Behavior Velocity Planner Common

This package provides a behavior velocity interface without RTC, and common functions as a library, which are used in the behavior_velocity_planner node and modules.

Changelog for package autoware_behavior_velocity_planner_common

1.1.0 (2025-05-01)

1.10.0 (2026-09-28)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• fix(planning): declare the dependencies these packages use (#1372) Each of these packages uses a package it never declares. Either it includes a header of that package, or it names a symbol of it while the header arrives through another dependency. Both build today only because some declared dependency re-exports the owner, so a change in an unrelated repository can break them without anything here changing. The tag follows where the dependency is used: a use in an installed header or in code compiled into the library takes <depend>, one reached only from test/ takes <test_depend>. System libraries are named by the rosdep key this workspace already prefers. A clean-context review of the pull request found five more direct uses with no manifest entry. Add one entry for each:
  • autoware_path_generator: tf2 (tf2::getYaw in src/utils.cpp)
  • autoware_motion_velocity_planner_common: tf2 (tf2::getYaw in src/planner_data.cpp and src/polygon_utils.cpp)
  • autoware_motion_velocity_obstacle_stop_module: autoware_planning_factor_interface (constructed in src/obstacle_stop_module.cpp)
  • autoware_behavior_velocity_stop_line_module: autoware_planning_factor_interface (used in src/experimental/scene.cpp)
  • autoware_velocity_smoother: rclcpp_components (register_node_macro.hpp in src/node.cpp)
• Contributors: Mete Fatih Cırıt, github-actions

1.9.0 (2026-06-24)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

• test(autoware_behavior_velocity_planner_common): cover pure helpers and dedup formatIds (#1135)

  * test(autoware_behavior_velocity_planner_common): cover pure helpers and dedup formatIds Add focused unit tests for under-covered pure algorithms in planning_utils and deterministically pin the StateMachine STOP->GO margin-time transition, while de-duplicating the verbatim formatIds helper across the stable and experimental SceneModuleInterface translation units.

  - Extract the byte-for-byte duplicated anonymous-namespace formatIds into a single internal free function planning_utils::formatIds (declared in util.hpp, defined in util.cpp) and call it from both scene_module_interface.cpp and experimental/scene_module_interface.cpp. Additive, no public class API change.

  - test_util_pure.cpp: assert getSortedLaneIdsFromPath order/dedup, getSubsequentLaneIdsSetOnPath middle/first/not-found, findReachTime invalid-range throw plus linear/constant-accel roots, calcDecelerationVelocityFromDistanceToTarget non-negative jerk/accel throws and the behind-ego/const-jerk/const-accel/already-stopping branches with exact expected values, and formatIds output strings.

  - test_state_machine.cpp: drive a controllable RCL_ROS_TIME clock (ros-time override) to assert the STOP->GO margin-time transition and the same-state STOP timer reset deterministically, replacing the wall-clock busy-loop whose assertions self-disable on fast CI. Refs: autowarefoundation/autoware_core#1096

  * test(autoware_behavior_velocity_planner_common): move formatIds to internal header Address review feedback: the dedup helper formatIds was declared in the installed public header util.hpp, growing the public API surface for a symbol that is internal-only (used solely by the stable and experimental SceneModuleInterface TUs, not by any test).

  - Move the declaration to a non-installed internal header src/utilization/util_internal.hpp (bare include guard per src/ header convention) and keep the definition in util.cpp.

  - Add 'src' to the library's private include dirs so all TUs include it via the directory-qualified path utilization/util_internal.hpp.

  - Drop the now-unneeded public util.hpp include from both scene_module_interface TUs. Refs: autowarefoundation/autoware_core#1096

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

• Contributors: Yutaka Kondo, github-actions

1.8.0 (2026-05-01)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

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