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autoware_detected_object_validation package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker 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_command_gate 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 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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_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins 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_pipeline autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_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_roundabout_module autoware_behavior_velocity_rtc_interface 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_boundary_departure_prevention_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_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor 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_traffic_light_rviz_plugin tier4_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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github

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Package Summary

Version 0.53.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-10-27
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The ROS 2 detected_object_validation package

Maintainers

  • Yukihiro Saito
  • Dai Nguyen
  • Shintaro Tomie
  • Yoshi RI
  • Taekjin Lee
  • Masaki Baba

Authors

No additional authors.
perception/autoware_detected_object_validation/README.md

detected_object_validation

Purpose

The purpose of this package is to eliminate obvious false positives of DetectedObjects.

Node Parameters

object_lanelet_filter

Detected Objects

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/detected_object_lanelet_filter.schema.json”) }}

Tracked Objects

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/tracked_object_lanelet_filter.schema.json”) }}

object_position_filter

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/object_position_filter.schema.json”) }}

obstacle_pointcloud_based_validator

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/obstacle_pointcloud_based_validator.schema.json”) }}

occupancy_grid_based_validator

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/occupancy_grid_based_validator.schema.json”) }}

CHANGELOG

Changelog for package autoware_detected_object_validation

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
  • fix(design): align the perception node designs with the packages they describe (#13339) The lanelet filter components register under the lanelet_filter:: namespace, and the apollo instance segmentation and transfusion nodes are built with the autoware_ prefix on the executable name. BEVFusion, StreamPetr and LidarFRNet name param file defaults that resolve to nothing: the first two are missing the config/ prefix, and the three files LidarFRNet names are called frnet.param.yaml, ml_package_frnet_ot128.param.yaml and diagnostics_frnet.param.yaml. ElevationMapLoader pins its map_hash input with global:, which keeps the port out of the design graph: link_manager skips any connection whose target is a global input port and the exporter emits no remap. remap_target: keeps the same fixed topic name while letting the port take part in the graph.
  • refactor(perception): move node design files into each package (#13104) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
  • Contributors: Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • fix(perception): fix test for [agnocast_wrapper::Node]{.title-ref} (#12861)

    • fix test for agnocast_wrapper::Node

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

  • feat(lanelet_filter): apply [agnocast_wrapper::Node]{.title-ref} (#12663)

    • apply agnocast_wrapper::Node to detected_object_validation
    • use AgnocastOnly
    • delete unnecessary comment
    • fix to use AgnocastOnlyCallbackIsolatedExecutor

    * update to agnocast_wrapper tf ---------

  • fix(detected_object_validation, raindrop_cluster_filter): adding 2 new object classes (#12673)

    • fix(autoware_detected_object_validation): adding 2 new object classes
    • fix other validation nodes
    • fix(autoware_raindrop_cluster_filter): adapt to 2 new classes
    • docs

    * docs: raindrop filter ---------

  • Contributors: Koichi Imai, badai nguyen, github-actions

0.51.0 (2026-05-01)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • chore(perception): move perception node configuration file to each package (#12440) move perception node configuration file to each package

  • feat(autoware_detected_object_validation): use CallbackIsolatedAgnocastExecutor for obstacle_pointcloud_based_validator (#12371)

  • feat(object_lanelet_filter): apply autoware_agnocast_wrapper for CIE (#12329)

    • feat(autoware_detected_object_validation): apply autoware_agnocast_wrapper for CIE

    * feat(autoware_detected_object_validation): apply CIE to TrackedObjectLaneletFilterNode Apply CallbackIsolatedAgnocastExecutor to TrackedObjectLaneletFilterNode using autoware_agnocast_wrapper_register_node macro.

    • fix(autoware_detected_object_validation): fix alphabetical order in package.xml

    * feat(autoware_detected_object_validation): apply autoware_agnocast_wrapper to ObstaclePointCloudBasedValidator ---------

  • chore(perception): remove unused lanelet2_extension header (#12295)

File truncated at 100 lines see the full file

Launch files

  • launch/object_lanelet_filter.launch.xml
      • vector_map_topic [default: /map/vector_map]
      • input/object [default: in_objects]
      • output/object [default: out_objects]
      • filtering_range_param [default: $(find-pkg-share autoware_detected_object_validation)/config/object_lanelet_filter.param.yaml]
  • launch/object_position_filter.launch.xml
      • input/object [default: in_objects]
      • output/object [default: out_objects]
      • filtering_range_param [default: $(find-pkg-share autoware_detected_object_validation)/config/object_position_filter.param.yaml]
  • launch/obstacle_pointcloud_based_validator.launch.xml
      • input/detected_objects [default: /perception/object_recognition/detection/objects]
      • input/obstacle_pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/objects [default: /perception/object_recognition/detection/validation/obstacle_pointcloud_based/objects]
      • obstacle_pointcloud_based_validator_param_path [default: $(find-pkg-share autoware_detected_object_validation)/config/obstacle_pointcloud_based_validator.param.yaml]
  • launch/occupancy_grid_based_validator.launch.xml
      • input/detected_objects [default: /perception/object_recognition/detection/objects]
      • output/objects [default: /perception/object_recognition/detection/validation/occupancy_grid_based/objects]
      • input/laserscan [default: /perception/occupancy_grid_map/virtual_scan/laserscan]
      • input/occupancy_grid_map [default: /perception/object_recognition/detection/validation/occupancy_grid_based/single_frame_occupancy_grid_map]
      • occupancy_grid_map_param_path [default: $(find-pkg-share autoware_probabilistic_occupancy_grid_map)/config/laserscan_based_occupancy_grid_map.param.yaml]
      • occupancy_grid_map_updater_param_path [default: $(find-pkg-share autoware_probabilistic_occupancy_grid_map)/config/binary_bayes_filter_updater.param.yaml]
      • occupancy_grid_based_validator_param_path [default: $(find-pkg-share autoware_detected_object_validation)/config/occupancy_grid_based_validator_param_path.param.yaml]
  • launch/tracked_object_lanelet_filter.launch.xml
      • vector_map_topic [default: /map/vector_map]
      • input/object [default: in_objects]
      • output/object [default: out_objects]
      • filtering_range_param [default: $(find-pkg-share autoware_detected_object_validation)/config/tracked_object_lanelet_filter.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

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autoware_detected_object_validation package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker 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_command_gate 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_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr 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_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins 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_pipeline autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_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_roundabout_module autoware_behavior_velocity_rtc_interface 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_boundary_departure_prevention_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_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor 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_traffic_light_rviz_plugin tier4_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-10-27
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The ROS 2 detected_object_validation package

Maintainers

  • Yukihiro Saito
  • Dai Nguyen
  • Shintaro Tomie
  • Yoshi RI
  • Taekjin Lee
  • Masaki Baba

Authors

No additional authors.
perception/autoware_detected_object_validation/README.md

detected_object_validation

Purpose

The purpose of this package is to eliminate obvious false positives of DetectedObjects.

