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autoware_perception_launch package from autoware_launch repo

autoware_launch autoware_sample_designs autoware_control_config autoware_control_launch autoware_localization_config autoware_localization_launch autoware_map_config autoware_map_launch autoware_perception_config autoware_perception_launch autoware_planning_config autoware_planning_launch autoware_sensing_launch autoware_sensor_driver_launch awsim_labs_sensor_kit_description awsim_labs_sensor_kit_launch awsim_sensor_kit_description awsim_sensor_kit_launch carla_sensor_kit_description carla_sensor_kit_launch sample_sensor_kit_description sample_sensor_kit_launch single_lidar_sensor_kit_description single_lidar_sensor_kit_launch tier4_autoware_api_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch awsim_labs_vehicle_description awsim_labs_vehicle_launch sample_vehicle_description sample_vehicle_launch

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Package Summary

Version 0.52.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_launch.git
VCS Type git
VCS Version main
Last Updated 2026-10-09
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_perception_launch package

Maintainers

  • Yukihiro Saito
  • Dai Nguyen
  • Taekjin Lee
  • Yoshi Ri
  • Masato Saeki

Authors

No additional authors.
autoware_universe_launch/autoware_perception_launch/README.md

autoware_perception_launch

Shared perception launch library. The system component launchers live in the product layer (autoware_launch/launch/components/component_perception.launch.xml for the lidar pipeline and component_traffic_light.launch.xml for traffic light recognition); this package hosts the perception feature launchers they combine:

launch/
├── common/                        # shared preprocess feature launchers (pointcloud downsample)
├── object_recognition/
│   ├── object_recognition_<mode>.launch.xml  # detection + tracking + prediction per sensor mode
│   ├── detection/
│   │   ├── detector/              # detectors
│   │   ├── filter/                # filters
│   │   └── merger/                # detection-side serial merger (used by the camera_lidar_radar_serial launcher)
│   └── prediction/
├── obstacle_segmentation/
├── occupancy_grid_map/
└── traffic_light_recognition/
design/module/                     # Autoware System Designer modules; same subtree as launch/
├── object_recognition/
├── obstacle_segmentation/
├── occupancy_grid_map/
└── traffic_light_recognition/

Launch files

  • object_recognition/object_recognition_<mode>.launch.xml — one feature launcher per sensor mode (camera, lidar, lidar_ptv3, lidar_radar, camera_lidar_radar, camera_lidar_radar_serial); hosts the detection stage inline together with the tracker and prediction, and pushes their module namespaces. Camera and radar input topics default to their absolute sensing paths (/sensing/camera/cameraN/..., /sensing/radar/detected_objects), so callers override only what differs. Most modes wire the multi-channel tracker to the detector outputs; camera_lidar_radar_serial instead merges the detectors in the detection stage (optionally regenerating detections through detection-by-tracker), tracks the single merged detected_objects channel, and joins radar tracked objects at the decorative tracker merger. camera runs camera-only detectors (BEV and camera VRU).
  • The clustering backend is file selection, not a flag: lidar runs rule-based euclidean clustering off the obstacle segmentation cloud, while lidar_ptv3 and lidar_radar cluster the PTv3 semantic-segmentation cloud and drop the pointcloud map filter and the object validator that only the rule-based pipeline uses. Both feed their cluster objects to the tracker on the lidar_clustering channel.
  • object_recognition/detection/{detector,filter}/ — single-purpose launchers wired together by the object-recognition launchers. merger/camera_lidar_merger.launch.xml chains the detection-side object mergers for the camera_lidar_radar_serial launcher.
  • obstacle_segmentation/ground_segmentation_<backend>.launch.xml — ground removal backends (rule_based, rule_based_cuda, ml); backend selection is file selection. ground_segmentation_{additional_lidars,ransac}.launch.xml fold extra lidars into the obstacle stream for kits that carry them.
  • occupancy_grid_map/, common/, traffic_light_recognition/ — feature launchers included directly by the system components.

Namespace and container addressing

Callers own the namespaces: the system component pushes perception and object_recognition; object_recognition_<mode>.launch.xml pushes detection/tracking/prediction. The object-recognition launchers address their internal topics through the fixed /perception/object_recognition namespace. Composable nodes load into the shared pointcloud container, whose name is exposed as pointcloud_container_name and aliased to the node/pointcloud_container argument of the detector launchers.

Config

Parameter files are resolved from a config/ tree addressed through the perception_config_pkg argument, which defaults to autoware_perception_config. A product can relocate the whole tree by setting perception_config_pkg once at its entry point — the launch configuration propagates through every include — but it must then ship the same config/ layout. Products that differ in only a few files instead override the corresponding *_param_path arguments, which every feature launcher declares with a default:

<include file="$(find-pkg-share autoware_perception_launch)/launch/object_recognition/object_recognition_lidar.launch.xml">
  <arg name="perception_config_pkg" value="my_perception_config"/>
  <arg name="FOO_NODE_param_path" value="..."/>
</include>

component_perception.launch.xml, component_traffic_light.launch.xml and planning_simulator/perception_simulation.launch.xml each declare perception_config_pkg, so a product switches the tree at the component it launches.

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

Package Dependencies

Please see <exec_depend> in package.xml.

CHANGELOG

Changelog for package autoware_perception_launch

0.52.0 (2026-06-30)

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

  • fix(merger_topic): mis-aligning topic when using semantic_segmentation without multi_channel_tracker (#1895)

    • fix(merger_topic): mis-aligning topic when using semantic_segmentation without multi_channel_tracker

    * chore: rename for readablity ---------

  • fix(ptv3): model path (#1890)

  • chore: add maintainer (#1880)

  • fix(tier4_perception_launch): occupancy_grid_map input topic when ptv3 used (#1871)

    • fix(tier4_perception_launch): occupancy_grid_map input topic when ptv3 used

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • fix: remove unnecessary dependency (#1870)

  • feat: add semantic segmentation pipeline option (#1865)

    • fix: ground segmentation launch
    • fix: missing dependencies and param
    • fix: ptv3 topic
    • fix: euclidean pipeline
    • feat: add use_roi_detected_object_validator options
    • replace with label_based_euclidean
    • revert to bevfusion
    • fix: aligning with updated EC
    • fix: add alpha merger option
    • fix: missing toggle condition
    • disable irregular_object_detector
    • fix: camera_lidar_radar merger
    • update label_based_ec param
    • revert to v4.4.0 pipeline option
    • fix(merger launch): missing toggle condition
    • style(pre-commit): autofix
    • style(pre-commit): autofix
    • remove voxel_downsample and pc validation
    • RDDR-353 Enable irregular object detection (#2379)
    • update config for 2 new classes
    • typo
    • style(pre-commit): autofix
    • refactor
    • refactor
    • fix data_path
    • fix: adjust combination when ptv3 used
    • fix: remove fixed option when using ptv3
    • remove object filter

    * Update autoware_launch/config/perception/object_recognition/detection/euclidean_cluster/label_based_euclidean_cluster.param.yaml Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>

    * fix: add semseg pipeline option for lidar perception mode ---------Co-authored-by: ktro2828 <<60615504+ktro2828@users.noreply.github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>

  • feat(perception): update perception pipeline to remove shape estimation (#1846)

    • fix(perception): update input channels and ground segmentation parameters for improved tracking and detection
    • Changed associator type from 'bev' to 'polar' in multi-object tracker input channels for better performance.
    • Adjusted ground segmentation parameters: increased margin_max_z from 0.0 to 1.0 and detection_range_z_max from 2.5 to 3.5 to enhance ground detection capabilities.
    • feat(Tier4PlanningWrapper): add data_path parameter for enhanced configuration flexibility
    • Introduced a new parameter 'data_path' with a default value to improve the configuration options for the Tier4PlanningWrapper node.
    • This addition allows for better management of data paths within the planning framework.
    • refactor(perception): remove deprecated tracking modules and streamline object recognition configuration

File truncated at 100 lines see the full file

Package Dependencies

Deps Name
ament_cmake_auto
autoware_cmake
autoware_agnocast_wrapper
autoware_bevfusion
autoware_bytetrack
autoware_compare_map_segmentation
autoware_crosswalk_traffic_light_estimator
autoware_cuda_pointcloud_preprocessor
autoware_detected_object_feature_remover
autoware_detected_object_validation
autoware_detection_by_tracker
autoware_elevation_map_loader
autoware_euclidean_cluster
autoware_ground_segmentation
autoware_ground_segmentation_cuda
autoware_image_object_locator
autoware_image_projection_based_fusion
autoware_image_transport_decompressor
autoware_lidar_apollo_instance_segmentation
autoware_lidar_centerpoint
autoware_lidar_transfusion
autoware_map_based_prediction
autoware_multi_object_tracker
autoware_object_merger
autoware_object_sorter
autoware_occupancy_grid_map_outlier_filter
autoware_perception_config
autoware_pointcloud_preprocessor
autoware_probabilistic_occupancy_grid_map
autoware_ptv3
autoware_raindrop_cluster_filter
autoware_shape_estimation
autoware_simpl_prediction
autoware_simple_object_merger
autoware_tensorrt_bevdet
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
rclcpp_components
topic_tools
ament_lint_auto
autoware_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
autoware_launch
reaction_analyzer

Launch files

  • launch/common/pointcloud_downsample.launch.xml
      • pointcloud_container_name
      • cuda_pointcloud_preprocessing [default: false]
      • input/pointcloud
      • output/pointcloud
      • common_downsample_voxel_size_x [default: 0.05]
      • common_downsample_voxel_size_y [default: 0.05]
      • common_downsample_voxel_size_z [default: 0.05]
  • launch/object_recognition/detection/detector/camera_2d_detector.launch.xml
      • image_raw0 [default: /sensing/camera/camera0/image_raw]
      • image_raw1 [default: /sensing/camera/camera1/image_raw]
      • image_raw2 [default: /sensing/camera/camera2/image_raw]
      • image_raw3 [default: /sensing/camera/camera3/image_raw]
      • image_raw4 [default: /sensing/camera/camera4/image_raw]
      • image_raw5 [default: /sensing/camera/camera5/image_raw]
      • image_raw6 [default: /sensing/camera/camera6/image_raw]
      • image_raw7 [default: /sensing/camera/camera7/image_raw]
      • image_raw8 [default: /sensing/camera/camera8/image_raw]
      • image_raw9 [default: /sensing/camera/camera9/image_raw]
      • image_number [default: 1]
      • camera_index [default: 0]
      • use_bytetrack [default: true]
      • enable_visualizer [default: false]
      • camera_2d_detector/model_path
      • camera_2d_detector/label_path
      • camera_2d_detector/color_map_path
      • camera_2d_detector/roi_remap_path
      • camera_2d_detector/roi_to_semseg_remap_path
      • tensorrt_yolox_ns [default: ]
  • launch/object_recognition/detection/detector/camera_bev_detector.launch.xml
      • input/camera0/image
      • input/camera0/info
      • input/camera1/image
      • input/camera1/info
      • input/camera2/image
      • input/camera2/info
      • input/camera3/image
      • input/camera3/info
      • input/camera4/image
      • input/camera4/info
      • input/camera5/image
      • input/camera5/info
      • output/objects
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevdet_model_name [default: bevdet_one_lt_d]
      • bevdet_model_path [default: $(var data_path)/tensorrt_bevdet]
  • launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
      • ns
      • lidar_detection_model_type
      • lidar_detection_model_name
      • use_low_intensity_cluster_filter
      • use_image_segmentation_based_filter
      • number_of_cameras
      • input/camera0/image
      • input/camera0/info
      • input/camera0/rois
      • input/camera1/image
      • input/camera1/info
      • input/camera1/rois
      • input/camera2/image
      • input/camera2/info
      • input/camera2/rois
      • input/camera3/image
      • input/camera3/info
      • input/camera3/rois
      • input/camera4/image
      • input/camera4/info
      • input/camera4/rois
      • input/camera5/image
      • input/camera5/info
      • input/camera5/rois
      • input/camera6/image
      • input/camera6/info
      • input/camera6/rois
      • input/camera7/image
      • input/camera7/info
      • input/camera7/rois
      • input/camera8/image
      • input/camera8/info
      • input/camera8/rois
      • input/concatenation_info
      • segmentation_pointcloud_fusion_camera_ids
      • image_topic_name
      • sync_param_path
      • voxel_grid_based_euclidean_param_path
      • lidar_model_param_path
      • pointpainting_model_path [default: $(var data_path)/image_projection_based_fusion]
      • pointpainting_fusion_common_param_path
      • roi_cluster_fusion_param_path
      • node/pointcloud_container
      • input/pointcloud
      • input/pointcloud_map/pointcloud
      • input/obstacle_segmentation/pointcloud
      • output/ml_detector/objects
      • output/rule_detector/objects
      • camera_2d_detector/model_path
      • camera_2d_detector/label_path
      • camera_2d_detector/color_map_path
      • camera_2d_detector/roi_remap_path
      • camera_2d_detector/roi_to_semseg_remap_path
      • enable_2d_detection [default: false]
  • launch/object_recognition/detection/detector/camera_lidar_irregular_object_detector.launch.xml
      • pipeline_ns
      • node/pointcloud_container
      • output/objects [default: objects]
      • input/concatenation_info
      • input/pointcloud
      • irregular_object_crop_box_filter_node_param_path
      • irregular_object_scan_ground_filter_node_param_path
      • irregular_object_roi_pointcloud_fusion_node_param_path
      • irregular_object_fusion_camera_param_path
      • sync_param_path
  • launch/object_recognition/detection/detector/camera_vru_detector.launch.xml
      • input/camera0/info [default: /sensing/camera/camera0/camera_info]
      • input/camera0/rois [default: /perception/object_recognition/detection/rois0]
      • input/camera1/info [default: /sensing/camera/camera1/camera_info]
      • input/camera1/rois [default: /perception/object_recognition/detection/rois1]
      • input/camera2/info [default: /sensing/camera/camera2/camera_info]
      • input/camera2/rois [default: /perception/object_recognition/detection/rois2]
      • input/camera3/info [default: /sensing/camera/camera3/camera_info]
      • input/camera3/rois [default: /perception/object_recognition/detection/rois3]
      • input/camera4/info [default: /sensing/camera/camera4/camera_info]
      • input/camera4/rois [default: /perception/object_recognition/detection/rois4]
      • input/camera5/info [default: /sensing/camera/camera5/camera_info]
      • input/camera5/rois [default: /perception/object_recognition/detection/rois5]
      • input/camera6/info [default: /sensing/camera/camera6/camera_info]
      • input/camera6/rois [default: /perception/object_recognition/detection/rois6]
      • input/camera7/info [default: /sensing/camera/camera7/camera_info]
      • input/camera7/rois [default: /perception/object_recognition/detection/rois7]
      • output/objects [default: /perception/object_recognition/detection/camera_vru/objects]
      • bbox_object_locator_param_path
      • rois_ids [default: [0, 1]]
  • launch/object_recognition/detection/detector/irregular_object_detector.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • target_container
      • base_frame [default: base_link]
      • use_intra_process [default: true]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/concatenation_info [default: /sensing/lidar/concatenated/pointcloud_info]
      • output/clusters
      • crop_box_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/crop_box_filter.param.yaml]
      • scan_ground_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/scan_ground_filter.param.yaml]
      • roi_pointcloud_fusion_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/roi_pointcloud_fusion.param.yaml]
      • fusion_camera_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/fusion_cameras.param.yaml]
      • sync_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml]
  • launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
      • lidar_detection_model_type
      • lidar_detection_model_name
      • lidar_model_param_path
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • centerpoint_model_path [default: $(var data_path)/lidar_centerpoint]
      • centerpoint_common_param_path [default: $(find-pkg-share autoware_lidar_centerpoint)/config/centerpoint_common.param.yaml]
      • transfusion_model_path [default: $(var data_path)/lidar_transfusion]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type
      • node/pointcloud_container
      • input/pointcloud
      • output/objects
      • output/short_range_objects
  • launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
      • ns
      • node/pointcloud_container
      • input/pointcloud_map/pointcloud
      • input/obstacle_segmentation/pointcloud
      • output/cluster_objects
      • output/objects
      • voxel_grid_based_euclidean_param_path
      • use_low_height_cropbox [default: false]
  • launch/object_recognition/detection/detector/lidar_semantic_segmentation_detector.launch.xml
      • euclidean_clustering/param_path
      • input/pointcloud
      • output/objects
  • launch/object_recognition/detection/detector/tracker_based_detector.launch.xml
      • detection_by_tracker_param_path
      • input/clusters
      • input/tracked_objects
      • output/objects
  • launch/object_recognition/detection/filter/object_filter.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • objects_filter_method [default: lanelet_filter]
      • object_recognition_detection_object_lanelet_filter_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml]
      • object_recognition_detection_object_position_filter_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_filter/object_position_filter.param.yaml]
      • input/objects
      • output/objects
  • launch/object_recognition/detection/filter/object_validator.launch.xml
      • objects_validation_method
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path
      • input/obstacle_pointcloud
      • input/objects
      • output/objects
  • launch/object_recognition/detection/filter/pointcloud_downsample_filter.launch.xml
      • target_container
      • use_intra_process [default: true]
      • input/pointcloud
      • output/pointcloud
      • downsample_voxel_size [default: 0.1]
  • launch/object_recognition/detection/filter/pointcloud_map_filter.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • target_container
      • use_intra_process [default: true]
      • input/pointcloud
      • output/pointcloud
      • output/downsampled/pointcloud [default: /perception/obstacle_segmentation/pointcloud_map_filtered/downsampled/pointcloud]
      • downsample_voxel_size [default: 0.1]
      • voxel_based_compare_map_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/pointcloud_filter/voxel_based_compare_map_filter.param.yaml]
  • launch/object_recognition/detection/filter/radar_filter.launch.xml
      • object_sorter_param_path
      • radar_lanelet_filtering_range_param_path
      • input/radar
      • output/objects
  • launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • object_recognition_detection_object_merger_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/data_association_matrix.param.yaml]
      • object_recognition_detection_object_merger_distance_threshold_list_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/overlapped_judge.param.yaml]
      • ml_camera_lidar_object_association_merger_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/ml_camera_lidar_object_association_merger.param.yaml]
      • roi_detected_object_fusion_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/roi_detected_object_fusion.param.yaml]
      • sync_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml]
      • lidar_detection_model_type
      • use_detection_by_tracker
      • use_irregular_object_detector
      • use_roi_detected_object_validator
      • euclidean_clustering/shape_policy
      • use_object_filter
      • objects_filter_method
      • number_of_cameras
      • input/camera0/image
      • input/camera0/info
      • input/camera0/rois
      • input/camera1/image
      • input/camera1/info
      • input/camera1/rois
      • input/camera2/image
      • input/camera2/info
      • input/camera2/rois
      • input/camera3/image
      • input/camera3/info
      • input/camera3/rois
      • input/camera4/image
      • input/camera4/info
      • input/camera4/rois
      • input/camera5/image
      • input/camera5/info
      • input/camera5/rois
      • input/camera6/image
      • input/camera6/info
      • input/camera6/rois
      • input/camera7/image
      • input/camera7/info
      • input/camera7/rois
      • input/camera8/image
      • input/camera8/info
      • input/camera8/rois
      • input/concatenation_info [default: /sensing/lidar/concatenated/pointcloud_info]
      • input/lidar_ml/objects
      • input/lidar_cluster/objects
      • input/irregular_object/objects [default: ]
      • input/detection_by_tracker/objects
      • output/objects [default: objects]
      • alpha_merger_priority_mode [default: 0]
  • launch/object_recognition/object_recognition_camera.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • use_camera_vru_detector [default: false]
      • camera_vru_detector_rois_ids [default: [0]]
      • use_camera_bev_detector [default: true]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • input/camera0/image [default: /sensing/camera/camera0/image_rect_color]
      • input/camera0/info [default: /sensing/camera/camera0/camera_info]
      • input/camera0/rois [default: /perception/object_recognition/detection/rois0]
      • input/camera1/image [default: /sensing/camera/camera1/image_rect_color]
      • input/camera1/info [default: /sensing/camera/camera1/camera_info]
      • input/camera1/rois [default: /perception/object_recognition/detection/rois1]
      • input/camera2/image [default: /sensing/camera/camera2/image_rect_color]
      • input/camera2/info [default: /sensing/camera/camera2/camera_info]
      • input/camera2/rois [default: /perception/object_recognition/detection/rois2]
      • input/camera3/image [default: /sensing/camera/camera3/image_rect_color]
      • input/camera3/info [default: /sensing/camera/camera3/camera_info]
      • input/camera3/rois [default: /perception/object_recognition/detection/rois3]
      • input/camera4/image [default: /sensing/camera/camera4/image_rect_color]
      • input/camera4/info [default: /sensing/camera/camera4/camera_info]
      • input/camera4/rois [default: /perception/object_recognition/detection/rois4]
      • input/camera5/image [default: /sensing/camera/camera5/image_rect_color]
      • input/camera5/info [default: /sensing/camera/camera5/camera_info]
      • input/camera5/rois [default: /perception/object_recognition/detection/rois5]
      • input/camera6/image [default: /sensing/camera/camera6/image_rect_color]
      • input/camera6/info [default: /sensing/camera/camera6/camera_info]
      • input/camera6/rois [default: /perception/object_recognition/detection/rois6]
      • input/camera7/image [default: /sensing/camera/camera7/image_rect_color]
      • input/camera7/info [default: /sensing/camera/camera7/camera_info]
      • input/camera7/rois [default: /perception/object_recognition/detection/rois7]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • near_range_camera_vru_param_path [default: $(var perception_config_dir)/object_recognition/detection/camera_vru_detection/near_range_camera_vru_detector.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
  • launch/object_recognition/object_recognition_camera_lidar_radar.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • pointpainting_model_path [default: $(var data_path)/image_projection_based_fusion]
      • camera_2d_detector/model_path [default: $(var data_path)/tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx]
      • camera_2d_detector/label_path [default: $(var data_path)/tensorrt_yolox/label.txt]
      • camera_2d_detector/color_map_path [default: $(var data_path)/tensorrt_yolox/semseg_color_map.csv]
      • camera_2d_detector/roi_remap_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/roi_label_remap.csv]
      • camera_2d_detector/roi_to_semseg_remap_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/roi_to_semseg_label_remap.csv]
      • use_semantic_segmentation_ptv3 [default: false]
      • use_object_filter [default: true]
      • use_pointcloud_map [default: true]
      • use_validator [default: false]
      • objects_validation_method [default: obstacle_pointcloud]
      • use_low_height_cropbox [default: false]
      • use_low_intensity_cluster_filter [default: true]
      • use_image_segmentation_based_filter [default: false]
      • use_irregular_object_detector [default: true]
      • use_camera_vru_detector [default: false]
      • camera_vru_detector_rois_ids [default: [0]]
      • use_camera_only_detection [default: false]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • number_of_cameras [default: 6]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/semantic_segmentation/pointcloud [default: /perception/segmented/pointcloud]
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • input/camera0/image [default: /sensing/camera/camera0/image_rect_color]
      • input/camera0/info [default: /sensing/camera/camera0/camera_info]
      • input/camera0/rois [default: /perception/object_recognition/detection/rois0]
      • input/camera1/image [default: /sensing/camera/camera1/image_rect_color]
      • input/camera1/info [default: /sensing/camera/camera1/camera_info]
      • input/camera1/rois [default: /perception/object_recognition/detection/rois1]
      • input/camera2/image [default: /sensing/camera/camera2/image_rect_color]
      • input/camera2/info [default: /sensing/camera/camera2/camera_info]
      • input/camera2/rois [default: /perception/object_recognition/detection/rois2]
      • input/camera3/image [default: /sensing/camera/camera3/image_rect_color]
      • input/camera3/info [default: /sensing/camera/camera3/camera_info]
      • input/camera3/rois [default: /perception/object_recognition/detection/rois3]
      • input/camera4/image [default: /sensing/camera/camera4/image_rect_color]
      • input/camera4/info [default: /sensing/camera/camera4/camera_info]
      • input/camera4/rois [default: /perception/object_recognition/detection/rois4]
      • input/camera5/image [default: /sensing/camera/camera5/image_rect_color]
      • input/camera5/info [default: /sensing/camera/camera5/camera_info]
      • input/camera5/rois [default: /perception/object_recognition/detection/rois5]
      • input/camera6/image [default: /sensing/camera/camera6/image_rect_color]
      • input/camera6/info [default: /sensing/camera/camera6/camera_info]
      • input/camera6/rois [default: /perception/object_recognition/detection/rois6]
      • input/camera7/image [default: /sensing/camera/camera7/image_rect_color]
      • input/camera7/info [default: /sensing/camera/camera7/camera_info]
      • input/camera7/rois [default: /perception/object_recognition/detection/rois7]
      • input/camera8/image [default: /sensing/camera/camera8/image_rect_color]
      • input/camera8/info [default: /sensing/camera/camera8/camera_info]
      • input/camera8/rois [default: /perception/object_recognition/detection/rois8]
      • input/concatenation_info [default: /sensing/lidar/concatenated/pointcloud_info]
      • input/radar [default: /sensing/radar/detected_objects]
      • input/camera_only/objects [default: /perception/object_recognition/detection/camera_only/objects]
      • input/camera_only/channel [default: camera_streampetr]
      • image_topic_name [default: image_rect_color]
      • segmentation_pointcloud_fusion_camera_ids [default: [0,2,4]]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • sync_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml]
      • roi_cluster_fusion_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml]
      • pointpainting_fusion_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/pointpainting_common.param.yaml]
      • irregular_object_crop_box_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/crop_box_filter.param.yaml]
      • irregular_object_scan_ground_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/scan_ground_filter.param.yaml]
      • irregular_object_roi_pointcloud_fusion_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/roi_pointcloud_fusion.param.yaml]
      • irregular_object_fusion_camera_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/fusion_cameras.param.yaml]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • voxel_grid_based_euclidean_param_path [default: $(var perception_config_dir)/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml]
      • radar_lanelet_filtering_range_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml]
      • object_recognition_detection_object_sorter_radar_param_path [default: $(var perception_config_dir)/object_recognition/detection/radar_filter/detected_object_sorter.param.yaml]
      • near_range_camera_vru_param_path [default: $(var perception_config_dir)/object_recognition/detection/camera_vru_detection/near_range_camera_vru_detector.param.yaml]
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path [default: $(var perception_config_dir)/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
      • euclidean_clustering/param_path [default: $(var perception_config_dir)/object_recognition/detection/euclidean_cluster/label_based_euclidean_cluster.param.yaml]
  • launch/object_recognition/object_recognition_camera_lidar_radar_serial.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • pointpainting_model_path [default: $(var data_path)/image_projection_based_fusion]
      • camera_2d_detector/model_path [default: $(var data_path)/tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx]
      • camera_2d_detector/label_path [default: $(var data_path)/tensorrt_yolox/label.txt]
      • camera_2d_detector/color_map_path [default: $(var data_path)/tensorrt_yolox/semseg_color_map.csv]
      • camera_2d_detector/roi_remap_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/roi_label_remap.csv]
      • camera_2d_detector/roi_to_semseg_remap_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/roi_to_semseg_label_remap.csv]
      • use_object_filter [default: true]
      • objects_filter_method [default: lanelet_filter]
      • use_pointcloud_map [default: true]
      • use_validator [default: false]
      • objects_validation_method [default: obstacle_pointcloud]
      • use_roi_detected_object_validator [default: true]
      • use_detection_by_tracker [default: true]
      • use_low_height_cropbox [default: false]
      • use_low_intensity_cluster_filter [default: true]
      • use_image_segmentation_based_filter [default: false]
      • use_irregular_object_detector [default: true]
      • ml_camera_lidar_merger_priority_mode [default: 0]
      • use_vector_map [default: true]
      • number_of_cameras [default: 6]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • input/camera0/image [default: /sensing/camera/camera0/image_rect_color]
      • input/camera0/info [default: /sensing/camera/camera0/camera_info]
      • input/camera0/rois [default: /perception/object_recognition/detection/rois0]
      • input/camera1/image [default: /sensing/camera/camera1/image_rect_color]
      • input/camera1/info [default: /sensing/camera/camera1/camera_info]
      • input/camera1/rois [default: /perception/object_recognition/detection/rois1]
      • input/camera2/image [default: /sensing/camera/camera2/image_rect_color]
      • input/camera2/info [default: /sensing/camera/camera2/camera_info]
      • input/camera2/rois [default: /perception/object_recognition/detection/rois2]
      • input/camera3/image [default: /sensing/camera/camera3/image_rect_color]
      • input/camera3/info [default: /sensing/camera/camera3/camera_info]
      • input/camera3/rois [default: /perception/object_recognition/detection/rois3]
      • input/camera4/image [default: /sensing/camera/camera4/image_rect_color]
      • input/camera4/info [default: /sensing/camera/camera4/camera_info]
      • input/camera4/rois [default: /perception/object_recognition/detection/rois4]
      • input/camera5/image [default: /sensing/camera/camera5/image_rect_color]
      • input/camera5/info [default: /sensing/camera/camera5/camera_info]
      • input/camera5/rois [default: /perception/object_recognition/detection/rois5]
      • input/camera6/image [default: /sensing/camera/camera6/image_rect_color]
      • input/camera6/info [default: /sensing/camera/camera6/camera_info]
      • input/camera6/rois [default: /perception/object_recognition/detection/rois6]
      • input/camera7/image [default: /sensing/camera/camera7/image_rect_color]
      • input/camera7/info [default: /sensing/camera/camera7/camera_info]
      • input/camera7/rois [default: /perception/object_recognition/detection/rois7]
      • input/camera8/image [default: /sensing/camera/camera8/image_rect_color]
      • input/camera8/info [default: /sensing/camera/camera8/camera_info]
      • input/camera8/rois [default: /perception/object_recognition/detection/rois8]
      • input/concatenation_info [default: /sensing/lidar/concatenated/pointcloud_info]
      • input/radar/tracked_objects [default: /sensing/radar/tracked_objects]
      • image_topic_name [default: image_rect_color]
      • segmentation_pointcloud_fusion_camera_ids [default: [0,2,4]]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • sync_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml]
      • roi_cluster_fusion_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml]
      • pointpainting_fusion_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/pointpainting_common.param.yaml]
      • irregular_object_crop_box_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/crop_box_filter.param.yaml]
      • irregular_object_scan_ground_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/scan_ground_filter.param.yaml]
      • irregular_object_roi_pointcloud_fusion_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/roi_pointcloud_fusion.param.yaml]
      • irregular_object_fusion_camera_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/fusion_cameras.param.yaml]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • voxel_grid_based_euclidean_param_path [default: $(var perception_config_dir)/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml]
      • detection_by_tracker_param_path [default: $(var perception_config_dir)/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml]
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path [default: $(var perception_config_dir)/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml]
      • object_recognition_detection_object_merger_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/data_association_matrix.param.yaml]
      • object_recognition_detection_object_merger_distance_threshold_list_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/overlapped_judge.param.yaml]
      • ml_camera_lidar_object_association_merger_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/ml_camera_lidar_object_association_merger.param.yaml]
      • roi_detected_object_fusion_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/roi_detected_object_fusion.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
      • object_recognition_tracking_radar_tracked_object_sorter_param_path [default: $(var perception_config_dir)/object_recognition/tracking/radar_object_tracker/tracked_object_sorter.param.yaml]
      • object_recognition_tracking_radar_tracked_object_lanelet_filter_param_path [default: $(var perception_config_dir)/object_recognition/tracking/radar_object_tracker/tracked_object_lanelet_filter.param.yaml]
      • object_recognition_tracking_object_merger_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/tracking_object_merger/data_association_matrix.param.yaml]
      • object_recognition_tracking_object_merger_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml]
      • euclidean_clustering/shape_policy [default: 0]
  • launch/object_recognition/object_recognition_lidar.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • use_pointcloud_map [default: true]
      • use_validator [default: false]
      • objects_validation_method [default: obstacle_pointcloud]
      • use_object_filter [default: true]
      • objects_filter_method [default: lanelet_filter]
      • use_low_height_cropbox [default: false]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • voxel_grid_based_euclidean_param_path [default: $(var perception_config_dir)/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml]
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path [default: $(var perception_config_dir)/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
  • launch/object_recognition/object_recognition_lidar_ptv3.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/semantic_segmentation/pointcloud [default: /perception/segmented/pointcloud]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
      • euclidean_clustering/param_path [default: $(var perception_config_dir)/object_recognition/detection/euclidean_cluster/label_based_euclidean_cluster.param.yaml]
  • launch/object_recognition/object_recognition_lidar_radar.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • use_low_height_cropbox [default: false]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/semantic_segmentation/pointcloud [default: /perception/segmented/pointcloud]
      • input/radar [default: /sensing/radar/detected_objects]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • voxel_grid_based_euclidean_param_path [default: $(var perception_config_dir)/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml]
      • radar_lanelet_filtering_range_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml]
      • object_recognition_detection_object_sorter_radar_param_path [default: $(var perception_config_dir)/object_recognition/detection/radar_filter/detected_object_sorter.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
      • euclidean_clustering/param_path [default: $(var perception_config_dir)/object_recognition/detection/euclidean_cluster/label_based_euclidean_cluster.param.yaml]
  • launch/object_recognition/prediction/prediction.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • use_vector_map [default: false]
      • prediction_model_type [default: map_based]
      • input/objects [default: /perception/object_recognition/tracking/objects]
      • output/objects [default: /perception/object_recognition/objects]
      • object_recognition_prediction_map_based_prediction_param_path [default: $(var perception_config_dir)/object_recognition/prediction/map_based_prediction.param.yaml]
  • launch/obstacle_segmentation/ground_segmentation_additional_lidars.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • target_container
      • lidar_name
      • base_frame [default: base_link]
      • use_intra_process [default: true]
      • input/main/pointcloud
      • input/lidar/pointcloud [default: /sensing/lidar/$(var lidar_name)/pointcloud]
      • output/pointcloud
      • output/pointcloud_info [default: $(var output/pointcloud)_info]
      • crop_box_margin_max_z [default: 2.5]
      • crop_box_margin_min_z [default: -2.5]
      • crop_box_filter_node_param_path [default: $(var perception_config_dir)/obstacle_segmentation/ground_segmentation/crop_box_filter.param.yaml]
      • scan_ground_filter_node_param_path [default: $(var perception_config_dir)/obstacle_segmentation/ground_segmentation/scan_ground_filter.param.yaml]
  • launch/obstacle_segmentation/ground_segmentation_ml.launch.xml
      • pointcloud_container_name [default: pointcloud_container]
      • use_pointcloud_container [default: true]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/pointcloud/segmentation [default: /perception/segmented/pointcloud]
      • output/pointcloud/visualization [default: /perception/segmented/pointcloud/visualization]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • model_variant [default: ptv3]
      • model_path [default: $(var data_path)/ptv3]
  • launch/obstacle_segmentation/ground_segmentation_ransac.launch.xml
      • target_container
      • base_frame [default: base_link]
      • use_intra_process [default: true]
      • input_topics
      • input/main/pointcloud
      • output/pointcloud
      • output/pointcloud_info [default: $(var output/pointcloud)_info]
      • detection_area_crop_box_filter_node_param_path
      • ransac_ground_filter_node_param_path [default: $(find-pkg-share autoware_ground_segmentation)/config/ransac_ground_filter.param.yaml]
  • launch/obstacle_segmentation/ground_segmentation_rule_based.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • target_container
      • base_frame [default: base_link]
      • use_intra_process [default: true]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • crop_box_margin_max_z [default: 2.5]
      • crop_box_margin_min_z [default: -2.5]
      • crop_box_filter_node_param_path [default: $(var perception_config_dir)/obstacle_segmentation/ground_segmentation/crop_box_filter.param.yaml]
      • scan_ground_filter_node_param_path [default: $(var perception_config_dir)/obstacle_segmentation/ground_segmentation/scan_ground_filter.param.yaml]
  • launch/obstacle_segmentation/ground_segmentation_rule_based_cuda.launch.xml
      • target_container
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/ground_pointcloud [default: /perception/obstacle_segmentation/ground_pointcloud]
      • cuda_scan_ground_segmentation_filter_node_param_path [default: $(find-pkg-share autoware_ground_segmentation_cuda)/config/cuda_scan_ground_segmentation_filter.param.yaml]
  • launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • input/obstacle_pointcloud [default: concatenated/pointcloud]
      • input/raw_pointcloud [default: no_ground/oneshot/pointcloud]
      • output [default: /perception/occupancy_grid_map/map]
      • use_intra_process [default: false]
      • use_multithread [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • occupancy_grid_map_method
      • occupancy_grid_map_param_path [default: $(var perception_config_dir)/occupancy_grid_map/$(var occupancy_grid_map_method).param.yaml]
      • occupancy_grid_map_updater
      • occupancy_grid_map_updater_param_path [default: $(var perception_config_dir)/occupancy_grid_map/$(var occupancy_grid_map_updater)_updater.param.yaml]
      • input_obstacle_pointcloud [default: false]
      • input_obstacle_and_raw_pointcloud [default: true]
      • use_pointcloud_container [default: true]
  • launch/traffic_light_recognition/traffic_light_detector_fine.launch.xml
    • Fine-detection chain for one traffic light camera: map based detector proposes rough ROIs, the fine detector refines them, classifiers label them.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespace
      • enable_image_decompressor [default: true]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • map_based_detector_param_path [default: $(find-pkg-share autoware_traffic_light_map_based_detector)/config/traffic_light_map_based_detector.param.yaml]
      • fine_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_fine_detector/traffic_light_fine_detector.param.yaml]
      • car_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/car_traffic_light_classifier.param.yaml]
      • pedestrian_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/pedestrian_traffic_light_classifier.param.yaml]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • roi_visualizer_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_visualization/traffic_light_roi_visualizer.param.yaml]
      • fine_detector_model_path [default: $(var data_path)/traffic_light_fine_detector/tlr_car_ped_yolox_s_batch_6.onnx]
      • fine_detector_label_path [default: $(var data_path)/traffic_light_fine_detector/tlr_labels.txt]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
  • launch/traffic_light_recognition/traffic_light_detector_rough.launch.xml
    • Rough-detection chain for one traffic light camera: map based detector ROIs feed the classifiers directly, without a high accuracy detector.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespace
      • enable_image_decompressor [default: true]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • map_based_detector_param_path [default: $(find-pkg-share autoware_traffic_light_map_based_detector)/config/traffic_light_map_based_detector.param.yaml]
      • car_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/car_traffic_light_classifier.param.yaml]
      • pedestrian_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/pedestrian_traffic_light_classifier.param.yaml]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • roi_visualizer_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_visualization/traffic_light_roi_visualizer.param.yaml]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
  • launch/traffic_light_recognition/traffic_light_detector_whole_image.launch.xml
    • Whole-image detection chain for one traffic light camera: yolox detects over the full image, the selector matches detections to map based ROIs, classifiers label them.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespace
      • enable_image_decompressor [default: true]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • map_based_detector_param_path [default: $(find-pkg-share autoware_traffic_light_map_based_detector)/config/traffic_light_map_based_detector.param.yaml]
      • whole_image_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/yolox_traffic_light_detector.param.yaml]
      • car_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/car_traffic_light_classifier.param.yaml]
      • pedestrian_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/pedestrian_traffic_light_classifier.param.yaml]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • roi_visualizer_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_visualization/traffic_light_roi_visualizer.param.yaml]
      • whole_image_detector_model_path [default: $(var data_path)/tensorrt_yolox/yolox_s_car_ped_tl_detector_960_960_batch_1.onnx]
      • whole_image_detector_label_path [default: $(var data_path)/tensorrt_yolox/car_ped_tl_detector_labels.txt]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
  • launch/traffic_light_recognition/traffic_light_fusion.launch.xml
    • Post-process shared by all traffic light cameras: multi camera fusion, V2X arbitration, pedestrian signal estimation and map visualization.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespaces [default: [camera6, camera7]]
      • input/vector_map [default: /map/vector_map]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • internal/traffic_signals [default: /perception/traffic_light_recognition/internal/traffic_signals]
      • judged/traffic_signals [default: /perception/traffic_light_recognition/judged/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • multi_camera_fusion_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_multi_camera_fusion/traffic_light_multi_camera_fusion.param.yaml]
      • arbiter_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_arbiter/traffic_light_arbiter.param.yaml]
      • crosswalk_estimator_param_path [default: $(var perception_config_dir)/traffic_light_recognition/crosswalk_traffic_light_estimator/crosswalk_traffic_light_estimator.param.yaml]
  • launch/traffic_light_recognition/traffic_light_occlusion_predictor.launch.xml
    • Occlusion check for one traffic light camera: merges the car and pedestrian signals into the per-camera output, masking signals hidden from the camera.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespace
      • input/cloud [default: /sensing/lidar/top/pointcloud_raw_ex]
      • input/vector_map [default: /map/vector_map]
      • occlusion_predictor_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_occlusion_predictor/traffic_light_occlusion_predictor.param.yaml]
  • launch/traffic_light_recognition/traffic_light_recognition_fine.launch.xml
    • Traffic light recognition, fine detection mode: per-camera fine detection with occlusion check, then shared fusion. Two cameras as the representative set; add or remove per-camera blocks to match the vehicle.
      • perception_config_pkg [default: autoware_perception_config]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • input/pointcloud [default: /sensing/lidar/top/pointcloud_raw_ex]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • fine_detector_model_path [default: $(var data_path)/traffic_light_fine_detector/tlr_car_ped_yolox_s_batch_6.onnx]
      • fine_detector_label_path [default: $(var data_path)/traffic_light_fine_detector/tlr_labels.txt]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
      • base_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/base_traffic_light_map_based_detector.param.yaml]
      • extra_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/extra_traffic_light_map_based_detector.param.yaml]
  • launch/traffic_light_recognition/traffic_light_recognition_merge.launch.xml
    • Traffic light recognition, merge mode: detection and classification run on other ECUs; this side runs the per-camera occlusion check and the shared fusion. Two cameras as the representative set; add or remove per-camera blocks to match the vehicle.
      • input/vector_map [default: /map/vector_map]
      • input/pointcloud [default: /sensing/lidar/top/pointcloud_raw_ex]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
  • launch/traffic_light_recognition/traffic_light_recognition_rough.launch.xml
    • Traffic light recognition, rough detection mode: per-camera map based detection with occlusion check, then shared fusion. One camera as the representative set; add or remove per-camera blocks to match the vehicle.
      • perception_config_pkg [default: autoware_perception_config]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • input/pointcloud [default: /sensing/lidar/top/pointcloud_raw_ex]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
      • base_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/base_traffic_light_map_based_detector.param.yaml]
  • launch/traffic_light_recognition/traffic_light_recognition_whole_image.launch.xml
    • Traffic light recognition, whole-image detection mode: per-camera yolox detection, then shared fusion. Two cameras as the representative set; add or remove per-camera blocks to match the vehicle.
      • perception_config_pkg [default: autoware_perception_config]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • whole_image_detector_model_path [default: $(var data_path)/tensorrt_yolox/yolox_s_car_ped_tl_detector_960_960_batch_1.onnx]
      • whole_image_detector_label_path [default: $(var data_path)/tensorrt_yolox/car_ped_tl_detector_labels.txt]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
      • base_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/base_traffic_light_map_based_detector.param.yaml]
      • extra_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/extra_traffic_light_map_based_detector.param.yaml]

