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Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/autowarefoundation/autoware_core.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-04-01 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The ROS 2 autoware_crop_box_filter package
Additional Links
No additional links.
Maintainers
- amc-nu
- Yukihiro Saito
- Kyoichi Sugahara
- Dai Nguyen
- Kenzo Lobos-Tsunekawa
- Yihsiang Fang
- Yoshi Ri
- David Wong
- Melike Tanrikulu
- Max Schmeller
- Xingang Liu
Authors
No additional authors.
autoware_crop_box_filter
Overview
The autoware_crop_box_filter is a package that crops the input pointcloud to a specified bounding box. This is useful for reducing the computational load and improving the performance of the system.
Design
The autoware_crop_box_filter is implemented as a autoware core node that subscribes to the input pointcloud, and publishes the filtered pointcloud. The bounding box is specified using the min_point and max_point parameters.
Inputs / Outputs
Input
| Name | Type | Description |
|---|---|---|
~/input/points |
sensor_msgs::msg::PointCloud2 |
reference points |
Output
| Name | Type | Description |
|---|---|---|
~/output/points |
sensor_msgs::msg::PointCloud2 |
filtered points |
~/crop_box_polygon |
geometry_msgs::msg::PolygonStamped |
bounding box polygon |
Parameters
Launch file Parameters
| Name | Type | Default Value | Description |
|---|---|---|---|
input_frame |
string | ” “ | the frame id in which filtering is performed |
output_frame |
string | ” “ | output frame id of the filtered points |
input_pointcloud_frame |
string | ” “ | frame id of input pointcloud |
max_queue_size |
int | 5 | max buffer size of input/output topics |
crop_box_filter_param_file |
string | ” “ | path to the parameter file for the node |
Node Parameters
| Name | Type | Default Value | Description |
|---|---|---|---|
min_x |
double | -5.0 | minimum x value of the crop box |
min_y |
double | -5.0 | minimum y value of the crop box |
min_z |
double | -5.0 | minimum z value of the crop box |
max_x |
double | 5.0 | maximum x value of the crop box |
max_y |
double | 5.0 | maximum y value of the crop box |
max_z |
double | 5.0 | maximum z value of the crop box |
negative |
bool | true | if true, points inside the box are removed, otherwise points outside the box are removed |
Usage
1.publish static tf from input pointcloud to target frame that is used for filtering
ros2 run tf2_ros static_transform_publisher 2.0 3.2 1.3 0 0 0 1 velodyne_top_base_link base_link
2.launch node
ros2 launch autoware_crop_box_filter crop_box_filter_node.launch.xml
3. launch rviz2 and AWSIM
CHANGELOG
Changelog for package autoware_crop_box_filter
1.0.0 (2025-03-31)
- chore: update version in package.xml
- feat(autoware_crop_box_filter): reimplementation in core repo (#279) Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
- Contributors: Ryohsuke Mitsudome, 心刚
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
| Deps | Name |
|---|---|
| ament_cmake_auto | |
| autoware_cmake | |
| ament_lint_auto | |
| autoware_lint_common | |
| autoware_point_types | |
| autoware_utils | |
| geometry_msgs | |
| rclcpp | |
| rclcpp_components | |
| sensor_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/crop_box_filter_node.launch.xml
-
- input_topic_name [default: /sensing/lidar/top/pointcloud_raw_ex]
- output_topic_name [default: /sensing/lidar/top/self_cropped/pointcloud_ex]
- input_frame [default: base_link]
- output_frame [default: base_link]
- input_pointcloud_frame [default: velodyne_top_base_link]
- crop_box_filter_param_file [default: $(find-pkg-share autoware_crop_box_filter)/config/crop_box_filter_node.param.yaml]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged autoware_crop_box_filter at Robotics Stack Exchange
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