions from autoware_lanelet2_extension (#11593)
Signed-off-by: Sarun Mukdapitak <sarun.mukda@gmail.com>
Co-authored-by: Mamoru Sobue <hilo.soblin@gmail.com>
commit 32a6a47bbd9296d70d1a0f39f303abe36493f7cf
Author: danielsanchezaran <daniel.sanchez@tier4.jp>
Date: Tue Nov 18 15:05:39 2025 +0900
revert(autoware_trajectory_optimizer): "fix(trajectory_optimizer): set_max_velocity (#11642)" (#11657)
Revert "fix(trajectory_optimizer): set_max_velocity (#11642)"
This reverts commit 3519f7e65deec25f0a178ac406884836f05008ad.
commit 90beb27cbb058b2c8398e8afe37f0eda587e7cf1
Author: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com>
Date: Tue Nov 18 14:07:58 2025 +0900
fix(road_user_stop): delete path_length_buffer (#11653)
Signed-off-by: yuki-takagi-66 <yuki.takagi@tier4.jp>
commit d8dec0fa7a62e75af2cbffa20e85057d00a62397
Author: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com>
Date: Tue Nov 18 13:34:18 2025 +0900
fix: cppcheck for struct Detection (#11649)
* fix: remove unused Detection struct
Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>
* fix: add namespace for bevformer postprocessing
Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>
* style(pre-commit): autofix
---------
Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>
Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
commit 1d1ffff767b58dda92df961bb2f2c1a5ab0fb3ae
Author: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
Date: Tue Nov 18 11:30:47 2025 +0900
revert(start_planner): "ensure the pose is not behind the ego vehicle" (#11656)
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
commit 92898dbe9825d93b38368a7e4897631ea71284b0
Author: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>
Date: Mon Nov 17 19:32:59 2025 +0900
refactor(start_planner): remove redundant member variable and setting stop path pointer to null (#11637)
* refactor(start_planner): remove redundant member variable and setting stop path pointer to null
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
* refactoring
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
* update prev_approved_path
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
---------
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
commit 909d0cc7810c515bf18abbd1521f55aefbe1a575
Author: Mamoru Sobue <hilo.soblin@gmail.com>
Date: Mon Nov 17 18:44:04 2025 +0900
chore(docs): remove velocity_smoother doc links (#11652)
Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
commit 8333ff0267faa48d5e8bdada8634adedbceb0569
Author: Mete Fatih Cırıt <mfc@autoware.org>
Date: Mon Nov 17 11:16:56 2025 +0300
ci(build-and-test-reusable): partially revert dependency_ws addition (#11651)
Signed-off-by: Mete Fatih Cırıt <mfc@autoware.org>
commit b9d1309849629e01dfa372a9c86f5d2cf14386a6
Author: ToshifumiTeranishi <toshifumi.teranishi@tier4.jp>
Date: Mon Nov 17 15:59:54 2025 +0900
feat(dummy_perception_publisher): add conversion to PointXYZIRC for output clouds (#11453)
* feat(dummy_perception_publisher): Add conversion to PointXYZIRC for output clouds
* style(pre-commit): autofix
---------
Co-authored-by: Takeshi Miura <m.takeshi1995@gmail.com>
Co-authored-by: Junya Sasaki <junya.sasaki@tier4.jp>
Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
commit c5cc127a911b8d31648eae677ec3be16750e463e
Author: Esteve Fernandez <33620+esteve@users.noreply.github.com>
Date: Sun Nov 16 22:21:19 2025 +0100
build: add GitHub workflow to generate the build cache (#11133)
* build: add GitHub workflow to generate the build cache
Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>
* build: store build and install directories in the GitHub cache
Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>
* build: run workflow every night
Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>
* build: fix syntax
Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>
* build: use env to access variables
Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>
* build: fix EOF
Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>
* ci: only build the dependency_ws workspace to be stored in the GitHub cache
Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>
* ci: use fork of the github action to test PR
Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>
* ci: test github action fork in build-and-test-reusable.yaml
Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>
* ci: use upstream action for building the dependencies
Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>
* Update .github/workflows/generate-build-cache.yaml
Co-authored-by: Mete Fatih Cırıt <mfc@autoware.org>
---------
Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>
Co-authored-by: Mete Fatih Cırıt <mfc@autoware.org>
commit ba89531bec3436cc0fae1e6fe1671c447b779e70
Author: danielsanchezaran <daniel.sanchez@tier4.jp>
Date: Fri Nov 14 18:36:05 2025 +0900
fix(autoware_trajectory_smoother): reset eb smoother after each iter (#11643)
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
commit 3519f7e65deec25f0a178ac406884836f05008ad
Author: SakodaShintaro <shintaro.sakoda@tier4.jp>
Date: Fri Nov 14 18:30:21 2025 +0900
fix(trajectory_optimizer): set_max_velocity (#11642)
Fixed set_max_velocity
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
commit 801133c8379cbf6dfad53c6ce8d6a234ba75402c
Author: Arjun Jagdish Ram <arjun.ram@tier4.jp>
Date: Fri Nov 14 16:51:00 2025 +0900
feat(manual_lane_change_handler): publishing shift-number (#11641)
* publishing shift-number
Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp>
* changed warn to info
Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp>
---------
Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp>
Co-authored-by: Taiki Yamada <129915538+TaikiYamada4@users.noreply.github.com>
commit 9e04f7f0c1811ce1ac3b521ac5f57aa61639f2b4
Author: Masaki Baba <masaki.baba.2@tier4.jp>
Date: Fri Nov 14 16:02:35 2025 +0900
feat(image_object_locator): add near range camera VRU detector to perception pipeline (#11622)
add near range camera VRU detector to perception pipeline
Signed-off-by: Masaki Baba <masaki.baba.2@tier4.jp>
commit b681c74fa856ac256a9d327795a988f1e883c5bc
Author: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com>
Date: Fri Nov 14 13:58:47 2025 +0900
feat(detection_area): implement unified handling for unstoppable situations (#11638)
* feat(detection_area): implement unified handling for unstoppable situations
Implement unified handling for unstoppable situations in both detection_area
and detection_area/experimental modules with enhanced policy handling.
Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>
* fix(detection_area): update unstoppable_policy to stop_after_stopline
Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>
* docs(detection_area): enhance unstoppable situation handling with new parameters
Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>
---------
Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>
commit b4a3f1e03f3b5eb6a6506c3cca0299460bd0d1d2
Author: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com>
Date: Fri Nov 14 12:00:05 2025 +0900
feat(detection_area): update object detection logic to use polygon intersection for detection areas (#11625)
Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>
commit c08146d8333e0329d2011517c5db270a4acd9d83
Author: Arjun Jagdish Ram <arjun.ram@tier4.jp>
Date: Fri Nov 14 09:42:11 2025 +0900
feat(mission_planner): manual lane selection (#11169)
* manual lane change
Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp>
* style(pre-commit): autofix
---------
Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp>
Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
commit cd9ca4576ec2f43a6aafa562ccfa48bb7a634083
Author: Yoshi Ri <yoshiyoshidetteiu@gmail.com>
Date: Thu Nov 13 19:53:33 2025 +0900
feat(radar_objects_adapter): enable to class remap and relocate bike labels into car (#11570)
* feat: add radar class remap function to radar remap
Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
* chore: fix schema
Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
* fix: update default classification
Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
* docs: update readme
Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
* style(pre-commit): autofix
* docs: fix readme
Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
* Update sensing/autoware_radar_objects_adapter/schema/radar_objects_adapter.schema.json
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
* fix: precommit-fix
Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
* fix: fix radar object adapter param from list to dict style
Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
* chore: fix schema
Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
---------
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Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
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Co-authored-by: Taekjin LEE <taekjin.lee@tier4.jp>
commit eb4950d17d78430aaed70badd2120a6305e3ba09
Author: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com>
Date: Thu Nov 13 19:02:08 2025 +0900
feat(behavior_velocity_detection_area_module): add target filtering parameters to DetectionAreaModuleManager (#11636)
Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>
commit 23dd12bad2c4d5a1a3ded0a86e6a288ea74ec070
Author: danielsanchezaran <daniel.sanchez@tier4.jp>
Date: Thu Nov 13 18:38:02 2025 +0900
fix(trajectory_optimizer): correct kinematic enforcer indexing and plugin order (#11633)
Fixed off-by-one error in kinematic feasibility enforcer segment distance calculation.
The constraint evaluation needs distance from anchor to current point, while point
placement needs distance from current to next point. Added explicit anchor-to-first-point
distance and use segment_distances[i+1] for placement.
Reordered plugins to remove final TrajectoryPointFixer which was overriding heading
alignments via resample_close_proximity_points, causing orientations mismatched with
geometric heading direction.
Signed-off-by: Daniel <danielsanchezaran@gmail.com>
commit edf6285ab12bc77c747a327a9322c5f50b023f20
Author: Junya Sasaki <junya.sasaki@tier4.jp>
Date: Thu Nov 13 13:21:29 2025 +0900
chore(default_adapi_universe): add a maintainer (#11619)
Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>
commit ce43717d5eadf5896d7469a551e902325b83e238
Author: toki-1441 <99853770+toki-1441@users.noreply.github.com>
Date: Thu Nov 13 03:16:22 2025 +0900
fix(traffic_light_camera_fusion): change group fusion algorithm (#11297)
* fix(traffic_light_camera_fusion): change group fusion algorithm
Signed-off-by: toki-1441 <tokihaya140401@gmail.com>
* style(pre-commit): autofix
Signed-off-by: toki-1441 <tokihaya140401@gmail.com>
* fix: potential array access violation
Signed-off-by: toki-1441 <tokihaya140401@gmail.com>
* fix: validate func
Signed-off-by: toki-1441 <tokihaya140401@gmail.com>
* feat: bayesian update
Signed-off-by: toki-1441 <hayato.tokida@tier4.jp>
* doc(traffic_light_camera_fusion): add bayesian method
Signed-off-by: toki-1441 <hayato.tokida@tier4.jp>
* chore: adding comments to variables and functions
Signed-off-by: toki-1441 <tokihaya140401@gmail.com>
* doc: make simple, add figure
Signed-off-by: toki-1441 <tokihaya140401@gmail.com>
* doc: fix github style
Signed-off-by: toki-1441 <tokihaya140401@gmail.com>
* doc: fix mermaid error
Signed-off-by: toki-1441 <tokihaya140401@gmail.com>
* style(pre-commit): autofix
* chore: add param prior_log_odds
Signed-off-by: toki-1441 <tokihaya140401@gmail.com>
* fix: modified summation function
Signed-off-by: toki-1441 <tokihaya140401@gmail.com>
* feat: support color and shape
Signed-off-by: toki-1441 <tokihaya140401@gmail.com>
* style(pre-commit): autofix
* doc: update param schema
Signed-off-by: toki-1441 <hayato.tokida@tier4.jp>
* fix: bayesian estimation
Signed-off-by: toki-1441 <hayato.tokida@tier4.jp>
* style(pre-commit): autofix
* fix: build error
Signed-off-by: toki-1441 <hayato.tokida@tier4.jp>
* fix: code health
