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yabloc_common 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

YabLoc common library

Additional Links

No additional links.

Maintainers

  • Kento Yabuuchi
  • Masahiro Sakamoto
  • Yamato Ando
  • NGUYEN Viet Anh
  • Taiki Yamada
  • Shintaro Sakoda
  • Ryu Yamamoto

Authors

No additional authors.

yabloc_common

This package contains some executable nodes related to map. Also, This provides some yabloc common library.

ground_server

Purpose

It estimates the height and tilt of the ground from lanelet2.

Input / Outputs

Input

Name Type Description
input/vector_map autoware_map_msgs::msg::LaneletMapBin vector map
input/pose geometry_msgs::msg::PoseStamped estimated self pose

Output

Name Type Description
output/ground std_msgs::msg::Float32MultiArray estimated ground parameters. it contains x, y, z, normal_x, normal_y, normal_z.
output/ground_markers visualization_msgs::msg::Marker visualization of estimated ground plane
output/ground_status std_msgs::msg::String status log of ground plane estimation
output/height std_msgs::msg::Float32 altitude
output/near_cloud sensor_msgs::msg::PointCloud2 point cloud extracted from lanelet2 and used for ground tilt estimation

Parameters

{{ json_to_markdown(“localization/yabloc/yabloc_common/schema/ground_server.schema.json”) }}

ll2_decomposer

Purpose

This node extracts the elements related to the road surface markings and yabloc from lanelet2.

Input / Outputs

Input

Name Type Description
input/vector_map autoware_map_msgs::msg::LaneletMapBin vector map

Output

Name Type Description
output/ll2_bounding_box sensor_msgs::msg::PointCloud2 bounding boxes extracted from lanelet2
output/ll2_road_marking sensor_msgs::msg::PointCloud2 road surface markings extracted from lanelet2
output/ll2_sign_board sensor_msgs::msg::PointCloud2 traffic sign boards extracted from lanelet2
output/sign_board_marker visualization_msgs::msg::MarkerArray visualized traffic sign boards

Parameters

{{ json_to_markdown(“localization/yabloc/yabloc_common/schema/ll2_decomposer.schema.json”) }}

CHANGELOG

Changelog for package yabloc_common

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)
  • Contributors: 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)
  • 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)

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 - localization (#9567)
  • 0.39.0
  • update changelog
  • 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

  • Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo

0.39.0 (2024-11-25)

0.38.0 (2024-11-08)

  • unify package.xml version to 0.37.0
  • refactor(signal_processing): prefix package and namespace with autoware (#8541)
  • fix(yabloc_common): fix unusedFunction (#8560) fix:unusedFunction
  • perf(yabloc_common): remove unnecessary pub/sub depth for transient_local (#8248)
  • feat: add [autoware_]{.title-ref} prefix to [lanelet2_extension]{.title-ref} (#7640)
  • fix: replace deprecated header in Jazzy (#7603)
    • Use cv_bridge.hpp if available
    • Fix image_geometry deprecated header

    * Add comment for __has_include ---------Co-authored-by: Kotaro Yoshimoto <<pythagora.yoshimoto@gmail.com>>

  • refactor(universe_utils/motion_utils)!: add autoware namespace (#7594)
  • feat(autoware_universe_utils)!: rename from tier4_autoware_utils (#7538) Co-authored-by: kosuke55 <<kosuke.tnp@gmail.com>>
  • refactor(yabloc_common): apply static analysis (#7481)
    • refactor based on linter
    • restore unwanted change
    • remove unnecessary comment
    • style(pre-commit): autofix
    • change to const double

    * add static cast ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

  • fix(yabloc): suppress no viable conversion error (#7299)
    • use tier4_autoware_utils instead of yabloc::Color
    • use static_cast to convert Color to RGBA
    • use tier4_autoware_utils instead of yabloc::Color
    • use static_cast to convert Color to RGBA

