0.53.2

Features

• [autoware_pointcloud_preprocessor] Apply agnocast_wrapper::Node to blockage_diag (#13074)
• [autoware_carla_interface] Do not spawn cameras while rendering is off (#13450)
• [autoware_carla_interface] Handle gear commands (#13150)
• [autoware_evaluation_adapter] Apply agnocast_wrapper::Node (#13456)
• [autoware_bluetooth_monitor] Move to Autoware Index (#13462)
• [surround_obstacle_stop] Parameterize pcd height filtering (#13464)
• [diffusion_planner] Include yaw direction for route search (#13469)
• [pose_initialization_requester] Transfer automatic_pose_initializer (#13163)
• [autoware_in_lane_mrm_planner] Run in_lane_mrm_planner on the callback-isolated agnocast executor (#13478)
• [autoware_in_lane_mrm_planner] Run mrm_in_lane_stop_auxiliary_commands on the callback-isolated agnocast executor (#13479)
• [autoware_redundancy_switcher_interface] Run the node on the callback-isolated agnocast executor (#13477)
• [autoware_driving_mode_manager] Run the node on the callback-isolated agnocast executor (#13480)
• [autoware_mrm_in_lane_stop_operator] Run the node on the callback-isolated agnocast executor (#13481)
• [autoware_diffusion_planner] Persist model load errors on inference_status (#13388)
• [autoware_mpc_lateral_controller] Take the logger and the clock out of the control (#13451)
• [autoware_mrm_reset_manager] Apply agnocast_wrapper::Node (#13484)
• [autoware_mrm_in_lane_stop_operator] Apply agnocast_wrapper::Node (#13485)
• [autoware_mrm_steering_hold_stop_operator] Apply agnocast_wrapper::Node (#13486)
• [autoware_driving_mode_manager] Apply agnocast_wrapper::Node (#13488)
• [autoware_redundancy_switcher_interface] Apply agnocast_wrapper::Node (#13489)
• [autoware_in_lane_mrm_planner] Apply agnocast_wrapper::Node (#13490)
• [autoware_generic_service_divider] Run the node on the callback-isolated agnocast executor (#13496)
• [autoware_trajectory_gate] Apply agnocast_wrapper::Node (#13487)
• [workflow] Add a workflow that does rosdep install check with whole build dependency (#13473)
• [autoware_pose2twist] Move to Autoware Index (#13463)
• [autoware_component_monitor] Move to Autoware Index (#13508)
• [autoware_image_diagnostics] Move to Autoware Index (#13519)
• [pure_pursuit] Added virtual destructor to interface and characterization test (#13498)
• [map_based_prediction] Suppress undetected lane-change paths when a lane-follow path exists (#13525)
• [hdd_monitor] Handle encrypted storage devices with less load (#13329)
• [build_depends_stable.repos] Minor update autowarefoundation/cuda_blackboard to 0.5.0 (#13553)

Bug Fixes

• [autoware_carla_interface] Publish every camera type, not only sensor.camera.rgb (#13409)
• [autoware_carla_interface] Receive an initial pose that was latched before startup (#13433)
• [autoware_carla_interface] Publish the ego pose at base_link instead of the vehicle center (#13372)
• [autoware_redundancy_adapi_switcher] Launch the sub ECU adapi nodes through autoware_node (#13453)
• [obstacle_velocity_limiter] Fix steering angle recalculation in calculateSteeringAngles (#13459)
• [obstacle_velocity_limiter] Follow the turning circle in the bicycle projection (#13460)
• [autonomous_emergency_braking] Account for closest approach while both vehicles brake (#13437)
• [autoware_motion_velocity_dynamic_obstacle_stop_module] Fix dependencies in package.xml (#13466)
• [autoware_motion_velocity_road_user_stop_module] Fix package.xml dependencies (#13467)
• [pid_longitudinal_controller] Preserve stop distance at repeated terminal poses (#13461)
• [autoware_multi_object_tracker] Value-initialize DynamicObject covariance arrays (#13468)
• [autoware_traffic_light_visualization] Fix two defects in the label drawing for unexpected inputs (#13475)
• [autoware_trajectory_modifier] Inherit the spell-check language from the root config (#13492)
• [autoware_traffic_light_visualization] One color for every unknown, and a palette one can read (#13483)
• [autoware_component_monitor] Treat suffix-less RES as KiB (#12217)
• [autoware_multi_object_tracker] Initialize trust_extension in the overlap manager test (#13494)
• [bev_fusion] Revert the addition of TRAFFIC_CONE and BARRIER from the config to match the current released model version (#13506)
• Correct two maintainer email typos in package.xml (#13513)
• [autoware_trajectory_follower_node] Use int64 in horizon time step gcd (#13524)
• [diagnostic_graph_utils] Initialized root_node_ (#13526)
• [autoware_behavior_velocity_traffic_light_module] Shut down rclcpp after each fixture test (#13507)
• [autoware_pointcloud_preprocessor] Set row_step on ring_outlier_filter output (#13418)
• [autoware_motion_velocity_out_of_lane_module] Fix ego footprint collapse from negative overhangs (#13536) (#13543)
• [autoware_carla_interface] Bound the physics substep so the reported angular velocity matches the motion (#13406)
• [autoware_pure_pursuit] Call runDetailed in the controller test (#13558)
• [hdd_reader] Fix the command-injection vulnerability in hdd_reader (#13357)

Documentation

• [autoware_traffic_light_visualization] Correct the ROI inputs and the missing parameter (#13474)

Code Refactoring

• [autoware_traffic_light_visualization] Separate the ROI drawing from the node (#13434)
• [autoware_radar_objects_adapter] Prepare the node for the logic separation (#13465)
• [mpc_lateral_controller] Extract ros-independent code as a class (#13472)
• [autoware_pointcloud_preprocessor] Make the concatenation core ROS-runtime-free (#12873)
• [autoware_radar_objects_adapter] Separate the conversion from the node (#13470)
• [autoware_trajectory_follower_base] Remove unused sync data (#13528)
• [autoware_pure_pursuit] Separate the controller logic from the node (#13537)
• [autoware_radar_objects_adapter] Align the README and the default_* parameters with what the node does (#13538)
• [autoware_trajectory_follower] Simplify longitudinal controller interface (#13539)
• [autoware_trajectory_follower] Introduce lateral controller interface (#13547)
• [autoware_trajectory_follower] Implement the controller interfaces in the cores (#13556)
• [autoware_trajectory_follower] Move processing time measurement into each controller node (#13560)
• Move the CUDA base packages to autoware_cuda (#13564)

Performance Improvements

• [autoware_ptv3] Drop the capacity-sized clears in preProcess (#13502)
• [autoware_ptv3] Allocate the output capacity buffers once (#13504)

Tests

• [autoware_radar_objects_adapter] Add characterization test for RadarObjectsAdapter conversion (#13445)
• [autoware_traffic_light_visualization] Unit test the drawing and reduce the characterization suite (#13454)
• [autoware_universe_utils] Raise test timeout to 120 seconds (#13495)
• [autoware_mpc_lateral_controller] Test the controller without a node and revise the tests (#13505)
• [autoware_radar_objects_adapter] Unit-test the separated logic and reduce the characterization suite to a node test (#13520)
• [autoware_pure_pursuit] Test the controller without a node (#13551)

Continuous Integrations

• Move GitHub-hosted runners to ubuntu-24.04 (#13515)
• [sync-files] Sync comment-docs-artifact.yaml (#13522)

Chores

• [autoware_carla_interface] Add Ujin Kwon as maintainer (#13449)
• Update CODEOWNERS (#13231)
• [autoware_component_monitor] Update maintainers (#13499)
• Remove autoware_polar_grid and tier4_datetime_rviz_plugin (moved to autoware_rviz_plugins) (#13497)
• [autoware_trajectory_follower] Add maintainer (#13527)
• Update CODEOWNERS (#13500)
• [autoware_pure_pursuit] Add maintainer (#13530)
• Update CODEOWNERS (#13534)
• Sync humble to main for 0.53.2 (#13567)

0.53.1

Features

• [pose_initialization_requester] Back port transfer automatic_pose_initializer (#13163) (#13518)

