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autoware_surround_obstacle_checker 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 autoware_surround_obstacle_checker package

Additional Links

No additional links.

Maintainers

  • Satoshi Ota
  • Go Sakayori

Authors

  • Satoshi Ota

Surround Obstacle Checker

Purpose

This module subscribes required data (ego-pose, obstacles, etc), and publishes zero velocity limit to keep stopping if any of stop conditions are satisfied.

Inner-workings / Algorithms

Flow chart

@startuml

title surround obstacle checker
start

if (Check state) then
  :State::STOP;

  if (Is stop required?) then (yes)
  else (no)
    :Clear velocity limit;
    :Set state to State::PASS;
  endif

else
  :State::PASS;

  if (Is stop required?) then (yes)
    :Set velocity limit;
    :Set state to State::STOP;
  else (no)
  endif

endif

stop
@enduml

<img src="./media/check_distance.drawio.svg" width=80%>

Algorithms

Check data

Check that surround_obstacle_checker receives no ground pointcloud, dynamic objects and current velocity data.

Get distance to nearest object

Calculate distance between ego vehicle and the nearest object. In this function, it calculates the minimum distance between the polygon of ego vehicle and all points in pointclouds and the polygons of dynamic objects.

Stop requirement

If it satisfies all following conditions, it plans stopping.

  • Ego vehicle is stopped
  • It satisfies any following conditions
    1. The distance to nearest obstacle satisfies following conditions
      • If state is State::PASS, the distance is less than surround_check_distance
      • If state is State::STOP, the distance is less than surround_check_recover_distance
    2. If it does not satisfies the condition in 1, elapsed time from the time it satisfies the condition in 1 is less than state_clear_time

States

To prevent chattering, surround_obstacle_checker manages two states. As mentioned in stop condition section, it prevents chattering by changing threshold to find surround obstacle depending on the states.

  • State::PASS : Stop planning is released
  • State::STOP :While stop planning

Inputs / Outputs

Input

Name Type Description
/perception/obstacle_segmentation/pointcloud sensor_msgs::msg::PointCloud2 Pointcloud of obstacles which the ego-vehicle should stop or avoid
/perception/object_recognition/objects autoware_perception_msgs::msg::PredictedObjects Dynamic objects
/localization/kinematic_state nav_msgs::msg::Odometry Current twist
/tf tf2_msgs::msg::TFMessage TF
/tf_static tf2_msgs::msg::TFMessage TF static

Output

Name Type Description
~/output/velocity_limit_clear_command autoware_internal_planning_msgs::msg::VelocityLimitClearCommand Velocity limit clear command
~/output/max_velocity autoware_internal_planning_msgs::msg::VelocityLimit Velocity limit command
~/output/no_start_reason diagnostic_msgs::msg::DiagnosticStatus No start reason
~/debug/marker visualization_msgs::msg::MarkerArray Marker for visualization
~/debug/footprint geometry_msgs::msg::PolygonStamped Ego vehicle base footprint for visualization
~/debug/footprint_offset geometry_msgs::msg::PolygonStamped Ego vehicle footprint with surround_check_distance offset for visualization
~/debug/footprint_recover_offset geometry_msgs::msg::PolygonStamped Ego vehicle footprint with surround_check_recover_distance offset for visualization

Parameters

{{ json_to_markdown(“planning/autoware_surround_obstacle_checker/schema/surround_obstacle_checker.schema.json”) }}

Name Type Description Default value
enable_check bool Indicates whether each object is considered in the obstacle check target. true for objects; false for point clouds
surround_check_front_distance bool If there are objects or point clouds within this distance in front, transition to the “exist-surrounding-obstacle” status [m]. 0.5
surround_check_side_distance double If there are objects or point clouds within this side distance, transition to the “exist-surrounding-obstacle” status [m]. 0.5
surround_check_back_distance double If there are objects or point clouds within this back distance, transition to the “exist-surrounding-obstacle” status [m]. 0.5
surround_check_hysteresis_distance double If no object exists within surround_check_xxx_distance plus this additional distance, transition to the “non-surrounding-obstacle” status [m]. 0.3
state_clear_time double Threshold to clear stop state [s] 2.0
stop_state_ego_speed double Threshold to check ego vehicle stopped [m/s] 0.1
stop_state_entry_duration_time double Threshold to check ego vehicle stopped [s] 0.1
publish_debug_footprints bool Publish vehicle footprint with/without offsets true

Assumptions / Known limits

To perform stop planning, it is necessary to get obstacle pointclouds data. Hence, it does not plan stopping if the obstacle is in blind spot.

