costmap_generator

costmap_generator_node

This node reads PointCloud and/or DynamicObjectArray and creates an OccupancyGrid and GridMap. VectorMap(Lanelet2) is optional.

Input topics

Output topics

Output TFs

None

How to launch

1. Execute the command source install/setup.bash to setup the environment

2. Run ros2 launch costmap_generator costmap_generator.launch.xml to launch the node

Parameters

Flowchart

@startuml
title onTimer
start

if (scenario is active?) then (yes)
else (no)
  stop
endif

:get current pose;

:set the center of costmap to current pose;

if (use wayarea or use parkinglot?) then (yes)
 :generate map primitives costmap;
endif

if (use objects?) then (yes)
 :generate objects costmap;
endif

if (use points?) then (yes)
 :generate points costmap;
endif

:combine costmap;

:publish costmap;

stop
@enduml

Changelog for package autoware_costmap_generator

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

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)
• feat!: replace scenario msg from tier4_planning_msgs to autoware_internal_planning_msgs (#10180)
• Contributors: Fumiya Watanabe, Ryohsuke Mitsudome, 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)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• feat(autoware_costmap_generator): tier4_debug_msgs changed to autoware_internal-debug_msgs in autoware_costmap_generator (#9901) feat: tier4_debug_msgs changed to autoware_internal-debug_msgs in files planning/autoware_costmap_generator
• fix(autoware_costmap_generator): fix bugprone-branch-clone (#9669) fix: bugprone-error
• chore(autoware_costmap_generator): suppress Could not find a connection between 'map' and 'base_link' (#9655)
• Contributors: Fumiya Watanabe, Vishal Chauhan, Yukinari Hisaki, kobayu858

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)

• feat(costmap_generator, scenario_selector): improve freespace planning stability (#9579)

  • discretize updating grid center position by size of grid resolution
  • modify logic for switching to lane driving in scenario selector

  * fix spelling ---------

• fix(cpplint): include what you use - planning (#9570)

• refactor: correct spelling (#9528)

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