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costmap_generator package from autoware_learn repo

amathutils_lib autoware_build_flags autoware_health_checker emergency_handler gnss lanelet2_extension libvectormap libwaypoint_follower map_file object_map op_planner op_ros_helpers op_simu op_utility ros_observer tvm_utility vector_map vector_map_server vehicle_sim_model autoware_connector ekf_localizer gnss_localizer image_processor imm_ukf_pda_track lidar_apollo_cnn_seg_detect lidar_euclidean_cluster_detect lidar_fake_perception lidar_kf_contour_track lidar_localizer lidar_naive_l_shape_detect lidar_point_pillars lidar_shape_estimation naive_motion_predict ndt_cpu ndt_gpu ndt_tku obj_db pcl_omp_registration pixel_cloud_fusion points_downsampler points_preprocessor pos_db range_vision_fusion road_occupancy_processor roi_object_filter trafficlight_recognizer twist_generator vel_pose_diff_checker vision_beyond_track vision_darknet_detect vision_lane_detect vision_segment_enet_detect vision_ssd_detect astar_search costmap_generator decision_maker dp_planner ff_waypoint_follower freespace_planner lane_planner lattice_planner ll2_global_planner mpc_follower op_global_planner op_local_planner op_simulation_package op_utilities pure_pursuit state_machine_lib twist_filter twist_gate way_planner waypoint_maker waypoint_planner autoware_quickstart_examples autoware_can_msgs autoware_config_msgs autoware_external_msgs autoware_lanelet2_msgs autoware_map_msgs autoware_msgs autoware_system_msgs tablet_socket_msgs vector_map_msgs carla_autoware_bridge gazebo_camera_description gazebo_imu_description lgsvl_simulator_bridge vehicle_gazebo_simulation_interface vehicle_gazebo_simulation_launcher wf_simulator autoware_bag_tools autoware_camera_lidar_calibrator autoware_launcher autoware_launcher_rviz calibration_publisher data_preprocessor graph_tools kitti_box_publisher kitti_launch kitti_player lanelet_aisan_converter log_tools map_tf_generator map_tools marker_downsampler mqtt_socket multi_lidar_calibrator oculus_socket pc2_downsampler rosbag_controller runtime_manager sound_player system_monitor tablet_socket twist2odom udon_socket vehicle_engage_panel vehicle_socket decision_maker_panel detected_objects_visualizer fastvirtualscan gazebo_world_description glviewer integrated_viewer points2image rosinterface autoware_rviz_plugins vehicle_description vehicle_model adi_driver as autoware_driveworks_gmsl_interface autoware_driveworks_interface vlg22c_cam custom_msgs garmin hokuyo javad_navsat_driver kvaser sick_lms5xx memsic_imu microstrain_driver nmea_navsat autoware_pointgrey_drivers sick_ldmrs_description sick_ldmrs_driver sick_ldmrs_laser sick_ldmrs_msgs sick_ldmrs_tools vectacam xsens_driver ymc ds4 ds4_driver ds4_msgs lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation mrt_cmake_modules

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Package Summary

Tags No category tags.
Version 1.12.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description autoware src learn and recode.
Checkout URI https://github.com/is-whale/autoware_learn.git
VCS Type git
VCS Version 1.14
Last Updated 2025-03-14
Dev Status UNKNOWN
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 costmap_generator package

Additional Links

No additional links.

Maintainers

  • ando

Authors

No additional authors.
autoware/core_planning/costmap_generator/README.md

The costmap_generator Package

costmap_generator

This node reads PointCloud and/or DetectedObjectArray and creates an OccupancyGrid and GridMap. VectorMap is optional.

You need to subscribe at least one of PointCloud or DetectedObjectArray to generate costmap.

Input topics

/points_no_ground (sensor_msgs::PointCloud2) : from ray_ground_filter or compare map filter. It contains filtered points with the ground removed.

/prediction/moving_predictor/objects (autoware_msgs::DetectedObjectArray): predicted objects from naive_motion_predict.

/vector_map: from the VectorMap publisher. /tf to obtain the transform between the vector map(map_frame) and the sensor(sensor_frame) .

Output topics

/semantics/costmap (grid_map::GridMap) is the output costmap, with values ranging from 0.0-1.0.