CHANGELOG

Changelog for package autoware_surround_obstacle_checker

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)
  • feat!: replace VelocityLimit messages with autoware_internal_planning_msgs (#10273)
  • feat: adaption to ROS nodes guidelines about directory structure (#10268)
  • feat(Autoware_planning_factor_interface): replace tier4_msgs with autoware_internal_msgs (#10204)
  • Contributors: Hayato Mizushima, NorahXiong, Ryohsuke Mitsudome, Yutaka Kondo, 心刚

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)
  • Contributors: Fumiya Watanabe, 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
  • chore(planning): move package directory for planning factor interface (#9948)
    • chore: add new package for planning factor interface
    • chore(surround_obstacle_checker): update include file
    • chore(obstacle_stop_planner): update include file
    • chore(obstacle_cruise_planner): update include file
    • chore(motion_velocity_planner): update include file
    • chore(bpp): update include file
    • chore(bvp-common): update include file
    • chore(blind_spot): update include file
    • chore(crosswalk): update include file
    • chore(detection_area): update include file
    • chore(intersection): update include file
    • chore(no_drivable_area): update include file
    • chore(no_stopping_area): update include file
    • chore(occlusion_spot): update include file
    • chore(run_out): update include file
    • chore(speed_bump): update include file
    • chore(stop_line): update include file
    • chore(template_module): update include file
    • chore(traffic_light): update include file
    • chore(vtl): update include file
    • chore(walkway): update include file

    * chore(motion_utils): remove factor interface ---------

  • feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (#9927) Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>> Co-authored-by: Ryohsuke Mitsudome <<43976834+mitsudome-r@users.noreply.github.com>> Co-authored-by: satoshi-ota <<satoshi.ota928@gmail.com>>
  • feat(autoware_surround_obstacle_checker): tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_surround_obstacle_checker (#9915) feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files planning/autoware_surround_obstacle_checker
  • Contributors: Fumiya Watanabe, Mamoru Sobue, Satoshi OTA, Vishal Chauhan

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 - planning (#9570)
  • ci(pre-commit): autoupdate (#8949) Co-authored-by: M. Fatih Cırıt <<mfc@autoware.org>>
  • fix(surround_obstacle_checker)!: remove stop reason (#9450) fix(surround_obstacle_checker): remove stop reason
  • 0.39.0
  • update changelog
  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
  • fix(autoware_surround_obstacle_checker): fix clang-diagnostic-unused-private-field (#9399)
    • fix: clang-diagnostic-unused-private-field
    • refactor: fmt
    • refactor: fmt
    • refactor: fmt

    * fix: hpp ---------

  • 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, Satoshi OTA, Yutaka Kondo, awf-autoware-bot[bot], kobayu858

0.39.0 (2024-11-25)

0.38.0 (2024-11-08)

  • unify package.xml version to 0.37.0
  • feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): add processing time pub. (#9065)
    • feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): Add: processing_time_pub
    • fix: pre-commit
    • feat(costmap_generator): fix: No output when not Active.
    • fix: clang-format

    * Re: fix: clang-format ---------

  • test(surround_obstacle_checker): add unit tests (#9039)
    • refactor: isStopRequired
    • test: write test for isStopRequired
    • refactor: use universe utils

    * fix: shutdown ---------

  • fix(other_planning_packages): align the parameters with launcher (#8793)
    • parameters in planning/others aligned