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

  • feat!: replace autoware_auto_msgs with autoware_msgs for localization modules (#7243) Co-authored-by: Cynthia Liu <<cynthia.liu@autocore.ai>> Co-authored-by: NorahXiong <<norah.xiong@autocore.ai>> Co-authored-by: beginningfan <<beginning.fan@autocore.ai>>
  • refactor(yabloc): use constexpr properly (#7207)
  • fix(yabloc): fix bug in capturing in lambda function (#7208)
    • fix(yabloc): fix bug in capturing in lambda function

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

  • feat(yabloc_common): componentize yabloc_common nodes (#7143)
    • make executables component
    • log output changes to both
    • style(pre-commit): autofix
    • add default param path
    • add glog as depend package

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

  • chore(glog): add initialization check (#6792)
  • Contributors: Esteve Fernandez, Kento Yabuuchi, Kosuke Takeuchi, Masaki Baba, Ryohsuke Mitsudome, Ryuta Kambe, Takamasa Horibe, Takayuki Murooka, Yutaka Kondo, kobayu858, ぐるぐる

0.26.0 (2024-04-03)

  • chore(yabloc): replace parameters by json_to_markdown in readme (#6183)
    • replace parameters by json_to_markdown
    • fix some schma path

    * fix again ---------

  • chore(yabloc): rework parameters (#6170)
    • introduce json schema for ground_server
    • introduce json schema for ll2_decomposer
    • style(pre-commit): autofix
    • fix json in yabloc_common
    • introduce json schema for graph_segment
    • introduce json schema for segment_filter
    • fix yabloc_common schema.json
    • introduce json schema for undistort
    • style(pre-commit): autofix

    * Revert "introduce json schema for ground_server" This reverts commit 33d3e609d4e01919d11a86d3c955f53e529ae121. * Revert "introduce json schema for graph_segment" This reverts commit 00ae417f030324f2dcc7dfb4b867a969ae31aea7.

    • style(pre-commit): autofix
    • introduce json schema for yabloc_monitor
    • introduce json schema for yabloc_particle_filter
    • introduce json schema for yabloc_pose_initializer
    • apply pre-commit
    • fix revert conflict

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

  • chore: add localization & mapping maintainers (#6085)
    • Added lm maintainers
    • Add more

    * Fixed maintainer ---------

  • build(yabloc_common): add missing libgoogle-glog-dev dependency (#5225)
    • build(yabloc_common): add missing libgoogle-glog-dev dependency

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

  • refactor(localization_packages): remove unused <depend> in packages.xml files (#5171) Co-authored-by: yamato-ando <Yamato ANDO>
  • chore: add maintainer in localization and map packages (#4501)
  • fix(yabloc): fix typo (#4281)
    • fix(yabloc): fix typo
    • fix Kinv and mean_pose
    • style(pre-commit): autofix
    • fix normalized term
    • fix resamping
    • style(pre-commit): autofix
    • fix reweight

