Enable generator-selector planning framework

[xmfcx]

Description

Current system

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---

graph TD
    MissionPlanner[🗺️ Mission Planner] -->
    MsgRoute(["✉️ /planning/mission_planning/route<br>🗂️ **autoware_planning_msgs/msg/LaneletRoute**"]) -->
    Planning["⚙️ **Robotics-Based** Planner"] -->
    MsgTrajectory(["✉️ /planning/scenario_planning/trajectory<br>🗂️ **autoware_planning_msgs/msg/Trajectory**"]) -->
    Control["🎮 Control Component"]

    classDef class_msg fill:#9BE7DF,stroke:#008274;

    class MsgRoute,MsgTrajectory class_msg;

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Proposed system

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---

graph TD
    MissionPlanner[🗺️ Mission Planner] -->
    MsgRoute(["✉️ /planning/mission_planning/route<br>🗂️ **autoware_planning_msgs/msg/LaneletRoute**"]) -->
    PlannerRobo["⚙️ **Robotics-Based** Planner"]
    MsgRoute --> PlannerAi["🤖 **AI-Based** Planner"]

    subgraph Generator["🛠️ **Generator**"]
        PlannerRobo -->
        MsgCandidateTrajectoryRobo(["✉️ /planning/generator/robotics_based/candidate_trajectories<br>🗂️ **autoware_internal_planning_msgs/CandidateTrajectories**"]) -->
        TrajectoryConcat

        PlannerAi -->
        MsgCandidateTrajectoryAi(["✉️ /planning/generator/ai_based/candidate_trajectories<br>🗂️ **autoware_internal_planning_msgs/CandidateTrajectories**"]) -->
        TrajectoryConcat
    end

    TrajectoryConcat[📎 Trajectory Concatenator] -->
    MsgCandidateTrajectories(["✉️ /planning/generator/candidate_trajectories<br>🗂️ **autoware_internal_planning_msgs/CandidateTrajectories**"]) -->
    SafetyGate

    subgraph Selector["🔍 **Selector**"]
        SafetyGate["🛡️ Safety Gate"] -->
        TrafficRuleValidation["🚦 Traffic Rule Validation"] -->
        Ranking["📊 Ranking"] -->
        MsgScoredTrajectores(["✉️ /planning/selector/scored_candidate_trajectories<br>🗂️ **autoware_internal_planning_msgs/ScoredCandidateTrajectories**"]) -->
        TrajectoryAdapter[🔌 Trajectory Adapter]
    end

    TrajectoryAdapter -->
    MsgTrajectory(["✉️ /planning/trajectory<br>🗂️ **autoware_planning_msgs/msg/Trajectory**"]) -->
    Control["🎮 Control Component"]

    classDef class_msg fill:#9BE7DF,stroke:#008274;
    classDef class_subgraph fill:#fce4ec,stroke:#8a002e;

    class MsgRoute,MsgCandidateTrajectoryRobo,MsgCandidateTrajectoryAi,MsgCandidateTrajectories,MsgScoredTrajectores,MsgTrajectory class_msg;
    class Generator,Selector class_subgraph;

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Related discussions:

• Current Issues and Future Directions of Autoware Architecture #5032
• The difficulty in handling complex scenarios due to the hierarchical architecture of Planning and the modularization of functionalities #5033 (Offered solution)
• https://github.com/tier4/new_planning_framework/wiki
  • https://github.com/tier4/new_planning_framework/wiki/Selector

Timeline & Linked PRs

🟢 No breaking change

🔴 Breaking change

• 🟢 Phase 0 | New messages
  • feat(autoware_internal_planning_msgs): add new message definitions for new planning framework autoware_internal_msgs#73
• 🟢 Phase 1 | 📅 2025-07-11 | Dual Publishing
  • feat(planning): migrate for changing planning topic name autoware_launch#1543
  • fix(autoware_launch): update trajectory relay to use parameters inste… autoware_launch#1555
• 🔴 Phase 2 | 📅 2025-08-11 | Update Controller Input Topic
  • feat: change planning output topic name to /planning/trajectory autoware_launch#1594
  • feat: change planning output topic name to /planning/trajectory autoware_core#602
  • feat: change planning output topic name to /planning/trajectory autoware_universe#11135
  • feat: change planning output topic name to /planning/trajectory tier4/tier4_ad_api_adaptor#169
  • feat: change planning output topic name to /planning/trajectory autoware_tools#288
  • refactor: change planning output topic name to /planning/trajectory tier4/scenario_simulator_v2#1664
• 🟢 Phase 3 | 📅 2025-08-30 | Add the Generator (Not used)
  • feat(artifacts): add diffusion_planner model download support #6283
  • feat(autoware_diffusion_planner): add diffusion-based trajectory planner autoware_universe#10957
  • feat(trajectory modifier): add trajectory modifier autoware_universe#11277
  • feat: trajectory concatenator autoware_universe#11321
• 🟢 Phase 4 | 📅 2025-09-30 | Introduce Selector (Not used)
  • feat(trajectory_ranker): add trajectory ranker autoware_universe#11318
  • feat(trajectory_adapter): add trajectory adapter autoware_universe#11324
  • feat: add safety gate for generator-selector framework autoware_universe#11404
  • Optional: Traffic rule validation
    • feat: add traffic rule validation for generator-selector framework autoware_universe#11426
• 🔴 Phase 5 | 📅 2025-10-15 | Enable Generator/Selector as an Option
• 🔴 Phase 6 | 📅 2025-10-30 | Expand the Generator

