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autoware_ground_segmentation package from autoware_universe repo

autoware_adapi_specs autoware_agnocast_wrapper autoware_auto_common autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_gyro_odometer autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_ndt_scan_matcher autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initializer autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_tf_generator autoware_bytetrack autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_crossing_objects_noise_filter autoware_radar_fusion_to_detected_object autoware_radar_object_clustering autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simple_object_merger autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_mission_planner_universe autoware_obstacle_cruise_planner autoware_obstacle_stop_planner autoware_path_optimizer autoware_path_smoother autoware_planning_validator autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_component_monitor autoware_component_state_monitor autoware_default_adapi autoware_adapi_adaptors autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_processing_time_checker autoware_system_diagnostic_monitor autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_mission_details_overlay_rviz_plugin autoware_overlay_rviz_plugin autoware_string_stamped_rviz_plugin autoware_perception_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_datetime_rviz_plugin tier4_localization_rviz_plugin tier4_planning_factor_rviz_plugin tier4_planning_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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 2025-04-03
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_ground_segmentation package

Additional Links

No additional links.

Maintainers

  • amc-nu
  • Yukihiro Saito
  • Dai Nguyen
  • Yoshi Ri

Authors

  • Open Perception
  • Julius Kammerl
  • William Woodall

autoware_ground_segmentation

Purpose

The autoware_ground_segmentation 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
ray_ground_filter A method of removing the ground based on the geometrical relationship between points lined up on radiation link
scan_ground_filter Almost the same method as ray_ground_filter, but with slightly improved performance link
ransac_ground_filter A method of removing the ground by approximating the ground to a plane 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

autoware::pointcloud_preprocessor::Filter is implemented based on pcl_perception [1] because of this issue.

[1] https://github.com/ros-perception/perception_pcl/blob/ros2/pcl_ros/src/pcl_ros/filters/filter.cpp

CHANGELOG

Changelog for package autoware_ground_segmentation

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)
  • chore: refine maintainer list (#10110)
    • chore: remove Miura from maintainer

    * chore: add Taekjin-san to perception_utils package maintainer ---------

  • Contributors: Fumiya Watanabe, Shunsuke Miura, 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_ground_segmentation): tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (#9878) feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files perception/autoware_ground_segmentation
  • fix(autoware_ground_segmentation): fix bugprone-branch-clone (#9648) fix: bugprone-branch-clone
  • Contributors: Fumiya Watanabe, Vishal Chauhan, 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)
  • fix(cpplint): include what you use - perception (#9569)
  • fix(autoware_ground_segmentation): remove unused function (#9536)
  • fix(autoware_ground_segmentation): fix clang-diagnostic-inconsistent-missing-override (#9517)
    • fix: clang-diagnostic-inconsistent-missing-override

    * fix: pre-commit error ---------

  • feat(autoware_ground_segmentation): grid data structure revision for efficiency improvement (#9297)
    • fix: replace point index to data index
    • feat: Use emplace_back instead of push_back for adding gnd_grids in node.cpp
    • fix: prep for non-sorted grid process
    • feat: Add Cell class and Grid class for grid-based segmentation
    • refactor: Add Cell and Grid classes for grid-based segmentation
    • feat: initialize new grid

    * refactor: Update Grid class initialization to use radians for azimuth size refactor: Update Grid class initialization to use radians for azimuth size refactor: Update Grid class initialization to use radians for azimuth size

    • refactor: Fix calculation of azimuth index in Grid class
    • feat: implement grid based segmentation, temporary logic
    • refactor: idx position convert methods
    • refactor: Update Grid class initialization to use radians for azimuth size
    • feat: reconnect grids filled
    • feat: grid initialization

    * refactor: Update Grid class initialization and reset methods, implement a segmentation logic refactor: Update Grid class initialization and reset methods, implement a segmentation logic refactor: replace original methods

    • feat: add time_keeper

    * refactor: add time keeper in grid class refactor: remove previous scan ground grid

    • refactor: optimize grid boundary calculations and use squared values for radius comparisons
    • fix: use pointer for prev cell
    • refactor: remove time keeper called too many times
    • fix: radial idx estimation fix

