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autoware_dummy_perception_publisher package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_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_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter 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_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_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter 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_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_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_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_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_diagnostics 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_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_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

Tags No category tags.
Version 0.47.0
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 2025-10-03
Dev Status UNKNOWN
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_dummy_perception_publisher package

Additional Links

No additional links.

Maintainers

  • Yukihiro Saito
  • Junya Sasaki

Authors

No additional authors.
simulator/autoware_dummy_perception_publisher/README.md

dummy_perception_publisher

Purpose

This node publishes the result of the dummy detection with the type of perception. The node uses a plugin architecture to support different object movement strategies.

Inner-workings / Algorithms

Plugin Architecture

The node uses a plugin-based architecture to handle different types of object movement. This allows for flexible and extensible movement behaviors without modifying the core node logic.

Available Plugins

  1. StraightLineObjectMovementPlugin: Moves objects in straight lines based on their initial velocity and direction.
  2. PredictedObjectMovementPlugin: Moves objects along predicted paths from perception predictions, providing more realistic movement patterns.

Plugin Base Class

All movement plugins inherit from DummyObjectMovementBasePlugin which provides:

  • Object management (add, delete operations)
  • Associated action type handling
  • Common interface for object movement

Object Action Handling

  • ADD: New objects are created and they move in a straight line, acceleration and deceleration parameters can be used.
  • MODIFY: Handled directly by the node, bypassing plugin movement logic. Immediately replaces the object’s position information across all plugins.
  • DELETE: The specified object is removed from all plugins.
  • DELETEALL: Clears all objects from all plugins.
  • PREDICT: New objects are created, they move in a straight line for a set time and then the predictions extracted from the perception module are used to dictate where the objects will move to. NOTE: for ease of calculation, acceleration is not taken into account when calculating the object’s position, only its initial speed.

Inputs / Outputs

Input

Name Type Description
/tf tf2_msgs/TFMessage TF (self-pose)
input/object tier4_simulation_msgs::msg::DummyObject dummy detection objects
predicted_objects autoware_perception_msgs::msg::PredictedObjects predicted objects (used by PredictedObjectMovementPlugin)

Output

Name Type Description
output/dynamic_object tier4_perception_msgs::msg::DetectedObjectsWithFeature dummy detection objects
output/points_raw sensor_msgs::msg::PointCloud2 point cloud of objects
output/debug/ground_truth_objects autoware_perception_msgs::msg::TrackedObjects ground truth objects

Parameters

Core Parameters

Name Type Default Value Explanation
visible_range double 100.0 sensor visible range [m]
detection_successful_rate double 0.8 sensor detection rate. (min) 0.0 - 1.0(max)
enable_ray_tracing bool true if True, use ray tracking
use_object_recognition bool true if True, publish objects topic
use_base_link_z bool true if True, node uses z coordinate of ego base_link
publish_ground_truth bool false if True, publish ground truth objects
use_fixed_random_seed bool false if True, use fixed random seed
random_seed int 0 random seed
object_centric_pointcloud bool false if True, generate object-centric point clouds
angle_increment double 0.004363323 angle increment for ray tracing (0.25° in radians)

PredictedObjectMovementPlugin Parameters

Name Type Default Value Explanation
min_predicted_path_keep_duration double 3.0 minimum time (seconds) to keep using same prediction
switch_time_threshold double 2.0 time threshold (seconds) to switch from straight-line to predicted path

Common Remapping Parameters

The plugin uses CommonParameters for both vehicle and pedestrian object types. Each parameter is prefixed with either vehicle. or pedestrian.:

Parameter Name Type Explanation
max_remapping_distance double maximum distance (meters) for remapping validation
max_speed_difference_ratio double maximum speed difference ratio tolerance
min_speed_ratio double minimum speed ratio relative to dummy object speed
max_speed_ratio double maximum speed ratio relative to dummy object speed
speed_check_threshold double speed threshold (m/s) above which speed checks apply
path_selection_strategy string path selection strategy: “highest_confidence” or “random”
CHANGELOG

Changelog for package autoware_dummy_perception_publisher

0.47.0 (2025-08-11)

  • style(pre-commit): update to clang-format-20 (#11088) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
  • Contributors: Mete Fatih Cırıt

0.46.0 (2025-06-20)

  • Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base

  • fix(autoware_dummy_perception_publisher): fix deprecated autoware_utils header (#10519)

    • fix autoware_utils header

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Junya Sasaki <<junya.sasaki@tier4.jp>>

  • Contributors: Kazusa Hashimoto, TaikiYamada4

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

  • Merge remote-tracking branch 'origin/main' into humble

  • fix: add missing exec_depend (#10404)

    • fix missing exec depend
    • remove fixed depend

    * remove the removed dependency ---------

  • Contributors: Ryohsuke Mitsudome, Takagi, Isamu

0.43.0 (2025-03-21)

  • Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
  • chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
  • Contributors: Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
  • Contributors: Fumiya Watanabe, 心刚

0.41.2 (2025-02-19)

  • chore: bump version to 0.41.1 (#10088)
  • Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • feat: apply [autoware_]{.title-ref} prefix for [dummy_perception_publisher]{.title-ref} (#9987)
  • Contributors: Fumiya Watanabe, Junya Sasaki

0.40.0 (2024-12-12)

  • Merge branch 'main' into release-0.40.0

  • Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.

  • fix: fix ticket links in CHANGELOG.rst (#9588)

  • chore(package.xml): bump version to 0.39.0 (#9587)

    • chore(package.xml): bump version to 0.39.0
    • fix: fix ticket links in CHANGELOG.rst

File truncated at 100 lines see the full file

Launch files

  • launch/dummy_perception_publisher.launch.xml
      • visible_range [default: 300.0]
      • real [default: true]
      • use_object_recognition [default: true]
      • use_base_link_z [default: true]
      • dummy_perception_publisher_config_file [default: $(find-pkg-share autoware_dummy_perception_publisher)/config/dummy_perception_publisher.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_dummy_perception_publisher at Robotics Stack Exchange

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autoware_dummy_perception_publisher package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_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_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter 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_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_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter 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_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_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_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_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_diagnostics 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_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_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

Tags No category tags.
Version 0.47.0
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 2025-10-03
Dev Status UNKNOWN
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_dummy_perception_publisher package

Additional Links

No additional links.

Maintainers

  • Yukihiro Saito
  • Junya Sasaki

Authors

No additional authors.
simulator/autoware_dummy_perception_publisher/README.md

dummy_perception_publisher

Purpose

This node publishes the result of the dummy detection with the type of perception. The node uses a plugin architecture to support different object movement strategies.

Inner-workings / Algorithms

Plugin Architecture

The node uses a plugin-based architecture to handle different types of object movement. This allows for flexible and extensible movement behaviors without modifying the core node logic.