Node Parameters

object_lanelet_filter

Detected Objects

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/detected_object_lanelet_filter.schema.json”) }}

Tracked Objects

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/tracked_object_lanelet_filter.schema.json”) }}

object_position_filter

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/object_position_filter.schema.json”) }}

obstacle_pointcloud_based_validator

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/obstacle_pointcloud_based_validator.schema.json”) }}

occupancy_grid_based_validator

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/occupancy_grid_based_validator.schema.json”) }}

CHANGELOG

Changelog for package autoware_detected_object_validation

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
  • fix(design): align the perception node designs with the packages they describe (#13339) The lanelet filter components register under the lanelet_filter:: namespace, and the apollo instance segmentation and transfusion nodes are built with the autoware_ prefix on the executable name. BEVFusion, StreamPetr and LidarFRNet name param file defaults that resolve to nothing: the first two are missing the config/ prefix, and the three files LidarFRNet names are called frnet.param.yaml, ml_package_frnet_ot128.param.yaml and diagnostics_frnet.param.yaml. ElevationMapLoader pins its map_hash input with global:, which keeps the port out of the design graph: link_manager skips any connection whose target is a global input port and the exporter emits no remap. remap_target: keeps the same fixed topic name while letting the port take part in the graph.
  • refactor(perception): move node design files into each package (#13104) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
  • Contributors: Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • fix(perception): fix test for [agnocast_wrapper::Node]{.title-ref} (#12861)

    • fix test for agnocast_wrapper::Node

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

  • feat(lanelet_filter): apply [agnocast_wrapper::Node]{.title-ref} (#12663)

    • apply agnocast_wrapper::Node to detected_object_validation
    • use AgnocastOnly
    • delete unnecessary comment
    • fix to use AgnocastOnlyCallbackIsolatedExecutor

    * update to agnocast_wrapper tf ---------

  • fix(detected_object_validation, raindrop_cluster_filter): adding 2 new object classes (#12673)

    • fix(autoware_detected_object_validation): adding 2 new object classes
    • fix other validation nodes
    • fix(autoware_raindrop_cluster_filter): adapt to 2 new classes
    • docs

    * docs: raindrop filter ---------

  • Contributors: Koichi Imai, badai nguyen, github-actions

0.51.0 (2026-05-01)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • chore(perception): move perception node configuration file to each package (#12440) move perception node configuration file to each package

  • feat(autoware_detected_object_validation): use CallbackIsolatedAgnocastExecutor for obstacle_pointcloud_based_validator (#12371)

  • feat(object_lanelet_filter): apply autoware_agnocast_wrapper for CIE (#12329)

    • feat(autoware_detected_object_validation): apply autoware_agnocast_wrapper for CIE

    * feat(autoware_detected_object_validation): apply CIE to TrackedObjectLaneletFilterNode Apply CallbackIsolatedAgnocastExecutor to TrackedObjectLaneletFilterNode using autoware_agnocast_wrapper_register_node macro.

    • fix(autoware_detected_object_validation): fix alphabetical order in package.xml

    * feat(autoware_detected_object_validation): apply autoware_agnocast_wrapper to ObstaclePointCloudBasedValidator ---------

  • chore(perception): remove unused lanelet2_extension header (#12295)

File truncated at 100 lines see the full file

Launch files

  • launch/object_lanelet_filter.launch.xml
      • vector_map_topic [default: /map/vector_map]
      • input/object [default: in_objects]
      • output/object [default: out_objects]
      • filtering_range_param [default: $(find-pkg-share autoware_detected_object_validation)/config/object_lanelet_filter.param.yaml]
  • launch/object_position_filter.launch.xml
      • input/object [default: in_objects]
      • output/object [default: out_objects]
      • filtering_range_param [default: $(find-pkg-share autoware_detected_object_validation)/config/object_position_filter.param.yaml]
  • launch/obstacle_pointcloud_based_validator.launch.xml
      • input/detected_objects [default: /perception/object_recognition/detection/objects]
      • input/obstacle_pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/objects [default: /perception/object_recognition/detection/validation/obstacle_pointcloud_based/objects]
      • obstacle_pointcloud_based_validator_param_path [default: $(find-pkg-share autoware_detected_object_validation)/config/obstacle_pointcloud_based_validator.param.yaml]
  • launch/occupancy_grid_based_validator.launch.xml
      • input/detected_objects [default: /perception/object_recognition/detection/objects]
      • output/objects [default: /perception/object_recognition/detection/validation/occupancy_grid_based/objects]
      • input/laserscan [default: /perception/occupancy_grid_map/virtual_scan/laserscan]
      • input/occupancy_grid_map [default: /perception/object_recognition/detection/validation/occupancy_grid_based/single_frame_occupancy_grid_map]
      • occupancy_grid_map_param_path [default: $(find-pkg-share autoware_probabilistic_occupancy_grid_map)/config/laserscan_based_occupancy_grid_map.param.yaml]
      • occupancy_grid_map_updater_param_path [default: $(find-pkg-share autoware_probabilistic_occupancy_grid_map)/config/binary_bayes_filter_updater.param.yaml]
      • occupancy_grid_based_validator_param_path [default: $(find-pkg-share autoware_detected_object_validation)/config/occupancy_grid_based_validator_param_path.param.yaml]
  • launch/tracked_object_lanelet_filter.launch.xml
      • vector_map_topic [default: /map/vector_map]
      • input/object [default: in_objects]
      • output/object [default: out_objects]
      • filtering_range_param [default: $(find-pkg-share autoware_detected_object_validation)/config/tracked_object_lanelet_filter.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_detected_object_validation at Robotics Stack Exchange

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.
Package symbol

autoware_detected_object_validation package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker 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_command_gate 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_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr 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_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins 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_pipeline autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_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_roundabout_module autoware_behavior_velocity_rtc_interface 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_boundary_departure_prevention_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_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor 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_traffic_light_rviz_plugin tier4_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Version 0.53.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-10-27
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The ROS 2 detected_object_validation package

Maintainers

  • Yukihiro Saito
  • Dai Nguyen
  • Shintaro Tomie
  • Yoshi RI
  • Taekjin Lee
  • Masaki Baba

Authors

No additional authors.
perception/autoware_detected_object_validation/README.md

detected_object_validation

Purpose

The purpose of this package is to eliminate obvious false positives of DetectedObjects.

Node Parameters

object_lanelet_filter

Detected Objects

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/detected_object_lanelet_filter.schema.json”) }}

Tracked Objects

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/tracked_object_lanelet_filter.schema.json”) }}

object_position_filter

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/object_position_filter.schema.json”) }}

obstacle_pointcloud_based_validator

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/obstacle_pointcloud_based_validator.schema.json”) }}

occupancy_grid_based_validator

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/occupancy_grid_based_validator.schema.json”) }}

CHANGELOG

Changelog for package autoware_detected_object_validation

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
  • fix(design): align the perception node designs with the packages they describe (#13339) The lanelet filter components register under the lanelet_filter:: namespace, and the apollo instance segmentation and transfusion nodes are built with the autoware_ prefix on the executable name. BEVFusion, StreamPetr and LidarFRNet name param file defaults that resolve to nothing: the first two are missing the config/ prefix, and the three files LidarFRNet names are called frnet.param.yaml, ml_package_frnet_ot128.param.yaml and diagnostics_frnet.param.yaml. ElevationMapLoader pins its map_hash input with global:, which keeps the port out of the design graph: link_manager skips any connection whose target is a global input port and the exporter emits no remap. remap_target: keeps the same fixed topic name while letting the port take part in the graph.
  • refactor(perception): move node design files into each package (#13104) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
  • Contributors: Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • fix(perception): fix test for [agnocast_wrapper::Node]{.title-ref} (#12861)

    • fix test for agnocast_wrapper::Node

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

  • feat(lanelet_filter): apply [agnocast_wrapper::Node]{.title-ref} (#12663)

    • apply agnocast_wrapper::Node to detected_object_validation
    • use AgnocastOnly
    • delete unnecessary comment
    • fix to use AgnocastOnlyCallbackIsolatedExecutor

    * update to agnocast_wrapper tf ---------

  • fix(detected_object_validation, raindrop_cluster_filter): adding 2 new object classes (#12673)

    • fix(autoware_detected_object_validation): adding 2 new object classes
    • fix other validation nodes
    • fix(autoware_raindrop_cluster_filter): adapt to 2 new classes
    • docs

    * docs: raindrop filter ---------

  • Contributors: Koichi Imai, badai nguyen, github-actions

0.51.0 (2026-05-01)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • chore(perception): move perception node configuration file to each package (#12440) move perception node configuration file to each package

  • feat(autoware_detected_object_validation): use CallbackIsolatedAgnocastExecutor for obstacle_pointcloud_based_validator (#12371)

  • feat(object_lanelet_filter): apply autoware_agnocast_wrapper for CIE (#12329)

    • feat(autoware_detected_object_validation): apply autoware_agnocast_wrapper for CIE

    * feat(autoware_detected_object_validation): apply CIE to TrackedObjectLaneletFilterNode Apply CallbackIsolatedAgnocastExecutor to TrackedObjectLaneletFilterNode using autoware_agnocast_wrapper_register_node macro.