    * refactor: optimize ground bin average calculation fix: ground bin logic fix

    • refactor: make grid ground filter separate

    * refactor: remove unused code fix: azimuth grid index converter bug * fix: segmentation logic determination fix fix: cell connection bug fix

    • refactor: optimize pseudoArcTan2 function
    • refactor: update grid radial calculation
    • refactor: contain input cloud ptr
    • refactor: separate ground initialization
    • refactor: Remove unused code and optimize grid radial calculation
    • refactor: Inline functions for improved performance
    • feat: various azimuth interval per radial distance

    * refactor: Fix bug in grid ground filter segmentation logic and cell connection Remove unused code and optimize grid radial calculation

    • fix: add missing offset calculation

    * refactor: Improve grid ground filter segmentation logic and cell connection Optimize grid radial calculation and remove unused code

    • refactor: Remove debug print statements and optimize grid initialization
    • refactor: Update grid radial limit to 200.0m
    • refactor: Update grid size to 0.5m for improved ground segmentation
    • refactor: Improve grid ground filter segmentation logic
    • refactor: Optimize grid ground filter segmentation logic
    • refactor: Update logic order for fast segmentation
    • fix: resolve cppcheck issue
    • fix: pseudo atan2 fix for even distribution of azimuth
    • fix: remove unused next_grid_idx_ update
    • fix: introduce pseudo tangent to match result of pseudo arc tangent
    • style(pre-commit): autofix
    • fix: limit gradient
    • fix: bring previous average when the ground bin is empty
    • fix: back to constant azimuth interval grid
    • perf: remove division for efficiency
    • perf: remove division for efficiency
    • perf: contain radius and height to avoid double calculation
    • perf: optimize grid distance calculation for efficiency
    • style(pre-commit): autofix
    • perf: using isEmpty for efficiency
    • chore: initialization fix
    • perf: initial ground cell is integrated into the classify method for efficiency
    • perf: refactor grid initialization for efficiency
    • perf: optimize grid cell linking for efficiency

    * Revert "perf: initial ground cell is integrated into the classify method for efficiency" This reverts commit a4ab70b630f966d3e2827a07a0ec27079ecc78d2.

    • fix: fix pseudo atan2 bug
    • feat: various azimuth interval by range
    • perf: optimize pseudoArcTan2 function for efficiency
    • style(pre-commit): autofix
    • fix: avoid zero division on the slope estimation

    * fix: limit recursive search refactor: improve efficiency of recursiveSearch function Fix function parameter type in GridGroundFilter

    • refactor: add comments about unclassified case
    • chore: add comment to explain methods
    • refactor: remove unnecessary include statement
    • refactor: cast point_list size to int in getPointNum method

    * refactor: add index check in getCell method ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

  • 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, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Taekjin LEE, Yutaka Kondo, kobayu858

0.39.0 (2024-11-25)

0.38.0 (2024-11-08)

  • unify package.xml version to 0.37.0
  • feat(autoware_ground_segmentation): implementing linear least square fitting for local gradient calculation (#9116) * refactor: calculate local ground gradient in classifyPointCloudGridScan Calculate the local ground gradient by fitting a line to the ground grids in the classifyPointCloudGridScan function. This improves the accuracy of the gradient calculation and ensures more precise extrapolation of the ground height.
    • refactor: calculate local ground gradient in classifyPointCloudGridScan
    • refactor: update ground gradient calculation in classifyPointCloudGridScan function
    • style(pre-commit): autofix
    • chore: rename gradient variables
    • refactor: initialize all the member of the struct GridCenter

    * refactor: fix ground gradient calculation in checkContinuousGndGrid function ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

  • fix(autoware_ground_segmentation): fix scan ground filter logic (#9084) * refactor: initialize gnd_grids in ScanGroundFilterComponent::initializeFirstGndGrids Initialize gnd_grids vector in the ScanGroundFilterComponent::initializeFirstGndGrids function to ensure it is empty and has the correct capacity. This improves the efficiency of the function and ensures accurate grid initialization. * refactor: initialize gnd_grids vector in initializeFirstGndGrids function Initialize the gnd_grids vector in the initializeFirstGndGrids function to ensure it is empty and has the correct capacity. This improves the efficiency of the function and ensures accurate grid initialization. * refactor: improve efficiency and accuracy of grid initialization Initialize the gnd_grids vector in the initializeFirstGndGrids function to ensure it is empty and has the correct capacity. This refactor improves the efficiency of the function and ensures accurate grid initialization. * refactor: improve efficiency of checkDiscontinuousGndGrid function Refactor the checkDiscontinuousGndGrid function in node.cpp to improve its efficiency. The changes include optimizing the conditional statements and reducing unnecessary calculations.
    • refactor: improve efficiency of checkDiscontinuousGndGrid function
    • fix: add missing condition
    • style(pre-commit): autofix
    • refactor: fix height_max initialization in node.hpp
    • fix: bring back inequality sign

