Road Occupancy Processor

This package generates the occupancy grid indicating the status of the road. It uses the point cloud from a filtered sensor and the ADAS Map data.

The occupancy grid can be conceptualized as a one dimensional 8-bit depth bitmap.

This package publishes a GridMap/OccupancyGrid with four different possible values:

• UNKNOWN
• FREE
• NO ROAD
• OCCUPIED

These values can be set using parameters, as described in the Configuration Parameters section below.

Extra requirements for compilation

• GridMap (http://wiki.ros.org/grid_map)

Prerequisites

• Localization working (TF between velodyne and world)
  • PCD Map (map)
  • TF for the Map (tf map->world)
  • NDT matching (tf world-> base_link)
  • Base link to Localizer (tf base_link -> velodyne)
• Ground filtering method publishing /points_ground and /points_no_ground. Autoware has three available:
  • ray_ground_filter
  • ring_ground_filter
  • euclidean_cluster with Planar Ground removal
• wayarea2gridmap node from Semantics in the Computing Tab
  • Vector Map in /vector_map (also known as ADAS Map)
    • VectorMap must contain the definition of road areas (way_areas)

Data subscription

This node subscribes to:

• Ground filtered in /points_ground (sensor_msgs::PointCloud)
• Obstacle points in /points_no_ground (sensor_msgs::PointCloud)
• GridMap containing the road processed in /grid_map_wayarea (grid_map::GridMap)

Data publishing

• gridmap_road_status publishes the native format of the grid_map package. This can be used to extend the functionalities of this package.
• occupancy_road_status publishes the native ros nav_msgs::OccupancyGrid message.

How to run

From a sourced terminal in the workspace: roslaunch road_occupancy_processor road_occupancy_processor.launch

Quick Setup

This is only a quick guide, each node must be properly configured

1. Load PointCloud Map (Map tab)
2. Load VectorMap with wayareas available (Map tab)
3. Load TF between map and world frames (Map tab)
4. Load TF between base_link and Localizer (Setup tab)
5. Launch voxel_grid_filter (Sensing tab/Points Downsampler)
6. Launch ray_ground_filter (Sensing tab/Points Preprocessor)
7. Launch ndt_matching (Computing tab/Localization)
8. Initialize NDT pose
9. Launch wayarea2grid (Computing tab/Localization)
10. Launch road_occupancy_processor (Computing tab/Localization)

Configuration parameters

• points_ground_src (default="points_ground") defines the PointCloud source topic containing only the ground points.
• points_no_ground_src (default="points_no_ground") defines the PointCloud source topic containing only the obstacle points.
• wayarea_topic_src (default=grid_map_wayarea) defines the name of the topic containing the grid_map_msgs:GridMap containing the road areas.
• wayarea_layer_name (default="wayarea") defines the name of the layer in the topic wayarea_topic_src that contains the road areas.
• output_layer_name (default=road_status) defines name of the output layer in the published GridMap object. If running several instances, each vehicle one can publish a different layer and later add them.
• road_unknown_value (default="128") indicates the value to fill in the occupancy grid when a cell is UNKNOWN.
• road_free_value (default="75") indicates the value to fill in the occupancy grid when a cell is FREE. Should be a number between 0-255.
• road_occupied_value (default="0") indicates the value to fill in the occupancy grid when a cell is OCCUPIED. Should be a number between 0-255.
• no_road_value (default="255") indicates the value to fill in the occupancy grid when a cell is NO ROAD. Should be a number between 0-255.

Coordinate Frame

The occupancy grid is published in the same coordinate frame as the input GridMap from /grid_map_wayarea.

Color representation using default values

Black color represents areas not defined as NO ROAD in the vector map.

Dark gray indicates UNKNOWN areas as detected by this node.

Light gray means the area is FREE.

White is used for OCCUPIED areas.

Changelog for package road_occupancy_processor

1.11.0 (2019-03-21)

• [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, amc-nu

1.10.0 (2019-01-17)

• 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
• Fix Ros/ROS naming convention
• Contributors: Esteve Fernandez

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 (2018-05-16)

• update Version from 1.6.3 to 1.7.0 in package.xml and CHANGELOG.rst
• Modify package xml version other than 1.6.3
• Remove history of sub-branches
• Add automatically-generated 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, Kenji Funaoka, Kosuke Murakami, TomohitoAndo

1.6.3 (2018-03-06)

1.6.2 (2018-02-27)

1.6.1 (2018-01-20)

1.6.0 (2017-12-11)

1.5.1 (2017-09-25)

1.5.0 (2017-09-21)

1.4.0 (2017-08-04)

1.3.1 (2017-07-16)

1.3.0 (2017-07-14)

1.2.0 (2017-06-07)

1.1.2 (2017-02-27 23:10)

1.1.1 (2017-02-27 22:25)

1.1.0 (2017-02-24)

1.0.1 (2017-01-14)

1.0.0 (2016-12-22)