ROS index logo ROS Index
  1. Home
  2. Packages
  3. autoware_elevation_map_loader
 
No version for distro humble showing github. Known supported distros are highlighted in the buttons above.
Package symbol

autoware_elevation_map_loader package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_pipeline autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-10-23
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_elevation_map_loader package

Maintainers

  • Kosuke Takeuchi
  • Taichi Higashide
  • Shintaro Tomie
  • Akihisa Nagata

Authors

No additional authors.
perception/autoware_elevation_map_loader/README.md

autoware_elevation_map_loader

Purpose

This package provides elevation map for autoware_compare_map_segmentation.

Inner-workings / Algorithms

Generate elevation_map from subscribed pointcloud_map and vector_map and publish it. Save the generated elevation_map locally and load it from next time.

The elevation value of each cell is the average value of z of the points of the lowest cluster.
Cells with No elevation value can be inpainted using the values of neighboring cells.

Inputs / Outputs

Input

Name Type Description
input/pointcloud_map sensor_msgs::msg::PointCloud2 The point cloud map
input/vector_map autoware_map_msgs::msg::LaneletMapBin (Optional) The binary data of lanelet2 map
input/pointcloud_map_metadata autoware_map_msgs::msg::PointCloudMapMetaData (Optional) The metadata of point cloud map

Output

Name Type Description
output/elevation_map grid_map_msgs::msg::GridMap The elevation map
output/elevation_map_cloud sensor_msgs::msg::PointCloud2 (Optional) The point cloud generated from the value of elevation map

Service

Name Type Description
service/get_selected_pcd_map autoware_map_msgs::srv::GetSelectedPointCloudMap (Optional) service to request point cloud map. If pointcloud_map_loader uses selected pointcloud map loading via ROS 2 service, use this.

Parameters

Node parameters

Name Type Description Default value
map_layer_name std::string elevation_map layer name elevation
param_file_path std::string GridMap parameters config path_default
elevation_map_directory std::string elevation_map file (bag2) path_default
map_frame std::string map_frame when loading elevation_map file map
use_inpaint bool Whether to inpaint empty cells true
inpaint_radius float Radius of a circular neighborhood of each point inpainted that is considered by the algorithm [m] 0.3
use_elevation_map_cloud_publisher bool Whether to publish output/elevation_map_cloud false
use_lane_filter bool Whether to filter elevation_map with vector_map false
lane_margin float Margin distance from the lane polygon of the area to be included in the inpainting mask [m]. Used only when use_lane_filter=True. 0.0
use_sequential_load bool Whether to get point cloud map by service false
sequential_map_load_num int The number of point cloud maps to load at once (only used when use_sequential_load is set true). This should not be larger than number of all point cloud map cells. 1

GridMap parameters

The parameters are described on config/elevation_map_parameters.yaml.

General parameters

Name Type Description Default value
pcl_grid_map_extraction/num_processing_threads int Number of threads for processing grid map cells. Filtering of the raw input point cloud is not parallelized. 12

Grid map parameters

See: https://github.com/ANYbotics/grid_map/tree/ros2/grid_map_pcl

Resulting grid map parameters.

Name Type Description Default value
pcl_grid_map_extraction/grid_map/min_num_points_per_cell int Minimum number of points in the point cloud that have to fall within any of the grid map cells. Otherwise the cell elevation will be set to NaN. 3
pcl_grid_map_extraction/grid_map/resolution float Resolution of the grid map. Width and length are computed automatically. 0.3
pcl_grid_map_extraction/grid_map/height_type int The parameter that determine the elevation of a cell 0: Smallest value among the average values of each cluster, 1: Mean value of the cluster with the most points 1
pcl_grid_map_extraction/grid_map/height_thresh float Height range from the smallest cluster (Only for height_type 1) 1.0

Point Cloud Pre-processing Parameters

Rigid body transform parameters

Rigid body transform that is applied to the point cloud before computing elevation.

Name Type Description Default value
pcl_grid_map_extraction/cloud_transform/translation float Translation (xyz) that is applied to the input point cloud before computing elevation. 0.0
pcl_grid_map_extraction/cloud_transform/rotation float Rotation (intrinsic rotation, convention X-Y’-Z’’) that is applied to the input point cloud before computing elevation. 0.0

Cluster extraction parameters

Cluster extraction is based on pcl algorithms. See https://pointclouds.org/documentation/tutorials/cluster_extraction.html for more details.

Name Type Description Default value
pcl_grid_map_extraction/cluster_extraction/cluster_tolerance float Distance between points below which they will still be considered part of one cluster. 0.2

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_elevation_map_loader

0.53.0 (2026-09-29)

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

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • fix(elevation_map_loader): fix jazzy build (#11923)
  • Contributors: Mete Fatih Cırıt, Ryohsuke Mitsudome

0.49.0 (2025-12-30)

  • Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog

  • feat(autoware_lanelet2_utils): replace from/toBinMsg (Sensing, Visualization and Perception Component) (#11785)

    • perception component toBinMsg replacement
    • visualization component fromBinMsg replacement
    • sensing component fromBinMsg replacement

    * perception component fromBinMsg replacement ---------

  • fix(autoware_elevation_map_loader): add empty point cloud guards (#11747)

    * fix(autoware_elevation_map_loader): add empty point cloud guards Add validation to check for empty point clouds before processing to prevent undefined behavior in PCL functions and potential crashes.

    • Add guard in onPointcloudMap callback
    • Add guard in receiveMap after concatenation
    • fix(autoware_elevation_map_loader): fix state management for empty point cloud

    * fix(autoware_elevation_map_loader): use RCLCPP_WARN_THROTTLE for empty point cloud warnings ---------

  • Contributors: Ryohsuke Mitsudome, Sarun MUKDAPITAK, Yutaka Kondo

0.48.0 (2025-11-18)

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

  • feat(planning, perception): replace wall_timer with generic timer (#11005)

    • feat(planning, perception): replace wall_timer with generic timer
    • use rclcpp::create_timer

    * remove period_ns ---------

  • Contributors: Mamoru Sobue, Ryohsuke Mitsudome

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

  • Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
  • feat(elevation_map_loader): improve log message (#10620)
  • chore(elevation_map): add \@asa-naki to maitainer (#10621)
  • build(autoware_elevation_map_loader): add map_msgs dependency

File truncated at 100 lines see the full file

Launch files

  • launch/elevation_map_loader.launch.xml
      • elevation_map_directory [default: $(find-pkg-share autoware_elevation_map_loader)/data/elevation_maps]
      • param_file_path [default: $(find-pkg-share autoware_elevation_map_loader)/config/elevation_map_parameters.yaml]
      • use_lane_filter [default: false]
      • use_sequential_load [default: false]
      • sequential_map_load_num [default: 1]
      • use_inpaint [default: true]
      • inpaint_radius [default: 1.0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_elevation_map_loader at Robotics Stack Exchange

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

autoware_elevation_map_loader package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_pipeline autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-10-23
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_elevation_map_loader package

Maintainers

  • Kosuke Takeuchi
  • Taichi Higashide
  • Shintaro Tomie
  • Akihisa Nagata

Authors

No additional authors.
perception/autoware_elevation_map_loader/README.md

autoware_elevation_map_loader

Purpose

This package provides elevation map for autoware_compare_map_segmentation.

Inner-workings / Algorithms

Generate elevation_map from subscribed pointcloud_map and vector_map and publish it. Save the generated elevation_map locally and load it from next time.

The elevation value of each cell is the average value of z of the points of the lowest cluster.
Cells with No elevation value can be inpainted using the values of neighboring cells.

Inputs / Outputs

Input

Name Type Description
input/pointcloud_map sensor_msgs::msg::PointCloud2 The point cloud map
input/vector_map autoware_map_msgs::msg::LaneletMapBin (Optional) The binary data of lanelet2 map
input/pointcloud_map_metadata autoware_map_msgs::msg::PointCloudMapMetaData (Optional) The metadata of point cloud map

Output

Name Type Description
output/elevation_map grid_map_msgs::msg::GridMap The elevation map
output/elevation_map_cloud sensor_msgs::msg::PointCloud2 (Optional) The point cloud generated from the value of elevation map

Service

Name Type Description
service/get_selected_pcd_map autoware_map_msgs::srv::GetSelectedPointCloudMap (Optional) service to request point cloud map. If pointcloud_map_loader uses selected pointcloud map loading via ROS 2 service, use this.