/semantics/costmap_generator/occupancy_grid (nav_msgs::OccupancyGrid) is the output OccupancyGrid, with values ranging from 0-100.

How to launch

It can be launched as follows:

  1. Using the Runtime Manager by clicking the costmap_generator checkbox under the Semantics section in the Computing tab.
  2. From a sourced terminal executing: roslaunch costmap_generator costmap_generator.launch.
Parameters available in roslaunch and rosrun
  • use_objects Whether if using DetectedObjectArray or not (default value: true).
  • use_points Whether if using PointCloud or not (default value: true).
  • use_wayarea Whether if using Wayarea from VectorMap or not (default value: true).
  • objects_input Input topic for autoware_msgs::DetectedObjectArray (default value: /prediction/moving_predictor/objects).
  • points_input Input topic for sensor_msgs::PointCloud2 (default value: points_no_ground).
  • lidar_frame Lidar sensor coordinate. Cost is calculated based on this coordinate (default value: velodyne).
  • map_frame VectorMap’s coordinate. (default value: map).
  • grid_min_value Minimum cost for gridmap (default value: 0.0).
  • grid_max_value Maximum cost for gridmap (default value: 1.0).
  • grid_resolution Resolution for gridmap (default value: 0.2).
  • grid_length_x Size of gridmap for x direction (default value: 50).
  • grid_length_y Size of gridmap for y direction (default value: 30).
  • grid_position_x Offset from coordinate in x direction (default value: 20).
  • grid_position_y Offset from coordinate in y direction (default value: 0).
  • maximum_lidar_height_thres Maximum height threshold for pointcloud data (default value: 0.3).
  • minimum_lidar_height_thres Minimum height threshold for pointcloud data (default value: -2.2).
  • expand_rectangle_size Expand object’s rectangle with this value (default value: 1).
  • size_of_expansion_kernel Kernel size for blurring effect on object’s costmap (default value: 9).

Instruction Videos

costmap_generator_lanelet2

This node behave exactly like costmap_generator node, but uses different map format for wayarea.

Input topics

/points_no_ground (sensor_msgs::PointCloud2) : from ray_ground_filter or compare map filter. It contains filtered points with the ground removed.

/prediction/moving_predictor/objects (autoware_msgs::DetectedObjectArray): predicted objects from naive_motion_predict.

/lanelet_map_bin: from the lanelet2_map_loader. /tf to obtain the transform between the vector map(map_frame) and the sensor(sensor_frame) .

Output topics

same as costmap_generator

How to launch

run:

roslaunch costmap_generator costmap_generator_lanelet2.launch
CHANGELOG

Changelog for package costmap_generator

1.11.0 (2019-03-21)

  • [Feature] costmap generator (#1774)
      • Initial commit for visualization package
    • Removal of all visualization messages from perception nodes
    • Visualization dependency removal
    • Launch file modification
      • Fixes to visualization
    • Error on Clustering CPU
    • Reduce verbosity on markers
    • Publish acceleration and velocity from ukf tracker
    • Remove hardcoded path
    • Updated README
    • updated prototype
    • Prototype update for header and usage
    • Removed unknown label from being reported
    • Updated publishing orientation to match develop
      • Published all the trackers
    • Added valid field for visualization and future compatibility with ADAS ROI filtering
    • Add simple functions
      • Reversed back UKF node to develop
    • Formatted speed
    • Refactor codes
    • Make tracking visualization work
    • Relay class info in tracker node
    • Remove dependency to jskbbox and rosmarker in ukf tracker
    • apply rosclang to ukf tracker
    • Refactor codes
    • Revert "apply rosclang to ukf tracker"
    • Revert "Remove dependency to jskbbox and rosmarker in ukf tracker"
    • Revert "Relay class info in tracker node"
    • delete dependency to jsk and remove pointcloud_frame
    • get direction nis
    • set velocity_reliable true in tracker node
    • Add divided function
    • add function
    • Sanity checks
    • Relay all the data from input DetectedObject
    • Divided function work both for immukf and sukf
    • Add comment
    • Refactor codes
    • Pass immukf test
    • make direction assisted tracking work
    • Visualization fixes
    • Refactor codes
    • Tracker Merging step added
    • Added launch file support for merging phase
    • lane assisted with sukf
      • change only static objects
    • keep label of the oldest tracker
    • Static Object discrimination
    • Non rotating bouding box
    • no disappear if detector works
    • Modify removeRedundant a bit
    • initial commit for costmap generator
    • add vague stucture
    • add brief structure fot points2costmap
    • refactor codes
    • add sensor points costmap
    • add waypoint costmap
    • bug fix for wayarea2costmap
    • add simple structure for objects2costmap
    • add vague structure for waypoints2costmap
    • Replacement of JSK visualization for RViz Native Markers
    • add occupancy grid visualization
    • add objects costmap
    • add minimum height threshold for pointcloud
    • debug computing.yaml from objects_topic to objects_input
    • Add blurred costmap
    • Add comment on computing.yml
    • visualizing bug fix
    • Make sure object's cost is 100 and blurred outside of objects
    • add costmap_generator package
    • add unit tests
    • delete test launch file
    • Apply autoware ros clang
    • Add README
    • sync develop's readme
    • sync develop's code
    • add convex hull costmap
    • Relay ros header appropriately
    • change interaface for generating costmap from points
    • add test for points2costmap
    • Modify for how to pick up convex-hull points
    • add test
    • add test for objects2costmap
    • Added missing include
    • Added missing grid_map_ros dependency
    • Updated include
    • Re-strutured include folders
    • Generic folder name
    • Fix/costmap generator (#2077)
    • segmentation fault in CheckAssignPoints2GridCell
    • Remove redundant codes in test
    • Add some variables in SetUp
    • rename class
    • rename files
    • modify tests
    • Add scription in SetUp
    • Remove unnecesary in_object
    • Refactor test codes
  • Contributors: Kosuke Murakami