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

  • feat(yabloc): add camera and vector map localization (#3946)
    • adopt scane_case to undistort, segment_filter
    • adopt scane_case to ground_server, ll2_decomposer
    • adopt scane_case to twist_converter, twist_estimator
    • adopt scane_case to validation packages
    • adopt scane_case tomodularized_particle_filter
    • adopt scane_case to gnss_particle_corrector
    • adopt scane_case to camera_particle_corrector
    • adopt scane_case to antishadow_corrector
    • adopt scane_case to particle_initializer
    • organize launch files
    • add twist_visualizer to validate odometry performance
    • use SE3::exp() to predict particles & modify linear noise model
    • stop to use LL2 to rectify initialpose2d
    • fix redundant computation in segment_accumulator
    • improve gnss_particle_corrector
    • fix segment_accumulator's bug
    • add doppler_converter
    • add xx2.launch.xml
    • add hsv_extractor
    • pickup other regions which have same color histogram
    • use additional region to filt line-segments
    • improve graph-segmentation
    • remove [truncate_pixel_threshold]{.title-ref}
    • refactor graph_segmentator & segment_filter
    • add mahalanobis_distance_threshold in GNSS particle corrector
    • add extract_line_segments.hpp
    • use pcl::transformCloudWithNormals instead of transform_cloud
    • filt accumulating segments by LL2
    • move herarchical_cost_map to common
    • apply positive feedback for accumulation
    • move transform_linesegments() to common pkg
    • refactor
    • use all projected lines for camera corrector
    • evaluate iffy linesegments
    • complete to unify ll2-assisted lsd clasification
    • add abs_cos2() which is more strict direction constraint
    • fix orientation initialization bug
    • publish doppler direction
    • TMP: add disable/enable switch for camera corrector
    • implement doppler orientation correction but it's disabled by default
    • speed up camera corrector
    • update ros params
    • implement kalman filter for ground tilt estimation
    • continuous height estimation works well?
    • estimate height cotiniously
    • use only linesegments which are at same height
    • add static_gyro_bias parameter
    • fix bug about overlay varidation
    • increse ll2 height marging in cost map generation
    • add static_gyro_bias in twist.launch.xml
    • load pcdless_init_area from ll2
    • add specified initialization area
    • add corrector_manager node to disable/enable camera_corrector
    • call service to disable camer_corrector from manager
    • load corrector disable area
    • overlay even if pose is not estiamted
    • publish camera corrector's status as string
    • add set_booL_panel for camera_corrector enable/disable
    • load bounding box from lanelet2
    • draw bounding box on cost map
    • remove at2,at1 from cost map
    • use cost_map::at() instread pf at2()
    • move cost map library from common to camera corrector
    • use logit for particle weighting but it does not work well
    • prob_to_logit() requires non-intuitive parameters
    • goodbye stupid parameters (max_raw_score & score_offset)
    • publish two scored pointclouds as debug
    • can handle unmapped areas
    • remove obsolete packages
    • update README.md
    • Update README.md
    • add image of how_to_launch
    • add node diagram in readme
    • add rviz_description.png in README
    • subscribe pose_with_cov & disconnect base_link <-> particle_pose
    • remove segment_accumulator & launch ekf_localizer from this project
    • add gnss_ekf_corrector
    • add camera_ekf_corrector package
    • subscribe ekf prediction & synch pose data
    • WIP: ready to implement UKF?
    • estimate weighted averaging as pose_estimator
    • basic algorithm is implemented but it does not work proparly
    • apply after_cov_gain_
    • ekf corrector works a little bit appropriately
    • increase twist covariance for ekf
    • test probability theory
    • updat prob.py
    • implement de-bayesing but it loooks ugly
    • remove obsolete parameters
    • skip measurement publishing if travel distance is so short
    • use constant covariance because i dont understand what is correct
    • add submodule sample_vehicle_launch
    • TMP but it works
    • add ekf_trigger in particle_initializer.hpp
    • publish gnss markers & camera_est pubishes constant cov
    • back to pcd-less only launcher
    • add bayes_util package
    • apply de-bayesing for camera_ekf
    • some launch file update
    • organize launch files. we can choice mode from ekf/pekf/pf
    • organize particle_initializer
    • add swap_mode_adaptor WIP
    • use latest ekf in autoware & sample_vehicle
    • fix bug of swap_adalptor
    • fix FIX & FLOAT converter
    • fix septentrio doppler converter
    • move ekf packages to ekf directory
    • ignore corrector_manager
    • add standalone arg in launch files
    • update semseg_node
    • add camera_pose_initializer pkg
    • subscribe camera_info&tf and prepare semantic projection
    • project semantic image
    • create vector map image from ll2
    • create lane image from vector map
    • search the most match angle by non-zero pixels
    • camera based pose_initializer
    • move ekf packages into unstable
    • move ekf theory debugger
    • add tier4_autoware_msgs as submodule
    • move pose_initializer into initializer dir
    • add semse_msgs pkg
    • separate marker pub function
    • separate projection functions
    • add semseg_srv client
    • move sem-seg directory
    • camera pose initilizer works successfully
    • rectify covariance along the orientation
    • improve initialization parameters
    • take into account covariance of request
    • use lanelet direciton to compute init pose scores
    • semseg download model automatically
    • remove sample_vehicle_launch
    • add autoware_msgs
    • remove obsolete launch files
    • add standalone mode for direct initialization
    • fix fix_to_pose
    • update launch files
    • update rviz config
    • remove lidar_particle_corrector
    • remove Sophus from sunbmodule
    • rename submodule directory
    • update README and some sample images
    • update README.md
    • fix override_camera_frame_id bahaviors
    • fix some bugs (#4)
    • fix: use initialpose from Rviz (#6)
    • use initialpose from Rviz to init