Signed-off-by: toki-1441 <hayato.tokida@tier4.jp>
* fix: code complex
Signed-off-by: toki-1441 <hayato.tokida@tier4.jp>
* fix: complex branch
Signed-off-by: toki-1441 <hayato.tokida@tier4.jp>
* style(pre-commit): autofix
* modify docs
Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp>
---------
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commit 3eadaddba25f2f9f4496c88c839e3588e6f3c8a3
Author: Junya Sasaki <junya.sasaki@tier4.jp>
Date: Wed Nov 12 16:29:46 2025 +0900
fix(.repos): use `main` for `autoware_cmake` in nightly repos (#11624)
Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>
commit 563c52472ea8b33584a18350d4302d1822e71418
Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>
Date: Wed Nov 12 15:52:55 2025 +0900
feat(tier4_vehicle_launch): add use_sim_time argument (#11607)
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
commit 97cd1fcc1d86d981aa768c73f84acb19ba038649
Author: Mitsuhiro Sakamoto <50359861+mitukou1109@users.noreply.github.com>
Date: Wed Nov 12 15:00:22 2025 +0900
feat(behavior_velocity_detection_area_module): use Trajectory instead of PathWithLaneId (#11583)
* use Trajectory instead of PathWithLaneId
Signed-off-by: mitukou1109 <mitukou1109@gmail.com>
* Update planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/experimental/scene.cpp
Co-authored-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
* Update planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/experimental/scene.cpp
---------
Signed-off-by: mitukou1109 <mitukou1109@gmail.com>
Co-authored-by: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com>
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commit 123ab2449425f3060cd13326a2f8b4ec5b51a237
Author: SakodaShintaro <shintaro.sakoda@tier4.jp>
Date: Wed Nov 12 13:54:51 2025 +0900
fix(diffusion_planner): fix poses in postprocess (#11618)
* Refactored tensor_data
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
* Fixed to parse_predictions
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
* Added an error handling
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
* Removed an unused `&`
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
* Added `reserve`
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
* Fixed typecasting from `int` to `uint32_t`
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
---------
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
commit e7dae5e12060e36cbfa7a18096b97d7aee5a82e8
Author: Junya Sasaki <junya.sasaki@tier4.jp>
Date: Wed Nov 12 12:37:33 2025 +0900
fix(.repos): update `autoware_cmake` version to fix CI error (#11623)
Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>
Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com>
commit 059957227723095da59d49f0b955caf3d92b3035
Author: Mitsuhiro Sakamoto <50359861+mitukou1109@users.noreply.github.com>
Date: Wed Nov 12 12:11:39 2025 +0900
feat(behavior_velocity_traffic_light_module): use Trajectory instead of PathWithLaneId (#11577)
use Trajectory instead of PathWithLaneId
Signed-off-by: mitukou1109 <mitukou1109@gmail.com>
commit 8c1e42e993b33c6088c13731c369100a88cdddc8
Author: Tim Clephas <tim.clephas@nobleo.nl>
Date: Tue Nov 11 12:16:23 2025 +0100
fix: tf2 uses hpp headers in rolling (and is backported) (#11620)
Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl>
commit 811f5d89342829593f094ab350f845d1abd15453
Author: danielsanchezaran <daniel.sanchez@tier4.jp>
Date: Tue Nov 11 17:51:53 2025 +0900
feat(autoware_trajectory_optimizer): optimizer kinematic feasibility plugin (#11616)
* WIP add Ackerman-bicycle model-based kinematic feasibility enforcer
Signed-off-by: Daniel <danielsanchezaran@gmail.com>
* WIP close point merging
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
* add close proximity point resampling
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
* remove prints
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
* add cluster resampling
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
* move resampling of close proximity points to utils lib
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
* comment
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
* use autoware_utils_math::normalize_radian to simplify code
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
* docs
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
* schema and default value mention
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
* remove unused param from schema
Signed-off-by: Daniel <danielsanchezaran@gmail.com>
* review comments and fix yaw addition bug
Signed-off-by: Daniel <danielsanchezaran@gmail.com>
* improve description
Signed-off-by: Daniel <danielsanchezaran@gmail.com>
---------
Signed-off-by: Daniel <danielsanchezaran@gmail.com>
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
commit 45e62f3e319fa392343ed54ff5338f116f84fe2b
Author: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>
Date: Tue Nov 11 17:14:37 2025 +0900
feat(control_command_gate): sync command filter (#11196)
* feat(control_command_gate): sync command filter
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* update params
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
* sync
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
---------
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
commit 0231debe4b5af694ec6c7565a731cc582c2e9f6d
Author: SHtokuda <165623782+shtokuda@users.noreply.github.com>
Date: Mon Nov 10 18:14:58 2025 +0900
