ROS Index
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
Additional Links
Maintainers
- amc-nu
- Yukihiro Saito
- Dai Nguyen
- Yoshi Ri
- Junya Sasaki
Authors
- Open Perception
- Julius Kammerl
- William Woodall
autoware_ground_filter
Purpose
The autoware_ground_filter is a node that remove the ground points from the input pointcloud.
Inner-workings / Algorithms
Detail description of each ground segmentation algorithm is in the following links.
| Filter Name | Description | Detail |
|---|---|---|
| ground_filter | A method of removing the ground based on the geometrical relationship between points lined up on radiation | link |
Inputs / Outputs
Input
| Name | Type | Description |
|---|---|---|
~/input/points |
sensor_msgs::msg::PointCloud2 |
reference points |
~/input/indices |
pcl_msgs::msg::Indices |
reference indices |
Output
| Name | Type | Description |
|---|---|---|
~/output/points |
sensor_msgs::msg::PointCloud2 |
filtered points |
Parameters
Node Parameters
| Name | Type | Default Value | Description |
|---|---|---|---|
input_frame |
string | ” “ | input frame id |
output_frame |
string | ” “ | output frame id |
has_static_tf_only |
bool | false | flag to listen TF only once |
max_queue_size |
int | 5 | max queue size of input/output topics |
use_indices |
bool | false | flag to use pointcloud indices |
latched_indices |
bool | false | flag to latch pointcloud indices |
approximate_sync |
bool | false | flag to use approximate sync option |
Assumptions / Known limits
Implemented based on pcl_perception [1] because of this issue.
References/External links
[1] https://github.com/ros-perception/perception_pcl/blob/ros2/pcl_ros/src/pcl_ros/filters/filter.cpp
Changelog for package autoware_ground_filter
1.0.0 (2025-03-31)
- chore: update version in package.xml
-
feat: re-implementation autoware_ground_filter as alpha quality from universe (#311) * add: [scan_ground_filter]{.title-ref} from Autoware Universe Source: Files copied from [Autoware Universe](https://github.com/autowarefoundation/autoware_universe/tree/b8ce82e3759e50f780a0941ca8698ff52aa57b97/perception/autoware_ground_segmentation). Scope: Integrated [scan_ground_filter]{.title-ref} into [autoware.core]{.title-ref}. Dependency Changes: Removed dependencies on [autoware_pointcloud_preprocessor]{.title-ref} to ensure compatibility within [autoware.core]{.title-ref}. Purpose: Focus on making [scan_ground_filter]{.title-ref} functional within the [autoware.core]{.title-ref} environment. Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
- Contributors: Junya Sasaki, Ryohsuke Mitsudome
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/ground_filter.launch.xml
-
- ground_segmentation_param_file [default: $(find-pkg-share autoware_ground_filter)/config/ground_filter.param.yaml]
- vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]
- input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
- output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]