feat: allow conditionally launch diffusion planner by Owen-Liuyuxuan · Pull Request #1752 · autowarefoundation/autoware_launch

Owen-Liuyuxuan · 2026-02-13T03:46:43Z

Description

Conditionally launch diffusion planner instead of rule-based planner.
Switch MRM settings for e2e launch.
Add diffusion planner related rviz settings.
New e2e_components placement for future flexible integration and development.

Tested with old model using the current settings.

How was this PR tested?

PSim

Notes for reviewers

None.

Effects on system behavior

None.

Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com>

github-actions · 2026-02-13T03:46:54Z

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shmpwk

LGTM

shmpwk · 2026-02-13T03:59:01Z

+/**:
+  ros__parameters:
+    plugins_path: $(find-pkg-share autoware_tensorrt_plugins)/plugins/libautoware_tensorrt_plugins.so
+    onnx_model_path: $(env HOME)/autoware_data/diffusion_planner/v3.0/diffusion_planner.onnx


memo: This comes from autowarefoundation/autoware#6710

v3.1 has already been released.

feat(artifacts): add diffusion_planner_simplified.onnx to model downloads autoware#6873

feat(diffusion_planner): optimize TRT inference pipeline autoware_universe#12241

shmpwk · 2026-02-13T04:00:26Z

@Owen-Liuyuxuan It would be great if you could also commit other RViz files
https://github.com/tier4/autoware_launch/tree/21a409e2c0aa4325e2d843cf0524d5fd33ec6f0e/autoware_launch/rviz

Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com>

Owen-Liuyuxuan · 2026-03-27T04:37:53Z

@shmpwk @SakodaShintaro @danielsanchezaran cc: @yukkysaito

I updated the launch that almost completely following our projects. With DP->modifier (only stop fix) -> Optimizer -> output
Please remember to update autoware_launch after we pushed to autoware_universe

autowarefoundation/autoware_universe#12387 Adapt to DP

https://github.com/tier4/autoware_launch.x2/pull/2073/changes#diff-4077110a7df39d912d4b4212e1320f11d3cca888d64512e569b7ea15b161cf1c

Owen-Liuyuxuan · 2026-04-03T06:34:16Z

@Kotakku cc: @SakodaShintaro
Following your updates:

autowarefoundation/autoware_universe#12387
https://github.com/tier4/autoware_launch.x2/pull/2073

I updated parameter files and the rviz

yukkysaito · 2026-04-04T15:40:14Z

+    <!-- planning evaluator -->
+    <group>
+      <include file="$(find-pkg-share autoware_planning_evaluator)/launch/planning_evaluator.launch.xml">
+        <arg name="input/objects" value="/planning/trajectory_generator/neural_network_based_planner/diffusion_planner_node/output/predicted_objects"/>
+        <arg name="input/reference_trajectory" value="/planning/trajectory_generator/neural_network_based_planner/diffusion_planner_node/output/trajectory"/>
+      </include>
+    </group>


Shouldn’t we evaluate against /planning/trajectory? At this point, I think it would be fine to remove it until the validation is complete.

@yukkysaito Thank you. This is the implementation from planning evaluation members, I will transfer the question.

@yukkysaito
The planning evaluator is mainly evaluating /planning/trajectory and this is a different input topic

Sorry,
The input/reference_trajectory means which topic the /planning/trajectory compare to

In the rule-based planner, it was (here)

<arg name="input/trajectory" default="/planning/trajectory"/> <arg name="input/reference_trajectory" default="/planning/scenario_planning/lane_driving/motion_planning/path_optimizer/trajectory"/>

@yukkysaito
We need this evaluator to calculate normal planning metrics like TTC, PET, DRAC, object distance, and kinematics, etc., for data collection and Evaluator tests.

