# Autoware.ai 1.13 Released!

**URL:** <https://discourse.openrobotics.org/t/autoware-ai-1-13-released/11785>\
**Category:** Autoware\
**Tags:** release\
**Created:** [December 4, 2019, 5:22am UTC](https://discourse.openrobotics.org/t/autoware-ai-1-13-released/11785 "2019-12-04T05:22:48Z")\
**Posts on this page:** 9\
**Page:** 1

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**Author:** ![JWhitleyWork](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/jwhitleywork/32/5614_2.png) [@JWhitleyWork](https://discourse.openrobotics.org/u/JWhitleyWork)\
**Post date:** [December 4, 2019, 5:22am UTC](https://discourse.openrobotics.org/t/autoware-ai-1-13-released/11785/1 "2019-12-04T05:22:48Z")

</div>

Autoware.ai 1.13 is now available for general use and it’s our biggest release yet with over 230 accepted merge requests!  
To install it from source, follow the [building from source instructions](https://gitlab.com/autowarefoundation/autoware.ai/autoware/wikis/Source-Build) or to run in a Docker container, see the [Docker instructions](https://gitlab.com/autowarefoundation/autoware.ai/autoware/wikis/Generic-x86-Docker).

Docker images are available at Dockerhub:

[amd64 Containers](https://hub.docker.com/r/autoware/autoware/tags)  
[arm64 cross-compile Containers](https://hub.docker.com/r/autoware/build/tags)  
[arm64 native Containers](https://hub.docker.com/r/autoware/arm64v8/tags)

With either the from-source or Docker version of Autoware.ai, you can try it out using some recorded data by [following this guide](https://gitlab.com/autowarefoundation/autoware.ai/autoware/wikis/ROSBAG-Demo).

This is a list of the major changes in Autoware 1.13:

- Autoware.ai now supports the [Lanelet2](https://github.com/fzi-forschungszentrum-informatik/Lanelet2) mapping format! Check out the new `lanelet2aisan` and all associated nodes ([autoware#17](https://gitlab.com/autowarefoundation/autoware.ai/autoware/issues/17))
- A “Failsafe Action Framework” was implemented to handle the transition to a safe state when a system fault has been confirmed by a monitoring system which lives outside of ROS ([common!40](https://gitlab.com/autowarefoundation/autoware.ai/common/merge_requests/40) and [common#4](https://gitlab.com/autowarefoundation/autoware.ai/common/issues/4))
- The MPC Waypoints Follower now uses qpOASES as a QP (quadratic programming) solver
- `rviz` now has a clean, new default layout ([autoware#25](https://gitlab.com/autowarefoundation/autoware.ai/autoware/issues/25))
- A new engage/disengage panel was added to `rviz` to enable easy control of a by-wire-system interface ([utilities!21](https://gitlab.com/autowarefoundation/autoware.ai/utilities/merge_requests/21))
- Building your own or using existing Docker containers for Autoware.ai is now much simpler - Check out the [docker repo](https://gitlab.com/autowarefoundation/autoware.ai/docker) (and specifically the `generic/build.sh`, `generic/run.sh`, and `crossbuild/build_cross_image.sh` scripts)
- Nightly Docker builds! (see the tags with `bleedingedge`)
- Full Support for ROS Melodic Morenia and C++14 (ROS Kinetic is no longer supported)
- Easy waypoint creation with the new `waypoint_creator` package ([core\_planning!15](https://gitlab.com/autowarefoundation/autoware.ai/core_planning/merge_requests/15))
- Numerous bug fixes and smaller changes; see the full list of changes below

There are some known issues in 1.13.