    * add description about how-to-set-initialpose ---------

    • misc: add license (#7)
    • WIP: add license description
    • add license description

    * add description about license in README ---------

    • add quick start demo (#8)
    • refactor(launch) remove & update obsolete launch files (#9)
    • delete obsolete launch files

    * update documents ---------

    • docs(readme): update architecture image (#10)
    • replace architecture image in README

    * update some images ---------

    • refactor(pcdless_launc/scripts): remove unnecessary scripts (#11)
    • remove not useful scripts
    • rename scripts & add descriptions
    • little change
    • remove odaiba.rviz

    * grammer fix ---------

    • fix(pcdless_launch): fix a build bug
    • fix(twist_estimator): use velocity_report by default
    • fix bug
    • debugged, now works
    • update sample rosbag link (#14)
    • feature(graph_segment, gnss_particle_corrector): make some features switchable (#17)
    • make additional-graph-segment-pickup disablable

    * enlarge gnss_mahalanobis_distance_threshold in expressway.launch ---------

    • fix: minor fix for multi camera support (#18)
    • fix: minor fix for multi camera support
    • update
    • update

    * fix typo ---------

    • refactor(retroactive_resampler): more readable (#19)
    • make Hisotry class
    • use boost:adaptors::indexed()
    • add many comment in resampling()
    • does not use ConstSharedPtr
    • rename interface of resampler

    * circular_buffer is unnecessary ---------

    • refactor(mpf::predictor) resampling interval control in out of resampler (#20)
    • resampling interval management should be done out of resample()
    • resampler class throw exeption rather than optional
    • split files for resampling_history

    * split files for experimental/suspention_adaptor ---------

    • refactor(mpf::predictor): just refactoring (#21)
    • remove obsolete functions
    • remove test of predictor
    • remove remapping in pf.launch.xml for suspension_adapator

    * add some comments ---------

    • fix(twist_estimator): remove stop filter for velocity (#23)
    • feat(pcdless_launch): add multi camera launcher (#22)
    • feat(pcdless_launch): add multi camera launcher

    * minor fix ---------

    • refactor(CMakeListx.txt): just refactoring (#24)
    • refactor imgproc/*/CMakeListx.txt
    • refactor initializer/*/CMakeListx.txt & add gnss_pose_initializer pkg
    • rename some files in twist/ & refactor pf/*/cmakelist
    • refactor validation/*/CMakeListx.txt

    * fix some obsolete executor name ---------

    • fix: rename lsd variables and files (#26)
    • misc: reame pcdless to yabloc (#25)
    • rename pcdless to yabloc

    * fix conflict miss ---------

    • visualize path (#28)
    • docs: update readme about particle filter (#30)
    • update mpf/README.md
    • update gnss_corrector/README.md

    * update camera_corrector/README.md ---------

    • feat(segment_filter): publish images with lines and refactor (#29)
    • feat(segment_filter): publish images with lines
    • update validation
    • update imgproc (reverted)
    • large change inclding refactoring
    • major update
    • revert rviz config
    • minor fix in name
    • add validation option
    • update architecture svg
    • rename validation.launch to overlay.launch

    * no throw runtime_error (unintentionaly applying format) ---------Co-authored-by: Kento Yabuuchi <<kento.yabuuchi.2@tier4.jp>>

