autoware_probabilistic_occupancy_grid_map

Purpose

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

References/External links

• Pointcloud based occupancy grid map
• Laserscan based occupancy grid map
• Grid map fusion

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.

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 for package autoware_probabilistic_occupancy_grid_map

0.44.0 (2025-04-18)

• Merge remote-tracking branch 'origin/main' into humble
• feat(probabilistic_occupancy_grid_map): add diagnostics warning when latency is too long (#10280)
  • feat(probabilistic_occupancy_grid_map): add diagnostics warning when latency is too long
  • feat(probabilistic_occupancy_grid_map): add default max_output_delay_ms_
  • style(pre-commit): autofix
  • feat(probabilistic_occupancy_grid_map): fix reading parameters and add schema
  • style(pre-commit): autofix
  • feat(probabilistic_occupancy_grid_map):1. add tolerance duration 2. change to process time
  • feat(probabilistic_occupancy_grid_map): modification since it is clear that the target isprocess time

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• fix(autoware_probabilistic_occupancy_grid_map): fixed transform issues and border conditions (#10344)
  • fix: fixed transform issues and border conditions

  * fix: fixed compilation on cpu only builds ---------

• Contributors: Kenzo Lobos Tsunekawa, Ryohsuke Mitsudome, lei.gu

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)

• 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, Yutaka Kondo, kobayu858

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)