0.53.0

Features

• [processing_time_checker] Apply agnocast_wrapper::Node to processing_time_checker (#12761)
• [eucliean_cluster] Compute cluster probability (#12883)
• [pose_instability_detector] Apply agnocast_wrapper::Node to pose_instability_detector (#12766)
• [trajectory_modifier] Add surround obstacle stop plugin to trajectory modifier (#12894)
• [trajectory_gate] Create trajectory gate package (#12640)
• [trajectory_modifier] Add traffic light stop to trajectory modifier (#12875)
• [trajectory_processor] Add tests for the modifier+optimizer pipeline (#12853)
• [trajectory_modifier] Support new object classes in trajectory_modifier (#12910)
• [traffic_light_visualization] Apply agnocast_wrapper::Node to traffic_light_visualization (#12930)
• [map_based_prediction] Apply agnocast_wrapper::Node to map_based_prediction (#12879)
• [component_state_monitor] Apply agnocast_wrapper::Node to component_state_monitor (#12903)
• [mrm_emergency_stop_operator] Apply agnocast_wrapper::Node to autoware_mrm_emergency_stop_operator (#12925)
• [perception_analytics_publisher] Apply agnocast_wrapper::Node to perception_analytics_publisher (#12929)
• [mrm_comfortable_stop_operator] Apply agnocast_wrapper::Node to mrm_comfortable_stop_operator (#12909)
• [diagnostic_graph_aggregator] Apply agnocast_wrapper::Node to diagnostic_graph_aggregator (#12843)
• [minimum_rule_based_planner] Introduce minimum_rule_based_planner package (#12947)
• [autoware_trajectory_processor] Move modifier and optimizer into new package (#12934)
• [autoware_universe_designs] Add node designs for perception map segmentation and ground nodes (#12905)
• [autoware_universe_designs] Add node designs for system monitor, diagnostic, and MRM nodes (#12955)
• [diffusion planner] Change the classes to ignore (#12900)
• [trajectory_processor] Combine include folders (#12962)
• Support new object classification labels (#12956)
• [traffic_light_compliance_checker] Param for stable UNKNOWN signal (#12936)
• [trajectory_follower, pid, mpc] Introduce temporal controller (#12886)
• [map_tf_generator] Apply agnocast_wrapper::Node to map_tf_generator (#12832)
• [autoware_universe_designs] Add node designs for perception ML detection and prediction nodes (#12932)
• [ptv3] Apply SemanticLabel to output points (#12820)
• [imu_corrector] Apply agnocast_wrapper::Node to autoware_imu_corrector (#12865)
• [localization_error_monitor] Apply agnocast_wrapper::Node to localization_error_monitor (#12768)
• [autoware_universe_designs] Add node designs for remaining straggler nodes (#12991)
• [trajectory_processor] Unify parameters handling (#12988)
• [diffusion_planner,trajectory_ranker,trajectory_adapter] Populate turn_indicator field on CandidateTrajectory (#12922)
• [autoware_ptv3] Handle segmentation3d decoder (#12973)
• [planning_evaluator] Apply agnocast_wrapper::Node to planning_evaluator (#12966)
• [control_evaluator] Apply agnocast_wrapper::Node to control_evaluator (#12963)
• [collision_detector] Apply agnocast_wrapper::Node to collision_detector (#12953)
• [boundary_departure] Visualize segments where departure occurs (#12984)
• [autoware_ptv3] Update filtered classes (#13009)
• [lane_departure_checker] Apply agnocast_wrapper::Node to lane_departure_checker (#12950)
• [carla_interface] Launch shift_decider as standalone node when agnocast (#13015)
• Visibility method now uses geometric entropy and anisotropy (#12822)
• [traffic_light_compliance_checker] Allow when close and cannot stop (#13028)
• [tier4_active_generator_rviz_plugin] Add rviz panel for active trajectory generator (#13043)
• [hazard_lights_selector] Apply agnocast_wrapper::Node to autoware_hazard_lights_selector (#12850)
• [autonomous_emergency_braking] Apply agnocast_wrapper::Node to autonomous_emergency_braking (#12939)
• [autoware_multi_object_tracker] Orientation sign belief for heading flip decisions (#13050)
• [shift_decider] Apply agnocast_wrapper::Node to autoware_shift_decider (#12918)
• [external_cmd_selector] Apply agnocast_wrapper::Node to external_cmd_selector (#13013)
• [euclidean-cluster] Apply SemanticLabel to LabelBasedEuclideanCluster (#12911)
• [simple_trajectory_ranker] Apply agnocast_wrapper::Node to simple_trajectory_ranker (#13065)
• [traffic_light_multi_camera_fusion] Apply agnocast_wrapper::Node to traffic_light_multi_camera_fusion (#12785)
• [lane_change] Add overhang_tolerance param for stop point planning (#13079)
• [autoware_universe_designs] Add node designs for evaluator nodes (#12981)
• [autoware_universe_designs] Add node designs for perception detection, radar, tracking, and traffic light nodes (#12921)
• [ptv3] Filter segmented points (#12821)
• Update how to calculate distance (#13031)
• [euclidean_cluster] Apply agnocast_wrapper::Node to label_based_euclidean_cluster (#13082)
• [trajectory_validator] Evaluate the risk of obstructing pedestrian crossing (#13123)
• [euclidean_cluster] Remove ptv3 experimental and apply autoware_core features (#13085)
• [autoware_system_monitor] Add argument to override hdd_mount_point (#13129)
• [ptv3] Remove experimental and apply autoware_core features (#13044)
• [autoware_obstacle_grid_utils] Add obstacle-grid consumer helper (#13091)
• [diffusion_planner] Resolve model paths from base_model_directory (#13148)
• [autoware_traffic_light_multi_camera_fusion] Add map based signal filter (#13046)
• [trajectory_selector] Apply agnocast_wrapper::Node to autoware_trajectory_selector (#12920)
• [detected_object_feature_remover] Apply agnocast_wrapper::Node (#12661)
• [trajectory_processor] Unify plugin interface (#13152)
• [autoware_livox_tag_filter] Remove package (#13162)
• [autoware_carla_interface] Allow cameras to publish mono8 (#13151)
• [autoware_carla_interface] Make IMU and GNSS noise configurable (#13154)
• Relay CAMERA_FRONT to traffic_light namespace regardless of use_light_weight_sensor_mapping options (#13166)
• [cuda_pointcloud_preprocessor] Add input bounds diagnostics (#13106)
• [BEVFusion] Remove thrust from postprocessing (#13110)
• [autoware_tensorrt_common] Support strongly typed network builds (#13160)
• [diffusion_planner] Resample neighbor agent histories onto a constant grid (motion compensation) (#12979)
• [trajectory_processor] Unify Modifier and Optimizer nodes into Processor node (#13165)
• [autoware_ptv3] Allow strongly typed engine builds (#13159)
• [autoware_carla_interface] Add map_origin_x/y offset between CARLA and map frame (#13198)
• [autoware_carla_interface] Allow explicit carla_map override in launch (#13193)
• [autoware_carla_interface] Guard sensor blueprint attributes with has_attribute (#13196)
• [autoware_carla_interface] Sort steering curve before interpolation (#13195)
• [image_projection_based_fusion] Apply agnocast_wrapper::Node to RoiFusion base node (#12688)
• [autoware_carla_interface] Add optional no_rendering_mode world setting (#13210)
• [diffusion_planner] Ego snap to prev trajectory (#13234)
• [map_based_prediction] Cut VRU paths jumping onto the road at road boundaries (#13203)
• [map_based_prediction] Add vegetation path cutting (#13190)
• [trajectory_adapter] Apply agnocast_wrapper::Node to trajectory_adapter (#12842)
• [autoware_trajectory_processor] Support agnocast_wrapper::Node (#13243)
• [trajectory_modifier, minimum_rule_based_planner] Improve obstacle stop feature (#13255)
• [simulator] Add node design file for dummy traffic light publisher (#13254)
• [multi_object_tracker] Tracker batch trigger on stale target stream (#13181)
• [autoware_crosswalk_traffic_light_estimator] Use timestamp from message header instead of node clock (#13268)
• [autoware_carla_interface] Optionally snap spawn and initial pose to ground (#13232)
• [external_cmd_converter] Apply agnocast_wrapper::Node to external_cmd_converter (#13014)
• [diagnostic_graph_aggregator] Split available and continuable flags (#13252)
• [autoware_diagnostic_graph_aggregator] Enable to remap set initializing (#12757)
• [mrm_operator] Add driving mode active flag (#13249)
• [euclidean_cluster] Add support of filtering clusters regarding size (#13248)
• [autoware_carla_interface] Add min_positive_throttle for standstill starts (#13263)
• [autoware_carla_interface] Make world loading version-tolerant with force_load_world (#13262)
• [autoware_trajectory_processor] Apply agnocast_wrapper::Node to trajectory_processor (#13242)
• [autoware_carla_interface] Tolerate maps without parseable OpenDRIVE metadata (#13233)
• [autoware_carla_interface] Optionally flatten the corrupt CARLA 0.10 steering curve (#13277)
• [autoware_map_tf_generator] Add a node design for vector_map_tf_generator (#13297)
• [ptv3] Enable to specify segmentation class remapping from config (#13201)
• [minimum_rule_based_planner] Apply agnocast_wrapper::Node to minimum_rule_based_planner (#13257)
• [operation_mode_transition_manager] Add driving mode interface (#13251)
• [autoware_mission_planner_universe] Apply agnocast_wrapper::Node to MissionPlanner (#13317)
• [radar_objects_adapter] Apply agnocast_wrapper::Node to radar_objects_adapter (#12876)
• [mrm_handler] Apply agnocast_wrapper::Node to mrm_handler (#12844)
• [trajectory_modifier, minimum_rule_based_planner] Integrate semseg pointcloud into modifier and backup planner modules (#13265)
• [autoware_carla_interface] Allow overriding the wheel max steer angle for steer calibration (#13278)
• [trajectory_ranker] Implement and integrate ranker into selector node (#13353)
• [autoware_carla_interface] Publish CARLA traffic-light states, matched to the map by position (#13327)
• [autoware_tensorrt_common] Add getIOTensorNames (#13346)
• [mission_planner_universe] Apply agnocast_wrapper::Node to route_selector & goal_pose_visualizer (#12987)
• [control_validator] Apply `agnocast_wrapper::No...

