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autoware_ground_segmentation 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 2026-10-26
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The ROS 2 autoware_ground_segmentation package

Maintainers

  • amc-nu
  • Yukihiro Saito
  • Dai Nguyen
  • Yoshi Ri
  • Taekjin Lee

Authors

  • Open Perception
  • Julius Kammerl
  • William Woodall
perception/autoware_ground_segmentation/README.md

autoware_ground_segmentation

Purpose

The autoware_ground_segmentation is a node that remove the ground points from the input pointcloud.

Inner-workings / Algorithms

Detail description of each ground segmentation algorithm is in the following links.

Filter Name Description Detail
ray_ground_filter A method of removing the ground based on the geometrical relationship between points lined up on radiation link
scan_ground_filter Almost the same method as ray_ground_filter, but with slightly improved performance link
ransac_ground_filter A method of removing the ground by approximating the ground to a plane link

Inputs / Outputs

Input

Name Type Description
~/input/points sensor_msgs::msg::PointCloud2 reference points
~/input/indices pcl_msgs::msg::Indices reference indices

Output

Name Type Description
~/output/points sensor_msgs::msg::PointCloud2 filtered points

Parameters

Node Parameters

Name Type Default Value Description
input_frame string ” “ input frame id
output_frame string ” “ output frame id
max_queue_size int 5 max queue size of input/output topics
use_indices bool false flag to use pointcloud indices
latched_indices bool false flag to latch pointcloud indices
approximate_sync bool false flag to use approximate sync option

Assumptions / Known limits

autoware::pointcloud_preprocessor::Filter is implemented based on pcl_perception [1] because of this issue.

[1] https://github.com/ros-perception/perception_pcl/blob/ros2/pcl_ros/src/pcl_ros/filters/filter.cpp

CHANGELOG

Changelog for package autoware_ground_segmentation

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
  • feat(autoware_ground_segmentation): apply agnocast_wrapper::Node to scan_ground_filter (#13385) Derive ScanGroundFilterComponent from AgnocastFilter, the FilterBase<autoware::agnocast_wrapper::Node> instantiation, and register it through autoware_agnocast_wrapper_register_node on an agnocast-only callback-isolated executor. Both launch files start the standalone executable with the heaphook preloaded when ENABLE_AGNOCAST=1: scan_ground_filter.launch.xml already launched it as a node, and scan_ground_filter.launch.py now stops loading the component into an rclcpp container, where its agnocast callbacks would never be spun.
  • refactor(perception): move node design files into each package (#13104) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
  • Contributors: Koichi Imai, Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

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

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

  • refactor(autoware_ground_segmentation/launch, autoware_probabilistic_occupancy_grid_map/launch): use launch substitution instead of get_package_share_directory (#12392)

    • refactor: use launch substitution instead of get_package_share_directory

    * use existing file for default ---------

  • perf(perception): use emplace_back and emplace to avoid temporary object creation (#12201)

    • perf(perception): use emplace_back to avoid temporary object creation
    • style(pre-commit): autofix
    • perf(perception): use emplace/emplace_back for most containers

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE <<taekjin.lee@tier4.jp>>

  • Contributors: Taekjin LEE, Taeseung Sohn, github-actions, nishikawa-masaki

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat!: remove ROS 2 Galactic codes (#11905)
  • Contributors: Ryohsuke Mitsudome

0.49.0 (2025-12-30)

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

  • refactor(ground_segmentation): remove grid_mode_switch_radius param (#11773)

    • remove grid mode switch radius
    • fix: spelling check
    • chore: typo
    • style(pre-commit): autofix
    • fix c-style
    • chore: remove unused variable
    • remove unused origin_z
    • remove virtual_lidar_z

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

  • fix(autoware_ground_segmentation): add empty point cloud guards (#11749) Add validation to check for empty point clouds before processing to prevent undefined behavior in PCL functions and potential crashes.

    • Add guard in ray_ground_filter
    • Add guard in ransac_ground_filter

  • Contributors: Ryohsuke Mitsudome, Yutaka Kondo, badai nguyen

File truncated at 100 lines see the full file

Launch files

  • launch/ransac_ground_filter.launch.xml
      • ground_segmentation_param_file [default: $(find-pkg-share autoware_ground_segmentation)/config/ransac_ground_filter.param.yaml]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
  • launch/ray_ground_filter.launch.xml
      • ground_segmentation_param_file [default: $(find-pkg-share autoware_ground_segmentation)/config/ray_ground_filter.param.yaml]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
  • launch/scan_ground_filter.launch.xml
      • ground_segmentation_param_file [default: $(find-pkg-share autoware_ground_segmentation)/config/scan_ground_filter.param.yaml]
      • vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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autoware_ground_segmentation 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 2026-10-26
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The ROS 2 autoware_ground_segmentation package

Maintainers

  • amc-nu
  • Yukihiro Saito
  • Dai Nguyen
  • Yoshi Ri
  • Taekjin Lee

Authors

  • Open Perception
  • Julius Kammerl
  • William Woodall
perception/autoware_ground_segmentation/README.md

autoware_ground_segmentation

Purpose

The autoware_ground_segmentation is a node that remove the ground points from the input pointcloud.

Inner-workings / Algorithms

Detail description of each ground segmentation algorithm is in the following links.

Filter Name Description Detail
ray_ground_filter A method of removing the ground based on the geometrical relationship between points lined up on radiation link
scan_ground_filter Almost the same method as ray_ground_filter, but with slightly improved performance link
ransac_ground_filter A method of removing the ground by approximating the ground to a plane link

Inputs / Outputs

Input

Name Type Description
~/input/points sensor_msgs::msg::PointCloud2 reference points
~/input/indices pcl_msgs::msg::Indices reference indices

Output

Name Type Description
~/output/points sensor_msgs::msg::PointCloud2 filtered points

Parameters

Node Parameters

Name Type Default Value Description
input_frame string ” “ input frame id
output_frame string ” “ output frame id
max_queue_size int 5 max queue size of input/output topics
use_indices bool false flag to use pointcloud indices
latched_indices bool false flag to latch pointcloud indices
approximate_sync bool false flag to use approximate sync option

Assumptions / Known limits

autoware::pointcloud_preprocessor::Filter is implemented based on pcl_perception [1] because of this issue.