@xtk8532704 Thanks for the clarification. In that case, would it make sense to change this to /planning/trajectory instead? 👍

* feat: move dp as parallel to scenario planner Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> * style(pre-commit): autofix * feat: change name to learning_based_planning Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> * feat: fix topic connection Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> * style(pre-commit): autofix --------- Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

yukkysaito · 2026-04-15T02:55:52Z

@@ -0,0 +1,77 @@
+<launch>


@Owen-Liuyuxuan Is this file necessary? The same file is also being added in this PR.
#1752 (comment)

@yukkysaito Sorry which files are being repeated?

For planning evaluator, the updates are here

@Owen-Liuyuxuan
I pasted the wrong link. This is the correct one.

https://github.com/tier4/autoware_launch/pull/1373/changes#diff-81edfeb9ed2733cfa9bac7f63803c11c3b38658b0aff31c8a9a4bd7bebf77631

@yukkysaito That tier4 PR is merged into this PR branch, which changed from
DP as parallel to planning to DP as parallel to scenario_planning

Owen-Liuyuxuan added 2 commits February 13, 2026 12:27

feat: allow conditionally launch e2e/dp

e8e5950

Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com>

rule base default

21a409e

Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com>

github-actions bot added component:system System design and integration. (auto-assigned) component:planning Route planning, decision-making, and navigation. (auto-assigned) component:ui User interface, user experience, graphical user interfaces. (auto-assigned) labels Feb 13, 2026

Owen-Liuyuxuan requested a review from SakodaShintaro February 13, 2026 03:47

shmpwk approved these changes Feb 13, 2026

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shmpwk added the run:build-and-test-differential label Feb 13, 2026

feat: adding dp rviz markers to other rviz configs

9f93071

Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com>

Owen-Liuyuxuan added 3 commits March 9, 2026 16:40

Merge branch 'main' into feat/conditional_e2e_launch

47cfb8f

Merge branch 'main' into feat/conditional_e2e_launch

fc7b851

feat: update for later developments

a322102

Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com>

Owen-Liuyuxuan requested a review from danielsanchezaran March 27, 2026 03:30

go-sakayori approved these changes Apr 3, 2026

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Kotakku approved these changes Apr 3, 2026

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Owen-Liuyuxuan mentioned this pull request Apr 3, 2026

feat: conditional e2e cherry-pick tier4/autoware_launch#1371

Merged

Owen-Liuyuxuan added 4 commits April 3, 2026 15:30

Add planning factor parameters to diffusion planner

f3fd1a6

autowarefoundation/autoware_universe#12387 Adapt to DP

Rename NeuralNetworkPlanner to DiffusionPlanner

3696ace

https://github.com/tier4/autoware_launch.x2/pull/2073/changes#diff-4077110a7df39d912d4b4212e1320f11d3cca888d64512e569b7ea15b161cf1c

Rename PlanningFactor from NeuralNetworkPlanner to DiffusionPlanner

e18ab26

Rename PlanningFactor from NeuralNetworkPlanner to DiffusionPlanner

bedf6d4

Owen-Liuyuxuan added 6 commits April 3, 2026 15:34

Merge branch 'main' into feat/conditional_e2e_launch

16a707d

Update autoware.rviz

c9a5855

Update planning_bev.rviz

7063e31

Update autoware.rviz

07f2efc

Update planning_tpv.rviz

94865c1

Update scenario_simulator.rviz

27907f5

yukkysaito reviewed Apr 4, 2026

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Comment thread autoware_launch/launch/e2e_components/diffusion_planner.launch.xml Outdated

yukkysaito reviewed Apr 4, 2026

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Comment thread autoware_launch/launch/e2e_components/diffusion_planner.launch.xml Outdated

yukkysaito reviewed Apr 4, 2026

View reviewed changes

Comment thread autoware_launch/launch/e2e_components/diffusion_planner.launch.xml Outdated

Owen-Liuyuxuan mentioned this pull request Apr 6, 2026

feat: move dp as parallel to scenario planner tier4/autoware_launch#1373

Merged

Owen-Liuyuxuan requested review from TakaHoribe, TomohitoAndo, mkuri and taikitanaka3 as code owners April 7, 2026 10:13

yukkysaito reviewed Apr 15, 2026

View reviewed changes

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