The object_map Package

This package contains nodes to extract information from the LiDAR sensor and from ADAS Maps. The processed result is published as GridMaps (grid_map) and/or occupancy grids(nav_msgs).

Nodes in the Package

laserscan2costmap

This node uses 2D LaserScan messages to generate the OccupancyGrid.

Input topics

Default: /scan (sensor_msgs::LaserScan) from vscan.

Output topics

/ring_ogm (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 laserscan2costmap checkbox under the Semantics section in the Computing tab.
2. From a sourced terminal by executing: roslaunch object_map laserscan2costmap.launch.

Parameters available in roslaunch and rosrun

• resolution defines the equivalent value of a cell in the grid in meters. Smaller values result in better accuracy at the expense of memory and computing cost (default value: 0.1).
• cell_width represents the width in meters of the OccupancyGrid around the origin of the PointCloud (default: 150).
• cell_height represents the height in meters of the OccupancyGrid around the origin of the PointCloud (default: 150).
• offset_x indicates if the center of the OccupancyGrid will be shifted by this distance, to the left(-) or right(+) (default: 25).
• offset_y indicates if the center of the OccupancyGrid will be shifted by this distance, to the back(-) or front(+) (default: 0).
• offset_z indicates if the center of the OccupancyGrid will be shifted by this distance, below(-) or above(+) (default: 0).
• scan_topic is the PointCloud topic source.

wayarea2grid

The ADAS Maps used in Autoware may contain the definition of the road areas, which is useful for computing whether a region is drivable or not. This node reads the data from an ADAS Map (VectorMap) and extracts the 3D positions of the road regions. It projects them into an OccupancyGrid and sets the value to 128 if the area is road and 255 if it is not. These values are used because this node uses 8-bit bitmaps (grid_map).

Input topics

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

Output topics

/grid_map_wayarea (grid_map::GridMap) is the resulting GridMap with values ranging from 0-255. /occupancy_wayarea (nav_msgs::OccupancyGrid) is the resulting OccupancyGrid with values ranging from 0-255.

How to launch

It can be launched as follows:

1. Using the Runtime Manager by clicking the wayarea2grid checkbox under the Semantics section in the Computing tab.
2. From a sourced terminal by executing: roslaunch object_map wayarea2grid.launch

Parameters available in roslaunch and rosrun

• sensor_frame defines the coordinate frame of the vehicle origin (default value: velodyne).
• grid_frame defines the coordinate frame of the map (default: map).
• grid_resolution defines the equivalent value of a cell in the grid in meters. Smaller values result in better accuracy at the expense of memory and computing cost (default: 0.2).
• grid_length_x represents the width in meters of the OccupancyGrid around the origin of the PointCloud (default: 25).
• grid_length_y represents the height in meters of the OccupancyGrid around the origin of the PointCloud (default: 0).
• grid_position_x indicates if the center of the OccupancyGrid will be shifted by this distance, left(-) or right(+) (default: 0).
• grid_position_y indicates if the center of the OccupancyGrid will be shifted by this distance, back(-) or front(+) (default: 0).

grid_map_filter

This node can combine sensor, map, and perception data as well as other OccupancyGrids. It generates OccupancyGrids with useful data for navigation purposes. It publishes three different layers. More details are provided in the output topics section below.

Input topics

/vector_map (vector_map_msgs::WayArea) from the VectorMap publisher. /tf to obtain the transform between the vector map (grid_frame) and the sensor (sensor_frame). /semantics/costmap_generator/occupancy_grid (nav_msgs::OccupancyGrid) calculated by costmap_generator package.

Output topics

/filtered_grid_map (grid_map::GridMap) which contains 3 layers and is also published as in regular OccupancyGrid messages. distance_transform (nav_msgs::OccupancyGrid) applies a distance transform to the OccupancyGrid obtained from the /realtime_cost_map, allowing us to obtain a gradient of probabilities surrounding the obstacles PointCloud. dist_wayarea (nav_msgs::OccupancyGrid) contains a combination of the distance transform and the road data, as described in the wayarea2grid node. circle (nav_msgs::OccupancyGrid) draws a circle surrounding the /realtime_cost_map.

The output topics are configured as described in the grid_map package, and the configuration file is inside the config folder of the package.