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autoware_perception_launch package from autoware_launch repo

autoware_launch autoware_sample_designs autoware_control_config autoware_control_launch autoware_localization_config autoware_localization_launch autoware_map_config autoware_map_launch autoware_perception_config autoware_perception_launch autoware_planning_config autoware_planning_launch autoware_sensing_launch autoware_sensor_driver_launch awsim_labs_sensor_kit_description awsim_labs_sensor_kit_launch awsim_sensor_kit_description awsim_sensor_kit_launch carla_sensor_kit_description carla_sensor_kit_launch sample_sensor_kit_description sample_sensor_kit_launch single_lidar_sensor_kit_description single_lidar_sensor_kit_launch tier4_autoware_api_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch awsim_labs_vehicle_description awsim_labs_vehicle_launch sample_vehicle_description sample_vehicle_launch

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Package Summary

Version 0.52.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_launch.git
VCS Type git
VCS Version main
Last Updated 2026-10-09
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_perception_launch package

Maintainers

  • Yukihiro Saito
  • Dai Nguyen
  • Taekjin Lee
  • Yoshi Ri
  • Masato Saeki

Authors

No additional authors.
autoware_universe_launch/autoware_perception_launch/README.md

autoware_perception_launch

Shared perception launch library. The system component launchers live in the product layer (autoware_launch/launch/components/component_perception.launch.xml for the lidar pipeline and component_traffic_light.launch.xml for traffic light recognition); this package hosts the perception feature launchers they combine:

launch/
├── common/                        # shared preprocess feature launchers (pointcloud downsample)
├── object_recognition/
│   ├── object_recognition_<mode>.launch.xml  # detection + tracking + prediction per sensor mode
│   ├── detection/
│   │   ├── detector/              # detectors
│   │   ├── filter/                # filters
│   │   └── merger/                # detection-side serial merger (used by the camera_lidar_radar_serial launcher)
│   └── prediction/
├── obstacle_segmentation/
├── occupancy_grid_map/
└── traffic_light_recognition/
design/module/                     # Autoware System Designer modules; same subtree as launch/
├── object_recognition/
├── obstacle_segmentation/
├── occupancy_grid_map/
└── traffic_light_recognition/

Launch files

  • object_recognition/object_recognition_<mode>.launch.xml — one feature launcher per sensor mode (camera, lidar, lidar_ptv3, lidar_radar, camera_lidar_radar, camera_lidar_radar_serial); hosts the detection stage inline together with the tracker and prediction, and pushes their module namespaces. Camera and radar input topics default to their absolute sensing paths (/sensing/camera/cameraN/..., /sensing/radar/detected_objects), so callers override only what differs. Most modes wire the multi-channel tracker to the detector outputs; camera_lidar_radar_serial instead merges the detectors in the detection stage (optionally regenerating detections through detection-by-tracker), tracks the single merged detected_objects channel, and joins radar tracked objects at the decorative tracker merger. camera runs camera-only detectors (BEV and camera VRU).
  • The clustering backend is file selection, not a flag: lidar runs rule-based euclidean clustering off the obstacle segmentation cloud, while lidar_ptv3 and lidar_radar cluster the PTv3 semantic-segmentation cloud and drop the pointcloud map filter and the object validator that only the rule-based pipeline uses. Both feed their cluster objects to the tracker on the lidar_clustering channel.
  • object_recognition/detection/{detector,filter}/ — single-purpose launchers wired together by the object-recognition launchers. merger/camera_lidar_merger.launch.xml chains the detection-side object mergers for the camera_lidar_radar_serial launcher.
  • obstacle_segmentation/ground_segmentation_<backend>.launch.xml — ground removal backends (rule_based, rule_based_cuda, ml); backend selection is file selection. ground_segmentation_{additional_lidars,ransac}.launch.xml fold extra lidars into the obstacle stream for kits that carry them.
  • occupancy_grid_map/, common/, traffic_light_recognition/ — feature launchers included directly by the system components.

Namespace and container addressing

Callers own the namespaces: the system component pushes perception and object_recognition; object_recognition_<mode>.launch.xml pushes detection/tracking/prediction. The object-recognition launchers address their internal topics through the fixed /perception/object_recognition namespace. Composable nodes load into the shared pointcloud container, whose name is exposed as pointcloud_container_name and aliased to the node/pointcloud_container argument of the detector launchers.

Config

Parameter files are resolved from a config/ tree addressed through the perception_config_pkg argument, which defaults to autoware_perception_config. A product can relocate the whole tree by setting perception_config_pkg once at its entry point — the launch configuration propagates through every include — but it must then ship the same config/ layout. Products that differ in only a few files instead override the corresponding *_param_path arguments, which every feature launcher declares with a default:

<include file="$(find-pkg-share autoware_perception_launch)/launch/object_recognition/object_recognition_lidar.launch.xml">
  <arg name="perception_config_pkg" value="my_perception_config"/>
  <arg name="FOO_NODE_param_path" value="..."/>
</include>

component_perception.launch.xml, component_traffic_light.launch.xml and planning_simulator/perception_simulation.launch.xml each declare perception_config_pkg, so a product switches the tree at the component it launches.

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

Package Dependencies

Please see <exec_depend> in package.xml.

CHANGELOG

Changelog for package autoware_perception_launch

0.52.0 (2026-06-30)

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

  • fix(merger_topic): mis-aligning topic when using semantic_segmentation without multi_channel_tracker (#1895)

    • fix(merger_topic): mis-aligning topic when using semantic_segmentation without multi_channel_tracker

    * chore: rename for readablity ---------

  • fix(ptv3): model path (#1890)

  • chore: add maintainer (#1880)

  • fix(tier4_perception_launch): occupancy_grid_map input topic when ptv3 used (#1871)

    • fix(tier4_perception_launch): occupancy_grid_map input topic when ptv3 used

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • fix: remove unnecessary dependency (#1870)

  • feat: add semantic segmentation pipeline option (#1865)

    • fix: ground segmentation launch
    • fix: missing dependencies and param
    • fix: ptv3 topic
    • fix: euclidean pipeline
    • feat: add use_roi_detected_object_validator options
    • replace with label_based_euclidean
    • revert to bevfusion
    • fix: aligning with updated EC
    • fix: add alpha merger option
    • fix: missing toggle condition
    • disable irregular_object_detector
    • fix: camera_lidar_radar merger
    • update label_based_ec param
    • revert to v4.4.0 pipeline option
    • fix(merger launch): missing toggle condition
    • style(pre-commit): autofix
    • style(pre-commit): autofix
    • remove voxel_downsample and pc validation
    • RDDR-353 Enable irregular object detection (#2379)
    • update config for 2 new classes
    • typo
    • style(pre-commit): autofix
    • refactor
    • refactor
    • fix data_path
    • fix: adjust combination when ptv3 used
    • fix: remove fixed option when using ptv3
    • remove object filter

    * Update autoware_launch/config/perception/object_recognition/detection/euclidean_cluster/label_based_euclidean_cluster.param.yaml Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>

    * fix: add semseg pipeline option for lidar perception mode ---------Co-authored-by: ktro2828 <<60615504+ktro2828@users.noreply.github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>

  • feat(perception): update perception pipeline to remove shape estimation (#1846)

    • fix(perception): update input channels and ground segmentation parameters for improved tracking and detection
    • Changed associator type from 'bev' to 'polar' in multi-object tracker input channels for better performance.
    • Adjusted ground segmentation parameters: increased margin_max_z from 0.0 to 1.0 and detection_range_z_max from 2.5 to 3.5 to enhance ground detection capabilities.
    • feat(Tier4PlanningWrapper): add data_path parameter for enhanced configuration flexibility
    • Introduced a new parameter 'data_path' with a default value to improve the configuration options for the Tier4PlanningWrapper node.
    • This addition allows for better management of data paths within the planning framework.
    • refactor(perception): remove deprecated tracking modules and streamline object recognition configuration

File truncated at 100 lines see the full file

Package Dependencies

Deps Name
ament_cmake_auto
autoware_cmake
autoware_agnocast_wrapper
autoware_bevfusion
autoware_bytetrack
autoware_compare_map_segmentation
autoware_crosswalk_traffic_light_estimator
autoware_cuda_pointcloud_preprocessor
autoware_detected_object_feature_remover
autoware_detected_object_validation
autoware_detection_by_tracker
autoware_elevation_map_loader
autoware_euclidean_cluster
autoware_ground_segmentation
autoware_ground_segmentation_cuda
autoware_image_object_locator
autoware_image_projection_based_fusion
autoware_image_transport_decompressor
autoware_lidar_apollo_instance_segmentation
autoware_lidar_centerpoint
autoware_lidar_transfusion
autoware_map_based_prediction
autoware_multi_object_tracker
autoware_object_merger
autoware_object_sorter
autoware_occupancy_grid_map_outlier_filter
autoware_perception_config
autoware_pointcloud_preprocessor
autoware_probabilistic_occupancy_grid_map
autoware_ptv3
autoware_raindrop_cluster_filter
autoware_shape_estimation
autoware_simpl_prediction
autoware_simple_object_merger
autoware_tensorrt_bevdet
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
rclcpp_components
topic_tools
ament_lint_auto
autoware_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
autoware_launch
reaction_analyzer

Launch files

  • launch/common/pointcloud_downsample.launch.xml
      • pointcloud_container_name
      • cuda_pointcloud_preprocessing [default: false]
      • input/pointcloud
      • output/pointcloud
      • common_downsample_voxel_size_x [default: 0.05]
      • common_downsample_voxel_size_y [default: 0.05]
      • common_downsample_voxel_size_z [default: 0.05]
  • launch/object_recognition/detection/detector/camera_2d_detector.launch.xml
      • image_raw0 [default: /sensing/camera/camera0/image_raw]
      • image_raw1 [default: /sensing/camera/camera1/image_raw]
      • image_raw2 [default: /sensing/camera/camera2/image_raw]
      • image_raw3 [default: /sensing/camera/camera3/image_raw]
      • image_raw4 [default: /sensing/camera/camera4/image_raw]
      • image_raw5 [default: /sensing/camera/camera5/image_raw]
      • image_raw6 [default: /sensing/camera/camera6/image_raw]
      • image_raw7 [default: /sensing/camera/camera7/image_raw]
      • image_raw8 [default: /sensing/camera/camera8/image_raw]
      • image_raw9 [default: /sensing/camera/camera9/image_raw]
      • image_number [default: 1]
      • camera_index [default: 0]
      • use_bytetrack [default: true]
      • enable_visualizer [default: false]
      • camera_2d_detector/model_path
      • camera_2d_detector/label_path
      • camera_2d_detector/color_map_path
      • camera_2d_detector/roi_remap_path
      • camera_2d_detector/roi_to_semseg_remap_path
      • tensorrt_yolox_ns [default: ]
  • launch/object_recognition/detection/detector/camera_bev_detector.launch.xml
      • input/camera0/image
      • input/camera0/info
      • input/camera1/image
      • input/camera1/info
      • input/camera2/image
      • input/camera2/info
      • input/camera3/image
      • input/camera3/info
      • input/camera4/image
      • input/camera4/info
      • input/camera5/image
      • input/camera5/info
      • output/objects
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevdet_model_name [default: bevdet_one_lt_d]
      • bevdet_model_path [default: $(var data_path)/tensorrt_bevdet]
  • launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
      • ns
      • lidar_detection_model_type
      • lidar_detection_model_name
      • use_low_intensity_cluster_filter
      • use_image_segmentation_based_filter
      • number_of_cameras
      • input/camera0/image
      • input/camera0/info
      • input/camera0/rois
      • input/camera1/image
      • input/camera1/info
      • input/camera1/rois
      • input/camera2/image
      • input/camera2/info
      • input/camera2/rois
      • input/camera3/image
      • input/camera3/info
      • input/camera3/rois
      • input/camera4/image
      • input/camera4/info
      • input/camera4/rois
      • input/camera5/image
      • input/camera5/info
      • input/camera5/rois
      • input/camera6/image
      • input/camera6/info
      • input/camera6/rois
      • input/camera7/image
      • input/camera7/info
      • input/camera7/rois
      • input/camera8/image
      • input/camera8/info
      • input/camera8/rois
      • input/concatenation_info
      • segmentation_pointcloud_fusion_camera_ids
      • image_topic_name
      • sync_param_path
      • voxel_grid_based_euclidean_param_path
      • lidar_model_param_path
      • pointpainting_model_path [default: $(var data_path)/image_projection_based_fusion]
      • pointpainting_fusion_common_param_path
      • roi_cluster_fusion_param_path
      • node/pointcloud_container
      • input/pointcloud
      • input/pointcloud_map/pointcloud
      • input/obstacle_segmentation/pointcloud
      • output/ml_detector/objects
      • output/rule_detector/objects
      • camera_2d_detector/model_path
      • camera_2d_detector/label_path
      • camera_2d_detector/color_map_path
      • camera_2d_detector/roi_remap_path
      • camera_2d_detector/roi_to_semseg_remap_path
      • enable_2d_detection [default: false]
  • launch/object_recognition/detection/detector/camera_lidar_irregular_object_detector.launch.xml
      • pipeline_ns
      • node/pointcloud_container
      • output/objects [default: objects]
      • input/concatenation_info
      • input/pointcloud
      • irregular_object_crop_box_filter_node_param_path
      • irregular_object_scan_ground_filter_node_param_path
      • irregular_object_roi_pointcloud_fusion_node_param_path
      • irregular_object_fusion_camera_param_path
      • sync_param_path
  • launch/object_recognition/detection/detector/camera_vru_detector.launch.xml
      • input/camera0/info [default: /sensing/camera/camera0/camera_info]
      • input/camera0/rois [default: /perception/object_recognition/detection/rois0]
      • input/camera1/info [default: /sensing/camera/camera1/camera_info]
      • input/camera1/rois [default: /perception/object_recognition/detection/rois1]
      • input/camera2/info [default: /sensing/camera/camera2/camera_info]
      • input/camera2/rois [default: /perception/object_recognition/detection/rois2]
      • input/camera3/info [default: /sensing/camera/camera3/camera_info]
      • input/camera3/rois [default: /perception/object_recognition/detection/rois3]
      • input/camera4/info [default: /sensing/camera/camera4/camera_info]
      • input/camera4/rois [default: /perception/object_recognition/detection/rois4]
      • input/camera5/info [default: /sensing/camera/camera5/camera_info]
      • input/camera5/rois [default: /perception/object_recognition/detection/rois5]
      • input/camera6/info [default: /sensing/camera/camera6/camera_info]
      • input/camera6/rois [default: /perception/object_recognition/detection/rois6]
      • input/camera7/info [default: /sensing/camera/camera7/camera_info]
      • input/camera7/rois [default: /perception/object_recognition/detection/rois7]
      • output/objects [default: /perception/object_recognition/detection/camera_vru/objects]
      • bbox_object_locator_param_path
      • rois_ids [default: [0, 1]]
  • launch/object_recognition/detection/detector/irregular_object_detector.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • target_container
      • base_frame [default: base_link]
      • use_intra_process [default: true]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/concatenation_info [default: /sensing/lidar/concatenated/pointcloud_info]
      • output/clusters
      • crop_box_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/crop_box_filter.param.yaml]
      • scan_ground_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/scan_ground_filter.param.yaml]
      • roi_pointcloud_fusion_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/roi_pointcloud_fusion.param.yaml]
      • fusion_camera_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/fusion_cameras.param.yaml]
      • sync_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml]
  • launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
      • lidar_detection_model_type
      • lidar_detection_model_name
      • lidar_model_param_path
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • centerpoint_model_path [default: $(var data_path)/lidar_centerpoint]
      • centerpoint_common_param_path [default: $(find-pkg-share autoware_lidar_centerpoint)/config/centerpoint_common.param.yaml]
      • transfusion_model_path [default: $(var data_path)/lidar_transfusion]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type
      • node/pointcloud_container
      • input/pointcloud
      • output/objects
      • output/short_range_objects
  • launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
      • ns
      • node/pointcloud_container
      • input/pointcloud_map/pointcloud
      • input/obstacle_segmentation/pointcloud
      • output/cluster_objects
      • output/objects
      • voxel_grid_based_euclidean_param_path
      • use_low_height_cropbox [default: false]
  • launch/object_recognition/detection/detector/lidar_semantic_segmentation_detector.launch.xml
      • euclidean_clustering/param_path
      • input/pointcloud
      • output/objects
  • launch/object_recognition/detection/detector/tracker_based_detector.launch.xml
      • detection_by_tracker_param_path
      • input/clusters
      • input/tracked_objects
      • output/objects
  • launch/object_recognition/detection/filter/object_filter.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • objects_filter_method [default: lanelet_filter]
      • object_recognition_detection_object_lanelet_filter_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml]
      • object_recognition_detection_object_position_filter_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_filter/object_position_filter.param.yaml]
      • input/objects
      • output/objects
  • launch/object_recognition/detection/filter/object_validator.launch.xml
      • objects_validation_method
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path
      • input/obstacle_pointcloud
      • input/objects
      • output/objects
  • launch/object_recognition/detection/filter/pointcloud_downsample_filter.launch.xml
      • target_container
      • use_intra_process [default: true]
      • input/pointcloud
      • output/pointcloud
      • downsample_voxel_size [default: 0.1]
  • launch/object_recognition/detection/filter/pointcloud_map_filter.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • target_container
      • use_intra_process [default: true]
      • input/pointcloud
      • output/pointcloud
      • output/downsampled/pointcloud [default: /perception/obstacle_segmentation/pointcloud_map_filtered/downsampled/pointcloud]
      • downsample_voxel_size [default: 0.1]
      • voxel_based_compare_map_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/pointcloud_filter/voxel_based_compare_map_filter.param.yaml]
  • launch/object_recognition/detection/filter/radar_filter.launch.xml
      • object_sorter_param_path
      • radar_lanelet_filtering_range_param_path
      • input/radar
      • output/objects
  • launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • object_recognition_detection_object_merger_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/data_association_matrix.param.yaml]
      • object_recognition_detection_object_merger_distance_threshold_list_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/overlapped_judge.param.yaml]
      • ml_camera_lidar_object_association_merger_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/ml_camera_lidar_object_association_merger.param.yaml]
      • roi_detected_object_fusion_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/roi_detected_object_fusion.param.yaml]
      • sync_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml]
      • lidar_detection_model_type
      • use_detection_by_tracker
      • use_irregular_object_detector
      • use_roi_detected_object_validator
      • euclidean_clustering/shape_policy
      • use_object_filter
      • objects_filter_method
      • number_of_cameras
      • input/camera0/image
      • input/camera0/info
      • input/camera0/rois
      • input/camera1/image
      • input/camera1/info
      • input/camera1/rois
      • input/camera2/image
      • input/camera2/info
      • input/camera2/rois
      • input/camera3/image
      • input/camera3/info
      • input/camera3/rois
      • input/camera4/image
      • input/camera4/info
      • input/camera4/rois
      • input/camera5/image
      • input/camera5/info
      • input/camera5/rois
      • input/camera6/image
      • input/camera6/info
      • input/camera6/rois
      • input/camera7/image
      • input/camera7/info
      • input/camera7/rois
      • input/camera8/image
      • input/camera8/info
      • input/camera8/rois
      • input/concatenation_info [default: /sensing/lidar/concatenated/pointcloud_info]
      • input/lidar_ml/objects
      • input/lidar_cluster/objects
      • input/irregular_object/objects [default: ]
      • input/detection_by_tracker/objects
      • output/objects [default: objects]
      • alpha_merger_priority_mode [default: 0]
  • launch/object_recognition/object_recognition_camera.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • use_camera_vru_detector [default: false]
      • camera_vru_detector_rois_ids [default: [0]]
      • use_camera_bev_detector [default: true]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • input/camera0/image [default: /sensing/camera/camera0/image_rect_color]
      • input/camera0/info [default: /sensing/camera/camera0/camera_info]
      • input/camera0/rois [default: /perception/object_recognition/detection/rois0]
      • input/camera1/image [default: /sensing/camera/camera1/image_rect_color]
      • input/camera1/info [default: /sensing/camera/camera1/camera_info]
      • input/camera1/rois [default: /perception/object_recognition/detection/rois1]
      • input/camera2/image [default: /sensing/camera/camera2/image_rect_color]
      • input/camera2/info [default: /sensing/camera/camera2/camera_info]
      • input/camera2/rois [default: /perception/object_recognition/detection/rois2]
      • input/camera3/image [default: /sensing/camera/camera3/image_rect_color]
      • input/camera3/info [default: /sensing/camera/camera3/camera_info]
      • input/camera3/rois [default: /perception/object_recognition/detection/rois3]
      • input/camera4/image [default: /sensing/camera/camera4/image_rect_color]
      • input/camera4/info [default: /sensing/camera/camera4/camera_info]
      • input/camera4/rois [default: /perception/object_recognition/detection/rois4]
      • input/camera5/image [default: /sensing/camera/camera5/image_rect_color]
      • input/camera5/info [default: /sensing/camera/camera5/camera_info]
      • input/camera5/rois [default: /perception/object_recognition/detection/rois5]
      • input/camera6/image [default: /sensing/camera/camera6/image_rect_color]
      • input/camera6/info [default: /sensing/camera/camera6/camera_info]
      • input/camera6/rois [default: /perception/object_recognition/detection/rois6]
      • input/camera7/image [default: /sensing/camera/camera7/image_rect_color]
      • input/camera7/info [default: /sensing/camera/camera7/camera_info]
      • input/camera7/rois [default: /perception/object_recognition/detection/rois7]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • near_range_camera_vru_param_path [default: $(var perception_config_dir)/object_recognition/detection/camera_vru_detection/near_range_camera_vru_detector.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
  • launch/object_recognition/object_recognition_camera_lidar_radar.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • pointpainting_model_path [default: $(var data_path)/image_projection_based_fusion]
      • camera_2d_detector/model_path [default: $(var data_path)/tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx]
      • camera_2d_detector/label_path [default: $(var data_path)/tensorrt_yolox/label.txt]
      • camera_2d_detector/color_map_path [default: $(var data_path)/tensorrt_yolox/semseg_color_map.csv]
      • camera_2d_detector/roi_remap_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/roi_label_remap.csv]
      • camera_2d_detector/roi_to_semseg_remap_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/roi_to_semseg_label_remap.csv]
      • use_semantic_segmentation_ptv3 [default: false]
      • use_object_filter [default: true]
      • use_pointcloud_map [default: true]
      • use_validator [default: false]
      • objects_validation_method [default: obstacle_pointcloud]
      • use_low_height_cropbox [default: false]
      • use_low_intensity_cluster_filter [default: true]
      • use_image_segmentation_based_filter [default: false]
      • use_irregular_object_detector [default: true]
      • use_camera_vru_detector [default: false]
      • camera_vru_detector_rois_ids [default: [0]]
      • use_camera_only_detection [default: false]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • number_of_cameras [default: 6]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/semantic_segmentation/pointcloud [default: /perception/segmented/pointcloud]
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • input/camera0/image [default: /sensing/camera/camera0/image_rect_color]
      • input/camera0/info [default: /sensing/camera/camera0/camera_info]
      • input/camera0/rois [default: /perception/object_recognition/detection/rois0]
      • input/camera1/image [default: /sensing/camera/camera1/image_rect_color]
      • input/camera1/info [default: /sensing/camera/camera1/camera_info]
      • input/camera1/rois [default: /perception/object_recognition/detection/rois1]
      • input/camera2/image [default: /sensing/camera/camera2/image_rect_color]
      • input/camera2/info [default: /sensing/camera/camera2/camera_info]
      • input/camera2/rois [default: /perception/object_recognition/detection/rois2]
      • input/camera3/image [default: /sensing/camera/camera3/image_rect_color]
      • input/camera3/info [default: /sensing/camera/camera3/camera_info]
      • input/camera3/rois [default: /perception/object_recognition/detection/rois3]
      • input/camera4/image [default: /sensing/camera/camera4/image_rect_color]
      • input/camera4/info [default: /sensing/camera/camera4/camera_info]
      • input/camera4/rois [default: /perception/object_recognition/detection/rois4]
      • input/camera5/image [default: /sensing/camera/camera5/image_rect_color]
      • input/camera5/info [default: /sensing/camera/camera5/camera_info]
      • input/camera5/rois [default: /perception/object_recognition/detection/rois5]
      • input/camera6/image [default: /sensing/camera/camera6/image_rect_color]
      • input/camera6/info [default: /sensing/camera/camera6/camera_info]
      • input/camera6/rois [default: /perception/object_recognition/detection/rois6]
      • input/camera7/image [default: /sensing/camera/camera7/image_rect_color]
      • input/camera7/info [default: /sensing/camera/camera7/camera_info]
      • input/camera7/rois [default: /perception/object_recognition/detection/rois7]
      • input/camera8/image [default: /sensing/camera/camera8/image_rect_color]
      • input/camera8/info [default: /sensing/camera/camera8/camera_info]
      • input/camera8/rois [default: /perception/object_recognition/detection/rois8]
      • input/concatenation_info [default: /sensing/lidar/concatenated/pointcloud_info]
      • input/radar [default: /sensing/radar/detected_objects]
      • input/camera_only/objects [default: /perception/object_recognition/detection/camera_only/objects]
      • input/camera_only/channel [default: camera_streampetr]
      • image_topic_name [default: image_rect_color]
      • segmentation_pointcloud_fusion_camera_ids [default: [0,2,4]]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • sync_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml]
      • roi_cluster_fusion_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml]
      • pointpainting_fusion_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/pointpainting_common.param.yaml]
      • irregular_object_crop_box_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/crop_box_filter.param.yaml]
      • irregular_object_scan_ground_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/scan_ground_filter.param.yaml]
      • irregular_object_roi_pointcloud_fusion_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/roi_pointcloud_fusion.param.yaml]
      • irregular_object_fusion_camera_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/fusion_cameras.param.yaml]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • voxel_grid_based_euclidean_param_path [default: $(var perception_config_dir)/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml]
      • radar_lanelet_filtering_range_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml]
      • object_recognition_detection_object_sorter_radar_param_path [default: $(var perception_config_dir)/object_recognition/detection/radar_filter/detected_object_sorter.param.yaml]
      • near_range_camera_vru_param_path [default: $(var perception_config_dir)/object_recognition/detection/camera_vru_detection/near_range_camera_vru_detector.param.yaml]
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path [default: $(var perception_config_dir)/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
      • euclidean_clustering/param_path [default: $(var perception_config_dir)/object_recognition/detection/euclidean_cluster/label_based_euclidean_cluster.param.yaml]
  • launch/object_recognition/object_recognition_camera_lidar_radar_serial.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • pointpainting_model_path [default: $(var data_path)/image_projection_based_fusion]
      • camera_2d_detector/model_path [default: $(var data_path)/tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx]
      • camera_2d_detector/label_path [default: $(var data_path)/tensorrt_yolox/label.txt]
      • camera_2d_detector/color_map_path [default: $(var data_path)/tensorrt_yolox/semseg_color_map.csv]
      • camera_2d_detector/roi_remap_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/roi_label_remap.csv]
      • camera_2d_detector/roi_to_semseg_remap_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/roi_to_semseg_label_remap.csv]
      • use_object_filter [default: true]
      • objects_filter_method [default: lanelet_filter]
      • use_pointcloud_map [default: true]
      • use_validator [default: false]
      • objects_validation_method [default: obstacle_pointcloud]
      • use_roi_detected_object_validator [default: true]
      • use_detection_by_tracker [default: true]
      • use_low_height_cropbox [default: false]
      • use_low_intensity_cluster_filter [default: true]
      • use_image_segmentation_based_filter [default: false]
      • use_irregular_object_detector [default: true]
      • ml_camera_lidar_merger_priority_mode [default: 0]
      • use_vector_map [default: true]
      • number_of_cameras [default: 6]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • input/camera0/image [default: /sensing/camera/camera0/image_rect_color]
      • input/camera0/info [default: /sensing/camera/camera0/camera_info]
      • input/camera0/rois [default: /perception/object_recognition/detection/rois0]
      • input/camera1/image [default: /sensing/camera/camera1/image_rect_color]
      • input/camera1/info [default: /sensing/camera/camera1/camera_info]
      • input/camera1/rois [default: /perception/object_recognition/detection/rois1]
      • input/camera2/image [default: /sensing/camera/camera2/image_rect_color]
      • input/camera2/info [default: /sensing/camera/camera2/camera_info]
      • input/camera2/rois [default: /perception/object_recognition/detection/rois2]
      • input/camera3/image [default: /sensing/camera/camera3/image_rect_color]
      • input/camera3/info [default: /sensing/camera/camera3/camera_info]
      • input/camera3/rois [default: /perception/object_recognition/detection/rois3]
      • input/camera4/image [default: /sensing/camera/camera4/image_rect_color]
      • input/camera4/info [default: /sensing/camera/camera4/camera_info]
      • input/camera4/rois [default: /perception/object_recognition/detection/rois4]
      • input/camera5/image [default: /sensing/camera/camera5/image_rect_color]
      • input/camera5/info [default: /sensing/camera/camera5/camera_info]
      • input/camera5/rois [default: /perception/object_recognition/detection/rois5]
      • input/camera6/image [default: /sensing/camera/camera6/image_rect_color]
      • input/camera6/info [default: /sensing/camera/camera6/camera_info]
      • input/camera6/rois [default: /perception/object_recognition/detection/rois6]
      • input/camera7/image [default: /sensing/camera/camera7/image_rect_color]
      • input/camera7/info [default: /sensing/camera/camera7/camera_info]
      • input/camera7/rois [default: /perception/object_recognition/detection/rois7]
      • input/camera8/image [default: /sensing/camera/camera8/image_rect_color]
      • input/camera8/info [default: /sensing/camera/camera8/camera_info]
      • input/camera8/rois [default: /perception/object_recognition/detection/rois8]
      • input/concatenation_info [default: /sensing/lidar/concatenated/pointcloud_info]
      • input/radar/tracked_objects [default: /sensing/radar/tracked_objects]
      • image_topic_name [default: image_rect_color]
      • segmentation_pointcloud_fusion_camera_ids [default: [0,2,4]]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • sync_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml]
      • roi_cluster_fusion_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml]
      • pointpainting_fusion_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/pointpainting_common.param.yaml]
      • irregular_object_crop_box_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/crop_box_filter.param.yaml]
      • irregular_object_scan_ground_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/scan_ground_filter.param.yaml]
      • irregular_object_roi_pointcloud_fusion_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/roi_pointcloud_fusion.param.yaml]
      • irregular_object_fusion_camera_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/fusion_cameras.param.yaml]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • voxel_grid_based_euclidean_param_path [default: $(var perception_config_dir)/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml]
      • detection_by_tracker_param_path [default: $(var perception_config_dir)/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml]
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path [default: $(var perception_config_dir)/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml]
      • object_recognition_detection_object_merger_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/data_association_matrix.param.yaml]
      • object_recognition_detection_object_merger_distance_threshold_list_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/overlapped_judge.param.yaml]
      • ml_camera_lidar_object_association_merger_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/ml_camera_lidar_object_association_merger.param.yaml]
      • roi_detected_object_fusion_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/roi_detected_object_fusion.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
      • object_recognition_tracking_radar_tracked_object_sorter_param_path [default: $(var perception_config_dir)/object_recognition/tracking/radar_object_tracker/tracked_object_sorter.param.yaml]
      • object_recognition_tracking_radar_tracked_object_lanelet_filter_param_path [default: $(var perception_config_dir)/object_recognition/tracking/radar_object_tracker/tracked_object_lanelet_filter.param.yaml]
      • object_recognition_tracking_object_merger_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/tracking_object_merger/data_association_matrix.param.yaml]
      • object_recognition_tracking_object_merger_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml]
      • euclidean_clustering/shape_policy [default: 0]
  • launch/object_recognition/object_recognition_lidar.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • use_pointcloud_map [default: true]
      • use_validator [default: false]
      • objects_validation_method [default: obstacle_pointcloud]
      • use_object_filter [default: true]
      • objects_filter_method [default: lanelet_filter]
      • use_low_height_cropbox [default: false]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • voxel_grid_based_euclidean_param_path [default: $(var perception_config_dir)/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml]
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path [default: $(var perception_config_dir)/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
  • launch/object_recognition/object_recognition_lidar_ptv3.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/semantic_segmentation/pointcloud [default: /perception/segmented/pointcloud]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
      • euclidean_clustering/param_path [default: $(var perception_config_dir)/object_recognition/detection/euclidean_cluster/label_based_euclidean_cluster.param.yaml]
  • launch/object_recognition/object_recognition_lidar_radar.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • use_low_height_cropbox [default: false]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/semantic_segmentation/pointcloud [default: /perception/segmented/pointcloud]
      • input/radar [default: /sensing/radar/detected_objects]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • voxel_grid_based_euclidean_param_path [default: $(var perception_config_dir)/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml]
      • radar_lanelet_filtering_range_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml]
      • object_recognition_detection_object_sorter_radar_param_path [default: $(var perception_config_dir)/object_recognition/detection/radar_filter/detected_object_sorter.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
      • euclidean_clustering/param_path [default: $(var perception_config_dir)/object_recognition/detection/euclidean_cluster/label_based_euclidean_cluster.param.yaml]
  • launch/object_recognition/prediction/prediction.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • use_vector_map [default: false]
      • prediction_model_type [default: map_based]
      • input/objects [default: /perception/object_recognition/tracking/objects]
      • output/objects [default: /perception/object_recognition/objects]
      • object_recognition_prediction_map_based_prediction_param_path [default: $(var perception_config_dir)/object_recognition/prediction/map_based_prediction.param.yaml]
  • launch/obstacle_segmentation/ground_segmentation_additional_lidars.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • target_container
      • lidar_name
      • base_frame [default: base_link]
      • use_intra_process [default: true]
      • input/main/pointcloud
      • input/lidar/pointcloud [default: /sensing/lidar/$(var lidar_name)/pointcloud]
      • output/pointcloud
      • output/pointcloud_info [default: $(var output/pointcloud)_info]
      • crop_box_margin_max_z [default: 2.5]
      • crop_box_margin_min_z [default: -2.5]
      • crop_box_filter_node_param_path [default: $(var perception_config_dir)/obstacle_segmentation/ground_segmentation/crop_box_filter.param.yaml]
      • scan_ground_filter_node_param_path [default: $(var perception_config_dir)/obstacle_segmentation/ground_segmentation/scan_ground_filter.param.yaml]
  • launch/obstacle_segmentation/ground_segmentation_ml.launch.xml
      • pointcloud_container_name [default: pointcloud_container]
      • use_pointcloud_container [default: true]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/pointcloud/segmentation [default: /perception/segmented/pointcloud]
      • output/pointcloud/visualization [default: /perception/segmented/pointcloud/visualization]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • model_variant [default: ptv3]
      • model_path [default: $(var data_path)/ptv3]
  • launch/obstacle_segmentation/ground_segmentation_ransac.launch.xml
      • target_container
      • base_frame [default: base_link]
      • use_intra_process [default: true]
      • input_topics
      • input/main/pointcloud
      • output/pointcloud
      • output/pointcloud_info [default: $(var output/pointcloud)_info]
      • detection_area_crop_box_filter_node_param_path
      • ransac_ground_filter_node_param_path [default: $(find-pkg-share autoware_ground_segmentation)/config/ransac_ground_filter.param.yaml]
  • launch/obstacle_segmentation/ground_segmentation_rule_based.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • target_container
      • base_frame [default: base_link]
      • use_intra_process [default: true]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • crop_box_margin_max_z [default: 2.5]
      • crop_box_margin_min_z [default: -2.5]
      • crop_box_filter_node_param_path [default: $(var perception_config_dir)/obstacle_segmentation/ground_segmentation/crop_box_filter.param.yaml]
      • scan_ground_filter_node_param_path [default: $(var perception_config_dir)/obstacle_segmentation/ground_segmentation/scan_ground_filter.param.yaml]
  • launch/obstacle_segmentation/ground_segmentation_rule_based_cuda.launch.xml
      • target_container
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/ground_pointcloud [default: /perception/obstacle_segmentation/ground_pointcloud]
      • cuda_scan_ground_segmentation_filter_node_param_path [default: $(find-pkg-share autoware_ground_segmentation_cuda)/config/cuda_scan_ground_segmentation_filter.param.yaml]
  • launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • input/obstacle_pointcloud [default: concatenated/pointcloud]
      • input/raw_pointcloud [default: no_ground/oneshot/pointcloud]
      • output [default: /perception/occupancy_grid_map/map]
      • use_intra_process [default: false]
      • use_multithread [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • occupancy_grid_map_method
      • occupancy_grid_map_param_path [default: $(var perception_config_dir)/occupancy_grid_map/$(var occupancy_grid_map_method).param.yaml]
      • occupancy_grid_map_updater
      • occupancy_grid_map_updater_param_path [default: $(var perception_config_dir)/occupancy_grid_map/$(var occupancy_grid_map_updater)_updater.param.yaml]
      • input_obstacle_pointcloud [default: false]
      • input_obstacle_and_raw_pointcloud [default: true]
      • use_pointcloud_container [default: true]
  • launch/traffic_light_recognition/traffic_light_detector_fine.launch.xml
    • Fine-detection chain for one traffic light camera: map based detector proposes rough ROIs, the fine detector refines them, classifiers label them.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespace
      • enable_image_decompressor [default: true]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • map_based_detector_param_path [default: $(find-pkg-share autoware_traffic_light_map_based_detector)/config/traffic_light_map_based_detector.param.yaml]
      • fine_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_fine_detector/traffic_light_fine_detector.param.yaml]
      • car_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/car_traffic_light_classifier.param.yaml]
      • pedestrian_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/pedestrian_traffic_light_classifier.param.yaml]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • roi_visualizer_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_visualization/traffic_light_roi_visualizer.param.yaml]
      • fine_detector_model_path [default: $(var data_path)/traffic_light_fine_detector/tlr_car_ped_yolox_s_batch_6.onnx]
      • fine_detector_label_path [default: $(var data_path)/traffic_light_fine_detector/tlr_labels.txt]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
  • launch/traffic_light_recognition/traffic_light_detector_rough.launch.xml
    • Rough-detection chain for one traffic light camera: map based detector ROIs feed the classifiers directly, without a high accuracy detector.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespace
      • enable_image_decompressor [default: true]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • map_based_detector_param_path [default: $(find-pkg-share autoware_traffic_light_map_based_detector)/config/traffic_light_map_based_detector.param.yaml]
      • car_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/car_traffic_light_classifier.param.yaml]
      • pedestrian_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/pedestrian_traffic_light_classifier.param.yaml]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • roi_visualizer_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_visualization/traffic_light_roi_visualizer.param.yaml]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
  • launch/traffic_light_recognition/traffic_light_detector_whole_image.launch.xml
    • Whole-image detection chain for one traffic light camera: yolox detects over the full image, the selector matches detections to map based ROIs, classifiers label them.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespace
      • enable_image_decompressor [default: true]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • map_based_detector_param_path [default: $(find-pkg-share autoware_traffic_light_map_based_detector)/config/traffic_light_map_based_detector.param.yaml]
      • whole_image_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/yolox_traffic_light_detector.param.yaml]
      • car_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/car_traffic_light_classifier.param.yaml]
      • pedestrian_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/pedestrian_traffic_light_classifier.param.yaml]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • roi_visualizer_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_visualization/traffic_light_roi_visualizer.param.yaml]
      • whole_image_detector_model_path [default: $(var data_path)/tensorrt_yolox/yolox_s_car_ped_tl_detector_960_960_batch_1.onnx]
      • whole_image_detector_label_path [default: $(var data_path)/tensorrt_yolox/car_ped_tl_detector_labels.txt]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
  • launch/traffic_light_recognition/traffic_light_fusion.launch.xml
    • Post-process shared by all traffic light cameras: multi camera fusion, V2X arbitration, pedestrian signal estimation and map visualization.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespaces [default: [camera6, camera7]]
      • input/vector_map [default: /map/vector_map]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • internal/traffic_signals [default: /perception/traffic_light_recognition/internal/traffic_signals]
      • judged/traffic_signals [default: /perception/traffic_light_recognition/judged/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • multi_camera_fusion_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_multi_camera_fusion/traffic_light_multi_camera_fusion.param.yaml]
      • arbiter_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_arbiter/traffic_light_arbiter.param.yaml]
      • crosswalk_estimator_param_path [default: $(var perception_config_dir)/traffic_light_recognition/crosswalk_traffic_light_estimator/crosswalk_traffic_light_estimator.param.yaml]
  • launch/traffic_light_recognition/traffic_light_occlusion_predictor.launch.xml
    • Occlusion check for one traffic light camera: merges the car and pedestrian signals into the per-camera output, masking signals hidden from the camera.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespace
      • input/cloud [default: /sensing/lidar/top/pointcloud_raw_ex]
      • input/vector_map [default: /map/vector_map]
      • occlusion_predictor_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_occlusion_predictor/traffic_light_occlusion_predictor.param.yaml]
  • launch/traffic_light_recognition/traffic_light_recognition_fine.launch.xml
    • Traffic light recognition, fine detection mode: per-camera fine detection with occlusion check, then shared fusion. Two cameras as the representative set; add or remove per-camera blocks to match the vehicle.
      • perception_config_pkg [default: autoware_perception_config]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • input/pointcloud [default: /sensing/lidar/top/pointcloud_raw_ex]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • fine_detector_model_path [default: $(var data_path)/traffic_light_fine_detector/tlr_car_ped_yolox_s_batch_6.onnx]
      • fine_detector_label_path [default: $(var data_path)/traffic_light_fine_detector/tlr_labels.txt]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
      • base_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/base_traffic_light_map_based_detector.param.yaml]
      • extra_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/extra_traffic_light_map_based_detector.param.yaml]
  • launch/traffic_light_recognition/traffic_light_recognition_merge.launch.xml
    • Traffic light recognition, merge mode: detection and classification run on other ECUs; this side runs the per-camera occlusion check and the shared fusion. Two cameras as the representative set; add or remove per-camera blocks to match the vehicle.
      • input/vector_map [default: /map/vector_map]
      • input/pointcloud [default: /sensing/lidar/top/pointcloud_raw_ex]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
  • launch/traffic_light_recognition/traffic_light_recognition_rough.launch.xml
    • Traffic light recognition, rough detection mode: per-camera map based detection with occlusion check, then shared fusion. One camera as the representative set; add or remove per-camera blocks to match the vehicle.
      • perception_config_pkg [default: autoware_perception_config]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • input/pointcloud [default: /sensing/lidar/top/pointcloud_raw_ex]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
      • base_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/base_traffic_light_map_based_detector.param.yaml]
  • launch/traffic_light_recognition/traffic_light_recognition_whole_image.launch.xml
    • Traffic light recognition, whole-image detection mode: per-camera yolox detection, then shared fusion. Two cameras as the representative set; add or remove per-camera blocks to match the vehicle.
      • perception_config_pkg [default: autoware_perception_config]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • whole_image_detector_model_path [default: $(var data_path)/tensorrt_yolox/yolox_s_car_ped_tl_detector_960_960_batch_1.onnx]
      • whole_image_detector_label_path [default: $(var data_path)/tensorrt_yolox/car_ped_tl_detector_labels.txt]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
      • base_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/base_traffic_light_map_based_detector.param.yaml]
      • extra_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/extra_traffic_light_map_based_detector.param.yaml]

