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Package Summary
| Tags | No category tags. |
| Version | 0.44.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-04-25 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The autoware_costmap_generator package
Additional Links
No additional links.
Maintainers
- Kosuke Takeuchi
- Takamasa Horibe
- Takayuki Murooka
Authors
No additional authors.
costmap_generator
costmap_generator_node
This node reads PointCloud and/or DynamicObjectArray and creates an OccupancyGrid and GridMap. VectorMap(Lanelet2) is optional.
Input topics
| Name | Type | Description |
|---|---|---|
~input/objects |
autoware_perception_msgs::PredictedObjects | predicted objects, for obstacles areas |
~input/points_no_ground |
sensor_msgs::PointCloud2 | ground-removed points, for obstacle areas which can’t be detected as objects |
~input/vector_map |
autoware_map_msgs::msg::LaneletMapBin | vector map, for drivable areas |
~input/scenario |
tier4_planning_msgs::Scenario | scenarios to be activated, for node activation |
Output topics
| Name | Type | Description |
|---|---|---|
~output/grid_map |
grid_map_msgs::GridMap | costmap as GridMap, values are from 0.0 to 1.0 |
~output/occupancy_grid |
nav_msgs::OccupancyGrid | costmap as OccupancyGrid, values are from 0 to 100 |
Output TFs
None
How to launch
-
Execute the command
source install/setup.bashto setup the environment -
Run
ros2 launch costmap_generator costmap_generator.launch.xmlto launch the node
Parameters
| Name | Type | Description |
|---|---|---|
update_rate |
double | timer’s update rate |
activate_by_scenario |
bool | if true, activate by scenario = parking. Otherwise, activate if vehicle is inside parking lot. |
use_objects |
bool | whether using ~input/objects or not |
use_points |
bool | whether using ~input/points_no_ground or not |
use_wayarea |
bool | whether using wayarea from ~input/vector_map or not |
use_parkinglot |
bool | whether using parkinglot from ~input/vector_map or not |
costmap_frame |
string | created costmap’s coordinate |
vehicle_frame |
string | vehicle’s coordinate |
map_frame |
string | map’s coordinate |
grid_min_value |
double | minimum cost for gridmap |
grid_max_value |
double | maximum cost for gridmap |
grid_resolution |
double | resolution for gridmap |
grid_length_x |
int | size of gridmap for x direction |
grid_length_y |
int | size of gridmap for y direction |
grid_position_x |
int | offset from coordinate in x direction |
grid_position_y |
int | offset from coordinate in y direction |
maximum_lidar_height_thres |
double | maximum height threshold for pointcloud data (relative to the vehicle_frame) |
minimum_lidar_height_thres |
double | minimum height threshold for pointcloud data (relative to the vehicle_frame) |
expand_rectangle_size |
double | expand object’s rectangle with this value |
size_of_expansion_kernel |
int | kernel size for blurring effect on object’s costmap |
Flowchart
@startuml
title onTimer
start
if (scenario is active?) then (yes)
else (no)
stop
endif
:get current pose;
:set the center of costmap to current pose;
if (use wayarea or use parkinglot?) then (yes)
:generate map primitives costmap;
endif
if (use objects?) then (yes)
:generate objects costmap;
endif
if (use points?) then (yes)
:generate points costmap;
endif
:combine costmap;
:publish costmap;
stop
@enduml
CHANGELOG
Changelog for package autoware_costmap_generator
0.44.0 (2025-04-18)
0.43.0 (2025-03-21)
- Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
- chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
- Contributors: Hayato Mizushima, Yutaka Kondo
0.42.0 (2025-03-03)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
- feat!: replace scenario msg from tier4_planning_msgs to autoware_internal_planning_msgs (#10180)
- Contributors: Fumiya Watanabe, Ryohsuke Mitsudome, 心刚
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
0.41.0 (2025-01-29)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- feat(autoware_costmap_generator): tier4_debug_msgs changed to autoware_internal-debug_msgs in autoware_costmap_generator (#9901) feat: tier4_debug_msgs changed to autoware_internal-debug_msgs in files planning/autoware_costmap_generator
- fix(autoware_costmap_generator): fix bugprone-branch-clone (#9669) fix: bugprone-error
- chore(autoware_costmap_generator): suppress Could not find a connection between 'map' and 'base_link' (#9655)
- Contributors: Fumiya Watanabe, Vishal Chauhan, Yukinari Hisaki, kobayu858
0.40.0 (2024-12-12)
- Merge branch 'main' into release-0.40.0
- Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
- fix: fix ticket links in CHANGELOG.rst (#9588)
- chore(package.xml): bump version to 0.39.0
(#9587)
- chore(package.xml): bump version to 0.39.0
- fix: fix ticket links in CHANGELOG.rst
* fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
- fix: fix ticket links in CHANGELOG.rst (#9588)