Available Plugins

  1. StraightLineObjectMovementPlugin: Moves objects in straight lines based on their initial velocity and direction.
  2. PredictedObjectMovementPlugin: Moves objects along predicted paths from perception predictions, providing more realistic movement patterns.

Plugin Base Class

All movement plugins inherit from DummyObjectMovementBasePlugin which provides:

  • Object management (add, delete operations)
  • Associated action type handling
  • Common interface for object movement

Object Action Handling

  • ADD: New objects are created and they move in a straight line, acceleration and deceleration parameters can be used.
  • MODIFY: Handled directly by the node, bypassing plugin movement logic. Immediately replaces the object’s position information across all plugins.
  • DELETE: The specified object is removed from all plugins.
  • DELETEALL: Clears all objects from all plugins.
  • PREDICT: New objects are created, they move in a straight line for a set time and then the predictions extracted from the perception module are used to dictate where the objects will move to. NOTE: for ease of calculation, acceleration is not taken into account when calculating the object’s position, only its initial speed.

Inputs / Outputs

Input

Name Type Description
/tf tf2_msgs/TFMessage TF (self-pose)
input/object tier4_simulation_msgs::msg::DummyObject dummy detection objects
predicted_objects autoware_perception_msgs::msg::PredictedObjects predicted objects (used by PredictedObjectMovementPlugin)

Output

Name Type Description
output/dynamic_object tier4_perception_msgs::msg::DetectedObjectsWithFeature dummy detection objects
output/points_raw sensor_msgs::msg::PointCloud2 point cloud of objects
output/debug/ground_truth_objects autoware_perception_msgs::msg::TrackedObjects ground truth objects

Parameters

Core Parameters

Name Type Default Value Explanation
visible_range double 100.0 sensor visible range [m]
detection_successful_rate double 0.8 sensor detection rate. (min) 0.0 - 1.0(max)
enable_ray_tracing bool true if True, use ray tracking
use_object_recognition bool true if True, publish objects topic
use_base_link_z bool true if True, node uses z coordinate of ego base_link
publish_ground_truth bool false if True, publish ground truth objects
use_fixed_random_seed bool false if True, use fixed random seed
random_seed int 0 random seed
object_centric_pointcloud bool false if True, generate object-centric point clouds
angle_increment double 0.004363323 angle increment for ray tracing (0.25° in radians)

PredictedObjectMovementPlugin Parameters

Name Type Default Value Explanation
min_predicted_path_keep_duration double 3.0 minimum time (seconds) to keep using same prediction
switch_time_threshold double 2.0 time threshold (seconds) to switch from straight-line to predicted path

Common Remapping Parameters

The plugin uses CommonParameters for both vehicle and pedestrian object types. Each parameter is prefixed with either vehicle. or pedestrian.:

Parameter Name Type Explanation
max_remapping_distance double maximum distance (meters) for remapping validation
max_speed_difference_ratio double maximum speed difference ratio tolerance
min_speed_ratio double minimum speed ratio relative to dummy object speed
max_speed_ratio double maximum speed ratio relative to dummy object speed
speed_check_threshold double speed threshold (m/s) above which speed checks apply
path_selection_strategy string path selection strategy: “highest_confidence” or “random”
CHANGELOG

Changelog for package autoware_dummy_perception_publisher

0.47.0 (2025-08-11)

  • style(pre-commit): update to clang-format-20 (#11088) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
  • Contributors: Mete Fatih Cırıt

0.46.0 (2025-06-20)

  • Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base

  • fix(autoware_dummy_perception_publisher): fix deprecated autoware_utils header (#10519)

    • fix autoware_utils header

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Junya Sasaki <<junya.sasaki@tier4.jp>>

  • Contributors: Kazusa Hashimoto, TaikiYamada4

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

  • Merge remote-tracking branch 'origin/main' into humble

  • fix: add missing exec_depend (#10404)

    • fix missing exec depend
    • remove fixed depend

    * remove the removed dependency ---------

  • Contributors: Ryohsuke Mitsudome, Takagi, Isamu

0.43.0 (2025-03-21)

  • Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
  • chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
  • Contributors: Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
  • Contributors: Fumiya Watanabe, 心刚

0.41.2 (2025-02-19)

  • chore: bump version to 0.41.1 (#10088)
  • Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • feat: apply [autoware_]{.title-ref} prefix for [dummy_perception_publisher]{.title-ref} (#9987)
  • Contributors: Fumiya Watanabe, Junya Sasaki

0.40.0 (2024-12-12)

  • Merge branch 'main' into release-0.40.0

  • Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.

  • fix: fix ticket links in CHANGELOG.rst (#9588)

  • chore(package.xml): bump version to 0.39.0 (#9587)

    • chore(package.xml): bump version to 0.39.0
    • fix: fix ticket links in CHANGELOG.rst

File truncated at 100 lines see the full file

Launch files

  • launch/dummy_perception_publisher.launch.xml
      • visible_range [default: 300.0]
      • real [default: true]
      • use_object_recognition [default: true]
      • use_base_link_z [default: true]
      • dummy_perception_publisher_config_file [default: $(find-pkg-share autoware_dummy_perception_publisher)/config/dummy_perception_publisher.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_dummy_perception_publisher at Robotics Stack Exchange

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

autoware_dummy_perception_publisher package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_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_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter 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_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_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter 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_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_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_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_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_diagnostics 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_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_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

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.47.0
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 2025-10-03
Dev Status UNKNOWN
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_dummy_perception_publisher package

Additional Links

No additional links.

Maintainers

  • Yukihiro Saito
  • Junya Sasaki

Authors

No additional authors.
simulator/autoware_dummy_perception_publisher/README.md

dummy_perception_publisher

Purpose

This node publishes the result of the dummy detection with the type of perception. The node uses a plugin architecture to support different object movement strategies.

Inner-workings / Algorithms

Plugin Architecture

The node uses a plugin-based architecture to handle different types of object movement. This allows for flexible and extensible movement behaviors without modifying the core node logic.

Available Plugins

  1. StraightLineObjectMovementPlugin: Moves objects in straight lines based on their initial velocity and direction.
  2. PredictedObjectMovementPlugin: Moves objects along predicted paths from perception predictions, providing more realistic movement patterns.

Plugin Base Class

All movement plugins inherit from DummyObjectMovementBasePlugin which provides:

  • Object management (add, delete operations)
  • Associated action type handling
  • Common interface for object movement

Object Action Handling

  • ADD: New objects are created and they move in a straight line, acceleration and deceleration parameters can be used.
  • MODIFY: Handled directly by the node, bypassing plugin movement logic. Immediately replaces the object’s position information across all plugins.
  • DELETE: The specified object is removed from all plugins.
  • DELETEALL: Clears all objects from all plugins.
  • PREDICT: New objects are created, they move in a straight line for a set time and then the predictions extracted from the perception module are used to dictate where the objects will move to. NOTE: for ease of calculation, acceleration is not taken into account when calculating the object’s position, only its initial speed.