    * fix: parameters from float to double following the guideline https://docs.ros.org/en/foxy/Concepts/About-ROS-2-Parameters.html#overview * refactor: fix logic description comment ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

  • chore(autoware_ground_segmentation): scan ground filter refactoring (#9061)
    • chore: Add comment classification logic for point cloud grid scan
    • chore: renamed horizontal angle to azimuth angle
    • chore: rename offset to data_index

    * chore: rename ground_cluster to centroid_bin chore: Refactor recheckGroundCluster function in scan_ground_filter

    • chore: rename too short variables
    • refactor: set input to be const
    • refactor: update functions to be const
    • chore: reorder params
    • refactor: Add ScanGroundGrid class for managing grid data
    • refactor: Update grid parameters and calculations in ScanGroundGrid class
    • refactor: remove unused methods
    • refactor: classification description
    • refactor: initialize members in ScanGroundGrid class
    • refactor: remove unused value
    • chore: reduce scope

    * refactor: align structure between convertPointcloud and convertPointcloudGridScan ---------

  • feat(ground_segmentation): add time_keeper (#8585)
    • add time_keeper
    • add timekeeper option
    • add autoware_universe_utils
    • fix topic name
    • add scope and timekeeper
    • remove debug code

    * remove some timekeeper and mod block comment ---------

  • fix(autoware_pointcloud_preprocessor): static TF listener as Filter option (#8678)
  • fix(ground-segmentation): missing ament_index_cpp dependency (#8587)
  • fix(autoware_ground_segmentation): fix unusedFunction (#8566) fix:unusedFunction
  • fix(ground_segmentation): missing default parameters ERROR (#8538) fix(ground_segmentation): remove unused params
  • fix(autoware_ground_segmentation): fix unreadVariable (#8353)
    • fix:unreadVariable

    * fix:unreadVariable ---------

  • perf(autoware_pointcloud_preprocessor): lazy & managed TF listeners (#8174)
    • perf(autoware_pointcloud_preprocessor): lazy & managed TF listeners
    • fix(autoware_pointcloud_preprocessor): param names & reverse frames transform logic
    • fix(autoware_ground_segmentation): add missing TF listener
    • feat(autoware_ground_segmentation): change to static TF buffer
    • refactor(autoware_pointcloud_preprocessor): move StaticTransformListener to universe utils
    • perf(autoware_universe_utils): skip redundant transform
    • fix(autoware_universe_utils): change checks order

    * doc(autoware_universe_utils): add docstring ---------

  • fix(autoware_ground_segmentation): fix uninitMemberVar (#8336) fix:uninitMemberVar
  • fix(autoware_ground_segmentation): fix functionConst (#8291) fix:functionConst
  • refactor(ground_segmentation)!: add package name prefix of autoware_ (#8135)
    • refactor(ground_segmentation): add package name prefix of autoware_

    * fix: update prefix cmake ---------

  • Contributors: Amadeusz Szymko, Masaki Baba, Rein Appeldoorn, Taekjin LEE, Yutaka Kondo, badai nguyen, 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.

Launch files

  • launch/ray_ground_filter.launch.xml
      • ground_segmentation_param_file [default: $(find-pkg-share autoware_ground_segmentation)/config/ray_ground_filter.param.yaml]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
  • launch/ransac_ground_filter.launch.xml
      • ground_segmentation_param_file [default: $(find-pkg-share autoware_ground_segmentation)/config/ransac_ground_filter.param.yaml]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
  • launch/scan_ground_filter.launch.xml
      • ground_segmentation_param_file [default: $(find-pkg-share autoware_ground_segmentation)/config/scan_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]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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