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autoware_lidar_frnet package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Tags	No category tags.
Version	0.0.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/autowarefoundation/autoware_universe.git
VCS Type	git
VCS Version	main
Last Updated	2025-09-30
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

LiDAR segmentation based on FRNet

Additional Links

No additional links.

Maintainers

Amadeusz Szymko

Authors

Amadeusz Szymko

perception/autoware_lidar_frnet/README.md

autoware_lidar_frnet

Purpose

The autoware_lidar_frnet package is used for 3D semantic segmentation based on LiDAR data (x, y, z, intensity).

Inner-workings / Algorithms

The implementation is based on the FRNet [1] project. It uses TensorRT library for data processing and network inference.

We trained the models using AWML [2].

Inputs / Outputs

Input

Name	Type	Description
`~/input/pointcloud`	`sensor_msgs::msg::PointCloud2`	Input pointcloud.

Output

Name	Type	Description
`~/output/pointcloud/segmentation`	`sensor_msgs::msg::PointCloud2`	XYZ cloud with class ID field.
`~/output/pointcloud/visualization`	`sensor_msgs::msg::PointCloud2`	XYZ cloud with RGB field.
`~/output/pointcloud/filtered`	`sensor_msgs::msg::PointCloud2`	Input format cloud after removing specified point’s class.
`debug/cyclic_time_ms`	`autoware_internal_debug_msgs::msg::Float64Stamped`	Cyclic time (ms).
`debug/pipeline_latency_ms`	`autoware_internal_debug_msgs::msg::Float64Stamped`	Pipeline latency time (ms).
`debug/processing_time/preprocess_ms`	`autoware_internal_debug_msgs::msg::Float64Stamped`	Preprocess (ms).
`debug/processing_time/inference_ms`	`autoware_internal_debug_msgs::msg::Float64Stamped`	Inference time (ms).
`debug/processing_time/postprocess_ms`	`autoware_internal_debug_msgs::msg::Float64Stamped`	Postprocess time (ms).
`debug/processing_time/total_ms`	`autoware_internal_debug_msgs::msg::Float64Stamped`	Total processing time (ms).
`/diagnostics`	`diagnostic_msgs::msg::DiagnosticArray`	Node diagnostics with respect to processing time constraints

Parameters

FRNet node

{{ json_to_markdown(“perception/autoware_lidar_frnet/schema/frnet.schema.json”) }}

FRNet model

{{ json_to_markdown(“perception/autoware_lidar_frnet/schema/ml_package_frnet.schema.json”) }}

FRNet diagnostics

{{ json_to_markdown(“perception/autoware_lidar_frnet/schema/diagnostics_frnet.schema.json”) }}

The `build_only` option

The autoware_lidar_frnet node has build_only option to build the TensorRT engine file from the ONNX file.

ros2 launch autoware_lidar_frnet lidar_frnet.launch.xml build_only:=true

Assumptions / Known limits

This library operates on raw cloud data (bytes). It is assumed that the input pointcloud message has XYZIRC format:

[
  sensor_msgs.msg.PointField(name='x', offset=0, datatype=7, count=1),
  sensor_msgs.msg.PointField(name='y', offset=4, datatype=7, count=1),
  sensor_msgs.msg.PointField(name='z', offset=8, datatype=7, count=1),
  sensor_msgs.msg.PointField(name='intensity', offset=12, datatype=2, count=1),
  sensor_msgs.msg.PointField(name='ring', offset=13, datatype=2, count=1),
  sensor_msgs.msg.PointField(name='channel', offset=14, datatype=4, count=1)
]

This input may consist of other fields as well - shown format is required minimum. For debug purposes, you can validate your pointcloud topic using simple command:

ros2 topic echo <input_topic> --field fields

Trained Models

The model was trained on the NuScenes dataset and is available in the Autoware artifacts.

References/External links

[1] X. Xu, L. Kong, H. Shuai and Q. Liu, “FRNet: Frustum-Range Networks for Scalable LiDAR Segmentation” in IEEE Transactions on Image Processing, vol. 34, pp. 2173-2186, 2025, doi: 10.1109/TIP.2025.3550011.

[2] https://github.com/tier4/AWML.git

[3] https://xiangxu-0103.github.io/FRNet

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_cuda_dependency_meta
	autoware_cuda_utils
	autoware_object_recognition_utils
	autoware_perception_msgs
	autoware_point_types
	autoware_tensorrt_common
	autoware_utils
	diagnostic_updater
	pcl_ros
	rclcpp
	rclcpp_components
	sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/lidar_frnet.launch.xml
- - input/pointcloud [default: /sensing/lidar/top/pointcloud]
  - output/pointcloud/segmentation [default: segmentation]
  - output/pointcloud/visualization [default: visualization]
  - output/pointcloud/filtered [default: filtered]
  - data_path [default: $(env HOME)/autoware_data]
  - model_name [default: frnet]
  - model_path [default: $(var data_path)/lidar_frnet]
  - model_param_path [default: $(find-pkg-share autoware_lidar_frnet)/config/$(var model_name).param.yaml]
  - ml_package_param_path [default: $(var model_path)/ml_package_$(var model_name).param.yaml]
  - diagnostics_param_path [default: $(find-pkg-share autoware_lidar_frnet)/config/diagnostics_frnet.param.yaml]
  - build_only [default: false]
  - use_pointcloud_container [default: false]
  - pointcloud_container_name [default: pointcloud_container]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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API Docs Browse Code

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