Inputs / Outputs

Input

Name Type Description
/tf tf2_msgs/TFMessage TF (self-pose)
input/object tier4_simulation_msgs::msg::DummyObject dummy detection objects
predicted_objects autoware_perception_msgs::msg::PredictedObjects predicted objects (used by PredictedObjectMovementPlugin)

Output

Name Type Description
output/dynamic_object tier4_perception_msgs::msg::DetectedObjectsWithFeature dummy detection objects
output/points_raw sensor_msgs::msg::PointCloud2 point cloud of objects
output/debug/ground_truth_objects autoware_perception_msgs::msg::TrackedObjects ground truth objects

Parameters

Core Parameters

Name Type Default Value Explanation
visible_range double 100.0 sensor visible range [m]
detection_successful_rate double 0.8 sensor detection rate. (min) 0.0 - 1.0(max)
enable_ray_tracing bool true if True, use ray tracking
use_object_recognition bool true if True, publish objects topic
use_base_link_z bool true if True, node uses z coordinate of ego base_link
publish_ground_truth bool false if True, publish ground truth objects
use_fixed_random_seed bool false if True, use fixed random seed
random_seed int 0 random seed
object_centric_pointcloud bool false if True, generate object-centric point clouds
angle_increment double 0.004363323 angle increment for ray tracing (0.25° in radians)

PredictedObjectMovementPlugin Parameters

Name Type Default Value Explanation
min_predicted_path_keep_duration double 3.0 minimum time (seconds) to keep using same prediction
switch_time_threshold double 2.0 time threshold (seconds) to switch from straight-line to predicted path

Common Remapping Parameters

The plugin uses CommonParameters for both vehicle and pedestrian object types. Each parameter is prefixed with either vehicle. or pedestrian.:

Parameter Name Type Explanation
max_remapping_distance double maximum distance (meters) for remapping validation
max_speed_difference_ratio double maximum speed difference ratio tolerance
min_speed_ratio double minimum speed ratio relative to dummy object speed
max_speed_ratio double maximum speed ratio relative to dummy object speed
speed_check_threshold double speed threshold (m/s) above which speed checks apply
path_selection_strategy string path selection strategy: “highest_confidence” or “random”
CHANGELOG

Changelog for package autoware_dummy_perception_publisher

0.47.0 (2025-08-11)

  • style(pre-commit): update to clang-format-20 (#11088) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
  • Contributors: Mete Fatih Cırıt

0.46.0 (2025-06-20)

  • Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base

  • fix(autoware_dummy_perception_publisher): fix deprecated autoware_utils header (#10519)

    • fix autoware_utils header

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Junya Sasaki <<junya.sasaki@tier4.jp>>

  • Contributors: Kazusa Hashimoto, TaikiYamada4

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

  • Merge remote-tracking branch 'origin/main' into humble

  • fix: add missing exec_depend (#10404)

    • fix missing exec depend
    • remove fixed depend

    * remove the removed dependency ---------

  • Contributors: Ryohsuke Mitsudome, Takagi, Isamu

0.43.0 (2025-03-21)

  • Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
  • chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
  • Contributors: Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
  • Contributors: Fumiya Watanabe, 心刚

0.41.2 (2025-02-19)

  • chore: bump version to 0.41.1 (#10088)
  • Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • feat: apply [autoware_]{.title-ref} prefix for [dummy_perception_publisher]{.title-ref} (#9987)
  • Contributors: Fumiya Watanabe, Junya Sasaki

0.40.0 (2024-12-12)

  • Merge branch 'main' into release-0.40.0

  • Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.

  • fix: fix ticket links in CHANGELOG.rst (#9588)

  • chore(package.xml): bump version to 0.39.0 (#9587)

    • chore(package.xml): bump version to 0.39.0
    • fix: fix ticket links in CHANGELOG.rst

File truncated at 100 lines see the full file

Launch files

  • launch/dummy_perception_publisher.launch.xml
      • visible_range [default: 300.0]
      • real [default: true]
      • use_object_recognition [default: true]
      • use_base_link_z [default: true]
      • dummy_perception_publisher_config_file [default: $(find-pkg-share autoware_dummy_perception_publisher)/config/dummy_perception_publisher.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_dummy_perception_publisher at Robotics Stack Exchange

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

autoware_dummy_perception_publisher package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_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_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter 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_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_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter 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_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_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_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_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_diagnostics 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_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_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

Tags No category tags.
Version 0.47.0
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 2025-10-03
Dev Status UNKNOWN
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_dummy_perception_publisher package

Additional Links

No additional links.

Maintainers

  • Yukihiro Saito
  • Junya Sasaki

Authors

No additional authors.
simulator/autoware_dummy_perception_publisher/README.md

dummy_perception_publisher

Purpose

This node publishes the result of the dummy detection with the type of perception. The node uses a plugin architecture to support different object movement strategies.

Inner-workings / Algorithms

Plugin Architecture

The node uses a plugin-based architecture to handle different types of object movement. This allows for flexible and extensible movement behaviors without modifying the core node logic.

Available Plugins

  1. StraightLineObjectMovementPlugin: Moves objects in straight lines based on their initial velocity and direction.
  2. PredictedObjectMovementPlugin: Moves objects along predicted paths from perception predictions, providing more realistic movement patterns.

Plugin Base Class

All movement plugins inherit from DummyObjectMovementBasePlugin which provides:

  • Object management (add, delete operations)
  • Associated action type handling
  • Common interface for object movement

Object Action Handling

  • ADD: New objects are created and they move in a straight line, acceleration and deceleration parameters can be used.
  • MODIFY: Handled directly by the node, bypassing plugin movement logic. Immediately replaces the object’s position information across all plugins.
  • DELETE: The specified object is removed from all plugins.
  • DELETEALL: Clears all objects from all plugins.
  • PREDICT: New objects are created, they move in a straight line for a set time and then the predictions extracted from the perception module are used to dictate where the objects will move to. NOTE: for ease of calculation, acceleration is not taken into account when calculating the object’s position, only its initial speed.

