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Package Summary
| Tags | No category tags. |
| Version | 0.43.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-04-04 |
| 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 autoware_elevation_map_loader package
Additional Links
No additional links.
Maintainers
- Kosuke Takeuchi
- Taichi Higashide
- Shintaro Tomie
Authors
No additional authors.
autoware_elevation_map_loader
Purpose
This package provides elevation map for autoware_compare_map_segmentation.
Inner-workings / Algorithms
Generate elevation_map from subscribed pointcloud_map and vector_map and publish it. Save the generated elevation_map locally and load it from next time.
The elevation value of each cell is the average value of z of the points of the lowest cluster.
Cells with No elevation value can be inpainted using the values of neighboring cells.
Inputs / Outputs
Input
| Name | Type | Description |
|---|---|---|
input/pointcloud_map |
sensor_msgs::msg::PointCloud2 |
The point cloud map |
input/vector_map |
autoware_map_msgs::msg::LaneletMapBin |
(Optional) The binary data of lanelet2 map |
input/pointcloud_map_metadata |
autoware_map_msgs::msg::PointCloudMapMetaData |
(Optional) The metadata of point cloud map |
Output
| Name | Type | Description |
|---|---|---|
output/elevation_map |
grid_map_msgs::msg::GridMap |
The elevation map |
output/elevation_map_cloud |
sensor_msgs::msg::PointCloud2 |
(Optional) The point cloud generated from the value of elevation map |
Service
| Name | Type | Description |
|---|---|---|
service/get_selected_pcd_map |
autoware_map_msgs::srv::GetSelectedPointCloudMap |
(Optional) service to request point cloud map. If pointcloud_map_loader uses selected pointcloud map loading via ROS 2 service, use this. |
Parameters
Node parameters
| Name | Type | Description | Default value |
|---|---|---|---|
| map_layer_name | std::string | elevation_map layer name | elevation |
| param_file_path | std::string | GridMap parameters config | path_default |
| elevation_map_directory | std::string | elevation_map file (bag2) | path_default |
| map_frame | std::string | map_frame when loading elevation_map file | map |
| use_inpaint | bool | Whether to inpaint empty cells | true |
| inpaint_radius | float | Radius of a circular neighborhood of each point inpainted that is considered by the algorithm [m] | 0.3 |
| use_elevation_map_cloud_publisher | bool | Whether to publish output/elevation_map_cloud
|
false |
| use_lane_filter | bool | Whether to filter elevation_map with vector_map | false |
| lane_margin | float | Margin distance from the lane polygon of the area to be included in the inpainting mask [m]. Used only when use_lane_filter=True. | 0.0 |
| use_sequential_load | bool | Whether to get point cloud map by service | false |
| sequential_map_load_num | int | The number of point cloud maps to load at once (only used when use_sequential_load is set true). This should not be larger than number of all point cloud map cells. | 1 |
GridMap parameters
The parameters are described on config/elevation_map_parameters.yaml.
General parameters
| Name | Type | Description | Default value |
|---|---|---|---|
| pcl_grid_map_extraction/num_processing_threads | int | Number of threads for processing grid map cells. Filtering of the raw input point cloud is not parallelized. | 12 |
Grid map parameters
See: https://github.com/ANYbotics/grid_map/tree/ros2/grid_map_pcl
Resulting grid map parameters.
| Name | Type | Description | Default value |
|---|---|---|---|
| pcl_grid_map_extraction/grid_map/min_num_points_per_cell | int | Minimum number of points in the point cloud that have to fall within any of the grid map cells. Otherwise the cell elevation will be set to NaN. | 3 |
| pcl_grid_map_extraction/grid_map/resolution | float | Resolution of the grid map. Width and length are computed automatically. | 0.3 |
| pcl_grid_map_extraction/grid_map/height_type | int | The parameter that determine the elevation of a cell 0: Smallest value among the average values of each cluster, 1: Mean value of the cluster with the most points
|
1 |
| pcl_grid_map_extraction/grid_map/height_thresh | float | Height range from the smallest cluster (Only for height_type 1) | 1.0 |
Point Cloud Pre-processing Parameters
Rigid body transform parameters
Rigid body transform that is applied to the point cloud before computing elevation.