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autoware_perception_launch package from autoware_launch repo

autoware_launch autoware_sample_designs autoware_control_config autoware_control_launch autoware_localization_config autoware_localization_launch autoware_map_config autoware_map_launch autoware_perception_config autoware_perception_launch autoware_planning_config autoware_planning_launch autoware_sensing_launch autoware_sensor_driver_launch awsim_labs_sensor_kit_description awsim_labs_sensor_kit_launch awsim_sensor_kit_description awsim_sensor_kit_launch carla_sensor_kit_description carla_sensor_kit_launch sample_sensor_kit_description sample_sensor_kit_launch single_lidar_sensor_kit_description single_lidar_sensor_kit_launch tier4_autoware_api_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch awsim_labs_vehicle_description awsim_labs_vehicle_launch sample_vehicle_description sample_vehicle_launch

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Package Summary

Version 0.52.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_launch.git
VCS Type git
VCS Version main
Last Updated 2026-10-09
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_perception_launch package

Maintainers

  • Yukihiro Saito
  • Dai Nguyen
  • Taekjin Lee
  • Yoshi Ri
  • Masato Saeki

Authors

No additional authors.
autoware_universe_launch/autoware_perception_launch/README.md

autoware_perception_launch

Shared perception launch library. The system component launchers live in the product layer (autoware_launch/launch/components/component_perception.launch.xml for the lidar pipeline and component_traffic_light.launch.xml for traffic light recognition); this package hosts the perception feature launchers they combine:

launch/
├── common/                        # shared preprocess feature launchers (pointcloud downsample)
├── object_recognition/
│   ├── object_recognition_<mode>.launch.xml  # detection + tracking + prediction per sensor mode
│   ├── detection/
│   │   ├── detector/              # detectors
│   │   ├── filter/                # filters
│   │   └── merger/                # detection-side serial merger (used by the camera_lidar_radar_serial launcher)
│   └── prediction/
├── obstacle_segmentation/
├── occupancy_grid_map/
└── traffic_light_recognition/
design/module/                     # Autoware System Designer modules; same subtree as launch/
├── object_recognition/
├── obstacle_segmentation/
├── occupancy_grid_map/
└── traffic_light_recognition/

Launch files

  • object_recognition/object_recognition_<mode>.launch.xml — one feature launcher per sensor mode (camera, lidar, lidar_ptv3, lidar_radar, camera_lidar_radar, camera_lidar_radar_serial); hosts the detection stage inline together with the tracker and prediction, and pushes their module namespaces. Camera and radar input topics default to their absolute sensing paths (/sensing/camera/cameraN/..., /sensing/radar/detected_objects), so callers override only what differs. Most modes wire the multi-channel tracker to the detector outputs; camera_lidar_radar_serial instead merges the detectors in the detection stage (optionally regenerating detections through detection-by-tracker), tracks the single merged detected_objects channel, and joins radar tracked objects at the decorative tracker merger. camera runs camera-only detectors (BEV and camera VRU).
  • The clustering backend is file selection, not a flag: lidar runs rule-based euclidean clustering off the obstacle segmentation cloud, while lidar_ptv3 and lidar_radar cluster the PTv3 semantic-segmentation cloud and drop the pointcloud map filter and the object validator that only the rule-based pipeline uses. Both feed their cluster objects to the tracker on the lidar_clustering channel.
  • object_recognition/detection/{detector,filter}/ — single-purpose launchers wired together by the object-recognition launchers. merger/camera_lidar_merger.launch.xml chains the detection-side object mergers for the camera_lidar_radar_serial launcher.
  • obstacle_segmentation/ground_segmentation_<backend>.launch.xml — ground removal backends (rule_based, rule_based_cuda, ml); backend selection is file selection. ground_segmentation_{additional_lidars,ransac}.launch.xml fold extra lidars into the obstacle stream for kits that carry them.
  • occupancy_grid_map/, common/, traffic_light_recognition/ — feature launchers included directly by the system components.

Namespace and container addressing

Callers own the namespaces: the system component pushes perception and object_recognition; object_recognition_<mode>.launch.xml pushes detection/tracking/prediction. The object-recognition launchers address their internal topics through the fixed /perception/object_recognition namespace. Composable nodes load into the shared pointcloud container, whose name is exposed as pointcloud_container_name and aliased to the node/pointcloud_container argument of the detector launchers.

Config

Parameter files are resolved from a config/ tree addressed through the perception_config_pkg argument, which defaults to autoware_perception_config. A product can relocate the whole tree by setting perception_config_pkg once at its entry point — the launch configuration propagates through every include — but it must then ship the same config/ layout. Products that differ in only a few files instead override the corresponding *_param_path arguments, which every feature launcher declares with a default:

<include file="$(find-pkg-share autoware_perception_launch)/launch/object_recognition/object_recognition_lidar.launch.xml">
  <arg name="perception_config_pkg" value="my_perception_config"/>
  <arg name="FOO_NODE_param_path" value="..."/>
</include>

component_perception.launch.xml, component_traffic_light.launch.xml and planning_simulator/perception_simulation.launch.xml each declare perception_config_pkg, so a product switches the tree at the component it launches.

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

Package Dependencies

Please see <exec_depend> in package.xml.

CHANGELOG

Changelog for package autoware_perception_launch

0.52.0 (2026-06-30)

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

  • fix(merger_topic): mis-aligning topic when using semantic_segmentation without multi_channel_tracker (#1895)

    • fix(merger_topic): mis-aligning topic when using semantic_segmentation without multi_channel_tracker

    * chore: rename for readablity ---------

  • fix(ptv3): model path (#1890)

  • chore: add maintainer (#1880)

  • fix(tier4_perception_launch): occupancy_grid_map input topic when ptv3 used (#1871)

    • fix(tier4_perception_launch): occupancy_grid_map input topic when ptv3 used

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • fix: remove unnecessary dependency (#1870)

  • feat: add semantic segmentation pipeline option (#1865)

    • fix: ground segmentation launch
    • fix: missing dependencies and param
    • fix: ptv3 topic
    • fix: euclidean pipeline
    • feat: add use_roi_detected_object_validator options
    • replace with label_based_euclidean
    • revert to bevfusion
    • fix: aligning with updated EC
    • fix: add alpha merger option
    • fix: missing toggle condition
    • disable irregular_object_detector
    • fix: camera_lidar_radar merger
    • update label_based_ec param
    • revert to v4.4.0 pipeline option
    • fix(merger launch): missing toggle condition
    • style(pre-commit): autofix
    • style(pre-commit): autofix
    • remove voxel_downsample and pc validation
    • RDDR-353 Enable irregular object detection (#2379)
    • update config for 2 new classes
    • typo
    • style(pre-commit): autofix
    • refactor
    • refactor
    • fix data_path
    • fix: adjust combination when ptv3 used
    • fix: remove fixed option when using ptv3
    • remove object filter

    * Update autoware_launch/config/perception/object_recognition/detection/euclidean_cluster/label_based_euclidean_cluster.param.yaml Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>

    * fix: add semseg pipeline option for lidar perception mode ---------Co-authored-by: ktro2828 <<60615504+ktro2828@users.noreply.github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>

  • feat(perception): update perception pipeline to remove shape estimation (#1846)

    • fix(perception): update input channels and ground segmentation parameters for improved tracking and detection
    • Changed associator type from 'bev' to 'polar' in multi-object tracker input channels for better performance.
    • Adjusted ground segmentation parameters: increased margin_max_z from 0.0 to 1.0 and detection_range_z_max from 2.5 to 3.5 to enhance ground detection capabilities.
    • feat(Tier4PlanningWrapper): add data_path parameter for enhanced configuration flexibility
    • Introduced a new parameter 'data_path' with a default value to improve the configuration options for the Tier4PlanningWrapper node.
    • This addition allows for better management of data paths within the planning framework.
    • refactor(perception): remove deprecated tracking modules and streamline object recognition configuration

File truncated at 100 lines see the full file

Package Dependencies

Deps Name
ament_cmake_auto
autoware_cmake
autoware_agnocast_wrapper
autoware_bevfusion
autoware_bytetrack
autoware_compare_map_segmentation
autoware_crosswalk_traffic_light_estimator
autoware_cuda_pointcloud_preprocessor
autoware_detected_object_feature_remover
autoware_detected_object_validation
autoware_detection_by_tracker
autoware_elevation_map_loader
autoware_euclidean_cluster
autoware_ground_segmentation
autoware_ground_segmentation_cuda
autoware_image_object_locator
autoware_image_projection_based_fusion
autoware_image_transport_decompressor
autoware_lidar_apollo_instance_segmentation
autoware_lidar_centerpoint
autoware_lidar_transfusion
autoware_map_based_prediction
autoware_multi_object_tracker
autoware_object_merger
autoware_object_sorter
autoware_occupancy_grid_map_outlier_filter
autoware_perception_config
autoware_pointcloud_preprocessor
autoware_probabilistic_occupancy_grid_map
autoware_ptv3
autoware_raindrop_cluster_filter
autoware_shape_estimation
autoware_simpl_prediction
autoware_simple_object_merger
autoware_tensorrt_bevdet
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
rclcpp_components
topic_tools
ament_lint_auto
autoware_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
autoware_launch
reaction_analyzer

