feat(minimum_rule_based_planner): feat minimum_rule_based_planner#2704
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Kotakku merged 4 commits intofeat/v0.48/e2efrom Feb 25, 2026
Merged
feat(minimum_rule_based_planner): feat minimum_rule_based_planner#2704Kotakku merged 4 commits intofeat/v0.48/e2efrom
Kotakku merged 4 commits intofeat/v0.48/e2efrom
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Signed-off-by: Kotakku <kotakkucu@gmail.com>
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Signed-off-by: Kotakku <kotakkucu@gmail.com>
Signed-off-by: Kotakku <kotakkucu@gmail.com>
Signed-off-by: Kotakku <kotakkucu@gmail.com>
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takayuki5168
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Feb 25, 2026
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This PR introduce the
autoware_minimum_rule_based_plannerpackage, andautoware_trajectory_dummy_concatenator,autoware_trajectory_dummy_concatenator_rviz_pluginpackages for tests.This package is used as a rule-based planner alongside the diffusion_planner.
Use Cases
Lane Following
simplescreenrecorder-2026-02-24_17.26.13.mp4
Goal Connection
simplescreenrecorder-2026-02-24_17.27.17.mp4
Recovery from Outside Preferred Lanelets
simplescreenrecorder-2026-02-24_17.28.03.mp4
simplescreenrecorder-2026-02-24_17.29.07.mp4
Limitations
Since there is no equivalent functionality to path_optimizer, path deviation may occur on sharp curves.
Notes for reviewers
VelocitySmoother initially used the velocity_optimizer class from autoware_trajectory_modifier, but since recent changes have made it more tailored toward Diffusion Planner, a custom implementation was added instead.
feat(autoware_trajectory_optimizer): velocity optimizer refactor autowarefoundation/autoware_universe#12021
Tests for the overall MinimumRuleBasedPlanner node are planned to be added in the future.
Related Links
launch
#2704