- [When in Error State, `twist_gate` leaks linear velocity commands](https://gitlab.com/autowarefoundation/autoware.ai/core_planning/issues/14)
- [A parameter in the Emergency Handler causes it to be disabled by default](https://gitlab.com/autowarefoundation/autoware.ai/common/issues/9)
- [Incorrect `assert` in `lidar_naive_l_shape_detect` sometimes causes node to crash](https://gitlab.com/autowarefoundation/autoware.ai/core_perception/issues/19)
- [Curvature calculation in `pure_pursuit` is not correct](https://gitlab.com/autowarefoundation/autoware.ai/core_planning/merge_requests/63)

As always, the current reported issues can be [viewed on the issue tracker](https://gitlab.com/groups/autowarefoundation/autoware.ai/-/issues) and the current  
proposed bug fixes and new features can be [viewed on the merge request tracker](https://gitlab.com/groups/autowarefoundation/autoware.ai/-/merge_requests).

And a big thanks to all the contributors, reviewers, and maintainers!

### Full list of changes

### autoware

- CI: Removing kinetic builds and unused Travis file.
- CI: Fixing order of PREFIX\_PATH in cross-builds.
- Pin lanelet2 and Add Messages Repo Back
- Removing messages repo. Adding CUDA builds.
- Adding lanelet2 and mrt\_cmake\_modules to autoware.ai.repos.
- CI: Removing PYTHON\_EXECUTABLE CMake arg from builds.
- Add qpOASES vendor package
- CI: Start using the bleedingedge tag for all Docker images.
- CI: Removing unused variables and combining common scripts.
- Removing files and scripts that are provided elsewhere.

#### common

- fix removeImpossibleCandidate function for reverse order
- fix visualization of empty lanelet map
- fix exit condition when error exists during parsing
- Revert “new feature:emergency handler is added”
- Fix time error
- CI: Dropping Kinetic builds.
- change class name from SHM\_VitalMonitor to ShmVitalMonitor not to use underscores to be compliant with ROS guide line
- add function: getIntersect
- add wayarea2grid\_lanelet2 node to object\_map package
- Add node\_status\_monitor
- Add value\_manager for health\_checker
- add two tests related to callbacks and fix one issue found by the added tests. Issue: error is detected if system\_status is not received for more than 0.1s (expectation is to receive every 33ms), that could occur during normal initiazliation. CM is to start error detection logic once one system\_status is received
- [#23] clean up CMakeLists.txt and package.xml -[Clean up all CMakeLists.txt Files in Stack (#23) · Issues · Autoware Foundation / MovedToGitHub / autoware · GitLab](https://gitlab.com/autowarefoundation/autoware.ai/autoware/issues/23)
- add stop\_sign\_id argument to stopSignsStopLines function
- Improve check function in health checker
- change arguments to const ref for fromBinMsg
- Remove rosparam enable\_statistics
- Fix CMakeList
- CI: Fixing order of PREFIX\_PATH in cross-builds.
- Replace and add emergency category
- shared\_ptr was abolished and replaced with unique\_ptr.
- fix matchWaypointAndLanelet
- Rename health checker library and move directory
- rename lanelet2\_msgs to autoware\_lanelet2\_msgs in lanelet2\_extension package
- Standardize build\_depends.repos
- Add function identifying lane direction in libwaypoint\_follower
- add lanelet2\_map\_loader and lanelet2\_visualization
- add lanelet2\_extension package
- move core nodes of waypoint\_follower to planning, add libwaypoint\_follower packages
- change CMAKE\_CXX\_FLAGS option from c++11 to c++14
- add wf\_simulator codes
- README and add DCO
- mpc\_follower: add qpoases related code
- Maint/ci improvements
- add function for last waypoint control
- CI: Start using the bleedingedge tag for all Docker images.
- Adding startup params to some nodes.
- CI: Removing unused variables and combining common scripts.
- Updates package.xml Files to Format 2
- Maint/ci optimization