[1] https://github.com/ros-perception/perception_pcl/blob/ros2/pcl_ros/src/pcl_ros/filters/filter.cpp

CHANGELOG

Changelog for package autoware_ground_segmentation

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
  • feat(autoware_ground_segmentation): apply agnocast_wrapper::Node to scan_ground_filter (#13385) Derive ScanGroundFilterComponent from AgnocastFilter, the FilterBase<autoware::agnocast_wrapper::Node> instantiation, and register it through autoware_agnocast_wrapper_register_node on an agnocast-only callback-isolated executor. Both launch files start the standalone executable with the heaphook preloaded when ENABLE_AGNOCAST=1: scan_ground_filter.launch.xml already launched it as a node, and scan_ground_filter.launch.py now stops loading the component into an rclcpp container, where its agnocast callbacks would never be spun.
  • refactor(perception): move node design files into each package (#13104) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
  • Contributors: Koichi Imai, Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

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

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

  • refactor(autoware_ground_segmentation/launch, autoware_probabilistic_occupancy_grid_map/launch): use launch substitution instead of get_package_share_directory (#12392)

    • refactor: use launch substitution instead of get_package_share_directory

    * use existing file for default ---------

  • perf(perception): use emplace_back and emplace to avoid temporary object creation (#12201)

    • perf(perception): use emplace_back to avoid temporary object creation
    • style(pre-commit): autofix
    • perf(perception): use emplace/emplace_back for most containers

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE <<taekjin.lee@tier4.jp>>

  • Contributors: Taekjin LEE, Taeseung Sohn, github-actions, nishikawa-masaki

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat!: remove ROS 2 Galactic codes (#11905)
  • Contributors: Ryohsuke Mitsudome

0.49.0 (2025-12-30)

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

  • refactor(ground_segmentation): remove grid_mode_switch_radius param (#11773)

    • remove grid mode switch radius
    • fix: spelling check
    • chore: typo
    • style(pre-commit): autofix
    • fix c-style
    • chore: remove unused variable
    • remove unused origin_z
    • remove virtual_lidar_z

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

  • fix(autoware_ground_segmentation): add empty point cloud guards (#11749) Add validation to check for empty point clouds before processing to prevent undefined behavior in PCL functions and potential crashes.

    • Add guard in ray_ground_filter
    • Add guard in ransac_ground_filter

  • Contributors: Ryohsuke Mitsudome, Yutaka Kondo, badai nguyen

File truncated at 100 lines see the full file

Launch files

  • launch/ransac_ground_filter.launch.xml
      • ground_segmentation_param_file [default: $(find-pkg-share autoware_ground_segmentation)/config/ransac_ground_filter.param.yaml]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
  • launch/ray_ground_filter.launch.xml
      • ground_segmentation_param_file [default: $(find-pkg-share autoware_ground_segmentation)/config/ray_ground_filter.param.yaml]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
  • launch/scan_ground_filter.launch.xml
      • ground_segmentation_param_file [default: $(find-pkg-share autoware_ground_segmentation)/config/scan_ground_filter.param.yaml]
      • vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_ground_segmentation at Robotics Stack Exchange

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

autoware_ground_segmentation 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 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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 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autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Version 0.53.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-10-26
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The ROS 2 autoware_ground_segmentation package

Maintainers

  • amc-nu
  • Yukihiro Saito
  • Dai Nguyen
  • Yoshi Ri
  • Taekjin Lee

Authors

  • Open Perception
  • Julius Kammerl
  • William Woodall
perception/autoware_ground_segmentation/README.md

autoware_ground_segmentation

Purpose

The autoware_ground_segmentation is a node that remove the ground points from the input pointcloud.

Inner-workings / Algorithms

Detail description of each ground segmentation algorithm is in the following links.

Filter Name Description Detail
ray_ground_filter A method of removing the ground based on the geometrical relationship between points lined up on radiation link
scan_ground_filter Almost the same method as ray_ground_filter, but with slightly improved performance link
ransac_ground_filter A method of removing the ground by approximating the ground to a plane link

Inputs / Outputs

Input

Name Type Description
~/input/points sensor_msgs::msg::PointCloud2 reference points
~/input/indices pcl_msgs::msg::Indices reference indices

Output

Name Type Description
~/output/points sensor_msgs::msg::PointCloud2 filtered points

Parameters

Node Parameters

Name Type Default Value Description
input_frame string ” “ input frame id
output_frame string ” “ output frame id
max_queue_size int 5 max queue size of input/output topics
use_indices bool false flag to use pointcloud indices
latched_indices bool false flag to latch pointcloud indices
approximate_sync bool false flag to use approximate sync option

Assumptions / Known limits

autoware::pointcloud_preprocessor::Filter is implemented based on pcl_perception [1] because of this issue.