feat: add turn_indicator and hazard_light publishing to stop_mode's on_timer (#11444)
* feat: add turn_indicator and hazard_light publishing to stop_mode's on_timer
Signed-off-by: shtokuda <shumpei.tokuda@tier4.jp>
* chore: remove publishing hazard and turn_indicator from constructor
Signed-off-by: shtokuda <shumpei.tokuda@tier4.jp>
---------
Signed-off-by: shtokuda <shumpei.tokuda@tier4.jp>
Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>
commit dafa01a8c96f809893eabb87775ff71a905b7237
Author: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
Date: Fri Nov 7 18:12:06 2025 +0900
fix(run_out): correct use of ignore collision map polygons (#11589)
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
commit 4a3bf9d3309fe09b99c9c677a70ec4c1f5d594a4
Author: Kosuke Takeuchi <kosuke.tnp@gmail.com>
Date: Fri Nov 7 17:51:23 2025 +0900
fix(goal_planner): fix bezier path first yaw angle (#11601)
Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
commit ea832bd7023d7bf3872218db4f436e89f8cb5ea2
Author: Issei Tezuka <issei.tezuka@tier4.jp>
Date: Fri Nov 7 16:10:49 2025 +0900
fix(operation_mode_transition_manager): modify the autonomous mode condition (#11603)
* fix(operation_mode_transition_manager): modify the autonomous mode condition
* fix: passing clang-format
* fix: passing clang-format 2
* fix: add getcurrentmode function
commit d4c1bf210dba519ce8b2809e0abce5c03576be13
Author: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>
Date: Fri Nov 7 15:33:15 2025 +0900
fix(lane_change): prevent path distortion by resetting lane change module when ego is not in either current or target lanes (#11599)
fix(lane_change): negating path distortion when ego is not in target lanes
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
commit 67cc87a854ffdd9af3424ccc025b5745befc3c84
Author: SakodaShintaro <shintaro.sakoda@tier4.jp>
Date: Fri Nov 7 15:30:22 2025 +0900
fix(diffusion_planner): fix `is_segment_inside` (#11602)
Fixed is_segment_inside
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
commit 49a45b1560529d9ebfab178697d84f70a8f09d60
Author: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com>
Date: Thu Nov 6 21:34:06 2025 +0900
fix(obstacle_slow_down): fix left/right judgment, update of deceleration constraint calculation (#11590)
Signed-off-by: yuki-takagi-66 <yuki.takagi@tier4.jp>
commit ee2cce9c7e5ba8daa1794d8e85b508b6cf6b0e38
Author: Autumn60 <37181352+Autumn60@users.noreply.github.com>
Date: Thu Nov 6 16:34:27 2025 +0900
chore(tier4_state_rviz_plugin): change ClearRoute button activation rule (#11598)
feat(autoware_state_panel): allow route button activation for ARRIVED state
Signed-off-by: Autumn60 <harada.akiro@gmail.com>
commit 94f4db4a856f94ffcdf114439045cdb0ab9c0cef
Author: NorahXiong <103234047+NorahXiong@users.noreply.github.com>
Date: Thu Nov 6 13:39:03 2025 +0800
feat(autoware_multi_object_tracker): adaptation to autoware_utils (#10465)
* feat(autoware_multi_object_tracker): adaptation to autoware_utils
Signed-off-by: NorahXiong <norah.xiong@autocore.ai>
* style(pre-commit): autofix
* refactor(autoware_multi_object_tracker): adaptation to autoware_utils
Signed-off-by: NorahXiong <norah.xiong@autocore.ai>
* style(pre-commit): autofix
---------
Signed-off-by: NorahXiong <norah.xiong@autocore.ai>
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commit 26f9914ec4f1ee53744bb55c039d75f5507353a9
Author: Masaki Baba <masaki.baba.2@tier4.jp>
Date: Thu Nov 6 14:35:42 2025 +0900
feat(image_object_locator): add covariance calculation (#11522)
* add covariance calculation
Signed-off-by: Masaki Baba <masaki.baba.2@tier4.jp>
* fix cppcheck
Signed-off-by: Masaki Baba <masaki.baba.2@tier4.jp>
* fix typo
Signed-off-by: Masaki Baba <masaki.baba.2@tier4.jp>
* add default destructor
Signed-off-by: Masaki Baba <masaki.baba.2@tier4.jp>
* remove unused
Signed-off-by: Masaki Baba <masaki.baba.2@tier4.jp>
* remove unused
Signed-off-by: Masaki Baba <masaki.baba.2@tier4.jp>
* change covariance modeling to more lighter one
Signed-off-by: Masaki Baba <masaki.baba.2@tier4.jp>
* improve comment
Signed-off-by: Masaki Baba <masaki.baba.2@tier4.jp>
* refactor truncation check
Signed-off-by: Masaki Baba <masaki.baba.2@tier4.jp>
* fix comment
Signed-off-by: Masaki Baba <masaki.baba.2@tier4.jp>
* fix params
Signed-off-by: Masaki Baba <masaki.baba.2@tier4.jp>
* remove sampler
Signed-off-by: Masaki Baba <masaki.baba.2@tier4.jp>
* fix typo
Signed-off-by: Masaki Baba <masaki.baba.2@tier4.jp>
* remove unused variable
Signed-off-by: Masaki Baba <masaki.baba.2@tier4.jp>
* fix param name
Signed-off-by: Masaki Baba <masaki.baba.2@tier4.jp>
* fix comment
Signed-off-by: Masaki Baba <masaki.baba.2@tier4.jp>
---------
Signed-off-by: Masaki Baba <masaki.baba.2@tier4.jp>
commit 4154f509f88eb89f9997305c98c3d0ef916cf896
Author: Mitsuhiro Sakamoto <50359861+mitukou1109@users.noreply.github.com>
Date: Thu Nov 6 13:55:04 2025 +0900
feat(behavior_velocity_rtc_interface, behavior_velocity_*_module): replace PathWithLaneId with Trajectory<> class (#11555)
Signed-off-by: mitukou1109 <mitukou1109@gmail.com>
commit 53b9b0d9107af89a04289400fb63fa432621f76d
Author: Masaki Baba <masaki.baba.2@tier4.jp>
Date: Wed Nov 5 20:12:46 2025 +0900
feat(object_sorter): add per-axis min-max range filter for each class label (#11563)
* add min max detection range and class settings
Signed-off-by: Masaki Baba <masaki.baba.2@tier4.jp>
* fix typo
Signed-off-by: Masaki Baba <masaki.baba.2@tier4.jp>
* ensure the highest label get selected
