Motion Velocity Planner

Overview

motion_velocity_planner is a planner to adjust the trajectory velocity based on the obstacles around the vehicle. It loads modules as plugins. Please refer to the links listed below for detail on each module.

• Out of Lane

Each module calculates stop and slow down points to be inserted in the ego trajectory. These points are assumed to correspond to the base_link frame of the ego vehicle as it follows the trajectory. This means that to stop before a wall, a stop point is inserted in the trajectory at a distance ahead of the wall equal to the vehicle front offset (wheelbase + front overhang, see the vehicle dimensions.

Input topics

Output topics

Services

Node parameters

In addition, the following parameters should be provided to the node:

• nearest search parameters;
• vehicle info parameters;
• common planning parameters;
• smoother parameters
• Parameters of each plugin that will be loaded.

Changelog for package autoware_motion_velocity_planner

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(autoware_motion_velocity_planner): hold mutex_ for the whole on_set_param (#1455) on_trajectory() reads planner_data_ and smooth_velocity_before_planning_ under mutex_, but on_set_param() released the lock after update_module_parameters() and wrote those same members unlocked. Under a multi-threaded executor the two callbacks run concurrently, so hold the lock for the whole body.

• feat(api, motion_velocity_planner): add the node designs required by the AD API and motion planning design modules (#1456)

  • feat(api): add node designs for the default AD API nodes and RViz adaptors

  * fix(autoware_motion_velocity_planner): add additional planning factors to publishers in the node design ---------

• fix(design): align the autoware_core node designs with the packages they describe (#1416)

  * fix(autoware_velocity_smoother): correct the velocity limit message type in the node design The node publishes current_velocity_limit_mps as autoware_internal_planning_msgs/msg/VelocityLimit (node.hpp), while the design declared the pre-migration tier4_planning_msgs type, failing the connection check against downstream ports.

  • fix(autoware_motion_velocity_planner): correct the velocity limit message types and drop absent publishers in the node design

  * fix(autoware_path_generator): correct the path publisher message type in the node design The node publishes autoware_internal_planning_msgs/msg/PathWithLaneId on ~/output/path (node.hpp:84), not autoware_planning_msgs/msg/Path.

  * fix(autoware_velocity_smoother): declare the kinematic state subscriber in the node design The node polls /localization/kinematic_state for the ego odometry (node.hpp:94-97); the design did not list the input at all.

  * fix(autoware_motion_velocity_planner): name the module-side subscriber topics in the node design The boundary departure prevention module subscribes on absolute topic names, so the default ~/input/<name> remap targets addressed topics the node never opens and the module connections resolved to nothing. Declare the real names and add the steering status input the module also takes.

  * fix(autoware_gnss_poser): declare the map projector info subscriber in the node design The node blocks pose conversion until /map/map_projector_info arrives (gnss_poser_node.cpp:43); the design did not list the input at all.

  * fix(autoware_behavior_velocity_planner): add additional planning factors to publishers in the node design ---------

• docs(planning): point the autoware_launch config links at their current path (#1406) [pre-commit-optional]{.title-ref} fails on every PR with three dead links, all pointing into [autoware_launch/config/planning/]{.title-ref}. That tree moved to the [autoware_planning_config]{.title-ref} package: autoware_launch/config/planning/scenario_planning/common/ -> autoware_universe_launch/autoware_planning_config/config/scenario_planning/common/ [autoware_motion_velocity_planner/README.md]{.title-ref} linked [nearest_search.param.yaml]{.title-ref} and [common.param.yaml]{.title-ref}; [autoware_path_generator/README.md]{.title-ref} linked the former. All three now resolve. [autoware_motion_velocity_obstacle_stop_module/README.md]{.title-ref} names the planning preset in prose rather than as a link, so the checker never flagged it, but the path was stale for the same reason and 404s too. Its target moved to [autoware_universe_launch/autoware_planning_config/config/preset/]{.title-ref}. No [autoware_launch/config/planning]{.title-ref} path is left in the repository. [pre-commit run --config .pre-commit-config-optional.yaml markdown-link-check]{.title-ref} passes on all three files.

• fix(planning): point design param_files at the packages that install them (#1387) BehaviorVelocityPlanner listed its plugin modules' param files as relative paths, resolving against the host node package; each module package installs its own config. MotionVelocityPlanner referenced the module packages with a _module suffix the installed filenames do not have. Co-authored-by: Claude Fable 5

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