    • fix(autoware_detected_object_validation): fix alphabetical order in package.xml

    * feat(autoware_detected_object_validation): apply autoware_agnocast_wrapper to ObstaclePointCloudBasedValidator ---------

  • chore(perception): remove unused lanelet2_extension header (#12295)

File truncated at 100 lines see the full file

Launch files

  • launch/object_lanelet_filter.launch.xml
      • vector_map_topic [default: /map/vector_map]
      • input/object [default: in_objects]
      • output/object [default: out_objects]
      • filtering_range_param [default: $(find-pkg-share autoware_detected_object_validation)/config/object_lanelet_filter.param.yaml]
  • launch/object_position_filter.launch.xml
      • input/object [default: in_objects]
      • output/object [default: out_objects]
      • filtering_range_param [default: $(find-pkg-share autoware_detected_object_validation)/config/object_position_filter.param.yaml]
  • launch/obstacle_pointcloud_based_validator.launch.xml
      • input/detected_objects [default: /perception/object_recognition/detection/objects]
      • input/obstacle_pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/objects [default: /perception/object_recognition/detection/validation/obstacle_pointcloud_based/objects]
      • obstacle_pointcloud_based_validator_param_path [default: $(find-pkg-share autoware_detected_object_validation)/config/obstacle_pointcloud_based_validator.param.yaml]
  • launch/occupancy_grid_based_validator.launch.xml
      • input/detected_objects [default: /perception/object_recognition/detection/objects]
      • output/objects [default: /perception/object_recognition/detection/validation/occupancy_grid_based/objects]
      • input/laserscan [default: /perception/occupancy_grid_map/virtual_scan/laserscan]
      • input/occupancy_grid_map [default: /perception/object_recognition/detection/validation/occupancy_grid_based/single_frame_occupancy_grid_map]
      • occupancy_grid_map_param_path [default: $(find-pkg-share autoware_probabilistic_occupancy_grid_map)/config/laserscan_based_occupancy_grid_map.param.yaml]
      • occupancy_grid_map_updater_param_path [default: $(find-pkg-share autoware_probabilistic_occupancy_grid_map)/config/binary_bayes_filter_updater.param.yaml]
      • occupancy_grid_based_validator_param_path [default: $(find-pkg-share autoware_detected_object_validation)/config/occupancy_grid_based_validator_param_path.param.yaml]
  • launch/tracked_object_lanelet_filter.launch.xml
      • vector_map_topic [default: /map/vector_map]
      • input/object [default: in_objects]
      • output/object [default: out_objects]
      • filtering_range_param [default: $(find-pkg-share autoware_detected_object_validation)/config/tracked_object_lanelet_filter.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_detected_object_validation at Robotics Stack Exchange

No version for distro lyrical showing github. Known supported distros are highlighted in the buttons above.
Package symbol

autoware_detected_object_validation package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker 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_command_gate 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_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr 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_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins 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_pipeline autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_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_roundabout_module autoware_behavior_velocity_rtc_interface 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_boundary_departure_prevention_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_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor 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_traffic_light_rviz_plugin tier4_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-10-27
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The ROS 2 detected_object_validation package

Maintainers

  • Yukihiro Saito
  • Dai Nguyen
  • Shintaro Tomie
  • Yoshi RI
  • Taekjin Lee
  • Masaki Baba

Authors

No additional authors.
perception/autoware_detected_object_validation/README.md

detected_object_validation

Purpose

The purpose of this package is to eliminate obvious false positives of DetectedObjects.

Node Parameters

object_lanelet_filter

Detected Objects

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/detected_object_lanelet_filter.schema.json”) }}

Tracked Objects

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/tracked_object_lanelet_filter.schema.json”) }}

object_position_filter

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/object_position_filter.schema.json”) }}

obstacle_pointcloud_based_validator

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/obstacle_pointcloud_based_validator.schema.json”) }}

occupancy_grid_based_validator

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/occupancy_grid_based_validator.schema.json”) }}

CHANGELOG

Changelog for package autoware_detected_object_validation

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
  • fix(design): align the perception node designs with the packages they describe (#13339) The lanelet filter components register under the lanelet_filter:: namespace, and the apollo instance segmentation and transfusion nodes are built with the autoware_ prefix on the executable name. BEVFusion, StreamPetr and LidarFRNet name param file defaults that resolve to nothing: the first two are missing the config/ prefix, and the three files LidarFRNet names are called frnet.param.yaml, ml_package_frnet_ot128.param.yaml and diagnostics_frnet.param.yaml. ElevationMapLoader pins its map_hash input with global:, which keeps the port out of the design graph: link_manager skips any connection whose target is a global input port and the exporter emits no remap. remap_target: keeps the same fixed topic name while letting the port take part in the graph.
  • refactor(perception): move node design files into each package (#13104) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
  • Contributors: Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • fix(perception): fix test for [agnocast_wrapper::Node]{.title-ref} (#12861)

    • fix test for agnocast_wrapper::Node

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

  • feat(lanelet_filter): apply [agnocast_wrapper::Node]{.title-ref} (#12663)

    • apply agnocast_wrapper::Node to detected_object_validation
    • use AgnocastOnly
    • delete unnecessary comment
    • fix to use AgnocastOnlyCallbackIsolatedExecutor

    * update to agnocast_wrapper tf ---------

  • fix(detected_object_validation, raindrop_cluster_filter): adding 2 new object classes (#12673)

    • fix(autoware_detected_object_validation): adding 2 new object classes
    • fix other validation nodes
    • fix(autoware_raindrop_cluster_filter): adapt to 2 new classes
    • docs

    * docs: raindrop filter ---------

  • Contributors: Koichi Imai, badai nguyen, github-actions

0.51.0 (2026-05-01)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • chore(perception): move perception node configuration file to each package (#12440) move perception node configuration file to each package

  • feat(autoware_detected_object_validation): use CallbackIsolatedAgnocastExecutor for obstacle_pointcloud_based_validator (#12371)

  • feat(object_lanelet_filter): apply autoware_agnocast_wrapper for CIE (#12329)

    • feat(autoware_detected_object_validation): apply autoware_agnocast_wrapper for CIE

    * feat(autoware_detected_object_validation): apply CIE to TrackedObjectLaneletFilterNode Apply CallbackIsolatedAgnocastExecutor to TrackedObjectLaneletFilterNode using autoware_agnocast_wrapper_register_node macro.