[1] https://github.com/ros-perception/perception_pcl/blob/ros2/pcl_ros/src/pcl_ros/filters/filter.cpp

CHANGELOG

Changelog for package autoware_ground_segmentation

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
  • feat(autoware_ground_segmentation): apply agnocast_wrapper::Node to scan_ground_filter (#13385) Derive ScanGroundFilterComponent from AgnocastFilter, the FilterBase<autoware::agnocast_wrapper::Node> instantiation, and register it through autoware_agnocast_wrapper_register_node on an agnocast-only callback-isolated executor. Both launch files start the standalone executable with the heaphook preloaded when ENABLE_AGNOCAST=1: scan_ground_filter.launch.xml already launched it as a node, and scan_ground_filter.launch.py now stops loading the component into an rclcpp container, where its agnocast callbacks would never be spun.
  • refactor(perception): move node design files into each package (#13104) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
  • Contributors: Koichi Imai, Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

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

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

  • refactor(autoware_ground_segmentation/launch, autoware_probabilistic_occupancy_grid_map/launch): use launch substitution instead of get_package_share_directory (#12392)

    • refactor: use launch substitution instead of get_package_share_directory

    * use existing file for default ---------

  • perf(perception): use emplace_back and emplace to avoid temporary object creation (#12201)

    • perf(perception): use emplace_back to avoid temporary object creation
    • style(pre-commit): autofix
    • perf(perception): use emplace/emplace_back for most containers

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE <<taekjin.lee@tier4.jp>>

  • Contributors: Taekjin LEE, Taeseung Sohn, github-actions, nishikawa-masaki

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat!: remove ROS 2 Galactic codes (#11905)
  • Contributors: Ryohsuke Mitsudome

0.49.0 (2025-12-30)

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

  • refactor(ground_segmentation): remove grid_mode_switch_radius param (#11773)

    • remove grid mode switch radius
    • fix: spelling check
    • chore: typo
    • style(pre-commit): autofix
    • fix c-style
    • chore: remove unused variable
    • remove unused origin_z
    • remove virtual_lidar_z

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

  • fix(autoware_ground_segmentation): add empty point cloud guards (#11749) Add validation to check for empty point clouds before processing to prevent undefined behavior in PCL functions and potential crashes.

    • Add guard in ray_ground_filter
    • Add guard in ransac_ground_filter

  • Contributors: Ryohsuke Mitsudome, Yutaka Kondo, badai nguyen

File truncated at 100 lines see the full file

Launch files

  • launch/ransac_ground_filter.launch.xml
      • ground_segmentation_param_file [default: $(find-pkg-share autoware_ground_segmentation)/config/ransac_ground_filter.param.yaml]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
  • launch/ray_ground_filter.launch.xml
      • ground_segmentation_param_file [default: $(find-pkg-share autoware_ground_segmentation)/config/ray_ground_filter.param.yaml]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
  • launch/scan_ground_filter.launch.xml
      • ground_segmentation_param_file [default: $(find-pkg-share autoware_ground_segmentation)/config/scan_ground_filter.param.yaml]
      • vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_ground_segmentation at Robotics Stack Exchange

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Package symbol

autoware_ground_segmentation package from autoware_universe repo

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

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 2026-10-26
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The ROS 2 autoware_ground_segmentation package

Maintainers

  • amc-nu
  • Yukihiro Saito
  • Dai Nguyen
  • Yoshi Ri
  • Taekjin Lee

Authors

  • Open Perception
  • Julius Kammerl
  • William Woodall
perception/autoware_ground_segmentation/README.md

autoware_ground_segmentation

Purpose

The autoware_ground_segmentation is a node that remove the ground points from the input pointcloud.

Inner-workings / Algorithms

Detail description of each ground segmentation algorithm is in the following links.

Filter Name Description Detail
ray_ground_filter A method of removing the ground based on the geometrical relationship between points lined up on radiation link
scan_ground_filter Almost the same method as ray_ground_filter, but with slightly improved performance link
ransac_ground_filter A method of removing the ground by approximating the ground to a plane link

Inputs / Outputs

Input

Name Type Description
~/input/points sensor_msgs::msg::PointCloud2 reference points
~/input/indices pcl_msgs::msg::Indices reference indices

Output

Name Type Description
~/output/points sensor_msgs::msg::PointCloud2 filtered points

Parameters

Node Parameters

Name Type Default Value Description
input_frame string ” “ input frame id
output_frame string ” “ output frame id
max_queue_size int 5 max queue size of input/output topics
use_indices bool false flag to use pointcloud indices
latched_indices bool false flag to latch pointcloud indices
approximate_sync bool false flag to use approximate sync option

Assumptions / Known limits

autoware::pointcloud_preprocessor::Filter is implemented based on pcl_perception [1] because of this issue.

[1] https://github.com/ros-perception/perception_pcl/blob/ros2/pcl_ros/src/pcl_ros/filters/filter.cpp

CHANGELOG

Changelog for package autoware_ground_segmentation

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
  • feat(autoware_ground_segmentation): apply agnocast_wrapper::Node to scan_ground_filter (#13385) Derive ScanGroundFilterComponent from AgnocastFilter, the FilterBase<autoware::agnocast_wrapper::Node> instantiation, and register it through autoware_agnocast_wrapper_register_node on an agnocast-only callback-isolated executor. Both launch files start the standalone executable with the heaphook preloaded when ENABLE_AGNOCAST=1: scan_ground_filter.launch.xml already launched it as a node, and scan_ground_filter.launch.py now stops loading the component into an rclcpp container, where its agnocast callbacks would never be spun.
  • refactor(perception): move node design files into each package (#13104) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
  • Contributors: Koichi Imai, Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

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

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

  • refactor(autoware_ground_segmentation/launch, autoware_probabilistic_occupancy_grid_map/launch): use launch substitution instead of get_package_share_directory (#12392)

    • refactor: use launch substitution instead of get_package_share_directory

    * use existing file for default ---------

  • perf(perception): use emplace_back and emplace to avoid temporary object creation (#12201)

    • perf(perception): use emplace_back to avoid temporary object creation
    • style(pre-commit): autofix
    • perf(perception): use emplace/emplace_back for most containers

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE <<taekjin.lee@tier4.jp>>

  • Contributors: Taekjin LEE, Taeseung Sohn, github-actions, nishikawa-masaki

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat!: remove ROS 2 Galactic codes (#11905)
  • Contributors: Ryohsuke Mitsudome

0.49.0 (2025-12-30)

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

  • refactor(ground_segmentation): remove grid_mode_switch_radius param (#11773)

    • remove grid mode switch radius
    • fix: spelling check
    • chore: typo
    • style(pre-commit): autofix
    • fix c-style
    • chore: remove unused variable
    • remove unused origin_z
    • remove virtual_lidar_z

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

  • fix(autoware_ground_segmentation): add empty point cloud guards (#11749) Add validation to check for empty point clouds before processing to prevent undefined behavior in PCL functions and potential crashes.

