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autoware_lidar_transfusion 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_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_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_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_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_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_rtc_interface autoware_behavior_velocity_run_out_module 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_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_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

Package Summary

Tags No category tags.
Version 0.47.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2025-08-16
Dev Status UNKNOWN
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The lidar_transfusion package

Additional Links

No additional links.

Maintainers

  • Amadeusz Szymko
  • Kenzo Lobos-Tsunekawa
  • Kotaro Uetake
  • Masato Saeki
  • Taekjin Lee
  • Kok Seang Tan

Authors

No additional authors.

autoware_lidar_transfusion

Purpose

The autoware_lidar_transfusion package is used for 3D object detection based on lidar data (x, y, z, intensity).

Inner-workings / Algorithms

The implementation bases on TransFusion [1] work. It uses TensorRT library for data process and network inference.

We trained the models using https://github.com/open-mmlab/mmdetection3d.

Inputs / Outputs

Input

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

Output

Name Type Description
~/output/objects autoware_perception_msgs::msg::DetectedObjects Detected objects.
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).

Parameters

TransFusion node

{{ json_to_markdown(“perception/autoware_lidar_transfusion/schema/transfusion.schema.dummy.json”) }}

TransFusion model

{{ json_to_markdown(“perception/autoware_lidar_transfusion/schema/transfusion_ml_package.schema.json”) }}

Detection class remapper

{{ json_to_markdown(“perception/autoware_lidar_transfusion/schema/detection_class_remapper.schema.json”) }}

The build_only option

The autoware_lidar_transfusion node has build_only option to build the TensorRT engine file from the ONNX file. Although it is preferred to move all the ROS parameters in .param.yaml file in Autoware Universe, the build_only option is not moved to the .param.yaml file for now, because it may be used as a flag to execute the build as a pre-task. You can execute with the following command:

ros2 launch autoware_lidar_transfusion lidar_transfusion.launch.xml build_only:=true

The log_level option

The default logging severity level for autoware_lidar_transfusion is info. For debugging purposes, the developer may decrease severity level using log_level parameter:

ros2 launch autoware_lidar_transfusion lidar_transfusion.launch.xml log_level:=debug

Assumptions / Known limits

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

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

You can download the onnx format of trained models by clicking on the links below.

The model was trained in TIER IV’s internal database (~11k lidar frames) for 50 epochs.

Changelog

(Optional) Error detection and handling

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_lidar_transfusion

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

  • Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
  • chore(perception): delete maintainer name (#10816)
  • Contributors: Satoshi Tanaka, TaikiYamada4

0.45.0 (2025-05-22)

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

  • chore: perception code owner update (#10645)

    • chore: update maintainers in multiple perception packages

    * Revert "chore: update maintainers in multiple perception packages" This reverts commit f2838c33d6cd82bd032039e2a12b9cb8ba6eb584.

    • chore: update maintainers in multiple perception packages

    * chore: add Kok Seang Tan as maintainer in multiple perception packages ---------

  • feat(autoware_lidar_transfusion): added target architectures for transfusion (#10615)

    • chore: added target architectures for transfusion
    • chore: removed unnecessary flag

    * chore: mistook the architecture of edge devices ---------

  • feat(autoware_lidar_transfusion): introduce cuda blackboard to transfusion (#10513)

    • feat(autoware_lidar_transfusion): introduce cuda blackboard to transfusion

    * fix(autoware_lidar_transfusion): clang-tidy errors ---------Co-authored-by: Kenzo Lobos Tsunekawa <<kenzo.lobos@tier4.jp>>

  • Contributors: Amadeusz Szymko, Kenzo Lobos Tsunekawa, Taekjin LEE, TaikiYamada4

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

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

  • feat(lidar_transfusion): add diagnostics for processing time (#10398)

    • add processing time diagnostics
    • style(pre-commit): autofix

    * remove comment ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • Contributors: Masaki Baba, Ryohsuke Mitsudome

0.43.0 (2025-03-21)

  • Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
  • chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
  • refactor: add autoware_cuda_dependency_meta (#10073)
  • Contributors: Esteve Fernandez, Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

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

0.41.2 (2025-02-19)

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

File truncated at 100 lines see the full file

Launch files

  • launch/lidar_transfusion.launch.xml
      • input/pointcloud [default: /sensing/lidar/pointcloud]
      • output/objects [default: objects]
      • data_path [default: $(env HOME)/autoware_data]
      • model_name [default: transfusion]
      • model_path [default: $(var data_path)/lidar_transfusion]
      • model_param_path [default: $(find-pkg-share autoware_lidar_transfusion)/config/$(var model_name).param.yaml]
      • ml_package_param_path [default: $(var model_path)/$(var model_name)_ml_package.param.yaml]
      • class_remapper_param_path [default: $(find-pkg-share autoware_lidar_transfusion)/config/detection_class_remapper.param.yaml]
      • common_param_path [default: $(find-pkg-share autoware_lidar_transfusion)/config/transfusion_common.param.yaml]
      • build_only [default: false]
      • log_level [default: info]
      • 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.

Recent questions tagged autoware_lidar_transfusion at Robotics Stack Exchange

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autoware_lidar_transfusion 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_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_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_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_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_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_rtc_interface autoware_behavior_velocity_run_out_module 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_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_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

Package Summary

Tags No category tags.
Version 0.47.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2025-08-16
Dev Status UNKNOWN
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The lidar_transfusion package

Additional Links

No additional links.

Maintainers

  • Amadeusz Szymko
  • Kenzo Lobos-Tsunekawa
  • Kotaro Uetake
  • Masato Saeki
  • Taekjin Lee
  • Kok Seang Tan

Authors

No additional authors.

autoware_lidar_transfusion

Purpose

The autoware_lidar_transfusion package is used for 3D object detection based on lidar data (x, y, z, intensity).