#### core\_perception

- Add rostest of launching ndt\_matching
- Fixing unit test values in gnss\_localizer Due to Fix in Common
- add vel\_pose\_diff\_checker
- fixed to ground filter in base\_link
- CI: Dropping Kinetic builds.
- Update README.md
- modify default value
- add imm\_ukf\_pda\_track\_lanelet2 node
- modified for TwistWithCovariance input output
- CMakeLists.txt fixes
- add feat\_proj\_lanelet2 node
- CI: Fixing order of PREFIX\_PATH in cross-builds.
- apply clang format
- Standardize and fix build\_depends.repos
- Change the key format so that it can be managed with yaml.
- Rename health checker library
- Fix topic name for rate checker
- Fix issue with incorrect initial orientation
- fixex concurrency issue in openmp impl of ndt matching
- Clean-up/Lint Traffic Light Recognizer (TLR)
- changed to handle use\_odom & use\_imu
- Fixes missing qpoases\_vendor dependency for common.
- Maint/ci improvements
- Adding tests. Implementing different method to fix GGA and RMC messages.
- Apply same fix to GPRMC.
- Fixing bug where nmea2tfpose would always return positive coordinates.
- gnss fitness score made configurable through launch file
- Tracker: Unused param cleanup
- CI: Starts using the bleedingedge tag for all Docker images.
- Fixes location of remap in naive\_motion\_predict launch file.
- CI: Removing unused variables and combining common scripts.
- Adding startup params to some nodes.
- Updating all package.xml files to format 2 (REP-140).
- Add note to README
- Remove dead code
- Maint/ci optimization

#### core\_planning

- fix tranformation of crosswalk polygon
- Fix twist\_cmd safety checking in planner
- Fix local closest waypoint in astar\_avoid
- Apply to negative velocity
- add disable insert stop line function
- CI: Dropping Kinetic builds.
- Add ROS Observer to core\_planning
- fix initial value of twist\_gate parameter “is\_state\_drive” to false from true
- Apply negative velocity to pure\_pursuit
- add test case for emergency vehicle cmd and fix issues(reset emergency flag in reset\_vehicle\_cmd\_msg and publish vehicle cmd in emergency\_cmd\_callback)
- add lanelet2 option to decision\_maker
- remove unused arg
- Apply negative velocity to velocity\_set
- Add timer callback
- add delay compensation
- add velocity\_set\_lanelet2 node to waypoint\_planner package
- waypoint\_creator: fix transform for deletePoseCallback
- add costmap\_generator\_lanelet2 node to costmap\_generator package
- add lane\_rule\_lanelet2 node to lane\_planner package
- CI: Fixing order of PREFIX\_PATH in cross-builds.
- Cleaning up all CMakeLists.txt files.
- Removing unecessary \_INCLUDE\_DIRS from all packages.
- Clean up and fix twist\_gate CMakeLists.txt.
- Apply negative velocity to lane\_select
- Apply negative velocity to waypoint\_replanner
- Apply negative velocity to lane\_rule
- Fix the Way waypoint\_replanner and twist\_gate Check for decision\_maker
- Standardize and fix build\_depends.repos.
- Change the key format so that it can be managed with yaml.
- Rename health checker library
- Fix topic name for rate checker
- Fix mistakes in specifying test package names
- remove unused code
- fix launch file
- fix include error
- remove waypoint\_follower
- move twist\_gate
- move twist\_filter
- move pure\_pursut
- move mpc\_follower pkg
- change dependency from waypoint\_follower to libwaypoint\_follower
- add wf\_simulator codes
- README and add DCO
- mpc\_follower: add qpoases related code
- add function for last waypoint control
- Adding startup params to some nodes.
- Updates package.xml Files to Format 2
- wf\_simulator: change /vehicle\_status/angle definition from handle angle [deg] to tire angle [rad]
- waypoint\_follower: change /vehicle\_status/angle definition from handle angle [deg] to tire angle [rad]
- Changes to waypoint\_follower from 1.11.0.
- Feature/Gitlab CI& move pkgs (#2)
- Fix wp\_replanner bug that the first config callback is not applied.
- add waypoint\_creator package
- Fixes missing qpoases\_vendor dependency for common.
- Maint/ci improvements
- CI: Start using the bleedingedge tag for all Docker images.
- CI: Applying optimization changes from other repos.
- Adding startup params to some nodes.
- Updates all package.xml files to Format 2.