    • catch runtime_error when particle id is invalid (#31)
    • return if info is nullopt (#32)
    • pose_buffer is sometimes empty (#33)
    • use_yaw_of_initialpose (#34)
    • feat(interface): remove incompatible interface (#35)
    • not use ublox_msg when run as autoware
    • remove twist/kalman/twist & use twist_estimator/twist_with_covariance

    * update particle_array stamp even if the time stamp seems wrong ---------

    • fix: suppress info/warn_stream (#37)
    • does not stream undistortion time
    • improve warn stream when skip particle weighting
    • surpress frequency of warnings during synchronized particle searching

    * fix camera_pose_initializer ---------

    • /switch must not be nice name (#39)
    • misc(readme): update readme (#41)
    • add youtube link and change thumbnail
    • improve input/output topics
    • quick start demo screen image

    * add abstruct architecture and detail architecture ---------

    • docs(rosdep): fix package.xml to ensure build success (#44)
    • fix package.xml to success build

    * add 'rosdep install' in how-to-build ---------

    * remove doppler converter ---------

    • feature: change node namespace to /localization/yabloc/** from /localization/** (#48)
    • change node namespace
    • update namespace for autoware-mode

    * update namespace in multi_camera.launch ---------

    • removed unstable packages (#49)
    • feature: add *.param.yaml to manage parameters (#50)
    • make *.param.yaml in imgproc packages
    • make *.param.yaml in initializer packages
    • make *.param.yaml in map packages
    • make *.param.yaml in pf packages
    • make *.param.yaml in twist packages
    • fix expressway parameter
    • fix override_frame_id
    • remove default parameters

    * fix some remaining invalida parameters ---------

    • does not estimate twist (#51)
    • feat(particle_initializer): merge particle_initializer into mpf (#52)
    • feat(particle_initializer): merge particle_initializer to modulalized_particle_filter
    • remove particle_initializer
    • remove debug message
    • remove related parts
    • update readme

    * rename publishing topic ---------Co-authored-by: Kento Yabuuchi <<kento.yabuuchi.2@tier4.jp>>

    • fix: remove ll2_transition_area (#54)
    • feature(initializer): combine some initializer packages (#56)
    • combine some package about initializer
    • yabloc_pose_initializer works well
    • remove old initializer packages
    • semseg node can launch
    • fix bug

    * revert initializer mode ---------

    • feature(imgproc): reudce imgproc packages (#57)
    • combine some imgproc packages

    * combine overlay monitors into imgproc ---------

    • feature(validation): remove validation packages (#58)
    • remove validation packages

    * remove path visualization ---------

    • feature(pf): combine some packages related to particle filter (#59)
    • create yabloc_particle_filter
    • combine gnss_particle_corrector
    • combine ll2_cost_map
    • combine camera_particle_corrector
    • fix launch files
    • split README & remove obsolete scripts

    * fix config path of multi_camera mode ---------

    • feature: combine map and twist packages (#60)
    • removed some twist nodes & rename remains to yabloc_twist
    • fix launch files for yabloc_twist
    • move map packages to yabloc_common
    • WIP: I think its impossible

    * Revert "WIP: I think its impossible" This reverts commit 49da507bbf9abe8fcebed4d4df44ea5f4075f6d1. * remove map packages & fix some launch files ---------

    • removed obsolete packages
    • remove obsolete dot files
    • use tier4_loc_launch instead of yabloc_loc_launch
    • move launch files to each packages
    • remove yabloc_localization_launch
    • remove yabloc_launch
    • modify yabloc/README.md
    • update yabloc_common/README.md
    • update yabloc_imgproc README
    • update yabloc_particle_filter/README
    • update yabloc_pose_initializer/README
    • update README
    • use native from_bin_msg
    • use ifndef instead of pragma once in yabloc_common
    • use ifndef instead of pragma once in yabloc_imgproc & yabloc_pf
    • use ifndef instead of pragma once in yabloc_pose_initializer
    • style(pre-commit): autofix
    • use autoware_cmake & suppress build warning
    • repalce yabloc::Timer with tier4_autoware_utils::StopWatch
    • replace 1.414 with std::sqrt(2)
    • style(pre-commit): autofix
    • removed redundant ament_cmake_auto
    • removed yabloc_common/timer.hpp
    • replaced low_pass_filter with autoware's lowpass_filter_1d
    • style(pre-commit): autofix