Inner-workings / Algorithms

The implementation bases on TransFusion [1] work. It uses TensorRT library for data process and network inference.

We trained the models using https://github.com/open-mmlab/mmdetection3d.

Inputs / Outputs

Input

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

Output

Name Type Description
~/output/objects autoware_perception_msgs::msg::DetectedObjects Detected objects.
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).

Parameters

TransFusion node

{{ json_to_markdown(“perception/autoware_lidar_transfusion/schema/transfusion.schema.dummy.json”) }}

TransFusion model

{{ json_to_markdown(“perception/autoware_lidar_transfusion/schema/transfusion_ml_package.schema.json”) }}

Detection class remapper

{{ json_to_markdown(“perception/autoware_lidar_transfusion/schema/detection_class_remapper.schema.json”) }}

The build_only option

The autoware_lidar_transfusion node has build_only option to build the TensorRT engine file from the ONNX file. Although it is preferred to move all the ROS parameters in .param.yaml file in Autoware Universe, the build_only option is not moved to the .param.yaml file for now, because it may be used as a flag to execute the build as a pre-task. You can execute with the following command:

ros2 launch autoware_lidar_transfusion lidar_transfusion.launch.xml build_only:=true

The log_level option

The default logging severity level for autoware_lidar_transfusion is info. For debugging purposes, the developer may decrease severity level using log_level parameter:

ros2 launch autoware_lidar_transfusion lidar_transfusion.launch.xml log_level:=debug

Assumptions / Known limits

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

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

You can download the onnx format of trained models by clicking on the links below.

The model was trained in TIER IV’s internal database (~11k lidar frames) for 50 epochs.

Changelog

(Optional) Error detection and handling

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_lidar_transfusion

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

  • Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
  • chore(perception): delete maintainer name (#10816)
  • Contributors: Satoshi Tanaka, TaikiYamada4

0.45.0 (2025-05-22)

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

  • chore: perception code owner update (#10645)

    • chore: update maintainers in multiple perception packages

    * Revert "chore: update maintainers in multiple perception packages" This reverts commit f2838c33d6cd82bd032039e2a12b9cb8ba6eb584.

    • chore: update maintainers in multiple perception packages

    * chore: add Kok Seang Tan as maintainer in multiple perception packages ---------

  • feat(autoware_lidar_transfusion): added target architectures for transfusion (#10615)

    • chore: added target architectures for transfusion
    • chore: removed unnecessary flag

    * chore: mistook the architecture of edge devices ---------

  • feat(autoware_lidar_transfusion): introduce cuda blackboard to transfusion (#10513)

    • feat(autoware_lidar_transfusion): introduce cuda blackboard to transfusion

    * fix(autoware_lidar_transfusion): clang-tidy errors ---------Co-authored-by: Kenzo Lobos Tsunekawa <<kenzo.lobos@tier4.jp>>

  • Contributors: Amadeusz Szymko, Kenzo Lobos Tsunekawa, Taekjin LEE, TaikiYamada4

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

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

  • feat(lidar_transfusion): add diagnostics for processing time (#10398)

    • add processing time diagnostics
    • style(pre-commit): autofix

    * remove comment ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • Contributors: Masaki Baba, Ryohsuke Mitsudome

0.43.0 (2025-03-21)

  • Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
  • chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
  • refactor: add autoware_cuda_dependency_meta (#10073)
  • Contributors: Esteve Fernandez, Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

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

0.41.2 (2025-02-19)

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

File truncated at 100 lines see the full file

Launch files

  • launch/lidar_transfusion.launch.xml
      • input/pointcloud [default: /sensing/lidar/pointcloud]
      • output/objects [default: objects]
      • data_path [default: $(env HOME)/autoware_data]
      • model_name [default: transfusion]
      • model_path [default: $(var data_path)/lidar_transfusion]
      • model_param_path [default: $(find-pkg-share autoware_lidar_transfusion)/config/$(var model_name).param.yaml]
      • ml_package_param_path [default: $(var model_path)/$(var model_name)_ml_package.param.yaml]
      • class_remapper_param_path [default: $(find-pkg-share autoware_lidar_transfusion)/config/detection_class_remapper.param.yaml]
      • common_param_path [default: $(find-pkg-share autoware_lidar_transfusion)/config/transfusion_common.param.yaml]
      • build_only [default: false]
      • log_level [default: info]
      • 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.

Recent questions tagged autoware_lidar_transfusion at Robotics Stack Exchange

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

autoware_lidar_transfusion 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_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_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_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_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_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_rtc_interface autoware_behavior_velocity_run_out_module 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_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_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

Package Summary

Tags No category tags.
Version 0.47.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2025-08-16
Dev Status UNKNOWN
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The lidar_transfusion package

Additional Links

No additional links.

Maintainers

  • Amadeusz Szymko
  • Kenzo Lobos-Tsunekawa
  • Kotaro Uetake
  • Masato Saeki
  • Taekjin Lee
  • Kok Seang Tan

Authors

No additional authors.

autoware_lidar_transfusion

Purpose

The autoware_lidar_transfusion package is used for 3D object detection based on lidar data (x, y, z, intensity).

Inner-workings / Algorithms

The implementation bases on TransFusion [1] work. It uses TensorRT library for data process and network inference.

We trained the models using https://github.com/open-mmlab/mmdetection3d.

Inputs / Outputs

Input

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

Output

Name Type Description
~/output/objects autoware_perception_msgs::msg::DetectedObjects Detected objects.
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).