Signed-off-by: Masaki Baba <masaki.baba.2@tier4.jp>
* refactor
Co-authored-by: Yoshi Ri <yoshiyoshidetteiu@gmail.com>
Signed-off-by: Masaki Baba <masaki.baba.2@tier4.jp>
* fix transform to process in the target frame
Signed-off-by: Masaki Baba <masaki.baba.2@tier4.jp>
---------
Signed-off-by: Masaki Baba <masaki.baba.2@tier4.jp>
Co-authored-by: Yoshi Ri <yoshiyoshidetteiu@gmail.com>
commit fb7707fc6df4731bc9a7b12970fd0194faf5a361
Author: danielsanchezaran <daniel.sanchez@tier4.jp>
Date: Wed Nov 5 19:11:09 2025 +0900
refactor(autoware_trajectory_optimizer): reuse function to copy original orientation (#11594)
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
commit b669633326f17d9973c3d90ebecd57c32cf8c911
Author: Kotakku <Kotakkucu@gmail.com>
Date: Wed Nov 5 16:35:29 2025 +0900
fix(staitc_obstacle_avoidance): fix crashes due to an exception (#11591)
fix exception
Signed-off-by: Kotakku <kotakkucu@gmail.com>
commit 0dcf86ef9402d84120b1637c416b40f08ce4f7ac
Author: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com>
Date: Wed Nov 5 13:02:17 2025 +0900
feat(detection_area): enable stopping based on predicted objects (#11588)
* feat(detection_area): enhance obstacle detection with target filtering for various object types
- Added support for detecting predicted objects in the detection area alongside pointcloud data.
- Introduced target filtering parameters in the configuration to specify which object types (e.g., cars, trucks, pedestrians) should trigger stop planning.
- Updated README to reflect changes in detection logic and configuration options.
- Modified relevant source files to implement the new detection logic and parameter handling.
This enhancement improves the module's ability to respond to a wider range of obstacles, increasing safety and reliability in planning scenarios.
Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>
* docs(detection_area): update README to clarify detection area and target filtering parameters
Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>
* refactor(detection_area): simplify detection source assignment and enhance target object filtering
Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>
---------
Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>
commit cf396aedbe97368a89f8a96dd24b1e6a7b0cdf31
Author: awf-autoware-bot[bot] <94889083+awf-autoware-bot[bot]@users.noreply.github.com>
Date: Tue Nov 4 07:51:08 2025 +0000
chore: update CODEOWNERS (#11537)
Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>
Co-authored-by: github-actions <github-actions@github.com>
commit e701c91a97392a76009df4b76e0290770a204740
Author: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com>
Date: Tue Nov 4 16:25:28 2025 +0900
chore(detection_area): add Yukinari Hisaki and Takumi Odashima as maintainers (#11587)
chore(package.xml): add Yukinari Hisaki and Takumi Odashima as maintainers
Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>
commit ac3f7f5df9ea6e179e6f18c59c128d0184fad137
Author: danielsanchezaran <daniel.sanchez@tier4.jp>
Date: Tue Nov 4 14:29:18 2025 +0900
refactor(autoware_goal_distance_calculator): remove duplicated goal distance calculator assignment (#11575)
remove duplicated goal distance calculator assignment
Signed-off-by: Daniel <danielsanchezaran@gmail.com>
commit a94e069dcb2156810aef9eb34e3032f62b904513
Author: Max-Bin <vborisw@gmail.com>
Date: Tue Nov 4 13:54:59 2025 +0900
fix: carla interface config and docs (#11571)
* fix(autoware_carla_interface): correct config file installation paths
Fix setup.py to install sensor_mapping.yaml in config/ subdirectory
instead of root share directory. This ensures the package works correctly
in production/deployment scenarios where source files are not available.
- raw_vehicle_cmd_converter.param.yaml: installed to share root (correct)
- sensor_mapping.yaml: installed to share/config/ (matches expected path)
Without this fix, the package relies on fallback to source directory which
fails in Docker containers and binary package deployments.
Signed-off-by: Max-Bin <vborisw@gmail.com>
* fix(autoware_carla_interface): complete sensor mapping example in README
Update camera sensor mapping example to include all required fields:
- Add topic_info field for camera_info topic
- Add qos_profile field for ROS2 QoS configuration
- Remove unnecessary quotes from YAML values
These fields are essential for proper camera sensor configuration and were
missing from the documentation example, potentially causing confusion for
users trying to configure custom sensors.
Signed-off-by: Max-Bin <vborisw@gmail.com>
* docs(autoware_carla_interface): remove misleading LiDAR concatenation note
Remove the note about uncommenting LiDAR concatenation relay from Known Issues
section. The single LiDAR configuration may still require the concatenated topic
for coordinate transformation, which will be tested separately.
The relay in launch file remains commented out pending further testing.
Signed-off-by: Max-Bin <vborisw@gmail.com>
* refactor(autoware_carla_interface): remove unnecessary lidar concatenation relay
Remove commented-out lidar concatenation relay from launch file. Testing confirms
that the main Autoware sensing pipeline already provides the concatenated pointcloud
topic through the mirror_cropped pipeline, making this relay redundant.
The /sensing/lidar/concatenated/pointcloud topic is successfully published by
the main sensing stack and consumed by localization and perception modules.