    • fix(autoware_detected_object_validation): fix alphabetical order in package.xml

    * feat(autoware_detected_object_validation): apply autoware_agnocast_wrapper to ObstaclePointCloudBasedValidator ---------

  • chore(perception): remove unused lanelet2_extension header (#12295)

File truncated at 100 lines see the full file

Launch files

  • launch/object_lanelet_filter.launch.xml
      • vector_map_topic [default: /map/vector_map]
      • input/object [default: in_objects]
      • output/object [default: out_objects]
      • filtering_range_param [default: $(find-pkg-share autoware_detected_object_validation)/config/object_lanelet_filter.param.yaml]
  • launch/object_position_filter.launch.xml
      • input/object [default: in_objects]
      • output/object [default: out_objects]
      • filtering_range_param [default: $(find-pkg-share autoware_detected_object_validation)/config/object_position_filter.param.yaml]
  • launch/obstacle_pointcloud_based_validator.launch.xml
      • input/detected_objects [default: /perception/object_recognition/detection/objects]
      • input/obstacle_pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/objects [default: /perception/object_recognition/detection/validation/obstacle_pointcloud_based/objects]
      • obstacle_pointcloud_based_validator_param_path [default: $(find-pkg-share autoware_detected_object_validation)/config/obstacle_pointcloud_based_validator.param.yaml]
  • launch/occupancy_grid_based_validator.launch.xml
      • input/detected_objects [default: /perception/object_recognition/detection/objects]
      • output/objects [default: /perception/object_recognition/detection/validation/occupancy_grid_based/objects]
      • input/laserscan [default: /perception/occupancy_grid_map/virtual_scan/laserscan]
      • input/occupancy_grid_map [default: /perception/object_recognition/detection/validation/occupancy_grid_based/single_frame_occupancy_grid_map]
      • occupancy_grid_map_param_path [default: $(find-pkg-share autoware_probabilistic_occupancy_grid_map)/config/laserscan_based_occupancy_grid_map.param.yaml]
      • occupancy_grid_map_updater_param_path [default: $(find-pkg-share autoware_probabilistic_occupancy_grid_map)/config/binary_bayes_filter_updater.param.yaml]
      • occupancy_grid_based_validator_param_path [default: $(find-pkg-share autoware_detected_object_validation)/config/occupancy_grid_based_validator_param_path.param.yaml]
  • launch/tracked_object_lanelet_filter.launch.xml
      • vector_map_topic [default: /map/vector_map]
      • input/object [default: in_objects]
      • output/object [default: out_objects]
      • filtering_range_param [default: $(find-pkg-share autoware_detected_object_validation)/config/tracked_object_lanelet_filter.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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autoware_detected_object_validation package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker 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_command_gate 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_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr 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_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins 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_pipeline autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_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_roundabout_module autoware_behavior_velocity_rtc_interface 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_boundary_departure_prevention_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_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor 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_traffic_light_rviz_plugin tier4_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-10-27
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The ROS 2 detected_object_validation package

Maintainers

  • Yukihiro Saito
  • Dai Nguyen
  • Shintaro Tomie
  • Yoshi RI
  • Taekjin Lee
  • Masaki Baba

Authors

No additional authors.
perception/autoware_detected_object_validation/README.md

detected_object_validation

Purpose

The purpose of this package is to eliminate obvious false positives of DetectedObjects.

Node Parameters

object_lanelet_filter

Detected Objects

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/detected_object_lanelet_filter.schema.json”) }}

Tracked Objects

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/tracked_object_lanelet_filter.schema.json”) }}

object_position_filter

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/object_position_filter.schema.json”) }}

obstacle_pointcloud_based_validator

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/obstacle_pointcloud_based_validator.schema.json”) }}

occupancy_grid_based_validator

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/occupancy_grid_based_validator.schema.json”) }}

CHANGELOG

Changelog for package autoware_detected_object_validation

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
  • fix(design): align the perception node designs with the packages they describe (#13339) The lanelet filter components register under the lanelet_filter:: namespace, and the apollo instance segmentation and transfusion nodes are built with the autoware_ prefix on the executable name. BEVFusion, StreamPetr and LidarFRNet name param file defaults that resolve to nothing: the first two are missing the config/ prefix, and the three files LidarFRNet names are called frnet.param.yaml, ml_package_frnet_ot128.param.yaml and diagnostics_frnet.param.yaml. ElevationMapLoader pins its map_hash input with global:, which keeps the port out of the design graph: link_manager skips any connection whose target is a global input port and the exporter emits no remap. remap_target: keeps the same fixed topic name while letting the port take part in the graph.
  • refactor(perception): move node design files into each package (#13104) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
  • Contributors: Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • fix(perception): fix test for [agnocast_wrapper::Node]{.title-ref} (#12861)

    • fix test for agnocast_wrapper::Node

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

  • feat(lanelet_filter): apply [agnocast_wrapper::Node]{.title-ref} (#12663)

    • apply agnocast_wrapper::Node to detected_object_validation
    • use AgnocastOnly
    • delete unnecessary comment
    • fix to use AgnocastOnlyCallbackIsolatedExecutor

    * update to agnocast_wrapper tf ---------

  • fix(detected_object_validation, raindrop_cluster_filter): adding 2 new object classes (#12673)

    • fix(autoware_detected_object_validation): adding 2 new object classes
    • fix other validation nodes
    • fix(autoware_raindrop_cluster_filter): adapt to 2 new classes
    • docs

    * docs: raindrop filter ---------

  • Contributors: Koichi Imai, badai nguyen, github-actions

0.51.0 (2026-05-01)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • chore(perception): move perception node configuration file to each package (#12440) move perception node configuration file to each package

  • feat(autoware_detected_object_validation): use CallbackIsolatedAgnocastExecutor for obstacle_pointcloud_based_validator (#12371)

  • feat(object_lanelet_filter): apply autoware_agnocast_wrapper for CIE (#12329)

    • feat(autoware_detected_object_validation): apply autoware_agnocast_wrapper for CIE

    * feat(autoware_detected_object_validation): apply CIE to TrackedObjectLaneletFilterNode Apply CallbackIsolatedAgnocastExecutor to TrackedObjectLaneletFilterNode using autoware_agnocast_wrapper_register_node macro.

    • fix(autoware_detected_object_validation): fix alphabetical order in package.xml

    * feat(autoware_detected_object_validation): apply autoware_agnocast_wrapper to ObstaclePointCloudBasedValidator ---------

  • chore(perception): remove unused lanelet2_extension header (#12295)

File truncated at 100 lines see the full file

Launch files

  • launch/object_lanelet_filter.launch.xml
      • vector_map_topic [default: /map/vector_map]
      • input/object [default: in_objects]
      • output/object [default: out_objects]
      • filtering_range_param [default: $(find-pkg-share autoware_detected_object_validation)/config/object_lanelet_filter.param.yaml]
  • launch/object_position_filter.launch.xml
      • input/object [default: in_objects]
      • output/object [default: out_objects]
      • filtering_range_param [default: $(find-pkg-share autoware_detected_object_validation)/config/object_position_filter.param.yaml]
  • launch/obstacle_pointcloud_based_validator.launch.xml
      • input/detected_objects [default: /perception/object_recognition/detection/objects]
      • input/obstacle_pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/objects [default: /perception/object_recognition/detection/validation/obstacle_pointcloud_based/objects]
      • obstacle_pointcloud_based_validator_param_path [default: $(find-pkg-share autoware_detected_object_validation)/config/obstacle_pointcloud_based_validator.param.yaml]
  • launch/occupancy_grid_based_validator.launch.xml
      • input/detected_objects [default: /perception/object_recognition/detection/objects]
      • output/objects [default: /perception/object_recognition/detection/validation/occupancy_grid_based/objects]
      • input/laserscan [default: /perception/occupancy_grid_map/virtual_scan/laserscan]
      • input/occupancy_grid_map [default: /perception/object_recognition/detection/validation/occupancy_grid_based/single_frame_occupancy_grid_map]
      • occupancy_grid_map_param_path [default: $(find-pkg-share autoware_probabilistic_occupancy_grid_map)/config/laserscan_based_occupancy_grid_map.param.yaml]
      • occupancy_grid_map_updater_param_path [default: $(find-pkg-share autoware_probabilistic_occupancy_grid_map)/config/binary_bayes_filter_updater.param.yaml]
      • occupancy_grid_based_validator_param_path [default: $(find-pkg-share autoware_detected_object_validation)/config/occupancy_grid_based_validator_param_path.param.yaml]
  • launch/tracked_object_lanelet_filter.launch.xml
      • vector_map_topic [default: /map/vector_map]
      • input/object [default: in_objects]
      • output/object [default: out_objects]
      • filtering_range_param [default: $(find-pkg-share autoware_detected_object_validation)/config/tracked_object_lanelet_filter.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_detected_object_validation at Robotics Stack Exchange

Package symbol

autoware_detected_object_validation package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker 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_command_gate 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_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr 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_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins 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_pipeline autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_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_roundabout_module autoware_behavior_velocity_rtc_interface 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_boundary_departure_prevention_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_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor 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_traffic_light_rviz_plugin tier4_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Version 0.53.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-10-27
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The ROS 2 detected_object_validation package

Maintainers

  • Yukihiro Saito
  • Dai Nguyen
  • Shintaro Tomie
  • Yoshi RI
  • Taekjin Lee
  • Masaki Baba

Authors

No additional authors.
perception/autoware_detected_object_validation/README.md

detected_object_validation

Purpose

The purpose of this package is to eliminate obvious false positives of DetectedObjects.