Parameters

TransFusion node

{{ json_to_markdown(“perception/autoware_lidar_transfusion/schema/transfusion.schema.dummy.json”) }}

TransFusion model

{{ json_to_markdown(“perception/autoware_lidar_transfusion/schema/transfusion_ml_package.schema.json”) }}

Detection class remapper

{{ json_to_markdown(“perception/autoware_lidar_transfusion/schema/detection_class_remapper.schema.json”) }}

The build_only option

The autoware_lidar_transfusion node has build_only option to build the TensorRT engine file from the ONNX file. Although it is preferred to move all the ROS parameters in .param.yaml file in Autoware Universe, the build_only option is not moved to the .param.yaml file for now, because it may be used as a flag to execute the build as a pre-task. You can execute with the following command:

ros2 launch autoware_lidar_transfusion lidar_transfusion.launch.xml build_only:=true

The log_level option

The default logging severity level for autoware_lidar_transfusion is info. For debugging purposes, the developer may decrease severity level using log_level parameter:

ros2 launch autoware_lidar_transfusion lidar_transfusion.launch.xml log_level:=debug

Assumptions / Known limits

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

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

You can download the onnx format of trained models by clicking on the links below.

The model was trained in TIER IV’s internal database (~11k lidar frames) for 50 epochs.

Changelog

(Optional) Error detection and handling

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_lidar_transfusion

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

  • Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
  • chore(perception): delete maintainer name (#10816)
  • Contributors: Satoshi Tanaka, TaikiYamada4

0.45.0 (2025-05-22)

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

  • chore: perception code owner update (#10645)

    • chore: update maintainers in multiple perception packages

    * Revert "chore: update maintainers in multiple perception packages" This reverts commit f2838c33d6cd82bd032039e2a12b9cb8ba6eb584.

    • chore: update maintainers in multiple perception packages

    * chore: add Kok Seang Tan as maintainer in multiple perception packages ---------

  • feat(autoware_lidar_transfusion): added target architectures for transfusion (#10615)

    • chore: added target architectures for transfusion
    • chore: removed unnecessary flag

    * chore: mistook the architecture of edge devices ---------

  • feat(autoware_lidar_transfusion): introduce cuda blackboard to transfusion (#10513)

    • feat(autoware_lidar_transfusion): introduce cuda blackboard to transfusion

    * fix(autoware_lidar_transfusion): clang-tidy errors ---------Co-authored-by: Kenzo Lobos Tsunekawa <<kenzo.lobos@tier4.jp>>

  • Contributors: Amadeusz Szymko, Kenzo Lobos Tsunekawa, Taekjin LEE, TaikiYamada4

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

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

  • feat(lidar_transfusion): add diagnostics for processing time (#10398)

    • add processing time diagnostics
    • style(pre-commit): autofix

    * remove comment ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • Contributors: Masaki Baba, Ryohsuke Mitsudome

0.43.0 (2025-03-21)

  • Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
  • chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
  • refactor: add autoware_cuda_dependency_meta (#10073)
  • Contributors: Esteve Fernandez, Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

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

0.41.2 (2025-02-19)

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

File truncated at 100 lines see the full file

Launch files

  • launch/lidar_transfusion.launch.xml
      • input/pointcloud [default: /sensing/lidar/pointcloud]
      • output/objects [default: objects]
      • data_path [default: $(env HOME)/autoware_data]
      • model_name [default: transfusion]
      • model_path [default: $(var data_path)/lidar_transfusion]
      • model_param_path [default: $(find-pkg-share autoware_lidar_transfusion)/config/$(var model_name).param.yaml]
      • ml_package_param_path [default: $(var model_path)/$(var model_name)_ml_package.param.yaml]
      • class_remapper_param_path [default: $(find-pkg-share autoware_lidar_transfusion)/config/detection_class_remapper.param.yaml]
      • common_param_path [default: $(find-pkg-share autoware_lidar_transfusion)/config/transfusion_common.param.yaml]
      • build_only [default: false]
      • log_level [default: info]
      • 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.

Recent questions tagged autoware_lidar_transfusion at Robotics Stack Exchange

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

autoware_lidar_transfusion 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_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_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_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_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_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_rtc_interface autoware_behavior_velocity_run_out_module 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_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_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

Package Summary

Tags No category tags.
Version 0.47.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2025-08-16
Dev Status UNKNOWN
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The lidar_transfusion package

Additional Links

No additional links.

Maintainers

  • Amadeusz Szymko
  • Kenzo Lobos-Tsunekawa
  • Kotaro Uetake
  • Masato Saeki
  • Taekjin Lee
  • Kok Seang Tan

Authors

No additional authors.

autoware_lidar_transfusion

Purpose

The autoware_lidar_transfusion package is used for 3D object detection based on lidar data (x, y, z, intensity).

Inner-workings / Algorithms

The implementation bases on TransFusion [1] work. It uses TensorRT library for data process and network inference.

We trained the models using https://github.com/open-mmlab/mmdetection3d.

Inputs / Outputs

Input

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

Output

Name Type Description
~/output/objects autoware_perception_msgs::msg::DetectedObjects Detected objects.
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).

Parameters

TransFusion node

{{ json_to_markdown(“perception/autoware_lidar_transfusion/schema/transfusion.schema.dummy.json”) }}

TransFusion model

{{ json_to_markdown(“perception/autoware_lidar_transfusion/schema/transfusion_ml_package.schema.json”) }}

Detection class remapper

{{ json_to_markdown(“perception/autoware_lidar_transfusion/schema/detection_class_remapper.schema.json”) }}

The build_only option

The autoware_lidar_transfusion node has build_only option to build the TensorRT engine file from the ONNX file. Although it is preferred to move all the ROS parameters in .param.yaml file in Autoware Universe, the build_only option is not moved to the .param.yaml file for now, because it may be used as a flag to execute the build as a pre-task. You can execute with the following command:

ros2 launch autoware_lidar_transfusion lidar_transfusion.launch.xml build_only:=true

The log_level option

The default logging severity level for autoware_lidar_transfusion is info. For debugging purposes, the developer may decrease severity level using log_level parameter:

ros2 launch autoware_lidar_transfusion lidar_transfusion.launch.xml log_level:=debug

Assumptions / Known limits

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

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

You can download the onnx format of trained models by clicking on the links below.