Signed-off-by: Max-Bin <vborisw@gmail.com>
---------
Signed-off-by: Max-Bin <vborisw@gmail.com>
commit f803d5b14f04dfba2ad0887bbffce34c749d9082
Author: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>
Date: Tue Nov 4 13:39:35 2025 +0900
fix(start_planner): preventing RTC start value from publishing negative value (#11582)
fix(start_planner): Preventing RTC start value from publishing negative value
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
commit 5621045a77d0c2d8088ef16a1fa58171fd0f3b5e
Author: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
Date: Tue Nov 4 10:46:03 2025 +0900
chore(path_smoother): add Arjun RAM as maintainer (#11586)
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
commit 74b5aa9677396fc02db1c6d76db539dcce4e8f5c
Author: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
Date: Tue Nov 4 10:14:01 2025 +0900
fix(path_smoother): improve stop point insertion after smoothing (#11569)
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
commit ddb120f85835b6e53bf76c8b20079adefe8254f7
Author: Kosuke Takeuchi <kosuke.tnp@gmail.com>
Date: Fri Oct 31 18:24:55 2025 +0900
fix(goal_planner): prevent out_of_range crashes with bounds checking (#11580)
Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
commit 55cc586329011c6476bb06d32a7d48f8e86c8ac0
Author: Kosuke Takeuchi <kosuke.tnp@gmail.com>
Date: Fri Oct 31 18:19:35 2025 +0900
fix(goal_planner): hasPreviousModulePathShapeChanged die (#11579)
Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
commit deb5801bf87eb061c468c6480a9e758ad3ca8a59
Author: danielsanchezaran <daniel.sanchez@tier4.jp>
Date: Fri Oct 31 16:49:28 2025 +0900
revert(autoware_trajectory_optimizer): akima spline to old implementation (#11573)
* revert(trajectory_optimizer): restore original Akima spline implementation
Revert apply_spline() to the working implementation from commit 93ace66f96
(Oct 7, 2025) to restore good Akima spline performance observed on Sep 30.
The implementation broken by commit 4de1a6df6e used a complex 4-stage
resampling approach (2x linear → Akima → crop → linear) that degraded
interpolation quality. This revert restores the simple single-pass Akima
spline using the experimental trajectory interpolator.
Changes:
- Restore single-pass AkimaSpline interpolation using Builder pattern
- Keep orientation copying feature (added in commit 55ad6dd9c6)
- Remove unused max_yaw_discrepancy_deg parameter from signature and configs
- Add autoware_trajectory dependency to package.xml
- Update tests to match new signature
- Add calculate_time_from_start() after Akima spline and EB smoother to fix
acceleration recalculation in velocity optimizer
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
* fix orientation check threshold
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
* make a common function for accel recalculation
Signed-off-by: Daniel <danielsanchezaran@gmail.com>
* add acceleration recalcualtion after velocity-changing functions
Signed-off-by: Daniel <danielsanchezaran@gmail.com>
* remove magic numbers for constexpr
Signed-off-by: Daniel <danielsanchezaran@gmail.com>
* add const to func definition
Signed-off-by: Daniel <danielsanchezaran@gmail.com>
* remove recalc acc as it is not needed in clamp velocities
Signed-off-by: Daniel <danielsanchezaran@gmail.com>
---------
Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
Signed-off-by: Daniel <danielsanchezaran@gmail.com>
commit 1c7ffa5f29b40ecdd3f079e70113deef057865c7
Author: Mamoru Sobue <hilo.soblin@gmail.com>
Date: Fri Oct 31 14:11:15 2025 +0900
fix(map_based_prediction): check fence for default crosswalk user path (#11568)
Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
commit d74a98c3e09c0fea111c92e05c74d2ac4243c9e5
Author: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
Date: Thu Oct 30 19:16:53 2025 +0900
fix(run_out): fix div by 0, out of range, in interpolated_point_at_time (#11572)
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
commit 4b81679f0ade4034790981973e281e0017a80d7c
Author: danielsanchezaran <daniel.sanchez@tier4.jp>
Date: Thu Oct 30 10:08:30 2025 +0900
feat(autoware_trajectory_optimizer): dynamic plugin ordering (#11566)
* refactor(trajectory_optimizer): convert plugins to default constructors
- Add default constructor and initialize() method to plugin base class
- Update all 6 plugins to use default constructors
- Fix plugin inheritance to public for accessibility
- Move plugin initialization to node constructor for proper parameter loading
- Prepare foundation for pluginlib-based dynamic plugin loading
This change maintains backward compatibility while enabling future dynamic
plugin loading. All plugins must now be initialized via the initialize()
method which automatically calls set_up_params().
Signed-off-by: Daniel <danielsanchezaran@gmail.com>
* feat(trajectory_optimizer): add pluginlib infrastructure for plugins
- Create plugins.xml to declare all 6 plugins for pluginlib
- Add PLUGINLIB_EXPORT_CLASS macros to all plugin implementations
- Create separate plugin library for dynamic loading
- Add pluginlib dependency to package.xml
Plugins are now discoverable by pluginlib but still instantiated
directly. Next step is to refactor main node to use ClassLoader.
Signed-off-by: Daniel <danielsanchezaran@gmail.com>
* feat(trajectory_optimizer): implement dynamic plugin loading via pluginlib
- Replace hardcoded plugin pointers with pluginlib ClassLoader
- Load plugins dynamically from plugin_names parameter
- Plugins execute in order specified by configuration
- Add load_plugin() method with error handling
- Forward parameter updates to all loaded plugins
- Add plugin_names to trajectory_optimizer.param.yaml with default order
Plugin order is now fully configurable at startup via plugin_names parameter.
Runtime enable/disable still supported via existing boolean activation flags.