Parameters

Node parameters

Name Type Description Default value
map_layer_name std::string elevation_map layer name elevation
param_file_path std::string GridMap parameters config path_default
elevation_map_directory std::string elevation_map file (bag2) path_default
map_frame std::string map_frame when loading elevation_map file map
use_inpaint bool Whether to inpaint empty cells true
inpaint_radius float Radius of a circular neighborhood of each point inpainted that is considered by the algorithm [m] 0.3
use_elevation_map_cloud_publisher bool Whether to publish output/elevation_map_cloud false
use_lane_filter bool Whether to filter elevation_map with vector_map false
lane_margin float Margin distance from the lane polygon of the area to be included in the inpainting mask [m]. Used only when use_lane_filter=True. 0.0
use_sequential_load bool Whether to get point cloud map by service false
sequential_map_load_num int The number of point cloud maps to load at once (only used when use_sequential_load is set true). This should not be larger than number of all point cloud map cells. 1

GridMap parameters

The parameters are described on config/elevation_map_parameters.yaml.

General parameters

Name Type Description Default value
pcl_grid_map_extraction/num_processing_threads int Number of threads for processing grid map cells. Filtering of the raw input point cloud is not parallelized. 12

Grid map parameters

See: https://github.com/ANYbotics/grid_map/tree/ros2/grid_map_pcl

Resulting grid map parameters.

Name Type Description Default value
pcl_grid_map_extraction/grid_map/min_num_points_per_cell int Minimum number of points in the point cloud that have to fall within any of the grid map cells. Otherwise the cell elevation will be set to NaN. 3
pcl_grid_map_extraction/grid_map/resolution float Resolution of the grid map. Width and length are computed automatically. 0.3
pcl_grid_map_extraction/grid_map/height_type int The parameter that determine the elevation of a cell 0: Smallest value among the average values of each cluster, 1: Mean value of the cluster with the most points 1
pcl_grid_map_extraction/grid_map/height_thresh float Height range from the smallest cluster (Only for height_type 1) 1.0

Point Cloud Pre-processing Parameters

Rigid body transform parameters

Rigid body transform that is applied to the point cloud before computing elevation.

Name Type Description Default value
pcl_grid_map_extraction/cloud_transform/translation float Translation (xyz) that is applied to the input point cloud before computing elevation. 0.0
pcl_grid_map_extraction/cloud_transform/rotation float Rotation (intrinsic rotation, convention X-Y’-Z’’) that is applied to the input point cloud before computing elevation. 0.0

Cluster extraction parameters

Cluster extraction is based on pcl algorithms. See https://pointclouds.org/documentation/tutorials/cluster_extraction.html for more details.

Name Type Description Default value
pcl_grid_map_extraction/cluster_extraction/cluster_tolerance float Distance between points below which they will still be considered part of one cluster. 0.2

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_elevation_map_loader

0.53.0 (2026-09-29)

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

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • fix(elevation_map_loader): fix jazzy build (#11923)
  • Contributors: Mete Fatih Cırıt, Ryohsuke Mitsudome

0.49.0 (2025-12-30)

  • Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog

  • feat(autoware_lanelet2_utils): replace from/toBinMsg (Sensing, Visualization and Perception Component) (#11785)

    • perception component toBinMsg replacement
    • visualization component fromBinMsg replacement
    • sensing component fromBinMsg replacement

    * perception component fromBinMsg replacement ---------

  • fix(autoware_elevation_map_loader): add empty point cloud guards (#11747)

    * fix(autoware_elevation_map_loader): add empty point cloud guards Add validation to check for empty point clouds before processing to prevent undefined behavior in PCL functions and potential crashes.

    • Add guard in onPointcloudMap callback
    • Add guard in receiveMap after concatenation
    • fix(autoware_elevation_map_loader): fix state management for empty point cloud

    * fix(autoware_elevation_map_loader): use RCLCPP_WARN_THROTTLE for empty point cloud warnings ---------

  • Contributors: Ryohsuke Mitsudome, Sarun MUKDAPITAK, Yutaka Kondo

0.48.0 (2025-11-18)

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

  • feat(planning, perception): replace wall_timer with generic timer (#11005)

    • feat(planning, perception): replace wall_timer with generic timer
    • use rclcpp::create_timer

    * remove period_ns ---------

  • Contributors: Mamoru Sobue, Ryohsuke Mitsudome

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

  • Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
  • feat(elevation_map_loader): improve log message (#10620)
  • chore(elevation_map): add \@asa-naki to maitainer (#10621)
  • build(autoware_elevation_map_loader): add map_msgs dependency

File truncated at 100 lines see the full file

Launch files

  • launch/elevation_map_loader.launch.xml
      • elevation_map_directory [default: $(find-pkg-share autoware_elevation_map_loader)/data/elevation_maps]
      • param_file_path [default: $(find-pkg-share autoware_elevation_map_loader)/config/elevation_map_parameters.yaml]
      • use_lane_filter [default: false]
      • use_sequential_load [default: false]
      • sequential_map_load_num [default: 1]
      • use_inpaint [default: true]
      • inpaint_radius [default: 1.0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_elevation_map_loader at Robotics Stack Exchange

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

autoware_elevation_map_loader package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_pipeline autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-10-23
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_elevation_map_loader package

Maintainers

  • Kosuke Takeuchi
  • Taichi Higashide
  • Shintaro Tomie
  • Akihisa Nagata

Authors

No additional authors.
perception/autoware_elevation_map_loader/README.md

autoware_elevation_map_loader

Purpose

This package provides elevation map for autoware_compare_map_segmentation.

Inner-workings / Algorithms

Generate elevation_map from subscribed pointcloud_map and vector_map and publish it. Save the generated elevation_map locally and load it from next time.

The elevation value of each cell is the average value of z of the points of the lowest cluster.
Cells with No elevation value can be inpainted using the values of neighboring cells.

Inputs / Outputs

Input

Name Type Description
input/pointcloud_map sensor_msgs::msg::PointCloud2 The point cloud map
input/vector_map autoware_map_msgs::msg::LaneletMapBin (Optional) The binary data of lanelet2 map
input/pointcloud_map_metadata autoware_map_msgs::msg::PointCloudMapMetaData (Optional) The metadata of point cloud map

Output

Name Type Description
output/elevation_map grid_map_msgs::msg::GridMap The elevation map
output/elevation_map_cloud sensor_msgs::msg::PointCloud2 (Optional) The point cloud generated from the value of elevation map

Service

Name Type Description
service/get_selected_pcd_map autoware_map_msgs::srv::GetSelectedPointCloudMap (Optional) service to request point cloud map. If pointcloud_map_loader uses selected pointcloud map loading via ROS 2 service, use this.

Parameters

Node parameters

Name Type Description Default value
map_layer_name std::string elevation_map layer name elevation
param_file_path std::string GridMap parameters config path_default
elevation_map_directory std::string elevation_map file (bag2) path_default
map_frame std::string map_frame when loading elevation_map file map
use_inpaint bool Whether to inpaint empty cells true
inpaint_radius float Radius of a circular neighborhood of each point inpainted that is considered by the algorithm [m] 0.3
use_elevation_map_cloud_publisher bool Whether to publish output/elevation_map_cloud false
use_lane_filter bool Whether to filter elevation_map with vector_map false
lane_margin float Margin distance from the lane polygon of the area to be included in the inpainting mask [m]. Used only when use_lane_filter=True. 0.0
use_sequential_load bool Whether to get point cloud map by service false
sequential_map_load_num int The number of point cloud maps to load at once (only used when use_sequential_load is set true). This should not be larger than number of all point cloud map cells. 1

GridMap parameters

The parameters are described on config/elevation_map_parameters.yaml.

General parameters

Name Type Description Default value
pcl_grid_map_extraction/num_processing_threads int Number of threads for processing grid map cells. Filtering of the raw input point cloud is not parallelized. 12

Grid map parameters

See: https://github.com/ANYbotics/grid_map/tree/ros2/grid_map_pcl

Resulting grid map parameters.