Launch files

  • launch/common/pointcloud_downsample.launch.xml
      • pointcloud_container_name
      • cuda_pointcloud_preprocessing [default: false]
      • input/pointcloud
      • output/pointcloud
      • common_downsample_voxel_size_x [default: 0.05]
      • common_downsample_voxel_size_y [default: 0.05]
      • common_downsample_voxel_size_z [default: 0.05]
  • launch/object_recognition/detection/detector/camera_2d_detector.launch.xml
      • image_raw0 [default: /sensing/camera/camera0/image_raw]
      • image_raw1 [default: /sensing/camera/camera1/image_raw]
      • image_raw2 [default: /sensing/camera/camera2/image_raw]
      • image_raw3 [default: /sensing/camera/camera3/image_raw]
      • image_raw4 [default: /sensing/camera/camera4/image_raw]
      • image_raw5 [default: /sensing/camera/camera5/image_raw]
      • image_raw6 [default: /sensing/camera/camera6/image_raw]
      • image_raw7 [default: /sensing/camera/camera7/image_raw]
      • image_raw8 [default: /sensing/camera/camera8/image_raw]
      • image_raw9 [default: /sensing/camera/camera9/image_raw]
      • image_number [default: 1]
      • camera_index [default: 0]
      • use_bytetrack [default: true]
      • enable_visualizer [default: false]
      • camera_2d_detector/model_path
      • camera_2d_detector/label_path
      • camera_2d_detector/color_map_path
      • camera_2d_detector/roi_remap_path
      • camera_2d_detector/roi_to_semseg_remap_path
      • tensorrt_yolox_ns [default: ]
  • launch/object_recognition/detection/detector/camera_bev_detector.launch.xml
      • input/camera0/image
      • input/camera0/info
      • input/camera1/image
      • input/camera1/info
      • input/camera2/image
      • input/camera2/info
      • input/camera3/image
      • input/camera3/info
      • input/camera4/image
      • input/camera4/info
      • input/camera5/image
      • input/camera5/info
      • output/objects
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevdet_model_name [default: bevdet_one_lt_d]
      • bevdet_model_path [default: $(var data_path)/tensorrt_bevdet]
  • launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
      • ns
      • lidar_detection_model_type
      • lidar_detection_model_name
      • use_low_intensity_cluster_filter
      • use_image_segmentation_based_filter
      • number_of_cameras
      • input/camera0/image
      • input/camera0/info
      • input/camera0/rois
      • input/camera1/image
      • input/camera1/info
      • input/camera1/rois
      • input/camera2/image
      • input/camera2/info
      • input/camera2/rois
      • input/camera3/image
      • input/camera3/info
      • input/camera3/rois
      • input/camera4/image
      • input/camera4/info
      • input/camera4/rois
      • input/camera5/image
      • input/camera5/info
      • input/camera5/rois
      • input/camera6/image
      • input/camera6/info
      • input/camera6/rois
      • input/camera7/image
      • input/camera7/info
      • input/camera7/rois
      • input/camera8/image
      • input/camera8/info
      • input/camera8/rois
      • input/concatenation_info
      • segmentation_pointcloud_fusion_camera_ids
      • image_topic_name
      • sync_param_path
      • voxel_grid_based_euclidean_param_path
      • lidar_model_param_path
      • pointpainting_model_path [default: $(var data_path)/image_projection_based_fusion]
      • pointpainting_fusion_common_param_path
      • roi_cluster_fusion_param_path
      • node/pointcloud_container
      • input/pointcloud
      • input/pointcloud_map/pointcloud
      • input/obstacle_segmentation/pointcloud
      • output/ml_detector/objects
      • output/rule_detector/objects
      • camera_2d_detector/model_path
      • camera_2d_detector/label_path
      • camera_2d_detector/color_map_path
      • camera_2d_detector/roi_remap_path
      • camera_2d_detector/roi_to_semseg_remap_path
      • enable_2d_detection [default: false]
  • launch/object_recognition/detection/detector/camera_lidar_irregular_object_detector.launch.xml
      • pipeline_ns
      • node/pointcloud_container
      • output/objects [default: objects]
      • input/concatenation_info
      • input/pointcloud
      • irregular_object_crop_box_filter_node_param_path
      • irregular_object_scan_ground_filter_node_param_path
      • irregular_object_roi_pointcloud_fusion_node_param_path
      • irregular_object_fusion_camera_param_path
      • sync_param_path
  • launch/object_recognition/detection/detector/camera_vru_detector.launch.xml
      • input/camera0/info [default: /sensing/camera/camera0/camera_info]
      • input/camera0/rois [default: /perception/object_recognition/detection/rois0]
      • input/camera1/info [default: /sensing/camera/camera1/camera_info]
      • input/camera1/rois [default: /perception/object_recognition/detection/rois1]
      • input/camera2/info [default: /sensing/camera/camera2/camera_info]
      • input/camera2/rois [default: /perception/object_recognition/detection/rois2]
      • input/camera3/info [default: /sensing/camera/camera3/camera_info]
      • input/camera3/rois [default: /perception/object_recognition/detection/rois3]
      • input/camera4/info [default: /sensing/camera/camera4/camera_info]
      • input/camera4/rois [default: /perception/object_recognition/detection/rois4]
      • input/camera5/info [default: /sensing/camera/camera5/camera_info]
      • input/camera5/rois [default: /perception/object_recognition/detection/rois5]
      • input/camera6/info [default: /sensing/camera/camera6/camera_info]
      • input/camera6/rois [default: /perception/object_recognition/detection/rois6]
      • input/camera7/info [default: /sensing/camera/camera7/camera_info]
      • input/camera7/rois [default: /perception/object_recognition/detection/rois7]
      • output/objects [default: /perception/object_recognition/detection/camera_vru/objects]
      • bbox_object_locator_param_path
      • rois_ids [default: [0, 1]]
  • launch/object_recognition/detection/detector/irregular_object_detector.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • target_container
      • base_frame [default: base_link]
      • use_intra_process [default: true]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/concatenation_info [default: /sensing/lidar/concatenated/pointcloud_info]
      • output/clusters
      • crop_box_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/crop_box_filter.param.yaml]
      • scan_ground_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/scan_ground_filter.param.yaml]
      • roi_pointcloud_fusion_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/roi_pointcloud_fusion.param.yaml]
      • fusion_camera_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/fusion_cameras.param.yaml]
      • sync_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml]
  • launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
      • lidar_detection_model_type
      • lidar_detection_model_name
      • lidar_model_param_path
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • centerpoint_model_path [default: $(var data_path)/lidar_centerpoint]
      • centerpoint_common_param_path [default: $(find-pkg-share autoware_lidar_centerpoint)/config/centerpoint_common.param.yaml]
      • transfusion_model_path [default: $(var data_path)/lidar_transfusion]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type
      • node/pointcloud_container
      • input/pointcloud
      • output/objects
      • output/short_range_objects
  • launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
      • ns
      • node/pointcloud_container
      • input/pointcloud_map/pointcloud
      • input/obstacle_segmentation/pointcloud
      • output/cluster_objects
      • output/objects
      • voxel_grid_based_euclidean_param_path
      • use_low_height_cropbox [default: false]
  • launch/object_recognition/detection/detector/lidar_semantic_segmentation_detector.launch.xml
      • euclidean_clustering/param_path
      • input/pointcloud
      • output/objects
  • launch/object_recognition/detection/detector/tracker_based_detector.launch.xml
      • detection_by_tracker_param_path
      • input/clusters
      • input/tracked_objects
      • output/objects
  • launch/object_recognition/detection/filter/object_filter.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • objects_filter_method [default: lanelet_filter]
      • object_recognition_detection_object_lanelet_filter_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml]
      • object_recognition_detection_object_position_filter_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_filter/object_position_filter.param.yaml]
      • input/objects
      • output/objects
  • launch/object_recognition/detection/filter/object_validator.launch.xml
      • objects_validation_method
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path
      • input/obstacle_pointcloud
      • input/objects
      • output/objects
  • launch/object_recognition/detection/filter/pointcloud_downsample_filter.launch.xml
      • target_container
      • use_intra_process [default: true]
      • input/pointcloud
      • output/pointcloud
      • downsample_voxel_size [default: 0.1]
  • launch/object_recognition/detection/filter/pointcloud_map_filter.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • target_container
      • use_intra_process [default: true]
      • input/pointcloud
      • output/pointcloud
      • output/downsampled/pointcloud [default: /perception/obstacle_segmentation/pointcloud_map_filtered/downsampled/pointcloud]
      • downsample_voxel_size [default: 0.1]
      • voxel_based_compare_map_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/pointcloud_filter/voxel_based_compare_map_filter.param.yaml]
  • launch/object_recognition/detection/filter/radar_filter.launch.xml
      • object_sorter_param_path
      • radar_lanelet_filtering_range_param_path
      • input/radar
      • output/objects
  • launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • object_recognition_detection_object_merger_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/data_association_matrix.param.yaml]
      • object_recognition_detection_object_merger_distance_threshold_list_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/overlapped_judge.param.yaml]
      • ml_camera_lidar_object_association_merger_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/ml_camera_lidar_object_association_merger.param.yaml]
      • roi_detected_object_fusion_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/roi_detected_object_fusion.param.yaml]
      • sync_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml]
      • lidar_detection_model_type
      • use_detection_by_tracker
      • use_irregular_object_detector
      • use_roi_detected_object_validator
      • euclidean_clustering/shape_policy
      • use_object_filter
      • objects_filter_method
      • number_of_cameras
      • input/camera0/image
      • input/camera0/info
      • input/camera0/rois
      • input/camera1/image
      • input/camera1/info
      • input/camera1/rois
      • input/camera2/image
      • input/camera2/info
      • input/camera2/rois
      • input/camera3/image
      • input/camera3/info
      • input/camera3/rois
      • input/camera4/image
      • input/camera4/info
      • input/camera4/rois
      • input/camera5/image
      • input/camera5/info
      • input/camera5/rois
      • input/camera6/image
      • input/camera6/info
      • input/camera6/rois
      • input/camera7/image
      • input/camera7/info
      • input/camera7/rois
      • input/camera8/image
      • input/camera8/info
      • input/camera8/rois
      • input/concatenation_info [default: /sensing/lidar/concatenated/pointcloud_info]
      • input/lidar_ml/objects
      • input/lidar_cluster/objects
      • input/irregular_object/objects [default: ]
      • input/detection_by_tracker/objects
      • output/objects [default: objects]
      • alpha_merger_priority_mode [default: 0]
  • launch/object_recognition/object_recognition_camera.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • use_camera_vru_detector [default: false]
      • camera_vru_detector_rois_ids [default: [0]]
      • use_camera_bev_detector [default: true]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • input/camera0/image [default: /sensing/camera/camera0/image_rect_color]
      • input/camera0/info [default: /sensing/camera/camera0/camera_info]
      • input/camera0/rois [default: /perception/object_recognition/detection/rois0]
      • input/camera1/image [default: /sensing/camera/camera1/image_rect_color]
      • input/camera1/info [default: /sensing/camera/camera1/camera_info]
      • input/camera1/rois [default: /perception/object_recognition/detection/rois1]
      • input/camera2/image [default: /sensing/camera/camera2/image_rect_color]
      • input/camera2/info [default: /sensing/camera/camera2/camera_info]
      • input/camera2/rois [default: /perception/object_recognition/detection/rois2]
      • input/camera3/image [default: /sensing/camera/camera3/image_rect_color]
      • input/camera3/info [default: /sensing/camera/camera3/camera_info]
      • input/camera3/rois [default: /perception/object_recognition/detection/rois3]
      • input/camera4/image [default: /sensing/camera/camera4/image_rect_color]
      • input/camera4/info [default: /sensing/camera/camera4/camera_info]
      • input/camera4/rois [default: /perception/object_recognition/detection/rois4]
      • input/camera5/image [default: /sensing/camera/camera5/image_rect_color]
      • input/camera5/info [default: /sensing/camera/camera5/camera_info]
      • input/camera5/rois [default: /perception/object_recognition/detection/rois5]
      • input/camera6/image [default: /sensing/camera/camera6/image_rect_color]
      • input/camera6/info [default: /sensing/camera/camera6/camera_info]
      • input/camera6/rois [default: /perception/object_recognition/detection/rois6]
      • input/camera7/image [default: /sensing/camera/camera7/image_rect_color]
      • input/camera7/info [default: /sensing/camera/camera7/camera_info]
      • input/camera7/rois [default: /perception/object_recognition/detection/rois7]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • near_range_camera_vru_param_path [default: $(var perception_config_dir)/object_recognition/detection/camera_vru_detection/near_range_camera_vru_detector.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
  • launch/object_recognition/object_recognition_camera_lidar_radar.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • pointpainting_model_path [default: $(var data_path)/image_projection_based_fusion]
      • camera_2d_detector/model_path [default: $(var data_path)/tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx]
      • camera_2d_detector/label_path [default: $(var data_path)/tensorrt_yolox/label.txt]
      • camera_2d_detector/color_map_path [default: $(var data_path)/tensorrt_yolox/semseg_color_map.csv]
      • camera_2d_detector/roi_remap_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/roi_label_remap.csv]
      • camera_2d_detector/roi_to_semseg_remap_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/roi_to_semseg_label_remap.csv]
      • use_semantic_segmentation_ptv3 [default: false]
      • use_object_filter [default: true]
      • use_pointcloud_map [default: true]
      • use_validator [default: false]
      • objects_validation_method [default: obstacle_pointcloud]
      • use_low_height_cropbox [default: false]
      • use_low_intensity_cluster_filter [default: true]
      • use_image_segmentation_based_filter [default: false]
      • use_irregular_object_detector [default: true]
      • use_camera_vru_detector [default: false]
      • camera_vru_detector_rois_ids [default: [0]]
      • use_camera_only_detection [default: false]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • number_of_cameras [default: 6]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/semantic_segmentation/pointcloud [default: /perception/segmented/pointcloud]
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • input/camera0/image [default: /sensing/camera/camera0/image_rect_color]
      • input/camera0/info [default: /sensing/camera/camera0/camera_info]
      • input/camera0/rois [default: /perception/object_recognition/detection/rois0]
      • input/camera1/image [default: /sensing/camera/camera1/image_rect_color]
      • input/camera1/info [default: /sensing/camera/camera1/camera_info]
      • input/camera1/rois [default: /perception/object_recognition/detection/rois1]
      • input/camera2/image [default: /sensing/camera/camera2/image_rect_color]
      • input/camera2/info [default: /sensing/camera/camera2/camera_info]
      • input/camera2/rois [default: /perception/object_recognition/detection/rois2]
      • input/camera3/image [default: /sensing/camera/camera3/image_rect_color]
      • input/camera3/info [default: /sensing/camera/camera3/camera_info]
      • input/camera3/rois [default: /perception/object_recognition/detection/rois3]
      • input/camera4/image [default: /sensing/camera/camera4/image_rect_color]
      • input/camera4/info [default: /sensing/camera/camera4/camera_info]
      • input/camera4/rois [default: /perception/object_recognition/detection/rois4]
      • input/camera5/image [default: /sensing/camera/camera5/image_rect_color]
      • input/camera5/info [default: /sensing/camera/camera5/camera_info]
      • input/camera5/rois [default: /perception/object_recognition/detection/rois5]
      • input/camera6/image [default: /sensing/camera/camera6/image_rect_color]
      • input/camera6/info [default: /sensing/camera/camera6/camera_info]
      • input/camera6/rois [default: /perception/object_recognition/detection/rois6]
      • input/camera7/image [default: /sensing/camera/camera7/image_rect_color]
      • input/camera7/info [default: /sensing/camera/camera7/camera_info]
      • input/camera7/rois [default: /perception/object_recognition/detection/rois7]
      • input/camera8/image [default: /sensing/camera/camera8/image_rect_color]
      • input/camera8/info [default: /sensing/camera/camera8/camera_info]
      • input/camera8/rois [default: /perception/object_recognition/detection/rois8]
      • input/concatenation_info [default: /sensing/lidar/concatenated/pointcloud_info]
      • input/radar [default: /sensing/radar/detected_objects]
      • input/camera_only/objects [default: /perception/object_recognition/detection/camera_only/objects]
      • input/camera_only/channel [default: camera_streampetr]
      • image_topic_name [default: image_rect_color]
      • segmentation_pointcloud_fusion_camera_ids [default: [0,2,4]]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • sync_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml]
      • roi_cluster_fusion_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml]
      • pointpainting_fusion_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/pointpainting_common.param.yaml]
      • irregular_object_crop_box_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/crop_box_filter.param.yaml]
      • irregular_object_scan_ground_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/scan_ground_filter.param.yaml]
      • irregular_object_roi_pointcloud_fusion_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/roi_pointcloud_fusion.param.yaml]
      • irregular_object_fusion_camera_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/fusion_cameras.param.yaml]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • voxel_grid_based_euclidean_param_path [default: $(var perception_config_dir)/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml]
      • radar_lanelet_filtering_range_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml]
      • object_recognition_detection_object_sorter_radar_param_path [default: $(var perception_config_dir)/object_recognition/detection/radar_filter/detected_object_sorter.param.yaml]
      • near_range_camera_vru_param_path [default: $(var perception_config_dir)/object_recognition/detection/camera_vru_detection/near_range_camera_vru_detector.param.yaml]
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path [default: $(var perception_config_dir)/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
      • euclidean_clustering/param_path [default: $(var perception_config_dir)/object_recognition/detection/euclidean_cluster/label_based_euclidean_cluster.param.yaml]
  • launch/object_recognition/object_recognition_camera_lidar_radar_serial.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • pointpainting_model_path [default: $(var data_path)/image_projection_based_fusion]
      • camera_2d_detector/model_path [default: $(var data_path)/tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx]
      • camera_2d_detector/label_path [default: $(var data_path)/tensorrt_yolox/label.txt]
      • camera_2d_detector/color_map_path [default: $(var data_path)/tensorrt_yolox/semseg_color_map.csv]
      • camera_2d_detector/roi_remap_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/roi_label_remap.csv]
      • camera_2d_detector/roi_to_semseg_remap_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/roi_to_semseg_label_remap.csv]
      • use_object_filter [default: true]
      • objects_filter_method [default: lanelet_filter]
      • use_pointcloud_map [default: true]
      • use_validator [default: false]
      • objects_validation_method [default: obstacle_pointcloud]
      • use_roi_detected_object_validator [default: true]
      • use_detection_by_tracker [default: true]
      • use_low_height_cropbox [default: false]
      • use_low_intensity_cluster_filter [default: true]
      • use_image_segmentation_based_filter [default: false]
      • use_irregular_object_detector [default: true]
      • ml_camera_lidar_merger_priority_mode [default: 0]
      • use_vector_map [default: true]
      • number_of_cameras [default: 6]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • input/camera0/image [default: /sensing/camera/camera0/image_rect_color]
      • input/camera0/info [default: /sensing/camera/camera0/camera_info]
      • input/camera0/rois [default: /perception/object_recognition/detection/rois0]
      • input/camera1/image [default: /sensing/camera/camera1/image_rect_color]
      • input/camera1/info [default: /sensing/camera/camera1/camera_info]
      • input/camera1/rois [default: /perception/object_recognition/detection/rois1]
      • input/camera2/image [default: /sensing/camera/camera2/image_rect_color]
      • input/camera2/info [default: /sensing/camera/camera2/camera_info]
      • input/camera2/rois [default: /perception/object_recognition/detection/rois2]
      • input/camera3/image [default: /sensing/camera/camera3/image_rect_color]
      • input/camera3/info [default: /sensing/camera/camera3/camera_info]
      • input/camera3/rois [default: /perception/object_recognition/detection/rois3]
      • input/camera4/image [default: /sensing/camera/camera4/image_rect_color]
      • input/camera4/info [default: /sensing/camera/camera4/camera_info]
      • input/camera4/rois [default: /perception/object_recognition/detection/rois4]
      • input/camera5/image [default: /sensing/camera/camera5/image_rect_color]
      • input/camera5/info [default: /sensing/camera/camera5/camera_info]
      • input/camera5/rois [default: /perception/object_recognition/detection/rois5]
      • input/camera6/image [default: /sensing/camera/camera6/image_rect_color]
      • input/camera6/info [default: /sensing/camera/camera6/camera_info]
      • input/camera6/rois [default: /perception/object_recognition/detection/rois6]
      • input/camera7/image [default: /sensing/camera/camera7/image_rect_color]
      • input/camera7/info [default: /sensing/camera/camera7/camera_info]
      • input/camera7/rois [default: /perception/object_recognition/detection/rois7]
      • input/camera8/image [default: /sensing/camera/camera8/image_rect_color]
      • input/camera8/info [default: /sensing/camera/camera8/camera_info]
      • input/camera8/rois [default: /perception/object_recognition/detection/rois8]
      • input/concatenation_info [default: /sensing/lidar/concatenated/pointcloud_info]
      • input/radar/tracked_objects [default: /sensing/radar/tracked_objects]
      • image_topic_name [default: image_rect_color]
      • segmentation_pointcloud_fusion_camera_ids [default: [0,2,4]]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • sync_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml]
      • roi_cluster_fusion_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml]
      • pointpainting_fusion_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/pointpainting_common.param.yaml]
      • irregular_object_crop_box_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/crop_box_filter.param.yaml]
      • irregular_object_scan_ground_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/scan_ground_filter.param.yaml]
      • irregular_object_roi_pointcloud_fusion_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/roi_pointcloud_fusion.param.yaml]
      • irregular_object_fusion_camera_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/fusion_cameras.param.yaml]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • voxel_grid_based_euclidean_param_path [default: $(var perception_config_dir)/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml]
      • detection_by_tracker_param_path [default: $(var perception_config_dir)/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml]
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path [default: $(var perception_config_dir)/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml]
      • object_recognition_detection_object_merger_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/data_association_matrix.param.yaml]
      • object_recognition_detection_object_merger_distance_threshold_list_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/overlapped_judge.param.yaml]
      • ml_camera_lidar_object_association_merger_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/ml_camera_lidar_object_association_merger.param.yaml]
      • roi_detected_object_fusion_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/roi_detected_object_fusion.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
      • object_recognition_tracking_radar_tracked_object_sorter_param_path [default: $(var perception_config_dir)/object_recognition/tracking/radar_object_tracker/tracked_object_sorter.param.yaml]
      • object_recognition_tracking_radar_tracked_object_lanelet_filter_param_path [default: $(var perception_config_dir)/object_recognition/tracking/radar_object_tracker/tracked_object_lanelet_filter.param.yaml]
      • object_recognition_tracking_object_merger_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/tracking_object_merger/data_association_matrix.param.yaml]
      • object_recognition_tracking_object_merger_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml]
      • euclidean_clustering/shape_policy [default: 0]
  • launch/object_recognition/object_recognition_lidar.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • use_pointcloud_map [default: true]
      • use_validator [default: false]
      • objects_validation_method [default: obstacle_pointcloud]
      • use_object_filter [default: true]
      • objects_filter_method [default: lanelet_filter]
      • use_low_height_cropbox [default: false]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • voxel_grid_based_euclidean_param_path [default: $(var perception_config_dir)/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml]
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path [default: $(var perception_config_dir)/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
  • launch/object_recognition/object_recognition_lidar_ptv3.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/semantic_segmentation/pointcloud [default: /perception/segmented/pointcloud]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
      • euclidean_clustering/param_path [default: $(var perception_config_dir)/object_recognition/detection/euclidean_cluster/label_based_euclidean_cluster.param.yaml]
  • launch/object_recognition/object_recognition_lidar_radar.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • use_low_height_cropbox [default: false]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/semantic_segmentation/pointcloud [default: /perception/segmented/pointcloud]
      • input/radar [default: /sensing/radar/detected_objects]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • voxel_grid_based_euclidean_param_path [default: $(var perception_config_dir)/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml]
      • radar_lanelet_filtering_range_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml]
      • object_recognition_detection_object_sorter_radar_param_path [default: $(var perception_config_dir)/object_recognition/detection/radar_filter/detected_object_sorter.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
      • euclidean_clustering/param_path [default: $(var perception_config_dir)/object_recognition/detection/euclidean_cluster/label_based_euclidean_cluster.param.yaml]
  • launch/object_recognition/prediction/prediction.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • use_vector_map [default: false]
      • prediction_model_type [default: map_based]
      • input/objects [default: /perception/object_recognition/tracking/objects]
      • output/objects [default: /perception/object_recognition/objects]
      • object_recognition_prediction_map_based_prediction_param_path [default: $(var perception_config_dir)/object_recognition/prediction/map_based_prediction.param.yaml]
  • launch/obstacle_segmentation/ground_segmentation_additional_lidars.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • target_container
      • lidar_name
      • base_frame [default: base_link]
      • use_intra_process [default: true]
      • input/main/pointcloud
      • input/lidar/pointcloud [default: /sensing/lidar/$(var lidar_name)/pointcloud]
      • output/pointcloud
      • output/pointcloud_info [default: $(var output/pointcloud)_info]
      • crop_box_margin_max_z [default: 2.5]
      • crop_box_margin_min_z [default: -2.5]
      • crop_box_filter_node_param_path [default: $(var perception_config_dir)/obstacle_segmentation/ground_segmentation/crop_box_filter.param.yaml]
      • scan_ground_filter_node_param_path [default: $(var perception_config_dir)/obstacle_segmentation/ground_segmentation/scan_ground_filter.param.yaml]
  • launch/obstacle_segmentation/ground_segmentation_ml.launch.xml
      • pointcloud_container_name [default: pointcloud_container]
      • use_pointcloud_container [default: true]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/pointcloud/segmentation [default: /perception/segmented/pointcloud]
      • output/pointcloud/visualization [default: /perception/segmented/pointcloud/visualization]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • model_variant [default: ptv3]
      • model_path [default: $(var data_path)/ptv3]
  • launch/obstacle_segmentation/ground_segmentation_ransac.launch.xml
      • target_container
      • base_frame [default: base_link]
      • use_intra_process [default: true]
      • input_topics
      • input/main/pointcloud
      • output/pointcloud
      • output/pointcloud_info [default: $(var output/pointcloud)_info]
      • detection_area_crop_box_filter_node_param_path
      • ransac_ground_filter_node_param_path [default: $(find-pkg-share autoware_ground_segmentation)/config/ransac_ground_filter.param.yaml]
  • launch/obstacle_segmentation/ground_segmentation_rule_based.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • target_container
      • base_frame [default: base_link]
      • use_intra_process [default: true]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • crop_box_margin_max_z [default: 2.5]
      • crop_box_margin_min_z [default: -2.5]
      • crop_box_filter_node_param_path [default: $(var perception_config_dir)/obstacle_segmentation/ground_segmentation/crop_box_filter.param.yaml]
      • scan_ground_filter_node_param_path [default: $(var perception_config_dir)/obstacle_segmentation/ground_segmentation/scan_ground_filter.param.yaml]
  • launch/obstacle_segmentation/ground_segmentation_rule_based_cuda.launch.xml
      • target_container
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/ground_pointcloud [default: /perception/obstacle_segmentation/ground_pointcloud]
      • cuda_scan_ground_segmentation_filter_node_param_path [default: $(find-pkg-share autoware_ground_segmentation_cuda)/config/cuda_scan_ground_segmentation_filter.param.yaml]
  • launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • input/obstacle_pointcloud [default: concatenated/pointcloud]
      • input/raw_pointcloud [default: no_ground/oneshot/pointcloud]
      • output [default: /perception/occupancy_grid_map/map]
      • use_intra_process [default: false]
      • use_multithread [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • occupancy_grid_map_method
      • occupancy_grid_map_param_path [default: $(var perception_config_dir)/occupancy_grid_map/$(var occupancy_grid_map_method).param.yaml]
      • occupancy_grid_map_updater
      • occupancy_grid_map_updater_param_path [default: $(var perception_config_dir)/occupancy_grid_map/$(var occupancy_grid_map_updater)_updater.param.yaml]
      • input_obstacle_pointcloud [default: false]
      • input_obstacle_and_raw_pointcloud [default: true]
      • use_pointcloud_container [default: true]
  • launch/traffic_light_recognition/traffic_light_detector_fine.launch.xml
    • Fine-detection chain for one traffic light camera: map based detector proposes rough ROIs, the fine detector refines them, classifiers label them.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespace
      • enable_image_decompressor [default: true]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • map_based_detector_param_path [default: $(find-pkg-share autoware_traffic_light_map_based_detector)/config/traffic_light_map_based_detector.param.yaml]
      • fine_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_fine_detector/traffic_light_fine_detector.param.yaml]
      • car_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/car_traffic_light_classifier.param.yaml]
      • pedestrian_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/pedestrian_traffic_light_classifier.param.yaml]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • roi_visualizer_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_visualization/traffic_light_roi_visualizer.param.yaml]
      • fine_detector_model_path [default: $(var data_path)/traffic_light_fine_detector/tlr_car_ped_yolox_s_batch_6.onnx]
      • fine_detector_label_path [default: $(var data_path)/traffic_light_fine_detector/tlr_labels.txt]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
  • launch/traffic_light_recognition/traffic_light_detector_rough.launch.xml
    • Rough-detection chain for one traffic light camera: map based detector ROIs feed the classifiers directly, without a high accuracy detector.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespace
      • enable_image_decompressor [default: true]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • map_based_detector_param_path [default: $(find-pkg-share autoware_traffic_light_map_based_detector)/config/traffic_light_map_based_detector.param.yaml]
      • car_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/car_traffic_light_classifier.param.yaml]
      • pedestrian_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/pedestrian_traffic_light_classifier.param.yaml]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • roi_visualizer_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_visualization/traffic_light_roi_visualizer.param.yaml]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
  • launch/traffic_light_recognition/traffic_light_detector_whole_image.launch.xml
    • Whole-image detection chain for one traffic light camera: yolox detects over the full image, the selector matches detections to map based ROIs, classifiers label them.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespace
      • enable_image_decompressor [default: true]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • map_based_detector_param_path [default: $(find-pkg-share autoware_traffic_light_map_based_detector)/config/traffic_light_map_based_detector.param.yaml]
      • whole_image_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/yolox_traffic_light_detector.param.yaml]
      • car_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/car_traffic_light_classifier.param.yaml]
      • pedestrian_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/pedestrian_traffic_light_classifier.param.yaml]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • roi_visualizer_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_visualization/traffic_light_roi_visualizer.param.yaml]
      • whole_image_detector_model_path [default: $(var data_path)/tensorrt_yolox/yolox_s_car_ped_tl_detector_960_960_batch_1.onnx]
      • whole_image_detector_label_path [default: $(var data_path)/tensorrt_yolox/car_ped_tl_detector_labels.txt]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
  • launch/traffic_light_recognition/traffic_light_fusion.launch.xml
    • Post-process shared by all traffic light cameras: multi camera fusion, V2X arbitration, pedestrian signal estimation and map visualization.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespaces [default: [camera6, camera7]]
      • input/vector_map [default: /map/vector_map]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • internal/traffic_signals [default: /perception/traffic_light_recognition/internal/traffic_signals]
      • judged/traffic_signals [default: /perception/traffic_light_recognition/judged/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • multi_camera_fusion_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_multi_camera_fusion/traffic_light_multi_camera_fusion.param.yaml]
      • arbiter_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_arbiter/traffic_light_arbiter.param.yaml]
      • crosswalk_estimator_param_path [default: $(var perception_config_dir)/traffic_light_recognition/crosswalk_traffic_light_estimator/crosswalk_traffic_light_estimator.param.yaml]
  • launch/traffic_light_recognition/traffic_light_occlusion_predictor.launch.xml
    • Occlusion check for one traffic light camera: merges the car and pedestrian signals into the per-camera output, masking signals hidden from the camera.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespace
      • input/cloud [default: /sensing/lidar/top/pointcloud_raw_ex]
      • input/vector_map [default: /map/vector_map]
      • occlusion_predictor_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_occlusion_predictor/traffic_light_occlusion_predictor.param.yaml]
  • launch/traffic_light_recognition/traffic_light_recognition_fine.launch.xml
    • Traffic light recognition, fine detection mode: per-camera fine detection with occlusion check, then shared fusion. Two cameras as the representative set; add or remove per-camera blocks to match the vehicle.
      • perception_config_pkg [default: autoware_perception_config]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • input/pointcloud [default: /sensing/lidar/top/pointcloud_raw_ex]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • fine_detector_model_path [default: $(var data_path)/traffic_light_fine_detector/tlr_car_ped_yolox_s_batch_6.onnx]
      • fine_detector_label_path [default: $(var data_path)/traffic_light_fine_detector/tlr_labels.txt]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
      • base_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/base_traffic_light_map_based_detector.param.yaml]
      • extra_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/extra_traffic_light_map_based_detector.param.yaml]
  • launch/traffic_light_recognition/traffic_light_recognition_merge.launch.xml
    • Traffic light recognition, merge mode: detection and classification run on other ECUs; this side runs the per-camera occlusion check and the shared fusion. Two cameras as the representative set; add or remove per-camera blocks to match the vehicle.
      • input/vector_map [default: /map/vector_map]
      • input/pointcloud [default: /sensing/lidar/top/pointcloud_raw_ex]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
  • launch/traffic_light_recognition/traffic_light_recognition_rough.launch.xml
    • Traffic light recognition, rough detection mode: per-camera map based detection with occlusion check, then shared fusion. One camera as the representative set; add or remove per-camera blocks to match the vehicle.
      • perception_config_pkg [default: autoware_perception_config]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • input/pointcloud [default: /sensing/lidar/top/pointcloud_raw_ex]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
      • base_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/base_traffic_light_map_based_detector.param.yaml]
  • launch/traffic_light_recognition/traffic_light_recognition_whole_image.launch.xml
    • Traffic light recognition, whole-image detection mode: per-camera yolox detection, then shared fusion. Two cameras as the representative set; add or remove per-camera blocks to match the vehicle.
      • perception_config_pkg [default: autoware_perception_config]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • whole_image_detector_model_path [default: $(var data_path)/tensorrt_yolox/yolox_s_car_ped_tl_detector_960_960_batch_1.onnx]
      • whole_image_detector_label_path [default: $(var data_path)/tensorrt_yolox/car_ped_tl_detector_labels.txt]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
      • base_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/base_traffic_light_map_based_detector.param.yaml]
      • extra_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/extra_traffic_light_map_based_detector.param.yaml]

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autoware_perception_launch package from autoware_launch repo

autoware_launch autoware_sample_designs autoware_control_config autoware_control_launch autoware_localization_config autoware_localization_launch autoware_map_config autoware_map_launch autoware_perception_config autoware_perception_launch autoware_planning_config autoware_planning_launch autoware_sensing_launch autoware_sensor_driver_launch awsim_labs_sensor_kit_description awsim_labs_sensor_kit_launch awsim_sensor_kit_description awsim_sensor_kit_launch carla_sensor_kit_description carla_sensor_kit_launch sample_sensor_kit_description sample_sensor_kit_launch single_lidar_sensor_kit_description single_lidar_sensor_kit_launch tier4_autoware_api_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch awsim_labs_vehicle_description awsim_labs_vehicle_launch sample_vehicle_description sample_vehicle_launch

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Package Summary

Version 0.52.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_launch.git
VCS Type git
VCS Version main
Last Updated 2026-10-09
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_perception_launch package

Maintainers

  • Yukihiro Saito
  • Dai Nguyen
  • Taekjin Lee
  • Yoshi Ri
  • Masato Saeki

Authors

No additional authors.
autoware_universe_launch/autoware_perception_launch/README.md

autoware_perception_launch

Shared perception launch library. The system component launchers live in the product layer (autoware_launch/launch/components/component_perception.launch.xml for the lidar pipeline and component_traffic_light.launch.xml for traffic light recognition); this package hosts the perception feature launchers they combine:

launch/
├── common/                        # shared preprocess feature launchers (pointcloud downsample)
├── object_recognition/
│   ├── object_recognition_<mode>.launch.xml  # detection + tracking + prediction per sensor mode
│   ├── detection/
│   │   ├── detector/              # detectors
│   │   ├── filter/                # filters
│   │   └── merger/                # detection-side serial merger (used by the camera_lidar_radar_serial launcher)
│   └── prediction/
├── obstacle_segmentation/
├── occupancy_grid_map/
└── traffic_light_recognition/
design/module/                     # Autoware System Designer modules; same subtree as launch/
├── object_recognition/
├── obstacle_segmentation/
├── occupancy_grid_map/
└── traffic_light_recognition/

Launch files

  • object_recognition/object_recognition_<mode>.launch.xml — one feature launcher per sensor mode (camera, lidar, lidar_ptv3, lidar_radar, camera_lidar_radar, camera_lidar_radar_serial); hosts the detection stage inline together with the tracker and prediction, and pushes their module namespaces. Camera and radar input topics default to their absolute sensing paths (/sensing/camera/cameraN/..., /sensing/radar/detected_objects), so callers override only what differs. Most modes wire the multi-channel tracker to the detector outputs; camera_lidar_radar_serial instead merges the detectors in the detection stage (optionally regenerating detections through detection-by-tracker), tracks the single merged detected_objects channel, and joins radar tracked objects at the decorative tracker merger. camera runs camera-only detectors (BEV and camera VRU).
  • The clustering backend is file selection, not a flag: lidar runs rule-based euclidean clustering off the obstacle segmentation cloud, while lidar_ptv3 and lidar_radar cluster the PTv3 semantic-segmentation cloud and drop the pointcloud map filter and the object validator that only the rule-based pipeline uses. Both feed their cluster objects to the tracker on the lidar_clustering channel.
  • object_recognition/detection/{detector,filter}/ — single-purpose launchers wired together by the object-recognition launchers. merger/camera_lidar_merger.launch.xml chains the detection-side object mergers for the camera_lidar_radar_serial launcher.
  • obstacle_segmentation/ground_segmentation_<backend>.launch.xml — ground removal backends (rule_based, rule_based_cuda, ml); backend selection is file selection. ground_segmentation_{additional_lidars,ransac}.launch.xml fold extra lidars into the obstacle stream for kits that carry them.
  • occupancy_grid_map/, common/, traffic_light_recognition/ — feature launchers included directly by the system components.

Namespace and container addressing

Callers own the namespaces: the system component pushes perception and object_recognition; object_recognition_<mode>.launch.xml pushes detection/tracking/prediction. The object-recognition launchers address their internal topics through the fixed /perception/object_recognition namespace. Composable nodes load into the shared pointcloud container, whose name is exposed as pointcloud_container_name and aliased to the node/pointcloud_container argument of the detector launchers.

Config

Parameter files are resolved from a config/ tree addressed through the perception_config_pkg argument, which defaults to autoware_perception_config. A product can relocate the whole tree by setting perception_config_pkg once at its entry point — the launch configuration propagates through every include — but it must then ship the same config/ layout. Products that differ in only a few files instead override the corresponding *_param_path arguments, which every feature launcher declares with a default:

<include file="$(find-pkg-share autoware_perception_launch)/launch/object_recognition/object_recognition_lidar.launch.xml">
  <arg name="perception_config_pkg" value="my_perception_config"/>
  <arg name="FOO_NODE_param_path" value="..."/>
</include>

component_perception.launch.xml, component_traffic_light.launch.xml and planning_simulator/perception_simulation.launch.xml each declare perception_config_pkg, so a product switches the tree at the component it launches.

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

Package Dependencies

Please see <exec_depend> in package.xml.

CHANGELOG

Changelog for package autoware_perception_launch

0.52.0 (2026-06-30)

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

  • fix(merger_topic): mis-aligning topic when using semantic_segmentation without multi_channel_tracker (#1895)

    • fix(merger_topic): mis-aligning topic when using semantic_segmentation without multi_channel_tracker

    * chore: rename for readablity ---------

  • fix(ptv3): model path (#1890)

  • chore: add maintainer (#1880)

  • fix(tier4_perception_launch): occupancy_grid_map input topic when ptv3 used (#1871)

    • fix(tier4_perception_launch): occupancy_grid_map input topic when ptv3 used

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • fix: remove unnecessary dependency (#1870)

  • feat: add semantic segmentation pipeline option (#1865)

    • fix: ground segmentation launch
    • fix: missing dependencies and param
    • fix: ptv3 topic
    • fix: euclidean pipeline
    • feat: add use_roi_detected_object_validator options
    • replace with label_based_euclidean
    • revert to bevfusion
    • fix: aligning with updated EC
    • fix: add alpha merger option
    • fix: missing toggle condition
    • disable irregular_object_detector
    • fix: camera_lidar_radar merger
    • update label_based_ec param
    • revert to v4.4.0 pipeline option
    • fix(merger launch): missing toggle condition
    • style(pre-commit): autofix
    • style(pre-commit): autofix
    • remove voxel_downsample and pc validation
    • RDDR-353 Enable irregular object detection (#2379)
    • update config for 2 new classes
    • typo
    • style(pre-commit): autofix
    • refactor
    • refactor
    • fix data_path
    • fix: adjust combination when ptv3 used
    • fix: remove fixed option when using ptv3
    • remove object filter

    * Update autoware_launch/config/perception/object_recognition/detection/euclidean_cluster/label_based_euclidean_cluster.param.yaml Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>

    * fix: add semseg pipeline option for lidar perception mode ---------Co-authored-by: ktro2828 <<60615504+ktro2828@users.noreply.github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>

  • feat(perception): update perception pipeline to remove shape estimation (#1846)

    • fix(perception): update input channels and ground segmentation parameters for improved tracking and detection
    • Changed associator type from 'bev' to 'polar' in multi-object tracker input channels for better performance.
    • Adjusted ground segmentation parameters: increased margin_max_z from 0.0 to 1.0 and detection_range_z_max from 2.5 to 3.5 to enhance ground detection capabilities.
    • feat(Tier4PlanningWrapper): add data_path parameter for enhanced configuration flexibility
    • Introduced a new parameter 'data_path' with a default value to improve the configuration options for the Tier4PlanningWrapper node.
    • This addition allows for better management of data paths within the planning framework.
    • refactor(perception): remove deprecated tracking modules and streamline object recognition configuration

File truncated at 100 lines see the full file

Package Dependencies

Deps Name
ament_cmake_auto
autoware_cmake
autoware_agnocast_wrapper
autoware_bevfusion
autoware_bytetrack
autoware_compare_map_segmentation
autoware_crosswalk_traffic_light_estimator
autoware_cuda_pointcloud_preprocessor
autoware_detected_object_feature_remover
autoware_detected_object_validation
autoware_detection_by_tracker
autoware_elevation_map_loader
autoware_euclidean_cluster
autoware_ground_segmentation
autoware_ground_segmentation_cuda
autoware_image_object_locator
autoware_image_projection_based_fusion
autoware_image_transport_decompressor
autoware_lidar_apollo_instance_segmentation
autoware_lidar_centerpoint
autoware_lidar_transfusion
autoware_map_based_prediction
autoware_multi_object_tracker
autoware_object_merger
autoware_object_sorter
autoware_occupancy_grid_map_outlier_filter
autoware_perception_config
autoware_pointcloud_preprocessor
autoware_probabilistic_occupancy_grid_map
autoware_ptv3
autoware_raindrop_cluster_filter
autoware_shape_estimation
autoware_simpl_prediction
autoware_simple_object_merger
autoware_tensorrt_bevdet
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
rclcpp_components
topic_tools
ament_lint_auto
autoware_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
autoware_launch
reaction_analyzer