0.52.0

Features

• [autoware_carla_interface] Add maintainer (#12549)
• [build_depends_stable.repos] Minor update autowarefoundation/autoware_lanelet2_extension to 1.1.0 (#12545)
• [boundary_departure] Boundary departure checker minimal implementation (#12421)
• [autoware_ptv3] Source cloud reconstruction & entropy (#12547)
• [processing_time_cheker] Add neural_network_based_planner node processing_time_ms (#12529)
• Add area support for route planning and fix DCO signoff (#12572)
• [diffusion_planner] Add compute_file_hash_hex (#12579)
• [trajectory_validator] Uncrossable boundary departure filter (#12587)
• [behavior_path_side_shift] Add drivable area check to prevent lane departure (#12504)
• [control_evaluator] Add lateral deviation between ego and centerline (#12598)
• [autoware_carla_interface] Add light weight sensor config (#12525)
• Update autoware_msgs from 1.12.0 to 1.13.0 (#12611)
• [autoware_multi_object_tracker] Polar coordinate association algorithm (#12475)
• Remove deprecated planning interface (#12636)
• [autoware_vehicle_info_utils] Refactor to use createFootprint with base_pose (#12586)
• Support VTL for reverse maneuvers (#12609)
• [image_projection_based_fusion] Apply to CIE (#12639)
• [autoware_universe_designs] Autware system designer planning and control nodes (#12408)
• [autoware_carla_interface] Add spectator follow script (#12526)
• [autoware_vehicle_cmd_gate] Apply to CIE (#12654)
• [autoware_control_evaluator] Add object_metrics.excluded_labels fpr ignoring unknown objects (#12659)
• Add reverse goal support for reverse oriented goal poses (#12668)
• [BEVFusion] Add confidence thresholds filtering based on class and distance to detection boxes (#12637)
• [autoware_tensorrt_plugins] Add do sort attribute in GetIndicePairsImplicitGemmPlugin for faster inference (#12631)
• [autoware_multi_object_tracker] Shape-aware tracker spawning and association (#12672)
• [dummy_traffic_light_publisher] Add new node to publish traffic light message instead of Rviz (#12456)
• [trajectory_selector] Combine validator and concatenator (#12532)
• Polar voxel noise filter (#12496)
• [perception] Add new cluster and merger (#12682)
• [traffic_light_multi_camera_fusion] Apply autoware_agnocast_wrapper for CIE (#12712)
• [multi object tracker] Add animal/hazard class and static tracker (#12698)
• [traffic_light_arbiter] Apply autoware_agnocast_wrapper for CIE (#12713)
• [crosswalk_traffic_light_estimator] Apply autoware_agnocast_wrapper for CIE (#12714)
• [autoware_tensorrt_common] Enable tensor io type setting (#12716)
• [behavior_velocity_speed_bump_module] Use Trajectory Class instead of PathWithLaneId (#11592)
• [autoware_trajectory_optimiser] Add temporal MPT tracking (#12394)
• [behavior_velocity_blind_spot_module] Use Trajectory instead of PathWithLaneId (#11613)
• [crosswalk_traffic_light_estimator] Apply agnocast_wrapper::Node to crosswalk_traffic_light_estimator (#12703)
• [traffic_light_arbiter] Apply agnocast_wrapper::Node to traffic_light_arbitor (#12707)
• [traffic_light_multi_camera_fusion] Apply agnocast to publisher in traffic_light_multi_camera_fusion (#12710)
• [lanelet_filter] Apply agnocast_wrapper::Node (#12663)
• [object_merger] Apply agnocast_wrapper::Node to object_merger (#12704)
• [object_sorter] Apply agnocast_wrapper::Node to object_sorter (#12705)
• [multi_object_tracker] Apply agnocast_wrapper::Node (#12664)
• [decorative_tracker_merger] Apply agnocast_wrapper::Node to decorative_tracker_merger (#12709)
• [map_based_prediction] Apply agnocast subscription to map_based_prediction (#12676)
• [label_based_euclidean_cluster] Apply agnocast to publisher for label_based_euclidean_cluster (#12720)
• [autoware_bevfusion] Add diagnostic declaration (#12681)
• [diagnostic_graph_aggregator] Add override feature (#12621)
• [autoware_universe_designs] Add node designs for common packages (#12749)
• [autoware_tracking_object_merger] Update parameter to add ANIMAL and HAZARD classes (#12778)
• [autoware_bevfusion] Update parameter and process for TRAFFIC_CONE and BARRIER classes (#12732)
• [autoware_ptv3] Split the backbone and head (#12655)
• [ptv3] Precompute serialized pooling metadata (#12727)
• [simple_object_merger] Apply agnocast_wrapper::Node to simple_object_merger (#12706)
• [radar_objects_adapter] Apply agnocast for publisher of radar_objects_adapter (#12756)
• [autoware_multi_object_tracker] Handle bounding box and polygon (#12728)
• [autoware_tensorrt_plugins] Support fused bias/activation in ImplicitGemmPlugin (#12658)
• [autoware_tensorrt_yolox] Add HAZARD label and update remap files (#12730)
• [label_based_euclidean_cluster] Add per-label clustering parameter overrides and update clusterer retrieval (#12738)
• [perception_utils] Add detection class remapper and BEV NMS (#12786)
• [planning] Apply autoware_agnocast_wrapper to diffussion planner trajectory pipeline nodes for CIE (#12779)
• [multi object tracker] Tracker export options (#12790)
• [diffusion_planner] Update model to v5 (#12701)
• [multi object tracker] Optimze execution for diffusion planner (#12810)
• [autoware_camera_streampetr] Add TRAFFIC_CONE and BARRIER classes (#12784)
• [autoware_camera_streampetr] Refine config to separate ros2 node param and ml param (#12826)
• [autoware_ptv3] Add detection3d head (#12758)
• [streampetr] Apply mask to input image (#12656)
• [behavior_path_planner] Add direction change module. Initial Commit (#12638)
• [traffic_light_filter] Sync with E2E development branch (#12813)
• [trajectory_modifier] Improve trajectory modifier obstacle stop (#12651)
• [direction_change_module] Propagate allow_area to downstream modules for area-primitive route support (#12815)
• [trajectory_selector] Anchor the concatenation on the main input (#12722)
• [autoware_universe_designs] Add node designs for control nodes (#12783)
• [autoware_universe_designs] Add node designs for yabloc image processing nodes (#12824)
• [autoware_universe_designs] Add node designs for yabloc common, particle filter, pose initializer, and monitor nodes (#12829)
• [autoware_universe_designs] Add node designs for localization nodes (#12801)
• [multi object tracker] Ekf wheel-anchor updater, lateral anchor correction (#12818)
• Split control command source and filter service (#12650)
• [emergency_stop_operator] Add driving mode interface (#12759)
• [comfortable_stop_operator] Add driving mode interface (#12838)
• [diagnostic_graph_aggregator] Add driving mode interface (#12760)
• [ptv3] Add SemanticLabel enum (#12819)
• [service_log_checker] Apply agnocast_wrapper::Node to service_log_checker (#12764)
• [autoware_universe_designs] Add node designs for planning packages (#12858)
• [autoware_universe_designs] Add node designs for sensing radar and misc packages (#12891)
• [autoware_universe_designs] Add node designs for sensing pointcloud_preprocessor packages (#12884)
• [autoware_universe_designs] Add node designs for sensing cuda_pointcloud_preprocessor packages (#12897)
• [build_depends_stable.repos] Minor update tier4_autoware_msgs to v0.70.0-rc