How to launch

It can be launched as follows:

1. Using the Runtime Manager by clicking the grid_map_filter checkbox under the Semantics section in the Computing tab.
2. From a sourced terminal by executing: roslaunch object_map grid_map_filter.launch.

Parameters available in roslaunch and rosrun

• map_frame defines the coordinate system of the realtime costmap (default value: map).
• map_topic defines the topic where the realtime costmap is being published (default: /realtime_cost_map).
• dist_transform_distance defines the maximum distance to calculate the distance transform, in meters (default: 2.0).
• use_wayarea indicates whether or not to use the road regions to filter the cost map (default: true).
• use_fill_circle enables or disables the generation of the circle layer (default: true).
• fill_circle_cost_threshold indicates the minimum cost value threshold value to decide if a circle will be drawn (default: 20)
• circle_radius defines the radius of the circle, in meters (default: 1.7).

Instruction Videos

grid_map_filter

wayarea2grid

Changelog for package object_map

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
• [fix] Install commands for all the packages (#1861)
  • Initial fixes to detection, sensing, semantics and utils
  • fixing wrong filename on install command
  • Fixes to install commands
  • Hokuyo fix name
  • Fix obj db
  • Obj db include fixes
  • End of final cleaning sweep
  • Incorrect command order in runtime manager
  • Param tempfile not required by runtime_manager
  • • Fixes to runtime manager install commands
  • Remove devel directory from catkin, if any
  • Updated launch files for robosense
  • Updated robosense
  • Fix/add missing install (#1977)
  • Added launch install to lidar_kf_contour_track
  • Added install to op_global_planner
  • Added install to way_planner
  • Added install to op_local_planner
  • Added install to op_simulation_package
  • Added install to op_utilities
  • Added install to sync
  • • Improved installation script for pointgrey packages
  • Fixed nodelet error for gmsl cameras
  • USe install space in catkin as well
  • add install to catkin
  • Fix install directives (#1990)
  • Fixed installation path
  • Fixed params installation path
  • Fixed cfg installation path
  • Delete cache on colcon_release
• Fix license notice in corresponding package.xml
• Contributors: Abraham Monrroy Cano, Kosuke Murakami, amc-nu

1.10.0 (2019-01-17)

• Fixes for catkin_make
• Switch to Apache 2 license (develop branch) (#1741)
  • Switch to Apache 2

  * Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.

  • Update license on Python files
  • Update copyright years
  • Add #ifndef/define _POINTS_IMAGE_H_
  • Updated license comment
• Use colcon as the build tool (#1704)
  • Switch to colcon as the build tool instead of catkin
  • Added cmake-target
  • Added note about the second colcon call
  • Added warning about catkin* scripts being deprecated
  • Fix COLCON_OPTS
  • Added install targets
  • Update Docker image tags
  • Message packages fixes
  • Fix missing dependency
• Add grid_map_vizualization to run_depend
• Feature/perception visualization cleanup (#1648)
  • • 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
  • intial commit
  • • Changed to 2 spaces indentation
  • Added README
  • Fixed README messages type
  • 2 space indenting
  • ros clang format
  • 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
  • Refacor code
  • • Reversed back UKF node to develop
  • Formatted speed
  • Refactor codes
  • Refactor codes
  • Refactor codes
  • Refacor 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
  • Refactor codes
  • add comment
  • refactor codes

  * Revert "Refactor codes" This reverts commit 135aaac46e49cb18d9b76611576747efab3caf9c. * Revert "apply rosclang to ukf tracker" This reverts commit 4f8d1cb5c8263a491f92ae5321e5080cb34b7b9c. * Revert "Remove dependency to jskbbox and rosmarker in ukf tracker" This reverts commit 4fa1dd40ba58065f7afacc5e478001078925b27d. * Revert "Relay class info in tracker node" This reverts commit 1637baac44c8d3d414cc069f3af12a79770439ae.