Launch files

  • launch/common/pointcloud_downsample.launch.xml
      • pointcloud_container_name
      • cuda_pointcloud_preprocessing [default: false]
      • input/pointcloud
      • output/pointcloud
      • common_downsample_voxel_size_x [default: 0.05]
      • common_downsample_voxel_size_y [default: 0.05]
      • common_downsample_voxel_size_z [default: 0.05]
  • launch/object_recognition/detection/detector/camera_2d_detector.launch.xml
      • image_raw0 [default: /sensing/camera/camera0/image_raw]
      • image_raw1 [default: /sensing/camera/camera1/image_raw]
      • image_raw2 [default: /sensing/camera/camera2/image_raw]
      • image_raw3 [default: /sensing/camera/camera3/image_raw]
      • image_raw4 [default: /sensing/camera/camera4/image_raw]
      • image_raw5 [default: /sensing/camera/camera5/image_raw]
      • image_raw6 [default: /sensing/camera/camera6/image_raw]
      • image_raw7 [default: /sensing/camera/camera7/image_raw]
      • image_raw8 [default: /sensing/camera/camera8/image_raw]
      • image_raw9 [default: /sensing/camera/camera9/image_raw]
      • image_number [default: 1]
      • camera_index [default: 0]
      • use_bytetrack [default: true]
      • enable_visualizer [default: false]
      • camera_2d_detector/model_path
      • camera_2d_detector/label_path
      • camera_2d_detector/color_map_path
      • camera_2d_detector/roi_remap_path
      • camera_2d_detector/roi_to_semseg_remap_path
      • tensorrt_yolox_ns [default: ]
  • launch/object_recognition/detection/detector/camera_bev_detector.launch.xml
      • input/camera0/image
      • input/camera0/info
      • input/camera1/image
      • input/camera1/info
      • input/camera2/image
      • input/camera2/info
      • input/camera3/image
      • input/camera3/info
      • input/camera4/image
      • input/camera4/info
      • input/camera5/image
      • input/camera5/info
      • output/objects
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevdet_model_name [default: bevdet_one_lt_d]
      • bevdet_model_path [default: $(var data_path)/tensorrt_bevdet]
  • launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
      • ns
      • lidar_detection_model_type
      • lidar_detection_model_name
      • use_low_intensity_cluster_filter
      • use_image_segmentation_based_filter
      • number_of_cameras
      • input/camera0/image
      • input/camera0/info
      • input/camera0/rois
      • input/camera1/image
      • input/camera1/info
      • input/camera1/rois
      • input/camera2/image
      • input/camera2/info
      • input/camera2/rois
      • input/camera3/image
      • input/camera3/info
      • input/camera3/rois
      • input/camera4/image
      • input/camera4/info
      • input/camera4/rois
      • input/camera5/image
      • input/camera5/info
      • input/camera5/rois
      • input/camera6/image
      • input/camera6/info
      • input/camera6/rois
      • input/camera7/image
      • input/camera7/info
      • input/camera7/rois
      • input/camera8/image
      • input/camera8/info
      • input/camera8/rois
      • input/concatenation_info
      • segmentation_pointcloud_fusion_camera_ids
      • image_topic_name
      • sync_param_path
      • voxel_grid_based_euclidean_param_path
      • lidar_model_param_path
      • pointpainting_model_path [default: $(var data_path)/image_projection_based_fusion]
      • pointpainting_fusion_common_param_path
      • roi_cluster_fusion_param_path
      • node/pointcloud_container
      • input/pointcloud
      • input/pointcloud_map/pointcloud
      • input/obstacle_segmentation/pointcloud
      • output/ml_detector/objects
      • output/rule_detector/objects
      • camera_2d_detector/model_path
      • camera_2d_detector/label_path
      • camera_2d_detector/color_map_path
      • camera_2d_detector/roi_remap_path
      • camera_2d_detector/roi_to_semseg_remap_path
      • enable_2d_detection [default: false]
  • launch/object_recognition/detection/detector/camera_lidar_irregular_object_detector.launch.xml
      • pipeline_ns
      • node/pointcloud_container
      • output/objects [default: objects]
      • input/concatenation_info
      • input/pointcloud
      • irregular_object_crop_box_filter_node_param_path
      • irregular_object_scan_ground_filter_node_param_path
      • irregular_object_roi_pointcloud_fusion_node_param_path
      • irregular_object_fusion_camera_param_path
      • sync_param_path
  • launch/object_recognition/detection/detector/camera_vru_detector.launch.xml
      • input/camera0/info [default: /sensing/camera/camera0/camera_info]
      • input/camera0/rois [default: /perception/object_recognition/detection/rois0]
      • input/camera1/info [default: /sensing/camera/camera1/camera_info]
      • input/camera1/rois [default: /perception/object_recognition/detection/rois1]
      • input/camera2/info [default: /sensing/camera/camera2/camera_info]
      • input/camera2/rois [default: /perception/object_recognition/detection/rois2]
      • input/camera3/info [default: /sensing/camera/camera3/camera_info]
      • input/camera3/rois [default: /perception/object_recognition/detection/rois3]
      • input/camera4/info [default: /sensing/camera/camera4/camera_info]
      • input/camera4/rois [default: /perception/object_recognition/detection/rois4]
      • input/camera5/info [default: /sensing/camera/camera5/camera_info]
      • input/camera5/rois [default: /perception/object_recognition/detection/rois5]
      • input/camera6/info [default: /sensing/camera/camera6/camera_info]
      • input/camera6/rois [default: /perception/object_recognition/detection/rois6]
      • input/camera7/info [default: /sensing/camera/camera7/camera_info]
      • input/camera7/rois [default: /perception/object_recognition/detection/rois7]
      • output/objects [default: /perception/object_recognition/detection/camera_vru/objects]
      • bbox_object_locator_param_path
      • rois_ids [default: [0, 1]]
  • launch/object_recognition/detection/detector/irregular_object_detector.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • target_container
      • base_frame [default: base_link]
      • use_intra_process [default: true]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/concatenation_info [default: /sensing/lidar/concatenated/pointcloud_info]
      • output/clusters
      • crop_box_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/crop_box_filter.param.yaml]
      • scan_ground_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/scan_ground_filter.param.yaml]
      • roi_pointcloud_fusion_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/roi_pointcloud_fusion.param.yaml]
      • fusion_camera_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/fusion_cameras.param.yaml]
      • sync_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml]
  • launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
      • lidar_detection_model_type
      • lidar_detection_model_name
      • lidar_model_param_path
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • centerpoint_model_path [default: $(var data_path)/lidar_centerpoint]
      • centerpoint_common_param_path [default: $(find-pkg-share autoware_lidar_centerpoint)/config/centerpoint_common.param.yaml]
      • transfusion_model_path [default: $(var data_path)/lidar_transfusion]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type
      • node/pointcloud_container
      • input/pointcloud
      • output/objects
      • output/short_range_objects
  • launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
      • ns
      • node/pointcloud_container
      • input/pointcloud_map/pointcloud
      • input/obstacle_segmentation/pointcloud
      • output/cluster_objects
      • output/objects
      • voxel_grid_based_euclidean_param_path
      • use_low_height_cropbox [default: false]
  • launch/object_recognition/detection/detector/lidar_semantic_segmentation_detector.launch.xml
      • euclidean_clustering/param_path
      • input/pointcloud
      • output/objects
  • launch/object_recognition/detection/detector/tracker_based_detector.launch.xml
      • detection_by_tracker_param_path
      • input/clusters
      • input/tracked_objects
      • output/objects
  • launch/object_recognition/detection/filter/object_filter.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • objects_filter_method [default: lanelet_filter]
      • object_recognition_detection_object_lanelet_filter_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml]
      • object_recognition_detection_object_position_filter_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_filter/object_position_filter.param.yaml]
      • input/objects
      • output/objects
  • launch/object_recognition/detection/filter/object_validator.launch.xml
      • objects_validation_method
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path
      • input/obstacle_pointcloud
      • input/objects
      • output/objects
  • launch/object_recognition/detection/filter/pointcloud_downsample_filter.launch.xml
      • target_container
      • use_intra_process [default: true]
      • input/pointcloud
      • output/pointcloud
      • downsample_voxel_size [default: 0.1]
  • launch/object_recognition/detection/filter/pointcloud_map_filter.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • target_container
      • use_intra_process [default: true]
      • input/pointcloud
      • output/pointcloud
      • output/downsampled/pointcloud [default: /perception/obstacle_segmentation/pointcloud_map_filtered/downsampled/pointcloud]
      • downsample_voxel_size [default: 0.1]
      • voxel_based_compare_map_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/pointcloud_filter/voxel_based_compare_map_filter.param.yaml]
  • launch/object_recognition/detection/filter/radar_filter.launch.xml
      • object_sorter_param_path
      • radar_lanelet_filtering_range_param_path
      • input/radar
      • output/objects
  • launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • object_recognition_detection_object_merger_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/data_association_matrix.param.yaml]
      • object_recognition_detection_object_merger_distance_threshold_list_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/overlapped_judge.param.yaml]
      • ml_camera_lidar_object_association_merger_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/ml_camera_lidar_object_association_merger.param.yaml]
      • roi_detected_object_fusion_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/roi_detected_object_fusion.param.yaml]
      • sync_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml]
      • lidar_detection_model_type
      • use_detection_by_tracker
      • use_irregular_object_detector
      • use_roi_detected_object_validator
      • euclidean_clustering/shape_policy
      • use_object_filter
      • objects_filter_method
      • number_of_cameras
      • input/camera0/image
      • input/camera0/info
      • input/camera0/rois
      • input/camera1/image
      • input/camera1/info
      • input/camera1/rois
      • input/camera2/image
      • input/camera2/info
      • input/camera2/rois
      • input/camera3/image
      • input/camera3/info
      • input/camera3/rois
      • input/camera4/image
      • input/camera4/info
      • input/camera4/rois
      • input/camera5/image
      • input/camera5/info
      • input/camera5/rois
      • input/camera6/image
      • input/camera6/info
      • input/camera6/rois
      • input/camera7/image
      • input/camera7/info
      • input/camera7/rois
      • input/camera8/image
      • input/camera8/info
      • input/camera8/rois
      • input/concatenation_info [default: /sensing/lidar/concatenated/pointcloud_info]
      • input/lidar_ml/objects
      • input/lidar_cluster/objects
      • input/irregular_object/objects [default: ]
      • input/detection_by_tracker/objects
      • output/objects [default: objects]
      • alpha_merger_priority_mode [default: 0]
  • launch/object_recognition/object_recognition_camera.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • use_camera_vru_detector [default: false]
      • camera_vru_detector_rois_ids [default: [0]]
      • use_camera_bev_detector [default: true]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • input/camera0/image [default: /sensing/camera/camera0/image_rect_color]
      • input/camera0/info [default: /sensing/camera/camera0/camera_info]
      • input/camera0/rois [default: /perception/object_recognition/detection/rois0]
      • input/camera1/image [default: /sensing/camera/camera1/image_rect_color]
      • input/camera1/info [default: /sensing/camera/camera1/camera_info]
      • input/camera1/rois [default: /perception/object_recognition/detection/rois1]
      • input/camera2/image [default: /sensing/camera/camera2/image_rect_color]
      • input/camera2/info [default: /sensing/camera/camera2/camera_info]
      • input/camera2/rois [default: /perception/object_recognition/detection/rois2]
      • input/camera3/image [default: /sensing/camera/camera3/image_rect_color]
      • input/camera3/info [default: /sensing/camera/camera3/camera_info]
      • input/camera3/rois [default: /perception/object_recognition/detection/rois3]
      • input/camera4/image [default: /sensing/camera/camera4/image_rect_color]
      • input/camera4/info [default: /sensing/camera/camera4/camera_info]
      • input/camera4/rois [default: /perception/object_recognition/detection/rois4]
      • input/camera5/image [default: /sensing/camera/camera5/image_rect_color]
      • input/camera5/info [default: /sensing/camera/camera5/camera_info]
      • input/camera5/rois [default: /perception/object_recognition/detection/rois5]
      • input/camera6/image [default: /sensing/camera/camera6/image_rect_color]
      • input/camera6/info [default: /sensing/camera/camera6/camera_info]
      • input/camera6/rois [default: /perception/object_recognition/detection/rois6]
      • input/camera7/image [default: /sensing/camera/camera7/image_rect_color]
      • input/camera7/info [default: /sensing/camera/camera7/camera_info]
      • input/camera7/rois [default: /perception/object_recognition/detection/rois7]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • near_range_camera_vru_param_path [default: $(var perception_config_dir)/object_recognition/detection/camera_vru_detection/near_range_camera_vru_detector.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
  • launch/object_recognition/object_recognition_camera_lidar_radar.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • pointpainting_model_path [default: $(var data_path)/image_projection_based_fusion]
      • camera_2d_detector/model_path [default: $(var data_path)/tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx]
      • camera_2d_detector/label_path [default: $(var data_path)/tensorrt_yolox/label.txt]
      • camera_2d_detector/color_map_path [default: $(var data_path)/tensorrt_yolox/semseg_color_map.csv]
      • camera_2d_detector/roi_remap_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/roi_label_remap.csv]
      • camera_2d_detector/roi_to_semseg_remap_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/roi_to_semseg_label_remap.csv]
      • use_semantic_segmentation_ptv3 [default: false]
      • use_object_filter [default: true]
      • use_pointcloud_map [default: true]
      • use_validator [default: false]
      • objects_validation_method [default: obstacle_pointcloud]
      • use_low_height_cropbox [default: false]
      • use_low_intensity_cluster_filter [default: true]
      • use_image_segmentation_based_filter [default: false]
      • use_irregular_object_detector [default: true]
      • use_camera_vru_detector [default: false]
      • camera_vru_detector_rois_ids [default: [0]]
      • use_camera_only_detection [default: false]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • number_of_cameras [default: 6]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/semantic_segmentation/pointcloud [default: /perception/segmented/pointcloud]
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • input/camera0/image [default: /sensing/camera/camera0/image_rect_color]
      • input/camera0/info [default: /sensing/camera/camera0/camera_info]
      • input/camera0/rois [default: /perception/object_recognition/detection/rois0]
      • input/camera1/image [default: /sensing/camera/camera1/image_rect_color]
      • input/camera1/info [default: /sensing/camera/camera1/camera_info]
      • input/camera1/rois [default: /perception/object_recognition/detection/rois1]
      • input/camera2/image [default: /sensing/camera/camera2/image_rect_color]
      • input/camera2/info [default: /sensing/camera/camera2/camera_info]
      • input/camera2/rois [default: /perception/object_recognition/detection/rois2]
      • input/camera3/image [default: /sensing/camera/camera3/image_rect_color]
      • input/camera3/info [default: /sensing/camera/camera3/camera_info]
      • input/camera3/rois [default: /perception/object_recognition/detection/rois3]
      • input/camera4/image [default: /sensing/camera/camera4/image_rect_color]
      • input/camera4/info [default: /sensing/camera/camera4/camera_info]
      • input/camera4/rois [default: /perception/object_recognition/detection/rois4]
      • input/camera5/image [default: /sensing/camera/camera5/image_rect_color]
      • input/camera5/info [default: /sensing/camera/camera5/camera_info]
      • input/camera5/rois [default: /perception/object_recognition/detection/rois5]
      • input/camera6/image [default: /sensing/camera/camera6/image_rect_color]
      • input/camera6/info [default: /sensing/camera/camera6/camera_info]
      • input/camera6/rois [default: /perception/object_recognition/detection/rois6]
      • input/camera7/image [default: /sensing/camera/camera7/image_rect_color]
      • input/camera7/info [default: /sensing/camera/camera7/camera_info]
      • input/camera7/rois [default: /perception/object_recognition/detection/rois7]
      • input/camera8/image [default: /sensing/camera/camera8/image_rect_color]
      • input/camera8/info [default: /sensing/camera/camera8/camera_info]
      • input/camera8/rois [default: /perception/object_recognition/detection/rois8]
      • input/concatenation_info [default: /sensing/lidar/concatenated/pointcloud_info]
      • input/radar [default: /sensing/radar/detected_objects]
      • input/camera_only/objects [default: /perception/object_recognition/detection/camera_only/objects]
      • input/camera_only/channel [default: camera_streampetr]
      • image_topic_name [default: image_rect_color]
      • segmentation_pointcloud_fusion_camera_ids [default: [0,2,4]]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • sync_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml]
      • roi_cluster_fusion_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml]
      • pointpainting_fusion_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/pointpainting_common.param.yaml]
      • irregular_object_crop_box_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/crop_box_filter.param.yaml]
      • irregular_object_scan_ground_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/scan_ground_filter.param.yaml]
      • irregular_object_roi_pointcloud_fusion_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/roi_pointcloud_fusion.param.yaml]
      • irregular_object_fusion_camera_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/fusion_cameras.param.yaml]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • voxel_grid_based_euclidean_param_path [default: $(var perception_config_dir)/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml]
      • radar_lanelet_filtering_range_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml]
      • object_recognition_detection_object_sorter_radar_param_path [default: $(var perception_config_dir)/object_recognition/detection/radar_filter/detected_object_sorter.param.yaml]
      • near_range_camera_vru_param_path [default: $(var perception_config_dir)/object_recognition/detection/camera_vru_detection/near_range_camera_vru_detector.param.yaml]
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path [default: $(var perception_config_dir)/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
      • euclidean_clustering/param_path [default: $(var perception_config_dir)/object_recognition/detection/euclidean_cluster/label_based_euclidean_cluster.param.yaml]
  • launch/object_recognition/object_recognition_camera_lidar_radar_serial.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • pointpainting_model_path [default: $(var data_path)/image_projection_based_fusion]
      • camera_2d_detector/model_path [default: $(var data_path)/tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx]
      • camera_2d_detector/label_path [default: $(var data_path)/tensorrt_yolox/label.txt]
      • camera_2d_detector/color_map_path [default: $(var data_path)/tensorrt_yolox/semseg_color_map.csv]
      • camera_2d_detector/roi_remap_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/roi_label_remap.csv]
      • camera_2d_detector/roi_to_semseg_remap_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/roi_to_semseg_label_remap.csv]
      • use_object_filter [default: true]
      • objects_filter_method [default: lanelet_filter]
      • use_pointcloud_map [default: true]
      • use_validator [default: false]
      • objects_validation_method [default: obstacle_pointcloud]
      • use_roi_detected_object_validator [default: true]
      • use_detection_by_tracker [default: true]
      • use_low_height_cropbox [default: false]
      • use_low_intensity_cluster_filter [default: true]
      • use_image_segmentation_based_filter [default: false]
      • use_irregular_object_detector [default: true]
      • ml_camera_lidar_merger_priority_mode [default: 0]
      • use_vector_map [default: true]
      • number_of_cameras [default: 6]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • input/camera0/image [default: /sensing/camera/camera0/image_rect_color]
      • input/camera0/info [default: /sensing/camera/camera0/camera_info]
      • input/camera0/rois [default: /perception/object_recognition/detection/rois0]
      • input/camera1/image [default: /sensing/camera/camera1/image_rect_color]
      • input/camera1/info [default: /sensing/camera/camera1/camera_info]
      • input/camera1/rois [default: /perception/object_recognition/detection/rois1]
      • input/camera2/image [default: /sensing/camera/camera2/image_rect_color]
      • input/camera2/info [default: /sensing/camera/camera2/camera_info]
      • input/camera2/rois [default: /perception/object_recognition/detection/rois2]
      • input/camera3/image [default: /sensing/camera/camera3/image_rect_color]
      • input/camera3/info [default: /sensing/camera/camera3/camera_info]
      • input/camera3/rois [default: /perception/object_recognition/detection/rois3]
      • input/camera4/image [default: /sensing/camera/camera4/image_rect_color]
      • input/camera4/info [default: /sensing/camera/camera4/camera_info]
      • input/camera4/rois [default: /perception/object_recognition/detection/rois4]
      • input/camera5/image [default: /sensing/camera/camera5/image_rect_color]
      • input/camera5/info [default: /sensing/camera/camera5/camera_info]
      • input/camera5/rois [default: /perception/object_recognition/detection/rois5]
      • input/camera6/image [default: /sensing/camera/camera6/image_rect_color]
      • input/camera6/info [default: /sensing/camera/camera6/camera_info]
      • input/camera6/rois [default: /perception/object_recognition/detection/rois6]
      • input/camera7/image [default: /sensing/camera/camera7/image_rect_color]
      • input/camera7/info [default: /sensing/camera/camera7/camera_info]
      • input/camera7/rois [default: /perception/object_recognition/detection/rois7]
      • input/camera8/image [default: /sensing/camera/camera8/image_rect_color]
      • input/camera8/info [default: /sensing/camera/camera8/camera_info]
      • input/camera8/rois [default: /perception/object_recognition/detection/rois8]
      • input/concatenation_info [default: /sensing/lidar/concatenated/pointcloud_info]
      • input/radar/tracked_objects [default: /sensing/radar/tracked_objects]
      • image_topic_name [default: image_rect_color]
      • segmentation_pointcloud_fusion_camera_ids [default: [0,2,4]]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • sync_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml]
      • roi_cluster_fusion_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml]
      • pointpainting_fusion_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/pointpainting_common.param.yaml]
      • irregular_object_crop_box_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/crop_box_filter.param.yaml]
      • irregular_object_scan_ground_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/scan_ground_filter.param.yaml]
      • irregular_object_roi_pointcloud_fusion_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/roi_pointcloud_fusion.param.yaml]
      • irregular_object_fusion_camera_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/fusion_cameras.param.yaml]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • voxel_grid_based_euclidean_param_path [default: $(var perception_config_dir)/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml]
      • detection_by_tracker_param_path [default: $(var perception_config_dir)/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml]
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path [default: $(var perception_config_dir)/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml]
      • object_recognition_detection_object_merger_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/data_association_matrix.param.yaml]
      • object_recognition_detection_object_merger_distance_threshold_list_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/overlapped_judge.param.yaml]
      • ml_camera_lidar_object_association_merger_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/ml_camera_lidar_object_association_merger.param.yaml]
      • roi_detected_object_fusion_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/roi_detected_object_fusion.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
      • object_recognition_tracking_radar_tracked_object_sorter_param_path [default: $(var perception_config_dir)/object_recognition/tracking/radar_object_tracker/tracked_object_sorter.param.yaml]
      • object_recognition_tracking_radar_tracked_object_lanelet_filter_param_path [default: $(var perception_config_dir)/object_recognition/tracking/radar_object_tracker/tracked_object_lanelet_filter.param.yaml]
      • object_recognition_tracking_object_merger_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/tracking_object_merger/data_association_matrix.param.yaml]
      • object_recognition_tracking_object_merger_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml]
      • euclidean_clustering/shape_policy [default: 0]
  • launch/object_recognition/object_recognition_lidar.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • use_pointcloud_map [default: true]
      • use_validator [default: false]
      • objects_validation_method [default: obstacle_pointcloud]
      • use_object_filter [default: true]
      • objects_filter_method [default: lanelet_filter]
      • use_low_height_cropbox [default: false]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • voxel_grid_based_euclidean_param_path [default: $(var perception_config_dir)/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml]
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path [default: $(var perception_config_dir)/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
  • launch/object_recognition/object_recognition_lidar_ptv3.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/semantic_segmentation/pointcloud [default: /perception/segmented/pointcloud]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
      • euclidean_clustering/param_path [default: $(var perception_config_dir)/object_recognition/detection/euclidean_cluster/label_based_euclidean_cluster.param.yaml]
  • launch/object_recognition/object_recognition_lidar_radar.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • use_low_height_cropbox [default: false]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/semantic_segmentation/pointcloud [default: /perception/segmented/pointcloud]
      • input/radar [default: /sensing/radar/detected_objects]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • voxel_grid_based_euclidean_param_path [default: $(var perception_config_dir)/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml]
      • radar_lanelet_filtering_range_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml]
      • object_recognition_detection_object_sorter_radar_param_path [default: $(var perception_config_dir)/object_recognition/detection/radar_filter/detected_object_sorter.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
      • euclidean_clustering/param_path [default: $(var perception_config_dir)/object_recognition/detection/euclidean_cluster/label_based_euclidean_cluster.param.yaml]
  • launch/object_recognition/prediction/prediction.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • use_vector_map [default: false]
      • prediction_model_type [default: map_based]
      • input/objects [default: /perception/object_recognition/tracking/objects]
      • output/objects [default: /perception/object_recognition/objects]
      • object_recognition_prediction_map_based_prediction_param_path [default: $(var perception_config_dir)/object_recognition/prediction/map_based_prediction.param.yaml]
  • launch/obstacle_segmentation/ground_segmentation_additional_lidars.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • target_container
      • lidar_name
      • base_frame [default: base_link]
      • use_intra_process [default: true]
      • input/main/pointcloud
      • input/lidar/pointcloud [default: /sensing/lidar/$(var lidar_name)/pointcloud]
      • output/pointcloud
      • output/pointcloud_info [default: $(var output/pointcloud)_info]
      • crop_box_margin_max_z [default: 2.5]
      • crop_box_margin_min_z [default: -2.5]
      • crop_box_filter_node_param_path [default: $(var perception_config_dir)/obstacle_segmentation/ground_segmentation/crop_box_filter.param.yaml]
      • scan_ground_filter_node_param_path [default: $(var perception_config_dir)/obstacle_segmentation/ground_segmentation/scan_ground_filter.param.yaml]
  • launch/obstacle_segmentation/ground_segmentation_ml.launch.xml
      • pointcloud_container_name [default: pointcloud_container]
      • use_pointcloud_container [default: true]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/pointcloud/segmentation [default: /perception/segmented/pointcloud]
      • output/pointcloud/visualization [default: /perception/segmented/pointcloud/visualization]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • model_variant [default: ptv3]
      • model_path [default: $(var data_path)/ptv3]
  • launch/obstacle_segmentation/ground_segmentation_ransac.launch.xml
      • target_container
      • base_frame [default: base_link]
      • use_intra_process [default: true]
      • input_topics
      • input/main/pointcloud
      • output/pointcloud
      • output/pointcloud_info [default: $(var output/pointcloud)_info]
      • detection_area_crop_box_filter_node_param_path
      • ransac_ground_filter_node_param_path [default: $(find-pkg-share autoware_ground_segmentation)/config/ransac_ground_filter.param.yaml]
  • launch/obstacle_segmentation/ground_segmentation_rule_based.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • target_container
      • base_frame [default: base_link]
      • use_intra_process [default: true]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • crop_box_margin_max_z [default: 2.5]
      • crop_box_margin_min_z [default: -2.5]
      • crop_box_filter_node_param_path [default: $(var perception_config_dir)/obstacle_segmentation/ground_segmentation/crop_box_filter.param.yaml]
      • scan_ground_filter_node_param_path [default: $(var perception_config_dir)/obstacle_segmentation/ground_segmentation/scan_ground_filter.param.yaml]
  • launch/obstacle_segmentation/ground_segmentation_rule_based_cuda.launch.xml
      • target_container
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/ground_pointcloud [default: /perception/obstacle_segmentation/ground_pointcloud]
      • cuda_scan_ground_segmentation_filter_node_param_path [default: $(find-pkg-share autoware_ground_segmentation_cuda)/config/cuda_scan_ground_segmentation_filter.param.yaml]
  • launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • input/obstacle_pointcloud [default: concatenated/pointcloud]
      • input/raw_pointcloud [default: no_ground/oneshot/pointcloud]
      • output [default: /perception/occupancy_grid_map/map]
      • use_intra_process [default: false]
      • use_multithread [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • occupancy_grid_map_method
      • occupancy_grid_map_param_path [default: $(var perception_config_dir)/occupancy_grid_map/$(var occupancy_grid_map_method).param.yaml]
      • occupancy_grid_map_updater
      • occupancy_grid_map_updater_param_path [default: $(var perception_config_dir)/occupancy_grid_map/$(var occupancy_grid_map_updater)_updater.param.yaml]
      • input_obstacle_pointcloud [default: false]
      • input_obstacle_and_raw_pointcloud [default: true]
      • use_pointcloud_container [default: true]
  • launch/traffic_light_recognition/traffic_light_detector_fine.launch.xml
    • Fine-detection chain for one traffic light camera: map based detector proposes rough ROIs, the fine detector refines them, classifiers label them.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespace
      • enable_image_decompressor [default: true]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • map_based_detector_param_path [default: $(find-pkg-share autoware_traffic_light_map_based_detector)/config/traffic_light_map_based_detector.param.yaml]
      • fine_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_fine_detector/traffic_light_fine_detector.param.yaml]
      • car_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/car_traffic_light_classifier.param.yaml]
      • pedestrian_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/pedestrian_traffic_light_classifier.param.yaml]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • roi_visualizer_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_visualization/traffic_light_roi_visualizer.param.yaml]
      • fine_detector_model_path [default: $(var data_path)/traffic_light_fine_detector/tlr_car_ped_yolox_s_batch_6.onnx]
      • fine_detector_label_path [default: $(var data_path)/traffic_light_fine_detector/tlr_labels.txt]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
  • launch/traffic_light_recognition/traffic_light_detector_rough.launch.xml
    • Rough-detection chain for one traffic light camera: map based detector ROIs feed the classifiers directly, without a high accuracy detector.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespace
      • enable_image_decompressor [default: true]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • map_based_detector_param_path [default: $(find-pkg-share autoware_traffic_light_map_based_detector)/config/traffic_light_map_based_detector.param.yaml]
      • car_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/car_traffic_light_classifier.param.yaml]
      • pedestrian_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/pedestrian_traffic_light_classifier.param.yaml]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • roi_visualizer_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_visualization/traffic_light_roi_visualizer.param.yaml]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
  • launch/traffic_light_recognition/traffic_light_detector_whole_image.launch.xml
    • Whole-image detection chain for one traffic light camera: yolox detects over the full image, the selector matches detections to map based ROIs, classifiers label them.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespace
      • enable_image_decompressor [default: true]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • map_based_detector_param_path [default: $(find-pkg-share autoware_traffic_light_map_based_detector)/config/traffic_light_map_based_detector.param.yaml]
      • whole_image_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/yolox_traffic_light_detector.param.yaml]
      • car_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/car_traffic_light_classifier.param.yaml]
      • pedestrian_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/pedestrian_traffic_light_classifier.param.yaml]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • roi_visualizer_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_visualization/traffic_light_roi_visualizer.param.yaml]
      • whole_image_detector_model_path [default: $(var data_path)/tensorrt_yolox/yolox_s_car_ped_tl_detector_960_960_batch_1.onnx]
      • whole_image_detector_label_path [default: $(var data_path)/tensorrt_yolox/car_ped_tl_detector_labels.txt]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
  • launch/traffic_light_recognition/traffic_light_fusion.launch.xml
    • Post-process shared by all traffic light cameras: multi camera fusion, V2X arbitration, pedestrian signal estimation and map visualization.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespaces [default: [camera6, camera7]]
      • input/vector_map [default: /map/vector_map]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • internal/traffic_signals [default: /perception/traffic_light_recognition/internal/traffic_signals]
      • judged/traffic_signals [default: /perception/traffic_light_recognition/judged/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • multi_camera_fusion_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_multi_camera_fusion/traffic_light_multi_camera_fusion.param.yaml]
      • arbiter_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_arbiter/traffic_light_arbiter.param.yaml]
      • crosswalk_estimator_param_path [default: $(var perception_config_dir)/traffic_light_recognition/crosswalk_traffic_light_estimator/crosswalk_traffic_light_estimator.param.yaml]
  • launch/traffic_light_recognition/traffic_light_occlusion_predictor.launch.xml
    • Occlusion check for one traffic light camera: merges the car and pedestrian signals into the per-camera output, masking signals hidden from the camera.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespace
      • input/cloud [default: /sensing/lidar/top/pointcloud_raw_ex]
      • input/vector_map [default: /map/vector_map]
      • occlusion_predictor_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_occlusion_predictor/traffic_light_occlusion_predictor.param.yaml]
  • launch/traffic_light_recognition/traffic_light_recognition_fine.launch.xml
    • Traffic light recognition, fine detection mode: per-camera fine detection with occlusion check, then shared fusion. Two cameras as the representative set; add or remove per-camera blocks to match the vehicle.
      • perception_config_pkg [default: autoware_perception_config]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • input/pointcloud [default: /sensing/lidar/top/pointcloud_raw_ex]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • fine_detector_model_path [default: $(var data_path)/traffic_light_fine_detector/tlr_car_ped_yolox_s_batch_6.onnx]
      • fine_detector_label_path [default: $(var data_path)/traffic_light_fine_detector/tlr_labels.txt]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
      • base_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/base_traffic_light_map_based_detector.param.yaml]
      • extra_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/extra_traffic_light_map_based_detector.param.yaml]
  • launch/traffic_light_recognition/traffic_light_recognition_merge.launch.xml
    • Traffic light recognition, merge mode: detection and classification run on other ECUs; this side runs the per-camera occlusion check and the shared fusion. Two cameras as the representative set; add or remove per-camera blocks to match the vehicle.
      • input/vector_map [default: /map/vector_map]
      • input/pointcloud [default: /sensing/lidar/top/pointcloud_raw_ex]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
  • launch/traffic_light_recognition/traffic_light_recognition_rough.launch.xml
    • Traffic light recognition, rough detection mode: per-camera map based detection with occlusion check, then shared fusion. One camera as the representative set; add or remove per-camera blocks to match the vehicle.
      • perception_config_pkg [default: autoware_perception_config]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • input/pointcloud [default: /sensing/lidar/top/pointcloud_raw_ex]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
      • base_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/base_traffic_light_map_based_detector.param.yaml]
  • launch/traffic_light_recognition/traffic_light_recognition_whole_image.launch.xml
    • Traffic light recognition, whole-image detection mode: per-camera yolox detection, then shared fusion. Two cameras as the representative set; add or remove per-camera blocks to match the vehicle.
      • perception_config_pkg [default: autoware_perception_config]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • whole_image_detector_model_path [default: $(var data_path)/tensorrt_yolox/yolox_s_car_ped_tl_detector_960_960_batch_1.onnx]
      • whole_image_detector_label_path [default: $(var data_path)/tensorrt_yolox/car_ped_tl_detector_labels.txt]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
      • base_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/base_traffic_light_map_based_detector.param.yaml]
      • extra_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/extra_traffic_light_map_based_detector.param.yaml]

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autoware_perception_launch package from autoware_launch repo

autoware_launch autoware_sample_designs autoware_control_config autoware_control_launch autoware_localization_config autoware_localization_launch autoware_map_config autoware_map_launch autoware_perception_config autoware_perception_launch autoware_planning_config autoware_planning_launch autoware_sensing_launch autoware_sensor_driver_launch awsim_labs_sensor_kit_description awsim_labs_sensor_kit_launch awsim_sensor_kit_description awsim_sensor_kit_launch carla_sensor_kit_description carla_sensor_kit_launch sample_sensor_kit_description sample_sensor_kit_launch single_lidar_sensor_kit_description single_lidar_sensor_kit_launch tier4_autoware_api_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch awsim_labs_vehicle_description awsim_labs_vehicle_launch sample_vehicle_description sample_vehicle_launch

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Package Summary

Version 0.52.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_launch.git
VCS Type git
VCS Version main
Last Updated 2026-10-09
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_perception_launch package

Maintainers

  • Yukihiro Saito
  • Dai Nguyen
  • Taekjin Lee
  • Yoshi Ri
  • Masato Saeki

Authors

No additional authors.
autoware_universe_launch/autoware_perception_launch/README.md

autoware_perception_launch

Shared perception launch library. The system component launchers live in the product layer (autoware_launch/launch/components/component_perception.launch.xml for the lidar pipeline and component_traffic_light.launch.xml for traffic light recognition); this package hosts the perception feature launchers they combine:

launch/
├── common/                        # shared preprocess feature launchers (pointcloud downsample)
├── object_recognition/
│   ├── object_recognition_<mode>.launch.xml  # detection + tracking + prediction per sensor mode
│   ├── detection/
│   │   ├── detector/              # detectors
│   │   ├── filter/                # filters
│   │   └── merger/                # detection-side serial merger (used by the camera_lidar_radar_serial launcher)
│   └── prediction/
├── obstacle_segmentation/
├── occupancy_grid_map/
└── traffic_light_recognition/
design/module/                     # Autoware System Designer modules; same subtree as launch/
├── object_recognition/
├── obstacle_segmentation/
├── occupancy_grid_map/
└── traffic_light_recognition/

Launch files

  • object_recognition/object_recognition_<mode>.launch.xml — one feature launcher per sensor mode (camera, lidar, lidar_ptv3, lidar_radar, camera_lidar_radar, camera_lidar_radar_serial); hosts the detection stage inline together with the tracker and prediction, and pushes their module namespaces. Camera and radar input topics default to their absolute sensing paths (/sensing/camera/cameraN/..., /sensing/radar/detected_objects), so callers override only what differs. Most modes wire the multi-channel tracker to the detector outputs; camera_lidar_radar_serial instead merges the detectors in the detection stage (optionally regenerating detections through detection-by-tracker), tracks the single merged detected_objects channel, and joins radar tracked objects at the decorative tracker merger. camera runs camera-only detectors (BEV and camera VRU).
  • The clustering backend is file selection, not a flag: lidar runs rule-based euclidean clustering off the obstacle segmentation cloud, while lidar_ptv3 and lidar_radar cluster the PTv3 semantic-segmentation cloud and drop the pointcloud map filter and the object validator that only the rule-based pipeline uses. Both feed their cluster objects to the tracker on the lidar_clustering channel.
  • object_recognition/detection/{detector,filter}/ — single-purpose launchers wired together by the object-recognition launchers. merger/camera_lidar_merger.launch.xml chains the detection-side object mergers for the camera_lidar_radar_serial launcher.
  • obstacle_segmentation/ground_segmentation_<backend>.launch.xml — ground removal backends (rule_based, rule_based_cuda, ml); backend selection is file selection. ground_segmentation_{additional_lidars,ransac}.launch.xml fold extra lidars into the obstacle stream for kits that carry them.
  • occupancy_grid_map/, common/, traffic_light_recognition/ — feature launchers included directly by the system components.

Namespace and container addressing

Callers own the namespaces: the system component pushes perception and object_recognition; object_recognition_<mode>.launch.xml pushes detection/tracking/prediction. The object-recognition launchers address their internal topics through the fixed /perception/object_recognition namespace. Composable nodes load into the shared pointcloud container, whose name is exposed as pointcloud_container_name and aliased to the node/pointcloud_container argument of the detector launchers.

Config

Parameter files are resolved from a config/ tree addressed through the perception_config_pkg argument, which defaults to autoware_perception_config. A product can relocate the whole tree by setting perception_config_pkg once at its entry point — the launch configuration propagates through every include — but it must then ship the same config/ layout. Products that differ in only a few files instead override the corresponding *_param_path arguments, which every feature launcher declares with a default:

<include file="$(find-pkg-share autoware_perception_launch)/launch/object_recognition/object_recognition_lidar.launch.xml">
  <arg name="perception_config_pkg" value="my_perception_config"/>
  <arg name="FOO_NODE_param_path" value="..."/>
</include>

component_perception.launch.xml, component_traffic_light.launch.xml and planning_simulator/perception_simulation.launch.xml each declare perception_config_pkg, so a product switches the tree at the component it launches.

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

Package Dependencies

Please see <exec_depend> in package.xml.