    • Add guard in ray_ground_filter
    • Add guard in ransac_ground_filter

  • Contributors: Ryohsuke Mitsudome, Yutaka Kondo, badai nguyen

File truncated at 100 lines see the full file

Launch files

  • launch/ransac_ground_filter.launch.xml
      • ground_segmentation_param_file [default: $(find-pkg-share autoware_ground_segmentation)/config/ransac_ground_filter.param.yaml]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
  • launch/ray_ground_filter.launch.xml
      • ground_segmentation_param_file [default: $(find-pkg-share autoware_ground_segmentation)/config/ray_ground_filter.param.yaml]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
  • launch/scan_ground_filter.launch.xml
      • ground_segmentation_param_file [default: $(find-pkg-share autoware_ground_segmentation)/config/scan_ground_filter.param.yaml]
      • vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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autoware_ground_segmentation 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 2026-10-26
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The ROS 2 autoware_ground_segmentation package

Maintainers

  • amc-nu
  • Yukihiro Saito
  • Dai Nguyen
  • Yoshi Ri
  • Taekjin Lee

Authors

  • Open Perception
  • Julius Kammerl
  • William Woodall
perception/autoware_ground_segmentation/README.md

autoware_ground_segmentation

Purpose

The autoware_ground_segmentation is a node that remove the ground points from the input pointcloud.

Inner-workings / Algorithms

Detail description of each ground segmentation algorithm is in the following links.

Filter Name Description Detail
ray_ground_filter A method of removing the ground based on the geometrical relationship between points lined up on radiation link
scan_ground_filter Almost the same method as ray_ground_filter, but with slightly improved performance link
ransac_ground_filter A method of removing the ground by approximating the ground to a plane link

Inputs / Outputs

Input

Name Type Description
~/input/points sensor_msgs::msg::PointCloud2 reference points
~/input/indices pcl_msgs::msg::Indices reference indices

Output

Name Type Description
~/output/points sensor_msgs::msg::PointCloud2 filtered points

Parameters

Node Parameters

Name Type Default Value Description
input_frame string ” “ input frame id
output_frame string ” “ output frame id
max_queue_size int 5 max queue size of input/output topics
use_indices bool false flag to use pointcloud indices
latched_indices bool false flag to latch pointcloud indices
approximate_sync bool false flag to use approximate sync option

Assumptions / Known limits

autoware::pointcloud_preprocessor::Filter is implemented based on pcl_perception [1] because of this issue.

[1] https://github.com/ros-perception/perception_pcl/blob/ros2/pcl_ros/src/pcl_ros/filters/filter.cpp

CHANGELOG

Changelog for package autoware_ground_segmentation

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
  • feat(autoware_ground_segmentation): apply agnocast_wrapper::Node to scan_ground_filter (#13385) Derive ScanGroundFilterComponent from AgnocastFilter, the FilterBase<autoware::agnocast_wrapper::Node> instantiation, and register it through autoware_agnocast_wrapper_register_node on an agnocast-only callback-isolated executor. Both launch files start the standalone executable with the heaphook preloaded when ENABLE_AGNOCAST=1: scan_ground_filter.launch.xml already launched it as a node, and scan_ground_filter.launch.py now stops loading the component into an rclcpp container, where its agnocast callbacks would never be spun.
  • refactor(perception): move node design files into each package (#13104) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
  • Contributors: Koichi Imai, Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

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

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

  • refactor(autoware_ground_segmentation/launch, autoware_probabilistic_occupancy_grid_map/launch): use launch substitution instead of get_package_share_directory (#12392)

    • refactor: use launch substitution instead of get_package_share_directory

    * use existing file for default ---------

  • perf(perception): use emplace_back and emplace to avoid temporary object creation (#12201)

    • perf(perception): use emplace_back to avoid temporary object creation
    • style(pre-commit): autofix
    • perf(perception): use emplace/emplace_back for most containers

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE <<taekjin.lee@tier4.jp>>

  • Contributors: Taekjin LEE, Taeseung Sohn, github-actions, nishikawa-masaki

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat!: remove ROS 2 Galactic codes (#11905)
  • Contributors: Ryohsuke Mitsudome

0.49.0 (2025-12-30)

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

  • refactor(ground_segmentation): remove grid_mode_switch_radius param (#11773)

    • remove grid mode switch radius
    • fix: spelling check
    • chore: typo
    • style(pre-commit): autofix
    • fix c-style
    • chore: remove unused variable
    • remove unused origin_z
    • remove virtual_lidar_z

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

  • fix(autoware_ground_segmentation): add empty point cloud guards (#11749) Add validation to check for empty point clouds before processing to prevent undefined behavior in PCL functions and potential crashes.

    • Add guard in ray_ground_filter
    • Add guard in ransac_ground_filter

  • Contributors: Ryohsuke Mitsudome, Yutaka Kondo, badai nguyen

File truncated at 100 lines see the full file

Launch files

  • launch/ransac_ground_filter.launch.xml
      • ground_segmentation_param_file [default: $(find-pkg-share autoware_ground_segmentation)/config/ransac_ground_filter.param.yaml]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
  • launch/ray_ground_filter.launch.xml
      • ground_segmentation_param_file [default: $(find-pkg-share autoware_ground_segmentation)/config/ray_ground_filter.param.yaml]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
  • launch/scan_ground_filter.launch.xml
      • ground_segmentation_param_file [default: $(find-pkg-share autoware_ground_segmentation)/config/scan_ground_filter.param.yaml]
      • vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_ground_segmentation at Robotics Stack Exchange

Package symbol

autoware_ground_segmentation 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 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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 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Package Summary

Version 0.53.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-10-26
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The ROS 2 autoware_ground_segmentation package

Maintainers

  • amc-nu
  • Yukihiro Saito
  • Dai Nguyen
  • Yoshi Ri
  • Taekjin Lee

Authors

  • Open Perception
  • Julius Kammerl
  • William Woodall
perception/autoware_ground_segmentation/README.md

autoware_ground_segmentation

Purpose

The autoware_ground_segmentation is a node that remove the ground points from the input pointcloud.