Phases

🟢 Phase 0 | New messages

• Merge in the new message types to support the new architecture.

🟢 Phase 1 | 📅 2025-07-11 | Dual Publishing

• Relay /planning/scenario_planning/trajectory to /planning/trajectory.
• Both topics remain available for subscribers.

New diagram

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---

graph TD
    MissionPlanner[🗺️ Mission Planner] -->
    MsgRoute(["✉️ /planning/mission_planning/route<br>🗂️ **autoware_planning_msgs/msg/LaneletRoute**"]) -->
    PlannerRobo["⚙️ **Robotics-Based** Planner"] -->
    MsgTrajectoryScenario(["✉️ /planning/scenario_planning/trajectory<br>🗂️ **autoware_planning_msgs/msg/Trajectory**"]) -->
    Control["🎮 Control Component"]

    PlannerRobo --> MsgTrajectory(["✉️ /planning/trajectory<br>🗂️ **autoware_planning_msgs/msg/Trajectory**"])

    classDef class_msg fill:#9BE7DF,stroke:#008274;
    classDef class_highlight fill:#78ff78,stroke:#008c00;

    class MsgRoute,MsgTrajectoryScenario class_msg;
    class MsgTrajectory class_highlight;

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🔴 Phase 2 | 📅 2025-08-11 | Update Controller Input Topic

• Update control-related nodes/tools to subscribe only to /planning/trajectory.
• Monitor for any lingering dependencies on the old topic.

New Diagram

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    wrappingWidth: 600
---

graph TD
    MissionPlanner[🗺️ Mission Planner] -->
    MsgRoute(["✉️ /planning/mission_planning/route<br>🗂️ **autoware_planning_msgs/msg/LaneletRoute**"]) -->
    PlannerRobo["⚙️ **Robotics-Based** Planner"] -->
    MsgTrajectoryScenario(["✉️ /planning/scenario_planning/trajectory<br>🗂️ **autoware_planning_msgs/msg/Trajectory**"])

    PlannerRobo --> MsgTrajectory(["✉️ /planning/trajectory<br>🗂️ **autoware_planning_msgs/msg/Trajectory**"]) -->
    Control["🎮 Control Component"]

    classDef class_msg fill:#9BE7DF,stroke:#008274;
    classDef class_highlight fill:#78ff78,stroke:#008c00;

    class MsgRoute,MsgTrajectoryScenario class_msg;
    class MsgTrajectory class_highlight;

    class MsgRoute,MsgCandidateTrajectoryRobo,MsgCandidateTrajectoryAi,MsgCandidateTrajectories,MsgScoredTrajectores,MsgTrajectory class_msg;

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🟢 Phase 3 | 📅 2025-08-30 | Add the Generator (Not used)

• Add Diffusion Planner as an AI based alternative planner
• Incorporate the Generator into Autoware without breaking changes
• autoware_launch does NOT use the generator.
• Generator publishes both /planning/trajectory and /planning/candidate_trajectories/ai_based for testing purposes.

New Diagram

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---

graph TD
    MissionPlanner[🗺️ Mission Planner] -->
    MsgRoute(["✉️ /planning/mission_planning/route<br>🗂️ **autoware_planning_msgs/msg/LaneletRoute**"]) -->
    PlannerRobo["⚙️ **Robotics-Based** Planner"] -->
    MsgTrajectoryScenario(["✉️ /planning/scenario_planning/trajectory<br>🗂️ **autoware_planning_msgs/msg/Trajectory**"])

    PlannerRobo --> MsgTrajectory(["✉️ /planning/trajectory<br>🗂️ **autoware_planning_msgs/msg/Trajectory**"]) -->
    Control["🎮 Control Component"]