Inputs / Outputs

Input

Name Type Description
/tf tf2_msgs/TFMessage TF (self-pose)
input/object tier4_simulation_msgs::msg::DummyObject dummy detection objects
predicted_objects autoware_perception_msgs::msg::PredictedObjects predicted objects (used by PredictedObjectMovementPlugin)

Output

Name Type Description
output/dynamic_object tier4_perception_msgs::msg::DetectedObjectsWithFeature dummy detection objects
output/points_raw sensor_msgs::msg::PointCloud2 point cloud of objects
output/debug/ground_truth_objects autoware_perception_msgs::msg::TrackedObjects ground truth objects

Parameters

Core Parameters

Name Type Default Value Explanation
visible_range double 100.0 sensor visible range [m]
detection_successful_rate double 0.8 sensor detection rate. (min) 0.0 - 1.0(max)
enable_ray_tracing bool true if True, use ray tracking
use_object_recognition bool true if True, publish objects topic
use_base_link_z bool true if True, node uses z coordinate of ego base_link
publish_ground_truth bool false if True, publish ground truth objects
use_fixed_random_seed bool false if True, use fixed random seed
random_seed int 0 random seed
object_centric_pointcloud bool false if True, generate object-centric point clouds
angle_increment double 0.004363323 angle increment for ray tracing (0.25° in radians)

PredictedObjectMovementPlugin Parameters

Name Type Default Value Explanation
min_predicted_path_keep_duration double 3.0 minimum time (seconds) to keep using same prediction
switch_time_threshold double 2.0 time threshold (seconds) to switch from straight-line to predicted path

Common Remapping Parameters

The plugin uses CommonParameters for both vehicle and pedestrian object types. Each parameter is prefixed with either vehicle. or pedestrian.:

Parameter Name Type Explanation
max_remapping_distance double maximum distance (meters) for remapping validation
max_speed_difference_ratio double maximum speed difference ratio tolerance
min_speed_ratio double minimum speed ratio relative to dummy object speed
max_speed_ratio double maximum speed ratio relative to dummy object speed
speed_check_threshold double speed threshold (m/s) above which speed checks apply
path_selection_strategy string path selection strategy: “highest_confidence” or “random”
CHANGELOG

Changelog for package autoware_dummy_perception_publisher

0.47.0 (2025-08-11)

  • style(pre-commit): update to clang-format-20 (#11088) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
  • Contributors: Mete Fatih Cırıt

0.46.0 (2025-06-20)

  • Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base

  • fix(autoware_dummy_perception_publisher): fix deprecated autoware_utils header (#10519)

    • fix autoware_utils header

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Junya Sasaki <<junya.sasaki@tier4.jp>>

  • Contributors: Kazusa Hashimoto, TaikiYamada4

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

  • Merge remote-tracking branch 'origin/main' into humble

  • fix: add missing exec_depend (#10404)

    • fix missing exec depend
    • remove fixed depend

    * remove the removed dependency ---------

  • Contributors: Ryohsuke Mitsudome, Takagi, Isamu

0.43.0 (2025-03-21)

  • Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
  • chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
  • Contributors: Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
  • Contributors: Fumiya Watanabe, 心刚

0.41.2 (2025-02-19)

  • chore: bump version to 0.41.1 (#10088)
  • Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • feat: apply [autoware_]{.title-ref} prefix for [dummy_perception_publisher]{.title-ref} (#9987)
  • Contributors: Fumiya Watanabe, Junya Sasaki

0.40.0 (2024-12-12)

  • Merge branch 'main' into release-0.40.0

  • Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.

  • fix: fix ticket links in CHANGELOG.rst (#9588)

  • chore(package.xml): bump version to 0.39.0 (#9587)

    • chore(package.xml): bump version to 0.39.0
    • fix: fix ticket links in CHANGELOG.rst

File truncated at 100 lines see the full file

Launch files

  • launch/dummy_perception_publisher.launch.xml
      • visible_range [default: 300.0]
      • real [default: true]
      • use_object_recognition [default: true]
      • use_base_link_z [default: true]
      • dummy_perception_publisher_config_file [default: $(find-pkg-share autoware_dummy_perception_publisher)/config/dummy_perception_publisher.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_dummy_perception_publisher at Robotics Stack Exchange

Package symbol

autoware_dummy_perception_publisher package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_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_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter 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_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_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter 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_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_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_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_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_diagnostics 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_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_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

Tags No category tags.
Version 0.47.0
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 2025-10-03
Dev Status UNKNOWN
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_dummy_perception_publisher package

Additional Links

No additional links.

Maintainers

  • Yukihiro Saito
  • Junya Sasaki

Authors

No additional authors.
simulator/autoware_dummy_perception_publisher/README.md

dummy_perception_publisher

Purpose

This node publishes the result of the dummy detection with the type of perception. The node uses a plugin architecture to support different object movement strategies.

Inner-workings / Algorithms

Plugin Architecture

The node uses a plugin-based architecture to handle different types of object movement. This allows for flexible and extensible movement behaviors without modifying the core node logic.

Available Plugins

  1. StraightLineObjectMovementPlugin: Moves objects in straight lines based on their initial velocity and direction.
  2. PredictedObjectMovementPlugin: Moves objects along predicted paths from perception predictions, providing more realistic movement patterns.

Plugin Base Class

All movement plugins inherit from DummyObjectMovementBasePlugin which provides:

  • Object management (add, delete operations)
  • Associated action type handling
  • Common interface for object movement

Object Action Handling

  • ADD: New objects are created and they move in a straight line, acceleration and deceleration parameters can be used.
  • MODIFY: Handled directly by the node, bypassing plugin movement logic. Immediately replaces the object’s position information across all plugins.
  • DELETE: The specified object is removed from all plugins.
  • DELETEALL: Clears all objects from all plugins.
  • PREDICT: New objects are created, they move in a straight line for a set time and then the predictions extracted from the perception module are used to dictate where the objects will move to. NOTE: for ease of calculation, acceleration is not taken into account when calculating the object’s position, only its initial speed.

Inputs / Outputs

Input

Name Type Description
/tf tf2_msgs/TFMessage TF (self-pose)
input/object tier4_simulation_msgs::msg::DummyObject dummy detection objects
predicted_objects autoware_perception_msgs::msg::PredictedObjects predicted objects (used by PredictedObjectMovementPlugin)

Output

Name Type Description
output/dynamic_object tier4_perception_msgs::msg::DetectedObjectsWithFeature dummy detection objects
output/points_raw sensor_msgs::msg::PointCloud2 point cloud of objects
output/debug/ground_truth_objects autoware_perception_msgs::msg::TrackedObjects ground truth objects

Parameters

Core Parameters

Name Type Default Value Explanation
visible_range double 100.0 sensor visible range [m]
detection_successful_rate double 0.8 sensor detection rate. (min) 0.0 - 1.0(max)
enable_ray_tracing bool true if True, use ray tracking
use_object_recognition bool true if True, publish objects topic
use_base_link_z bool true if True, node uses z coordinate of ego base_link
publish_ground_truth bool false if True, publish ground truth objects
use_fixed_random_seed bool false if True, use fixed random seed
random_seed int 0 random seed
object_centric_pointcloud bool false if True, generate object-centric point clouds
angle_increment double 0.004363323 angle increment for ray tracing (0.25° in radians)