  • 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
  • Refacor codes
  • Refactor codes
  • Refactor codes
  • refactor codes
  • refactor codes
  • Refactor codes
  • refactor codes
  • Tracker Merging step added
  • Added launch file support for merging phase
  • lane assisted with sukf
  • Refactor codes
  • Refactor codes
  • • 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
  • Replacement of JSK visualization for RViz Native Markers
  • Added Models namespace to visualization
  • Naming change for matching the perception component graph
  • • Added 3D Models for different classes in visualization
  • 2D Rect node visualize_rects added to visualization_package
• Fix Ros/ROS naming convention
• Contributors: Abraham Monrroy Cano, Akihito Ohsato, Esteve Fernandez, amc-nu

1.9.1 (2018-11-06)

1.9.0 (2018-10-31)

1.8.0 (2018-08-31)

• [Fix] Moved C++11 flag to autoware_build_flags (#1395)
• [Feature] Makes sure that all binaries have their dependencies linked (#1385)
• [Fix] Extend and Update interface.yaml (#1291)
• Contributors: Esteve Fernandez, Kenji Funaoka

1.7.0 (2018-05-18)

• update Version from 1.6.3 to 1.7.0 in package.xml and CHANGELOG.rst
• [fix] Fixes for all packages and dependencies (#1240)
  • Initial Cleanup
  • fixed also for indigo
  • kf cjeck
  • Fix road wizard
  • Added travis ci
  • Trigger CI
  • Fixes to cv_tracker and lidar_tracker cmake
  • Fix kitti player dependencies
  • Removed unnecessary dependencies
  • messages fixing for can
  • Update build script travis
  • Travis Path
  • Travis Paths fix
  • Travis test
  • Eigen checks
  • removed unnecessary dependencies
  • Eigen Detection
  • Job number reduced
  • Eigen3 more fixes
  • More Eigen3
  • Even more Eigen
  • find package cmake modules included
  • More fixes to cmake modules
  • Removed non ros dependency
  • Enable industrial_ci for indidog and kinetic
  • Wrong install command
  • fix rviz_plugin install
  • FastVirtualScan fix
  • Fix Qt5 Fastvirtualscan
  • Fixed qt5 system dependencies for rosdep
  • NDT TKU Fix catkin not pacakged
  • More in detail dependencies fixes for more packages
  • GLEW library for ORB
  • Ignore OrbLocalizer
  • Ignore Version checker
  • Fix for driveworks interface
  • driveworks not catkinpackagedd
  • Missing catkin for driveworks
  • libdpm opencv not catkin packaged
  • catkin lib gnss not included in obj_db
  • Points2Polygon fix
  • More missing dependencies
  • image viewer not packaged
  • Fixed SSH2 detection, added viewers for all distros
  • Fix gnss localizer incorrect dependency config
  • Fixes to multiple packages dependencies
  • gnss plib and package
  • More fixes to gnss
  • gnss dependencies for gnss_loclaizer
  • Missing gnss dependency for gnss on localizer

  * More fixes for dependencies Replaced gnss for autoware_gnss_library

  • gnss more fixes
  • fixes to more dependencies
  • header dependency
  • Debug message
  • more debug messages changed back to gnss
  • debud messages
  • gnss test
  • gnss install command
  • Several fixes for OpenPlanner and its lbiraries
  • Fixes to ROSInterface
  • More fixes to robotsdk and rosinterface
  • robotsdk calibration fix
  • Fixes to rosinterface robotsdk libraries and its nodes
  • Fixes to Qt5 missing dependencies in robotsdk
  • glviewer missing dependencies
  • Missing qt specific config cmake for robotsdk
  • disable cv_tracker
  • Fix to open planner un needed dependendecies
  • Fixes for libraries indecision maker
  • Fixes to libraries decision_maker installation
  • Gazebo on Kinetic
  • Added Missing library
  • • Removed Gazebo and synchonization packages
  • Renames vmap in lane_planner
  • Added installation commands for missing pakcages
  • Fixes to lane_planner
  • Added NDT TKU Glut extra dependencies