The model was trained in TIER IV’s internal database (~11k lidar frames) for 50 epochs.

Changelog

(Optional) Error detection and handling

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_lidar_transfusion

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

  • Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
  • chore(perception): delete maintainer name (#10816)
  • Contributors: Satoshi Tanaka, TaikiYamada4

0.45.0 (2025-05-22)

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

  • chore: perception code owner update (#10645)

    • chore: update maintainers in multiple perception packages

    * Revert "chore: update maintainers in multiple perception packages" This reverts commit f2838c33d6cd82bd032039e2a12b9cb8ba6eb584.

    • chore: update maintainers in multiple perception packages

    * chore: add Kok Seang Tan as maintainer in multiple perception packages ---------

  • feat(autoware_lidar_transfusion): added target architectures for transfusion (#10615)

    • chore: added target architectures for transfusion
    • chore: removed unnecessary flag

    * chore: mistook the architecture of edge devices ---------

  • feat(autoware_lidar_transfusion): introduce cuda blackboard to transfusion (#10513)

    • feat(autoware_lidar_transfusion): introduce cuda blackboard to transfusion

    * fix(autoware_lidar_transfusion): clang-tidy errors ---------Co-authored-by: Kenzo Lobos Tsunekawa <<kenzo.lobos@tier4.jp>>

  • Contributors: Amadeusz Szymko, Kenzo Lobos Tsunekawa, Taekjin LEE, TaikiYamada4

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

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

  • feat(lidar_transfusion): add diagnostics for processing time (#10398)

    • add processing time diagnostics
    • style(pre-commit): autofix

    * remove comment ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • Contributors: Masaki Baba, Ryohsuke Mitsudome

0.43.0 (2025-03-21)

  • Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
  • chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
  • refactor: add autoware_cuda_dependency_meta (#10073)
  • Contributors: Esteve Fernandez, Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

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

0.41.2 (2025-02-19)

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

File truncated at 100 lines see the full file

Launch files

  • launch/lidar_transfusion.launch.xml
      • input/pointcloud [default: /sensing/lidar/pointcloud]
      • output/objects [default: objects]
      • data_path [default: $(env HOME)/autoware_data]
      • model_name [default: transfusion]
      • model_path [default: $(var data_path)/lidar_transfusion]
      • model_param_path [default: $(find-pkg-share autoware_lidar_transfusion)/config/$(var model_name).param.yaml]
      • ml_package_param_path [default: $(var model_path)/$(var model_name)_ml_package.param.yaml]
      • class_remapper_param_path [default: $(find-pkg-share autoware_lidar_transfusion)/config/detection_class_remapper.param.yaml]
      • common_param_path [default: $(find-pkg-share autoware_lidar_transfusion)/config/transfusion_common.param.yaml]
      • build_only [default: false]
      • log_level [default: info]
      • 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.

Recent questions tagged autoware_lidar_transfusion at Robotics Stack Exchange

Package symbol

autoware_lidar_transfusion 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_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_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_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_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_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_rtc_interface autoware_behavior_velocity_run_out_module 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_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_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

Package Summary

Tags No category tags.
Version 0.47.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2025-08-16
Dev Status UNKNOWN
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The lidar_transfusion package

Additional Links

No additional links.

Maintainers

  • Amadeusz Szymko
  • Kenzo Lobos-Tsunekawa
  • Kotaro Uetake
  • Masato Saeki
  • Taekjin Lee
  • Kok Seang Tan

Authors

No additional authors.

autoware_lidar_transfusion

Purpose

The autoware_lidar_transfusion package is used for 3D object detection based on lidar data (x, y, z, intensity).

Inner-workings / Algorithms

The implementation bases on TransFusion [1] work. It uses TensorRT library for data process and network inference.

We trained the models using https://github.com/open-mmlab/mmdetection3d.

Inputs / Outputs

Input

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

Output

Name Type Description
~/output/objects autoware_perception_msgs::msg::DetectedObjects Detected objects.
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).

Parameters

TransFusion node

{{ json_to_markdown(“perception/autoware_lidar_transfusion/schema/transfusion.schema.dummy.json”) }}

TransFusion model

{{ json_to_markdown(“perception/autoware_lidar_transfusion/schema/transfusion_ml_package.schema.json”) }}

Detection class remapper

{{ json_to_markdown(“perception/autoware_lidar_transfusion/schema/detection_class_remapper.schema.json”) }}

The build_only option

The autoware_lidar_transfusion node has build_only option to build the TensorRT engine file from the ONNX file. Although it is preferred to move all the ROS parameters in .param.yaml file in Autoware Universe, the build_only option is not moved to the .param.yaml file for now, because it may be used as a flag to execute the build as a pre-task. You can execute with the following command:

ros2 launch autoware_lidar_transfusion lidar_transfusion.launch.xml build_only:=true

The log_level option

The default logging severity level for autoware_lidar_transfusion is info. For debugging purposes, the developer may decrease severity level using log_level parameter:

ros2 launch autoware_lidar_transfusion lidar_transfusion.launch.xml log_level:=debug

Assumptions / Known limits

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

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

You can download the onnx format of trained models by clicking on the links below.

The model was trained in TIER IV’s internal database (~11k lidar frames) for 50 epochs.