    MsgRoute --> PlannerAi

    subgraph Generator["🛠️ Generator (❌ Not used)"]
        PlannerAi["🌀 Diffusion Planner"]-->
        MsgCandidateTrajectoryAi(["✉️ /planning/generator/ai_based/candidate_trajectories<br>🗂️ **autoware_internal_planning_msgs/CandidateTrajectories**<br>❌ Not used"])
    end
    PlannerAi --> MsgTrajectoryAi(["✉️ /planning/trajectory<br>🗂️ **autoware_planning_msgs/msg/Trajectory**<br>❌ Not used"])

    classDef class_msg fill:#9BE7DF,stroke:#008274;
    classDef class_highlight fill:#78ff78,stroke:#008c00;
    classDef class_subgraph fill:#fce4ec,stroke:#8a002e;

    class MsgRoute,MsgTrajectoryScenario,MsgTrajectory class_msg;
    class PlannerAi,MsgTrajectoryAi,MsgCandidateTrajectoryAi class_highlight;
    class Generator class_subgraph;

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🟢 Phase 4 | 📅 2025-09-30 | Introduce Selector (Not used)

• Incorporate the Selector into Autoware without breaking changes
• autoware_launch does NOT use the Selector.
• Generator does not publish /planning/trajectory anymore. It is published by the Trajectory Adapter from the Selector now.

New Diagram

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---

graph TD
    MissionPlanner[🗺️ Mission Planner] -->
    MsgRoute(["✉️ /planning/mission_planning/route<br>🗂️ **autoware_planning_msgs/msg/LaneletRoute**"]) -->
    PlannerRobo["⚙️ **Robotics-Based** Planner"] -->
    MsgTrajectoryScenario(["✉️ /planning/scenario_planning/trajectory<br>🗂️ **autoware_planning_msgs/msg/Trajectory**"])

    PlannerRobo --> MsgTrajectory(["✉️ /planning/trajectory<br>🗂️ **autoware_planning_msgs/msg/Trajectory**"]) -->
    Control["🎮 Control Component"]

    MsgRoute --> PlannerAi

    subgraph Generator["🛠️ Generator (❌ Not used)"]
        PlannerAi["🌀 Diffusion Planner"] -->
        MsgCandidateTrajectoryAi(["✉️ /planning/generator/ai_based/candidate_trajectories<br>🗂️ **autoware_internal_planning_msgs/CandidateTrajectories**<br>❌ Not used"]) -->
        TrajectoryConcat
    end

    TrajectoryConcat[📎 Trajectory Concatenator] -->
    MsgCandidateTrajectories(["✉️ /planning/generator/candidate_trajectories<br>🗂️ **autoware_internal_planning_msgs/CandidateTrajectories**"]) -->
    SafetyGate

    subgraph Selector["🔍 **Selector** (❌ Not used)"]
        SafetyGate["🛡️ Safety Gate"] -->
        TrafficRuleValidation["🚦 Traffic Rule Validation"] -->
        Ranking["📊 Ranking"] -->
        MsgScoredTrajectores(["✉️ /planning/selector/scored_candidate_trajectories<br>🗂️ **autoware_internal_planning_msgs/ScoredCandidateTrajectories**"]) -->
        TrajectoryAdapter[🔌 Trajectory Adapter]
    end

    TrajectoryAdapter -->
    MsgTrajectory2(["✉️ /planning/trajectory<br>🗂️ **autoware_planning_msgs/msg/Trajectory**<br>❌ Not used"])

    classDef class_msg fill:#9BE7DF,stroke:#008274;
    classDef class_highlight fill:#78ff78,stroke:#008c00;
    classDef class_subgraph fill:#fce4ec,stroke:#8a002e;

    class MsgRoute,MsgTrajectoryScenario,MsgTrajectory,MsgCandidateTrajectoryAi class_msg;
    class TrajectoryConcat,MsgCandidateTrajectories,SafetyGate,TrafficRuleValidation,Ranking,MsgScoredTrajectores,TrajectoryAdapter,MsgTrajectoriesAi,MsgTrajectory2 class_highlight;
    class Generator,Selector class_subgraph;

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🔴 Phase 5 | 📅 2025-10-15 | Enable Generator/Selector as an Option

• autoware_launch is modified to use the Genarator and Selector as an alternative to the robotics-based planner.

New Diagram

---
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    primaryColor: '#fffde7ff'
    primaryTextColor: '#000000'
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    wrappingWidth: 600
---

graph TD
    MissionPlanner[🗺️ Mission Planner] -->
    MsgRoute(["✉️ /planning/mission_planning/route<br>🗂️ **autoware_planning_msgs/msg/LaneletRoute**"]) -->
    PlannerRobo["⚙️ **Robotics-Based** Planner"] -->
    MsgTrajectoryScenario(["✉️ /planning/scenario_planning/trajectory<br>🗂️ **autoware_planning_msgs/msg/Trajectory**"])

    PlannerRobo --> MsgTrajectory(["✉️ /planning/trajectory<br>🗂️ **autoware_planning_msgs/msg/Trajectory**"]) -->
    Control["🎮 Control Component"]

