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feat(autoware system designs): autoware system designs psim add planning control#1810

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technolojin wants to merge 17 commits intoautowarefoundation:mainfrom
technolojin:awsd-psim-add_planning_control
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feat(autoware system designs): autoware system designs psim add planning control#1810
technolojin wants to merge 17 commits intoautowarefoundation:mainfrom
technolojin:awsd-psim-add_planning_control

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@technolojin technolojin commented Apr 8, 2026 •
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Description

add planning and control component designs.

this PR is base on #1751

How was this PR tested?

apply planning and control nodes
autowarefoundation/autoware_universe#12408

Notes for reviewers

None.

Effects on system behavior

None.

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github-actions bot commented Apr 8, 2026 •
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Thank you for contributing to the Autoware project!

🚧 If your pull request is in progress, switch it to draft mode.

Please ensure:

@github-actions github-actions bot added component:system System design and integration. (auto-assigned) component:simulation Virtual environment setups and simulations. (auto-assigned) type:ci Continuous Integration (CI) processes and testing. (auto-assigned) component:control Vehicle control algorithms and mechanisms. (auto-assigned) component:perception Advanced sensor data processing and environment understanding. (auto-assigned) component:planning Route planning, decision-making, and navigation. (auto-assigned) component:sensing Data acquisition from sensors, drivers, preprocessing. (auto-assigned) labels Apr 8, 2026
@technolojin technolojin changed the title Awsd psim add planning control feat(autoware system designs): autoware system designs psim add planning control Apr 8, 2026
@technolojin technolojin self-assigned this Apr 8, 2026
@technolojin technolojin force-pushed the awsd-psim-add_planning_control branch from afad2ac to 8981c89 Compare April 9, 2026 08:47
maxime-clem and others added 17 commits April 10, 2026 19:18
@maxime-clem @technolojin
add planning node/modules (WIP)
6e84d79 
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

fix traffic light msg type

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

add control node/modules (WIP)

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

fix some msg types, inputs, and connections

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

tmp fix

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

update

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

add visualization component (just rviz node)

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

add missing parameters

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

fix control parameter setting

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

temporary remove the check_external_emergency_heartbeat arg from param

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

Remove namespace entries for planning and control modules in AutowareSample.system.yaml

Update message type for traffic_signals in Tier4PlanningWrapper.node.yaml to use autoware_perception_msgs

Add new planning and control modules

- Introduced Control.module, BehaviorPlanning.module, LaneDriving.module, MissionPlanning.module, MotionPlanning.module, Planning.module, and ScenarioPlanning.module.
- Each module includes instances, subscribers, publishers, and connections to facilitate communication within the system.
- Added Rviz.node for visualization purposes.

This update enhances the overall architecture and functionality of the Autoware system design.

Add control containers to AutowareSample.system.yaml

- Introduced control_container and control_check_container to encapsulate control-related nodes.
- Updated Control.module.yaml to remove commented-out control_container instance.
- This update enhances the modularity and organization of the control components within the Autoware system design.

Refactor planning modules and add component containers to AutowareSample.system.yaml

- Removed commented-out container instances from BehaviorPlanning.module.yaml, MissionPlanning.module.yaml, and MotionPlanning.module.yaml for clarity.
- Introduced new component containers for behavior, mission, and motion planning in AutowareSample.system.yaml to enhance modularity and organization of planning nodes.
- This update improves the structure and maintainability of the planning components within the Autoware system design.

Update parameter set files for universe_control and universe_planning

- Updated autoware_system_design_format to 0.3.0 in both universe_control.parameter_set.yaml and universe_planning.parameter_set.yaml.
- Changed 'parameters' to 'param_values' and 'parameter_files' to 'param_files' for consistency across parameter definitions.
- Enhanced clarity by renaming parameter paths in universe_planning.parameter_set.yaml for better readability.

Fix formatting issues in Rviz.node.yaml and AutowareSample.system.yaml

- Added a newline at the end of Rviz.node.yaml to adhere to file formatting standards.
- Removed unnecessary blank lines in AutowareSample.system.yaml for improved readability.
@technolojin
Refactor parameter paths in universe_planning.parameter_set.yaml for …
bea6778 
…consistency

- Unified parameter path keys from 'param_path1', 'param_path2', etc., to a single 'param_path' for clarity and consistency across nodes.
- Ensured all relevant parameter files are correctly referenced under their respective nodes.
@technolojin
Enhance universe_planning.parameter_set.yaml and AutowareSample.syste…
05b734f 
…m.yaml with additional parameter paths and connections

- Updated parameter paths in universe_planning.parameter_set.yaml for consistency and clarity.
- Added new parameter files for latency checking, trajectory checking, and collision checking in the universe planning configuration.
- Expanded connections in AutowareSample.system.yaml to include localization publishers for kinematic state and acceleration, improving data flow between modules.
@technolojin
Refactor Control.module.yaml to update connections and improve clarity
50935bc 
- Removed the steering status subscriber connection for better organization.
- Updated the operation mode publisher connection to enhance clarity in the control module's configuration.
@technolojin
Refactor planning module configurations to remove virtual traffic lig…
dfb3027 
…ht states