    * Squashed commit of the following: commit cb08e290cca5c00315a58a973ec068e559c9e0a9 Author: Kento Yabuuchi <<kento.yabuuchi.2@tier4.jp>> Date: Tue Jun 13 14:30:09 2023 +0900 removed ublox_msgs in gnss_particle_corrector commit c158133f184a43914ec5f929645a7869ef8d03be Author: Kento Yabuuchi <<kento.yabuuchi.2@tier4.jp>> Date: Tue Jun 13 14:24:19 2023 +0900 removed obsolete yabloc_multi_camera.launch commit 10f578945dc257ece936ede097544bf008e5f48d Author: Kento Yabuuchi <<kento.yabuuchi.2@tier4.jp>> Date: Tue Jun 13 14:22:14 2023 +0900 removed ublox_msgs in yabloc_pose_initializer

    • style(pre-commit): autofix
    • removed fix2mgrs & ublox_stamp
    • added ~/ at the top of topic name
    • removed use_sim_time in yabloc launch files
    • add architecture diagram in README
    • rename lsd_node to line_segment_detector
    • style(pre-commit): autofix

    * Update localization/yabloc/README.md fix typo Co-authored-by: Takagi, Isamu <<43976882+isamu-takagi@users.noreply.github.com>>

    • removed obsolete debug code in similar_area_searcher
    • removed suspension_adaptor which manages lifecycle of particle predictor
    • style(pre-commit): autofix
    • renamed semseg to SemanticSegmentation
    • style(pre-commit): autofix
    • fixed README.md to solve markdownlint
    • WIP: reflected cpplint's suggestion
    • reflected cpplint's suggestion
    • rename AbstParaticleFilter in config files
    • fixed typo
    • used autoware_lint_common
    • fixed miss git add
    • style(pre-commit): autofix
    • replaced lanelet_util by lanelet2_extension
    • replaced fast_math by tie4_autoware_utils
    • sort package.xml
    • renamed yabloc_imgproc with yabloc_image_processing
    • reflected some review comments
    • resolved some TODO
    • prioritize NDT if both NDT and YabLoc initializer enabled

    * changed localization_mode option names ---------Co-authored-by: kminoda <<44218668+kminoda@users.noreply.github.com>> Co-authored-by: kminoda <<koji.minoda@tier4.jp>> Co-authored-by: Akihiro Komori <<akihiro.komori@unity3d.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Takagi, Isamu <<43976882+isamu-takagi@users.noreply.github.com>>

  • Contributors: Esteve Fernandez, Kento Yabuuchi, SakodaShintaro, Yamato Ando, kminoda

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/yabloc_common.launch.xml
      • input_particle_pose [default: /localization/pose_twist_fusion_filter/pose]
      • ground_server_param_path [default: $(find-pkg-share yabloc_common)/config/ground_server.param.yaml]
      • ll2_decomposer_param_path [default: $(find-pkg-share yabloc_common)/config/ll2_decomposer.param.yaml]
      • output_height [default: height]
      • output_ground [default: ground]
      • output_ground_markers [default: ground_markers]
      • output_ground_status [default: ground_status]
      • output_near_cloud [default: near_cloud]
      • output_ll2_road_marking [default: ll2_road_marking]
      • output_ll2_sign_board [default: ll2_sign_board]
      • output_ll2_bounding_box [default: ll2_bounding_box]
      • output_sign_board_marker [default: sign_board_marker]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged yabloc_common at Robotics Stack Exchange

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