- feat(costmap_generator, scenario_selector): improve freespace
planning stability
(#9579)
- discretize updating grid center position by size of grid resolution
- modify logic for switching to lane driving in scenario selector
* fix spelling ---------
- fix(cpplint): include what you use - planning (#9570)
- refactor: correct spelling (#9528)
- 0.39.0
- update changelog
- Merge commit '6a1ddbd08bd' into release-0.39.0
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- fix(autoware_costmap_generator): fix clang-diagnostic-unused-private-field (#9395) fix: clang-diagnostic-unused-private-field
- fix(costmap_generator): use vehicle frame for lidar height thresholds (#9311)
- test(costmap_generator): unit test implementation for costmap
generator
(#9149)
- modify costmap generator directory structure
- rename class CostmapGenerator to CostmapGeneratorNode
- unit test for object_map_utils
- catch error from lookupTransform
- use polling subscriber in costmap generator node
- add test for costmap generator node
- add test for isActive()
- revert unnecessary changes
- remove commented out line
- minor fix
* Update planning/autoware_costmap_generator/src/costmap_generator.cpp Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>> ---------Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>>
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- chore(package.xml): bump version to 0.38.0
(#9266)
(#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
* 0.38.0
- Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Maxime CLEMENT, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858, mkquda
0.39.0 (2024-11-25)
- Merge commit '6a1ddbd08bd' into release-0.39.0
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- fix(costmap_generator): use vehicle frame for lidar height thresholds (#9311)
- test(costmap_generator): unit test implementation for costmap
generator
(#9149)
- modify costmap generator directory structure
- rename class CostmapGenerator to CostmapGeneratorNode
- unit test for object_map_utils
- catch error from lookupTransform
- use polling subscriber in costmap generator node
- add test for costmap generator node
- add test for isActive()
- revert unnecessary changes
- remove commented out line
- minor fix
* Update planning/autoware_costmap_generator/src/costmap_generator.cpp Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>> ---------Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>>
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- chore(package.xml): bump version to 0.38.0
(#9266)
(#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
* 0.38.0
- Contributors: Esteve Fernandez, Maxime CLEMENT, Yutaka Kondo, mkquda
0.38.0 (2024-11-08)
- unify package.xml version to 0.37.0
- fix(costmap_generator): fix include for grid_map_utils (#9179)
- perf(costmap_generator): manual blurring and fill polygons without OpenCV (#9160)
- feat(costmap_generator, control_validator, scenario_selector,
surround_obstacle_checker, vehicle_cmd_gate): add processing
time pub.
(#9065)
- feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): Add: processing_time_pub
- fix: pre-commit
- feat(costmap_generator): fix: No output when not Active.
- fix: clang-format
* Re: fix: clang-format ---------
- perf(costmap_generator): prevent long transform lookup and add timekeeper (#8886)
- feat(costmap_generator): integrate generate_parameter_library
(#8827)
- add parameter description
- use parameter listener
- append global identifier
- suppress deprecated error
* fix parameter type ---------
- fix(other_planning_packages): align the parameters with launcher
(#8793)
- parameters in planning/others aligned
* update json ---------
- fix(autoware_costmap_generator): fix unusedFunction (#8641) fix:unusedFunction
- perf(costmap_generator, scenario_selector): faster getLinkedParkingLot (#7930)
- feat: add [autoware_]{.title-ref} prefix to [lanelet2_extension]{.title-ref} (#7640)
- refactor(costmap_generator)!: add autoware prefix (#7329) refactor(costmap_generator): add autoware prefix
- Contributors: Kazunori-Nakajima, Kosuke Takeuchi, Maxime CLEMENT, Mitsuhiro Sakamoto, Yutaka Kondo, Zhe Shen, kobayu858
0.26.0 (2024-04-03)
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
| Name |
|---|
| libpcl-all-dev |
Dependant Packages
| Name | Deps |
|---|---|
| tier4_planning_launch |
Launch files
- launch/costmap_generator.launch.xml
-
- input_objects [default: ~/input/objects]
- input_points_no_ground [default: ~/input/points_no_ground]
- input_lanelet_map [default: ~/input/vector_map]
- input_scenario [default: ~/input/scenario]
- output_grid_map [default: ~/output/grid_map]
- output_occupancy_grid [default: ~/output/occupancy_grid]
- costmap_generator_param_file [default: $(find-pkg-share autoware_costmap_generator)/config/costmap_generator.param.yaml]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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