autoware_perception_config

Parameter tree for the perception feature launchers in autoware_perception_launch. This package ships data only; it declares no nodes and no runtime dependencies.

config/
├── object_recognition/
│   ├── detection/
│   ├── tracking/
│   └── prediction/
├── obstacle_segmentation/
├── occupancy_grid_map/
└── traffic_light_recognition/

The feature launchers in autoware_perception_launch resolve this tree through their perception_config_pkg argument, which defaults to this package, and expose each file as a *_param_path argument. A product that ships a few different parameters overrides those arguments; a product that ships the whole tree points perception_config_pkg at its own package, which must then carry the same config/ layout.

The config/ tree is the interface downstream distributions adopt as-is; only package.xml, CMakeLists.txt, README.md, and changelogs stay package-local. Keep changes to the tree folder-merge compatible.

Parameter files that shadow a node’s own defaults are kept in sync with upstream by .github/scripts/sync_params.py; see .github/sync-params.yaml for the source-to-variant mapping.

Package Dependencies

Please see <exec_depend> in package.xml.

Changelog for package autoware_perception_config

0.53.0 (2026-10-13)

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

• fix(autoware_perception_config): add missing min_cluster_size_m to label_based_euclidean_cluster (#1969)

  * fix(autoware_perception_config): add missing min_cluster_size_m to label_based_euclidean_cluster autoware_universe#13248 (2026-08-27) added [min_cluster_size_m]{.title-ref} to LabelBasedEuclideanClusterNode as a required parameter -- it is read with get_or_declare_parameter<double>() with no fallback, and the package schema lists it under "required". The package's own reference config was updated in that PR, but this deployed copy in autoware_perception_config was not, so the node aborted at construction: terminate called after throwing an instance of 'rclcpp::ParameterTypeException' what(): expected [double] got [not set] The node is only launched on the semantic segmentation path, so the breakage is invisible unless use_semantic_segmentation_ptv3:=true, which is how it went unnoticed. Values mirror the reference config shipped with the package in the same PR: a 1.5 m global minimum XY bounding-circle diameter, disabled (0.0) for the small-object labels that have override blocks here. Only the labels present in this file are touched; the remaining drift from the package config (missing motorcycle/animal blocks, truck_trailer vs truck_trailer_car group) is left alone as it changes detection behavior beyond this crash fix. Co-Authored-By: Claude Opus 5 (1M context) <<noreply@anthropic.com>>

  * sync missing param ---------Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>

• refactor(perception)!: extract the perception parameter tree into autoware_perception_config and modularize the simulated perception pipeline (#1955)

  • Refactor perception launch files to use autoware_perception_config package
  • Removed the perception_config_pkg argument from multiple launch files.
  • Updated parameter paths in various launch files to reference autoware_perception_config instead of perception_config_pkg.
  • Ensured consistency across object recognition, obstacle segmentation, occupancy grid map, and traffic light recognition launch files.
  • Added autoware_perception_config as a dependency in package.xml.
  • Refactor perception launch files to use dynamic configuration paths
  • Added a new argument [perception_config_pkg]{.title-ref} to specify the perception configuration package.
  • Introduced [perception_config_dir]{.title-ref} variable to dynamically set the path for configuration files across multiple launch files.
  • Updated parameter paths in various launch files to utilize the new dynamic configuration directory, enhancing maintainability and flexibility.
  • Modified launch files related to object recognition, obstacle segmentation, occupancy grid mapping, and traffic light recognition to reflect these changes.
  • chore(CODEOWNERS): remove obsolete perception config path
  • refactor: update perception configuration for simulator launch files
  • refactor: remove traffic light parameters from perception launch files
  • refactor: integrate perception simulation and update tier4 simulator component
  • chore(CODEOWNERS): restore auto-generated file
  • refactor: add elevation map support to perception simulation and update README

  * ci: distribute lint-autoware-system-design-format via sync-files ---------

• Contributors: Taekjin LEE, badai nguyen, github-actions