Name Type Description Default value
pcl_grid_map_extraction/grid_map/min_num_points_per_cell int Minimum number of points in the point cloud that have to fall within any of the grid map cells. Otherwise the cell elevation will be set to NaN. 3
pcl_grid_map_extraction/grid_map/resolution float Resolution of the grid map. Width and length are computed automatically. 0.3
pcl_grid_map_extraction/grid_map/height_type int The parameter that determine the elevation of a cell 0: Smallest value among the average values of each cluster, 1: Mean value of the cluster with the most points 1
pcl_grid_map_extraction/grid_map/height_thresh float Height range from the smallest cluster (Only for height_type 1) 1.0

Point Cloud Pre-processing Parameters

Rigid body transform parameters

Rigid body transform that is applied to the point cloud before computing elevation.

Name Type Description Default value
pcl_grid_map_extraction/cloud_transform/translation float Translation (xyz) that is applied to the input point cloud before computing elevation. 0.0
pcl_grid_map_extraction/cloud_transform/rotation float Rotation (intrinsic rotation, convention X-Y’-Z’’) that is applied to the input point cloud before computing elevation. 0.0

Cluster extraction parameters

Cluster extraction is based on pcl algorithms. See https://pointclouds.org/documentation/tutorials/cluster_extraction.html for more details.

Name Type Description Default value
pcl_grid_map_extraction/cluster_extraction/cluster_tolerance float Distance between points below which they will still be considered part of one cluster. 0.2

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_elevation_map_loader

0.53.0 (2026-09-29)

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

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • fix(elevation_map_loader): fix jazzy build (#11923)
  • Contributors: Mete Fatih Cırıt, Ryohsuke Mitsudome

0.49.0 (2025-12-30)

  • Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog

  • feat(autoware_lanelet2_utils): replace from/toBinMsg (Sensing, Visualization and Perception Component) (#11785)

    • perception component toBinMsg replacement
    • visualization component fromBinMsg replacement
    • sensing component fromBinMsg replacement

    * perception component fromBinMsg replacement ---------

  • fix(autoware_elevation_map_loader): add empty point cloud guards (#11747)

    * fix(autoware_elevation_map_loader): add empty point cloud guards Add validation to check for empty point clouds before processing to prevent undefined behavior in PCL functions and potential crashes.

    • Add guard in onPointcloudMap callback
    • Add guard in receiveMap after concatenation
    • fix(autoware_elevation_map_loader): fix state management for empty point cloud

    * fix(autoware_elevation_map_loader): use RCLCPP_WARN_THROTTLE for empty point cloud warnings ---------

  • Contributors: Ryohsuke Mitsudome, Sarun MUKDAPITAK, Yutaka Kondo

0.48.0 (2025-11-18)

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

  • feat(planning, perception): replace wall_timer with generic timer (#11005)

    • feat(planning, perception): replace wall_timer with generic timer
    • use rclcpp::create_timer

    * remove period_ns ---------

  • Contributors: Mamoru Sobue, Ryohsuke Mitsudome

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

  • Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
  • feat(elevation_map_loader): improve log message (#10620)
  • chore(elevation_map): add \@asa-naki to maitainer (#10621)
  • build(autoware_elevation_map_loader): add map_msgs dependency

File truncated at 100 lines see the full file

Launch files

  • launch/elevation_map_loader.launch.xml
      • elevation_map_directory [default: $(find-pkg-share autoware_elevation_map_loader)/data/elevation_maps]
      • param_file_path [default: $(find-pkg-share autoware_elevation_map_loader)/config/elevation_map_parameters.yaml]
      • use_lane_filter [default: false]
      • use_sequential_load [default: false]
      • sequential_map_load_num [default: 1]
      • use_inpaint [default: true]
      • inpaint_radius [default: 1.0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_elevation_map_loader at Robotics Stack Exchange

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

autoware_elevation_map_loader package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_pipeline autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-10-23
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_elevation_map_loader package

Maintainers

  • Kosuke Takeuchi
  • Taichi Higashide
  • Shintaro Tomie
  • Akihisa Nagata

Authors

No additional authors.
perception/autoware_elevation_map_loader/README.md

autoware_elevation_map_loader

Purpose

This package provides elevation map for autoware_compare_map_segmentation.

Inner-workings / Algorithms

Generate elevation_map from subscribed pointcloud_map and vector_map and publish it. Save the generated elevation_map locally and load it from next time.

The elevation value of each cell is the average value of z of the points of the lowest cluster.
Cells with No elevation value can be inpainted using the values of neighboring cells.

Inputs / Outputs

Input

Name Type Description
input/pointcloud_map sensor_msgs::msg::PointCloud2 The point cloud map
input/vector_map autoware_map_msgs::msg::LaneletMapBin (Optional) The binary data of lanelet2 map
input/pointcloud_map_metadata autoware_map_msgs::msg::PointCloudMapMetaData (Optional) The metadata of point cloud map

Output

Name Type Description
output/elevation_map grid_map_msgs::msg::GridMap The elevation map
output/elevation_map_cloud sensor_msgs::msg::PointCloud2 (Optional) The point cloud generated from the value of elevation map

Service

Name Type Description
service/get_selected_pcd_map autoware_map_msgs::srv::GetSelectedPointCloudMap (Optional) service to request point cloud map. If pointcloud_map_loader uses selected pointcloud map loading via ROS 2 service, use this.

Parameters

Node parameters

Name Type Description Default value
map_layer_name std::string elevation_map layer name elevation
param_file_path std::string GridMap parameters config path_default
elevation_map_directory std::string elevation_map file (bag2) path_default
map_frame std::string map_frame when loading elevation_map file map
use_inpaint bool Whether to inpaint empty cells true
inpaint_radius float Radius of a circular neighborhood of each point inpainted that is considered by the algorithm [m] 0.3
use_elevation_map_cloud_publisher bool Whether to publish output/elevation_map_cloud false
use_lane_filter bool Whether to filter elevation_map with vector_map false
lane_margin float Margin distance from the lane polygon of the area to be included in the inpainting mask [m]. Used only when use_lane_filter=True. 0.0
use_sequential_load bool Whether to get point cloud map by service false
sequential_map_load_num int The number of point cloud maps to load at once (only used when use_sequential_load is set true). This should not be larger than number of all point cloud map cells. 1

GridMap parameters

The parameters are described on config/elevation_map_parameters.yaml.

General parameters

Name Type Description Default value
pcl_grid_map_extraction/num_processing_threads int Number of threads for processing grid map cells. Filtering of the raw input point cloud is not parallelized. 12

Grid map parameters

See: https://github.com/ANYbotics/grid_map/tree/ros2/grid_map_pcl

Resulting grid map parameters.

Name Type Description Default value
pcl_grid_map_extraction/grid_map/min_num_points_per_cell int Minimum number of points in the point cloud that have to fall within any of the grid map cells. Otherwise the cell elevation will be set to NaN. 3
pcl_grid_map_extraction/grid_map/resolution float Resolution of the grid map. Width and length are computed automatically. 0.3
pcl_grid_map_extraction/grid_map/height_type int The parameter that determine the elevation of a cell 0: Smallest value among the average values of each cluster, 1: Mean value of the cluster with the most points 1
pcl_grid_map_extraction/grid_map/height_thresh float Height range from the smallest cluster (Only for height_type 1) 1.0

Point Cloud Pre-processing Parameters

Rigid body transform parameters

Rigid body transform that is applied to the point cloud before computing elevation.

Name Type Description Default value
pcl_grid_map_extraction/cloud_transform/translation float Translation (xyz) that is applied to the input point cloud before computing elevation. 0.0
pcl_grid_map_extraction/cloud_transform/rotation float Rotation (intrinsic rotation, convention X-Y’-Z’’) that is applied to the input point cloud before computing elevation. 0.0

Cluster extraction parameters

Cluster extraction is based on pcl algorithms. See https://pointclouds.org/documentation/tutorials/cluster_extraction.html for more details.

Name Type Description Default value
pcl_grid_map_extraction/cluster_extraction/cluster_tolerance float Distance between points below which they will still be considered part of one cluster. 0.2

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_elevation_map_loader

0.53.0 (2026-09-29)

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

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • fix(elevation_map_loader): fix jazzy build (#11923)
  • Contributors: Mete Fatih Cırıt, Ryohsuke Mitsudome

0.49.0 (2025-12-30)

  • Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog

  • feat(autoware_lanelet2_utils): replace from/toBinMsg (Sensing, Visualization and Perception Component) (#11785)

    • perception component toBinMsg replacement
    • visualization component fromBinMsg replacement
    • sensing component fromBinMsg replacement

    * perception component fromBinMsg replacement ---------

  • fix(autoware_elevation_map_loader): add empty point cloud guards (#11747)

    * fix(autoware_elevation_map_loader): add empty point cloud guards Add validation to check for empty point clouds before processing to prevent undefined behavior in PCL functions and potential crashes.