Node Parameters

object_lanelet_filter

Detected Objects

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/detected_object_lanelet_filter.schema.json”) }}

Tracked Objects

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/tracked_object_lanelet_filter.schema.json”) }}

object_position_filter

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/object_position_filter.schema.json”) }}

obstacle_pointcloud_based_validator

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/obstacle_pointcloud_based_validator.schema.json”) }}

occupancy_grid_based_validator

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/occupancy_grid_based_validator.schema.json”) }}

CHANGELOG

Changelog for package autoware_detected_object_validation

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
  • fix(design): align the perception node designs with the packages they describe (#13339) The lanelet filter components register under the lanelet_filter:: namespace, and the apollo instance segmentation and transfusion nodes are built with the autoware_ prefix on the executable name. BEVFusion, StreamPetr and LidarFRNet name param file defaults that resolve to nothing: the first two are missing the config/ prefix, and the three files LidarFRNet names are called frnet.param.yaml, ml_package_frnet_ot128.param.yaml and diagnostics_frnet.param.yaml. ElevationMapLoader pins its map_hash input with global:, which keeps the port out of the design graph: link_manager skips any connection whose target is a global input port and the exporter emits no remap. remap_target: keeps the same fixed topic name while letting the port take part in the graph.
  • refactor(perception): move node design files into each package (#13104) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
  • Contributors: Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • fix(perception): fix test for [agnocast_wrapper::Node]{.title-ref} (#12861)

    • fix test for agnocast_wrapper::Node

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

  • feat(lanelet_filter): apply [agnocast_wrapper::Node]{.title-ref} (#12663)

    • apply agnocast_wrapper::Node to detected_object_validation
    • use AgnocastOnly
    • delete unnecessary comment
    • fix to use AgnocastOnlyCallbackIsolatedExecutor

    * update to agnocast_wrapper tf ---------

  • fix(detected_object_validation, raindrop_cluster_filter): adding 2 new object classes (#12673)

    • fix(autoware_detected_object_validation): adding 2 new object classes
    • fix other validation nodes
    • fix(autoware_raindrop_cluster_filter): adapt to 2 new classes
    • docs

    * docs: raindrop filter ---------

  • Contributors: Koichi Imai, badai nguyen, github-actions

0.51.0 (2026-05-01)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • chore(perception): move perception node configuration file to each package (#12440) move perception node configuration file to each package

  • feat(autoware_detected_object_validation): use CallbackIsolatedAgnocastExecutor for obstacle_pointcloud_based_validator (#12371)

  • feat(object_lanelet_filter): apply autoware_agnocast_wrapper for CIE (#12329)

    • feat(autoware_detected_object_validation): apply autoware_agnocast_wrapper for CIE

    * feat(autoware_detected_object_validation): apply CIE to TrackedObjectLaneletFilterNode Apply CallbackIsolatedAgnocastExecutor to TrackedObjectLaneletFilterNode using autoware_agnocast_wrapper_register_node macro.

    • fix(autoware_detected_object_validation): fix alphabetical order in package.xml

    * feat(autoware_detected_object_validation): apply autoware_agnocast_wrapper to ObstaclePointCloudBasedValidator ---------

  • chore(perception): remove unused lanelet2_extension header (#12295)

File truncated at 100 lines see the full file

Launch files

  • launch/object_lanelet_filter.launch.xml
      • vector_map_topic [default: /map/vector_map]
      • input/object [default: in_objects]
      • output/object [default: out_objects]
      • filtering_range_param [default: $(find-pkg-share autoware_detected_object_validation)/config/object_lanelet_filter.param.yaml]
  • launch/object_position_filter.launch.xml
      • input/object [default: in_objects]
      • output/object [default: out_objects]
      • filtering_range_param [default: $(find-pkg-share autoware_detected_object_validation)/config/object_position_filter.param.yaml]
  • launch/obstacle_pointcloud_based_validator.launch.xml
      • input/detected_objects [default: /perception/object_recognition/detection/objects]
      • input/obstacle_pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/objects [default: /perception/object_recognition/detection/validation/obstacle_pointcloud_based/objects]
      • obstacle_pointcloud_based_validator_param_path [default: $(find-pkg-share autoware_detected_object_validation)/config/obstacle_pointcloud_based_validator.param.yaml]
  • launch/occupancy_grid_based_validator.launch.xml
      • input/detected_objects [default: /perception/object_recognition/detection/objects]
      • output/objects [default: /perception/object_recognition/detection/validation/occupancy_grid_based/objects]
      • input/laserscan [default: /perception/occupancy_grid_map/virtual_scan/laserscan]
      • input/occupancy_grid_map [default: /perception/object_recognition/detection/validation/occupancy_grid_based/single_frame_occupancy_grid_map]
      • occupancy_grid_map_param_path [default: $(find-pkg-share autoware_probabilistic_occupancy_grid_map)/config/laserscan_based_occupancy_grid_map.param.yaml]
      • occupancy_grid_map_updater_param_path [default: $(find-pkg-share autoware_probabilistic_occupancy_grid_map)/config/binary_bayes_filter_updater.param.yaml]
      • occupancy_grid_based_validator_param_path [default: $(find-pkg-share autoware_detected_object_validation)/config/occupancy_grid_based_validator_param_path.param.yaml]
  • launch/tracked_object_lanelet_filter.launch.xml
      • vector_map_topic [default: /map/vector_map]
      • input/object [default: in_objects]
      • output/object [default: out_objects]
      • filtering_range_param [default: $(find-pkg-share autoware_detected_object_validation)/config/tracked_object_lanelet_filter.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_detected_object_validation at Robotics Stack Exchange

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Package symbol

autoware_detected_object_validation package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker 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_command_gate 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_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr 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_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins 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_pipeline autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_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_roundabout_module autoware_behavior_velocity_rtc_interface 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_boundary_departure_prevention_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_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor 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_traffic_light_rviz_plugin tier4_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-10-27
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The ROS 2 detected_object_validation package

Maintainers

  • Yukihiro Saito
  • Dai Nguyen
  • Shintaro Tomie
  • Yoshi RI
  • Taekjin Lee
  • Masaki Baba

Authors

No additional authors.
perception/autoware_detected_object_validation/README.md

detected_object_validation

Purpose

The purpose of this package is to eliminate obvious false positives of DetectedObjects.