Signed-off-by: Daniel <danielsanchezaran@gmail.com>
* fix(trajectory_optimizer): separate plugin library to avoid namespace collision
- Move plugins to separate library not linked to main component
- Prevents pluginlib namespace collision warnings
- Allows proper runtime plugin loading via pluginlib ClassLoader
This fixes the class_loader collision warnings that occurred when plugins
were compiled into the main component library.
Signed-off-by: Daniel <danielsanchezaran@gmail.com>
* feat(trajectory_optimizer): add plugin_names parameter to schema
- Add plugin_names array parameter to JSON schema
- Default order matches current hardcoded execution sequence
- Schema validates plugin class names are strings
- Update CMakeLists formatting from pre-commit
Users can now configure plugin execution order via plugin_names parameter
while maintaining runtime enable/disable via activation flags.
Signed-off-by: Daniel <danielsanchezaran@gmail.com>
* docs(trajectory_optimizer): update README for pluginlib architecture
- Document pluginlib-based plugin loading system
- Add plugin_names parameter configuration examples
- Update plugin development pattern for new architecture
- Clarify plugin order configuration vs runtime activation
- Update key files list with plugins.xml
Documentation now reflects the dynamic plugin loading system while
maintaining information about runtime enable/disable via activation flags.
Signed-off-by: Daniel <danielsanchezaran@gmail.com>
* remove wrong set up for smoother, update comment in param file
Signed-off-by: Daniel <danielsanchezaran@gmail.com>
* add orientation preservation to qp smoother
Signed-off-by: Daniel <danielsanchezaran@gmail.com>
* remove unused function change to private
Signed-off-by: Daniel <danielsanchezaran@gmail.com>
* add const to input variables
Signed-off-by: Daniel <danielsanchezaran@gmail.com>
---------
Signed-off-by: Daniel <danielsanchezaran@gmail.com>
commit 97333b0d66d02615c18e944ffc835db1e34c6ec3
Author: Kosuke Takeuchi <kosuke.tnp@gmail.com>
Date: Wed Oct 29 17:44:14 2025 +0900
fix(goal_planner): failed to generate candidate paths when entering another lane for avoidance (#11560)
Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
commit 515aee960259520664f2ec01cf5dd92d90ea6369
Author: Kotakku <Kotakkucu@gmail.com>
Date: Wed Oct 29 15:55:50 2025 +0900
fix(static_obstacle_avoidance): fix parking violation detection (#11561)
* fix parking violation detection
Signed-off-by: Kotakku <kotakkucu@gmail.com>
* fix comment
Signed-off-by: Kotakku <kotakkucu@gmail.com>
* fix avoidance condition
Signed-off-by: Kotakku <kotakkucu@gmail.com>
---------
Signed-off-by: Kotakku <kotakkucu@gmail.com>
commit 414078ebad31e93d00b4817cdee89dd457d862e5
Author: Manato Hirabayashi <3022416+manato@users.noreply.github.com>
Date: Wed Oct 29 10:46:20 2025 +0900
feat: limit area for visibility estimation (#11549)
* feat: introduce new thresholds to limit area used for visibility estimation
Signed-off-by: Manato HIRABAYASHI <manato.hirabayashi@tier4.jp>
* feat: introduce HysteresisStateMachine to visibility diag
Signed-off-by: Manato HIRABAYASHI <manato.hirabayashi@tier4.jp>
* docs: update document and schema
Signed-off-by: Manato HIRABAYASHI <manato.hirabayashi@tier4.jp>
* style(pre-commit): autofix
* fix: correct typos
Signed-off-by: Manato HIRABAYASHI <manato.hirabayashi@tier4.jp>
* fix: add newly introduced parameters to the test as well
Signed-off-by: Manato HIRABAYASHI <manato.hirabayashi@tier4.jp>
* docs: replace parameters table by including json
Signed-off-by: Manato HIRABAYASHI <manato.hirabayashi@tier4.jp>
* fix(polar_voxel_outlier_filter): use full range (no filter) for `vivisibility_estimation_(min|max)_(azimuth|elevation)_rad` as default
Signed-off-by: Manato HIRABAYASHI <manato.hirabayashi@tier4.jp>
* feat(polar_voxel_outlier): support min_(azimuth|elevation)_rad > max_(azimuth|elevation)_rad case
Signed-off-by: Manato HIRABAYASHI <manato.hirabayashi@tier4.jp>
* refactor(polar_voxel_outlier): re-group some parameters
Signed-off-by: Manato HIRABAYASHI <manato.hirabayashi@tier4.jp>
* refactor(polar_voxel_outlier): move hysteresis_state_machine.hpp under include/autoware/pointcloud_preprocessor/diagnostics
Signed-off-by: Manato HIRABAYASHI <manato.hirabayashi@tier4.jp>
* refactor(polar_voxel_outlier): rename variables
Signed-off-by: Manato HIRABAYASHI <manato.hirabayashi@tier4.jp>
* style(pre-commit): autofix
* fix(polar_voxel_outlier): correct typo
Signed-off-by: Manato HIRABAYASHI <manato.hirabayashi@tier4.jp>
---------
Signed-off-by: Manato HIRABAYASHI <manato.hirabayashi@tier4.jp>
Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
commit e1b9d32d6fc243b0936a9f6a23e0b29f4cfabd16
Author: TakumIto <61740530+TakumIto@users.noreply.github.com>
Date: Tue Oct 28 17:19:39 2025 +0900
feat(start_planner): write document of the clothoid pull out (#11538)
* docs: add path generation flow and diagram to README
Signed-off-by: Takumi Ito <takumi.ito@tier4.jp>
* add a figure of clothoid path generation flow
Signed-off-by: Takumi Ito <takumi.ito@tier4.jp>
* add limitation note of the clothoid pull out
Signed-off-by: Takumi Ito <takumi.ito@tier4.jp>
* add clothoid pullout overview figure
Signed-off-by: Takumi Ito <takumi.ito@tier4.jp>
* change number and fix typo
Signed-off-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp>
---------
Signed-off-by: Takumi Ito <takumi.ito@tier4.jp>
Signed-off-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp>
commit af1ca6e364a484c94a62d33add3e33e79cf0a2e5
Author: Kyoichi Sugahara <32741405+kyoichi-sugahara@users.noreply.github.com>
Date: Tue Oct 28 16:09:46 2025 +0900