    • Add guard in onPointcloudMap callback
    • Add guard in receiveMap after concatenation
    • fix(autoware_elevation_map_loader): fix state management for empty point cloud

    * fix(autoware_elevation_map_loader): use RCLCPP_WARN_THROTTLE for empty point cloud warnings ---------

  • Contributors: Ryohsuke Mitsudome, Sarun MUKDAPITAK, Yutaka Kondo

0.48.0 (2025-11-18)

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

  • feat(planning, perception): replace wall_timer with generic timer (#11005)

    • feat(planning, perception): replace wall_timer with generic timer
    • use rclcpp::create_timer

    * remove period_ns ---------

  • Contributors: Mamoru Sobue, Ryohsuke Mitsudome

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

  • Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
  • feat(elevation_map_loader): improve log message (#10620)
  • chore(elevation_map): add \@asa-naki to maitainer (#10621)
  • build(autoware_elevation_map_loader): add map_msgs dependency

File truncated at 100 lines see the full file

Launch files

  • launch/elevation_map_loader.launch.xml
      • elevation_map_directory [default: $(find-pkg-share autoware_elevation_map_loader)/data/elevation_maps]
      • param_file_path [default: $(find-pkg-share autoware_elevation_map_loader)/config/elevation_map_parameters.yaml]
      • use_lane_filter [default: false]
      • use_sequential_load [default: false]
      • sequential_map_load_num [default: 1]
      • use_inpaint [default: true]
      • inpaint_radius [default: 1.0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_elevation_map_loader at Robotics Stack Exchange

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

autoware_elevation_map_loader package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_pipeline autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-10-23
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_elevation_map_loader package

Maintainers

  • Kosuke Takeuchi
  • Taichi Higashide
  • Shintaro Tomie
  • Akihisa Nagata

Authors

No additional authors.
perception/autoware_elevation_map_loader/README.md

autoware_elevation_map_loader

Purpose

This package provides elevation map for autoware_compare_map_segmentation.

Inner-workings / Algorithms

Generate elevation_map from subscribed pointcloud_map and vector_map and publish it. Save the generated elevation_map locally and load it from next time.

The elevation value of each cell is the average value of z of the points of the lowest cluster.
Cells with No elevation value can be inpainted using the values of neighboring cells.

Inputs / Outputs

Input

Name Type Description
input/pointcloud_map sensor_msgs::msg::PointCloud2 The point cloud map
input/vector_map autoware_map_msgs::msg::LaneletMapBin (Optional) The binary data of lanelet2 map
input/pointcloud_map_metadata autoware_map_msgs::msg::PointCloudMapMetaData (Optional) The metadata of point cloud map

Output

Name Type Description
output/elevation_map grid_map_msgs::msg::GridMap The elevation map
output/elevation_map_cloud sensor_msgs::msg::PointCloud2 (Optional) The point cloud generated from the value of elevation map

Service

Name Type Description
service/get_selected_pcd_map autoware_map_msgs::srv::GetSelectedPointCloudMap (Optional) service to request point cloud map. If pointcloud_map_loader uses selected pointcloud map loading via ROS 2 service, use this.

Parameters

Node parameters

Name Type Description Default value
map_layer_name std::string elevation_map layer name elevation
param_file_path std::string GridMap parameters config path_default
elevation_map_directory std::string elevation_map file (bag2) path_default
map_frame std::string map_frame when loading elevation_map file map
use_inpaint bool Whether to inpaint empty cells true
inpaint_radius float Radius of a circular neighborhood of each point inpainted that is considered by the algorithm [m] 0.3
use_elevation_map_cloud_publisher bool Whether to publish output/elevation_map_cloud false
use_lane_filter bool Whether to filter elevation_map with vector_map false
lane_margin float Margin distance from the lane polygon of the area to be included in the inpainting mask [m]. Used only when use_lane_filter=True. 0.0
use_sequential_load bool Whether to get point cloud map by service false
sequential_map_load_num int The number of point cloud maps to load at once (only used when use_sequential_load is set true). This should not be larger than number of all point cloud map cells. 1

GridMap parameters

The parameters are described on config/elevation_map_parameters.yaml.

General parameters

Name Type Description Default value
pcl_grid_map_extraction/num_processing_threads int Number of threads for processing grid map cells. Filtering of the raw input point cloud is not parallelized. 12

Grid map parameters

See: https://github.com/ANYbotics/grid_map/tree/ros2/grid_map_pcl

Resulting grid map parameters.

Name Type Description Default value
pcl_grid_map_extraction/grid_map/min_num_points_per_cell int Minimum number of points in the point cloud that have to fall within any of the grid map cells. Otherwise the cell elevation will be set to NaN. 3
pcl_grid_map_extraction/grid_map/resolution float Resolution of the grid map. Width and length are computed automatically. 0.3
pcl_grid_map_extraction/grid_map/height_type int The parameter that determine the elevation of a cell 0: Smallest value among the average values of each cluster, 1: Mean value of the cluster with the most points 1
pcl_grid_map_extraction/grid_map/height_thresh float Height range from the smallest cluster (Only for height_type 1) 1.0

Point Cloud Pre-processing Parameters

Rigid body transform parameters

Rigid body transform that is applied to the point cloud before computing elevation.

Name Type Description Default value
pcl_grid_map_extraction/cloud_transform/translation float Translation (xyz) that is applied to the input point cloud before computing elevation. 0.0
pcl_grid_map_extraction/cloud_transform/rotation float Rotation (intrinsic rotation, convention X-Y’-Z’’) that is applied to the input point cloud before computing elevation. 0.0

Cluster extraction parameters

Cluster extraction is based on pcl algorithms. See https://pointclouds.org/documentation/tutorials/cluster_extraction.html for more details.

Name Type Description Default value
pcl_grid_map_extraction/cluster_extraction/cluster_tolerance float Distance between points below which they will still be considered part of one cluster. 0.2

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_elevation_map_loader

0.53.0 (2026-09-29)

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

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • fix(elevation_map_loader): fix jazzy build (#11923)
  • Contributors: Mete Fatih Cırıt, Ryohsuke Mitsudome

0.49.0 (2025-12-30)

  • Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog

  • feat(autoware_lanelet2_utils): replace from/toBinMsg (Sensing, Visualization and Perception Component) (#11785)

    • perception component toBinMsg replacement
    • visualization component fromBinMsg replacement
    • sensing component fromBinMsg replacement

    * perception component fromBinMsg replacement ---------

  • fix(autoware_elevation_map_loader): add empty point cloud guards (#11747)

    * fix(autoware_elevation_map_loader): add empty point cloud guards Add validation to check for empty point clouds before processing to prevent undefined behavior in PCL functions and potential crashes.

    • Add guard in onPointcloudMap callback
    • Add guard in receiveMap after concatenation
    • fix(autoware_elevation_map_loader): fix state management for empty point cloud

    * fix(autoware_elevation_map_loader): use RCLCPP_WARN_THROTTLE for empty point cloud warnings ---------

  • Contributors: Ryohsuke Mitsudome, Sarun MUKDAPITAK, Yutaka Kondo

0.48.0 (2025-11-18)

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

  • feat(planning, perception): replace wall_timer with generic timer (#11005)

    • feat(planning, perception): replace wall_timer with generic timer
    • use rclcpp::create_timer

    * remove period_ns ---------

  • Contributors: Mamoru Sobue, Ryohsuke Mitsudome

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

  • Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
  • feat(elevation_map_loader): improve log message (#10620)
  • chore(elevation_map): add \@asa-naki to maitainer (#10621)
  • build(autoware_elevation_map_loader): add map_msgs dependency

File truncated at 100 lines see the full file

Launch files

  • launch/elevation_map_loader.launch.xml
      • elevation_map_directory [default: $(find-pkg-share autoware_elevation_map_loader)/data/elevation_maps]
      • param_file_path [default: $(find-pkg-share autoware_elevation_map_loader)/config/elevation_map_parameters.yaml]
      • use_lane_filter [default: false]
      • use_sequential_load [default: false]
      • sequential_map_load_num [default: 1]
      • use_inpaint [default: true]
      • inpaint_radius [default: 1.0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_elevation_map_loader at Robotics Stack Exchange

Package symbol

autoware_elevation_map_loader package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_pipeline autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-10-23
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_elevation_map_loader package

Maintainers

  • Kosuke Takeuchi
  • Taichi Higashide
  • Shintaro Tomie
  • Akihisa Nagata

Authors

No additional authors.
perception/autoware_elevation_map_loader/README.md

autoware_elevation_map_loader

Purpose

This package provides elevation map for autoware_compare_map_segmentation.