CHANGELOG

Changelog for package autoware_perception_launch

0.52.0 (2026-06-30)

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

  • fix(merger_topic): mis-aligning topic when using semantic_segmentation without multi_channel_tracker (#1895)

    • fix(merger_topic): mis-aligning topic when using semantic_segmentation without multi_channel_tracker

    * chore: rename for readablity ---------

  • fix(ptv3): model path (#1890)

  • chore: add maintainer (#1880)

  • fix(tier4_perception_launch): occupancy_grid_map input topic when ptv3 used (#1871)

    • fix(tier4_perception_launch): occupancy_grid_map input topic when ptv3 used

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • fix: remove unnecessary dependency (#1870)

  • feat: add semantic segmentation pipeline option (#1865)

    • fix: ground segmentation launch
    • fix: missing dependencies and param
    • fix: ptv3 topic
    • fix: euclidean pipeline
    • feat: add use_roi_detected_object_validator options
    • replace with label_based_euclidean
    • revert to bevfusion
    • fix: aligning with updated EC
    • fix: add alpha merger option
    • fix: missing toggle condition
    • disable irregular_object_detector
    • fix: camera_lidar_radar merger
    • update label_based_ec param
    • revert to v4.4.0 pipeline option
    • fix(merger launch): missing toggle condition
    • style(pre-commit): autofix
    • style(pre-commit): autofix
    • remove voxel_downsample and pc validation
    • RDDR-353 Enable irregular object detection (#2379)
    • update config for 2 new classes
    • typo
    • style(pre-commit): autofix
    • refactor
    • refactor
    • fix data_path
    • fix: adjust combination when ptv3 used
    • fix: remove fixed option when using ptv3
    • remove object filter

    * Update autoware_launch/config/perception/object_recognition/detection/euclidean_cluster/label_based_euclidean_cluster.param.yaml Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>

    * fix: add semseg pipeline option for lidar perception mode ---------Co-authored-by: ktro2828 <<60615504+ktro2828@users.noreply.github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>

  • feat(perception): update perception pipeline to remove shape estimation (#1846)

    • fix(perception): update input channels and ground segmentation parameters for improved tracking and detection
    • Changed associator type from 'bev' to 'polar' in multi-object tracker input channels for better performance.
    • Adjusted ground segmentation parameters: increased margin_max_z from 0.0 to 1.0 and detection_range_z_max from 2.5 to 3.5 to enhance ground detection capabilities.
    • feat(Tier4PlanningWrapper): add data_path parameter for enhanced configuration flexibility
    • Introduced a new parameter 'data_path' with a default value to improve the configuration options for the Tier4PlanningWrapper node.
    • This addition allows for better management of data paths within the planning framework.
    • refactor(perception): remove deprecated tracking modules and streamline object recognition configuration

File truncated at 100 lines see the full file

Package Dependencies

Deps Name
ament_cmake_auto
autoware_cmake
autoware_agnocast_wrapper
autoware_bevfusion
autoware_bytetrack
autoware_compare_map_segmentation
autoware_crosswalk_traffic_light_estimator
autoware_cuda_pointcloud_preprocessor
autoware_detected_object_feature_remover
autoware_detected_object_validation
autoware_detection_by_tracker
autoware_elevation_map_loader
autoware_euclidean_cluster
autoware_ground_segmentation
autoware_ground_segmentation_cuda
autoware_image_object_locator
autoware_image_projection_based_fusion
autoware_image_transport_decompressor
autoware_lidar_apollo_instance_segmentation
autoware_lidar_centerpoint
autoware_lidar_transfusion
autoware_map_based_prediction
autoware_multi_object_tracker
autoware_object_merger
autoware_object_sorter
autoware_occupancy_grid_map_outlier_filter
autoware_perception_config
autoware_pointcloud_preprocessor
autoware_probabilistic_occupancy_grid_map
autoware_ptv3
autoware_raindrop_cluster_filter
autoware_shape_estimation
autoware_simpl_prediction
autoware_simple_object_merger
autoware_tensorrt_bevdet
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
rclcpp_components
topic_tools
ament_lint_auto
autoware_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
autoware_launch
reaction_analyzer

Launch files

  • launch/common/pointcloud_downsample.launch.xml
      • pointcloud_container_name
      • cuda_pointcloud_preprocessing [default: false]
      • input/pointcloud
      • output/pointcloud
      • common_downsample_voxel_size_x [default: 0.05]
      • common_downsample_voxel_size_y [default: 0.05]
      • common_downsample_voxel_size_z [default: 0.05]
  • launch/object_recognition/detection/detector/camera_2d_detector.launch.xml
      • image_raw0 [default: /sensing/camera/camera0/image_raw]
      • image_raw1 [default: /sensing/camera/camera1/image_raw]
      • image_raw2 [default: /sensing/camera/camera2/image_raw]
      • image_raw3 [default: /sensing/camera/camera3/image_raw]
      • image_raw4 [default: /sensing/camera/camera4/image_raw]
      • image_raw5 [default: /sensing/camera/camera5/image_raw]
      • image_raw6 [default: /sensing/camera/camera6/image_raw]
      • image_raw7 [default: /sensing/camera/camera7/image_raw]
      • image_raw8 [default: /sensing/camera/camera8/image_raw]
      • image_raw9 [default: /sensing/camera/camera9/image_raw]
      • image_number [default: 1]
      • camera_index [default: 0]
      • use_bytetrack [default: true]
      • enable_visualizer [default: false]
      • camera_2d_detector/model_path
      • camera_2d_detector/label_path
      • camera_2d_detector/color_map_path
      • camera_2d_detector/roi_remap_path
      • camera_2d_detector/roi_to_semseg_remap_path
      • tensorrt_yolox_ns [default: ]
  • launch/object_recognition/detection/detector/camera_bev_detector.launch.xml
      • input/camera0/image
      • input/camera0/info
      • input/camera1/image
      • input/camera1/info
      • input/camera2/image
      • input/camera2/info
      • input/camera3/image
      • input/camera3/info
      • input/camera4/image
      • input/camera4/info
      • input/camera5/image
      • input/camera5/info
      • output/objects
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevdet_model_name [default: bevdet_one_lt_d]
      • bevdet_model_path [default: $(var data_path)/tensorrt_bevdet]
  • launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
      • ns
      • lidar_detection_model_type
      • lidar_detection_model_name
      • use_low_intensity_cluster_filter
      • use_image_segmentation_based_filter
      • number_of_cameras
      • input/camera0/image
      • input/camera0/info
      • input/camera0/rois
      • input/camera1/image
      • input/camera1/info
      • input/camera1/rois
      • input/camera2/image
      • input/camera2/info
      • input/camera2/rois
      • input/camera3/image
      • input/camera3/info
      • input/camera3/rois
      • input/camera4/image
      • input/camera4/info
      • input/camera4/rois
      • input/camera5/image
      • input/camera5/info
      • input/camera5/rois
      • input/camera6/image
      • input/camera6/info
      • input/camera6/rois
      • input/camera7/image
      • input/camera7/info
      • input/camera7/rois
      • input/camera8/image
      • input/camera8/info
      • input/camera8/rois
      • input/concatenation_info
      • segmentation_pointcloud_fusion_camera_ids
      • image_topic_name
      • sync_param_path
      • voxel_grid_based_euclidean_param_path
      • lidar_model_param_path
      • pointpainting_model_path [default: $(var data_path)/image_projection_based_fusion]
      • pointpainting_fusion_common_param_path
      • roi_cluster_fusion_param_path
      • node/pointcloud_container
      • input/pointcloud
      • input/pointcloud_map/pointcloud
      • input/obstacle_segmentation/pointcloud
      • output/ml_detector/objects
      • output/rule_detector/objects
      • camera_2d_detector/model_path
      • camera_2d_detector/label_path
      • camera_2d_detector/color_map_path
      • camera_2d_detector/roi_remap_path
      • camera_2d_detector/roi_to_semseg_remap_path
      • enable_2d_detection [default: false]
  • launch/object_recognition/detection/detector/camera_lidar_irregular_object_detector.launch.xml
      • pipeline_ns
      • node/pointcloud_container
      • output/objects [default: objects]
      • input/concatenation_info
      • input/pointcloud
      • irregular_object_crop_box_filter_node_param_path
      • irregular_object_scan_ground_filter_node_param_path
      • irregular_object_roi_pointcloud_fusion_node_param_path
      • irregular_object_fusion_camera_param_path
      • sync_param_path
  • launch/object_recognition/detection/detector/camera_vru_detector.launch.xml
      • input/camera0/info [default: /sensing/camera/camera0/camera_info]
      • input/camera0/rois [default: /perception/object_recognition/detection/rois0]
      • input/camera1/info [default: /sensing/camera/camera1/camera_info]
      • input/camera1/rois [default: /perception/object_recognition/detection/rois1]
      • input/camera2/info [default: /sensing/camera/camera2/camera_info]
      • input/camera2/rois [default: /perception/object_recognition/detection/rois2]
      • input/camera3/info [default: /sensing/camera/camera3/camera_info]
      • input/camera3/rois [default: /perception/object_recognition/detection/rois3]
      • input/camera4/info [default: /sensing/camera/camera4/camera_info]
      • input/camera4/rois [default: /perception/object_recognition/detection/rois4]
      • input/camera5/info [default: /sensing/camera/camera5/camera_info]
      • input/camera5/rois [default: /perception/object_recognition/detection/rois5]
      • input/camera6/info [default: /sensing/camera/camera6/camera_info]
      • input/camera6/rois [default: /perception/object_recognition/detection/rois6]
      • input/camera7/info [default: /sensing/camera/camera7/camera_info]
      • input/camera7/rois [default: /perception/object_recognition/detection/rois7]
      • output/objects [default: /perception/object_recognition/detection/camera_vru/objects]
      • bbox_object_locator_param_path
      • rois_ids [default: [0, 1]]
  • launch/object_recognition/detection/detector/irregular_object_detector.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • target_container
      • base_frame [default: base_link]
      • use_intra_process [default: true]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/concatenation_info [default: /sensing/lidar/concatenated/pointcloud_info]
      • output/clusters
      • crop_box_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/crop_box_filter.param.yaml]
      • scan_ground_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/scan_ground_filter.param.yaml]
      • roi_pointcloud_fusion_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/roi_pointcloud_fusion.param.yaml]
      • fusion_camera_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/fusion_cameras.param.yaml]
      • sync_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml]
  • launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
      • lidar_detection_model_type
      • lidar_detection_model_name
      • lidar_model_param_path
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • centerpoint_model_path [default: $(var data_path)/lidar_centerpoint]
      • centerpoint_common_param_path [default: $(find-pkg-share autoware_lidar_centerpoint)/config/centerpoint_common.param.yaml]
      • transfusion_model_path [default: $(var data_path)/lidar_transfusion]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type
      • node/pointcloud_container
      • input/pointcloud
      • output/objects
      • output/short_range_objects
  • launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
      • ns
      • node/pointcloud_container
      • input/pointcloud_map/pointcloud
      • input/obstacle_segmentation/pointcloud
      • output/cluster_objects
      • output/objects
      • voxel_grid_based_euclidean_param_path
      • use_low_height_cropbox [default: false]
  • launch/object_recognition/detection/detector/lidar_semantic_segmentation_detector.launch.xml
      • euclidean_clustering/param_path
      • input/pointcloud
      • output/objects
  • launch/object_recognition/detection/detector/tracker_based_detector.launch.xml
      • detection_by_tracker_param_path
      • input/clusters
      • input/tracked_objects
      • output/objects
  • launch/object_recognition/detection/filter/object_filter.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • objects_filter_method [default: lanelet_filter]
      • object_recognition_detection_object_lanelet_filter_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml]
      • object_recognition_detection_object_position_filter_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_filter/object_position_filter.param.yaml]
      • input/objects
      • output/objects
  • launch/object_recognition/detection/filter/object_validator.launch.xml
      • objects_validation_method
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path
      • input/obstacle_pointcloud
      • input/objects
      • output/objects
  • launch/object_recognition/detection/filter/pointcloud_downsample_filter.launch.xml
      • target_container
      • use_intra_process [default: true]
      • input/pointcloud
      • output/pointcloud
      • downsample_voxel_size [default: 0.1]
  • launch/object_recognition/detection/filter/pointcloud_map_filter.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • target_container
      • use_intra_process [default: true]
      • input/pointcloud
      • output/pointcloud
      • output/downsampled/pointcloud [default: /perception/obstacle_segmentation/pointcloud_map_filtered/downsampled/pointcloud]
      • downsample_voxel_size [default: 0.1]
      • voxel_based_compare_map_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/pointcloud_filter/voxel_based_compare_map_filter.param.yaml]
  • launch/object_recognition/detection/filter/radar_filter.launch.xml
      • object_sorter_param_path
      • radar_lanelet_filtering_range_param_path
      • input/radar
      • output/objects
  • launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • object_recognition_detection_object_merger_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/data_association_matrix.param.yaml]
      • object_recognition_detection_object_merger_distance_threshold_list_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/overlapped_judge.param.yaml]
      • ml_camera_lidar_object_association_merger_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/ml_camera_lidar_object_association_merger.param.yaml]
      • roi_detected_object_fusion_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/roi_detected_object_fusion.param.yaml]
      • sync_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml]
      • lidar_detection_model_type
      • use_detection_by_tracker
      • use_irregular_object_detector
      • use_roi_detected_object_validator
      • euclidean_clustering/shape_policy
      • use_object_filter
      • objects_filter_method
      • number_of_cameras
      • input/camera0/image
      • input/camera0/info
      • input/camera0/rois
      • input/camera1/image
      • input/camera1/info
      • input/camera1/rois
      • input/camera2/image
      • input/camera2/info
      • input/camera2/rois
      • input/camera3/image
      • input/camera3/info
      • input/camera3/rois
      • input/camera4/image
      • input/camera4/info
      • input/camera4/rois
      • input/camera5/image
      • input/camera5/info
      • input/camera5/rois
      • input/camera6/image
      • input/camera6/info
      • input/camera6/rois
      • input/camera7/image
      • input/camera7/info
      • input/camera7/rois
      • input/camera8/image
      • input/camera8/info
      • input/camera8/rois
      • input/concatenation_info [default: /sensing/lidar/concatenated/pointcloud_info]
      • input/lidar_ml/objects
      • input/lidar_cluster/objects
      • input/irregular_object/objects [default: ]
      • input/detection_by_tracker/objects
      • output/objects [default: objects]
      • alpha_merger_priority_mode [default: 0]
  • launch/object_recognition/object_recognition_camera.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • use_camera_vru_detector [default: false]
      • camera_vru_detector_rois_ids [default: [0]]
      • use_camera_bev_detector [default: true]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • input/camera0/image [default: /sensing/camera/camera0/image_rect_color]
      • input/camera0/info [default: /sensing/camera/camera0/camera_info]
      • input/camera0/rois [default: /perception/object_recognition/detection/rois0]
      • input/camera1/image [default: /sensing/camera/camera1/image_rect_color]
      • input/camera1/info [default: /sensing/camera/camera1/camera_info]
      • input/camera1/rois [default: /perception/object_recognition/detection/rois1]
      • input/camera2/image [default: /sensing/camera/camera2/image_rect_color]
      • input/camera2/info [default: /sensing/camera/camera2/camera_info]
      • input/camera2/rois [default: /perception/object_recognition/detection/rois2]
      • input/camera3/image [default: /sensing/camera/camera3/image_rect_color]
      • input/camera3/info [default: /sensing/camera/camera3/camera_info]
      • input/camera3/rois [default: /perception/object_recognition/detection/rois3]
      • input/camera4/image [default: /sensing/camera/camera4/image_rect_color]
      • input/camera4/info [default: /sensing/camera/camera4/camera_info]
      • input/camera4/rois [default: /perception/object_recognition/detection/rois4]
      • input/camera5/image [default: /sensing/camera/camera5/image_rect_color]
      • input/camera5/info [default: /sensing/camera/camera5/camera_info]
      • input/camera5/rois [default: /perception/object_recognition/detection/rois5]
      • input/camera6/image [default: /sensing/camera/camera6/image_rect_color]
      • input/camera6/info [default: /sensing/camera/camera6/camera_info]
      • input/camera6/rois [default: /perception/object_recognition/detection/rois6]
      • input/camera7/image [default: /sensing/camera/camera7/image_rect_color]
      • input/camera7/info [default: /sensing/camera/camera7/camera_info]
      • input/camera7/rois [default: /perception/object_recognition/detection/rois7]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • near_range_camera_vru_param_path [default: $(var perception_config_dir)/object_recognition/detection/camera_vru_detection/near_range_camera_vru_detector.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
  • launch/object_recognition/object_recognition_camera_lidar_radar.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • pointpainting_model_path [default: $(var data_path)/image_projection_based_fusion]
      • camera_2d_detector/model_path [default: $(var data_path)/tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx]
      • camera_2d_detector/label_path [default: $(var data_path)/tensorrt_yolox/label.txt]
      • camera_2d_detector/color_map_path [default: $(var data_path)/tensorrt_yolox/semseg_color_map.csv]
      • camera_2d_detector/roi_remap_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/roi_label_remap.csv]
      • camera_2d_detector/roi_to_semseg_remap_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/roi_to_semseg_label_remap.csv]
      • use_semantic_segmentation_ptv3 [default: false]
      • use_object_filter [default: true]
      • use_pointcloud_map [default: true]
      • use_validator [default: false]
      • objects_validation_method [default: obstacle_pointcloud]
      • use_low_height_cropbox [default: false]
      • use_low_intensity_cluster_filter [default: true]
      • use_image_segmentation_based_filter [default: false]
      • use_irregular_object_detector [default: true]
      • use_camera_vru_detector [default: false]
      • camera_vru_detector_rois_ids [default: [0]]
      • use_camera_only_detection [default: false]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • number_of_cameras [default: 6]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/semantic_segmentation/pointcloud [default: /perception/segmented/pointcloud]
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • input/camera0/image [default: /sensing/camera/camera0/image_rect_color]
      • input/camera0/info [default: /sensing/camera/camera0/camera_info]
      • input/camera0/rois [default: /perception/object_recognition/detection/rois0]
      • input/camera1/image [default: /sensing/camera/camera1/image_rect_color]
      • input/camera1/info [default: /sensing/camera/camera1/camera_info]
      • input/camera1/rois [default: /perception/object_recognition/detection/rois1]
      • input/camera2/image [default: /sensing/camera/camera2/image_rect_color]
      • input/camera2/info [default: /sensing/camera/camera2/camera_info]
      • input/camera2/rois [default: /perception/object_recognition/detection/rois2]
      • input/camera3/image [default: /sensing/camera/camera3/image_rect_color]
      • input/camera3/info [default: /sensing/camera/camera3/camera_info]
      • input/camera3/rois [default: /perception/object_recognition/detection/rois3]
      • input/camera4/image [default: /sensing/camera/camera4/image_rect_color]
      • input/camera4/info [default: /sensing/camera/camera4/camera_info]
      • input/camera4/rois [default: /perception/object_recognition/detection/rois4]
      • input/camera5/image [default: /sensing/camera/camera5/image_rect_color]
      • input/camera5/info [default: /sensing/camera/camera5/camera_info]
      • input/camera5/rois [default: /perception/object_recognition/detection/rois5]
      • input/camera6/image [default: /sensing/camera/camera6/image_rect_color]
      • input/camera6/info [default: /sensing/camera/camera6/camera_info]
      • input/camera6/rois [default: /perception/object_recognition/detection/rois6]
      • input/camera7/image [default: /sensing/camera/camera7/image_rect_color]
      • input/camera7/info [default: /sensing/camera/camera7/camera_info]
      • input/camera7/rois [default: /perception/object_recognition/detection/rois7]
      • input/camera8/image [default: /sensing/camera/camera8/image_rect_color]
      • input/camera8/info [default: /sensing/camera/camera8/camera_info]
      • input/camera8/rois [default: /perception/object_recognition/detection/rois8]
      • input/concatenation_info [default: /sensing/lidar/concatenated/pointcloud_info]
      • input/radar [default: /sensing/radar/detected_objects]
      • input/camera_only/objects [default: /perception/object_recognition/detection/camera_only/objects]
      • input/camera_only/channel [default: camera_streampetr]
      • image_topic_name [default: image_rect_color]
      • segmentation_pointcloud_fusion_camera_ids [default: [0,2,4]]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • sync_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml]
      • roi_cluster_fusion_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml]
      • pointpainting_fusion_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/pointpainting_common.param.yaml]
      • irregular_object_crop_box_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/crop_box_filter.param.yaml]
      • irregular_object_scan_ground_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/scan_ground_filter.param.yaml]
      • irregular_object_roi_pointcloud_fusion_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/roi_pointcloud_fusion.param.yaml]
      • irregular_object_fusion_camera_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/fusion_cameras.param.yaml]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • voxel_grid_based_euclidean_param_path [default: $(var perception_config_dir)/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml]
      • radar_lanelet_filtering_range_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml]
      • object_recognition_detection_object_sorter_radar_param_path [default: $(var perception_config_dir)/object_recognition/detection/radar_filter/detected_object_sorter.param.yaml]
      • near_range_camera_vru_param_path [default: $(var perception_config_dir)/object_recognition/detection/camera_vru_detection/near_range_camera_vru_detector.param.yaml]
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path [default: $(var perception_config_dir)/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
      • euclidean_clustering/param_path [default: $(var perception_config_dir)/object_recognition/detection/euclidean_cluster/label_based_euclidean_cluster.param.yaml]
  • launch/object_recognition/object_recognition_camera_lidar_radar_serial.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • pointpainting_model_path [default: $(var data_path)/image_projection_based_fusion]
      • camera_2d_detector/model_path [default: $(var data_path)/tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx]
      • camera_2d_detector/label_path [default: $(var data_path)/tensorrt_yolox/label.txt]
      • camera_2d_detector/color_map_path [default: $(var data_path)/tensorrt_yolox/semseg_color_map.csv]
      • camera_2d_detector/roi_remap_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/roi_label_remap.csv]
      • camera_2d_detector/roi_to_semseg_remap_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/roi_to_semseg_label_remap.csv]
      • use_object_filter [default: true]
      • objects_filter_method [default: lanelet_filter]
      • use_pointcloud_map [default: true]
      • use_validator [default: false]
      • objects_validation_method [default: obstacle_pointcloud]
      • use_roi_detected_object_validator [default: true]
      • use_detection_by_tracker [default: true]
      • use_low_height_cropbox [default: false]
      • use_low_intensity_cluster_filter [default: true]
      • use_image_segmentation_based_filter [default: false]
      • use_irregular_object_detector [default: true]
      • ml_camera_lidar_merger_priority_mode [default: 0]
      • use_vector_map [default: true]
      • number_of_cameras [default: 6]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • input/camera0/image [default: /sensing/camera/camera0/image_rect_color]
      • input/camera0/info [default: /sensing/camera/camera0/camera_info]
      • input/camera0/rois [default: /perception/object_recognition/detection/rois0]
      • input/camera1/image [default: /sensing/camera/camera1/image_rect_color]
      • input/camera1/info [default: /sensing/camera/camera1/camera_info]
      • input/camera1/rois [default: /perception/object_recognition/detection/rois1]
      • input/camera2/image [default: /sensing/camera/camera2/image_rect_color]
      • input/camera2/info [default: /sensing/camera/camera2/camera_info]
      • input/camera2/rois [default: /perception/object_recognition/detection/rois2]
      • input/camera3/image [default: /sensing/camera/camera3/image_rect_color]
      • input/camera3/info [default: /sensing/camera/camera3/camera_info]
      • input/camera3/rois [default: /perception/object_recognition/detection/rois3]
      • input/camera4/image [default: /sensing/camera/camera4/image_rect_color]
      • input/camera4/info [default: /sensing/camera/camera4/camera_info]
      • input/camera4/rois [default: /perception/object_recognition/detection/rois4]
      • input/camera5/image [default: /sensing/camera/camera5/image_rect_color]
      • input/camera5/info [default: /sensing/camera/camera5/camera_info]
      • input/camera5/rois [default: /perception/object_recognition/detection/rois5]
      • input/camera6/image [default: /sensing/camera/camera6/image_rect_color]
      • input/camera6/info [default: /sensing/camera/camera6/camera_info]
      • input/camera6/rois [default: /perception/object_recognition/detection/rois6]
      • input/camera7/image [default: /sensing/camera/camera7/image_rect_color]
      • input/camera7/info [default: /sensing/camera/camera7/camera_info]
      • input/camera7/rois [default: /perception/object_recognition/detection/rois7]
      • input/camera8/image [default: /sensing/camera/camera8/image_rect_color]
      • input/camera8/info [default: /sensing/camera/camera8/camera_info]
      • input/camera8/rois [default: /perception/object_recognition/detection/rois8]
      • input/concatenation_info [default: /sensing/lidar/concatenated/pointcloud_info]
      • input/radar/tracked_objects [default: /sensing/radar/tracked_objects]
      • image_topic_name [default: image_rect_color]
      • segmentation_pointcloud_fusion_camera_ids [default: [0,2,4]]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • sync_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml]
      • roi_cluster_fusion_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml]
      • pointpainting_fusion_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/pointpainting_common.param.yaml]
      • irregular_object_crop_box_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/crop_box_filter.param.yaml]
      • irregular_object_scan_ground_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/scan_ground_filter.param.yaml]
      • irregular_object_roi_pointcloud_fusion_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/roi_pointcloud_fusion.param.yaml]
      • irregular_object_fusion_camera_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/fusion_cameras.param.yaml]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • voxel_grid_based_euclidean_param_path [default: $(var perception_config_dir)/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml]
      • detection_by_tracker_param_path [default: $(var perception_config_dir)/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml]
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path [default: $(var perception_config_dir)/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml]
      • object_recognition_detection_object_merger_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/data_association_matrix.param.yaml]
      • object_recognition_detection_object_merger_distance_threshold_list_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/overlapped_judge.param.yaml]
      • ml_camera_lidar_object_association_merger_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/ml_camera_lidar_object_association_merger.param.yaml]
      • roi_detected_object_fusion_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/roi_detected_object_fusion.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
      • object_recognition_tracking_radar_tracked_object_sorter_param_path [default: $(var perception_config_dir)/object_recognition/tracking/radar_object_tracker/tracked_object_sorter.param.yaml]
      • object_recognition_tracking_radar_tracked_object_lanelet_filter_param_path [default: $(var perception_config_dir)/object_recognition/tracking/radar_object_tracker/tracked_object_lanelet_filter.param.yaml]
      • object_recognition_tracking_object_merger_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/tracking_object_merger/data_association_matrix.param.yaml]
      • object_recognition_tracking_object_merger_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml]
      • euclidean_clustering/shape_policy [default: 0]
  • launch/object_recognition/object_recognition_lidar.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • use_pointcloud_map [default: true]
      • use_validator [default: false]
      • objects_validation_method [default: obstacle_pointcloud]
      • use_object_filter [default: true]
      • objects_filter_method [default: lanelet_filter]
      • use_low_height_cropbox [default: false]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • voxel_grid_based_euclidean_param_path [default: $(var perception_config_dir)/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml]
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path [default: $(var perception_config_dir)/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
  • launch/object_recognition/object_recognition_lidar_ptv3.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/semantic_segmentation/pointcloud [default: /perception/segmented/pointcloud]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
      • euclidean_clustering/param_path [default: $(var perception_config_dir)/object_recognition/detection/euclidean_cluster/label_based_euclidean_cluster.param.yaml]
  • launch/object_recognition/object_recognition_lidar_radar.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • use_low_height_cropbox [default: false]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/semantic_segmentation/pointcloud [default: /perception/segmented/pointcloud]
      • input/radar [default: /sensing/radar/detected_objects]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • voxel_grid_based_euclidean_param_path [default: $(var perception_config_dir)/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml]
      • radar_lanelet_filtering_range_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml]
      • object_recognition_detection_object_sorter_radar_param_path [default: $(var perception_config_dir)/object_recognition/detection/radar_filter/detected_object_sorter.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
      • euclidean_clustering/param_path [default: $(var perception_config_dir)/object_recognition/detection/euclidean_cluster/label_based_euclidean_cluster.param.yaml]
  • launch/object_recognition/prediction/prediction.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • use_vector_map [default: false]
      • prediction_model_type [default: map_based]
      • input/objects [default: /perception/object_recognition/tracking/objects]
      • output/objects [default: /perception/object_recognition/objects]
      • object_recognition_prediction_map_based_prediction_param_path [default: $(var perception_config_dir)/object_recognition/prediction/map_based_prediction.param.yaml]
  • launch/obstacle_segmentation/ground_segmentation_additional_lidars.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • target_container
      • lidar_name
      • base_frame [default: base_link]
      • use_intra_process [default: true]
      • input/main/pointcloud
      • input/lidar/pointcloud [default: /sensing/lidar/$(var lidar_name)/pointcloud]
      • output/pointcloud
      • output/pointcloud_info [default: $(var output/pointcloud)_info]
      • crop_box_margin_max_z [default: 2.5]
      • crop_box_margin_min_z [default: -2.5]
      • crop_box_filter_node_param_path [default: $(var perception_config_dir)/obstacle_segmentation/ground_segmentation/crop_box_filter.param.yaml]
      • scan_ground_filter_node_param_path [default: $(var perception_config_dir)/obstacle_segmentation/ground_segmentation/scan_ground_filter.param.yaml]
  • launch/obstacle_segmentation/ground_segmentation_ml.launch.xml
      • pointcloud_container_name [default: pointcloud_container]
      • use_pointcloud_container [default: true]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/pointcloud/segmentation [default: /perception/segmented/pointcloud]
      • output/pointcloud/visualization [default: /perception/segmented/pointcloud/visualization]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • model_variant [default: ptv3]
      • model_path [default: $(var data_path)/ptv3]
  • launch/obstacle_segmentation/ground_segmentation_ransac.launch.xml
      • target_container
      • base_frame [default: base_link]
      • use_intra_process [default: true]
      • input_topics
      • input/main/pointcloud
      • output/pointcloud
      • output/pointcloud_info [default: $(var output/pointcloud)_info]
      • detection_area_crop_box_filter_node_param_path
      • ransac_ground_filter_node_param_path [default: $(find-pkg-share autoware_ground_segmentation)/config/ransac_ground_filter.param.yaml]
  • launch/obstacle_segmentation/ground_segmentation_rule_based.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • target_container
      • base_frame [default: base_link]
      • use_intra_process [default: true]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • crop_box_margin_max_z [default: 2.5]
      • crop_box_margin_min_z [default: -2.5]
      • crop_box_filter_node_param_path [default: $(var perception_config_dir)/obstacle_segmentation/ground_segmentation/crop_box_filter.param.yaml]
      • scan_ground_filter_node_param_path [default: $(var perception_config_dir)/obstacle_segmentation/ground_segmentation/scan_ground_filter.param.yaml]
  • launch/obstacle_segmentation/ground_segmentation_rule_based_cuda.launch.xml
      • target_container
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/ground_pointcloud [default: /perception/obstacle_segmentation/ground_pointcloud]
      • cuda_scan_ground_segmentation_filter_node_param_path [default: $(find-pkg-share autoware_ground_segmentation_cuda)/config/cuda_scan_ground_segmentation_filter.param.yaml]
  • launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • input/obstacle_pointcloud [default: concatenated/pointcloud]
      • input/raw_pointcloud [default: no_ground/oneshot/pointcloud]
      • output [default: /perception/occupancy_grid_map/map]
      • use_intra_process [default: false]
      • use_multithread [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • occupancy_grid_map_method
      • occupancy_grid_map_param_path [default: $(var perception_config_dir)/occupancy_grid_map/$(var occupancy_grid_map_method).param.yaml]
      • occupancy_grid_map_updater
      • occupancy_grid_map_updater_param_path [default: $(var perception_config_dir)/occupancy_grid_map/$(var occupancy_grid_map_updater)_updater.param.yaml]
      • input_obstacle_pointcloud [default: false]
      • input_obstacle_and_raw_pointcloud [default: true]
      • use_pointcloud_container [default: true]
  • launch/traffic_light_recognition/traffic_light_detector_fine.launch.xml
    • Fine-detection chain for one traffic light camera: map based detector proposes rough ROIs, the fine detector refines them, classifiers label them.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespace
      • enable_image_decompressor [default: true]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • map_based_detector_param_path [default: $(find-pkg-share autoware_traffic_light_map_based_detector)/config/traffic_light_map_based_detector.param.yaml]
      • fine_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_fine_detector/traffic_light_fine_detector.param.yaml]
      • car_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/car_traffic_light_classifier.param.yaml]
      • pedestrian_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/pedestrian_traffic_light_classifier.param.yaml]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • roi_visualizer_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_visualization/traffic_light_roi_visualizer.param.yaml]
      • fine_detector_model_path [default: $(var data_path)/traffic_light_fine_detector/tlr_car_ped_yolox_s_batch_6.onnx]
      • fine_detector_label_path [default: $(var data_path)/traffic_light_fine_detector/tlr_labels.txt]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
  • launch/traffic_light_recognition/traffic_light_detector_rough.launch.xml
    • Rough-detection chain for one traffic light camera: map based detector ROIs feed the classifiers directly, without a high accuracy detector.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespace
      • enable_image_decompressor [default: true]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • map_based_detector_param_path [default: $(find-pkg-share autoware_traffic_light_map_based_detector)/config/traffic_light_map_based_detector.param.yaml]
      • car_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/car_traffic_light_classifier.param.yaml]
      • pedestrian_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/pedestrian_traffic_light_classifier.param.yaml]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • roi_visualizer_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_visualization/traffic_light_roi_visualizer.param.yaml]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
  • launch/traffic_light_recognition/traffic_light_detector_whole_image.launch.xml
    • Whole-image detection chain for one traffic light camera: yolox detects over the full image, the selector matches detections to map based ROIs, classifiers label them.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespace
      • enable_image_decompressor [default: true]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • map_based_detector_param_path [default: $(find-pkg-share autoware_traffic_light_map_based_detector)/config/traffic_light_map_based_detector.param.yaml]
      • whole_image_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/yolox_traffic_light_detector.param.yaml]
      • car_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/car_traffic_light_classifier.param.yaml]
      • pedestrian_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/pedestrian_traffic_light_classifier.param.yaml]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • roi_visualizer_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_visualization/traffic_light_roi_visualizer.param.yaml]
      • whole_image_detector_model_path [default: $(var data_path)/tensorrt_yolox/yolox_s_car_ped_tl_detector_960_960_batch_1.onnx]
      • whole_image_detector_label_path [default: $(var data_path)/tensorrt_yolox/car_ped_tl_detector_labels.txt]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
  • launch/traffic_light_recognition/traffic_light_fusion.launch.xml
    • Post-process shared by all traffic light cameras: multi camera fusion, V2X arbitration, pedestrian signal estimation and map visualization.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespaces [default: [camera6, camera7]]
      • input/vector_map [default: /map/vector_map]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • internal/traffic_signals [default: /perception/traffic_light_recognition/internal/traffic_signals]
      • judged/traffic_signals [default: /perception/traffic_light_recognition/judged/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • multi_camera_fusion_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_multi_camera_fusion/traffic_light_multi_camera_fusion.param.yaml]
      • arbiter_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_arbiter/traffic_light_arbiter.param.yaml]
      • crosswalk_estimator_param_path [default: $(var perception_config_dir)/traffic_light_recognition/crosswalk_traffic_light_estimator/crosswalk_traffic_light_estimator.param.yaml]
  • launch/traffic_light_recognition/traffic_light_occlusion_predictor.launch.xml
    • Occlusion check for one traffic light camera: merges the car and pedestrian signals into the per-camera output, masking signals hidden from the camera.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespace
      • input/cloud [default: /sensing/lidar/top/pointcloud_raw_ex]
      • input/vector_map [default: /map/vector_map]
      • occlusion_predictor_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_occlusion_predictor/traffic_light_occlusion_predictor.param.yaml]
  • launch/traffic_light_recognition/traffic_light_recognition_fine.launch.xml
    • Traffic light recognition, fine detection mode: per-camera fine detection with occlusion check, then shared fusion. Two cameras as the representative set; add or remove per-camera blocks to match the vehicle.
      • perception_config_pkg [default: autoware_perception_config]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • input/pointcloud [default: /sensing/lidar/top/pointcloud_raw_ex]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • fine_detector_model_path [default: $(var data_path)/traffic_light_fine_detector/tlr_car_ped_yolox_s_batch_6.onnx]
      • fine_detector_label_path [default: $(var data_path)/traffic_light_fine_detector/tlr_labels.txt]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
      • base_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/base_traffic_light_map_based_detector.param.yaml]
      • extra_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/extra_traffic_light_map_based_detector.param.yaml]
  • launch/traffic_light_recognition/traffic_light_recognition_merge.launch.xml
    • Traffic light recognition, merge mode: detection and classification run on other ECUs; this side runs the per-camera occlusion check and the shared fusion. Two cameras as the representative set; add or remove per-camera blocks to match the vehicle.
      • input/vector_map [default: /map/vector_map]
      • input/pointcloud [default: /sensing/lidar/top/pointcloud_raw_ex]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
  • launch/traffic_light_recognition/traffic_light_recognition_rough.launch.xml
    • Traffic light recognition, rough detection mode: per-camera map based detection with occlusion check, then shared fusion. One camera as the representative set; add or remove per-camera blocks to match the vehicle.
      • perception_config_pkg [default: autoware_perception_config]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • input/pointcloud [default: /sensing/lidar/top/pointcloud_raw_ex]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
      • base_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/base_traffic_light_map_based_detector.param.yaml]
  • launch/traffic_light_recognition/traffic_light_recognition_whole_image.launch.xml
    • Traffic light recognition, whole-image detection mode: per-camera yolox detection, then shared fusion. Two cameras as the representative set; add or remove per-camera blocks to match the vehicle.
      • perception_config_pkg [default: autoware_perception_config]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • whole_image_detector_model_path [default: $(var data_path)/tensorrt_yolox/yolox_s_car_ped_tl_detector_960_960_batch_1.onnx]
      • whole_image_detector_label_path [default: $(var data_path)/tensorrt_yolox/car_ped_tl_detector_labels.txt]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
      • base_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/base_traffic_light_map_based_detector.param.yaml]
      • extra_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/extra_traffic_light_map_based_detector.param.yaml]

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autoware_perception_launch package from autoware_launch repo

autoware_launch autoware_sample_designs autoware_control_config autoware_control_launch autoware_localization_config autoware_localization_launch autoware_map_config autoware_map_launch autoware_perception_config autoware_perception_launch autoware_planning_config autoware_planning_launch autoware_sensing_launch autoware_sensor_driver_launch awsim_labs_sensor_kit_description awsim_labs_sensor_kit_launch awsim_sensor_kit_description awsim_sensor_kit_launch carla_sensor_kit_description carla_sensor_kit_launch sample_sensor_kit_description sample_sensor_kit_launch single_lidar_sensor_kit_description single_lidar_sensor_kit_launch tier4_autoware_api_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch awsim_labs_vehicle_description awsim_labs_vehicle_launch sample_vehicle_description sample_vehicle_launch

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Package Summary

Version 0.52.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_launch.git
VCS Type git
VCS Version main
Last Updated 2026-10-09
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_perception_launch package

Maintainers

  • Yukihiro Saito
  • Dai Nguyen
  • Taekjin Lee
  • Yoshi Ri
  • Masato Saeki

Authors

No additional authors.
autoware_universe_launch/autoware_perception_launch/README.md

autoware_perception_launch

Shared perception launch library. The system component launchers live in the product layer (autoware_launch/launch/components/component_perception.launch.xml for the lidar pipeline and component_traffic_light.launch.xml for traffic light recognition); this package hosts the perception feature launchers they combine:

launch/
├── common/                        # shared preprocess feature launchers (pointcloud downsample)
├── object_recognition/
│   ├── object_recognition_<mode>.launch.xml  # detection + tracking + prediction per sensor mode
│   ├── detection/
│   │   ├── detector/              # detectors
│   │   ├── filter/                # filters
│   │   └── merger/                # detection-side serial merger (used by the camera_lidar_radar_serial launcher)
│   └── prediction/
├── obstacle_segmentation/
├── occupancy_grid_map/
└── traffic_light_recognition/
design/module/                     # Autoware System Designer modules; same subtree as launch/
├── object_recognition/
├── obstacle_segmentation/
├── occupancy_grid_map/
└── traffic_light_recognition/

Launch files

  • object_recognition/object_recognition_<mode>.launch.xml — one feature launcher per sensor mode (camera, lidar, lidar_ptv3, lidar_radar, camera_lidar_radar, camera_lidar_radar_serial); hosts the detection stage inline together with the tracker and prediction, and pushes their module namespaces. Camera and radar input topics default to their absolute sensing paths (/sensing/camera/cameraN/..., /sensing/radar/detected_objects), so callers override only what differs. Most modes wire the multi-channel tracker to the detector outputs; camera_lidar_radar_serial instead merges the detectors in the detection stage (optionally regenerating detections through detection-by-tracker), tracks the single merged detected_objects channel, and joins radar tracked objects at the decorative tracker merger. camera runs camera-only detectors (BEV and camera VRU).
  • The clustering backend is file selection, not a flag: lidar runs rule-based euclidean clustering off the obstacle segmentation cloud, while lidar_ptv3 and lidar_radar cluster the PTv3 semantic-segmentation cloud and drop the pointcloud map filter and the object validator that only the rule-based pipeline uses. Both feed their cluster objects to the tracker on the lidar_clustering channel.
  • object_recognition/detection/{detector,filter}/ — single-purpose launchers wired together by the object-recognition launchers. merger/camera_lidar_merger.launch.xml chains the detection-side object mergers for the camera_lidar_radar_serial launcher.
  • obstacle_segmentation/ground_segmentation_<backend>.launch.xml — ground removal backends (rule_based, rule_based_cuda, ml); backend selection is file selection. ground_segmentation_{additional_lidars,ransac}.launch.xml fold extra lidars into the obstacle stream for kits that carry them.
  • occupancy_grid_map/, common/, traffic_light_recognition/ — feature launchers included directly by the system components.