Node Parameters

object_lanelet_filter

Detected Objects

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/detected_object_lanelet_filter.schema.json”) }}

Tracked Objects

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/tracked_object_lanelet_filter.schema.json”) }}

object_position_filter

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/object_position_filter.schema.json”) }}

obstacle_pointcloud_based_validator

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/obstacle_pointcloud_based_validator.schema.json”) }}

occupancy_grid_based_validator

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/occupancy_grid_based_validator.schema.json”) }}

CHANGELOG

Changelog for package autoware_detected_object_validation

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
  • fix(design): align the perception node designs with the packages they describe (#13339) The lanelet filter components register under the lanelet_filter:: namespace, and the apollo instance segmentation and transfusion nodes are built with the autoware_ prefix on the executable name. BEVFusion, StreamPetr and LidarFRNet name param file defaults that resolve to nothing: the first two are missing the config/ prefix, and the three files LidarFRNet names are called frnet.param.yaml, ml_package_frnet_ot128.param.yaml and diagnostics_frnet.param.yaml. ElevationMapLoader pins its map_hash input with global:, which keeps the port out of the design graph: link_manager skips any connection whose target is a global input port and the exporter emits no remap. remap_target: keeps the same fixed topic name while letting the port take part in the graph.
  • refactor(perception): move node design files into each package (#13104) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
  • Contributors: Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • fix(perception): fix test for [agnocast_wrapper::Node]{.title-ref} (#12861)

    • fix test for agnocast_wrapper::Node

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

  • feat(lanelet_filter): apply [agnocast_wrapper::Node]{.title-ref} (#12663)

    • apply agnocast_wrapper::Node to detected_object_validation
    • use AgnocastOnly
    • delete unnecessary comment
    • fix to use AgnocastOnlyCallbackIsolatedExecutor

    * update to agnocast_wrapper tf ---------

  • fix(detected_object_validation, raindrop_cluster_filter): adding 2 new object classes (#12673)

    • fix(autoware_detected_object_validation): adding 2 new object classes
    • fix other validation nodes
    • fix(autoware_raindrop_cluster_filter): adapt to 2 new classes
    • docs

    * docs: raindrop filter ---------

  • Contributors: Koichi Imai, badai nguyen, github-actions

0.51.0 (2026-05-01)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • chore(perception): move perception node configuration file to each package (#12440) move perception node configuration file to each package

  • feat(autoware_detected_object_validation): use CallbackIsolatedAgnocastExecutor for obstacle_pointcloud_based_validator (#12371)

  • feat(object_lanelet_filter): apply autoware_agnocast_wrapper for CIE (#12329)

    • feat(autoware_detected_object_validation): apply autoware_agnocast_wrapper for CIE

    * feat(autoware_detected_object_validation): apply CIE to TrackedObjectLaneletFilterNode Apply CallbackIsolatedAgnocastExecutor to TrackedObjectLaneletFilterNode using autoware_agnocast_wrapper_register_node macro.

    • fix(autoware_detected_object_validation): fix alphabetical order in package.xml

    * feat(autoware_detected_object_validation): apply autoware_agnocast_wrapper to ObstaclePointCloudBasedValidator ---------

  • chore(perception): remove unused lanelet2_extension header (#12295)

File truncated at 100 lines see the full file

Launch files

  • launch/object_lanelet_filter.launch.xml
      • vector_map_topic [default: /map/vector_map]
      • input/object [default: in_objects]
      • output/object [default: out_objects]
      • filtering_range_param [default: $(find-pkg-share autoware_detected_object_validation)/config/object_lanelet_filter.param.yaml]
  • launch/object_position_filter.launch.xml
      • input/object [default: in_objects]
      • output/object [default: out_objects]
      • filtering_range_param [default: $(find-pkg-share autoware_detected_object_validation)/config/object_position_filter.param.yaml]
  • launch/obstacle_pointcloud_based_validator.launch.xml
      • input/detected_objects [default: /perception/object_recognition/detection/objects]
      • input/obstacle_pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/objects [default: /perception/object_recognition/detection/validation/obstacle_pointcloud_based/objects]
      • obstacle_pointcloud_based_validator_param_path [default: $(find-pkg-share autoware_detected_object_validation)/config/obstacle_pointcloud_based_validator.param.yaml]
  • launch/occupancy_grid_based_validator.launch.xml
      • input/detected_objects [default: /perception/object_recognition/detection/objects]
      • output/objects [default: /perception/object_recognition/detection/validation/occupancy_grid_based/objects]
      • input/laserscan [default: /perception/occupancy_grid_map/virtual_scan/laserscan]
      • input/occupancy_grid_map [default: /perception/object_recognition/detection/validation/occupancy_grid_based/single_frame_occupancy_grid_map]
      • occupancy_grid_map_param_path [default: $(find-pkg-share autoware_probabilistic_occupancy_grid_map)/config/laserscan_based_occupancy_grid_map.param.yaml]
      • occupancy_grid_map_updater_param_path [default: $(find-pkg-share autoware_probabilistic_occupancy_grid_map)/config/binary_bayes_filter_updater.param.yaml]
      • occupancy_grid_based_validator_param_path [default: $(find-pkg-share autoware_detected_object_validation)/config/occupancy_grid_based_validator_param_path.param.yaml]
  • launch/tracked_object_lanelet_filter.launch.xml
      • vector_map_topic [default: /map/vector_map]
      • input/object [default: in_objects]
      • output/object [default: out_objects]
      • filtering_range_param [default: $(find-pkg-share autoware_detected_object_validation)/config/tracked_object_lanelet_filter.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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autoware_detected_object_validation package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker 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_command_gate 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_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr 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_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins 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_pipeline autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_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_roundabout_module autoware_behavior_velocity_rtc_interface 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_boundary_departure_prevention_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_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor 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_traffic_light_rviz_plugin tier4_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-10-27
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The ROS 2 detected_object_validation package

Maintainers

  • Yukihiro Saito
  • Dai Nguyen
  • Shintaro Tomie
  • Yoshi RI
  • Taekjin Lee
  • Masaki Baba

Authors

No additional authors.
perception/autoware_detected_object_validation/README.md

detected_object_validation

Purpose

The purpose of this package is to eliminate obvious false positives of DetectedObjects.

Node Parameters

object_lanelet_filter

Detected Objects

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/detected_object_lanelet_filter.schema.json”) }}

Tracked Objects

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/tracked_object_lanelet_filter.schema.json”) }}

object_position_filter

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/object_position_filter.schema.json”) }}

obstacle_pointcloud_based_validator

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/obstacle_pointcloud_based_validator.schema.json”) }}

occupancy_grid_based_validator

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/occupancy_grid_based_validator.schema.json”) }}

CHANGELOG

Changelog for package autoware_detected_object_validation

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
  • fix(design): align the perception node designs with the packages they describe (#13339) The lanelet filter components register under the lanelet_filter:: namespace, and the apollo instance segmentation and transfusion nodes are built with the autoware_ prefix on the executable name. BEVFusion, StreamPetr and LidarFRNet name param file defaults that resolve to nothing: the first two are missing the config/ prefix, and the three files LidarFRNet names are called frnet.param.yaml, ml_package_frnet_ot128.param.yaml and diagnostics_frnet.param.yaml. ElevationMapLoader pins its map_hash input with global:, which keeps the port out of the design graph: link_manager skips any connection whose target is a global input port and the exporter emits no remap. remap_target: keeps the same fixed topic name while letting the port take part in the graph.
  • refactor(perception): move node design files into each package (#13104) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
  • Contributors: Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • fix(perception): fix test for [agnocast_wrapper::Node]{.title-ref} (#12861)

    • fix test for agnocast_wrapper::Node

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

  • feat(lanelet_filter): apply [agnocast_wrapper::Node]{.title-ref} (#12663)

    • apply agnocast_wrapper::Node to detected_object_validation
    • use AgnocastOnly
    • delete unnecessary comment
    • fix to use AgnocastOnlyCallbackIsolatedExecutor

    * update to agnocast_wrapper tf ---------

  • fix(detected_object_validation, raindrop_cluster_filter): adding 2 new object classes (#12673)

    • fix(autoware_detected_object_validation): adding 2 new object classes
    • fix other validation nodes
    • fix(autoware_raindrop_cluster_filter): adapt to 2 new classes
    • docs

    * docs: raindrop filter ---------

  • Contributors: Koichi Imai, badai nguyen, github-actions

0.51.0 (2026-05-01)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • chore(perception): move perception node configuration file to each package (#12440) move perception node configuration file to each package

  • feat(autoware_detected_object_validation): use CallbackIsolatedAgnocastExecutor for obstacle_pointcloud_based_validator (#12371)

  • feat(object_lanelet_filter): apply autoware_agnocast_wrapper for CIE (#12329)

    • feat(autoware_detected_object_validation): apply autoware_agnocast_wrapper for CIE

    * feat(autoware_detected_object_validation): apply CIE to TrackedObjectLaneletFilterNode Apply CallbackIsolatedAgnocastExecutor to TrackedObjectLaneletFilterNode using autoware_agnocast_wrapper_register_node macro.