Changelog

(Optional) Error detection and handling

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_lidar_transfusion

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

  • Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
  • chore(perception): delete maintainer name (#10816)
  • Contributors: Satoshi Tanaka, TaikiYamada4

0.45.0 (2025-05-22)

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

  • chore: perception code owner update (#10645)

    • chore: update maintainers in multiple perception packages

    * Revert "chore: update maintainers in multiple perception packages" This reverts commit f2838c33d6cd82bd032039e2a12b9cb8ba6eb584.

    • chore: update maintainers in multiple perception packages

    * chore: add Kok Seang Tan as maintainer in multiple perception packages ---------

  • feat(autoware_lidar_transfusion): added target architectures for transfusion (#10615)

    • chore: added target architectures for transfusion
    • chore: removed unnecessary flag

    * chore: mistook the architecture of edge devices ---------

  • feat(autoware_lidar_transfusion): introduce cuda blackboard to transfusion (#10513)

    • feat(autoware_lidar_transfusion): introduce cuda blackboard to transfusion

    * fix(autoware_lidar_transfusion): clang-tidy errors ---------Co-authored-by: Kenzo Lobos Tsunekawa <<kenzo.lobos@tier4.jp>>

  • Contributors: Amadeusz Szymko, Kenzo Lobos Tsunekawa, Taekjin LEE, TaikiYamada4

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

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

  • feat(lidar_transfusion): add diagnostics for processing time (#10398)

    • add processing time diagnostics
    • style(pre-commit): autofix

    * remove comment ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • Contributors: Masaki Baba, Ryohsuke Mitsudome

0.43.0 (2025-03-21)

  • Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
  • chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
  • refactor: add autoware_cuda_dependency_meta (#10073)
  • Contributors: Esteve Fernandez, Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

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

0.41.2 (2025-02-19)

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

File truncated at 100 lines see the full file

Launch files

  • launch/lidar_transfusion.launch.xml
      • input/pointcloud [default: /sensing/lidar/pointcloud]
      • output/objects [default: objects]
      • data_path [default: $(env HOME)/autoware_data]
      • model_name [default: transfusion]
      • model_path [default: $(var data_path)/lidar_transfusion]
      • model_param_path [default: $(find-pkg-share autoware_lidar_transfusion)/config/$(var model_name).param.yaml]
      • ml_package_param_path [default: $(var model_path)/$(var model_name)_ml_package.param.yaml]
      • class_remapper_param_path [default: $(find-pkg-share autoware_lidar_transfusion)/config/detection_class_remapper.param.yaml]
      • common_param_path [default: $(find-pkg-share autoware_lidar_transfusion)/config/transfusion_common.param.yaml]
      • build_only [default: false]
      • log_level [default: info]
      • 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.

Recent questions tagged autoware_lidar_transfusion at Robotics Stack Exchange

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

autoware_lidar_transfusion 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_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_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_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_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_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_rtc_interface autoware_behavior_velocity_run_out_module 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_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_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

Package Summary

Tags No category tags.
Version 0.47.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2025-08-16
Dev Status UNKNOWN
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The lidar_transfusion package

Additional Links

No additional links.

Maintainers

  • Amadeusz Szymko
  • Kenzo Lobos-Tsunekawa
  • Kotaro Uetake
  • Masato Saeki
  • Taekjin Lee
  • Kok Seang Tan

Authors

No additional authors.

autoware_lidar_transfusion

Purpose

The autoware_lidar_transfusion package is used for 3D object detection based on lidar data (x, y, z, intensity).

Inner-workings / Algorithms

The implementation bases on TransFusion [1] work. It uses TensorRT library for data process and network inference.

We trained the models using https://github.com/open-mmlab/mmdetection3d.

Inputs / Outputs

Input

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

Output

Name Type Description
~/output/objects autoware_perception_msgs::msg::DetectedObjects Detected objects.
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).

Parameters

TransFusion node

{{ json_to_markdown(“perception/autoware_lidar_transfusion/schema/transfusion.schema.dummy.json”) }}

TransFusion model

{{ json_to_markdown(“perception/autoware_lidar_transfusion/schema/transfusion_ml_package.schema.json”) }}

Detection class remapper

{{ json_to_markdown(“perception/autoware_lidar_transfusion/schema/detection_class_remapper.schema.json”) }}

The build_only option

The autoware_lidar_transfusion node has build_only option to build the TensorRT engine file from the ONNX file. Although it is preferred to move all the ROS parameters in .param.yaml file in Autoware Universe, the build_only option is not moved to the .param.yaml file for now, because it may be used as a flag to execute the build as a pre-task. You can execute with the following command:

ros2 launch autoware_lidar_transfusion lidar_transfusion.launch.xml build_only:=true

The log_level option

The default logging severity level for autoware_lidar_transfusion is info. For debugging purposes, the developer may decrease severity level using log_level parameter:

ros2 launch autoware_lidar_transfusion lidar_transfusion.launch.xml log_level:=debug

Assumptions / Known limits

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

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

You can download the onnx format of trained models by clicking on the links below.

The model was trained in TIER IV’s internal database (~11k lidar frames) for 50 epochs.

Changelog

(Optional) Error detection and handling

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_lidar_transfusion

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

  • Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
  • chore(perception): delete maintainer name (#10816)
  • Contributors: Satoshi Tanaka, TaikiYamada4

0.45.0 (2025-05-22)

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

  • chore: perception code owner update (#10645)

    • chore: update maintainers in multiple perception packages

    * Revert "chore: update maintainers in multiple perception packages" This reverts commit f2838c33d6cd82bd032039e2a12b9cb8ba6eb584.