#### docker

- Adding qpoases-vendor to list of dependencies for Docker.
- Adding joint\_state\_publisher as dependency.
- CI: Dropping Kinetic builds.

#### documentation

- Updating demo launch files after split of waypoint\_follower.
- fix cosmap topic name
- fix rviz config
- update default distro to melodic
- add a cross-dependencies file for dependencies in the cross-build environments
- Automated Docker Builds
- CI: sets scripts to report an error code on failure
- Changing cross-build builder FROM to ros image.
- Standardizing build\_cross\_image.sh to match build.sh and run.sh.
- Fixing dependencies outside of build context with temporary copy.
- Add -v flag to build specific version of Autoware
- Fix cross-build bug
- Fix multiple issues in build.sh, run.sh, and entrypoint.sh.
- Add Dockerfile linting

#### drivers

- Update ssc\_interface to be platform independent
- SSC Interface: Change VelocityAccel to VelocityAccelCov.
- CI: Dropping Kinetic builds and removing unused Travis file.
- Add vehicle driver(AS and YMC) vital monitoring via ROS Observer
- CMakeLists.txt fixes
- CI: Fixing order of PREFIX\_PATH in cross-builds.
- Standardize and fix build\_depends.repos
- Removing unecessary dependency in build\_depends.repos.
- AS Interface: Reduced default decel limit to 3.0.
- CI: Removing messages repo. Adding CUDA builds.
- Fixes missing qpoases\_vendor dependency for common.
- CI: Start using the bleedingedge tag for all Docker images.
- CI: Applying optimization changes from other repos.
- Updates all package.xml files to Format 2.

#### messages

- CI: Dropping Kinetic builds and removing unused Travis file.
- Lateral limitation filter by twist\_filter
- add param of decision\_maker: disable insert stopline
- add parameters for MR 30
- CI: Fixing order of PREFIX\_PATH in cross-builds.
- Replace and add emergency category
- Rename lanelet2\_msgs to autoware\_lanelet2\_msgs
- Adding service message for TF-based TLR
- Initial commit
- CI: Start using the bleedingedge tag for all Docker images.
- CI: Applying optimization changes from other repos.
- Updates package.xml files to Format 2.
- Bumping package versions for release to ROS.
- Updating CHANGELOG files for 1.12.0 ROS release.
- Adding CHANGELOG for autoware\_external\_msgs and autoware\_map\_msgs.
- Updating autoware\_map\_msgs version for ROS release.

#### simulation

- CI: Dropping Kinetic builds.
- fix launch typo
- CMakeLists.txt fixes
- CI: Fixing order of PREFIX\_PATH in cross-builds.
- Standardize and fix build\_depends.repos
- Fix mistakes in specifying test package names
- fix launch file
- remove waypoint\_follower
- move wf\_simulator
- add wf\_simulator pkg
- add wf\_simulator codes
- README and add DCO
- mpc\_follower: add qpoases related code
- add function for last waypoint control
- Adding startup params to some nodes.
- Updates package.xml Files to Format 2
- wf\_simulator: change /vehicle\_status/angle definition from handle angle [deg] to tire angle [rad]
- waypoint\_follower: change /vehicle\_status/angle definition from handle angle [deg] to tire angle [rad]
- Changes to waypoint\_follower from 1.11.0.
- Feature/Gitlab CI& move pkgs (#2)
- CI: Removing messages repo. Adding CUDA builds.
- Fixes missing qpoases\_vendor dependency for common.
- CI: Start using the bleedingedge tag for all Docker images.
- CI: Applying optimization changes from other repos.
- Updates package.xml files to Format 2.