  * ndt localizer/lib fast pcl fixes re enable cv_tracker

  • Fix kf_lib
  • Keep industrial_ci
  • Fixes for dpm library
  • Fusion lib fixed
  • dpm and fusion header should match exported project name
  • Fixes to dpm_ocv ndt_localizer and pcl_omp
  • no fast_pcl anymore
  • fixes to libdpm and its package
  • CI test
  • test with native travis ci
  • missing update for apt
  • Fixes to pcl_omp installation and headers
  • Final fixes for tests, modified README
  • • Fixes to README
  • Enable industrial_ci
  • re enable native travis tests
• Fix/cmake cleanup (#1156)
  • Initial Cleanup
  • fixed also for indigo
  • kf cjeck
  • Fix road wizard
  • Added travis ci
  • Trigger CI
  • Fixes to cv_tracker and lidar_tracker cmake
  • Fix kitti player dependencies
  • Removed unnecessary dependencies
  • messages fixing for can
  • Update build script travis
  • Travis Path
  • Travis Paths fix
  • Travis test
  • Eigen checks
  • removed unnecessary dependencies
  • Eigen Detection
  • Job number reduced
  • Eigen3 more fixes
  • More Eigen3
  • Even more Eigen
  • find package cmake modules included
  • More fixes to cmake modules
  • Removed non ros dependency
  • Enable industrial_ci for indidog and kinetic
  • Wrong install command
  • fix rviz_plugin install
  • FastVirtualScan fix
  • Fix Qt5 Fastvirtualscan
  • Fixed qt5 system dependencies for rosdep
  • NDT TKU Fix catkin not pacakged
  • Fixes from industrial_ci
• Editorial changes to README files. See #1124. (#1125)
• Feature/occupancygrid filter (#1002)
  • Add grid map filter node
  • Add wayarea2grid node
  • Replace dist_transform with grid_map_filter
  • Add Runtime Manager UI for grid_map_filter node
  • Add UI for wayarea2grid node
  • Add instruction videos
  • Fix videos
  • Both node handles were private

  * Added Comments Documentation Code refactoring to follow standards Added libraries Separation of Vectormap Processing inside Clustering

  • Added documentation
  • Changed variable name
  • Added Road Occupancy Processor package

  * Added extra documentation Added commands to RunTimeManager

• Contributors: Abraham Monrroy, David, Kosuke Murakami, TomohitoAndo

1.6.3 (2018-03-06)

1.6.2 (2018-02-27)

• Update CHANGELOG
• Contributors: Yusuke FUJII

1.6.1 (2018-01-20)

• update CHANGELOG
• Contributors: Yusuke FUJII

1.6.0 (2017-12-11)

• Prepare release for 1.6.0
• Contributors: Yamato ANDO

1.5.1 (2017-09-25)

• Release/1.5.1 (#816)
  • fix a build error by gcc version
  • fix build error for older indigo version
  • update changelog for v1.5.1
  • 1.5.1
• Contributors: Yusuke FUJII

1.5.0 (2017-09-21)

• Update changelog
• Add feature to put simulated obstacles in astar planner
• Contributors: TomohitoAndo, Yusuke FUJII

1.4.0 (2017-08-04)

• version number must equal current release number so we can start releasing in the future
• added changelogs
• Contributors: Dejan Pangercic

1.3.1 (2017-07-16)

1.3.0 (2017-07-14)

• Add map offset parameters to points2costmap node
• Add dist_transform node
• convert to autoware_msgs
• Contributors: TomohitoAndo, YamatoAndo

1.2.0 (2017-06-07)

• fixed build issues
• fix circular-dependency
• Update potential field
• Contributors: Shohei Fujii, Yukihiro Saito, Yusuke FUJII

1.1.2 (2017-02-27 23:10)

1.1.1 (2017-02-27 22:25)

1.1.0 (2017-02-24)

• Add missing dependency
• Change to use final object topic in potential field
• Cleaned potential field node
• Add vscan points in potential field
• Add potential field package
• Contributors: Yukihiro Saito, h_ohta

1.0.1 (2017-01-14)

1.0.0 (2016-12-22)

• Add parameter for subscribing topic
• Fix costmap orientation
• Fix to subscribe the new topic
• Ignore 0 ranges
• Fix cost calculation for unknown costs
• Change variable name to be easier to understand
• Fix calculation of index
• Remove needless nesting
• Modify calculation for costs
• Remove needless compiling flags
• Fix dependencies
• Remove unused header
• Initialize a previous position when declared
• Change variable type from integer to bool
• Impletement some functions as struct method
• Use call by value instead of call by reference with premitive data types
• Add license statement
• Remeve automatically generated comments
• Add semantics package
• Contributors: Syohei YOSHIDA, TomohitoAndo