    MsgRoute --> PlannerAi

    subgraph Generator["🛠️ Generator (🔀 Optional)"]
        PlannerAi["🌀 Diffusion Planner"] -->
        MsgCandidateTrajectoryAi(["✉️ /planning/generator/andidate_trajectories/ai_based<br>🗂️ **autoware_internal_planning_msgs/CandidateTrajectories**<br>🔀 Optional"]) -->
        TrajectoryConcat
    end

    TrajectoryConcat[📎 Trajectory Concatenator] -->
    MsgCandidateTrajectories(["✉️ /planning/generator/candidate_trajectories<br>🗂️ **autoware_internal_planning_msgs/CandidateTrajectories**"]) -->
    SafetyGate

    subgraph Selector["🔍 **Selector** (🔀 Optional)"]
        SafetyGate["🛡️ Safety Gate"] -->
        TrafficRuleValidation["🚦 Traffic Rule Validation"] -->
        Ranking["📊 Ranking"] -->
        MsgScoredTrajectores(["✉️ /planning/selector/scored_candidate_trajectories<br>🗂️ **autoware_internal_planning_msgs/ScoredCandidateTrajectories**"]) -->
        TrajectoryAdapter[🔌 Trajectory Adapter]
    end

    TrajectoryAdapter -->
    MsgTrajectory2(["✉️ /planning/trajectory<br>🗂️ **autoware_planning_msgs/msg/Trajectory**<br>🔀 Optional"])

    classDef class_msg fill:#9BE7DF,stroke:#008274;
    classDef class_highlight fill:#78ff78,stroke:#008c00;
    classDef class_subgraph fill:#fce4ec,stroke:#8a002e;

    class MsgRoute,MsgTrajectoryScenario,MsgTrajectory,MsgCandidateTrajectoryAi,MsgCandidateTrajectories,MsgScoredTrajectores,MsgTrajectoriesAi,MsgTrajectory2 class_msg;
    class Generator,Selector class_subgraph;

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🔴 Phase 6 | 📅 2025-10-30 | Expand the Generator

• The robotics-based planner is incorporated into the Generator.
• The Selector uses the robotics-based planner by default.
• The Diffusion Planner can be enabled as an option within autoware_launch.
• /planning/scenario_planning/trajectory topic is deprecated.

New Diagram

---
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    primaryColor: '#fffde7ff'
    primaryTextColor: '#000000'
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  flowchart:
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    wrappingWidth: 600
---

graph TD
    MissionPlanner[🗺️ Mission Planner] -->
    MsgRoute(["✉️ /planning/mission_planning/route<br>🗂️ **autoware_planning_msgs/msg/LaneletRoute**"]) -->
    PlannerRobo["⚙️ **Robotics-Based** Planner"]

    MsgRoute --> PlannerAi["🤖 **AI-Based** Planner<br>🔀 Optional"]

    subgraph Generator["🛠️ **Generator**"]
        PlannerRobo -->
        MsgCandidateTrajectoryRobo(["✉️ /planning/generator/robotics_based/candidate_trajectories<br>🗂️ **autoware_internal_planning_msgs/CandidateTrajectories**"]) -->
        TrajectoryConcat[📎 Trajectory Concatenator]

        PlannerAi -->
        MsgCandidateTrajectoryAi(["✉️ /planning/generator/ai_based/candidate_trajectories<br>🗂️ **autoware_internal_planning_msgs/CandidateTrajectories**<br>🔀 Optional"]) -->
        TrajectoryConcat
    end

    TrajectoryConcat -->
    MsgCandidateTrajectories(["✉️ /planning/generator/candidate_trajectories<br>🗂️ **autoware_internal_planning_msgs/CandidateTrajectories**"]) -->
    SafetyGate

    subgraph Selector["🔍 **Selector**"]
        SafetyGate["🛡️ Safety Gate"] -->
        TrafficRuleValidation["🚦 Traffic Rule Validation"] -->
        Ranking["📊 Ranking"] -->
        MsgScoredTrajectores(["✉️ /planning/selector/scored_candidate_trajectories<br>🗂️ **autoware_internal_planning_msgs/ScoredCandidateTrajectories**"]) -->
        TrajectoryAdapter[🔌 Trajectory Adapter]
    end

    TrajectoryAdapter -->
    MsgTrajectory(["✉️ /planning/trajectory<br>🗂️ **autoware_planning_msgs/msg/Trajectory**"]) -->
    Control["🎮 Control Component"]

    classDef class_msg fill:#9BE7DF,stroke:#008274;
    classDef class_subgraph fill:#fce4ec,stroke:#8a002e;

    class MsgRoute,MsgCandidateTrajectoryRobo,MsgCandidateTrajectoryAi,MsgCandidateTrajectories,MsgScoredTrajectores,MsgTrajectory class_msg;
    class Generator,Selector class_subgraph;

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