    * update json ---------

  • fix(autoware_surround_obstacle_checker): fix unusedFunction (#8774) fix:unusedFunction
  • feat(surround_obstacle_checker): integrate generate_parameter_library (#8719)
    • add generate_parameter_library to package
    • add parameter file generator script
    • use mapped parameters
    • integrate generate_parameter_library
    • style(pre-commit): autofix
    • check to use dynamic object
    • remove default values

    * fix variable shadowing ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

  • fix(autoware_surround_obstacle_checker): fix passedByValue (#8206) fix:passedByValue
  • fix(autoware_surround_obstacle_checker): fix constVariableReference (#8059) fix:constVariableReference
  • fix(autoware_surround_obstacle_checker): fix funcArgNamesDifferent (#8020) fix:funcArgNamesDifferent
  • refactor(universe_utils/motion_utils)!: add autoware namespace (#7594)
  • refactor(motion_utils)!: add autoware prefix and include dir (#7539) refactor(motion_utils): add autoware prefix and include dir
  • feat(autoware_universe_utils)!: rename from tier4_autoware_utils (#7538) Co-authored-by: kosuke55 <<kosuke.tnp@gmail.com>>
  • feat(surround_obstacle_checker): remove include directory (#7507)
    • feat(surround_obstacle_checker): remove include directory
    • fix

    * fix

  • fix(planning): set single depth sensor data qos for pointlcoud polling subscribers (#7490) set single depth sensor data qos for pointlcoud polling subscribers
  • refactor(vehicle_info_utils)!: prefix package and namespace with autoware (#7353)
    • chore(autoware_vehicle_info_utils): rename header
    • chore(bpp-common): vehicle info
    • chore(path_optimizer): vehicle info
    • chore(velocity_smoother): vehicle info
    • chore(bvp-common): vehicle info
    • chore(static_centerline_generator): vehicle info
    • chore(obstacle_cruise_planner): vehicle info
    • chore(obstacle_velocity_limiter): vehicle info
    • chore(mission_planner): vehicle info
    • chore(obstacle_stop_planner): vehicle info
    • chore(planning_validator): vehicle info
    • chore(surround_obstacle_checker): vehicle info
    • chore(goal_planner): vehicle info
    • chore(start_planner): vehicle info
    • chore(control_performance_analysis): vehicle info
    • chore(lane_departure_checker): vehicle info
    • chore(predicted_path_checker): vehicle info
    • chore(vehicle_cmd_gate): vehicle info
    • chore(obstacle_collision_checker): vehicle info
    • chore(operation_mode_transition_manager): vehicle info
    • chore(mpc): vehicle info
    • chore(control): vehicle info
    • chore(common): vehicle info
    • chore(perception): vehicle info
    • chore(evaluator): vehicle info
    • chore(freespace): vehicle info
    • chore(planning): vehicle info
    • chore(vehicle): vehicle info
    • chore(simulator): vehicle info
    • chore(launch): vehicle info
    • chore(system): vehicle info
    • chore(sensing): vehicle info

    * fix(autoware_joy_controller): remove unused deps ---------

  • refactor(surround_obstacle_checker)!: prefix package and namespace with autoware (#7298)
    • fix(autoware_surround_obstacle_checker): rename
    • fix(autoware_surround_obstacle_checker): rename header

    * fix(launch): update package name ---------

  • Contributors: Kazunori-Nakajima, Kosuke Takeuchi, Mitsuhiro Sakamoto, Satoshi OTA, Takayuki Murooka, Yutaka Kondo, Zhe Shen, kobayu858, mkquda

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/surround_obstacle_checker.launch.xml
      • param_path [default: $(find-pkg-share autoware_surround_obstacle_checker)/config/surround_obstacle_checker.param.yaml]
      • input_objects [default: /perception/object_recognition/objects]
      • input_odometry [default: /localization/kinematic_state]
      • input_pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output_velocity_limit [default: /planning/scenario_planning/max_velocity_candidates]
      • output_velocity_limit_clear_command [default: /planning/scenario_planning/clear_velocity_limit]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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