    • fix(autoware_detected_object_validation): fix alphabetical order in package.xml

    * feat(autoware_detected_object_validation): apply autoware_agnocast_wrapper to ObstaclePointCloudBasedValidator ---------

  • chore(perception): remove unused lanelet2_extension header (#12295)

File truncated at 100 lines see the full file

Launch files

  • launch/object_lanelet_filter.launch.xml
      • vector_map_topic [default: /map/vector_map]
      • input/object [default: in_objects]
      • output/object [default: out_objects]
      • filtering_range_param [default: $(find-pkg-share autoware_detected_object_validation)/config/object_lanelet_filter.param.yaml]
  • launch/object_position_filter.launch.xml
      • input/object [default: in_objects]
      • output/object [default: out_objects]
      • filtering_range_param [default: $(find-pkg-share autoware_detected_object_validation)/config/object_position_filter.param.yaml]
  • launch/obstacle_pointcloud_based_validator.launch.xml
      • input/detected_objects [default: /perception/object_recognition/detection/objects]
      • input/obstacle_pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/objects [default: /perception/object_recognition/detection/validation/obstacle_pointcloud_based/objects]
      • obstacle_pointcloud_based_validator_param_path [default: $(find-pkg-share autoware_detected_object_validation)/config/obstacle_pointcloud_based_validator.param.yaml]
  • launch/occupancy_grid_based_validator.launch.xml
      • input/detected_objects [default: /perception/object_recognition/detection/objects]
      • output/objects [default: /perception/object_recognition/detection/validation/occupancy_grid_based/objects]
      • input/laserscan [default: /perception/occupancy_grid_map/virtual_scan/laserscan]
      • input/occupancy_grid_map [default: /perception/object_recognition/detection/validation/occupancy_grid_based/single_frame_occupancy_grid_map]
      • occupancy_grid_map_param_path [default: $(find-pkg-share autoware_probabilistic_occupancy_grid_map)/config/laserscan_based_occupancy_grid_map.param.yaml]
      • occupancy_grid_map_updater_param_path [default: $(find-pkg-share autoware_probabilistic_occupancy_grid_map)/config/binary_bayes_filter_updater.param.yaml]
      • occupancy_grid_based_validator_param_path [default: $(find-pkg-share autoware_detected_object_validation)/config/occupancy_grid_based_validator_param_path.param.yaml]
  • launch/tracked_object_lanelet_filter.launch.xml
      • vector_map_topic [default: /map/vector_map]
      • input/object [default: in_objects]
      • output/object [default: out_objects]
      • filtering_range_param [default: $(find-pkg-share autoware_detected_object_validation)/config/tracked_object_lanelet_filter.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_detected_object_validation at Robotics Stack Exchange

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Package symbol

autoware_detected_object_validation package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker 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_command_gate 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_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr 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_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins 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_pipeline autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_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_roundabout_module autoware_behavior_velocity_rtc_interface 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_boundary_departure_prevention_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_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor 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_traffic_light_rviz_plugin tier4_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Version 0.53.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-10-27
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The ROS 2 detected_object_validation package

Maintainers

  • Yukihiro Saito
  • Dai Nguyen
  • Shintaro Tomie
  • Yoshi RI
  • Taekjin Lee
  • Masaki Baba

Authors

No additional authors.
perception/autoware_detected_object_validation/README.md

detected_object_validation

Purpose

The purpose of this package is to eliminate obvious false positives of DetectedObjects.

Node Parameters

object_lanelet_filter

Detected Objects

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/detected_object_lanelet_filter.schema.json”) }}

Tracked Objects

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/tracked_object_lanelet_filter.schema.json”) }}

object_position_filter

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/object_position_filter.schema.json”) }}

obstacle_pointcloud_based_validator

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/obstacle_pointcloud_based_validator.schema.json”) }}

occupancy_grid_based_validator

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/occupancy_grid_based_validator.schema.json”) }}

CHANGELOG

Changelog for package autoware_detected_object_validation

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
  • fix(design): align the perception node designs with the packages they describe (#13339) The lanelet filter components register under the lanelet_filter:: namespace, and the apollo instance segmentation and transfusion nodes are built with the autoware_ prefix on the executable name. BEVFusion, StreamPetr and LidarFRNet name param file defaults that resolve to nothing: the first two are missing the config/ prefix, and the three files LidarFRNet names are called frnet.param.yaml, ml_package_frnet_ot128.param.yaml and diagnostics_frnet.param.yaml. ElevationMapLoader pins its map_hash input with global:, which keeps the port out of the design graph: link_manager skips any connection whose target is a global input port and the exporter emits no remap. remap_target: keeps the same fixed topic name while letting the port take part in the graph.
  • refactor(perception): move node design files into each package (#13104) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
  • Contributors: Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • fix(perception): fix test for [agnocast_wrapper::Node]{.title-ref} (#12861)

    • fix test for agnocast_wrapper::Node

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

  • feat(lanelet_filter): apply [agnocast_wrapper::Node]{.title-ref} (#12663)

    • apply agnocast_wrapper::Node to detected_object_validation
    • use AgnocastOnly
    • delete unnecessary comment
    • fix to use AgnocastOnlyCallbackIsolatedExecutor

    * update to agnocast_wrapper tf ---------

  • fix(detected_object_validation, raindrop_cluster_filter): adding 2 new object classes (#12673)

    • fix(autoware_detected_object_validation): adding 2 new object classes
    • fix other validation nodes
    • fix(autoware_raindrop_cluster_filter): adapt to 2 new classes
    • docs

    * docs: raindrop filter ---------

  • Contributors: Koichi Imai, badai nguyen, github-actions

0.51.0 (2026-05-01)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • chore(perception): move perception node configuration file to each package (#12440) move perception node configuration file to each package

  • feat(autoware_detected_object_validation): use CallbackIsolatedAgnocastExecutor for obstacle_pointcloud_based_validator (#12371)

  • feat(object_lanelet_filter): apply autoware_agnocast_wrapper for CIE (#12329)

    • feat(autoware_detected_object_validation): apply autoware_agnocast_wrapper for CIE

    * feat(autoware_detected_object_validation): apply CIE to TrackedObjectLaneletFilterNode Apply CallbackIsolatedAgnocastExecutor to TrackedObjectLaneletFilterNode using autoware_agnocast_wrapper_register_node macro.