Namespace and container addressing

Callers own the namespaces: the system component pushes perception and object_recognition; object_recognition_<mode>.launch.xml pushes detection/tracking/prediction. The object-recognition launchers address their internal topics through the fixed /perception/object_recognition namespace. Composable nodes load into the shared pointcloud container, whose name is exposed as pointcloud_container_name and aliased to the node/pointcloud_container argument of the detector launchers.

Config

Parameter files are resolved from a config/ tree addressed through the perception_config_pkg argument, which defaults to autoware_perception_config. A product can relocate the whole tree by setting perception_config_pkg once at its entry point — the launch configuration propagates through every include — but it must then ship the same config/ layout. Products that differ in only a few files instead override the corresponding *_param_path arguments, which every feature launcher declares with a default:

<include file="$(find-pkg-share autoware_perception_launch)/launch/object_recognition/object_recognition_lidar.launch.xml">
  <arg name="perception_config_pkg" value="my_perception_config"/>
  <arg name="FOO_NODE_param_path" value="..."/>
</include>

component_perception.launch.xml, component_traffic_light.launch.xml and planning_simulator/perception_simulation.launch.xml each declare perception_config_pkg, so a product switches the tree at the component it launches.

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

Package Dependencies

Please see <exec_depend> in package.xml.

CHANGELOG

Changelog for package autoware_perception_launch

0.52.0 (2026-06-30)

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

  • fix(merger_topic): mis-aligning topic when using semantic_segmentation without multi_channel_tracker (#1895)

    • fix(merger_topic): mis-aligning topic when using semantic_segmentation without multi_channel_tracker

    * chore: rename for readablity ---------

  • fix(ptv3): model path (#1890)

  • chore: add maintainer (#1880)

  • fix(tier4_perception_launch): occupancy_grid_map input topic when ptv3 used (#1871)

    • fix(tier4_perception_launch): occupancy_grid_map input topic when ptv3 used

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • fix: remove unnecessary dependency (#1870)

  • feat: add semantic segmentation pipeline option (#1865)

    • fix: ground segmentation launch
    • fix: missing dependencies and param
    • fix: ptv3 topic
    • fix: euclidean pipeline
    • feat: add use_roi_detected_object_validator options
    • replace with label_based_euclidean
    • revert to bevfusion
    • fix: aligning with updated EC
    • fix: add alpha merger option
    • fix: missing toggle condition
    • disable irregular_object_detector
    • fix: camera_lidar_radar merger
    • update label_based_ec param
    • revert to v4.4.0 pipeline option
    • fix(merger launch): missing toggle condition
    • style(pre-commit): autofix
    • style(pre-commit): autofix
    • remove voxel_downsample and pc validation
    • RDDR-353 Enable irregular object detection (#2379)
    • update config for 2 new classes
    • typo
    • style(pre-commit): autofix
    • refactor
    • refactor
    • fix data_path
    • fix: adjust combination when ptv3 used
    • fix: remove fixed option when using ptv3
    • remove object filter

    * Update autoware_launch/config/perception/object_recognition/detection/euclidean_cluster/label_based_euclidean_cluster.param.yaml Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>

    * fix: add semseg pipeline option for lidar perception mode ---------Co-authored-by: ktro2828 <<60615504+ktro2828@users.noreply.github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>

  • feat(perception): update perception pipeline to remove shape estimation (#1846)

    • fix(perception): update input channels and ground segmentation parameters for improved tracking and detection
    • Changed associator type from 'bev' to 'polar' in multi-object tracker input channels for better performance.
    • Adjusted ground segmentation parameters: increased margin_max_z from 0.0 to 1.0 and detection_range_z_max from 2.5 to 3.5 to enhance ground detection capabilities.
    • feat(Tier4PlanningWrapper): add data_path parameter for enhanced configuration flexibility
    • Introduced a new parameter 'data_path' with a default value to improve the configuration options for the Tier4PlanningWrapper node.
    • This addition allows for better management of data paths within the planning framework.
    • refactor(perception): remove deprecated tracking modules and streamline object recognition configuration

File truncated at 100 lines see the full file

Package Dependencies

Deps Name
ament_cmake_auto
autoware_cmake
autoware_agnocast_wrapper
autoware_bevfusion
autoware_bytetrack
autoware_compare_map_segmentation
autoware_crosswalk_traffic_light_estimator
autoware_cuda_pointcloud_preprocessor
autoware_detected_object_feature_remover
autoware_detected_object_validation
autoware_detection_by_tracker
autoware_elevation_map_loader
autoware_euclidean_cluster
autoware_ground_segmentation
autoware_ground_segmentation_cuda
autoware_image_object_locator
autoware_image_projection_based_fusion
autoware_image_transport_decompressor
autoware_lidar_apollo_instance_segmentation
autoware_lidar_centerpoint
autoware_lidar_transfusion
autoware_map_based_prediction
autoware_multi_object_tracker
autoware_object_merger
autoware_object_sorter
autoware_occupancy_grid_map_outlier_filter
autoware_perception_config
autoware_pointcloud_preprocessor
autoware_probabilistic_occupancy_grid_map
autoware_ptv3
autoware_raindrop_cluster_filter
autoware_shape_estimation
autoware_simpl_prediction
autoware_simple_object_merger
autoware_tensorrt_bevdet
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
rclcpp_components
topic_tools
ament_lint_auto
autoware_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
autoware_launch
reaction_analyzer

Launch files

  • launch/common/pointcloud_downsample.launch.xml
      • pointcloud_container_name
      • cuda_pointcloud_preprocessing [default: false]
      • input/pointcloud
      • output/pointcloud
      • common_downsample_voxel_size_x [default: 0.05]
      • common_downsample_voxel_size_y [default: 0.05]
      • common_downsample_voxel_size_z [default: 0.05]
  • launch/object_recognition/detection/detector/camera_2d_detector.launch.xml
      • image_raw0 [default: /sensing/camera/camera0/image_raw]
      • image_raw1 [default: /sensing/camera/camera1/image_raw]
      • image_raw2 [default: /sensing/camera/camera2/image_raw]
      • image_raw3 [default: /sensing/camera/camera3/image_raw]
      • image_raw4 [default: /sensing/camera/camera4/image_raw]
      • image_raw5 [default: /sensing/camera/camera5/image_raw]
      • image_raw6 [default: /sensing/camera/camera6/image_raw]
      • image_raw7 [default: /sensing/camera/camera7/image_raw]
      • image_raw8 [default: /sensing/camera/camera8/image_raw]
      • image_raw9 [default: /sensing/camera/camera9/image_raw]
      • image_number [default: 1]
      • camera_index [default: 0]
      • use_bytetrack [default: true]
      • enable_visualizer [default: false]
      • camera_2d_detector/model_path
      • camera_2d_detector/label_path
      • camera_2d_detector/color_map_path
      • camera_2d_detector/roi_remap_path
      • camera_2d_detector/roi_to_semseg_remap_path
      • tensorrt_yolox_ns [default: ]
  • launch/object_recognition/detection/detector/camera_bev_detector.launch.xml
      • input/camera0/image
      • input/camera0/info
      • input/camera1/image
      • input/camera1/info
      • input/camera2/image
      • input/camera2/info
      • input/camera3/image
      • input/camera3/info
      • input/camera4/image
      • input/camera4/info
      • input/camera5/image
      • input/camera5/info
      • output/objects
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevdet_model_name [default: bevdet_one_lt_d]
      • bevdet_model_path [default: $(var data_path)/tensorrt_bevdet]
  • launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
      • ns
      • lidar_detection_model_type
      • lidar_detection_model_name
      • use_low_intensity_cluster_filter
      • use_image_segmentation_based_filter
      • number_of_cameras
      • input/camera0/image
      • input/camera0/info
      • input/camera0/rois
      • input/camera1/image
      • input/camera1/info
      • input/camera1/rois
      • input/camera2/image
      • input/camera2/info
      • input/camera2/rois
      • input/camera3/image
      • input/camera3/info
      • input/camera3/rois
      • input/camera4/image
      • input/camera4/info
      • input/camera4/rois
      • input/camera5/image
      • input/camera5/info
      • input/camera5/rois
      • input/camera6/image
      • input/camera6/info
      • input/camera6/rois
      • input/camera7/image
      • input/camera7/info
      • input/camera7/rois
      • input/camera8/image
      • input/camera8/info
      • input/camera8/rois
      • input/concatenation_info
      • segmentation_pointcloud_fusion_camera_ids
      • image_topic_name
      • sync_param_path
      • voxel_grid_based_euclidean_param_path
      • lidar_model_param_path
      • pointpainting_model_path [default: $(var data_path)/image_projection_based_fusion]
      • pointpainting_fusion_common_param_path
      • roi_cluster_fusion_param_path
      • node/pointcloud_container
      • input/pointcloud
      • input/pointcloud_map/pointcloud
      • input/obstacle_segmentation/pointcloud
      • output/ml_detector/objects
      • output/rule_detector/objects
      • camera_2d_detector/model_path
      • camera_2d_detector/label_path
      • camera_2d_detector/color_map_path
      • camera_2d_detector/roi_remap_path
      • camera_2d_detector/roi_to_semseg_remap_path
      • enable_2d_detection [default: false]
  • launch/object_recognition/detection/detector/camera_lidar_irregular_object_detector.launch.xml
      • pipeline_ns
      • node/pointcloud_container
      • output/objects [default: objects]
      • input/concatenation_info
      • input/pointcloud
      • irregular_object_crop_box_filter_node_param_path
      • irregular_object_scan_ground_filter_node_param_path
      • irregular_object_roi_pointcloud_fusion_node_param_path
      • irregular_object_fusion_camera_param_path
      • sync_param_path
  • launch/object_recognition/detection/detector/camera_vru_detector.launch.xml
      • input/camera0/info [default: /sensing/camera/camera0/camera_info]
      • input/camera0/rois [default: /perception/object_recognition/detection/rois0]
      • input/camera1/info [default: /sensing/camera/camera1/camera_info]
      • input/camera1/rois [default: /perception/object_recognition/detection/rois1]
      • input/camera2/info [default: /sensing/camera/camera2/camera_info]
      • input/camera2/rois [default: /perception/object_recognition/detection/rois2]
      • input/camera3/info [default: /sensing/camera/camera3/camera_info]
      • input/camera3/rois [default: /perception/object_recognition/detection/rois3]
      • input/camera4/info [default: /sensing/camera/camera4/camera_info]
      • input/camera4/rois [default: /perception/object_recognition/detection/rois4]
      • input/camera5/info [default: /sensing/camera/camera5/camera_info]
      • input/camera5/rois [default: /perception/object_recognition/detection/rois5]
      • input/camera6/info [default: /sensing/camera/camera6/camera_info]
      • input/camera6/rois [default: /perception/object_recognition/detection/rois6]
      • input/camera7/info [default: /sensing/camera/camera7/camera_info]
      • input/camera7/rois [default: /perception/object_recognition/detection/rois7]
      • output/objects [default: /perception/object_recognition/detection/camera_vru/objects]
      • bbox_object_locator_param_path
      • rois_ids [default: [0, 1]]
  • launch/object_recognition/detection/detector/irregular_object_detector.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • target_container
      • base_frame [default: base_link]
      • use_intra_process [default: true]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/concatenation_info [default: /sensing/lidar/concatenated/pointcloud_info]
      • output/clusters
      • crop_box_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/crop_box_filter.param.yaml]
      • scan_ground_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/scan_ground_filter.param.yaml]
      • roi_pointcloud_fusion_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/roi_pointcloud_fusion.param.yaml]
      • fusion_camera_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/fusion_cameras.param.yaml]
      • sync_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml]
  • launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
      • lidar_detection_model_type
      • lidar_detection_model_name
      • lidar_model_param_path
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • centerpoint_model_path [default: $(var data_path)/lidar_centerpoint]
      • centerpoint_common_param_path [default: $(find-pkg-share autoware_lidar_centerpoint)/config/centerpoint_common.param.yaml]
      • transfusion_model_path [default: $(var data_path)/lidar_transfusion]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type
      • node/pointcloud_container
      • input/pointcloud
      • output/objects
      • output/short_range_objects
  • launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
      • ns
      • node/pointcloud_container
      • input/pointcloud_map/pointcloud
      • input/obstacle_segmentation/pointcloud
      • output/cluster_objects
      • output/objects
      • voxel_grid_based_euclidean_param_path
      • use_low_height_cropbox [default: false]
  • launch/object_recognition/detection/detector/lidar_semantic_segmentation_detector.launch.xml
      • euclidean_clustering/param_path
      • input/pointcloud
      • output/objects
  • launch/object_recognition/detection/detector/tracker_based_detector.launch.xml
      • detection_by_tracker_param_path
      • input/clusters
      • input/tracked_objects
      • output/objects
  • launch/object_recognition/detection/filter/object_filter.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • objects_filter_method [default: lanelet_filter]
      • object_recognition_detection_object_lanelet_filter_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml]
      • object_recognition_detection_object_position_filter_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_filter/object_position_filter.param.yaml]
      • input/objects
      • output/objects
  • launch/object_recognition/detection/filter/object_validator.launch.xml
      • objects_validation_method
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path
      • input/obstacle_pointcloud
      • input/objects
      • output/objects
  • launch/object_recognition/detection/filter/pointcloud_downsample_filter.launch.xml
      • target_container
      • use_intra_process [default: true]
      • input/pointcloud
      • output/pointcloud
      • downsample_voxel_size [default: 0.1]
  • launch/object_recognition/detection/filter/pointcloud_map_filter.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • target_container
      • use_intra_process [default: true]
      • input/pointcloud
      • output/pointcloud
      • output/downsampled/pointcloud [default: /perception/obstacle_segmentation/pointcloud_map_filtered/downsampled/pointcloud]
      • downsample_voxel_size [default: 0.1]
      • voxel_based_compare_map_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/pointcloud_filter/voxel_based_compare_map_filter.param.yaml]
  • launch/object_recognition/detection/filter/radar_filter.launch.xml
      • object_sorter_param_path
      • radar_lanelet_filtering_range_param_path
      • input/radar
      • output/objects
  • launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • object_recognition_detection_object_merger_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/data_association_matrix.param.yaml]
      • object_recognition_detection_object_merger_distance_threshold_list_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/overlapped_judge.param.yaml]
      • ml_camera_lidar_object_association_merger_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/ml_camera_lidar_object_association_merger.param.yaml]
      • roi_detected_object_fusion_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/roi_detected_object_fusion.param.yaml]
      • sync_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml]
      • lidar_detection_model_type
      • use_detection_by_tracker
      • use_irregular_object_detector
      • use_roi_detected_object_validator
      • euclidean_clustering/shape_policy
      • use_object_filter
      • objects_filter_method
      • number_of_cameras
      • input/camera0/image
      • input/camera0/info
      • input/camera0/rois
      • input/camera1/image
      • input/camera1/info
      • input/camera1/rois
      • input/camera2/image
      • input/camera2/info
      • input/camera2/rois
      • input/camera3/image
      • input/camera3/info
      • input/camera3/rois
      • input/camera4/image
      • input/camera4/info
      • input/camera4/rois
      • input/camera5/image
      • input/camera5/info
      • input/camera5/rois
      • input/camera6/image
      • input/camera6/info
      • input/camera6/rois
      • input/camera7/image
      • input/camera7/info
      • input/camera7/rois
      • input/camera8/image
      • input/camera8/info
      • input/camera8/rois
      • input/concatenation_info [default: /sensing/lidar/concatenated/pointcloud_info]
      • input/lidar_ml/objects
      • input/lidar_cluster/objects
      • input/irregular_object/objects [default: ]
      • input/detection_by_tracker/objects
      • output/objects [default: objects]
      • alpha_merger_priority_mode [default: 0]
  • launch/object_recognition/object_recognition_camera.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • use_camera_vru_detector [default: false]
      • camera_vru_detector_rois_ids [default: [0]]
      • use_camera_bev_detector [default: true]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • input/camera0/image [default: /sensing/camera/camera0/image_rect_color]
      • input/camera0/info [default: /sensing/camera/camera0/camera_info]
      • input/camera0/rois [default: /perception/object_recognition/detection/rois0]
      • input/camera1/image [default: /sensing/camera/camera1/image_rect_color]
      • input/camera1/info [default: /sensing/camera/camera1/camera_info]
      • input/camera1/rois [default: /perception/object_recognition/detection/rois1]
      • input/camera2/image [default: /sensing/camera/camera2/image_rect_color]
      • input/camera2/info [default: /sensing/camera/camera2/camera_info]
      • input/camera2/rois [default: /perception/object_recognition/detection/rois2]
      • input/camera3/image [default: /sensing/camera/camera3/image_rect_color]
      • input/camera3/info [default: /sensing/camera/camera3/camera_info]
      • input/camera3/rois [default: /perception/object_recognition/detection/rois3]
      • input/camera4/image [default: /sensing/camera/camera4/image_rect_color]
      • input/camera4/info [default: /sensing/camera/camera4/camera_info]
      • input/camera4/rois [default: /perception/object_recognition/detection/rois4]
      • input/camera5/image [default: /sensing/camera/camera5/image_rect_color]
      • input/camera5/info [default: /sensing/camera/camera5/camera_info]
      • input/camera5/rois [default: /perception/object_recognition/detection/rois5]
      • input/camera6/image [default: /sensing/camera/camera6/image_rect_color]
      • input/camera6/info [default: /sensing/camera/camera6/camera_info]
      • input/camera6/rois [default: /perception/object_recognition/detection/rois6]
      • input/camera7/image [default: /sensing/camera/camera7/image_rect_color]
      • input/camera7/info [default: /sensing/camera/camera7/camera_info]
      • input/camera7/rois [default: /perception/object_recognition/detection/rois7]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • near_range_camera_vru_param_path [default: $(var perception_config_dir)/object_recognition/detection/camera_vru_detection/near_range_camera_vru_detector.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
  • launch/object_recognition/object_recognition_camera_lidar_radar.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • pointpainting_model_path [default: $(var data_path)/image_projection_based_fusion]
      • camera_2d_detector/model_path [default: $(var data_path)/tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx]
      • camera_2d_detector/label_path [default: $(var data_path)/tensorrt_yolox/label.txt]
      • camera_2d_detector/color_map_path [default: $(var data_path)/tensorrt_yolox/semseg_color_map.csv]
      • camera_2d_detector/roi_remap_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/roi_label_remap.csv]
      • camera_2d_detector/roi_to_semseg_remap_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/roi_to_semseg_label_remap.csv]
      • use_semantic_segmentation_ptv3 [default: false]
      • use_object_filter [default: true]
      • use_pointcloud_map [default: true]
      • use_validator [default: false]
      • objects_validation_method [default: obstacle_pointcloud]
      • use_low_height_cropbox [default: false]
      • use_low_intensity_cluster_filter [default: true]
      • use_image_segmentation_based_filter [default: false]
      • use_irregular_object_detector [default: true]
      • use_camera_vru_detector [default: false]
      • camera_vru_detector_rois_ids [default: [0]]
      • use_camera_only_detection [default: false]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • number_of_cameras [default: 6]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/semantic_segmentation/pointcloud [default: /perception/segmented/pointcloud]
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • input/camera0/image [default: /sensing/camera/camera0/image_rect_color]
      • input/camera0/info [default: /sensing/camera/camera0/camera_info]
      • input/camera0/rois [default: /perception/object_recognition/detection/rois0]
      • input/camera1/image [default: /sensing/camera/camera1/image_rect_color]
      • input/camera1/info [default: /sensing/camera/camera1/camera_info]
      • input/camera1/rois [default: /perception/object_recognition/detection/rois1]
      • input/camera2/image [default: /sensing/camera/camera2/image_rect_color]
      • input/camera2/info [default: /sensing/camera/camera2/camera_info]
      • input/camera2/rois [default: /perception/object_recognition/detection/rois2]
      • input/camera3/image [default: /sensing/camera/camera3/image_rect_color]
      • input/camera3/info [default: /sensing/camera/camera3/camera_info]
      • input/camera3/rois [default: /perception/object_recognition/detection/rois3]
      • input/camera4/image [default: /sensing/camera/camera4/image_rect_color]
      • input/camera4/info [default: /sensing/camera/camera4/camera_info]
      • input/camera4/rois [default: /perception/object_recognition/detection/rois4]
      • input/camera5/image [default: /sensing/camera/camera5/image_rect_color]
      • input/camera5/info [default: /sensing/camera/camera5/camera_info]
      • input/camera5/rois [default: /perception/object_recognition/detection/rois5]
      • input/camera6/image [default: /sensing/camera/camera6/image_rect_color]
      • input/camera6/info [default: /sensing/camera/camera6/camera_info]
      • input/camera6/rois [default: /perception/object_recognition/detection/rois6]
      • input/camera7/image [default: /sensing/camera/camera7/image_rect_color]
      • input/camera7/info [default: /sensing/camera/camera7/camera_info]
      • input/camera7/rois [default: /perception/object_recognition/detection/rois7]
      • input/camera8/image [default: /sensing/camera/camera8/image_rect_color]
      • input/camera8/info [default: /sensing/camera/camera8/camera_info]
      • input/camera8/rois [default: /perception/object_recognition/detection/rois8]
      • input/concatenation_info [default: /sensing/lidar/concatenated/pointcloud_info]
      • input/radar [default: /sensing/radar/detected_objects]
      • input/camera_only/objects [default: /perception/object_recognition/detection/camera_only/objects]
      • input/camera_only/channel [default: camera_streampetr]
      • image_topic_name [default: image_rect_color]
      • segmentation_pointcloud_fusion_camera_ids [default: [0,2,4]]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • sync_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml]
      • roi_cluster_fusion_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml]
      • pointpainting_fusion_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/pointpainting_common.param.yaml]
      • irregular_object_crop_box_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/crop_box_filter.param.yaml]
      • irregular_object_scan_ground_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/scan_ground_filter.param.yaml]
      • irregular_object_roi_pointcloud_fusion_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/roi_pointcloud_fusion.param.yaml]
      • irregular_object_fusion_camera_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/fusion_cameras.param.yaml]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • voxel_grid_based_euclidean_param_path [default: $(var perception_config_dir)/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml]
      • radar_lanelet_filtering_range_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml]
      • object_recognition_detection_object_sorter_radar_param_path [default: $(var perception_config_dir)/object_recognition/detection/radar_filter/detected_object_sorter.param.yaml]
      • near_range_camera_vru_param_path [default: $(var perception_config_dir)/object_recognition/detection/camera_vru_detection/near_range_camera_vru_detector.param.yaml]
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path [default: $(var perception_config_dir)/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
      • euclidean_clustering/param_path [default: $(var perception_config_dir)/object_recognition/detection/euclidean_cluster/label_based_euclidean_cluster.param.yaml]
  • launch/object_recognition/object_recognition_camera_lidar_radar_serial.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • pointpainting_model_path [default: $(var data_path)/image_projection_based_fusion]
      • camera_2d_detector/model_path [default: $(var data_path)/tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx]
      • camera_2d_detector/label_path [default: $(var data_path)/tensorrt_yolox/label.txt]
      • camera_2d_detector/color_map_path [default: $(var data_path)/tensorrt_yolox/semseg_color_map.csv]
      • camera_2d_detector/roi_remap_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/roi_label_remap.csv]
      • camera_2d_detector/roi_to_semseg_remap_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/roi_to_semseg_label_remap.csv]
      • use_object_filter [default: true]
      • objects_filter_method [default: lanelet_filter]
      • use_pointcloud_map [default: true]
      • use_validator [default: false]
      • objects_validation_method [default: obstacle_pointcloud]
      • use_roi_detected_object_validator [default: true]
      • use_detection_by_tracker [default: true]
      • use_low_height_cropbox [default: false]
      • use_low_intensity_cluster_filter [default: true]
      • use_image_segmentation_based_filter [default: false]
      • use_irregular_object_detector [default: true]
      • ml_camera_lidar_merger_priority_mode [default: 0]
      • use_vector_map [default: true]
      • number_of_cameras [default: 6]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • input/camera0/image [default: /sensing/camera/camera0/image_rect_color]
      • input/camera0/info [default: /sensing/camera/camera0/camera_info]
      • input/camera0/rois [default: /perception/object_recognition/detection/rois0]
      • input/camera1/image [default: /sensing/camera/camera1/image_rect_color]
      • input/camera1/info [default: /sensing/camera/camera1/camera_info]
      • input/camera1/rois [default: /perception/object_recognition/detection/rois1]
      • input/camera2/image [default: /sensing/camera/camera2/image_rect_color]
      • input/camera2/info [default: /sensing/camera/camera2/camera_info]
      • input/camera2/rois [default: /perception/object_recognition/detection/rois2]
      • input/camera3/image [default: /sensing/camera/camera3/image_rect_color]
      • input/camera3/info [default: /sensing/camera/camera3/camera_info]
      • input/camera3/rois [default: /perception/object_recognition/detection/rois3]
      • input/camera4/image [default: /sensing/camera/camera4/image_rect_color]
      • input/camera4/info [default: /sensing/camera/camera4/camera_info]
      • input/camera4/rois [default: /perception/object_recognition/detection/rois4]
      • input/camera5/image [default: /sensing/camera/camera5/image_rect_color]
      • input/camera5/info [default: /sensing/camera/camera5/camera_info]
      • input/camera5/rois [default: /perception/object_recognition/detection/rois5]
      • input/camera6/image [default: /sensing/camera/camera6/image_rect_color]
      • input/camera6/info [default: /sensing/camera/camera6/camera_info]
      • input/camera6/rois [default: /perception/object_recognition/detection/rois6]
      • input/camera7/image [default: /sensing/camera/camera7/image_rect_color]
      • input/camera7/info [default: /sensing/camera/camera7/camera_info]
      • input/camera7/rois [default: /perception/object_recognition/detection/rois7]
      • input/camera8/image [default: /sensing/camera/camera8/image_rect_color]
      • input/camera8/info [default: /sensing/camera/camera8/camera_info]
      • input/camera8/rois [default: /perception/object_recognition/detection/rois8]
      • input/concatenation_info [default: /sensing/lidar/concatenated/pointcloud_info]
      • input/radar/tracked_objects [default: /sensing/radar/tracked_objects]
      • image_topic_name [default: image_rect_color]
      • segmentation_pointcloud_fusion_camera_ids [default: [0,2,4]]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • sync_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml]
      • roi_cluster_fusion_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml]
      • pointpainting_fusion_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/pointpainting_common.param.yaml]
      • irregular_object_crop_box_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/crop_box_filter.param.yaml]
      • irregular_object_scan_ground_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/scan_ground_filter.param.yaml]
      • irregular_object_roi_pointcloud_fusion_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/roi_pointcloud_fusion.param.yaml]
      • irregular_object_fusion_camera_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/fusion_cameras.param.yaml]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • voxel_grid_based_euclidean_param_path [default: $(var perception_config_dir)/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml]
      • detection_by_tracker_param_path [default: $(var perception_config_dir)/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml]
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path [default: $(var perception_config_dir)/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml]
      • object_recognition_detection_object_merger_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/data_association_matrix.param.yaml]
      • object_recognition_detection_object_merger_distance_threshold_list_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/overlapped_judge.param.yaml]
      • ml_camera_lidar_object_association_merger_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/ml_camera_lidar_object_association_merger.param.yaml]
      • roi_detected_object_fusion_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/roi_detected_object_fusion.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
      • object_recognition_tracking_radar_tracked_object_sorter_param_path [default: $(var perception_config_dir)/object_recognition/tracking/radar_object_tracker/tracked_object_sorter.param.yaml]
      • object_recognition_tracking_radar_tracked_object_lanelet_filter_param_path [default: $(var perception_config_dir)/object_recognition/tracking/radar_object_tracker/tracked_object_lanelet_filter.param.yaml]
      • object_recognition_tracking_object_merger_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/tracking_object_merger/data_association_matrix.param.yaml]
      • object_recognition_tracking_object_merger_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml]
      • euclidean_clustering/shape_policy [default: 0]
  • launch/object_recognition/object_recognition_lidar.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • use_pointcloud_map [default: true]
      • use_validator [default: false]
      • objects_validation_method [default: obstacle_pointcloud]
      • use_object_filter [default: true]
      • objects_filter_method [default: lanelet_filter]
      • use_low_height_cropbox [default: false]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • voxel_grid_based_euclidean_param_path [default: $(var perception_config_dir)/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml]
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path [default: $(var perception_config_dir)/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
  • launch/object_recognition/object_recognition_lidar_ptv3.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/semantic_segmentation/pointcloud [default: /perception/segmented/pointcloud]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
      • euclidean_clustering/param_path [default: $(var perception_config_dir)/object_recognition/detection/euclidean_cluster/label_based_euclidean_cluster.param.yaml]
  • launch/object_recognition/object_recognition_lidar_radar.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • use_low_height_cropbox [default: false]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/semantic_segmentation/pointcloud [default: /perception/segmented/pointcloud]
      • input/radar [default: /sensing/radar/detected_objects]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • voxel_grid_based_euclidean_param_path [default: $(var perception_config_dir)/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml]
      • radar_lanelet_filtering_range_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml]
      • object_recognition_detection_object_sorter_radar_param_path [default: $(var perception_config_dir)/object_recognition/detection/radar_filter/detected_object_sorter.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
      • euclidean_clustering/param_path [default: $(var perception_config_dir)/object_recognition/detection/euclidean_cluster/label_based_euclidean_cluster.param.yaml]
  • launch/object_recognition/prediction/prediction.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • use_vector_map [default: false]
      • prediction_model_type [default: map_based]
      • input/objects [default: /perception/object_recognition/tracking/objects]
      • output/objects [default: /perception/object_recognition/objects]
      • object_recognition_prediction_map_based_prediction_param_path [default: $(var perception_config_dir)/object_recognition/prediction/map_based_prediction.param.yaml]
  • launch/obstacle_segmentation/ground_segmentation_additional_lidars.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • target_container
      • lidar_name
      • base_frame [default: base_link]
      • use_intra_process [default: true]
      • input/main/pointcloud
      • input/lidar/pointcloud [default: /sensing/lidar/$(var lidar_name)/pointcloud]
      • output/pointcloud
      • output/pointcloud_info [default: $(var output/pointcloud)_info]
      • crop_box_margin_max_z [default: 2.5]
      • crop_box_margin_min_z [default: -2.5]
      • crop_box_filter_node_param_path [default: $(var perception_config_dir)/obstacle_segmentation/ground_segmentation/crop_box_filter.param.yaml]
      • scan_ground_filter_node_param_path [default: $(var perception_config_dir)/obstacle_segmentation/ground_segmentation/scan_ground_filter.param.yaml]
  • launch/obstacle_segmentation/ground_segmentation_ml.launch.xml
      • pointcloud_container_name [default: pointcloud_container]
      • use_pointcloud_container [default: true]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/pointcloud/segmentation [default: /perception/segmented/pointcloud]
      • output/pointcloud/visualization [default: /perception/segmented/pointcloud/visualization]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • model_variant [default: ptv3]
      • model_path [default: $(var data_path)/ptv3]
  • launch/obstacle_segmentation/ground_segmentation_ransac.launch.xml
      • target_container
      • base_frame [default: base_link]
      • use_intra_process [default: true]
      • input_topics
      • input/main/pointcloud
      • output/pointcloud
      • output/pointcloud_info [default: $(var output/pointcloud)_info]
      • detection_area_crop_box_filter_node_param_path
      • ransac_ground_filter_node_param_path [default: $(find-pkg-share autoware_ground_segmentation)/config/ransac_ground_filter.param.yaml]
  • launch/obstacle_segmentation/ground_segmentation_rule_based.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • target_container
      • base_frame [default: base_link]
      • use_intra_process [default: true]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • crop_box_margin_max_z [default: 2.5]
      • crop_box_margin_min_z [default: -2.5]
      • crop_box_filter_node_param_path [default: $(var perception_config_dir)/obstacle_segmentation/ground_segmentation/crop_box_filter.param.yaml]
      • scan_ground_filter_node_param_path [default: $(var perception_config_dir)/obstacle_segmentation/ground_segmentation/scan_ground_filter.param.yaml]
  • launch/obstacle_segmentation/ground_segmentation_rule_based_cuda.launch.xml
      • target_container
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/ground_pointcloud [default: /perception/obstacle_segmentation/ground_pointcloud]
      • cuda_scan_ground_segmentation_filter_node_param_path [default: $(find-pkg-share autoware_ground_segmentation_cuda)/config/cuda_scan_ground_segmentation_filter.param.yaml]
  • launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • input/obstacle_pointcloud [default: concatenated/pointcloud]
      • input/raw_pointcloud [default: no_ground/oneshot/pointcloud]
      • output [default: /perception/occupancy_grid_map/map]
      • use_intra_process [default: false]
      • use_multithread [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • occupancy_grid_map_method
      • occupancy_grid_map_param_path [default: $(var perception_config_dir)/occupancy_grid_map/$(var occupancy_grid_map_method).param.yaml]
      • occupancy_grid_map_updater
      • occupancy_grid_map_updater_param_path [default: $(var perception_config_dir)/occupancy_grid_map/$(var occupancy_grid_map_updater)_updater.param.yaml]
      • input_obstacle_pointcloud [default: false]
      • input_obstacle_and_raw_pointcloud [default: true]
      • use_pointcloud_container [default: true]
  • launch/traffic_light_recognition/traffic_light_detector_fine.launch.xml
    • Fine-detection chain for one traffic light camera: map based detector proposes rough ROIs, the fine detector refines them, classifiers label them.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespace
      • enable_image_decompressor [default: true]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • map_based_detector_param_path [default: $(find-pkg-share autoware_traffic_light_map_based_detector)/config/traffic_light_map_based_detector.param.yaml]
      • fine_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_fine_detector/traffic_light_fine_detector.param.yaml]
      • car_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/car_traffic_light_classifier.param.yaml]
      • pedestrian_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/pedestrian_traffic_light_classifier.param.yaml]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • roi_visualizer_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_visualization/traffic_light_roi_visualizer.param.yaml]
      • fine_detector_model_path [default: $(var data_path)/traffic_light_fine_detector/tlr_car_ped_yolox_s_batch_6.onnx]
      • fine_detector_label_path [default: $(var data_path)/traffic_light_fine_detector/tlr_labels.txt]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
  • launch/traffic_light_recognition/traffic_light_detector_rough.launch.xml
    • Rough-detection chain for one traffic light camera: map based detector ROIs feed the classifiers directly, without a high accuracy detector.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespace
      • enable_image_decompressor [default: true]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • map_based_detector_param_path [default: $(find-pkg-share autoware_traffic_light_map_based_detector)/config/traffic_light_map_based_detector.param.yaml]
      • car_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/car_traffic_light_classifier.param.yaml]
      • pedestrian_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/pedestrian_traffic_light_classifier.param.yaml]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • roi_visualizer_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_visualization/traffic_light_roi_visualizer.param.yaml]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
  • launch/traffic_light_recognition/traffic_light_detector_whole_image.launch.xml
    • Whole-image detection chain for one traffic light camera: yolox detects over the full image, the selector matches detections to map based ROIs, classifiers label them.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespace
      • enable_image_decompressor [default: true]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • map_based_detector_param_path [default: $(find-pkg-share autoware_traffic_light_map_based_detector)/config/traffic_light_map_based_detector.param.yaml]
      • whole_image_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/yolox_traffic_light_detector.param.yaml]
      • car_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/car_traffic_light_classifier.param.yaml]
      • pedestrian_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/pedestrian_traffic_light_classifier.param.yaml]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • roi_visualizer_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_visualization/traffic_light_roi_visualizer.param.yaml]
      • whole_image_detector_model_path [default: $(var data_path)/tensorrt_yolox/yolox_s_car_ped_tl_detector_960_960_batch_1.onnx]
      • whole_image_detector_label_path [default: $(var data_path)/tensorrt_yolox/car_ped_tl_detector_labels.txt]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
  • launch/traffic_light_recognition/traffic_light_fusion.launch.xml
    • Post-process shared by all traffic light cameras: multi camera fusion, V2X arbitration, pedestrian signal estimation and map visualization.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespaces [default: [camera6, camera7]]
      • input/vector_map [default: /map/vector_map]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • internal/traffic_signals [default: /perception/traffic_light_recognition/internal/traffic_signals]
      • judged/traffic_signals [default: /perception/traffic_light_recognition/judged/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • multi_camera_fusion_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_multi_camera_fusion/traffic_light_multi_camera_fusion.param.yaml]
      • arbiter_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_arbiter/traffic_light_arbiter.param.yaml]
      • crosswalk_estimator_param_path [default: $(var perception_config_dir)/traffic_light_recognition/crosswalk_traffic_light_estimator/crosswalk_traffic_light_estimator.param.yaml]
  • launch/traffic_light_recognition/traffic_light_occlusion_predictor.launch.xml
    • Occlusion check for one traffic light camera: merges the car and pedestrian signals into the per-camera output, masking signals hidden from the camera.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespace
      • input/cloud [default: /sensing/lidar/top/pointcloud_raw_ex]
      • input/vector_map [default: /map/vector_map]
      • occlusion_predictor_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_occlusion_predictor/traffic_light_occlusion_predictor.param.yaml]
  • launch/traffic_light_recognition/traffic_light_recognition_fine.launch.xml
    • Traffic light recognition, fine detection mode: per-camera fine detection with occlusion check, then shared fusion. Two cameras as the representative set; add or remove per-camera blocks to match the vehicle.
      • perception_config_pkg [default: autoware_perception_config]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • input/pointcloud [default: /sensing/lidar/top/pointcloud_raw_ex]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • fine_detector_model_path [default: $(var data_path)/traffic_light_fine_detector/tlr_car_ped_yolox_s_batch_6.onnx]
      • fine_detector_label_path [default: $(var data_path)/traffic_light_fine_detector/tlr_labels.txt]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
      • base_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/base_traffic_light_map_based_detector.param.yaml]
      • extra_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/extra_traffic_light_map_based_detector.param.yaml]
  • launch/traffic_light_recognition/traffic_light_recognition_merge.launch.xml
    • Traffic light recognition, merge mode: detection and classification run on other ECUs; this side runs the per-camera occlusion check and the shared fusion. Two cameras as the representative set; add or remove per-camera blocks to match the vehicle.
      • input/vector_map [default: /map/vector_map]
      • input/pointcloud [default: /sensing/lidar/top/pointcloud_raw_ex]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
  • launch/traffic_light_recognition/traffic_light_recognition_rough.launch.xml
    • Traffic light recognition, rough detection mode: per-camera map based detection with occlusion check, then shared fusion. One camera as the representative set; add or remove per-camera blocks to match the vehicle.
      • perception_config_pkg [default: autoware_perception_config]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • input/pointcloud [default: /sensing/lidar/top/pointcloud_raw_ex]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
      • base_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/base_traffic_light_map_based_detector.param.yaml]
  • launch/traffic_light_recognition/traffic_light_recognition_whole_image.launch.xml
    • Traffic light recognition, whole-image detection mode: per-camera yolox detection, then shared fusion. Two cameras as the representative set; add or remove per-camera blocks to match the vehicle.
      • perception_config_pkg [default: autoware_perception_config]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • whole_image_detector_model_path [default: $(var data_path)/tensorrt_yolox/yolox_s_car_ped_tl_detector_960_960_batch_1.onnx]
      • whole_image_detector_label_path [default: $(var data_path)/tensorrt_yolox/car_ped_tl_detector_labels.txt]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
      • base_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/base_traffic_light_map_based_detector.param.yaml]
      • extra_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/extra_traffic_light_map_based_detector.param.yaml]