| Name | Type | Description | Default value |
|---|---|---|---|
| pcl_grid_map_extraction/cloud_transform/translation | float | Translation (xyz) that is applied to the input point cloud before computing elevation. | 0.0 |
| pcl_grid_map_extraction/cloud_transform/rotation | float | Rotation (intrinsic rotation, convention X-Y’-Z’’) that is applied to the input point cloud before computing elevation. | 0.0 |
Cluster extraction parameters
Cluster extraction is based on pcl algorithms. See https://pointclouds.org/documentation/tutorials/cluster_extraction.html for more details.
| Name | Type | Description | Default value |
|---|---|---|---|
| pcl_grid_map_extraction/cluster_extraction/cluster_tolerance | float | Distance between points below which they will still be considered part of one cluster. | 0.2 |
| pcl_grid_map_extraction/cluster_extraction/min_num_points | int | Min number of points that a cluster needs to have (otherwise it will be discarded). | 3 |
| pcl_grid_map_extraction/cluster_extraction/max_num_points | int | Max number of points that a cluster can have (otherwise it will be discarded). | 1000000 |
Outlier removal parameters
See https://pointclouds.org/documentation/tutorials/statistical_outlier.html for more explanation on outlier removal.
| Name | Type | Description | Default value |
|---|---|---|---|
| pcl_grid_map_extraction/outlier_removal/is_remove_outliers | float | Whether to perform statistical outlier removal. | false |
| pcl_grid_map_extraction/outlier_removal/mean_K | float | Number of neighbors to analyze for estimating statistics of a point. | 10 |
| pcl_grid_map_extraction/outlier_removal/stddev_threshold | float | Number of standard deviations under which points are considered to be inliers. | 1.0 |
Subsampling parameters
See https://pointclouds.org/documentation/tutorials/voxel_grid.html for more explanation on point cloud downsampling.
| Name | Type | Description | Default value |
|---|---|---|---|
| pcl_grid_map_extraction/downsampling/is_downsample_cloud | bool | Whether to perform downsampling or not. | false |
| pcl_grid_map_extraction/downsampling/voxel_size | float | Voxel sizes (xyz) in meters. | 0.02 |
CHANGELOG
Changelog for package autoware_elevation_map_loader
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(elevation_map_loader): add grid_map_rviz_plugin to dependency (#10137)
- feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
- Contributors: Fumiya Watanabe, Kosuke Takeuchi, 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)
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)
- fix(autoware_elevation_map_loader): fix clang-diagnostic-format-security (#9492)
- 0.39.0
- update changelog
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- 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, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858
0.39.0 (2024-11-25)
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- 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, Yutaka Kondo
0.38.0 (2024-11-08)
- unify package.xml version to 0.37.0
- refactor(autoware_grid_map_utils): prefix folder structure with autoware/ (#9170)
- fix(autoware_elevation_map_loader): fix functionConst (#8293) fix: functionConst
-
refactor(elevation_map_loader): add package name prefix [autoware_]{.title-ref}, fix namespace and directory structure (#7988) * refactor: add namespace, remove unused dependencies, file structure chore: remove unused dependencies style(pre-commit): autofix * refactor: rename elevation_map_loader to autoware_elevation_map_loader Rename the [elevation_map_loader]{.title-ref} package to [autoware_elevation_map_loader]{.title-ref} to align with the Autoware naming convention. style(pre-commit): autofix
- Contributors: Esteve Fernandez, Hayate TOBA, Taekjin LEE, Yutaka Kondo
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
Launch files
- launch/elevation_map_loader.launch.xml
-
- elevation_map_directory [default: $(find-pkg-share autoware_elevation_map_loader)/data/elevation_maps]
- param_file_path [default: $(find-pkg-share autoware_elevation_map_loader)/config/elevation_map_parameters.yaml]
- use_lane_filter [default: false]
- use_sequential_load [default: false]
- sequential_map_load_num [default: 1]
- use_inpaint [default: true]
- inpaint_radius [default: 1.0]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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