#### utilities

- Fix wf\_simulator’s parameter name in runtime\_manager
- fix rviz config
- add vel\_pose\_diff\_checker
- rename
- Add appropriate description.
- add checkbox param of decision\_maker
- CI: Dropping Kinetic builds.
- add use\_ll2 option to lane\_rule
- add use\_ll2 option to feat\_proj node
- add use\_ll2 option to wayarea2grid
- modify concentric\_divider\_distance value
- add use\_l2 option to imm\_ukf\_pda\_track
- add use\_ll2 option to decision\_maker
- remove unused arg & add used arg in runtime manager mpc\_follower
- add use\_ll2 option to velocity\_set
- add use\_ll2 option to costmap\_generator
- modify GUI for ekf twist\_with\_covariance
- CMakeLists.txt fixes.
- add parameters for MR30
- CI: Fixing order of PREFIX\_PATH in cross-builds.
- Change latch option for /vehicle/engage
- Adding twist2odom node.
- Add lanelet2aisan converter
- add lanelet2\_loader to runtime manager
- Standardize and fix build\_depends.repos
- modify runtime manager
- add params in runtime\_manager for topic name
- modify runtime\_manager for waypoint\_creator
- CI: Removing messages repo. Adding CUDA builds.
- runtime\_manager: add parameter for mpc\_follower
- Fixes missing qpoases\_vendor dependency for common.
- modify computing.yaml for wf\_simulator
- add parameter for adding virtual end waypoints on runtime manager
- add parameter for steering offset estimate on runtime manager
- add vehicle engage panel
- CI: Start using the bleedingedge tag for all Docker images.
- CI: Applying optimization changes from other repos.
- Updates all package.xml files to Format 2.
- Avoid accessing method in name\_get and name\_get\_cond
- register camera\_id at startup of calibration publisher
- runtime\_manager: Add missing dependency python-psutil

#### visualization

- Added missing dependency
- CI: Dropping Kinetic builds.
- CMakeLists.txt fixes
- CI: Fixing order of PREFIX\_PATH in cross-builds.
- Standardize and fix build\_depends.repos
- Removing unecessary dependency in build\_depends.repos.
- Add vehicle\_info.yaml for g30esli
- CI: Removing messages repo. Adding CUDA builds.
- Fixes missing qpoases\_vendor dependency for common.
- CI: Start using the bleedingedge tag for all Docker images.
- CI: Applying optimization changes from other repos.
- Updates all package.xml files to Format 2.

---

<div class="post-metadata">

**Author:** ![Timple](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/timple/32/4891_2.png) [@Timple](https://discourse.openrobotics.org/u/Timple)\
**Post date:** [January 17, 2020, 8:22am UTC](https://discourse.openrobotics.org/t/autoware-ai-1-13-released/11785/2 "2020-01-17T08:22:54Z")

</div>

Thanks for the release!

We are using the points\_preprocessor package from autoware.  
Is there a reason there are no debs available through apt-get for all the autoware packages?

And would it be possible to release a subset of these packages on request? Or would you allow other people to release it?

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<div class="post-metadata">

**Author:** ![gbiggs](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/gbiggs/32/30361_2.png) [@gbiggs](https://discourse.openrobotics.org/u/gbiggs)\
**Post date:** [January 17, 2020, 9:11am UTC](https://discourse.openrobotics.org/t/autoware-ai-1-13-released/11785/3 "2020-01-17T09:11:39Z")

</div>

Because currently the repositories except for the messages repository, are not set up to be bloomed due to the massive size and complexity of their content and the dependencies. We made some effort to improve this for Autoware.AI but it is unlikely to be improved any further. Autoware.Auto follows proper ROS best practices and so is already bloomable and, indeed, being bloomed and released as binaries.

---

<div class="post-metadata">

**Author:** ![Timple](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/timple/32/4891_2.png) [@Timple](https://discourse.openrobotics.org/u/Timple)\
**Post date:** [January 20, 2020, 12:51pm UTC](https://discourse.openrobotics.org/t/autoware-ai-1-13-released/11785/4 "2020-01-20T12:51:15Z")

</div>

Alright, thanks for the clear answer.  
Would there be any objections if we fork only the `points_preprocessor` package and try to release that?