    • chore: update maintainers in multiple perception packages

    * chore: add Kok Seang Tan as maintainer in multiple perception packages ---------

  • feat(autoware_lidar_transfusion): added target architectures for transfusion (#10615)

    • chore: added target architectures for transfusion
    • chore: removed unnecessary flag

    * chore: mistook the architecture of edge devices ---------

  • feat(autoware_lidar_transfusion): introduce cuda blackboard to transfusion (#10513)

    • feat(autoware_lidar_transfusion): introduce cuda blackboard to transfusion

    * fix(autoware_lidar_transfusion): clang-tidy errors ---------Co-authored-by: Kenzo Lobos Tsunekawa <<kenzo.lobos@tier4.jp>>

  • Contributors: Amadeusz Szymko, Kenzo Lobos Tsunekawa, Taekjin LEE, TaikiYamada4

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

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

  • feat(lidar_transfusion): add diagnostics for processing time (#10398)

    • add processing time diagnostics
    • style(pre-commit): autofix

    * remove comment ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • Contributors: Masaki Baba, Ryohsuke Mitsudome

0.43.0 (2025-03-21)

  • Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
  • chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
  • refactor: add autoware_cuda_dependency_meta (#10073)
  • Contributors: Esteve Fernandez, Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

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

0.41.2 (2025-02-19)

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

File truncated at 100 lines see the full file

Launch files

  • launch/lidar_transfusion.launch.xml
      • input/pointcloud [default: /sensing/lidar/pointcloud]
      • output/objects [default: objects]
      • data_path [default: $(env HOME)/autoware_data]
      • model_name [default: transfusion]
      • model_path [default: $(var data_path)/lidar_transfusion]
      • model_param_path [default: $(find-pkg-share autoware_lidar_transfusion)/config/$(var model_name).param.yaml]
      • ml_package_param_path [default: $(var model_path)/$(var model_name)_ml_package.param.yaml]
      • class_remapper_param_path [default: $(find-pkg-share autoware_lidar_transfusion)/config/detection_class_remapper.param.yaml]
      • common_param_path [default: $(find-pkg-share autoware_lidar_transfusion)/config/transfusion_common.param.yaml]
      • build_only [default: false]
      • log_level [default: info]
      • 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.

Recent questions tagged autoware_lidar_transfusion at Robotics Stack Exchange

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

autoware_lidar_transfusion 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_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_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_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_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_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_rtc_interface autoware_behavior_velocity_run_out_module 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_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_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

Package Summary

Tags No category tags.
Version 0.47.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2025-08-16
Dev Status UNKNOWN
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The lidar_transfusion package

Additional Links

No additional links.

Maintainers

  • Amadeusz Szymko
  • Kenzo Lobos-Tsunekawa
  • Kotaro Uetake
  • Masato Saeki
  • Taekjin Lee
  • Kok Seang Tan

Authors

No additional authors.

autoware_lidar_transfusion

Purpose

The autoware_lidar_transfusion package is used for 3D object detection based on lidar data (x, y, z, intensity).

Inner-workings / Algorithms

The implementation bases on TransFusion [1] work. It uses TensorRT library for data process and network inference.

We trained the models using https://github.com/open-mmlab/mmdetection3d.

Inputs / Outputs

Input

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

Output

Name Type Description
~/output/objects autoware_perception_msgs::msg::DetectedObjects Detected objects.
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).

Parameters

TransFusion node

{{ json_to_markdown(“perception/autoware_lidar_transfusion/schema/transfusion.schema.dummy.json”) }}

TransFusion model

{{ json_to_markdown(“perception/autoware_lidar_transfusion/schema/transfusion_ml_package.schema.json”) }}

Detection class remapper

{{ json_to_markdown(“perception/autoware_lidar_transfusion/schema/detection_class_remapper.schema.json”) }}

The build_only option

The autoware_lidar_transfusion node has build_only option to build the TensorRT engine file from the ONNX file. Although it is preferred to move all the ROS parameters in .param.yaml file in Autoware Universe, the build_only option is not moved to the .param.yaml file for now, because it may be used as a flag to execute the build as a pre-task. You can execute with the following command:

ros2 launch autoware_lidar_transfusion lidar_transfusion.launch.xml build_only:=true

The log_level option

The default logging severity level for autoware_lidar_transfusion is info. For debugging purposes, the developer may decrease severity level using log_level parameter:

ros2 launch autoware_lidar_transfusion lidar_transfusion.launch.xml log_level:=debug

Assumptions / Known limits

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

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

You can download the onnx format of trained models by clicking on the links below.

The model was trained in TIER IV’s internal database (~11k lidar frames) for 50 epochs.

Changelog

(Optional) Error detection and handling

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_lidar_transfusion

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

  • Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
  • chore(perception): delete maintainer name (#10816)
  • Contributors: Satoshi Tanaka, TaikiYamada4

0.45.0 (2025-05-22)

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

  • chore: perception code owner update (#10645)

    • chore: update maintainers in multiple perception packages

    * Revert "chore: update maintainers in multiple perception packages" This reverts commit f2838c33d6cd82bd032039e2a12b9cb8ba6eb584.

    • chore: update maintainers in multiple perception packages

    * chore: add Kok Seang Tan as maintainer in multiple perception packages ---------

  • feat(autoware_lidar_transfusion): added target architectures for transfusion (#10615)

    • chore: added target architectures for transfusion
    • chore: removed unnecessary flag

    * chore: mistook the architecture of edge devices ---------

  • feat(autoware_lidar_transfusion): introduce cuda blackboard to transfusion (#10513)

    • feat(autoware_lidar_transfusion): introduce cuda blackboard to transfusion

    * fix(autoware_lidar_transfusion): clang-tidy errors ---------Co-authored-by: Kenzo Lobos Tsunekawa <<kenzo.lobos@tier4.jp>>

  • Contributors: Amadeusz Szymko, Kenzo Lobos Tsunekawa, Taekjin LEE, TaikiYamada4

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

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

  • feat(lidar_transfusion): add diagnostics for processing time (#10398)