Inner-workings / Algorithms

Detail description of each ground segmentation algorithm is in the following links.

Filter Name Description Detail
ray_ground_filter A method of removing the ground based on the geometrical relationship between points lined up on radiation link
scan_ground_filter Almost the same method as ray_ground_filter, but with slightly improved performance link
ransac_ground_filter A method of removing the ground by approximating the ground to a plane link

Inputs / Outputs

Input

Name Type Description
~/input/points sensor_msgs::msg::PointCloud2 reference points
~/input/indices pcl_msgs::msg::Indices reference indices

Output

Name Type Description
~/output/points sensor_msgs::msg::PointCloud2 filtered points

Parameters

Node Parameters

Name Type Default Value Description
input_frame string ” “ input frame id
output_frame string ” “ output frame id
max_queue_size int 5 max queue size of input/output topics
use_indices bool false flag to use pointcloud indices
latched_indices bool false flag to latch pointcloud indices
approximate_sync bool false flag to use approximate sync option

Assumptions / Known limits

autoware::pointcloud_preprocessor::Filter is implemented based on pcl_perception [1] because of this issue.

[1] https://github.com/ros-perception/perception_pcl/blob/ros2/pcl_ros/src/pcl_ros/filters/filter.cpp

CHANGELOG

Changelog for package autoware_ground_segmentation

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
  • feat(autoware_ground_segmentation): apply agnocast_wrapper::Node to scan_ground_filter (#13385) Derive ScanGroundFilterComponent from AgnocastFilter, the FilterBase<autoware::agnocast_wrapper::Node> instantiation, and register it through autoware_agnocast_wrapper_register_node on an agnocast-only callback-isolated executor. Both launch files start the standalone executable with the heaphook preloaded when ENABLE_AGNOCAST=1: scan_ground_filter.launch.xml already launched it as a node, and scan_ground_filter.launch.py now stops loading the component into an rclcpp container, where its agnocast callbacks would never be spun.
  • refactor(perception): move node design files into each package (#13104) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
  • Contributors: Koichi Imai, Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

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

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

  • refactor(autoware_ground_segmentation/launch, autoware_probabilistic_occupancy_grid_map/launch): use launch substitution instead of get_package_share_directory (#12392)

    • refactor: use launch substitution instead of get_package_share_directory

    * use existing file for default ---------

  • perf(perception): use emplace_back and emplace to avoid temporary object creation (#12201)

    • perf(perception): use emplace_back to avoid temporary object creation
    • style(pre-commit): autofix
    • perf(perception): use emplace/emplace_back for most containers

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE <<taekjin.lee@tier4.jp>>

  • Contributors: Taekjin LEE, Taeseung Sohn, github-actions, nishikawa-masaki

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat!: remove ROS 2 Galactic codes (#11905)
  • Contributors: Ryohsuke Mitsudome

0.49.0 (2025-12-30)

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

  • refactor(ground_segmentation): remove grid_mode_switch_radius param (#11773)

    • remove grid mode switch radius
    • fix: spelling check
    • chore: typo
    • style(pre-commit): autofix
    • fix c-style
    • chore: remove unused variable
    • remove unused origin_z
    • remove virtual_lidar_z

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

  • fix(autoware_ground_segmentation): add empty point cloud guards (#11749) Add validation to check for empty point clouds before processing to prevent undefined behavior in PCL functions and potential crashes.

    • Add guard in ray_ground_filter
    • Add guard in ransac_ground_filter

  • Contributors: Ryohsuke Mitsudome, Yutaka Kondo, badai nguyen

File truncated at 100 lines see the full file

Launch files

  • launch/ransac_ground_filter.launch.xml
      • ground_segmentation_param_file [default: $(find-pkg-share autoware_ground_segmentation)/config/ransac_ground_filter.param.yaml]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
  • launch/ray_ground_filter.launch.xml
      • ground_segmentation_param_file [default: $(find-pkg-share autoware_ground_segmentation)/config/ray_ground_filter.param.yaml]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
  • launch/scan_ground_filter.launch.xml
      • ground_segmentation_param_file [default: $(find-pkg-share autoware_ground_segmentation)/config/scan_ground_filter.param.yaml]
      • vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]

Messages

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Services

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Plugins

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Recent questions tagged autoware_ground_segmentation at Robotics Stack Exchange

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autoware_ground_segmentation package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider 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autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet 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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 2026-10-26
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The ROS 2 autoware_ground_segmentation package

Maintainers

  • amc-nu
  • Yukihiro Saito
  • Dai Nguyen
  • Yoshi Ri
  • Taekjin Lee

Authors

  • Open Perception
  • Julius Kammerl
  • William Woodall
perception/autoware_ground_segmentation/README.md

autoware_ground_segmentation

Purpose

The autoware_ground_segmentation is a node that remove the ground points from the input pointcloud.

Inner-workings / Algorithms

Detail description of each ground segmentation algorithm is in the following links.

Filter Name Description Detail
ray_ground_filter A method of removing the ground based on the geometrical relationship between points lined up on radiation link
scan_ground_filter Almost the same method as ray_ground_filter, but with slightly improved performance link
ransac_ground_filter A method of removing the ground by approximating the ground to a plane link

Inputs / Outputs

Input

Name Type Description
~/input/points sensor_msgs::msg::PointCloud2 reference points
~/input/indices pcl_msgs::msg::Indices reference indices

Output

Name Type Description
~/output/points sensor_msgs::msg::PointCloud2 filtered points

Parameters

Node Parameters

Name Type Default Value Description
input_frame string ” “ input frame id
output_frame string ” “ output frame id
max_queue_size int 5 max queue size of input/output topics
use_indices bool false flag to use pointcloud indices
latched_indices bool false flag to latch pointcloud indices
approximate_sync bool false flag to use approximate sync option

Assumptions / Known limits

autoware::pointcloud_preprocessor::Filter is implemented based on pcl_perception [1] because of this issue.