Not in scope for very short term, but now I have your attention I’m curious if we could/might. This package is general enough not just to be used in autoware.

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<div class="post-metadata">

**Author:** ![gbiggs](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/gbiggs/32/30361_2.png) [@gbiggs](https://discourse.openrobotics.org/u/gbiggs)\
**Post date:** [January 20, 2020, 10:22pm UTC](https://discourse.openrobotics.org/t/autoware-ai-1-13-released/11785/5 "2020-01-20T22:22:35Z")

</div>

I wouldn’t be opposed to that, but a better solution all round might be to port that package to ROS 2 and get it into Autoware.Auto quickly. That way it will be bloomed straight away and, when we split our repository, we will be able to make sure that package is easy to install independently.

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<div class="post-metadata">

**Author:** ![Timple](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/timple/32/4891_2.png) [@Timple](https://discourse.openrobotics.org/u/Timple)\
**Post date:** [January 21, 2020, 9:14am UTC](https://discourse.openrobotics.org/t/autoware-ai-1-13-released/11785/6 "2020-01-21T09:14:46Z")

</div>

Ah yes, that would be the ultimate goal. But that would require an earlier migration to ROS2 for us than planned (at least for this project). So this would be an intermediate solution.

You say “when we split”, is there a reason it is not split from the start but it is a scheduled action?  
_(Just curious, you’ve answered all I needed for this thread 👍)_

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<div class="post-metadata">

**Author:** ![gbiggs](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/gbiggs/32/30361_2.png) [@gbiggs](https://discourse.openrobotics.org/u/gbiggs)\
**Post date:** [January 24, 2020, 7:37am UTC](https://discourse.openrobotics.org/t/autoware-ai-1-13-released/11785/7 "2020-01-24T07:37:18Z")

</div>

We needed to have a good understanding of our architecture as that is one of the lines of potential split. We know more now and feel more confident about making a split that makes sense rather than one that is arbitrary.

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<div class="post-metadata">

**Author:** ![wsung1](https://avatars.discourse-cdn.com/v4/letter/w/9de0a6/32.png) [@wsung1](https://discourse.openrobotics.org/u/wsung1)\
**Post date:** [February 4, 2020, 4:40am UTC](https://discourse.openrobotics.org/t/autoware-ai-1-13-released/11785/8 "2020-02-04T04:40:19Z")

</div>

Thanks for the release!  
In the full list of changes, I found “Add vehicle\_info.yaml for g30esli”. I think such vehicle\_info is accessible in autoware\_connector package. For example, in can\_status\_translator\_core.cpp,  
private\_nh\_.getParam(“/vehicle\_info/wheel\_base”, v\_info\_.wheel\_base);  
Please let me know how to specify the added vehicle\_info among the several existing yaml files in ~/autoware.ai/src/.config/vehicle\_info.  
Thanks for your help.

---

<div class="post-metadata">

**Author:** ![gbiggs](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/gbiggs/32/30361_2.png) [@gbiggs](https://discourse.openrobotics.org/u/gbiggs)\
**Post date:** [February 5, 2020, 5:48am UTC](https://discourse.openrobotics.org/t/autoware-ai-1-13-released/11785/9 "2020-02-05T05:48:42Z")

</div>

Thanks for using Autoware and for your question. Howevere ask that you please ask questions at the [ROS Answers website](https://answers.ros.org/questions/ask/?tags=autoware) following our [support guidelines](https://gitlab.com/autowarefoundation/autoware.ai/autoware/wikis/Support-guidelines#ros-answers). Please pay particular attention to the information we ask you to provide.

Discourse is for news and general interest discussion. [ROS Answers](https://answers.ros.org/questions/scope:all/sort:activity-desc/tags:autoware/page:1/) provides a forum which can be filtered by tags to make sure the relevant people can find and/or answer the question, and not overload everyone with hundreds of posts.