PredictedObjectMovementPlugin Parameters

Name Type Default Value Explanation
min_predicted_path_keep_duration double 3.0 minimum time (seconds) to keep using same prediction
switch_time_threshold double 2.0 time threshold (seconds) to switch from straight-line to predicted path

Common Remapping Parameters

The plugin uses CommonParameters for both vehicle and pedestrian object types. Each parameter is prefixed with either vehicle. or pedestrian.:

Parameter Name Type Explanation
max_remapping_distance double maximum distance (meters) for remapping validation
max_speed_difference_ratio double maximum speed difference ratio tolerance
min_speed_ratio double minimum speed ratio relative to dummy object speed
max_speed_ratio double maximum speed ratio relative to dummy object speed
speed_check_threshold double speed threshold (m/s) above which speed checks apply
path_selection_strategy string path selection strategy: “highest_confidence” or “random”
CHANGELOG

Changelog for package autoware_dummy_perception_publisher

0.47.0 (2025-08-11)

  • style(pre-commit): update to clang-format-20 (#11088) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
  • Contributors: Mete Fatih Cırıt

0.46.0 (2025-06-20)

  • Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base

  • fix(autoware_dummy_perception_publisher): fix deprecated autoware_utils header (#10519)

    • fix autoware_utils header

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Junya Sasaki <<junya.sasaki@tier4.jp>>

  • Contributors: Kazusa Hashimoto, TaikiYamada4

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

  • Merge remote-tracking branch 'origin/main' into humble

  • fix: add missing exec_depend (#10404)

    • fix missing exec depend
    • remove fixed depend

    * remove the removed dependency ---------

  • Contributors: Ryohsuke Mitsudome, Takagi, Isamu

0.43.0 (2025-03-21)

  • Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
  • chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
  • Contributors: Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
  • Contributors: Fumiya Watanabe, 心刚

0.41.2 (2025-02-19)

  • chore: bump version to 0.41.1 (#10088)
  • Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • feat: apply [autoware_]{.title-ref} prefix for [dummy_perception_publisher]{.title-ref} (#9987)
  • Contributors: Fumiya Watanabe, Junya Sasaki

0.40.0 (2024-12-12)

  • Merge branch 'main' into release-0.40.0

  • Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.

  • fix: fix ticket links in CHANGELOG.rst (#9588)

  • chore(package.xml): bump version to 0.39.0 (#9587)

    • chore(package.xml): bump version to 0.39.0
    • fix: fix ticket links in CHANGELOG.rst

File truncated at 100 lines see the full file

Launch files

  • launch/dummy_perception_publisher.launch.xml
      • visible_range [default: 300.0]
      • real [default: true]
      • use_object_recognition [default: true]
      • use_base_link_z [default: true]
      • dummy_perception_publisher_config_file [default: $(find-pkg-share autoware_dummy_perception_publisher)/config/dummy_perception_publisher.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_dummy_perception_publisher at Robotics Stack Exchange

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

autoware_dummy_perception_publisher package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_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_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter 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_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_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter 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_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_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_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_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_diagnostics 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_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_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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API Docs
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Package Summary

Tags No category tags.
Version 0.47.0
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 2025-10-03
Dev Status UNKNOWN
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_dummy_perception_publisher package

Additional Links

No additional links.

Maintainers

  • Yukihiro Saito
  • Junya Sasaki

Authors

No additional authors.
simulator/autoware_dummy_perception_publisher/README.md

dummy_perception_publisher

Purpose

This node publishes the result of the dummy detection with the type of perception. The node uses a plugin architecture to support different object movement strategies.

Inner-workings / Algorithms

Plugin Architecture

The node uses a plugin-based architecture to handle different types of object movement. This allows for flexible and extensible movement behaviors without modifying the core node logic.

Available Plugins

  1. StraightLineObjectMovementPlugin: Moves objects in straight lines based on their initial velocity and direction.
  2. PredictedObjectMovementPlugin: Moves objects along predicted paths from perception predictions, providing more realistic movement patterns.

Plugin Base Class

All movement plugins inherit from DummyObjectMovementBasePlugin which provides:

  • Object management (add, delete operations)
  • Associated action type handling
  • Common interface for object movement

Object Action Handling

  • ADD: New objects are created and they move in a straight line, acceleration and deceleration parameters can be used.
  • MODIFY: Handled directly by the node, bypassing plugin movement logic. Immediately replaces the object’s position information across all plugins.
  • DELETE: The specified object is removed from all plugins.
  • DELETEALL: Clears all objects from all plugins.
  • PREDICT: New objects are created, they move in a straight line for a set time and then the predictions extracted from the perception module are used to dictate where the objects will move to. NOTE: for ease of calculation, acceleration is not taken into account when calculating the object’s position, only its initial speed.

Inputs / Outputs

Input

Name Type Description
/tf tf2_msgs/TFMessage TF (self-pose)
input/object tier4_simulation_msgs::msg::DummyObject dummy detection objects
predicted_objects autoware_perception_msgs::msg::PredictedObjects predicted objects (used by PredictedObjectMovementPlugin)

Output

Name Type Description
output/dynamic_object tier4_perception_msgs::msg::DetectedObjectsWithFeature dummy detection objects
output/points_raw sensor_msgs::msg::PointCloud2 point cloud of objects
output/debug/ground_truth_objects autoware_perception_msgs::msg::TrackedObjects ground truth objects

Parameters

Core Parameters

Name Type Default Value Explanation
visible_range double 100.0 sensor visible range [m]
detection_successful_rate double 0.8 sensor detection rate. (min) 0.0 - 1.0(max)
enable_ray_tracing bool true if True, use ray tracking
use_object_recognition bool true if True, publish objects topic
use_base_link_z bool true if True, node uses z coordinate of ego base_link
publish_ground_truth bool false if True, publish ground truth objects
use_fixed_random_seed bool false if True, use fixed random seed
random_seed int 0 random seed
object_centric_pointcloud bool false if True, generate object-centric point clouds
angle_increment double 0.004363323 angle increment for ray tracing (0.25° in radians)

PredictedObjectMovementPlugin Parameters

Name Type Default Value Explanation
min_predicted_path_keep_duration double 3.0 minimum time (seconds) to keep using same prediction
switch_time_threshold double 2.0 time threshold (seconds) to switch from straight-line to predicted path

Common Remapping Parameters

The plugin uses CommonParameters for both vehicle and pedestrian object types. Each parameter is prefixed with either vehicle. or pedestrian.:

Parameter Name Type Explanation
max_remapping_distance double maximum distance (meters) for remapping validation
max_speed_difference_ratio double maximum speed difference ratio tolerance
min_speed_ratio double minimum speed ratio relative to dummy object speed
max_speed_ratio double maximum speed ratio relative to dummy object speed
speed_check_threshold double speed threshold (m/s) above which speed checks apply
path_selection_strategy string path selection strategy: “highest_confidence” or “random”
CHANGELOG

Changelog for package autoware_dummy_perception_publisher

0.47.0 (2025-08-11)

  • style(pre-commit): update to clang-format-20 (#11088) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
  • Contributors: Mete Fatih Cırıt

0.46.0 (2025-06-20)

  • Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base

  • fix(autoware_dummy_perception_publisher): fix deprecated autoware_utils header (#10519)

    • fix autoware_utils header

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Junya Sasaki <<junya.sasaki@tier4.jp>>

  • Contributors: Kazusa Hashimoto, TaikiYamada4

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

  • Merge remote-tracking branch 'origin/main' into humble

  • fix: add missing exec_depend (#10404)

    • fix missing exec depend
    • remove fixed depend

    * remove the removed dependency ---------

  • Contributors: Ryohsuke Mitsudome, Takagi, Isamu

0.43.0 (2025-03-21)

  • Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
  • chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
  • Contributors: Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
  • Contributors: Fumiya Watanabe, 心刚

0.41.2 (2025-02-19)

  • chore: bump version to 0.41.1 (#10088)
  • Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • feat: apply [autoware_]{.title-ref} prefix for [dummy_perception_publisher]{.title-ref} (#9987)
  • Contributors: Fumiya Watanabe, Junya Sasaki

0.40.0 (2024-12-12)

  • Merge branch 'main' into release-0.40.0

  • Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.

  • fix: fix ticket links in CHANGELOG.rst (#9588)

  • chore(package.xml): bump version to 0.39.0 (#9587)

    • chore(package.xml): bump version to 0.39.0
    • fix: fix ticket links in CHANGELOG.rst

File truncated at 100 lines see the full file

Launch files

  • launch/dummy_perception_publisher.launch.xml
      • visible_range [default: 300.0]
      • real [default: true]
      • use_object_recognition [default: true]
      • use_base_link_z [default: true]
      • dummy_perception_publisher_config_file [default: $(find-pkg-share autoware_dummy_perception_publisher)/config/dummy_perception_publisher.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_dummy_perception_publisher at Robotics Stack Exchange

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

autoware_dummy_perception_publisher package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_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_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter 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_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_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter 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_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_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_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_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_diagnostics 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_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_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

Tags No category tags.
Version 0.47.0
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 2025-10-03
Dev Status UNKNOWN
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_dummy_perception_publisher package

Additional Links

No additional links.

Maintainers

  • Yukihiro Saito
  • Junya Sasaki

Authors

No additional authors.
simulator/autoware_dummy_perception_publisher/README.md

dummy_perception_publisher

Purpose

This node publishes the result of the dummy detection with the type of perception. The node uses a plugin architecture to support different object movement strategies.

Inner-workings / Algorithms

Plugin Architecture

The node uses a plugin-based architecture to handle different types of object movement. This allows for flexible and extensible movement behaviors without modifying the core node logic.

Available Plugins

  1. StraightLineObjectMovementPlugin: Moves objects in straight lines based on their initial velocity and direction.
  2. PredictedObjectMovementPlugin: Moves objects along predicted paths from perception predictions, providing more realistic movement patterns.

Plugin Base Class

All movement plugins inherit from DummyObjectMovementBasePlugin which provides:

  • Object management (add, delete operations)
  • Associated action type handling
  • Common interface for object movement

Object Action Handling

  • ADD: New objects are created and they move in a straight line, acceleration and deceleration parameters can be used.
  • MODIFY: Handled directly by the node, bypassing plugin movement logic. Immediately replaces the object’s position information across all plugins.
  • DELETE: The specified object is removed from all plugins.
  • DELETEALL: Clears all objects from all plugins.
  • PREDICT: New objects are created, they move in a straight line for a set time and then the predictions extracted from the perception module are used to dictate where the objects will move to. NOTE: for ease of calculation, acceleration is not taken into account when calculating the object’s position, only its initial speed.

Inputs / Outputs

Input

Name Type Description
/tf tf2_msgs/TFMessage TF (self-pose)
input/object tier4_simulation_msgs::msg::DummyObject dummy detection objects
predicted_objects autoware_perception_msgs::msg::PredictedObjects predicted objects (used by PredictedObjectMovementPlugin)

Output

Name Type Description
output/dynamic_object tier4_perception_msgs::msg::DetectedObjectsWithFeature dummy detection objects
output/points_raw sensor_msgs::msg::PointCloud2 point cloud of objects
output/debug/ground_truth_objects autoware_perception_msgs::msg::TrackedObjects ground truth objects

Parameters

Core Parameters

Name Type Default Value Explanation
visible_range double 100.0 sensor visible range [m]
detection_successful_rate double 0.8 sensor detection rate. (min) 0.0 - 1.0(max)
enable_ray_tracing bool true if True, use ray tracking
use_object_recognition bool true if True, publish objects topic
use_base_link_z bool true if True, node uses z coordinate of ego base_link
publish_ground_truth bool false if True, publish ground truth objects
use_fixed_random_seed bool false if True, use fixed random seed
random_seed int 0 random seed
object_centric_pointcloud bool false if True, generate object-centric point clouds
angle_increment double 0.004363323 angle increment for ray tracing (0.25° in radians)

PredictedObjectMovementPlugin Parameters

Name Type Default Value Explanation
min_predicted_path_keep_duration double 3.0 minimum time (seconds) to keep using same prediction
switch_time_threshold double 2.0 time threshold (seconds) to switch from straight-line to predicted path

Common Remapping Parameters

The plugin uses CommonParameters for both vehicle and pedestrian object types. Each parameter is prefixed with either vehicle. or pedestrian.:

Parameter Name Type Explanation
max_remapping_distance double maximum distance (meters) for remapping validation
max_speed_difference_ratio double maximum speed difference ratio tolerance
min_speed_ratio double minimum speed ratio relative to dummy object speed
max_speed_ratio double maximum speed ratio relative to dummy object speed
speed_check_threshold double speed threshold (m/s) above which speed checks apply
path_selection_strategy string path selection strategy: “highest_confidence” or “random”
CHANGELOG

Changelog for package autoware_dummy_perception_publisher

0.47.0 (2025-08-11)

  • style(pre-commit): update to clang-format-20 (#11088) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
  • Contributors: Mete Fatih Cırıt

0.46.0 (2025-06-20)

  • Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base

  • fix(autoware_dummy_perception_publisher): fix deprecated autoware_utils header (#10519)

    • fix autoware_utils header

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Junya Sasaki <<junya.sasaki@tier4.jp>>

  • Contributors: Kazusa Hashimoto, TaikiYamada4

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

  • Merge remote-tracking branch 'origin/main' into humble

  • fix: add missing exec_depend (#10404)

    • fix missing exec depend
    • remove fixed depend

    * remove the removed dependency ---------

  • Contributors: Ryohsuke Mitsudome, Takagi, Isamu

0.43.0 (2025-03-21)

  • Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
  • chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
  • Contributors: Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
  • Contributors: Fumiya Watanabe, 心刚

0.41.2 (2025-02-19)

  • chore: bump version to 0.41.1 (#10088)
  • Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • feat: apply [autoware_]{.title-ref} prefix for [dummy_perception_publisher]{.title-ref} (#9987)
  • Contributors: Fumiya Watanabe, Junya Sasaki

0.40.0 (2024-12-12)

  • Merge branch 'main' into release-0.40.0

  • Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.