Inner-workings / Algorithms

Generate elevation_map from subscribed pointcloud_map and vector_map and publish it. Save the generated elevation_map locally and load it from next time.

The elevation value of each cell is the average value of z of the points of the lowest cluster.
Cells with No elevation value can be inpainted using the values of neighboring cells.

Inputs / Outputs

Input

Name Type Description
input/pointcloud_map sensor_msgs::msg::PointCloud2 The point cloud map
input/vector_map autoware_map_msgs::msg::LaneletMapBin (Optional) The binary data of lanelet2 map
input/pointcloud_map_metadata autoware_map_msgs::msg::PointCloudMapMetaData (Optional) The metadata of point cloud map

Output

Name Type Description
output/elevation_map grid_map_msgs::msg::GridMap The elevation map
output/elevation_map_cloud sensor_msgs::msg::PointCloud2 (Optional) The point cloud generated from the value of elevation map

Service

Name Type Description
service/get_selected_pcd_map autoware_map_msgs::srv::GetSelectedPointCloudMap (Optional) service to request point cloud map. If pointcloud_map_loader uses selected pointcloud map loading via ROS 2 service, use this.

Parameters

Node parameters

Name Type Description Default value
map_layer_name std::string elevation_map layer name elevation
param_file_path std::string GridMap parameters config path_default
elevation_map_directory std::string elevation_map file (bag2) path_default
map_frame std::string map_frame when loading elevation_map file map
use_inpaint bool Whether to inpaint empty cells true
inpaint_radius float Radius of a circular neighborhood of each point inpainted that is considered by the algorithm [m] 0.3
use_elevation_map_cloud_publisher bool Whether to publish output/elevation_map_cloud false
use_lane_filter bool Whether to filter elevation_map with vector_map false
lane_margin float Margin distance from the lane polygon of the area to be included in the inpainting mask [m]. Used only when use_lane_filter=True. 0.0
use_sequential_load bool Whether to get point cloud map by service false
sequential_map_load_num int The number of point cloud maps to load at once (only used when use_sequential_load is set true). This should not be larger than number of all point cloud map cells. 1

GridMap parameters

The parameters are described on config/elevation_map_parameters.yaml.

General parameters

Name Type Description Default value
pcl_grid_map_extraction/num_processing_threads int Number of threads for processing grid map cells. Filtering of the raw input point cloud is not parallelized. 12

Grid map parameters

See: https://github.com/ANYbotics/grid_map/tree/ros2/grid_map_pcl

Resulting grid map parameters.

Name Type Description Default value
pcl_grid_map_extraction/grid_map/min_num_points_per_cell int Minimum number of points in the point cloud that have to fall within any of the grid map cells. Otherwise the cell elevation will be set to NaN. 3
pcl_grid_map_extraction/grid_map/resolution float Resolution of the grid map. Width and length are computed automatically. 0.3
pcl_grid_map_extraction/grid_map/height_type int The parameter that determine the elevation of a cell 0: Smallest value among the average values of each cluster, 1: Mean value of the cluster with the most points 1
pcl_grid_map_extraction/grid_map/height_thresh float Height range from the smallest cluster (Only for height_type 1) 1.0

Point Cloud Pre-processing Parameters

Rigid body transform parameters

Rigid body transform that is applied to the point cloud before computing elevation.

Name Type Description Default value
pcl_grid_map_extraction/cloud_transform/translation float Translation (xyz) that is applied to the input point cloud before computing elevation. 0.0
pcl_grid_map_extraction/cloud_transform/rotation float Rotation (intrinsic rotation, convention X-Y’-Z’’) that is applied to the input point cloud before computing elevation. 0.0

Cluster extraction parameters

Cluster extraction is based on pcl algorithms. See https://pointclouds.org/documentation/tutorials/cluster_extraction.html for more details.

Name Type Description Default value
pcl_grid_map_extraction/cluster_extraction/cluster_tolerance float Distance between points below which they will still be considered part of one cluster. 0.2

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_elevation_map_loader

0.53.0 (2026-09-29)

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

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • fix(elevation_map_loader): fix jazzy build (#11923)
  • Contributors: Mete Fatih Cırıt, Ryohsuke Mitsudome

0.49.0 (2025-12-30)

  • Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog

  • feat(autoware_lanelet2_utils): replace from/toBinMsg (Sensing, Visualization and Perception Component) (#11785)

    • perception component toBinMsg replacement
    • visualization component fromBinMsg replacement
    • sensing component fromBinMsg replacement

    * perception component fromBinMsg replacement ---------

  • fix(autoware_elevation_map_loader): add empty point cloud guards (#11747)

    * fix(autoware_elevation_map_loader): add empty point cloud guards Add validation to check for empty point clouds before processing to prevent undefined behavior in PCL functions and potential crashes.

    • Add guard in onPointcloudMap callback
    • Add guard in receiveMap after concatenation
    • fix(autoware_elevation_map_loader): fix state management for empty point cloud

    * fix(autoware_elevation_map_loader): use RCLCPP_WARN_THROTTLE for empty point cloud warnings ---------

  • Contributors: Ryohsuke Mitsudome, Sarun MUKDAPITAK, Yutaka Kondo

0.48.0 (2025-11-18)

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

  • feat(planning, perception): replace wall_timer with generic timer (#11005)

    • feat(planning, perception): replace wall_timer with generic timer
    • use rclcpp::create_timer

    * remove period_ns ---------

  • Contributors: Mamoru Sobue, Ryohsuke Mitsudome

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

  • Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
  • feat(elevation_map_loader): improve log message (#10620)
  • chore(elevation_map): add \@asa-naki to maitainer (#10621)
  • build(autoware_elevation_map_loader): add map_msgs dependency

File truncated at 100 lines see the full file

Launch files

  • launch/elevation_map_loader.launch.xml
      • elevation_map_directory [default: $(find-pkg-share autoware_elevation_map_loader)/data/elevation_maps]
      • param_file_path [default: $(find-pkg-share autoware_elevation_map_loader)/config/elevation_map_parameters.yaml]
      • use_lane_filter [default: false]
      • use_sequential_load [default: false]
      • sequential_map_load_num [default: 1]
      • use_inpaint [default: true]
      • inpaint_radius [default: 1.0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_elevation_map_loader at Robotics Stack Exchange

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

autoware_elevation_map_loader package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_pipeline autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-10-23
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_elevation_map_loader package

Maintainers

  • Kosuke Takeuchi
  • Taichi Higashide
  • Shintaro Tomie
  • Akihisa Nagata

Authors

No additional authors.
perception/autoware_elevation_map_loader/README.md

autoware_elevation_map_loader

Purpose

This package provides elevation map for autoware_compare_map_segmentation.

Inner-workings / Algorithms

Generate elevation_map from subscribed pointcloud_map and vector_map and publish it. Save the generated elevation_map locally and load it from next time.

The elevation value of each cell is the average value of z of the points of the lowest cluster.
Cells with No elevation value can be inpainted using the values of neighboring cells.

Inputs / Outputs

Input

Name Type Description
input/pointcloud_map sensor_msgs::msg::PointCloud2 The point cloud map
input/vector_map autoware_map_msgs::msg::LaneletMapBin (Optional) The binary data of lanelet2 map
input/pointcloud_map_metadata autoware_map_msgs::msg::PointCloudMapMetaData (Optional) The metadata of point cloud map

Output

Name Type Description
output/elevation_map grid_map_msgs::msg::GridMap The elevation map
output/elevation_map_cloud sensor_msgs::msg::PointCloud2 (Optional) The point cloud generated from the value of elevation map

Service

Name Type Description
service/get_selected_pcd_map autoware_map_msgs::srv::GetSelectedPointCloudMap (Optional) service to request point cloud map. If pointcloud_map_loader uses selected pointcloud map loading via ROS 2 service, use this.