Bug Fixes

• [autoware_pointcloud_preprocessor] Adjust type cast (#12510)
• [autoware_multi_object_tracker] Tracker update path, shape gating, and association data structure (#12560)
• [autoware_tensorrt_plugins] Correct CustomUnique count offset (#12502)
• [traffic_light_multi_camera_fusion] Use minimum confidence across signal elements (#12566)
• [clang-tidy] Re-enable clang-diagnostic-delete-non-abstract-non-virtual-dtor (#12575)
• [behavior_path_planner] Recover route lanelet after manual override (#12576)
• [detected_object_feature_remover] Update autoware system design format to add parameter for convex hull conversion (#12590)
• [diffusion_planner] Add vehicle_info_param_path to fix build_only (#12602)
• [yabloc_common] Remove redundant semicolon (#12607)
• [clang-tidy] Fix unchecked optional access in yabloc image processing (#12613)
• [autoware_dummy_infrastructure] Rename virtual traffic light state (#12505)
• [clang-tidy] Fix unchecked optional access in yabloc particle filter (#12620)
• [control_evaluator] Boundary_distance was 0 on both the left and right sides (#12634)
• [autoware_tensorrt_vad] Bind prev_bev via setTensorAddress (#12608)
• [aeb, shape_estimation] Guard pcl::fromROSMsg against empty point clouds (#12569)
• [clang-tidy] Fix unchecked optional access in yabloc common (#12648)
• [autoware_multi_object_tracker] Bicycle motion model bug fix (#12628)
• [trajectory_validator] Remove out of lane filter (#12653)
• [clang-tidy] Re-enable clang-diagnostic-deprecated-builtins (#12571)
• [clang-tidy] Re-enable bugprone-multi-level-implicit-pointer-conversion (#12578)
• [clang-tidy] Re-enable bugprone-optional-value-conversion for road user stop module (#12583)
• [aeb, collision_detector] Skip empty point clouds to silence PCL warning spam (#12670)
• [clang-tidy] Fix unchecked optional access in lidar frnet (#12614)
• [autoware_image_projection_based_fusion] Adding 2 new classes for perception (#12671)
• [autoware_detection_by_tracker] Adapt to 2 new object classes (#12674)
• [detected_object_validation, raindrop_cluster_filter] Adding 2 new object classes (#12673)
• Imu scale estimation covariance limit for stability (#12562)
• [autoware_tensorrt_common] Fix typo & adjust macro offset (#12567)
• [euclidean_cluster] Resolve invalid type error (#12724)
• [goal_planner] Use resampled_arc_path (#12690)
• [clang-tidy] Re-enable bugprone-optional-value-conversion for universe utils (#12588)
• [autoware_carla_interface] Skip redundant world reload (#12616)
• [clang-tidy] Fix unchecked optional access in pointcloud preprocessor (#12645)
• [autoware_object_merger] Add parameter for new added classes ANIMAL and HAZARD (#12736)
• [autoware_traffic_light_arbiter] Fix arbitra...