    • fix(autoware_detected_object_validation): fix alphabetical order in package.xml

    * feat(autoware_detected_object_validation): apply autoware_agnocast_wrapper to ObstaclePointCloudBasedValidator ---------

  • chore(perception): remove unused lanelet2_extension header (#12295)

File truncated at 100 lines see the full file

Launch files

  • launch/object_lanelet_filter.launch.xml
      • vector_map_topic [default: /map/vector_map]
      • input/object [default: in_objects]
      • output/object [default: out_objects]
      • filtering_range_param [default: $(find-pkg-share autoware_detected_object_validation)/config/object_lanelet_filter.param.yaml]
  • launch/object_position_filter.launch.xml
      • input/object [default: in_objects]
      • output/object [default: out_objects]
      • filtering_range_param [default: $(find-pkg-share autoware_detected_object_validation)/config/object_position_filter.param.yaml]
  • launch/obstacle_pointcloud_based_validator.launch.xml
      • input/detected_objects [default: /perception/object_recognition/detection/objects]
      • input/obstacle_pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/objects [default: /perception/object_recognition/detection/validation/obstacle_pointcloud_based/objects]
      • obstacle_pointcloud_based_validator_param_path [default: $(find-pkg-share autoware_detected_object_validation)/config/obstacle_pointcloud_based_validator.param.yaml]
  • launch/occupancy_grid_based_validator.launch.xml
      • input/detected_objects [default: /perception/object_recognition/detection/objects]
      • output/objects [default: /perception/object_recognition/detection/validation/occupancy_grid_based/objects]
      • input/laserscan [default: /perception/occupancy_grid_map/virtual_scan/laserscan]
      • input/occupancy_grid_map [default: /perception/object_recognition/detection/validation/occupancy_grid_based/single_frame_occupancy_grid_map]
      • occupancy_grid_map_param_path [default: $(find-pkg-share autoware_probabilistic_occupancy_grid_map)/config/laserscan_based_occupancy_grid_map.param.yaml]
      • occupancy_grid_map_updater_param_path [default: $(find-pkg-share autoware_probabilistic_occupancy_grid_map)/config/binary_bayes_filter_updater.param.yaml]
      • occupancy_grid_based_validator_param_path [default: $(find-pkg-share autoware_detected_object_validation)/config/occupancy_grid_based_validator_param_path.param.yaml]
  • launch/tracked_object_lanelet_filter.launch.xml
      • vector_map_topic [default: /map/vector_map]
      • input/object [default: in_objects]
      • output/object [default: out_objects]
      • filtering_range_param [default: $(find-pkg-share autoware_detected_object_validation)/config/tracked_object_lanelet_filter.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_detected_object_validation at Robotics Stack Exchange

No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.
Package symbol

autoware_detected_object_validation package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker 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_command_gate 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_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr 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_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins 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_pipeline autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_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_roundabout_module autoware_behavior_velocity_rtc_interface 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_boundary_departure_prevention_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_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor 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_traffic_light_rviz_plugin tier4_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Version 0.53.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-10-27
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The ROS 2 detected_object_validation package

Maintainers

  • Yukihiro Saito
  • Dai Nguyen
  • Shintaro Tomie
  • Yoshi RI
  • Taekjin Lee
  • Masaki Baba

Authors

No additional authors.
perception/autoware_detected_object_validation/README.md

detected_object_validation

Purpose

The purpose of this package is to eliminate obvious false positives of DetectedObjects.

Node Parameters

object_lanelet_filter

Detected Objects

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/detected_object_lanelet_filter.schema.json”) }}

Tracked Objects

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/tracked_object_lanelet_filter.schema.json”) }}

object_position_filter

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/object_position_filter.schema.json”) }}

obstacle_pointcloud_based_validator

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/obstacle_pointcloud_based_validator.schema.json”) }}

occupancy_grid_based_validator

{{ json_to_markdown(“perception/autoware_detected_object_validation/schema/occupancy_grid_based_validator.schema.json”) }}

CHANGELOG

Changelog for package autoware_detected_object_validation

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
  • fix(design): align the perception node designs with the packages they describe (#13339) The lanelet filter components register under the lanelet_filter:: namespace, and the apollo instance segmentation and transfusion nodes are built with the autoware_ prefix on the executable name. BEVFusion, StreamPetr and LidarFRNet name param file defaults that resolve to nothing: the first two are missing the config/ prefix, and the three files LidarFRNet names are called frnet.param.yaml, ml_package_frnet_ot128.param.yaml and diagnostics_frnet.param.yaml. ElevationMapLoader pins its map_hash input with global:, which keeps the port out of the design graph: link_manager skips any connection whose target is a global input port and the exporter emits no remap. remap_target: keeps the same fixed topic name while letting the port take part in the graph.
  • refactor(perception): move node design files into each package (#13104) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
  • Contributors: Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • fix(perception): fix test for [agnocast_wrapper::Node]{.title-ref} (#12861)

    • fix test for agnocast_wrapper::Node

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

  • feat(lanelet_filter): apply [agnocast_wrapper::Node]{.title-ref} (#12663)

    • apply agnocast_wrapper::Node to detected_object_validation
    • use AgnocastOnly
    • delete unnecessary comment
    • fix to use AgnocastOnlyCallbackIsolatedExecutor

    * update to agnocast_wrapper tf ---------

  • fix(detected_object_validation, raindrop_cluster_filter): adding 2 new object classes (#12673)

    • fix(autoware_detected_object_validation): adding 2 new object classes
    • fix other validation nodes
    • fix(autoware_raindrop_cluster_filter): adapt to 2 new classes
    • docs

    * docs: raindrop filter ---------

  • Contributors: Koichi Imai, badai nguyen, github-actions

0.51.0 (2026-05-01)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • chore(perception): move perception node configuration file to each package (#12440) move perception node configuration file to each package

  • feat(autoware_detected_object_validation): use CallbackIsolatedAgnocastExecutor for obstacle_pointcloud_based_validator (#12371)

  • feat(object_lanelet_filter): apply autoware_agnocast_wrapper for CIE (#12329)

    • feat(autoware_detected_object_validation): apply autoware_agnocast_wrapper for CIE

    * feat(autoware_detected_object_validation): apply CIE to TrackedObjectLaneletFilterNode Apply CallbackIsolatedAgnocastExecutor to TrackedObjectLaneletFilterNode using autoware_agnocast_wrapper_register_node macro.

    • fix(autoware_detected_object_validation): fix alphabetical order in package.xml

    * feat(autoware_detected_object_validation): apply autoware_agnocast_wrapper to ObstaclePointCloudBasedValidator ---------

  • chore(perception): remove unused lanelet2_extension header (#12295)

File truncated at 100 lines see the full file

Launch files

  • launch/object_lanelet_filter.launch.xml
      • vector_map_topic [default: /map/vector_map]
      • input/object [default: in_objects]
      • output/object [default: out_objects]
      • filtering_range_param [default: $(find-pkg-share autoware_detected_object_validation)/config/object_lanelet_filter.param.yaml]
  • launch/object_position_filter.launch.xml
      • input/object [default: in_objects]
      • output/object [default: out_objects]
      • filtering_range_param [default: $(find-pkg-share autoware_detected_object_validation)/config/object_position_filter.param.yaml]
  • launch/obstacle_pointcloud_based_validator.launch.xml
      • input/detected_objects [default: /perception/object_recognition/detection/objects]
      • input/obstacle_pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/objects [default: /perception/object_recognition/detection/validation/obstacle_pointcloud_based/objects]
      • obstacle_pointcloud_based_validator_param_path [default: $(find-pkg-share autoware_detected_object_validation)/config/obstacle_pointcloud_based_validator.param.yaml]
  • launch/occupancy_grid_based_validator.launch.xml
      • input/detected_objects [default: /perception/object_recognition/detection/objects]
      • output/objects [default: /perception/object_recognition/detection/validation/occupancy_grid_based/objects]
      • input/laserscan [default: /perception/occupancy_grid_map/virtual_scan/laserscan]
      • input/occupancy_grid_map [default: /perception/object_recognition/detection/validation/occupancy_grid_based/single_frame_occupancy_grid_map]
      • occupancy_grid_map_param_path [default: $(find-pkg-share autoware_probabilistic_occupancy_grid_map)/config/laserscan_based_occupancy_grid_map.param.yaml]
      • occupancy_grid_map_updater_param_path [default: $(find-pkg-share autoware_probabilistic_occupancy_grid_map)/config/binary_bayes_filter_updater.param.yaml]
      • occupancy_grid_based_validator_param_path [default: $(find-pkg-share autoware_detected_object_validation)/config/occupancy_grid_based_validator_param_path.param.yaml]
  • launch/tracked_object_lanelet_filter.launch.xml
      • vector_map_topic [default: /map/vector_map]
      • input/object [default: in_objects]
      • output/object [default: out_objects]
      • filtering_range_param [default: $(find-pkg-share autoware_detected_object_validation)/config/tracked_object_lanelet_filter.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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