2.0.0

Autoware 2.0 adds AI planning next to the rule-based stack, moves the Autoware Foundation models to Hugging Face, and introduces the Autoware Index and the Autoware Reference Design.

Highlights

Choose a rule-based or an AI planner

Autoware 2.0 introduces the generator–selector architecture. A generator produces candidate trajectories, and a selector checks them and picks one. In this release, you choose the planner when you launch Autoware: set planning_setting:=diffusion_planner to use the Diffusion Planner. The default is rule_based.

• Design: Autoware 2.0 architecture
• Launch argument: planning_setting in autoware.launch.xml
• Planner: autoware_diffusion_planner
• Selector packages: autoware_trajectory_validator, autoware_trajectory_ranker, autoware_trajectory_selector

AI models and datasets on Hugging Face

The Autoware Foundation models and datasets are now on Hugging Face. Each model has version tags. The artifacts Ansible role downloads every model at a fixed version with the hf CLI.

• #7224
• #7229
• #7244
• #7248
• #7258

Autoware Index and aw-index-cli

The Autoware Index lists Autoware-compatible repositories outside the main workspace. A nightly check builds and tests each entry against the latest Autoware release. aw-index-cli writes a .repos file for the packages you pick, together with their dependencies:

pipx install aw-index-cli
aw-index-cli compose --rosdistro jazzy --packages autoware_livox_tag_filter
vcs import src < repositories/autoware-index.repos

autoware_livox_tag_filter moved out of Autoware Universe into its own repository in the Index. Four more packages are in the Index too: autoware_bluetooth_monitor, autoware_pose2twist, autoware_component_monitor and autoware_image_diagnostics. They left the main branch of Autoware Universe after 0.53.0, but autoware_universe 0.53.1 in this release still contains them. The Index also lists AI inference packages, with their models on Hugging Face.

• Guide: Autoware Index

Autoware Reference Design

A Reference Design combines a Deployment Profile (the vehicle, the operating conditions and the use case) with a Reference Software Stack (the modules, model versions and parameters). The result is a documented system that others can reproduce. aw-index-cli compose --reference-design selects the Reference Designs in the Index.

• Guide: Autoware Reference Design
• Example: Vision Pilot

Versions

Repository	Version
autoware_core	1.10.0
autoware_universe	0.53.1
autoware_launch	0.53.0
autoware_msgs	1.13.0
autoware_internal_msgs	1.16.0
autoware_utils	1.11.0

The full list is in repositories/autoware.repos.

Docker images

The images are built for ROS 2 Humble and Jazzy, for amd64 and arm64. Each image has a 2.0.0 tag in the form <image>-<rosdistro>-2.0.0, for example:

docker pull ghcr.io/autowarefoundation/autoware:universe-cuda-jazzy-2.0.0

Upgrade notes

• Model files: the Hugging Face models use one folder per variant, for example lidar_centerpoint/tiny/. The 2.0.0 launch files read this layout. Model files downloaded for 1.9.0 or older do not work with them. Download the models again from this tag with ansible-playbook autoware.dev_env.install_dev_env --tags artifacts.
• setup-dev-env.sh is removed: run ansible/scripts/install-ansible.sh, then ansible-playbook autoware.dev_env.install_dev_env. See the source installation guide.
• #7169
• Packages moved to the Index: autoware_livox_tag_filter is no longer in autoware_universe. If you use it, add it to your workspace with aw-index-cli. Do not add the other four packages from the Index to a 2.0.0 workspace. autoware_universe 0.53.1 still contains them, and colcon does not build two packages with the same name.