0.51.0

Features

• [build_depends_humble.repos] Minor update autowarefoundation/managed_transform_buffer to 0.2.0 (#12102)
• Carla interface e2e planning (#11706)
• [autoware_lanelet2_extension] Replace remaining lanelet2_extension utilities functions - bvp packages (#12084)
• [autoware_tensorrt_bevformer] Update nvcc flags (#12054)
• [autoware_lanelet2_extension] Replace remaining lanelet2_extension utilities functions - planning component (#12083)
• [autoware_frenet_planner, autoware_auto_common] Remove the autoware_auto_common dependency (#12108)
• [trajectory_ranker] Add simple ranker only based on generator name (#11963)
• [static_obstacle_avoidance] Enable avoidance from obstacle stop distance (#12105)
• [behavior_path_planner] Add function to check incoming message timeout (#12075)
• Enable traffic light debugging outputs for signal display (#12135)
• [trajectory_follower_node] Add trajectory timeout monitoring with diagnostic updater (#12082)
• [autoware_system_monitor] Change diagnostic logic for mem_monitor (#11971)
• [autoware_lanelet2_extension] Replace remaining lanelet2_extension utilities functions - bpp packages (#12085)
• [behavior_velocity_no_stopping_area_module] Use Trajectory instead of PathWithLaneId (#11584)
• [autoware_default_adapi_universe] Add timeout diagnostics to adapi manual control for heartbeat monitoring with new ADAPI (>= 1.9.0) (#11554)
• [autoware_camera_streampetr] Update nvcc flags (#12046)
• [autoware_lanelet2_extension] Replace remaining lanelet2_extension utilities functions - evaluator component (#12086)
• [autoware_detected_object_feature_remover] Add convex hull process (#12160)
• [map_based_prediction] Apply the custom find-nearest function (#12128)
• [start_planner] Allow start planner to start from the centerline (#11986)
• [pid_long] Apply slope compensation for stopped acc (#12007)
• [traffic_rule_filter] Add diagnostic (#12161)
• [autoware_multi_object_tracker] Remove glog (#12163)
• [autoware_radar_object_tracker] Remove glog (#12164)
• [autowar_tracking_object_merger] Remove glog (#12165)
• [autoware_map_based_prediction] Remove glog (#12167)
• [autoware_perception_online_evaluator] Remove glog (#12166)
• [static_obstacle_avoidance] Add turn signal policy for candidate paths and refactor turn signal computation (#12144)
• [predicted_path_postprocessor] Add a processor to refine penetration by static objects (#11672)
• [start_planner] Turn signal at centerline (#12152)
• [trajectory_safety_filter] Add new safety filter considering vehicle constraints (#12197)
• [trajectory_safety_filter] Add diagnostic (#12136)
• [autoware_tensorrt_vad] Cuda 12.0 build compatibility (#12179)
• [autoware_image_projection_based_fusion] Cuda 12.0 build compatibility (#12183)
• [autoware_lidar_centerpoint] Cuda 12.0 build compatibility (#12184)
• [autoware_lidar_transfusion] Cuda 12.0 build compatibility (#12186)
• [autoware_tensorrt_yolox] Cuda 12.0 build compatibility (#12192)
• [autoware_tensorrt_plugins] Cuda 12.0 build compatibility (#12191)
• [traffic_light_filter] Add support for amber light (#12076)
• [autoware_bevfusion] Cuda 12.0 build compatibility (#12180)
• [autoware_ground_segmentation_cuda] Cuda 12.0 build compatibility (#12182)
• [autoware_tensorrt_yolox] Restore Turing arch compatibility (#12212)
• [autoware_tensorrt_plugins] Restore Turing arch compatibility (#12211)
• [autoware_lidar_transfusion] Restore Turing arch compatibility (#12210)
• [autoware_camera_streampetr] Cuda 12.0 build compatibility (#12181)
• [autoware_lidar_frnet] Cuda 12.0 build compatibility (#12185)
• [autoware_probabilistic_occupancy_grid_map] Cuda 12.0 build compatibility (#12187)
• [autoware_ptv3] Cuda 12.0 build compatibility (#12188)
• [autoware_tensorrt_bevformer] Cuda 12.0 build compatibility (#12189)
• [autoware_tensorrt_classifier] Cuda 12.0 build compatibility (#12190)
• [autoware_calibration_status_classifier] Cuda 12.0 build compatibility (#12193)
• [autoware_cuda_pointcloud_preprocessor] Cuda 12.0 build compatibility (#12194)
• [autoware_image_projection_based_fusion] Restore Turing arch compatibility (#12208)
• [autoware_lidar_centerpoint] Restore Turing arch compatibility (#12209)
• [crosswalk_traffic_light_estimator] Remove /route topic to simplify estimation logic (#12116)
• [BEVFusion] Fix projection bug of bev_pool in BEVFusion-Camera (#12206)
• [diffusion_planner] Ego interpolation (#12213)
• [steer_offset_estimator] Implement calibration logic (#12004)
• [behavior_velocity_occlusion_spot_module] Use Trajectory instead of PathWithLaneId (#11782)
• [behavior_velocity_no_drivable_lane_module] Use Trajectory instead of PathWithLaneId (#11585)
• [lanelet2_extension] Replace ported lanelet2_extension utilities functions (final) (#12173)
• [diffusion_planner] Optimize TRT inference pipeline (#12241)
• [autoware_trajectory] Define set stopline in Trajectory class (#12008)
• [trajectory_modifier] Modify long stopped trajectories (#12256)
• [autoware_path_optimizer] New path optimizer (#11479)
• [autoware_mission_planner_universe] Remove glog component (#12226)
• [autoware_planning_validator] Remove glog component (#12225)
• [traffic_light] Support arrow-aware passing judgment on yellow signal in bvp's experimental module (#12266)
• [control_command_filter, vehicle_cmd_gate] Add logging capabilities for command limits (#12250)
• [autoware_calibration_status_classifier] Add vehicle's ego raycasting filter (#12272)
• Improve parameters and the constraints (#12271)
• [autoware_trajectory_optimizer] Force 3 point trajectory (#12287)
• [static_obstacle_avoidance] Implement 'stop_on_approval' policy for candidate path turn signals and add hold duration parameter (#12264)
• [autoware_trajectory_optimizer] Optimizer semantic speed tracker (#12289)
• [autoware_path_optimizer] Reverts new path optimizer due to failing builds (#12298)
• [autoware_calibration_status_classifier] Add angular velocity filter and refine filters design (#12286)
• [crosswalk_traffic_light_estimator] Simplify CrosswalkTrafficLightEstimator behavior and add unit tests (#12288)
• [lane_change] Recreate lane change path if deviation is high (#12280)
• [trajectory_validator] Rename autoware_trajectory_safety_filter to autoware_trajectory_validator (#12312)
• [fault_injection] Modify the mechanism for changing Diagnostics (#11810)
• [compare_map_filter] Apply agnocast publisher to voxel_based_compare_map_filter (#12304)
• Add Jazzy and Humble dual ROS distribution support to CI using Matrix Strategy (#12065)
• [roi_pointcloud/cluster_fusion] Apply agnocast by overriding publisher/subscription to ObjectWithFeature type communication (#12350)
• [euclidean_cluster] Apply agnocast publisher to /clusters topic (#12341)
• [autoware_shape_estimation] Replace to agnocast wrapper (#12308)
• [autoware_raindrop_cluster_filter] Replace publisher/subscription with agnocast (#12310)
• [autoware_detected_object_feature_remover] Replace with agnocast subscriber (#12313)
• [autoware_detection_by_tracker] Replace with agnocast sub detection by tracker (#12314)
• [autoware_scenario_selector] Apply autoware_agnocast_wrapper for CIE (#12334)
• [crosswalk] Fix nearest stop pose usage in bvp's experimental module (#12265)
• [radar_objects_adapter] Apply autoware_agnocast_wrapper for CIE (#12326)
• [autoware_simple_object_merger] Apply autoware_agnocast_wrapper for CIE (#12327)
• [object_association_merger] Apply autoware_agnocast_wrapper for CIE (#12328)
• [multi_object_tracker] Apply autoware_agnocast_wrapper for CIE (#12330)
• [decorative_tracker_merger] Apply autoware_agnocast_wrapper for CIE (#12331)
• [map_based_prediction] Apply autoware_agnocast_wrapper for CIE (#12332)
• [autoware_imu_corrector] Adopt cie (#12319)
• [autoware_diagnostic_graph_aggregator] Adopt cie (#12323)
• [autoware_command_mode_decider] Adopt cie (#12324)
• [autoware_command_mode_switcher] Adopt cie (#12325)
• [autoware_control_command_gate] Adopt cie (#12321)
• [object_lanelet_filter] Apply autoware_agnocast_wrapper for CIE (#12329)
• [roi_detected_object_fusion] Apply autoware_agnocast_wrapper for CIE (#12336)
• [tracked_object_sorter] Apply autoware_agnocast_wrapper for CIE (#12333)
• [autoware_trajectory_follower_node] Adopt cie (#12320)
• [autoware_raw_vehicle_cmd_conveter] Adopt cie (#12322)
• [planning_validator_container] Apply autoware_agnocast_wrapper for CIE (#12335)
• [detected_object_feature_remover] Use CallbackIsolatedAgnocastExecutor for detected_object_feature_remover (#12356)
• [shape_estimation] Use CallbackIsolatedAgnocastExecutor for shape_estimation (#12357)
• [roi_pointcloud/cluster_fusion] Use CallbackIsolatedAgnocastExecutor for roi_pointcloud/cluster_fusion (#12359)
• [low_intensity_cluster_filter] Use CallbackIsolatedAgnocastExecutor for low_intensity_cluster_filter (#12358)
• [detection_by_tracker] Use CallbackIsolatedAgnocastExecutor for detection_by_tracker_node (#12360)
• Adopt cie (#12318)
• [voxel_grid_based_euclidean_cluster] Use CallbackIsolatedAgnocastExecutor for voxel_grid_based_euclidean_cluster (#12361)
• [diffusion_planner] Diffusion planner v4 (#12348)
• [autoware_path_optimizer] Reintroducing acados MPT along with changes to linking to acados (#12300)
• [autoware_detected_object_validation] Use CallbackIsolatedAgnocastExecutor for obstacle_pointcloud_based_validator (#12371)
• [trajectory_validator] Delete traffic_rule_filter node and move traffic_light_filter (#12369)
• [autoware_ptv3] Add multi-type input and output & update model (#12362)
• [autoware_lidar_frnet] Add multi-format input, ego crop box, sensor-specific config, docs (#12000)
• [autoware_universe_designs] Introduce autoware system designer (#12070)
• [autoware_dummy_perception_publisher] Publish detected objects instead of cluster, remove shape estimation from planning simulator (#12382)
• [diagnostic_graph_aggregato...