[1] https://github.com/ros-perception/perception_pcl/blob/ros2/pcl_ros/src/pcl_ros/filters/filter.cpp

CHANGELOG

Changelog for package autoware_ground_segmentation

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
  • feat(autoware_ground_segmentation): apply agnocast_wrapper::Node to scan_ground_filter (#13385) Derive ScanGroundFilterComponent from AgnocastFilter, the FilterBase<autoware::agnocast_wrapper::Node> instantiation, and register it through autoware_agnocast_wrapper_register_node on an agnocast-only callback-isolated executor. Both launch files start the standalone executable with the heaphook preloaded when ENABLE_AGNOCAST=1: scan_ground_filter.launch.xml already launched it as a node, and scan_ground_filter.launch.py now stops loading the component into an rclcpp container, where its agnocast callbacks would never be spun.
  • refactor(perception): move node design files into each package (#13104) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
  • Contributors: Koichi Imai, Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

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

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

  • refactor(autoware_ground_segmentation/launch, autoware_probabilistic_occupancy_grid_map/launch): use launch substitution instead of get_package_share_directory (#12392)

    • refactor: use launch substitution instead of get_package_share_directory

    * use existing file for default ---------

  • perf(perception): use emplace_back and emplace to avoid temporary object creation (#12201)

    • perf(perception): use emplace_back to avoid temporary object creation
    • style(pre-commit): autofix
    • perf(perception): use emplace/emplace_back for most containers

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE <<taekjin.lee@tier4.jp>>

  • Contributors: Taekjin LEE, Taeseung Sohn, github-actions, nishikawa-masaki

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat!: remove ROS 2 Galactic codes (#11905)
  • Contributors: Ryohsuke Mitsudome

0.49.0 (2025-12-30)

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

  • refactor(ground_segmentation): remove grid_mode_switch_radius param (#11773)

    • remove grid mode switch radius
    • fix: spelling check
    • chore: typo
    • style(pre-commit): autofix
    • fix c-style
    • chore: remove unused variable
    • remove unused origin_z
    • remove virtual_lidar_z

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

  • fix(autoware_ground_segmentation): add empty point cloud guards (#11749) Add validation to check for empty point clouds before processing to prevent undefined behavior in PCL functions and potential crashes.

    • Add guard in ray_ground_filter
    • Add guard in ransac_ground_filter

  • Contributors: Ryohsuke Mitsudome, Yutaka Kondo, badai nguyen

File truncated at 100 lines see the full file

Launch files

  • launch/ransac_ground_filter.launch.xml
      • ground_segmentation_param_file [default: $(find-pkg-share autoware_ground_segmentation)/config/ransac_ground_filter.param.yaml]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
  • launch/ray_ground_filter.launch.xml
      • ground_segmentation_param_file [default: $(find-pkg-share autoware_ground_segmentation)/config/ray_ground_filter.param.yaml]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
  • launch/scan_ground_filter.launch.xml
      • ground_segmentation_param_file [default: $(find-pkg-share autoware_ground_segmentation)/config/scan_ground_filter.param.yaml]
      • vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_ground_segmentation at Robotics Stack Exchange

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

autoware_ground_segmentation 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 2026-10-26
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The ROS 2 autoware_ground_segmentation package

Maintainers

  • amc-nu
  • Yukihiro Saito
  • Dai Nguyen
  • Yoshi Ri
  • Taekjin Lee

Authors

  • Open Perception
  • Julius Kammerl
  • William Woodall
perception/autoware_ground_segmentation/README.md

autoware_ground_segmentation

Purpose

The autoware_ground_segmentation is a node that remove the ground points from the input pointcloud.

Inner-workings / Algorithms

Detail description of each ground segmentation algorithm is in the following links.

Filter Name Description Detail
ray_ground_filter A method of removing the ground based on the geometrical relationship between points lined up on radiation link
scan_ground_filter Almost the same method as ray_ground_filter, but with slightly improved performance link
ransac_ground_filter A method of removing the ground by approximating the ground to a plane link

Inputs / Outputs

Input

Name Type Description
~/input/points sensor_msgs::msg::PointCloud2 reference points
~/input/indices pcl_msgs::msg::Indices reference indices

Output

Name Type Description
~/output/points sensor_msgs::msg::PointCloud2 filtered points

Parameters

Node Parameters

Name Type Default Value Description
input_frame string ” “ input frame id
output_frame string ” “ output frame id
max_queue_size int 5 max queue size of input/output topics
use_indices bool false flag to use pointcloud indices
latched_indices bool false flag to latch pointcloud indices
approximate_sync bool false flag to use approximate sync option

Assumptions / Known limits

autoware::pointcloud_preprocessor::Filter is implemented based on pcl_perception [1] because of this issue.