    • add processing time diagnostics
    • style(pre-commit): autofix

    * remove comment ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • Contributors: Masaki Baba, Ryohsuke Mitsudome

0.43.0 (2025-03-21)

  • Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
  • chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
  • refactor: add autoware_cuda_dependency_meta (#10073)
  • Contributors: Esteve Fernandez, Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

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

0.41.2 (2025-02-19)

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

File truncated at 100 lines see the full file

Launch files

  • launch/lidar_transfusion.launch.xml
      • input/pointcloud [default: /sensing/lidar/pointcloud]
      • output/objects [default: objects]
      • data_path [default: $(env HOME)/autoware_data]
      • model_name [default: transfusion]
      • model_path [default: $(var data_path)/lidar_transfusion]
      • model_param_path [default: $(find-pkg-share autoware_lidar_transfusion)/config/$(var model_name).param.yaml]
      • ml_package_param_path [default: $(var model_path)/$(var model_name)_ml_package.param.yaml]
      • class_remapper_param_path [default: $(find-pkg-share autoware_lidar_transfusion)/config/detection_class_remapper.param.yaml]
      • common_param_path [default: $(find-pkg-share autoware_lidar_transfusion)/config/transfusion_common.param.yaml]
      • build_only [default: false]
      • log_level [default: info]
      • 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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autoware_lidar_transfusion 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_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_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_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_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_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_rtc_interface autoware_behavior_velocity_run_out_module 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_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_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

Package Summary

Tags No category tags.
Version 0.47.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2025-08-16
Dev Status UNKNOWN
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The lidar_transfusion package

Additional Links

No additional links.

Maintainers

  • Amadeusz Szymko
  • Kenzo Lobos-Tsunekawa
  • Kotaro Uetake
  • Masato Saeki
  • Taekjin Lee
  • Kok Seang Tan

Authors

No additional authors.

autoware_lidar_transfusion

Purpose

The autoware_lidar_transfusion package is used for 3D object detection based on lidar data (x, y, z, intensity).

Inner-workings / Algorithms

The implementation bases on TransFusion [1] work. It uses TensorRT library for data process and network inference.

We trained the models using https://github.com/open-mmlab/mmdetection3d.

Inputs / Outputs

Input

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

Output

Name Type Description
~/output/objects autoware_perception_msgs::msg::DetectedObjects Detected objects.
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).

Parameters

TransFusion node

{{ json_to_markdown(“perception/autoware_lidar_transfusion/schema/transfusion.schema.dummy.json”) }}

TransFusion model

{{ json_to_markdown(“perception/autoware_lidar_transfusion/schema/transfusion_ml_package.schema.json”) }}

Detection class remapper

{{ json_to_markdown(“perception/autoware_lidar_transfusion/schema/detection_class_remapper.schema.json”) }}

The build_only option

The autoware_lidar_transfusion node has build_only option to build the TensorRT engine file from the ONNX file. Although it is preferred to move all the ROS parameters in .param.yaml file in Autoware Universe, the build_only option is not moved to the .param.yaml file for now, because it may be used as a flag to execute the build as a pre-task. You can execute with the following command:

ros2 launch autoware_lidar_transfusion lidar_transfusion.launch.xml build_only:=true

The log_level option

The default logging severity level for autoware_lidar_transfusion is info. For debugging purposes, the developer may decrease severity level using log_level parameter:

ros2 launch autoware_lidar_transfusion lidar_transfusion.launch.xml log_level:=debug

Assumptions / Known limits

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

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

You can download the onnx format of trained models by clicking on the links below.

The model was trained in TIER IV’s internal database (~11k lidar frames) for 50 epochs.

Changelog

(Optional) Error detection and handling

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_lidar_transfusion

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

  • Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
  • chore(perception): delete maintainer name (#10816)
  • Contributors: Satoshi Tanaka, TaikiYamada4

0.45.0 (2025-05-22)

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

  • chore: perception code owner update (#10645)

    • chore: update maintainers in multiple perception packages

    * Revert "chore: update maintainers in multiple perception packages" This reverts commit f2838c33d6cd82bd032039e2a12b9cb8ba6eb584.

    • chore: update maintainers in multiple perception packages

    * chore: add Kok Seang Tan as maintainer in multiple perception packages ---------

  • feat(autoware_lidar_transfusion): added target architectures for transfusion (#10615)

    • chore: added target architectures for transfusion
    • chore: removed unnecessary flag

    * chore: mistook the architecture of edge devices ---------

  • feat(autoware_lidar_transfusion): introduce cuda blackboard to transfusion (#10513)

    • feat(autoware_lidar_transfusion): introduce cuda blackboard to transfusion

    * fix(autoware_lidar_transfusion): clang-tidy errors ---------Co-authored-by: Kenzo Lobos Tsunekawa <<kenzo.lobos@tier4.jp>>

  • Contributors: Amadeusz Szymko, Kenzo Lobos Tsunekawa, Taekjin LEE, TaikiYamada4

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

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

  • feat(lidar_transfusion): add diagnostics for processing time (#10398)

    • add processing time diagnostics
    • style(pre-commit): autofix

    * remove comment ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • Contributors: Masaki Baba, Ryohsuke Mitsudome

0.43.0 (2025-03-21)

  • Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
  • chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
  • refactor: add autoware_cuda_dependency_meta (#10073)
  • Contributors: Esteve Fernandez, Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

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

0.41.2 (2025-02-19)

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

File truncated at 100 lines see the full file

Launch files

  • launch/lidar_transfusion.launch.xml
      • input/pointcloud [default: /sensing/lidar/pointcloud]
      • output/objects [default: objects]
      • data_path [default: $(env HOME)/autoware_data]
      • model_name [default: transfusion]
      • model_path [default: $(var data_path)/lidar_transfusion]
      • model_param_path [default: $(find-pkg-share autoware_lidar_transfusion)/config/$(var model_name).param.yaml]
      • ml_package_param_path [default: $(var model_path)/$(var model_name)_ml_package.param.yaml]
      • class_remapper_param_path [default: $(find-pkg-share autoware_lidar_transfusion)/config/detection_class_remapper.param.yaml]
      • common_param_path [default: $(find-pkg-share autoware_lidar_transfusion)/config/transfusion_common.param.yaml]
      • build_only [default: false]
      • log_level [default: info]
      • 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.