0.50.2

Bug Fixes

• [compare_map_segmentation] Ignore Werror=array-bounds (#12316) (#12363)

0.50.1

Bug Fixes

• [yabloc_common] Avoid maybe-uninitialized build error on NVIDIA DRIVE AGX Thor (#12229)
• [yabloc_particle_filter] Suppress maybe-uninitialized warning on NVIDIA DRIVE AGX Thor (#12230)
• [autoware_detected_object_validation] Suppress maybe-uninitialized warning on NVIDIA DRIVE AGX Thor (#12228)

0.50.0

What's Changed

• feat(autoware_tensorrt_yolox): add schema for autoware_tensorrt_yolox by @vish0012 in #10047
• fix(intersection_module, roundabout_module): add collision_start_margin_time to prediction path cut duration by @zusizusi in #11774
• fix(autoware_compare_map_segmentation): add missing launch param by @badai-nguyen in #11825
• fix(lane_change): removed preferred lanes from current lanes by @zulfaqar-azmi-t4 in #11772
• fix(blind_spot): not enable blindspot in neighbouring same turn direction lanes by @zulfaqar-azmi-t4 in #11813
• feat: gpu ground segmentation by @anhnv3991 in #11371
• fix(mpc_lateral_controller): use terminal velocity to extend trajectory by @go-sakayori in #11826
• chore(mission_planner): add maintainer by @TaikiYamada4 in #11830
• fix(autoware_compare_map_segmentation): use async service call in VoxelGridDynamicMapLoader to prevent deadlock by @technolojin in #11814
• fix(autoware_simple_object_merger): make the merger parallel by @technolojin in #11832
• fix(mission_planner): blocking manual lane change when reroute is unavailable by @PanConChicharron in #11794
• feat(manual_lane_change_handler): check reroute_availability when set_preferred_lanes is called by @TaikiYamada4 in #11819
• docs(planning_evaluator): revise general terminology by @zulfaqar-azmi-t4 in #11833
• fix(intersection): use collision stopline index instead of closest index by @yhisaki in #11806
• docs(aeb): revise general terminology by @zulfaqar-azmi-t4 in #11835
• feat(reaction_analyzer): move package to autoware_tools by @isamu-takagi in #11807
• fix(planning_validator): reset last_valid_trajectory when receiving new route by @xtk8532704 in #11836
• feat(blockage_diag_node): remove parameter callback and unused header file by @interimadd in #11834
• fix(roi_cluster_fusion): separate IoU threashold for each class by @badai-nguyen in #11828
• fix(autoware_universe_utils): convex_hull syntax for boost 1.83+ by @amadeuszsz in #11838
• refactor(tier4_planning_factor_rviz_plugin): use service call to retrieve vehicle info by @yhisaki in #11827
• feat(behavior_path_planner_common,turn_signal_decider): add turn_signal_path_backward_length parametor by @zusizusi in #11829
• docs(rear_collision_checker): revise sentence from README. by @zulfaqar-azmi-t4 in #11837
• docs(lane_change): revise collision check explanation by @zulfaqar-azmi-t4 in #11845
• docs(obstacle_cruise): revise documentation by @zulfaqar-azmi-t4 in #11841
• docs(start_planner): document revision by @zulfaqar-azmi-t4 in #11844
• feat: visualization related packages support jazzy by @liuXinGangChina in #11621
• fix(cuda_scan_ground_segmentation): add missing include by @xmfcx in #11850
• feat(pointcloud_preprocessor): simplify is_valid by @xmfcx in #11851
• chore: sync files by @awf-autoware-bot[bot] in #11839
• chore: update CODEOWNERS by @awf-autoware-bot[bot] in #11753
• feat(pointcloud_preprocessor): validate indices by @xmfcx in #11852
• feat(pointcloud_preprocessor): improve cloud validation by @xmfcx in #11853
• chore: sync files by @awf-autoware-bot[bot] in #11854
• chore(sync-files): remove pre-commit-*autoupdate by @xmfcx in #11859
• feat: localization related packages support jazzy by @liuXinGangChina in #11419
• fix(crop_box_filter): make output.is_dense=true by @xmfcx in #11856
• fix(autoware_pointcloud_preprocessor): inherit is_dense for concatenated pointcloud by @mitsudome-r in #11857
• fix(autoware_pointcloud_preprocessor): recalculate row_step and width after concatenation by @mitsudome-r in #11855
• feat: simulation related packages support jazzy by @liuXinGangChina in #11424
• feat: control : fix contol packages compile error when using ros2 jazzy by @liuXinGangChina in #11556
• feat: system related packages support jazzy by @liuXinGangChina in #11626
• feat: vehicle related packages support jazzy by @liuXinGangChina in #11605
• fix(point_cloud_preprocessor): use uint64_t to avoid size_t variance by @xmfcx in #11861
• feat(motion_velocity_planner): publish debug trajectory for each module by @maxime-clem in #11781
• feat(diffusion_planner): diffusion_planner v3 by @SakodaShintaro in #11849
• perf(road_user_stop): reduce the number of published debug markers by @maxime-clem in #11865
• docs(goal_planner): document revision by @zulfaqar-azmi-t4 in #11843
• docs(bpp): revise safety check document by @zulfaqar-azmi-t4 in #11842
• refactor(diffusion_planner): refactoring of map processing by @SakodaShintaro in #11869
• refactor(blockage_diag): extract PointCloud2 validation logic for blockage diag by @interimadd in #11866
• feat(static_obstacle_avoidance): turn signal during yield maneuver by @mehmetdogru in #11778
• feat(diffusion_planner): support reconfiguration onnx_model_path by @SakodaShintaro in #11870
• fix: add cv_bridge.hpp support by @xmfcx in #11873
• fix: add missing ament_index_cpp dependency by @xmfcx in #11875
• refactor(boundary_departure): reduce call to boundary_departure_checker_ptr and class renaming by @zulfaqar-azmi-t4 in #11864
• docs(goal_planner): use same terminology from bpp main docs by @zulfaqar-azmi-t4 in #11868
• fix(lidar_apollo_instance_segmentation): add missing dep, clean up CMakeLists by @xmfcx in #11876
• chore: remove cancel-previous-workflows by @paulsohn in #11881
• feat(autoware_planning_evaluator): new obstacle metrics by @xtk8532704 in #11761
• fix(perception_online_evaluator): add missing include by @xmfcx in #11877
• chore(behavior_velocity_template_module): migrate to new interface by @mitukou1109 in #11705
• fix: qos compatibility by @xmfcx in #11878
• fix(multi_object_tracker): conform to updated TopicMetadata type by @xmfcx in #11880
• fix(freespace_planning_algorithms): conform to new SerializedBagMessage by @xmfcx in #11882
• fix(autoware_component_interface_tools): link with yaml-cpp by @xmfcx in #11872
• refactor: use boost version instead of ros version by @felixf4xu in https://github.com/autowarefoundation/autoware_univ...

0.49.0

Features

• [motion_velocity_planner] Refactor time publisher (#11646)
• [camera_streampetr] Add camera streampetr to tracker input (#11635)
• [control_validator] Add low-pass filter parameters for vehicle and target velocities only for over_velocity (#11610)
• [intersection_module] Add pass_judge_line_margin parameter (#11680)
• [autoware_trajectory_optimizer] Update optimizer config params (#11684)
• Implement bias correction controls and update README (#11474)
• [autoware_trajectory_optimizer] Fix acceleration recalculation after speed cropping (#11686)
• [diffusion_planner] Diffusion_planner v2 (#11690)
• [goal_planner] Filter out bezier path with high curvature near start pose (#11693)
• Refactor shape estimation and documentations; from autowarefoundation #11353 (#11631)
• [autoware_bevfusion] Separate image backbone from fusion model and add lidar intensity option (#11468)
• [shape_estimation] Correcting yaw (#11309) (#11634)
• [autoware_trajectory_optimizer] Mpt plugin (#11691)
• [tier4_autoware_api_launch] Pass api mode (#11687)
• [hazard_status_converter] Use latch level for holding status (#11721)
• Add VAD (monolithic E2E) support for CARLA closed-loop simulation (#11578)
• [trajectory_optimizer] Change error throttle to warn throttle (#11726)
• [autoware_pointcloud_preprocessor] Empty cloud is valid for cloud info (#11632)
• [trajectory_optimizer] Change max velocity (#11735)
• Add option for gpu-preprocessing in perception launch (#11728)
• [stream_petr] Use dynamic triangle filter for image downsampling (#11724)
• [trajectory_ranker] Add trajectory consistency score (#11762)
• [autoware_object_range_splitter] Add ComposableNode support (#11750)
• [streampetr] Class wise confidence threshold (#11756)
• [multi_object_tracker] Improve shape unstable object tracking (#10864)
• [path_optimiser] Added logging for MPT (#11771)
• [autoware_object_velocity_splitter] Add ComposableNode support (#11751)
• [autoware_vehicle_info_utils] Refactor footprint generation (#11696)
• [autoware_lanelet2_utils] Replace the usage of remove_const (#11727)
• [blockage_diag_node] Delete pointcloud publisher from blockage diag node (#11779)
• [blockage_diag_node] Use PointCloud2 message directly in BlockageDiag node (#11792)
• [diagnostic_graph_aggregator] "var" substitution support (#11802)
• [autoware_lanelet2_utils] Replace from/toBinMsg (Common and Simulator Component) (#11786)
• [autoware_lanelet2_utils] Replace from/toBinMsg (Sensing, Visualization and Perception Component) (#11785)
• [autoware_lanelet2_utils] Replace from/toBinMsg (Map and Localization Component) (#11787)
• [autoware_lanelet2_utils] Replace from/toBinMsg (Planning and Control Component) (#11784)
• [autoware_lidar_frnet] Integrate cuda blackboard into point clooud process (#11677)
• [command_mode_decider, switcher] Use velocity only and steer only conditions (#11811)
• [autoware_cuda_dependency_meta] Pass -fno-lto compile flag to downstream packages of autoware_cuda_dependency_meta (#11115)
• [build_depends_humble.repos] Minor update autowarefoundation/autoware_core to 1.5.0 (#11676)
• [build_depends_humble.repos] Minor update autowarefoundation/autoware_utils to 1.5.0 (#11821)