[1] https://github.com/ros-perception/perception_pcl/blob/ros2/pcl_ros/src/pcl_ros/filters/filter.cpp

CHANGELOG

Changelog for package autoware_ground_segmentation

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
  • feat(autoware_ground_segmentation): apply agnocast_wrapper::Node to scan_ground_filter (#13385) Derive ScanGroundFilterComponent from AgnocastFilter, the FilterBase<autoware::agnocast_wrapper::Node> instantiation, and register it through autoware_agnocast_wrapper_register_node on an agnocast-only callback-isolated executor. Both launch files start the standalone executable with the heaphook preloaded when ENABLE_AGNOCAST=1: scan_ground_filter.launch.xml already launched it as a node, and scan_ground_filter.launch.py now stops loading the component into an rclcpp container, where its agnocast callbacks would never be spun.
  • refactor(perception): move node design files into each package (#13104) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
  • Contributors: Koichi Imai, Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

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

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

  • refactor(autoware_ground_segmentation/launch, autoware_probabilistic_occupancy_grid_map/launch): use launch substitution instead of get_package_share_directory (#12392)

    • refactor: use launch substitution instead of get_package_share_directory

    * use existing file for default ---------

  • perf(perception): use emplace_back and emplace to avoid temporary object creation (#12201)

    • perf(perception): use emplace_back to avoid temporary object creation
    • style(pre-commit): autofix
    • perf(perception): use emplace/emplace_back for most containers

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE <<taekjin.lee@tier4.jp>>

  • Contributors: Taekjin LEE, Taeseung Sohn, github-actions, nishikawa-masaki

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat!: remove ROS 2 Galactic codes (#11905)
  • Contributors: Ryohsuke Mitsudome

0.49.0 (2025-12-30)

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

  • refactor(ground_segmentation): remove grid_mode_switch_radius param (#11773)

    • remove grid mode switch radius
    • fix: spelling check
    • chore: typo
    • style(pre-commit): autofix
    • fix c-style
    • chore: remove unused variable
    • remove unused origin_z
    • remove virtual_lidar_z

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

  • fix(autoware_ground_segmentation): add empty point cloud guards (#11749) Add validation to check for empty point clouds before processing to prevent undefined behavior in PCL functions and potential crashes.

    • Add guard in ray_ground_filter
    • Add guard in ransac_ground_filter

  • Contributors: Ryohsuke Mitsudome, Yutaka Kondo, badai nguyen

File truncated at 100 lines see the full file

Launch files

  • launch/ransac_ground_filter.launch.xml
      • ground_segmentation_param_file [default: $(find-pkg-share autoware_ground_segmentation)/config/ransac_ground_filter.param.yaml]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
  • launch/ray_ground_filter.launch.xml
      • ground_segmentation_param_file [default: $(find-pkg-share autoware_ground_segmentation)/config/ray_ground_filter.param.yaml]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
  • launch/scan_ground_filter.launch.xml
      • ground_segmentation_param_file [default: $(find-pkg-share autoware_ground_segmentation)/config/scan_ground_filter.param.yaml]
      • vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_ground_segmentation at Robotics Stack Exchange

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autoware_ground_segmentation package from autoware_universe repo

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

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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 2026-10-26
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The ROS 2 autoware_ground_segmentation package

Maintainers

  • amc-nu
  • Yukihiro Saito
  • Dai Nguyen
  • Yoshi Ri
  • Taekjin Lee

Authors

  • Open Perception
  • Julius Kammerl
  • William Woodall
perception/autoware_ground_segmentation/README.md

autoware_ground_segmentation

Purpose

The autoware_ground_segmentation is a node that remove the ground points from the input pointcloud.

Inner-workings / Algorithms

Detail description of each ground segmentation algorithm is in the following links.

Filter Name Description Detail
ray_ground_filter A method of removing the ground based on the geometrical relationship between points lined up on radiation link
scan_ground_filter Almost the same method as ray_ground_filter, but with slightly improved performance link
ransac_ground_filter A method of removing the ground by approximating the ground to a plane link

Inputs / Outputs

Input

Name Type Description
~/input/points sensor_msgs::msg::PointCloud2 reference points
~/input/indices pcl_msgs::msg::Indices reference indices

Output

Name Type Description
~/output/points sensor_msgs::msg::PointCloud2 filtered points

Parameters

Node Parameters

Name Type Default Value Description
input_frame string ” “ input frame id
output_frame string ” “ output frame id
max_queue_size int 5 max queue size of input/output topics
use_indices bool false flag to use pointcloud indices
latched_indices bool false flag to latch pointcloud indices
approximate_sync bool false flag to use approximate sync option

Assumptions / Known limits

autoware::pointcloud_preprocessor::Filter is implemented based on pcl_perception [1] because of this issue.

[1] https://github.com/ros-perception/perception_pcl/blob/ros2/pcl_ros/src/pcl_ros/filters/filter.cpp

CHANGELOG

Changelog for package autoware_ground_segmentation

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
  • feat(autoware_ground_segmentation): apply agnocast_wrapper::Node to scan_ground_filter (#13385) Derive ScanGroundFilterComponent from AgnocastFilter, the FilterBase<autoware::agnocast_wrapper::Node> instantiation, and register it through autoware_agnocast_wrapper_register_node on an agnocast-only callback-isolated executor. Both launch files start the standalone executable with the heaphook preloaded when ENABLE_AGNOCAST=1: scan_ground_filter.launch.xml already launched it as a node, and scan_ground_filter.launch.py now stops loading the component into an rclcpp container, where its agnocast callbacks would never be spun.
  • refactor(perception): move node design files into each package (#13104) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
  • Contributors: Koichi Imai, Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

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

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

  • refactor(autoware_ground_segmentation/launch, autoware_probabilistic_occupancy_grid_map/launch): use launch substitution instead of get_package_share_directory (#12392)

    • refactor: use launch substitution instead of get_package_share_directory

    * use existing file for default ---------

  • perf(perception): use emplace_back and emplace to avoid temporary object creation (#12201)

    • perf(perception): use emplace_back to avoid temporary object creation
    • style(pre-commit): autofix
    • perf(perception): use emplace/emplace_back for most containers

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE <<taekjin.lee@tier4.jp>>

  • Contributors: Taekjin LEE, Taeseung Sohn, github-actions, nishikawa-masaki

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat!: remove ROS 2 Galactic codes (#11905)
  • Contributors: Ryohsuke Mitsudome

0.49.0 (2025-12-30)

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

  • refactor(ground_segmentation): remove grid_mode_switch_radius param (#11773)

    • remove grid mode switch radius
    • fix: spelling check
    • chore: typo
    • style(pre-commit): autofix
    • fix c-style
    • chore: remove unused variable
    • remove unused origin_z
    • remove virtual_lidar_z

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

  • fix(autoware_ground_segmentation): add empty point cloud guards (#11749) Add validation to check for empty point clouds before processing to prevent undefined behavior in PCL functions and potential crashes.

