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autoware_probabilistic_occupancy_grid_map 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

generate probabilistic occupancy grid map

Additional Links

No additional links.

Maintainers

  • Yukihiro Saito
  • Yoshi Ri
  • Mamoru Sobue
  • Kenzo Lobos-Tsunekawa

Authors

  • Yukihiro Saito

autoware_probabilistic_occupancy_grid_map

Purpose

This package outputs the probability of having an obstacle as occupancy grid map. pointcloud_based_occupancy_grid_map_sample_image

Settings

Occupancy grid map is generated on map_frame, and grid orientation is fixed.

You may need to choose scan_origin_frame and gridmap_origin_frame which means sensor origin and gridmap origin respectively. Especially, set your main LiDAR sensor frame (e.g. velodyne_top in sample_vehicle) as a scan_origin_frame would result in better performance.

image_for_frame_parameter_visualization

Parameters

  • binary bayes filter updater

    {{ json_to_markdown(“perception/autoware_probabilistic_occupancy_grid_map/schema/binary_bayes_filter_updater.schema.json”) }}

  • grid map

    {{ json_to_markdown(“perception/autoware_probabilistic_occupancy_grid_map/schema/grid_map.schema.json”) }}

  • laserscan based occupancy grid map

    {{ json_to_markdown(“perception/autoware_probabilistic_occupancy_grid_map/schema/laserscan_based_occupancy_grid_map.schema.json”) }}

  • multi lidar pointcloud based occupancy grid map

    {{ json_to_markdown(“perception/autoware_probabilistic_occupancy_grid_map/schema/multi_lidar_pointcloud_based_occupancy_grid_map.schema.json”) }}

  • pointcloud based occupancy grid map

    {{ json_to_markdown(“perception/autoware_probabilistic_occupancy_grid_map/schema/pointcloud_based_occupancy_grid_map.schema.json”) }}

  • synchronized grid map fusion

    {{ json_to_markdown(“perception/autoware_probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json”) }}

Downsample input pointcloud(Optional)

If you set downsample_input_pointcloud to true, the input pointcloud will be downsampled and following topics are also used. This feature is currently only for the pointcloud based occupancy grid map.

  • pointcloud_based_occupancy_grid_map method
# downsampled raw and obstacle pointcloud
/perception/occupancy_grid_map/obstacle/downsample/pointcloud
/perception/occupancy_grid_map/raw/downsample/pointcloud

  • multi_lidar_pointcloud_based_point_cloud
# downsampled raw and obstacle pointcloud
/perception/occupancy_grid_map/obstacle/downsample/pointcloud
/perception/occupancy_grid_map/<sensor_name>/raw/downsample/pointcloud

Test

This package provides unit tests using gtest. You can run the test by the following command.

colcon test --packages-select autoware_probabilistic_occupancy_grid_map --event-handlers console_direct+

Test contains the following.

  • Unit test for cost value conversion function
  • Unit test for utility functions
  • Unit test for occupancy grid map fusion functions
  • Input/Output test for pointcloud based occupancy grid map
CHANGELOG

Changelog for package autoware_probabilistic_occupancy_grid_map

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)
  • refactor: add autoware_cuda_dependency_meta (#10073)
  • Contributors: Esteve Fernandez, 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(autoware_probabilistic_occupancy_grid_map): fixed cuda use on non-cuda settings (#10099) chore: fixed cuda use on non-cuda settings
  • fix(probabilistic_occupancy_grid_map): build and runtime on non-cuda environments (#10061)
    • feat: improved data handling in the ogm. When using the full concatenated pointcloud the processing time decreases from 8ms to 4ms
    • feat: added header blocks for non-cuda environments
    • chore: removed the cuda includes from the global includes
    • fix: missed one header include
    • chore: added more cuda related macros
    • chore: lint errors

    * feat: fixed errors during merge ---------

  • feat(autoware_probabilistic_occupancy_grid_map): improved data handling on the ogm (#10060) feat: improved data handling in the ogm. When using the full concatenated pointcloud the processing time decreases from 8ms to 4ms
  • Contributors: Fumiya Watanabe, Kenzo Lobos Tsunekawa, 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_probabilistic_occupancy_grid_map): cuda accelerated implementation (#9542)
    • feat: implemented a cuda accelerated ogm
    • chore: fixed cspells
    • chore: unused header and variable names
    • chore: cspell fixes
    • chore: cppcheck fix attempt
    • fix: attempting to fix ci/cd regarding the cuda library
    • chore: fixed the order of the cuda check in the cmakelist
    • fix: removed cuda as a required dep for cpu only builds
    • fix: missing cuda linking (?)
    • feat: fixed single mode, added streams, and added the restrict keyword
    • chore: replaced a potential indetermination using an epsilon