  • fix: fix ticket links in CHANGELOG.rst (#9588)

  • chore(package.xml): bump version to 0.39.0 (#9587)

    • chore(package.xml): bump version to 0.39.0
    • fix: fix ticket links in CHANGELOG.rst

File truncated at 100 lines see the full file

Launch files

  • launch/dummy_perception_publisher.launch.xml
      • visible_range [default: 300.0]
      • real [default: true]
      • use_object_recognition [default: true]
      • use_base_link_z [default: true]
      • dummy_perception_publisher_config_file [default: $(find-pkg-share autoware_dummy_perception_publisher)/config/dummy_perception_publisher.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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autoware_dummy_perception_publisher package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_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_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter 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_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_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter 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_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_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_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_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_diagnostics 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_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_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
Wiki

Package Summary

Tags No category tags.
Version 0.47.0
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 2025-10-03
Dev Status UNKNOWN
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_dummy_perception_publisher package

Additional Links

No additional links.

Maintainers

  • Yukihiro Saito
  • Junya Sasaki

Authors

No additional authors.
simulator/autoware_dummy_perception_publisher/README.md

dummy_perception_publisher

Purpose

This node publishes the result of the dummy detection with the type of perception. The node uses a plugin architecture to support different object movement strategies.

Inner-workings / Algorithms

Plugin Architecture

The node uses a plugin-based architecture to handle different types of object movement. This allows for flexible and extensible movement behaviors without modifying the core node logic.

Available Plugins

  1. StraightLineObjectMovementPlugin: Moves objects in straight lines based on their initial velocity and direction.
  2. PredictedObjectMovementPlugin: Moves objects along predicted paths from perception predictions, providing more realistic movement patterns.

Plugin Base Class

All movement plugins inherit from DummyObjectMovementBasePlugin which provides:

  • Object management (add, delete operations)
  • Associated action type handling
  • Common interface for object movement

Object Action Handling

  • ADD: New objects are created and they move in a straight line, acceleration and deceleration parameters can be used.
  • MODIFY: Handled directly by the node, bypassing plugin movement logic. Immediately replaces the object’s position information across all plugins.
  • DELETE: The specified object is removed from all plugins.
  • DELETEALL: Clears all objects from all plugins.
  • PREDICT: New objects are created, they move in a straight line for a set time and then the predictions extracted from the perception module are used to dictate where the objects will move to. NOTE: for ease of calculation, acceleration is not taken into account when calculating the object’s position, only its initial speed.

Inputs / Outputs

Input

Name Type Description
/tf tf2_msgs/TFMessage TF (self-pose)
input/object tier4_simulation_msgs::msg::DummyObject dummy detection objects
predicted_objects autoware_perception_msgs::msg::PredictedObjects predicted objects (used by PredictedObjectMovementPlugin)

Output

Name Type Description
output/dynamic_object tier4_perception_msgs::msg::DetectedObjectsWithFeature dummy detection objects
output/points_raw sensor_msgs::msg::PointCloud2 point cloud of objects
output/debug/ground_truth_objects autoware_perception_msgs::msg::TrackedObjects ground truth objects

Parameters

Core Parameters

Name Type Default Value Explanation
visible_range double 100.0 sensor visible range [m]
detection_successful_rate double 0.8 sensor detection rate. (min) 0.0 - 1.0(max)
enable_ray_tracing bool true if True, use ray tracking
use_object_recognition bool true if True, publish objects topic
use_base_link_z bool true if True, node uses z coordinate of ego base_link
publish_ground_truth bool false if True, publish ground truth objects
use_fixed_random_seed bool false if True, use fixed random seed
random_seed int 0 random seed
object_centric_pointcloud bool false if True, generate object-centric point clouds
angle_increment double 0.004363323 angle increment for ray tracing (0.25° in radians)

PredictedObjectMovementPlugin Parameters

Name Type Default Value Explanation
min_predicted_path_keep_duration double 3.0 minimum time (seconds) to keep using same prediction
switch_time_threshold double 2.0 time threshold (seconds) to switch from straight-line to predicted path

Common Remapping Parameters

The plugin uses CommonParameters for both vehicle and pedestrian object types. Each parameter is prefixed with either vehicle. or pedestrian.:

Parameter Name Type Explanation
max_remapping_distance double maximum distance (meters) for remapping validation
max_speed_difference_ratio double maximum speed difference ratio tolerance
min_speed_ratio double minimum speed ratio relative to dummy object speed
max_speed_ratio double maximum speed ratio relative to dummy object speed
speed_check_threshold double speed threshold (m/s) above which speed checks apply
path_selection_strategy string path selection strategy: “highest_confidence” or “random”
CHANGELOG

Changelog for package autoware_dummy_perception_publisher

0.47.0 (2025-08-11)

  • style(pre-commit): update to clang-format-20 (#11088) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
  • Contributors: Mete Fatih Cırıt

0.46.0 (2025-06-20)

  • Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base

  • fix(autoware_dummy_perception_publisher): fix deprecated autoware_utils header (#10519)

    • fix autoware_utils header

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Junya Sasaki <<junya.sasaki@tier4.jp>>

  • Contributors: Kazusa Hashimoto, TaikiYamada4

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

  • Merge remote-tracking branch 'origin/main' into humble

  • fix: add missing exec_depend (#10404)

    • fix missing exec depend
    • remove fixed depend

    * remove the removed dependency ---------

  • Contributors: Ryohsuke Mitsudome, Takagi, Isamu

0.43.0 (2025-03-21)

  • Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
  • chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
  • Contributors: Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
  • Contributors: Fumiya Watanabe, 心刚

0.41.2 (2025-02-19)

  • chore: bump version to 0.41.1 (#10088)
  • Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • feat: apply [autoware_]{.title-ref} prefix for [dummy_perception_publisher]{.title-ref} (#9987)
  • Contributors: Fumiya Watanabe, Junya Sasaki

0.40.0 (2024-12-12)

  • Merge branch 'main' into release-0.40.0

  • Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.