Full changelog

Features

• [repositories/autoware.repos] Patch update autowarefoundation/autoware_universe to 0.52.1 (#7217)
• [repositories/autoware.repos] Minor update autowarefoundation/autoware_internal_msgs to 1.14.0 (#7207)
• [ansible] Update PTv3 artifacts (#7216)
• [docker] Reproducible builds with USE_LOCKFILE (#7204)
• [ansible] Download simpl_prediction, ptv3, lidar_frnet, calibration_status_classifier from Hugging Face (#7224)
• [docker] Freeze the CUDA/TensorRT closure with USE_LOCKFILE (#7205)
• [ansible] Download bevfusion, camera_streampetr, lidar_transfusion, image_projection_based_fusion from Hugging Face (#7229)
• [repositories/autoware.repos] Minor update autowarefoundation/autoware_cmake to 1.4.0 (#7177)
• [repositories/autoware.repos] Minor update autowarefoundation/autoware_internal_msgs to 1.15.0 (#7241)
• [ansible] Download tensorrt_yolox, traffic_light_classifier, traffic_light_fine_detector from Hugging Face (#7244)
• [ansible] Download yabloc_pose_initializer, tensorrt_bevdet, lidar_apollo_instance_segmentation from Hugging Face (#7248)
• [ansible] Download diffusion_planner, tensorrt_vad from Hugging Face (#7258)
• [ansible] Update lidar_centerpoint model bundle to v4.0 (#7236)
• [ansible] Pin yabloc_pose_initializer to the pruned v1.0 bundle (#7269)
• [system-designer] Update autoware_system_designer to v0.4.2 (#7278)
• [ansible] Update lidar_centerpoint model bundle to v4.1 (#7274)
• [repositories/autoware.repos] Minor update autowarefoundation/autoware_utils to 1.10.0 (#7276)
• Add docker-compose demo for CARLA (#7264)
• [repositories/autoware.repos] Minor update autowarefoundation/bevdet_vendor to 0.2.1 (#7297)
• [ansible] Add the Kashiwanoha CARLA map to demo_artifacts (#7301)
• [repositories/autoware.repos] Minor update autowarefoundation/autoware_internal_msgs to 1.16.0 (#7304)
• [ansible] Add the CARLA 0.10 Town10HD_Opt map to demo_artifacts (#7308)
• [repositories/autoware.repos] Minor update autowarefoundation/managed_transform_buffer to 0.3.0 (#7316)
• [repositories/autoware.repos] Minor update autowarefoundation/autoware_utils to 1.11.0 (#7319)
• [Docker] Change permission of ~/.ccache for devcontainer (#7321)
• [repositories/autoware.repos] Minor update autowarefoundation/autoware_simple_planning_simulator to 1.1.0 (#7325)
• [repositories/autoware.repos] Minor update autowarefoundation/autoware_lanelet2_extension to 1.3.0 (#7333)
• [ansible] Update ptv3 model bundle to v0.1.1 (#7348)
• [repositories/tools.repos] Minor update autowarefoundation/autoware_tools to 0.8.0 (#7369)

Bug Fixes

• [ansible] Call pipx directly instead of community.general.pipx module (#7221)
• [ansible] Make locked mode deliver a fully frozen closure (#7237)
• [ansible] Keep autoware_data owned by the user (#7260)
• [ansible] Pin huggingface_hub and watch for new majors (#7271)
• [ansible] Honor PIPX_BIN_DIR when locating the hf CLI (#7270)
• [ansible] Declare ansible.posix as a collection dependency (#7298)
• [acados] Pin CasADi to 3.7.2 for Humble ARM64 (#7307)
• [docker] Build simple planning simulator with core (#7311)
• [ci] Push the regenerate-lockfiles branch as the App (#7355)
• [repositories] Remove the rviz_2d_overlay_plugins 1.4.0 pin (#7354)
• [docker] Use one date tag for all images of a run (#7353)
• [docker] Validate package.xml against local ROS schemas (#7362)
• [docker] Remove CUDA CCCL header workaround (#7329)

Documentation

• [ansible] Align agnocast README with the role (#7293)

Code Refactoring

• [ansible] Drop setup-dev-env.sh and legacy playbooks (#7169)
• [ansible] Drive the model downloads with one loop task (#7268)

Continuous Integrations

• Add lockfile regenerate and validate workflows (#7219)
• [health-check] Trim the PR matrix to the amd64 main legs (#7306)
• [hadolint] Handle the new DL3064 and DL3066 rules of hadolint 2.15 (#7350)
• Move GitHub-hosted runners to ubuntu-24.04 (#7361)

Chores

• Ignore generated autoware-index.repos (#7215)
• [ansible] Remove unused gdown role (#7220)
• Sync files (#7196)
• Drop the orphaned tensorrt_rtmdet artifact and the trt_batched_nms repos entry (#7253)
• Sync files (#7254)
• Update agnocast to 2.4.0 (#7292)
• Update agnocast to 2.4.1 (#7327)
• Update tier4_autoware_msgs to 1.0.0-alpha (#7331)
• Update nebula version to v1.2.0 (#7332)
• Update sync_tooling_msgs to v0.2.11 (#7334)
• Sync files (#7345)
• [cspell] Ignore the qt5ct theme files (#7347)
• Sync files (#7346)
• [ansible] Regenerate dependency lockfiles and base image digests (#7359)
• Update autoware repos files for version 1.10.0 (#7364)