    * Update perception/autoware_probabilistic_occupancy_grid_map/lib/updater/log_odds_bayes_filter_updater_kernel.cu Co-authored-by: Yoshi Ri <<yoshiyoshidetteiu@gmail.com>> * Update perception/autoware_probabilistic_occupancy_grid_map/lib/updater/log_odds_bayes_filter_updater_kernel.cu Co-authored-by: Yoshi Ri <<yoshiyoshidetteiu@gmail.com>>

    • style(pre-commit): autofix
    • chore: added bound checkings in the update origin kernel
    • chore: disabled tests since universe does not support cuda in ci/cd
    • chore: added me as a maintainer
    • fix: missedn the end in the cmake

    * chore: moved the boudnary checks to only the cuda version since the cpu version uses the upstream logic ---------Co-authored-by: Yoshi Ri <<yoshiyoshidetteiu@gmail.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

  • feat(autoware_probabilistic_occupancy_grid_map): tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_probabilistic_occupancy_grid_map (#9895) feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files perception/autoware_probabilistic_occupancy_grid_map Co-authored-by: Ryohsuke Mitsudome <<43976834+mitsudome-r@users.noreply.github.com>>
  • fix(perception): fix perception docs (#9766)
    • fix: fix perception docs
    • fix: fix missing parameter in schema

    * Update perception/autoware_object_merger/schema/data_association_matrix.schema.json Co-authored-by: Taekjin LEE <<technolojin@gmail.com>> * Update perception/autoware_object_merger/schema/data_association_matrix.schema.json Co-authored-by: Taekjin LEE <<technolojin@gmail.com>> * Update perception/autoware_object_merger/schema/data_association_matrix.schema.json Co-authored-by: Taekjin LEE <<technolojin@gmail.com>> * Update perception/autoware_object_merger/schema/data_association_matrix.schema.json Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>

    • style(pre-commit): autofix

    * chore: seperate paramters for different nodes ---------Co-authored-by: Taekjin LEE <<technolojin@gmail.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

  • fix(autoware_probabilistic_occupancy_grid_map): fix bugprone-branch-clone (#9652) fix: bugprone-error
  • Contributors: Fumiya Watanabe, Kenzo Lobos Tsunekawa, Vishal Chauhan, Yi-Hsiang Fang (Vivid), kobayu858

0.40.0 (2024-12-12)

  • 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)
  • 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: 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

  • fix(autoware_probabilistic_occupancy_grid_map): fix bugprone-incorrect-roundings (#9221) fix: bugprone-incorrect-roundings
  • Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo, kobayu858

0.39.0 (2024-11-25)

0.38.0 (2024-11-08)

  • unify package.xml version to 0.37.0
  • feat(probabilistic_occupancy_grid_map): add time_keeper (#8601)
    • add time_keeper
    • add option for time keeper
    • correct namespace
    • set default to false
    • add scope and timekeeper
    • remove scope and add comment for scopes
    • mod comment

    * change comment Co-authored-by: Taekjin LEE <<technolojin@gmail.com>> * fix variable shadowing ---------Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>

  • fix(autoware_probabilistic_occupancy_grid_map): fix unusedFunction (#8574) fix:unusedFunction
  • fix(autoware_probabilistic_occupancy_grid_map): fix functionConst (#8426) fix:functionConst
  • fix(autoware_probabilistic_occupancy_grid_map): fix uninitMemberVar (#8333) fix:uninitMemberVar
  • fix(autoware_probabilistic_occupancy_grid_map): fix functionConst (#8289) fix:functionConst
  • refactor(probabilistic_occupancy_grid_map, occupancy_grid_map_outlier_filter): add autoware_ prefix to package name (#8183)
    • chore: fix package name probabilistic occupancy grid map
    • fix: solve launch error
    • chore: update occupancy_grid_map_outlier_filter
    • style(pre-commit): autofix
    • refactor: update package name to autoware_probabilistic_occupancy_grid_map on a test

    * refactor: rename folder of occupancy_grid_map_outlier_filter ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Taekjin LEE <<taekjin.lee@tier4.jp>>

  • Contributors: Masaki Baba, Yoshi Ri, Yutaka Kondo, kobayu858

0.26.0 (2024-04-03)

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