  • fix: fix ticket links in CHANGELOG.rst (#9588)

  • chore(package.xml): bump version to 0.39.0 (#9587)

    • chore(package.xml): bump version to 0.39.0
    • fix: fix ticket links in CHANGELOG.rst

File truncated at 100 lines see the full file

Launch files

  • launch/dummy_perception_publisher.launch.xml
      • visible_range [default: 300.0]
      • real [default: true]
      • use_object_recognition [default: true]
      • use_base_link_z [default: true]
      • dummy_perception_publisher_config_file [default: $(find-pkg-share autoware_dummy_perception_publisher)/config/dummy_perception_publisher.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_dummy_perception_publisher at Robotics Stack Exchange

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autoware_dummy_perception_publisher package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_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_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter 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_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_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter 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_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_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_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_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_diagnostics 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_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider 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tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_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

Tags No category tags.
Version 0.47.0
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 2025-10-03
Dev Status UNKNOWN
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_dummy_perception_publisher package

Additional Links

No additional links.

Maintainers

  • Yukihiro Saito
  • Junya Sasaki

Authors

No additional authors.
simulator/autoware_dummy_perception_publisher/README.md

dummy_perception_publisher

Purpose

This node publishes the result of the dummy detection with the type of perception. The node uses a plugin architecture to support different object movement strategies.

Inner-workings / Algorithms

Plugin Architecture

The node uses a plugin-based architecture to handle different types of object movement. This allows for flexible and extensible movement behaviors without modifying the core node logic.

Available Plugins

  1. StraightLineObjectMovementPlugin: Moves objects in straight lines based on their initial velocity and direction.
  2. PredictedObjectMovementPlugin: Moves objects along predicted paths from perception predictions, providing more realistic movement patterns.

Plugin Base Class

All movement plugins inherit from DummyObjectMovementBasePlugin which provides:

  • Object management (add, delete operations)
  • Associated action type handling
  • Common interface for object movement

Object Action Handling

  • ADD: New objects are created and they move in a straight line, acceleration and deceleration parameters can be used.
  • MODIFY: Handled directly by the node, bypassing plugin movement logic. Immediately replaces the object’s position information across all plugins.
  • DELETE: The specified object is removed from all plugins.
  • DELETEALL: Clears all objects from all plugins.
  • PREDICT: New objects are created, they move in a straight line for a set time and then the predictions extracted from the perception module are used to dictate where the objects will move to. NOTE: for ease of calculation, acceleration is not taken into account when calculating the object’s position, only its initial speed.

Inputs / Outputs

Input

Name Type Description
/tf tf2_msgs/TFMessage TF (self-pose)
input/object tier4_simulation_msgs::msg::DummyObject dummy detection objects
predicted_objects autoware_perception_msgs::msg::PredictedObjects predicted objects (used by PredictedObjectMovementPlugin)

Output

Name Type Description
output/dynamic_object tier4_perception_msgs::msg::DetectedObjectsWithFeature dummy detection objects
output/points_raw sensor_msgs::msg::PointCloud2 point cloud of objects
output/debug/ground_truth_objects autoware_perception_msgs::msg::TrackedObjects ground truth objects

Parameters

Core Parameters

Name Type Default Value Explanation
visible_range double 100.0 sensor visible range [m]
detection_successful_rate double 0.8 sensor detection rate. (min) 0.0 - 1.0(max)
enable_ray_tracing bool true if True, use ray tracking
use_object_recognition bool true if True, publish objects topic
use_base_link_z bool true if True, node uses z coordinate of ego base_link
publish_ground_truth bool false if True, publish ground truth objects
use_fixed_random_seed bool false if True, use fixed random seed
random_seed int 0 random seed
object_centric_pointcloud bool false if True, generate object-centric point clouds
angle_increment double 0.004363323 angle increment for ray tracing (0.25° in radians)

PredictedObjectMovementPlugin Parameters

Name Type Default Value Explanation
min_predicted_path_keep_duration double 3.0 minimum time (seconds) to keep using same prediction
switch_time_threshold double 2.0 time threshold (seconds) to switch from straight-line to predicted path

Common Remapping Parameters

The plugin uses CommonParameters for both vehicle and pedestrian object types. Each parameter is prefixed with either vehicle. or pedestrian.:

Parameter Name Type Explanation
max_remapping_distance double maximum distance (meters) for remapping validation
max_speed_difference_ratio double maximum speed difference ratio tolerance
min_speed_ratio double minimum speed ratio relative to dummy object speed
max_speed_ratio double maximum speed ratio relative to dummy object speed
speed_check_threshold double speed threshold (m/s) above which speed checks apply
path_selection_strategy string path selection strategy: “highest_confidence” or “random”
CHANGELOG

Changelog for package autoware_dummy_perception_publisher

0.47.0 (2025-08-11)

  • style(pre-commit): update to clang-format-20 (#11088) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
  • Contributors: Mete Fatih Cırıt

0.46.0 (2025-06-20)

  • Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base

  • fix(autoware_dummy_perception_publisher): fix deprecated autoware_utils header (#10519)

    • fix autoware_utils header

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Junya Sasaki <<junya.sasaki@tier4.jp>>

  • Contributors: Kazusa Hashimoto, TaikiYamada4

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

  • Merge remote-tracking branch 'origin/main' into humble

  • fix: add missing exec_depend (#10404)

    • fix missing exec depend
    • remove fixed depend

    * remove the removed dependency ---------

  • Contributors: Ryohsuke Mitsudome, Takagi, Isamu

0.43.0 (2025-03-21)

  • Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
  • chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
  • Contributors: Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
  • Contributors: Fumiya Watanabe, 心刚

0.41.2 (2025-02-19)

  • chore: bump version to 0.41.1 (#10088)
  • Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • feat: apply [autoware_]{.title-ref} prefix for [dummy_perception_publisher]{.title-ref} (#9987)
  • Contributors: Fumiya Watanabe, Junya Sasaki

0.40.0 (2024-12-12)

  • Merge branch 'main' into release-0.40.0

  • Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.

  • fix: fix ticket links in CHANGELOG.rst (#9588)

  • chore(package.xml): bump version to 0.39.0 (#9587)

    • chore(package.xml): bump version to 0.39.0
    • fix: fix ticket links in CHANGELOG.rst

File truncated at 100 lines see the full file

Launch files

  • launch/dummy_perception_publisher.launch.xml
      • visible_range [default: 300.0]
      • real [default: true]
      • use_object_recognition [default: true]
      • use_base_link_z [default: true]
      • dummy_perception_publisher_config_file [default: $(find-pkg-share autoware_dummy_perception_publisher)/config/dummy_perception_publisher.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_dummy_perception_publisher at Robotics Stack Exchange