- Eliminated the virtual_traffic_light_states subscriber and publisher from BehaviorPlanning, LaneDriving, MotionPlanning, Planning, and ScenarioPlanning modules for improved clarity and organization.
- Updated connections accordingly to reflect the removal of these components, enhancing the overall structure of the planning modules.
@technolojin
Update planning module and system configurations to use mission plann…
b2c65c0 
…ing namespaces

- Changed publisher names in Planning.module.yaml to include the 'mission_planning' namespace for route and state.
- Updated connections in AutowareSample.system.yaml to reflect the new publisher names, enhancing clarity and organization in the planning module's configuration.
@technolojin
Add planning evaluator node to universe_planning.parameter_set.yaml
8fa5122 
- Introduced a new node configuration for the planning evaluator, including its associated parameter files for enhanced planning capabilities.
- This update improves the modularity and organization of the planning parameters within the universe planning configuration.
@technolojin
Update MissionPlanning and Planning modules to include clear_route se…
6db4188 
…rver and connections

- Incremented autoware_system_design_format to 0.3.1 in MissionPlanning.module.yaml and Planning.module.yaml.
- Added clear_route server to both modules, enhancing route management capabilities.
- Updated connections in both modules and AutowareSample.system.yaml to integrate clear_route functionality, improving overall system communication.
- Introduced routing/clear_route client in SampleSensorKitADAPIWrapper.node.yaml for better interaction with the routing service.
@technolojin
Enhance Control and Planning modules with new route_state integration
25e6f7d 
- Added stop_mode_operator node to Control.module.yaml for improved control logic.
- Updated subscribers and connections in Control.module.yaml to include route_state, enhancing data flow.
- Renamed state publisher to route_state in MissionPlanning.module.yaml and Planning.module.yaml for consistency.
- Updated connections in AutowareSample.system.yaml to reflect new route_state integration, improving overall system communication.
@technolojin
Enhance MissionPlanning and Planning modules with new route and serve…
f2fc305 
…r integrations

- Added new publishers for api_route and mission_planning/route in MissionPlanning.module.yaml and Planning.module.yaml to improve routing capabilities.
- Introduced set_lanelet_route and set_waypoint_route servers in both modules for enhanced route management.
- Updated connections in both modules and AutowareSample.system.yaml to reflect the new publishers and servers, improving overall system communication.
@technolojin
Add manual lane change handler to MissionPlanning module
9c82cd7 
- Introduced manual_lane_change_handler node in MissionPlanning.module.yaml to enhance lane change capabilities.
- Updated connections in both MissionPlanning.module.yaml and Planning.module.yaml to integrate the new handler, improving overall routing and operational functionality.
@technolojin
Add reroute availability publisher to planning modules
544a2f2 
- Introduced reroute_availability publisher in BehaviorPlanning, LaneDriving, and ScenarioPlanning modules to enhance routing capabilities.
- Updated connections in Planning.module.yaml to integrate reroute availability, improving overall system communication and responsiveness.
- Ensured consistency across modules by adding modified_goal and reroute_availability connections where applicable.
@technolojin
Update Planning and AutowareSample system configurations with new sub…
0b5fe22 
…scriber connections

- Added new subscriber connections in Planning.module.yaml for route, lanelet map, kinematics, acceleration, operational mode state, and traffic signals to enhance data flow and validation capabilities.
- Updated AutowareSample.system.yaml to include additional subscriber connections for steering status and traffic signals, improving overall system communication and integration.
@pre-commit-ci @technolojin
style(pre-commit): autofix
404ed71
@technolojin
Add operation mode state subscriber connection to AutowareSample syst…
1c6fc04 
…em configuration

- Introduced a new subscriber connection for operation_mode/state in AutowareSample.system.yaml to enhance system communication and integration.
- This update improves the overall data flow and responsiveness of the system by ensuring that the operation mode state is properly communicated to the control module.
@technolojin
Add Rviz node configuration and integration into AutowareSample system
bac93b9 
- Updated Rviz.node.yaml to include arguments for loading the Autoware RViz configuration and image.
- Integrated Rviz node into AutowareSample.system.yaml, enhancing the system's visualization capabilities by ensuring Rviz is properly connected to the main ECU.
@technolojin
Update API paths in AutowareSample system and SampleSensorKitADAPIWra…
7daa7d7 
…pper configurations

- Changed the API path for the SampleSensorKitADAPIWrapper from '/api' to '/' to streamline endpoint access.
- Updated publisher names in SampleSensorKitADAPIWrapper.node.yaml to include 'api/' prefix for consistency across localization, vehicle, planning, and system outputs.
- Adjusted connections in AutowareSample.system.yaml to reflect the new publisher naming conventions, enhancing overall system integration and communication.
@technolojin technolojin force-pushed the awsd-psim-add_planning_control branch from 3ed21b2 to 7daa7d7 Compare April 10, 2026 10:18
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component:control Vehicle control algorithms and mechanisms. (auto-assigned) component:perception Advanced sensor data processing and environment understanding. (auto-assigned) component:planning Route planning, decision-making, and navigation. (auto-assigned) component:sensing Data acquisition from sensors, drivers, preprocessing. (auto-assigned) component:simulation Virtual environment setups and simulations. (auto-assigned) component:system System design and integration. (auto-assigned) type:ci Continuous Integration (CI) processes and testing. (auto-assigned)

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@technolojin @maxime-clem