Parameters

Node parameters

Name Type Description Default value
map_layer_name std::string elevation_map layer name elevation
param_file_path std::string GridMap parameters config path_default
elevation_map_directory std::string elevation_map file (bag2) path_default
map_frame std::string map_frame when loading elevation_map file map
use_inpaint bool Whether to inpaint empty cells true
inpaint_radius float Radius of a circular neighborhood of each point inpainted that is considered by the algorithm [m] 0.3
use_elevation_map_cloud_publisher bool Whether to publish output/elevation_map_cloud false
use_lane_filter bool Whether to filter elevation_map with vector_map false
lane_margin float Margin distance from the lane polygon of the area to be included in the inpainting mask [m]. Used only when use_lane_filter=True. 0.0
use_sequential_load bool Whether to get point cloud map by service false
sequential_map_load_num int The number of point cloud maps to load at once (only used when use_sequential_load is set true). This should not be larger than number of all point cloud map cells. 1

GridMap parameters

The parameters are described on config/elevation_map_parameters.yaml.

General parameters

Name Type Description Default value
pcl_grid_map_extraction/num_processing_threads int Number of threads for processing grid map cells. Filtering of the raw input point cloud is not parallelized. 12

Grid map parameters

See: https://github.com/ANYbotics/grid_map/tree/ros2/grid_map_pcl

Resulting grid map parameters.

Name Type Description Default value
pcl_grid_map_extraction/grid_map/min_num_points_per_cell int Minimum number of points in the point cloud that have to fall within any of the grid map cells. Otherwise the cell elevation will be set to NaN. 3
pcl_grid_map_extraction/grid_map/resolution float Resolution of the grid map. Width and length are computed automatically. 0.3
pcl_grid_map_extraction/grid_map/height_type int The parameter that determine the elevation of a cell 0: Smallest value among the average values of each cluster, 1: Mean value of the cluster with the most points 1
pcl_grid_map_extraction/grid_map/height_thresh float Height range from the smallest cluster (Only for height_type 1) 1.0

Point Cloud Pre-processing Parameters

Rigid body transform parameters

Rigid body transform that is applied to the point cloud before computing elevation.

Name Type Description Default value
pcl_grid_map_extraction/cloud_transform/translation float Translation (xyz) that is applied to the input point cloud before computing elevation. 0.0
pcl_grid_map_extraction/cloud_transform/rotation float Rotation (intrinsic rotation, convention X-Y’-Z’’) that is applied to the input point cloud before computing elevation. 0.0

Cluster extraction parameters

Cluster extraction is based on pcl algorithms. See https://pointclouds.org/documentation/tutorials/cluster_extraction.html for more details.

Name Type Description Default value
pcl_grid_map_extraction/cluster_extraction/cluster_tolerance float Distance between points below which they will still be considered part of one cluster. 0.2

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_elevation_map_loader

0.53.0 (2026-09-29)

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

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • fix(elevation_map_loader): fix jazzy build (#11923)
  • Contributors: Mete Fatih Cırıt, Ryohsuke Mitsudome

0.49.0 (2025-12-30)

  • Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog

  • feat(autoware_lanelet2_utils): replace from/toBinMsg (Sensing, Visualization and Perception Component) (#11785)

    • perception component toBinMsg replacement
    • visualization component fromBinMsg replacement
    • sensing component fromBinMsg replacement

    * perception component fromBinMsg replacement ---------

  • fix(autoware_elevation_map_loader): add empty point cloud guards (#11747)

    * fix(autoware_elevation_map_loader): add empty point cloud guards Add validation to check for empty point clouds before processing to prevent undefined behavior in PCL functions and potential crashes.

    • Add guard in onPointcloudMap callback
    • Add guard in receiveMap after concatenation
    • fix(autoware_elevation_map_loader): fix state management for empty point cloud

    * fix(autoware_elevation_map_loader): use RCLCPP_WARN_THROTTLE for empty point cloud warnings ---------

  • Contributors: Ryohsuke Mitsudome, Sarun MUKDAPITAK, Yutaka Kondo

0.48.0 (2025-11-18)

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

  • feat(planning, perception): replace wall_timer with generic timer (#11005)

    • feat(planning, perception): replace wall_timer with generic timer
    • use rclcpp::create_timer

    * remove period_ns ---------

  • Contributors: Mamoru Sobue, Ryohsuke Mitsudome

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

  • Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
  • feat(elevation_map_loader): improve log message (#10620)
  • chore(elevation_map): add \@asa-naki to maitainer (#10621)
  • build(autoware_elevation_map_loader): add map_msgs dependency

File truncated at 100 lines see the full file

Launch files

  • launch/elevation_map_loader.launch.xml
      • elevation_map_directory [default: $(find-pkg-share autoware_elevation_map_loader)/data/elevation_maps]
      • param_file_path [default: $(find-pkg-share autoware_elevation_map_loader)/config/elevation_map_parameters.yaml]
      • use_lane_filter [default: false]
      • use_sequential_load [default: false]
      • sequential_map_load_num [default: 1]
      • use_inpaint [default: true]
      • inpaint_radius [default: 1.0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_elevation_map_loader at Robotics Stack Exchange

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

autoware_elevation_map_loader package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_pipeline autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-10-23
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_elevation_map_loader package

Maintainers

  • Kosuke Takeuchi
  • Taichi Higashide
  • Shintaro Tomie
  • Akihisa Nagata

Authors

No additional authors.
perception/autoware_elevation_map_loader/README.md

autoware_elevation_map_loader

Purpose

This package provides elevation map for autoware_compare_map_segmentation.

Inner-workings / Algorithms

Generate elevation_map from subscribed pointcloud_map and vector_map and publish it. Save the generated elevation_map locally and load it from next time.

The elevation value of each cell is the average value of z of the points of the lowest cluster.
Cells with No elevation value can be inpainted using the values of neighboring cells.

Inputs / Outputs

Input

Name Type Description
input/pointcloud_map sensor_msgs::msg::PointCloud2 The point cloud map
input/vector_map autoware_map_msgs::msg::LaneletMapBin (Optional) The binary data of lanelet2 map
input/pointcloud_map_metadata autoware_map_msgs::msg::PointCloudMapMetaData (Optional) The metadata of point cloud map

Output

Name Type Description
output/elevation_map grid_map_msgs::msg::GridMap The elevation map
output/elevation_map_cloud sensor_msgs::msg::PointCloud2 (Optional) The point cloud generated from the value of elevation map

Service

Name Type Description
service/get_selected_pcd_map autoware_map_msgs::srv::GetSelectedPointCloudMap (Optional) service to request point cloud map. If pointcloud_map_loader uses selected pointcloud map loading via ROS 2 service, use this.

Parameters

Node parameters

Name Type Description Default value
map_layer_name std::string elevation_map layer name elevation
param_file_path std::string GridMap parameters config path_default
elevation_map_directory std::string elevation_map file (bag2) path_default
map_frame std::string map_frame when loading elevation_map file map
use_inpaint bool Whether to inpaint empty cells true
inpaint_radius float Radius of a circular neighborhood of each point inpainted that is considered by the algorithm [m] 0.3
use_elevation_map_cloud_publisher bool Whether to publish output/elevation_map_cloud false
use_lane_filter bool Whether to filter elevation_map with vector_map false
lane_margin float Margin distance from the lane polygon of the area to be included in the inpainting mask [m]. Used only when use_lane_filter=True. 0.0
use_sequential_load bool Whether to get point cloud map by service false
sequential_map_load_num int The number of point cloud maps to load at once (only used when use_sequential_load is set true). This should not be larger than number of all point cloud map cells. 1

GridMap parameters

The parameters are described on config/elevation_map_parameters.yaml.

General parameters

Name Type Description Default value
pcl_grid_map_extraction/num_processing_threads int Number of threads for processing grid map cells. Filtering of the raw input point cloud is not parallelized. 12

Grid map parameters

See: https://github.com/ANYbotics/grid_map/tree/ros2/grid_map_pcl

Resulting grid map parameters.

Name Type Description Default value
pcl_grid_map_extraction/grid_map/min_num_points_per_cell int Minimum number of points in the point cloud that have to fall within any of the grid map cells. Otherwise the cell elevation will be set to NaN. 3
pcl_grid_map_extraction/grid_map/resolution float Resolution of the grid map. Width and length are computed automatically. 0.3
pcl_grid_map_extraction/grid_map/height_type int The parameter that determine the elevation of a cell 0: Smallest value among the average values of each cluster, 1: Mean value of the cluster with the most points 1
pcl_grid_map_extraction/grid_map/height_thresh float Height range from the smallest cluster (Only for height_type 1) 1.0

Point Cloud Pre-processing Parameters

Rigid body transform parameters

Rigid body transform that is applied to the point cloud before computing elevation.

