yabloc_common

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

• ground_server
• ll2_decomposer

ground_server

Purpose

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

Input / Outputs

Input

Output

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

Output

Parameters

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

Changelog for package yabloc_common

0.44.0 (2025-04-18)

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)

• 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, Yutaka Kondo

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 ---------

  • add geographiclib in package.xml (#46)
  • fix path search error in build stage (#45)
  • fix path search error in build stage
  • fix https://github.com/tier4/YabLoc/pull/45#issuecomment-1546808419
  • Feature/remove submodule (#47)
  • remove submodules

  * 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