Bug Fixes

• [diffusion_planner] Fix process_traffic_signals (#11662)
• [centerpoint] Fix insufficient buffer clearing (#11675)
• [launch] Correct arg name for control_evaluator input object (#11669)
• [crosswalk] Always choose the nearest stop pose (incl previous one) (#11658)
• [autoware_behavior_path_static_obstacle_avoidance] Remove unnecessary postProcess (#11668)
• [operation_mode_transition_manager] Fix debug value update (#11664)
• [run_out] Reuse the previous stop pose when possible (#11681)
• [multi-object-tracker] Correct sign of lateral and longitudinal velocity terms in state prediction matrix (#11683)
• [road_user_stop] Fix topic name string (#11678)
• Resolve clock type mismatch in tf2 lookups with simulation time (#11523)
• [diffusion_planner] Fix the first value of the output velocity (#11692)
• [crosswalk] Update the previous stop pose before using it (#11699)
• [run_out] Update the previous slowdown point before using it (#11703)
• [pointcloud_preprocessor] Correct latency unit in concatenate pointcloud (#11710)
• [default_adapi_universe] Add energy normalize parameter (#11546)
• [cuda_pointcloud_preprocessor] Cast timestamp value properly (#11714)
• [autoware_map_based_prediction] Add missing parameter definitions in schema (#11722)
• [lidar_centerpoint] Correct index check in shufflePoints_kernel (#11711)
• [autoware_simple_planning_simulator] Fix dimension for DELAY_STEER_ACC_GEARED_WO_FALL_GUARD when set_initial_state() (#11725)
• [autoware_compare_map_segmentation] Add empty point cloud guards (#11748)
• [autoware_ground_segmentation] Add empty point cloud guards (#11749)
• [autoware_velodyne_monitor] Add respawn_delay to prevent rapid respawn loop (#11743)
• [autoware_bluetooth_monitor] Add respawn_delay to prevent rapid respawn loop (#11742)
• [freespace_planner] Build testing failure (#11759)
• [autoware_lidar_apollo_instance_segmentation] Add empty point cloud guard (#11745)
• [autoware_euclidean_cluster] Add empty point cloud guards (#11744)
• [diffusion_planner] Fix build_only (#11770)
• [autoware_probabilistic_occupancy_grid_map] Prevent local_map leak in occupancy grid map updateOrigin (#11765)
• [autoware_elevation_map_loader] Add empty point cloud guards (#11747)
• Prevent possible dangling pointer from .str().c_str() pattern (#11609)
• [diffusion_planner] Route input (#11780)
• [intersection] Correct stop line calculation by returning last point outside polygon (#11796)
• [autoware_livox_tag_filter] Add empty point cloud guard (#11746)
• [mpc_lateral_controller] Correct variable used for yaw input (#11809)
• [diffusion_planner] Calculate the distance with the z position (#11808)
• [diffusion_planner] Traffic_light_id_map (#11812)
• [lidar_apollo_instance_segmentation] Fixed preprocessing (#8172)

Documentation

• [diffusion_planner] Add How to use (#11685)
• [planning] Fix .pages file (#11697)
• Fix link to deviation_estimator in README (#11695)
• Fix broken links (#11815)

Code Refactoring

• [control_validator] Reduce copy and add test for trajectory aligning (#11718)
• Fix leftover dependent autoware_utils from updating vehicle_info_utils (#11734)
• Migrate autoware_tensorrt_vad to e2e directory (#11730)
• [boundary_departure_checker] Replace autoware_utils (#11733)
• [freespace_planning_algorithms] Reduce autoware_utils deps (#11731)
• [autoware_trajectory_optimizer] Move functions and change parameter names to accommodate standard (#11760)
• [ground_segmentation] Remove grid_mode_switch_radius param (#11773)
• [diffusion_planner] Add FrameContext (#11805)

Tests

• Add integration test to blockage diag node (#11777)

Chores

• Sync files (#11500)
• Update CODEOWNERS (#11639)
• [planning] Add diffusion planner document to .pages file (#11689)
• [goal_planner] Change bezier parking parameters in default config (#11698)
• Sync files (#11729)
• Update CODEOWNERS (#11732)
• [diffusion_planner] Change default values (#11757)
• [autoware_dummy_infrastructure] Remove unused boost/optional (#11713)
• [cspell] Fix cspell dict url in spell-check-dialy.yaml (#11783)
• [autoware_behavior_velocity_virtual_traffic_light_module] Modify maintainers of path_generator (#11791)
• [autoware_steer_offset_estimator] Add new maintainer Taiki Yamada to package.xml (#11797)
• [yabloc_image_processing, autoware_pose_estimator_arbiter] Resolve cmake targets (#11795)
• [streampetr] Removed thrust stream policy (#11800)
• Sync files (#11793)
• Update package.xml and changelog for 0.49.0 (#11820)
• Update autoware_core version to 1.6.0 in build_depends_humble.repos
• Bump version to 0.49.0 (#11822)