Name Type Description Default value
pcl_grid_map_extraction/cloud_transform/translation float Translation (xyz) that is applied to the input point cloud before computing elevation. 0.0
pcl_grid_map_extraction/cloud_transform/rotation float Rotation (intrinsic rotation, convention X-Y’-Z’’) that is applied to the input point cloud before computing elevation. 0.0

Cluster extraction parameters

Cluster extraction is based on pcl algorithms. See https://pointclouds.org/documentation/tutorials/cluster_extraction.html for more details.

Name Type Description Default value
pcl_grid_map_extraction/cluster_extraction/cluster_tolerance float Distance between points below which they will still be considered part of one cluster. 0.2

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_elevation_map_loader

0.53.0 (2026-09-29)

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

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • fix(elevation_map_loader): fix jazzy build (#11923)
  • Contributors: Mete Fatih Cırıt, Ryohsuke Mitsudome

0.49.0 (2025-12-30)

  • Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog

  • feat(autoware_lanelet2_utils): replace from/toBinMsg (Sensing, Visualization and Perception Component) (#11785)

    • perception component toBinMsg replacement
    • visualization component fromBinMsg replacement
    • sensing component fromBinMsg replacement

    * perception component fromBinMsg replacement ---------

  • fix(autoware_elevation_map_loader): add empty point cloud guards (#11747)

    * fix(autoware_elevation_map_loader): add empty point cloud guards Add validation to check for empty point clouds before processing to prevent undefined behavior in PCL functions and potential crashes.

    • Add guard in onPointcloudMap callback
    • Add guard in receiveMap after concatenation
    • fix(autoware_elevation_map_loader): fix state management for empty point cloud

    * fix(autoware_elevation_map_loader): use RCLCPP_WARN_THROTTLE for empty point cloud warnings ---------

  • Contributors: Ryohsuke Mitsudome, Sarun MUKDAPITAK, Yutaka Kondo

0.48.0 (2025-11-18)

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

  • feat(planning, perception): replace wall_timer with generic timer (#11005)

    • feat(planning, perception): replace wall_timer with generic timer
    • use rclcpp::create_timer

    * remove period_ns ---------

  • Contributors: Mamoru Sobue, Ryohsuke Mitsudome

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

  • Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
  • feat(elevation_map_loader): improve log message (#10620)
  • chore(elevation_map): add \@asa-naki to maitainer (#10621)
  • build(autoware_elevation_map_loader): add map_msgs dependency

File truncated at 100 lines see the full file

Launch files

  • launch/elevation_map_loader.launch.xml
      • elevation_map_directory [default: $(find-pkg-share autoware_elevation_map_loader)/data/elevation_maps]
      • param_file_path [default: $(find-pkg-share autoware_elevation_map_loader)/config/elevation_map_parameters.yaml]
      • use_lane_filter [default: false]
      • use_sequential_load [default: false]
      • sequential_map_load_num [default: 1]
      • use_inpaint [default: true]
      • inpaint_radius [default: 1.0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_elevation_map_loader at Robotics Stack Exchange

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

autoware_elevation_map_loader package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_pipeline autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Version 0.53.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-10-23
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_elevation_map_loader package

Maintainers

  • Kosuke Takeuchi
  • Taichi Higashide
  • Shintaro Tomie
  • Akihisa Nagata

Authors

No additional authors.
perception/autoware_elevation_map_loader/README.md

autoware_elevation_map_loader

Purpose

This package provides elevation map for autoware_compare_map_segmentation.

Inner-workings / Algorithms

Generate elevation_map from subscribed pointcloud_map and vector_map and publish it. Save the generated elevation_map locally and load it from next time.

The elevation value of each cell is the average value of z of the points of the lowest cluster.
Cells with No elevation value can be inpainted using the values of neighboring cells.

Inputs / Outputs

Input

Name Type Description
input/pointcloud_map sensor_msgs::msg::PointCloud2 The point cloud map
input/vector_map autoware_map_msgs::msg::LaneletMapBin (Optional) The binary data of lanelet2 map
input/pointcloud_map_metadata autoware_map_msgs::msg::PointCloudMapMetaData (Optional) The metadata of point cloud map

Output

Name Type Description
output/elevation_map grid_map_msgs::msg::GridMap The elevation map
output/elevation_map_cloud sensor_msgs::msg::PointCloud2 (Optional) The point cloud generated from the value of elevation map

Service

Name Type Description
service/get_selected_pcd_map autoware_map_msgs::srv::GetSelectedPointCloudMap (Optional) service to request point cloud map. If pointcloud_map_loader uses selected pointcloud map loading via ROS 2 service, use this.

Parameters

Node parameters

Name Type Description Default value
map_layer_name std::string elevation_map layer name elevation
param_file_path std::string GridMap parameters config path_default
elevation_map_directory std::string elevation_map file (bag2) path_default
map_frame std::string map_frame when loading elevation_map file map
use_inpaint bool Whether to inpaint empty cells true
inpaint_radius float Radius of a circular neighborhood of each point inpainted that is considered by the algorithm [m] 0.3
use_elevation_map_cloud_publisher bool Whether to publish output/elevation_map_cloud false
use_lane_filter bool Whether to filter elevation_map with vector_map false
lane_margin float Margin distance from the lane polygon of the area to be included in the inpainting mask [m]. Used only when use_lane_filter=True. 0.0
use_sequential_load bool Whether to get point cloud map by service false
sequential_map_load_num int The number of point cloud maps to load at once (only used when use_sequential_load is set true). This should not be larger than number of all point cloud map cells. 1

GridMap parameters

The parameters are described on config/elevation_map_parameters.yaml.

General parameters

Name Type Description Default value
pcl_grid_map_extraction/num_processing_threads int Number of threads for processing grid map cells. Filtering of the raw input point cloud is not parallelized. 12

Grid map parameters

See: https://github.com/ANYbotics/grid_map/tree/ros2/grid_map_pcl

Resulting grid map parameters.

Name Type Description Default value
pcl_grid_map_extraction/grid_map/min_num_points_per_cell int Minimum number of points in the point cloud that have to fall within any of the grid map cells. Otherwise the cell elevation will be set to NaN. 3
pcl_grid_map_extraction/grid_map/resolution float Resolution of the grid map. Width and length are computed automatically. 0.3
pcl_grid_map_extraction/grid_map/height_type int The parameter that determine the elevation of a cell 0: Smallest value among the average values of each cluster, 1: Mean value of the cluster with the most points 1
pcl_grid_map_extraction/grid_map/height_thresh float Height range from the smallest cluster (Only for height_type 1) 1.0

Point Cloud Pre-processing Parameters

Rigid body transform parameters

Rigid body transform that is applied to the point cloud before computing elevation.

Name Type Description Default value
pcl_grid_map_extraction/cloud_transform/translation float Translation (xyz) that is applied to the input point cloud before computing elevation. 0.0
pcl_grid_map_extraction/cloud_transform/rotation float Rotation (intrinsic rotation, convention X-Y’-Z’’) that is applied to the input point cloud before computing elevation. 0.0

Cluster extraction parameters

Cluster extraction is based on pcl algorithms. See https://pointclouds.org/documentation/tutorials/cluster_extraction.html for more details.

Name Type Description Default value
pcl_grid_map_extraction/cluster_extraction/cluster_tolerance float Distance between points below which they will still be considered part of one cluster. 0.2

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_elevation_map_loader

0.53.0 (2026-09-29)

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

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • fix(elevation_map_loader): fix jazzy build (#11923)
  • Contributors: Mete Fatih Cırıt, Ryohsuke Mitsudome

0.49.0 (2025-12-30)

  • Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog

  • feat(autoware_lanelet2_utils): replace from/toBinMsg (Sensing, Visualization and Perception Component) (#11785)

    • perception component toBinMsg replacement
    • visualization component fromBinMsg replacement
    • sensing component fromBinMsg replacement

    * perception component fromBinMsg replacement ---------

  • fix(autoware_elevation_map_loader): add empty point cloud guards (#11747)

    * fix(autoware_elevation_map_loader): add empty point cloud guards Add validation to check for empty point clouds before processing to prevent undefined behavior in PCL functions and potential crashes.