fix(pipeline_latency_monitor): change diagnostic status from WARN to ERROR for latency threshold exceedance (#11562)
Signed-off-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp>
commit 357fb830d304a3600c1bade6039e212138ab4fab
Author: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>
Date: Tue Oct 28 12:16:05 2025 +0900
feat(turn_signal_decider): add threshold based on distance to lane bound for turning off blinker (#11519)
* feat(turn_signal_decider): add threshold based on distance to lane bound for turning off blinker
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
* fix default value in readme
* Update readme
* update parameter description
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
---------
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
commit f189684330efce31abbbe877084aaa95e81ffdbc
Author: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>
Date: Tue Oct 28 10:52:31 2025 +0900
fix(lane_change): turn signal when valid path is not available (#11545)
* fix(lane_change): turn signal when valid path is not available
* minor refactoring
commit 5bda7205957f5656ccbff651a780ab50294d0247
Author: Kem (TiankuiXian) <temkei.kem@tier4.jp>
Date: Mon Oct 27 20:16:30 2025 +0900
feat(run_out, processing_time_checker): support processing_time for run_out and update processing time list (#11515)
update processing time list and support run_out
Signed-off-by: xtk8532704 <1041084556@qq.com>
commit 99ae834d177c89d9e47c86d54312edd74d92eef0
Author: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com>
Date: Mon Oct 27 18:29:35 2025 +0900
refactor(static_obstacle_avoidance): revert PR #10865 (#11557)
* Revert "fix(static_obstacle_avoidance): fix filtering logic to avoid vehicle in T-intersection (#10865)"
This reverts commit 261e13f6e081734d9373b26c0609ba0da52f53f6.
* Remove debug output for unknown type object map size
Removed debug output for map size in the unknown type object handling.
commit 72a25e2f8e8760951618b64137a2c4f993f08a36
Author: SakodaShintaro <shintaro.sakoda@tier4.jp>
Date: Mon Oct 27 15:00:25 2025 +0900
feat(diffusion_planner): add `stopping_threshold` (#11541)
* Added stopping_threshold
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
* Applied clang-format
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
* Fixed stopping logic
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
* Added enable_force_stop
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
* Fixed create_ego_trajectory
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
* Fixed ego_kinematic_state_
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
* Added a comment
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
* Fixed the condition
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
---------
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
commit f69416e1f42b07ff83587929c6e8f85eab247398
Author: Mamoru Sobue <hilo.soblin@gmail.com>
Date: Mon Oct 27 14:10:49 2025 +0900
fix(goal_planner): fix iterator bug (#11551)
Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
commit 883019d614b749675de678aade5b258b6ef59f5c
Author: Mamoru Sobue <hilo.soblin@gmail.com>
Date: Mon Oct 27 12:53:38 2025 +0900
feat(intersection): use fixed threshold for checking stop duration (#11552)
Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
commit bb77eae898810020e3ca338b708441b20a6545b5
Author: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
Date: Mon Oct 27 11:13:14 2025 +0900
fix(start_planner): ensure the pose is not behind the ego vehicle (#11548)
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
commit 84f9d57a1cfca83372c80b87e341d0b889ecbd31
Author: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
Date: Fri Oct 24 11:09:27 2025 +0900
chore(out_of_lane): add Zulfaqar Azmi as maintainer (#11553)
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
commit 9686f03823c8af34b2e6e24b94d4322a6107e492
Author: danielsanchezaran <daniel.sanchez@tier4.jp>
Date: Thu Oct 23 21:06:47 2025 +0900
feat(autoware_trajectory_optimizer): customization of point constraining (#11550)
* preserve first 3 points for better adherance to original path
Signed-off-by: Daniel Sanchez <danielsanche…
xtk8532704
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Jan 7, 2026
…nother lane for avoidance (autowarefoundation#11560) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: xtk8532704 <1041084556@qq.com>
simonranjith
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Jan 16, 2026
…nother lane for avoidance (autowarefoundation#11560) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
simonranjith
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Jan 17, 2026
…nother lane for avoidance (autowarefoundation#11560) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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Description
Fix an issue where the pull over path could not be generated while the vehicle was moving into an adjacent lane for an avoidance maneuver.
This was mainly due to two problems:
getExtendedCurrentLanesFromPath, which incorrectly retrieves the sequence of the current lanes duraing avoidance. This sequence is not adjacent to the pull-over's target lane.In this PR, I modified
get_reference_lanelets_for_pulloverto correctly retrieve the lanelets from thelane_change_complete_laneup to thegoal_laneand then extend them forward and backward. All pull over planners now use this function.Related links
Parent Issue:
How was this PR tested?
DRL
T4DEV-34834-case13-2025-10-23_15.00.46.mp4
T4DEV-34834-case13-fix-2025-10-27_20.03.27.mp4
Evaluator
some scenario fails but not related this PR
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.