    • Add guard in ray_ground_filter
    • Add guard in ransac_ground_filter

  • Contributors: Ryohsuke Mitsudome, Yutaka Kondo, badai nguyen

File truncated at 100 lines see the full file

Launch files

  • launch/ransac_ground_filter.launch.xml
      • ground_segmentation_param_file [default: $(find-pkg-share autoware_ground_segmentation)/config/ransac_ground_filter.param.yaml]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
  • launch/ray_ground_filter.launch.xml
      • ground_segmentation_param_file [default: $(find-pkg-share autoware_ground_segmentation)/config/ray_ground_filter.param.yaml]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
  • launch/scan_ground_filter.launch.xml
      • ground_segmentation_param_file [default: $(find-pkg-share autoware_ground_segmentation)/config/scan_ground_filter.param.yaml]
      • vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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autoware_ground_segmentation 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 2026-10-26
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The ROS 2 autoware_ground_segmentation package

Maintainers

  • amc-nu
  • Yukihiro Saito
  • Dai Nguyen
  • Yoshi Ri
  • Taekjin Lee

Authors

  • Open Perception
  • Julius Kammerl
  • William Woodall
perception/autoware_ground_segmentation/README.md

autoware_ground_segmentation

Purpose

The autoware_ground_segmentation is a node that remove the ground points from the input pointcloud.

Inner-workings / Algorithms

Detail description of each ground segmentation algorithm is in the following links.

Filter Name Description Detail
ray_ground_filter A method of removing the ground based on the geometrical relationship between points lined up on radiation link
scan_ground_filter Almost the same method as ray_ground_filter, but with slightly improved performance link
ransac_ground_filter A method of removing the ground by approximating the ground to a plane link

Inputs / Outputs

Input

Name Type Description
~/input/points sensor_msgs::msg::PointCloud2 reference points
~/input/indices pcl_msgs::msg::Indices reference indices

Output

Name Type Description
~/output/points sensor_msgs::msg::PointCloud2 filtered points

Parameters

Node Parameters

Name Type Default Value Description
input_frame string ” “ input frame id
output_frame string ” “ output frame id
max_queue_size int 5 max queue size of input/output topics
use_indices bool false flag to use pointcloud indices
latched_indices bool false flag to latch pointcloud indices
approximate_sync bool false flag to use approximate sync option

Assumptions / Known limits

autoware::pointcloud_preprocessor::Filter is implemented based on pcl_perception [1] because of this issue.

[1] https://github.com/ros-perception/perception_pcl/blob/ros2/pcl_ros/src/pcl_ros/filters/filter.cpp

CHANGELOG

Changelog for package autoware_ground_segmentation

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog
  • feat(autoware_ground_segmentation): apply agnocast_wrapper::Node to scan_ground_filter (#13385) Derive ScanGroundFilterComponent from AgnocastFilter, the FilterBase<autoware::agnocast_wrapper::Node> instantiation, and register it through autoware_agnocast_wrapper_register_node on an agnocast-only callback-isolated executor. Both launch files start the standalone executable with the heaphook preloaded when ENABLE_AGNOCAST=1: scan_ground_filter.launch.xml already launched it as a node, and scan_ground_filter.launch.py now stops loading the component into an rclcpp container, where its agnocast callbacks would never be spun.
  • refactor(perception): move node design files into each package (#13104) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>
  • Contributors: Koichi Imai, Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

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

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

  • refactor(autoware_ground_segmentation/launch, autoware_probabilistic_occupancy_grid_map/launch): use launch substitution instead of get_package_share_directory (#12392)

    • refactor: use launch substitution instead of get_package_share_directory

    * use existing file for default ---------

  • perf(perception): use emplace_back and emplace to avoid temporary object creation (#12201)

    • perf(perception): use emplace_back to avoid temporary object creation
    • style(pre-commit): autofix
    • perf(perception): use emplace/emplace_back for most containers

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE <<taekjin.lee@tier4.jp>>

  • Contributors: Taekjin LEE, Taeseung Sohn, github-actions, nishikawa-masaki

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat!: remove ROS 2 Galactic codes (#11905)
  • Contributors: Ryohsuke Mitsudome

0.49.0 (2025-12-30)

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

  • refactor(ground_segmentation): remove grid_mode_switch_radius param (#11773)

    • remove grid mode switch radius
    • fix: spelling check
    • chore: typo
    • style(pre-commit): autofix
    • fix c-style
    • chore: remove unused variable
    • remove unused origin_z
    • remove virtual_lidar_z

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

  • fix(autoware_ground_segmentation): add empty point cloud guards (#11749) Add validation to check for empty point clouds before processing to prevent undefined behavior in PCL functions and potential crashes.

    • Add guard in ray_ground_filter
    • Add guard in ransac_ground_filter

  • Contributors: Ryohsuke Mitsudome, Yutaka Kondo, badai nguyen

File truncated at 100 lines see the full file

Launch files

  • launch/ransac_ground_filter.launch.xml
      • ground_segmentation_param_file [default: $(find-pkg-share autoware_ground_segmentation)/config/ransac_ground_filter.param.yaml]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
  • launch/ray_ground_filter.launch.xml
      • ground_segmentation_param_file [default: $(find-pkg-share autoware_ground_segmentation)/config/ray_ground_filter.param.yaml]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
  • launch/scan_ground_filter.launch.xml
      • ground_segmentation_param_file [default: $(find-pkg-share autoware_ground_segmentation)/config/scan_ground_filter.param.yaml]
      • vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]

Messages

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Services

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Plugins

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