    • Add guard in onPointcloudMap callback
    • Add guard in receiveMap after concatenation
    • fix(autoware_elevation_map_loader): fix state management for empty point cloud

    * fix(autoware_elevation_map_loader): use RCLCPP_WARN_THROTTLE for empty point cloud warnings ---------

  • Contributors: Ryohsuke Mitsudome, Sarun MUKDAPITAK, Yutaka Kondo

0.48.0 (2025-11-18)

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

  • feat(planning, perception): replace wall_timer with generic timer (#11005)

    • feat(planning, perception): replace wall_timer with generic timer
    • use rclcpp::create_timer

    * remove period_ns ---------

  • Contributors: Mamoru Sobue, Ryohsuke Mitsudome

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

  • Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
  • feat(elevation_map_loader): improve log message (#10620)
  • chore(elevation_map): add \@asa-naki to maitainer (#10621)
  • build(autoware_elevation_map_loader): add map_msgs dependency

File truncated at 100 lines see the full file

Launch files

  • launch/elevation_map_loader.launch.xml
      • elevation_map_directory [default: $(find-pkg-share autoware_elevation_map_loader)/data/elevation_maps]
      • param_file_path [default: $(find-pkg-share autoware_elevation_map_loader)/config/elevation_map_parameters.yaml]
      • use_lane_filter [default: false]
      • use_sequential_load [default: false]
      • sequential_map_load_num [default: 1]
      • use_inpaint [default: true]
      • inpaint_radius [default: 1.0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_elevation_map_loader at Robotics Stack Exchange

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

autoware_elevation_map_loader package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_pipeline autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Version 0.53.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-10-23
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_elevation_map_loader package

Maintainers

  • Kosuke Takeuchi
  • Taichi Higashide
  • Shintaro Tomie
  • Akihisa Nagata

Authors

No additional authors.
perception/autoware_elevation_map_loader/README.md

autoware_elevation_map_loader

Purpose

This package provides elevation map for autoware_compare_map_segmentation.

Inner-workings / Algorithms

Generate elevation_map from subscribed pointcloud_map and vector_map and publish it. Save the generated elevation_map locally and load it from next time.

The elevation value of each cell is the average value of z of the points of the lowest cluster.
Cells with No elevation value can be inpainted using the values of neighboring cells.

Inputs / Outputs

Input

Name Type Description
input/pointcloud_map sensor_msgs::msg::PointCloud2 The point cloud map
input/vector_map autoware_map_msgs::msg::LaneletMapBin (Optional) The binary data of lanelet2 map
input/pointcloud_map_metadata autoware_map_msgs::msg::PointCloudMapMetaData (Optional) The metadata of point cloud map

Output

Name Type Description
output/elevation_map grid_map_msgs::msg::GridMap The elevation map
output/elevation_map_cloud sensor_msgs::msg::PointCloud2 (Optional) The point cloud generated from the value of elevation map

Service

Name Type Description
service/get_selected_pcd_map autoware_map_msgs::srv::GetSelectedPointCloudMap (Optional) service to request point cloud map. If pointcloud_map_loader uses selected pointcloud map loading via ROS 2 service, use this.

Parameters

Node parameters

Name Type Description Default value
map_layer_name std::string elevation_map layer name elevation
param_file_path std::string GridMap parameters config path_default
elevation_map_directory std::string elevation_map file (bag2) path_default
map_frame std::string map_frame when loading elevation_map file map
use_inpaint bool Whether to inpaint empty cells true
inpaint_radius float Radius of a circular neighborhood of each point inpainted that is considered by the algorithm [m] 0.3
use_elevation_map_cloud_publisher bool Whether to publish output/elevation_map_cloud false
use_lane_filter bool Whether to filter elevation_map with vector_map false
lane_margin float Margin distance from the lane polygon of the area to be included in the inpainting mask [m]. Used only when use_lane_filter=True. 0.0
use_sequential_load bool Whether to get point cloud map by service false
sequential_map_load_num int The number of point cloud maps to load at once (only used when use_sequential_load is set true). This should not be larger than number of all point cloud map cells. 1

GridMap parameters

The parameters are described on config/elevation_map_parameters.yaml.

General parameters

Name Type Description Default value
pcl_grid_map_extraction/num_processing_threads int Number of threads for processing grid map cells. Filtering of the raw input point cloud is not parallelized. 12

Grid map parameters

See: https://github.com/ANYbotics/grid_map/tree/ros2/grid_map_pcl

Resulting grid map parameters.

Name Type Description Default value
pcl_grid_map_extraction/grid_map/min_num_points_per_cell int Minimum number of points in the point cloud that have to fall within any of the grid map cells. Otherwise the cell elevation will be set to NaN. 3
pcl_grid_map_extraction/grid_map/resolution float Resolution of the grid map. Width and length are computed automatically. 0.3
pcl_grid_map_extraction/grid_map/height_type int The parameter that determine the elevation of a cell 0: Smallest value among the average values of each cluster, 1: Mean value of the cluster with the most points 1
pcl_grid_map_extraction/grid_map/height_thresh float Height range from the smallest cluster (Only for height_type 1) 1.0

Point Cloud Pre-processing Parameters

Rigid body transform parameters

Rigid body transform that is applied to the point cloud before computing elevation.

Name Type Description Default value
pcl_grid_map_extraction/cloud_transform/translation float Translation (xyz) that is applied to the input point cloud before computing elevation. 0.0
pcl_grid_map_extraction/cloud_transform/rotation float Rotation (intrinsic rotation, convention X-Y’-Z’’) that is applied to the input point cloud before computing elevation. 0.0

Cluster extraction parameters

Cluster extraction is based on pcl algorithms. See https://pointclouds.org/documentation/tutorials/cluster_extraction.html for more details.

Name Type Description Default value
pcl_grid_map_extraction/cluster_extraction/cluster_tolerance float Distance between points below which they will still be considered part of one cluster. 0.2

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_elevation_map_loader

0.53.0 (2026-09-29)

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

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • fix(elevation_map_loader): fix jazzy build (#11923)
  • Contributors: Mete Fatih Cırıt, Ryohsuke Mitsudome

0.49.0 (2025-12-30)

  • Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog

  • feat(autoware_lanelet2_utils): replace from/toBinMsg (Sensing, Visualization and Perception Component) (#11785)

    • perception component toBinMsg replacement
    • visualization component fromBinMsg replacement
    • sensing component fromBinMsg replacement

    * perception component fromBinMsg replacement ---------

  • fix(autoware_elevation_map_loader): add empty point cloud guards (#11747)

    * fix(autoware_elevation_map_loader): add empty point cloud guards Add validation to check for empty point clouds before processing to prevent undefined behavior in PCL functions and potential crashes.

    • Add guard in onPointcloudMap callback
    • Add guard in receiveMap after concatenation
    • fix(autoware_elevation_map_loader): fix state management for empty point cloud

    * fix(autoware_elevation_map_loader): use RCLCPP_WARN_THROTTLE for empty point cloud warnings ---------

  • Contributors: Ryohsuke Mitsudome, Sarun MUKDAPITAK, Yutaka Kondo

0.48.0 (2025-11-18)

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

  • feat(planning, perception): replace wall_timer with generic timer (#11005)

    • feat(planning, perception): replace wall_timer with generic timer
    • use rclcpp::create_timer

    * remove period_ns ---------

  • Contributors: Mamoru Sobue, Ryohsuke Mitsudome

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

  • Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
  • feat(elevation_map_loader): improve log message (#10620)
  • chore(elevation_map): add \@asa-naki to maitainer (#10621)
  • build(autoware_elevation_map_loader): add map_msgs dependency

File truncated at 100 lines see the full file

Launch files

  • launch/elevation_map_loader.launch.xml
      • elevation_map_directory [default: $(find-pkg-share autoware_elevation_map_loader)/data/elevation_maps]
      • param_file_path [default: $(find-pkg-share autoware_elevation_map_loader)/config/elevation_map_parameters.yaml]
      • use_lane_filter [default: false]
      • use_sequential_load [default: false]
      • sequential_map_load_num [default: 1]
      • use_inpaint [default: true]
      • inpaint_radius [default: 1.0]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_elevation_map_loader at Robotics Stack Exchange