0.48.0

Features

• [boundary_departure] On time buffer for critical departure (#11126)
• [mpc_lateral_controller] Publish the wheel angle in the predicted trajectory (#11153)
• [rear_collision_checker] Add parameter to make collision detection behavior configurable (#11151)
• [boundary_departure_checker] Improve steering abnormality (#11130)
• [turn_signal_decider] Add turn signal support for roundabouts (#10944)
• [boundary_departure] Support addition parameters for dynamic reconfiguration (#11180)
• [diffusion_planner] Multibatch inference (#11197)
• [planning_factor_rviz_plugin] Change some property (#11218)
• [tier4_perception_launch] Add an option to choose prediction model type (#11232)
• [blind_spot] Add the flag to ignore non vru (#11234)
• [planning_validator] Add operational mode state handling and validation filtering (#11216)
• Add pre-commit-lite workflow (#11240)
• [arrived_goal] Improve arrival judgment when ego-vehicle overshoots goal (#11134)
• [tracker] Adjust generalized IoU threshold based on object speed (#11237)
• [planning, perception] Replace wall_timer with generic timer (#11005)
• [autoware_camera_streampetr] Implementation of StreamPETR using tensorrt (#11139)
• [steer_offset_estimator] Load initial steer offset from arbitrary file and publish steering_offset_error (#11249)
• Add autoware_trajectory_optimizer (#11110)
• [autoware_multi_object_tracker] Improve vehicle motion model kalman filter (#11230)
• [diffusion_planner] Add turn_indicators_command (#11264)
• [build_depends_humble.repos] Patch update tier4/agnocast to 2.1.2 (#11231)
• [goal_planner] Relax braking constraint at low speeds to improve goal position stability (#11271)
• [goal_planner] Improve lane change coordination by monitoring lane change completion (#11210)
• [goal_planner] Ignore parked object in bus_stop (#11270)
• [diffusion_planner] Add diagnostics (#11284)
• [start_planner] Prioritize planner type with list (#11275)
• [autoware_agnocast_wrapper] Support runtime fallback to ROS 2 behavior (#11060)
• [autoware_topic_state_monitor] Enable to remap diagnostics topic (#11294)
• [goal_planner] Make parameters for stopping buffer (#11287)
• [trajectory modifier] Add trajectory modifier (#11277)
• [autoware_pointcloud_preprocessor] Polar voxel filter (#10996)
• [pose_instability_detector] Make pose_instability_detector filtered by dimensions (#11298)
• [stop_mode_operator] Shift gear to park on stop mode (#11257)
• [control_evaluator] Add longitudinal_velocity evaluation (#11094)
• [diffusion_planner] Use turn_direction for arrow traffic signals (#11303)
• Scale gyro estimation (#10724)
• [autoware_cuda_pointcloud_preprocessor] Cuda/polar voxel filter (#11122)
• On off scale and bias correction (#11314)
• [steer_offset_estimator] Integrate twist estimation function to steer_offset_estimator node (#11315)
• [lane_change_module] Set none planning_factor behavior (#11328)
• [bpp, lane_change] Enable prepare phase check even when ego is preparing (#11307)
• Trajectory concatenator (#11321)
• [trajectory_ranker] Add trajectory ranker (#11318)
• [component_state_monitor] Use topic_state_monitor component (#11308)
• [diagnostic_graph_utils] Use raw level for leaf node (#11327)
• [trajectory_adapter] Add trajectory adapter (#11324)
• [obstacle_slow_down_module, obstacle_cruise_module] Add safety_factor (#10990)
• [planning_factor_rviz_plugin] Add wall visualization of UNKNOWN behavior (#11344)
• [RTC, behavior_velocity_planner] Set manual RTC via the lanelet map (#11340)
• [start_planner] Add plotting functionality with lanelet and vehicle foot print to specific output directory (#11127)
• [tests] Add test bench for association and update test configurations (#11254)
• [autoware_euclidean_cluster] Created the schema file, updated the readme file and deleted the default parameter in node files code (#10085)
• [autoware_lidar_apollo_instance_segmentation] Created the schema file, updated the readme file and deleted the default parameter in node files (#10097)
• [roundabout] Add autoware_behavior_velocity_roundabout_module (#11142)
• [diffusion_planner] Add weight version validation (#11351)
• [diffusion_planner] Use line type (#11339)
• [autoware_default_adapi_universe] Add roundabout handling to planning factors (#11300)
• [diffusion-planner] Update ONNX model versioning details and limitations (#11352)
• [diffusion_planner] Add sampled_trajectories to the model input and add a new parameter temperature (#11348)
• [obstacle_slow_down] Add curve margin feature (#11343)
• [pid_longitudinal_controller] Don't switch to DRIVE if the state conditions are not met (#11369)
• [launch] Add args to select the 2d camera detection model (#11364)
• [turn_signal_decider] Add turn signal support for roundabouts (#11235)
• [autoware_compare_map_segmentation] Add lanelet elevation filter (#11289)
• [diffusion_planner] Add acceleration (#11392)
• [tier4_system_rviz_plugin] Remove tier4_system_rviz_plugin (#11376)
• [launch] Update input topic parameters to allow dynamic configuration (#11389)
• [control_evaluator] Add lateral_acceleration_abs metric (#11402)
• [crosswalk_traffic_light_estimator] Estimation rules from lanelet map (#11397)
• Add safety gate for generator-selector framework (#11404)
• [intersection] Ignore precited path overtaking ego (#11361)
• [run_out] Support specifying polygon subtypes for map filtering (#11412)
• [autoware_dummy_perception_publisher] Dummy object predicted path functionality (#11011)
• [autoware_bevformer] Implementation of bevformer using tensorrt (#11076)
• [goal_planner] Parameterize approximate_pull_over_distance (#11417)
• [autoware_lidar_frnet] Add FRNet for LiDAR semantic segmentation (#10503)
• [autoware_ptv3] Implemented an inference node for ptv3 using tensorrt (#10600)
• [autoware_calibration_status_classifier] Add ML-based miscalibration detection module (#11222)
• [start_planner] Add plotting functionality for the test of geometric, clothoid, and freespace planner with additional yaml data (#11261)
• [autoware_freespace_planner] Utilize all 3 components of velocity (#11427)
• [intersection] Revert stop position calculation as before temporarily (#11432)
• [autoware_lanelet2_utils] Porting functions from lanelet2_extension to autoware_lanelet2_utils package (replacing usage) in localization component (#11388)
• [autoware_camera_streampetr] Cuda based undistortion with rectification (#11420)
• [start_planner] Add plotting feature for the failed test cases. (#11403)
• [autoware_remaining_distance_time_calculator] Pre-load all the road lanes to speed up processing time (#11408)
• [autoware_image_object_locator] Add autoware_image_object_locator package (#11411)
• [static_obstacle_avoidance] Avoidance for parking violation and vru (#11455)
• [goal_planner] Suppress warn message (#11460)
• [tier4_autoware_api_launch] Add api mode (#11121)
• Add traffic rule validation for generator-selector framework (#11426)
• [intersection] Remove second attention area handling (#11438)
• [cpu_monitor] Enable CPU temperature warning and error only on NVIDIA Tegra platforms (#11335)
• [map_based_prediction] Max distance for on road crosswalk users (#11459)
• [static_obstacle_avoidance] Add handling for adjacent lane stop vehicles (#11464)
• [autoware_traffic_light_arbiter] Add test for multi regulatory element (#11480)
• [autoware_lanelet2_utils] Porting functions from lanelet2_extension to autoware_lanelet2_utils package (replacing usage) in planning component (#11374)
• [autoware_trajectory_optimizer] Copy nearest point orientation from original trajectory (#11483)
• [start planner] Replace zero velocity with stop line on candidate path (#11476)
• [start planner] Support transit from running state to waiting approval state when unsafe (#11477)
• [start_planner] Supprt rtc force approval to bypass safety check (#11482)
• [mult object tracker] Publish merged object if it is multi-channel mode (#11386)
• [freespace_planning_algorithms] Update for A* python wrapper (#8890)
• [vehicle_cmd_gate] Use throttle log (#10424)
• [shift_decider] Integrate generate_parameter_library (#8871)
• [autoware_lanelet2_utils] Porting functions from lanelet2_extension to autoware_lanelet2_utils package (replacing usage) in perception component (#11387)
• [autoware_lanelet2_extension] Remove redundant autoware_lanelet2_extension depend from packages (#11492)
• [road_user_stop] Pass for stop vru (#11491)
• Add common interface tools test (#5815)
• [intersection] Consider braking distance for all stoplines and stabilize stopline position (#11445)
• [autoware_traffic_light_arbiter] Priority switch (#11494)
• [static_obstacle_avoidance] Enhance overhang distance calculation with vehicle dimensions (#11487)
• [autoware_traffic_light_arbiter] Properly (bilaterally) treat priority (#11514)
• [autoware_carla_interface] Sensor kit integration with multi-camera support (#11471)
• [autoware_trajectory_optimizer] Smoother qp solver and param refactoring (#11507)
• [goal_planner] Start blinker at deceleration start (#11512)
• [predicted_path_postprocessor] Add a new package to perform post-process for predicted paths (#11421)
• [road_user_stop] Exclude ego vehicle's sides from detection area (#11496)
• [obstacle_slow_down] Add obstacle filtter (#11498)
• [goal_planner] Consider previous module signal when preempt signal before stop (#11531)
• [goal_planner] Change debug marker color when DECIDING (#11526)
• [obstacle_slow_down] Update velocity calclation (#11502)
• [planning_evaluator] Refactor the obstacle_distance and obstacle_ttc metric (#11478)
• [autoware_trajectory_optimizer] Customization of point constraining (#11550)
• [intersection] Use fixed threshold for checking stop duration (#11552)
• [diffusion_planner] Add stopping_threshold (#11541)
• [run_out, processing_time_checker] Support pr...