Recent questions tagged autoware_lidar_transfusion at Robotics Stack Exchange

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autoware_lidar_transfusion 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_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_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_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_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_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_rtc_interface autoware_behavior_velocity_run_out_module 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_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_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

Package Summary

Tags No category tags.
Version 0.47.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2025-08-16
Dev Status UNKNOWN
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The lidar_transfusion package

Additional Links

No additional links.

Maintainers

  • Amadeusz Szymko
  • Kenzo Lobos-Tsunekawa
  • Kotaro Uetake
  • Masato Saeki
  • Taekjin Lee
  • Kok Seang Tan

Authors

No additional authors.

autoware_lidar_transfusion

Purpose

The autoware_lidar_transfusion package is used for 3D object detection based on lidar data (x, y, z, intensity).

Inner-workings / Algorithms

The implementation bases on TransFusion [1] work. It uses TensorRT library for data process and network inference.

We trained the models using https://github.com/open-mmlab/mmdetection3d.

Inputs / Outputs

Input

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

Output

Name Type Description
~/output/objects autoware_perception_msgs::msg::DetectedObjects Detected objects.
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).

Parameters

TransFusion node

{{ json_to_markdown(“perception/autoware_lidar_transfusion/schema/transfusion.schema.dummy.json”) }}

TransFusion model

{{ json_to_markdown(“perception/autoware_lidar_transfusion/schema/transfusion_ml_package.schema.json”) }}

Detection class remapper

{{ json_to_markdown(“perception/autoware_lidar_transfusion/schema/detection_class_remapper.schema.json”) }}

The build_only option

The autoware_lidar_transfusion node has build_only option to build the TensorRT engine file from the ONNX file. Although it is preferred to move all the ROS parameters in .param.yaml file in Autoware Universe, the build_only option is not moved to the .param.yaml file for now, because it may be used as a flag to execute the build as a pre-task. You can execute with the following command:

ros2 launch autoware_lidar_transfusion lidar_transfusion.launch.xml build_only:=true

The log_level option

The default logging severity level for autoware_lidar_transfusion is info. For debugging purposes, the developer may decrease severity level using log_level parameter:

ros2 launch autoware_lidar_transfusion lidar_transfusion.launch.xml log_level:=debug

Assumptions / Known limits

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

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

You can download the onnx format of trained models by clicking on the links below.

The model was trained in TIER IV’s internal database (~11k lidar frames) for 50 epochs.

Changelog

(Optional) Error detection and handling

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_lidar_transfusion

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

  • Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
  • chore(perception): delete maintainer name (#10816)
  • Contributors: Satoshi Tanaka, TaikiYamada4

0.45.0 (2025-05-22)

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

  • chore: perception code owner update (#10645)

    • chore: update maintainers in multiple perception packages

    * Revert "chore: update maintainers in multiple perception packages" This reverts commit f2838c33d6cd82bd032039e2a12b9cb8ba6eb584.

    • chore: update maintainers in multiple perception packages

    * chore: add Kok Seang Tan as maintainer in multiple perception packages ---------

  • feat(autoware_lidar_transfusion): added target architectures for transfusion (#10615)

    • chore: added target architectures for transfusion
    • chore: removed unnecessary flag

    * chore: mistook the architecture of edge devices ---------

  • feat(autoware_lidar_transfusion): introduce cuda blackboard to transfusion (#10513)

    • feat(autoware_lidar_transfusion): introduce cuda blackboard to transfusion

    * fix(autoware_lidar_transfusion): clang-tidy errors ---------Co-authored-by: Kenzo Lobos Tsunekawa <<kenzo.lobos@tier4.jp>>

  • Contributors: Amadeusz Szymko, Kenzo Lobos Tsunekawa, Taekjin LEE, TaikiYamada4

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

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

  • feat(lidar_transfusion): add diagnostics for processing time (#10398)

    • add processing time diagnostics
    • style(pre-commit): autofix

    * remove comment ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • Contributors: Masaki Baba, Ryohsuke Mitsudome

0.43.0 (2025-03-21)

  • Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
  • chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
  • refactor: add autoware_cuda_dependency_meta (#10073)
  • Contributors: Esteve Fernandez, Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

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

0.41.2 (2025-02-19)

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

File truncated at 100 lines see the full file

Launch files

  • launch/lidar_transfusion.launch.xml
      • input/pointcloud [default: /sensing/lidar/pointcloud]
      • output/objects [default: objects]
      • data_path [default: $(env HOME)/autoware_data]
      • model_name [default: transfusion]
      • model_path [default: $(var data_path)/lidar_transfusion]
      • model_param_path [default: $(find-pkg-share autoware_lidar_transfusion)/config/$(var model_name).param.yaml]
      • ml_package_param_path [default: $(var model_path)/$(var model_name)_ml_package.param.yaml]
      • class_remapper_param_path [default: $(find-pkg-share autoware_lidar_transfusion)/config/detection_class_remapper.param.yaml]
      • common_param_path [default: $(find-pkg-share autoware_lidar_transfusion)/config/transfusion_common.param.yaml]
      • build_only [default: false]
      • log_level [default: info]
      • 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.

Recent questions tagged autoware_lidar_transfusion at Robotics Stack Exchange