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/costmap_generator_option.launch
      • lidar_frame [default: velodyne]
      • map_frame [default: map]
      • grid_min_value [default: 0.0]
      • grid_max_value [default: 1.0]
      • grid_resolution [default: 0.2]
      • grid_length_x [default: 50]
      • grid_length_y [default: 30]
      • grid_position_x [default: 20]
      • grid_position_y [default: 0]
      • maximum_lidar_height_thres [default: 0.3]
      • minimum_lidar_height_thres [default: -2.2]
      • expand_polygon_size [default: 1.0]
      • size_of_expansion_kernel [default: 9]
      • use_objects_box [default: false]
      • use_objects_convex_hull [default: true]
      • use_points [default: true]
      • use_wayarea [default: true]
      • objects_input [default: /prediction/motion_predictor/objects]
      • points_input [default: /points_no_ground]
      • use_ll2 [default: false]
  • launch/costmap_generator.launch
      • lidar_frame [default: velodyne]
      • map_frame [default: map]
      • grid_min_value [default: 0.0]
      • grid_max_value [default: 1.0]
      • grid_resolution [default: 0.2]
      • grid_length_x [default: 50]
      • grid_length_y [default: 30]
      • grid_position_x [default: 20]
      • grid_position_y [default: 0]
      • maximum_lidar_height_thres [default: 0.3]
      • minimum_lidar_height_thres [default: -2.2]
      • expand_polygon_size [default: 1.0]
      • size_of_expansion_kernel [default: 9]
      • use_objects_box [default: false]
      • use_objects_convex_hull [default: true]
      • use_points [default: true]
      • use_wayarea [default: true]
      • objects_input [default: /prediction/motion_predictor/objects]
      • points_input [default: /points_no_ground]
  • launch/costmap_generator_lanelet2.launch
      • lidar_frame [default: velodyne]
      • map_frame [default: map]
      • grid_min_value [default: 0.0]
      • grid_max_value [default: 1.0]
      • grid_resolution [default: 0.2]
      • grid_length_x [default: 50]
      • grid_length_y [default: 30]
      • grid_position_x [default: 20]
      • grid_position_y [default: 0]
      • maximum_lidar_height_thres [default: 0.3]
      • minimum_lidar_height_thres [default: -2.2]
      • expand_polygon_size [default: 1.0]
      • size_of_expansion_kernel [default: 9]
      • use_objects_box [default: false]
      • use_objects_convex_hull [default: true]
      • use_points [default: true]
      • use_wayarea [default: true]
      • objects_input [default: /prediction/motion_predictor/objects]
      • points_input [default: /points_no_ground]

Messages

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Services

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Plugins

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Recent questions tagged costmap_generator at Robotics Stack Exchange

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