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autoware_perception_launch package from autoware_launch repo

autoware_launch autoware_sample_designs autoware_control_config autoware_control_launch autoware_localization_config autoware_localization_launch autoware_map_config autoware_map_launch autoware_perception_config autoware_perception_launch autoware_planning_config autoware_planning_launch autoware_sensing_launch autoware_sensor_driver_launch awsim_labs_sensor_kit_description awsim_labs_sensor_kit_launch awsim_sensor_kit_description awsim_sensor_kit_launch carla_sensor_kit_description carla_sensor_kit_launch sample_sensor_kit_description sample_sensor_kit_launch single_lidar_sensor_kit_description single_lidar_sensor_kit_launch tier4_autoware_api_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch awsim_labs_vehicle_description awsim_labs_vehicle_launch sample_vehicle_description sample_vehicle_launch

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Package Summary

Version 0.52.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_launch.git
VCS Type git
VCS Version main
Last Updated 2026-10-09
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_perception_launch package

Maintainers

  • Yukihiro Saito
  • Dai Nguyen
  • Taekjin Lee
  • Yoshi Ri
  • Masato Saeki

Authors

No additional authors.
autoware_universe_launch/autoware_perception_launch/README.md

autoware_perception_launch

Shared perception launch library. The system component launchers live in the product layer (autoware_launch/launch/components/component_perception.launch.xml for the lidar pipeline and component_traffic_light.launch.xml for traffic light recognition); this package hosts the perception feature launchers they combine:

launch/
├── common/                        # shared preprocess feature launchers (pointcloud downsample)
├── object_recognition/
│   ├── object_recognition_<mode>.launch.xml  # detection + tracking + prediction per sensor mode
│   ├── detection/
│   │   ├── detector/              # detectors
│   │   ├── filter/                # filters
│   │   └── merger/                # detection-side serial merger (used by the camera_lidar_radar_serial launcher)
│   └── prediction/
├── obstacle_segmentation/
├── occupancy_grid_map/
└── traffic_light_recognition/
design/module/                     # Autoware System Designer modules; same subtree as launch/
├── object_recognition/
├── obstacle_segmentation/
├── occupancy_grid_map/
└── traffic_light_recognition/

Launch files

  • object_recognition/object_recognition_<mode>.launch.xml — one feature launcher per sensor mode (camera, lidar, lidar_ptv3, lidar_radar, camera_lidar_radar, camera_lidar_radar_serial); hosts the detection stage inline together with the tracker and prediction, and pushes their module namespaces. Camera and radar input topics default to their absolute sensing paths (/sensing/camera/cameraN/..., /sensing/radar/detected_objects), so callers override only what differs. Most modes wire the multi-channel tracker to the detector outputs; camera_lidar_radar_serial instead merges the detectors in the detection stage (optionally regenerating detections through detection-by-tracker), tracks the single merged detected_objects channel, and joins radar tracked objects at the decorative tracker merger. camera runs camera-only detectors (BEV and camera VRU).
  • The clustering backend is file selection, not a flag: lidar runs rule-based euclidean clustering off the obstacle segmentation cloud, while lidar_ptv3 and lidar_radar cluster the PTv3 semantic-segmentation cloud and drop the pointcloud map filter and the object validator that only the rule-based pipeline uses. Both feed their cluster objects to the tracker on the lidar_clustering channel.
  • object_recognition/detection/{detector,filter}/ — single-purpose launchers wired together by the object-recognition launchers. merger/camera_lidar_merger.launch.xml chains the detection-side object mergers for the camera_lidar_radar_serial launcher.
  • obstacle_segmentation/ground_segmentation_<backend>.launch.xml — ground removal backends (rule_based, rule_based_cuda, ml); backend selection is file selection. ground_segmentation_{additional_lidars,ransac}.launch.xml fold extra lidars into the obstacle stream for kits that carry them.
  • occupancy_grid_map/, common/, traffic_light_recognition/ — feature launchers included directly by the system components.

Namespace and container addressing

Callers own the namespaces: the system component pushes perception and object_recognition; object_recognition_<mode>.launch.xml pushes detection/tracking/prediction. The object-recognition launchers address their internal topics through the fixed /perception/object_recognition namespace. Composable nodes load into the shared pointcloud container, whose name is exposed as pointcloud_container_name and aliased to the node/pointcloud_container argument of the detector launchers.

Config

Parameter files are resolved from a config/ tree addressed through the perception_config_pkg argument, which defaults to autoware_perception_config. A product can relocate the whole tree by setting perception_config_pkg once at its entry point — the launch configuration propagates through every include — but it must then ship the same config/ layout. Products that differ in only a few files instead override the corresponding *_param_path arguments, which every feature launcher declares with a default:

<include file="$(find-pkg-share autoware_perception_launch)/launch/object_recognition/object_recognition_lidar.launch.xml">
  <arg name="perception_config_pkg" value="my_perception_config"/>
  <arg name="FOO_NODE_param_path" value="..."/>
</include>

component_perception.launch.xml, component_traffic_light.launch.xml and planning_simulator/perception_simulation.launch.xml each declare perception_config_pkg, so a product switches the tree at the component it launches.

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

Package Dependencies

Please see <exec_depend> in package.xml.

CHANGELOG

Changelog for package autoware_perception_launch

0.52.0 (2026-06-30)

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

  • fix(merger_topic): mis-aligning topic when using semantic_segmentation without multi_channel_tracker (#1895)

    • fix(merger_topic): mis-aligning topic when using semantic_segmentation without multi_channel_tracker

    * chore: rename for readablity ---------

  • fix(ptv3): model path (#1890)

  • chore: add maintainer (#1880)

  • fix(tier4_perception_launch): occupancy_grid_map input topic when ptv3 used (#1871)

    • fix(tier4_perception_launch): occupancy_grid_map input topic when ptv3 used

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • fix: remove unnecessary dependency (#1870)

  • feat: add semantic segmentation pipeline option (#1865)

    • fix: ground segmentation launch
    • fix: missing dependencies and param
    • fix: ptv3 topic
    • fix: euclidean pipeline
    • feat: add use_roi_detected_object_validator options
    • replace with label_based_euclidean
    • revert to bevfusion
    • fix: aligning with updated EC
    • fix: add alpha merger option
    • fix: missing toggle condition
    • disable irregular_object_detector
    • fix: camera_lidar_radar merger
    • update label_based_ec param
    • revert to v4.4.0 pipeline option
    • fix(merger launch): missing toggle condition
    • style(pre-commit): autofix
    • style(pre-commit): autofix
    • remove voxel_downsample and pc validation
    • RDDR-353 Enable irregular object detection (#2379)
    • update config for 2 new classes
    • typo
    • style(pre-commit): autofix
    • refactor
    • refactor
    • fix data_path
    • fix: adjust combination when ptv3 used
    • fix: remove fixed option when using ptv3
    • remove object filter

    * Update autoware_launch/config/perception/object_recognition/detection/euclidean_cluster/label_based_euclidean_cluster.param.yaml Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>

    * fix: add semseg pipeline option for lidar perception mode ---------Co-authored-by: ktro2828 <<60615504+ktro2828@users.noreply.github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>

  • feat(perception): update perception pipeline to remove shape estimation (#1846)

    • fix(perception): update input channels and ground segmentation parameters for improved tracking and detection
    • Changed associator type from 'bev' to 'polar' in multi-object tracker input channels for better performance.
    • Adjusted ground segmentation parameters: increased margin_max_z from 0.0 to 1.0 and detection_range_z_max from 2.5 to 3.5 to enhance ground detection capabilities.
    • feat(Tier4PlanningWrapper): add data_path parameter for enhanced configuration flexibility
    • Introduced a new parameter 'data_path' with a default value to improve the configuration options for the Tier4PlanningWrapper node.
    • This addition allows for better management of data paths within the planning framework.
    • refactor(perception): remove deprecated tracking modules and streamline object recognition configuration

File truncated at 100 lines see the full file

Package Dependencies

Deps Name
ament_cmake_auto
autoware_cmake
autoware_agnocast_wrapper
autoware_bevfusion
autoware_bytetrack
autoware_compare_map_segmentation
autoware_crosswalk_traffic_light_estimator
autoware_cuda_pointcloud_preprocessor
autoware_detected_object_feature_remover
autoware_detected_object_validation
autoware_detection_by_tracker
autoware_elevation_map_loader
autoware_euclidean_cluster
autoware_ground_segmentation
autoware_ground_segmentation_cuda
autoware_image_object_locator
autoware_image_projection_based_fusion
autoware_image_transport_decompressor
autoware_lidar_apollo_instance_segmentation
autoware_lidar_centerpoint
autoware_lidar_transfusion
autoware_map_based_prediction
autoware_multi_object_tracker
autoware_object_merger
autoware_object_sorter
autoware_occupancy_grid_map_outlier_filter
autoware_perception_config
autoware_pointcloud_preprocessor
autoware_probabilistic_occupancy_grid_map
autoware_ptv3
autoware_raindrop_cluster_filter
autoware_shape_estimation
autoware_simpl_prediction
autoware_simple_object_merger
autoware_tensorrt_bevdet
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
rclcpp_components
topic_tools
ament_lint_auto
autoware_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
autoware_launch
reaction_analyzer

Launch files

  • launch/common/pointcloud_downsample.launch.xml
      • pointcloud_container_name
      • cuda_pointcloud_preprocessing [default: false]
      • input/pointcloud
      • output/pointcloud
      • common_downsample_voxel_size_x [default: 0.05]
      • common_downsample_voxel_size_y [default: 0.05]
      • common_downsample_voxel_size_z [default: 0.05]
  • launch/object_recognition/detection/detector/camera_2d_detector.launch.xml
      • image_raw0 [default: /sensing/camera/camera0/image_raw]
      • image_raw1 [default: /sensing/camera/camera1/image_raw]
      • image_raw2 [default: /sensing/camera/camera2/image_raw]
      • image_raw3 [default: /sensing/camera/camera3/image_raw]
      • image_raw4 [default: /sensing/camera/camera4/image_raw]
      • image_raw5 [default: /sensing/camera/camera5/image_raw]
      • image_raw6 [default: /sensing/camera/camera6/image_raw]
      • image_raw7 [default: /sensing/camera/camera7/image_raw]
      • image_raw8 [default: /sensing/camera/camera8/image_raw]
      • image_raw9 [default: /sensing/camera/camera9/image_raw]
      • image_number [default: 1]
      • camera_index [default: 0]
      • use_bytetrack [default: true]
      • enable_visualizer [default: false]
      • camera_2d_detector/model_path
      • camera_2d_detector/label_path
      • camera_2d_detector/color_map_path
      • camera_2d_detector/roi_remap_path
      • camera_2d_detector/roi_to_semseg_remap_path
      • tensorrt_yolox_ns [default: ]
  • launch/object_recognition/detection/detector/camera_bev_detector.launch.xml
      • input/camera0/image
      • input/camera0/info
      • input/camera1/image
      • input/camera1/info
      • input/camera2/image
      • input/camera2/info
      • input/camera3/image
      • input/camera3/info
      • input/camera4/image
      • input/camera4/info
      • input/camera5/image
      • input/camera5/info
      • output/objects
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevdet_model_name [default: bevdet_one_lt_d]
      • bevdet_model_path [default: $(var data_path)/tensorrt_bevdet]
  • launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
      • ns
      • lidar_detection_model_type
      • lidar_detection_model_name
      • use_low_intensity_cluster_filter
      • use_image_segmentation_based_filter
      • number_of_cameras
      • input/camera0/image
      • input/camera0/info
      • input/camera0/rois
      • input/camera1/image
      • input/camera1/info
      • input/camera1/rois
      • input/camera2/image
      • input/camera2/info
      • input/camera2/rois
      • input/camera3/image
      • input/camera3/info
      • input/camera3/rois
      • input/camera4/image
      • input/camera4/info
      • input/camera4/rois
      • input/camera5/image
      • input/camera5/info
      • input/camera5/rois
      • input/camera6/image
      • input/camera6/info
      • input/camera6/rois
      • input/camera7/image
      • input/camera7/info
      • input/camera7/rois
      • input/camera8/image
      • input/camera8/info
      • input/camera8/rois
      • input/concatenation_info
      • segmentation_pointcloud_fusion_camera_ids
      • image_topic_name
      • sync_param_path
      • voxel_grid_based_euclidean_param_path
      • lidar_model_param_path
      • pointpainting_model_path [default: $(var data_path)/image_projection_based_fusion]
      • pointpainting_fusion_common_param_path
      • roi_cluster_fusion_param_path
      • node/pointcloud_container
      • input/pointcloud
      • input/pointcloud_map/pointcloud
      • input/obstacle_segmentation/pointcloud
      • output/ml_detector/objects
      • output/rule_detector/objects
      • camera_2d_detector/model_path
      • camera_2d_detector/label_path
      • camera_2d_detector/color_map_path
      • camera_2d_detector/roi_remap_path
      • camera_2d_detector/roi_to_semseg_remap_path
      • enable_2d_detection [default: false]
  • launch/object_recognition/detection/detector/camera_lidar_irregular_object_detector.launch.xml
      • pipeline_ns
      • node/pointcloud_container
      • output/objects [default: objects]
      • input/concatenation_info
      • input/pointcloud
      • irregular_object_crop_box_filter_node_param_path
      • irregular_object_scan_ground_filter_node_param_path
      • irregular_object_roi_pointcloud_fusion_node_param_path
      • irregular_object_fusion_camera_param_path
      • sync_param_path
  • launch/object_recognition/detection/detector/camera_vru_detector.launch.xml
      • input/camera0/info [default: /sensing/camera/camera0/camera_info]
      • input/camera0/rois [default: /perception/object_recognition/detection/rois0]
      • input/camera1/info [default: /sensing/camera/camera1/camera_info]
      • input/camera1/rois [default: /perception/object_recognition/detection/rois1]
      • input/camera2/info [default: /sensing/camera/camera2/camera_info]
      • input/camera2/rois [default: /perception/object_recognition/detection/rois2]
      • input/camera3/info [default: /sensing/camera/camera3/camera_info]
      • input/camera3/rois [default: /perception/object_recognition/detection/rois3]
      • input/camera4/info [default: /sensing/camera/camera4/camera_info]
      • input/camera4/rois [default: /perception/object_recognition/detection/rois4]
      • input/camera5/info [default: /sensing/camera/camera5/camera_info]
      • input/camera5/rois [default: /perception/object_recognition/detection/rois5]
      • input/camera6/info [default: /sensing/camera/camera6/camera_info]
      • input/camera6/rois [default: /perception/object_recognition/detection/rois6]
      • input/camera7/info [default: /sensing/camera/camera7/camera_info]
      • input/camera7/rois [default: /perception/object_recognition/detection/rois7]
      • output/objects [default: /perception/object_recognition/detection/camera_vru/objects]
      • bbox_object_locator_param_path
      • rois_ids [default: [0, 1]]
  • launch/object_recognition/detection/detector/irregular_object_detector.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • target_container
      • base_frame [default: base_link]
      • use_intra_process [default: true]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/concatenation_info [default: /sensing/lidar/concatenated/pointcloud_info]
      • output/clusters
      • crop_box_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/crop_box_filter.param.yaml]
      • scan_ground_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/scan_ground_filter.param.yaml]
      • roi_pointcloud_fusion_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/roi_pointcloud_fusion.param.yaml]
      • fusion_camera_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/fusion_cameras.param.yaml]
      • sync_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml]
  • launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
      • lidar_detection_model_type
      • lidar_detection_model_name
      • lidar_model_param_path
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • centerpoint_model_path [default: $(var data_path)/lidar_centerpoint]
      • centerpoint_common_param_path [default: $(find-pkg-share autoware_lidar_centerpoint)/config/centerpoint_common.param.yaml]
      • transfusion_model_path [default: $(var data_path)/lidar_transfusion]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type
      • node/pointcloud_container
      • input/pointcloud
      • output/objects
      • output/short_range_objects
  • launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
      • ns
      • node/pointcloud_container
      • input/pointcloud_map/pointcloud
      • input/obstacle_segmentation/pointcloud
      • output/cluster_objects
      • output/objects
      • voxel_grid_based_euclidean_param_path
      • use_low_height_cropbox [default: false]
  • launch/object_recognition/detection/detector/lidar_semantic_segmentation_detector.launch.xml
      • euclidean_clustering/param_path
      • input/pointcloud
      • output/objects
  • launch/object_recognition/detection/detector/tracker_based_detector.launch.xml
      • detection_by_tracker_param_path
      • input/clusters
      • input/tracked_objects
      • output/objects
  • launch/object_recognition/detection/filter/object_filter.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • objects_filter_method [default: lanelet_filter]
      • object_recognition_detection_object_lanelet_filter_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml]
      • object_recognition_detection_object_position_filter_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_filter/object_position_filter.param.yaml]
      • input/objects
      • output/objects
  • launch/object_recognition/detection/filter/object_validator.launch.xml
      • objects_validation_method
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path
      • input/obstacle_pointcloud
      • input/objects
      • output/objects
  • launch/object_recognition/detection/filter/pointcloud_downsample_filter.launch.xml
      • target_container
      • use_intra_process [default: true]
      • input/pointcloud
      • output/pointcloud
      • downsample_voxel_size [default: 0.1]
  • launch/object_recognition/detection/filter/pointcloud_map_filter.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • target_container
      • use_intra_process [default: true]
      • input/pointcloud
      • output/pointcloud
      • output/downsampled/pointcloud [default: /perception/obstacle_segmentation/pointcloud_map_filtered/downsampled/pointcloud]
      • downsample_voxel_size [default: 0.1]
      • voxel_based_compare_map_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/pointcloud_filter/voxel_based_compare_map_filter.param.yaml]
  • launch/object_recognition/detection/filter/radar_filter.launch.xml
      • object_sorter_param_path
      • radar_lanelet_filtering_range_param_path
      • input/radar
      • output/objects
  • launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • object_recognition_detection_object_merger_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/data_association_matrix.param.yaml]
      • object_recognition_detection_object_merger_distance_threshold_list_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/overlapped_judge.param.yaml]
      • ml_camera_lidar_object_association_merger_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/ml_camera_lidar_object_association_merger.param.yaml]
      • roi_detected_object_fusion_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/roi_detected_object_fusion.param.yaml]
      • sync_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml]
      • lidar_detection_model_type
      • use_detection_by_tracker
      • use_irregular_object_detector
      • use_roi_detected_object_validator
      • euclidean_clustering/shape_policy
      • use_object_filter
      • objects_filter_method
      • number_of_cameras
      • input/camera0/image
      • input/camera0/info
      • input/camera0/rois
      • input/camera1/image
      • input/camera1/info
      • input/camera1/rois
      • input/camera2/image
      • input/camera2/info
      • input/camera2/rois
      • input/camera3/image
      • input/camera3/info
      • input/camera3/rois
      • input/camera4/image
      • input/camera4/info
      • input/camera4/rois
      • input/camera5/image
      • input/camera5/info
      • input/camera5/rois
      • input/camera6/image
      • input/camera6/info
      • input/camera6/rois
      • input/camera7/image
      • input/camera7/info
      • input/camera7/rois
      • input/camera8/image
      • input/camera8/info
      • input/camera8/rois
      • input/concatenation_info [default: /sensing/lidar/concatenated/pointcloud_info]
      • input/lidar_ml/objects
      • input/lidar_cluster/objects
      • input/irregular_object/objects [default: ]
      • input/detection_by_tracker/objects
      • output/objects [default: objects]
      • alpha_merger_priority_mode [default: 0]
  • launch/object_recognition/object_recognition_camera.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • use_camera_vru_detector [default: false]
      • camera_vru_detector_rois_ids [default: [0]]
      • use_camera_bev_detector [default: true]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • input/camera0/image [default: /sensing/camera/camera0/image_rect_color]
      • input/camera0/info [default: /sensing/camera/camera0/camera_info]
      • input/camera0/rois [default: /perception/object_recognition/detection/rois0]
      • input/camera1/image [default: /sensing/camera/camera1/image_rect_color]
      • input/camera1/info [default: /sensing/camera/camera1/camera_info]
      • input/camera1/rois [default: /perception/object_recognition/detection/rois1]
      • input/camera2/image [default: /sensing/camera/camera2/image_rect_color]
      • input/camera2/info [default: /sensing/camera/camera2/camera_info]
      • input/camera2/rois [default: /perception/object_recognition/detection/rois2]
      • input/camera3/image [default: /sensing/camera/camera3/image_rect_color]
      • input/camera3/info [default: /sensing/camera/camera3/camera_info]
      • input/camera3/rois [default: /perception/object_recognition/detection/rois3]
      • input/camera4/image [default: /sensing/camera/camera4/image_rect_color]
      • input/camera4/info [default: /sensing/camera/camera4/camera_info]
      • input/camera4/rois [default: /perception/object_recognition/detection/rois4]
      • input/camera5/image [default: /sensing/camera/camera5/image_rect_color]
      • input/camera5/info [default: /sensing/camera/camera5/camera_info]
      • input/camera5/rois [default: /perception/object_recognition/detection/rois5]
      • input/camera6/image [default: /sensing/camera/camera6/image_rect_color]
      • input/camera6/info [default: /sensing/camera/camera6/camera_info]
      • input/camera6/rois [default: /perception/object_recognition/detection/rois6]
      • input/camera7/image [default: /sensing/camera/camera7/image_rect_color]
      • input/camera7/info [default: /sensing/camera/camera7/camera_info]
      • input/camera7/rois [default: /perception/object_recognition/detection/rois7]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • near_range_camera_vru_param_path [default: $(var perception_config_dir)/object_recognition/detection/camera_vru_detection/near_range_camera_vru_detector.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
  • launch/object_recognition/object_recognition_camera_lidar_radar.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • pointpainting_model_path [default: $(var data_path)/image_projection_based_fusion]
      • camera_2d_detector/model_path [default: $(var data_path)/tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx]
      • camera_2d_detector/label_path [default: $(var data_path)/tensorrt_yolox/label.txt]
      • camera_2d_detector/color_map_path [default: $(var data_path)/tensorrt_yolox/semseg_color_map.csv]
      • camera_2d_detector/roi_remap_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/roi_label_remap.csv]
      • camera_2d_detector/roi_to_semseg_remap_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/roi_to_semseg_label_remap.csv]
      • use_semantic_segmentation_ptv3 [default: false]
      • use_object_filter [default: true]
      • use_pointcloud_map [default: true]
      • use_validator [default: false]
      • objects_validation_method [default: obstacle_pointcloud]
      • use_low_height_cropbox [default: false]
      • use_low_intensity_cluster_filter [default: true]
      • use_image_segmentation_based_filter [default: false]
      • use_irregular_object_detector [default: true]
      • use_camera_vru_detector [default: false]
      • camera_vru_detector_rois_ids [default: [0]]
      • use_camera_only_detection [default: false]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • number_of_cameras [default: 6]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/semantic_segmentation/pointcloud [default: /perception/segmented/pointcloud]
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • input/camera0/image [default: /sensing/camera/camera0/image_rect_color]
      • input/camera0/info [default: /sensing/camera/camera0/camera_info]
      • input/camera0/rois [default: /perception/object_recognition/detection/rois0]
      • input/camera1/image [default: /sensing/camera/camera1/image_rect_color]
      • input/camera1/info [default: /sensing/camera/camera1/camera_info]
      • input/camera1/rois [default: /perception/object_recognition/detection/rois1]
      • input/camera2/image [default: /sensing/camera/camera2/image_rect_color]
      • input/camera2/info [default: /sensing/camera/camera2/camera_info]
      • input/camera2/rois [default: /perception/object_recognition/detection/rois2]
      • input/camera3/image [default: /sensing/camera/camera3/image_rect_color]
      • input/camera3/info [default: /sensing/camera/camera3/camera_info]
      • input/camera3/rois [default: /perception/object_recognition/detection/rois3]
      • input/camera4/image [default: /sensing/camera/camera4/image_rect_color]
      • input/camera4/info [default: /sensing/camera/camera4/camera_info]
      • input/camera4/rois [default: /perception/object_recognition/detection/rois4]
      • input/camera5/image [default: /sensing/camera/camera5/image_rect_color]
      • input/camera5/info [default: /sensing/camera/camera5/camera_info]
      • input/camera5/rois [default: /perception/object_recognition/detection/rois5]
      • input/camera6/image [default: /sensing/camera/camera6/image_rect_color]
      • input/camera6/info [default: /sensing/camera/camera6/camera_info]
      • input/camera6/rois [default: /perception/object_recognition/detection/rois6]
      • input/camera7/image [default: /sensing/camera/camera7/image_rect_color]
      • input/camera7/info [default: /sensing/camera/camera7/camera_info]
      • input/camera7/rois [default: /perception/object_recognition/detection/rois7]
      • input/camera8/image [default: /sensing/camera/camera8/image_rect_color]
      • input/camera8/info [default: /sensing/camera/camera8/camera_info]
      • input/camera8/rois [default: /perception/object_recognition/detection/rois8]
      • input/concatenation_info [default: /sensing/lidar/concatenated/pointcloud_info]
      • input/radar [default: /sensing/radar/detected_objects]
      • input/camera_only/objects [default: /perception/object_recognition/detection/camera_only/objects]
      • input/camera_only/channel [default: camera_streampetr]
      • image_topic_name [default: image_rect_color]
      • segmentation_pointcloud_fusion_camera_ids [default: [0,2,4]]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • sync_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml]
      • roi_cluster_fusion_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml]
      • pointpainting_fusion_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/pointpainting_common.param.yaml]
      • irregular_object_crop_box_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/crop_box_filter.param.yaml]
      • irregular_object_scan_ground_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/scan_ground_filter.param.yaml]
      • irregular_object_roi_pointcloud_fusion_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/roi_pointcloud_fusion.param.yaml]
      • irregular_object_fusion_camera_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/fusion_cameras.param.yaml]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • voxel_grid_based_euclidean_param_path [default: $(var perception_config_dir)/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml]
      • radar_lanelet_filtering_range_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml]
      • object_recognition_detection_object_sorter_radar_param_path [default: $(var perception_config_dir)/object_recognition/detection/radar_filter/detected_object_sorter.param.yaml]
      • near_range_camera_vru_param_path [default: $(var perception_config_dir)/object_recognition/detection/camera_vru_detection/near_range_camera_vru_detector.param.yaml]
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path [default: $(var perception_config_dir)/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
      • euclidean_clustering/param_path [default: $(var perception_config_dir)/object_recognition/detection/euclidean_cluster/label_based_euclidean_cluster.param.yaml]
  • launch/object_recognition/object_recognition_camera_lidar_radar_serial.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • pointpainting_model_path [default: $(var data_path)/image_projection_based_fusion]
      • camera_2d_detector/model_path [default: $(var data_path)/tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx]
      • camera_2d_detector/label_path [default: $(var data_path)/tensorrt_yolox/label.txt]
      • camera_2d_detector/color_map_path [default: $(var data_path)/tensorrt_yolox/semseg_color_map.csv]
      • camera_2d_detector/roi_remap_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/roi_label_remap.csv]
      • camera_2d_detector/roi_to_semseg_remap_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/roi_to_semseg_label_remap.csv]
      • use_object_filter [default: true]
      • objects_filter_method [default: lanelet_filter]
      • use_pointcloud_map [default: true]
      • use_validator [default: false]
      • objects_validation_method [default: obstacle_pointcloud]
      • use_roi_detected_object_validator [default: true]
      • use_detection_by_tracker [default: true]
      • use_low_height_cropbox [default: false]
      • use_low_intensity_cluster_filter [default: true]
      • use_image_segmentation_based_filter [default: false]
      • use_irregular_object_detector [default: true]
      • ml_camera_lidar_merger_priority_mode [default: 0]
      • use_vector_map [default: true]
      • number_of_cameras [default: 6]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • input/camera0/image [default: /sensing/camera/camera0/image_rect_color]
      • input/camera0/info [default: /sensing/camera/camera0/camera_info]
      • input/camera0/rois [default: /perception/object_recognition/detection/rois0]
      • input/camera1/image [default: /sensing/camera/camera1/image_rect_color]
      • input/camera1/info [default: /sensing/camera/camera1/camera_info]
      • input/camera1/rois [default: /perception/object_recognition/detection/rois1]
      • input/camera2/image [default: /sensing/camera/camera2/image_rect_color]
      • input/camera2/info [default: /sensing/camera/camera2/camera_info]
      • input/camera2/rois [default: /perception/object_recognition/detection/rois2]
      • input/camera3/image [default: /sensing/camera/camera3/image_rect_color]
      • input/camera3/info [default: /sensing/camera/camera3/camera_info]
      • input/camera3/rois [default: /perception/object_recognition/detection/rois3]
      • input/camera4/image [default: /sensing/camera/camera4/image_rect_color]
      • input/camera4/info [default: /sensing/camera/camera4/camera_info]
      • input/camera4/rois [default: /perception/object_recognition/detection/rois4]
      • input/camera5/image [default: /sensing/camera/camera5/image_rect_color]
      • input/camera5/info [default: /sensing/camera/camera5/camera_info]
      • input/camera5/rois [default: /perception/object_recognition/detection/rois5]
      • input/camera6/image [default: /sensing/camera/camera6/image_rect_color]
      • input/camera6/info [default: /sensing/camera/camera6/camera_info]
      • input/camera6/rois [default: /perception/object_recognition/detection/rois6]
      • input/camera7/image [default: /sensing/camera/camera7/image_rect_color]
      • input/camera7/info [default: /sensing/camera/camera7/camera_info]
      • input/camera7/rois [default: /perception/object_recognition/detection/rois7]
      • input/camera8/image [default: /sensing/camera/camera8/image_rect_color]
      • input/camera8/info [default: /sensing/camera/camera8/camera_info]
      • input/camera8/rois [default: /perception/object_recognition/detection/rois8]
      • input/concatenation_info [default: /sensing/lidar/concatenated/pointcloud_info]
      • input/radar/tracked_objects [default: /sensing/radar/tracked_objects]
      • image_topic_name [default: image_rect_color]
      • segmentation_pointcloud_fusion_camera_ids [default: [0,2,4]]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • sync_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml]
      • roi_cluster_fusion_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml]
      • pointpainting_fusion_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/pointpainting_common.param.yaml]
      • irregular_object_crop_box_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/crop_box_filter.param.yaml]
      • irregular_object_scan_ground_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/scan_ground_filter.param.yaml]
      • irregular_object_roi_pointcloud_fusion_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/roi_pointcloud_fusion.param.yaml]
      • irregular_object_fusion_camera_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/fusion_cameras.param.yaml]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • voxel_grid_based_euclidean_param_path [default: $(var perception_config_dir)/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml]
      • detection_by_tracker_param_path [default: $(var perception_config_dir)/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml]
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path [default: $(var perception_config_dir)/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml]
      • object_recognition_detection_object_merger_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/data_association_matrix.param.yaml]
      • object_recognition_detection_object_merger_distance_threshold_list_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/overlapped_judge.param.yaml]
      • ml_camera_lidar_object_association_merger_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/ml_camera_lidar_object_association_merger.param.yaml]
      • roi_detected_object_fusion_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/roi_detected_object_fusion.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
      • object_recognition_tracking_radar_tracked_object_sorter_param_path [default: $(var perception_config_dir)/object_recognition/tracking/radar_object_tracker/tracked_object_sorter.param.yaml]
      • object_recognition_tracking_radar_tracked_object_lanelet_filter_param_path [default: $(var perception_config_dir)/object_recognition/tracking/radar_object_tracker/tracked_object_lanelet_filter.param.yaml]
      • object_recognition_tracking_object_merger_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/tracking_object_merger/data_association_matrix.param.yaml]
      • object_recognition_tracking_object_merger_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml]
      • euclidean_clustering/shape_policy [default: 0]
  • launch/object_recognition/object_recognition_lidar.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • use_pointcloud_map [default: true]
      • use_validator [default: false]
      • objects_validation_method [default: obstacle_pointcloud]
      • use_object_filter [default: true]
      • objects_filter_method [default: lanelet_filter]
      • use_low_height_cropbox [default: false]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • voxel_grid_based_euclidean_param_path [default: $(var perception_config_dir)/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml]
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path [default: $(var perception_config_dir)/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
  • launch/object_recognition/object_recognition_lidar_ptv3.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/semantic_segmentation/pointcloud [default: /perception/segmented/pointcloud]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
      • euclidean_clustering/param_path [default: $(var perception_config_dir)/object_recognition/detection/euclidean_cluster/label_based_euclidean_cluster.param.yaml]
  • launch/object_recognition/object_recognition_lidar_radar.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • use_low_height_cropbox [default: false]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/semantic_segmentation/pointcloud [default: /perception/segmented/pointcloud]
      • input/radar [default: /sensing/radar/detected_objects]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • voxel_grid_based_euclidean_param_path [default: $(var perception_config_dir)/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml]
      • radar_lanelet_filtering_range_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml]
      • object_recognition_detection_object_sorter_radar_param_path [default: $(var perception_config_dir)/object_recognition/detection/radar_filter/detected_object_sorter.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
      • euclidean_clustering/param_path [default: $(var perception_config_dir)/object_recognition/detection/euclidean_cluster/label_based_euclidean_cluster.param.yaml]
  • launch/object_recognition/prediction/prediction.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • use_vector_map [default: false]
      • prediction_model_type [default: map_based]
      • input/objects [default: /perception/object_recognition/tracking/objects]
      • output/objects [default: /perception/object_recognition/objects]
      • object_recognition_prediction_map_based_prediction_param_path [default: $(var perception_config_dir)/object_recognition/prediction/map_based_prediction.param.yaml]
  • launch/obstacle_segmentation/ground_segmentation_additional_lidars.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • target_container
      • lidar_name
      • base_frame [default: base_link]
      • use_intra_process [default: true]
      • input/main/pointcloud
      • input/lidar/pointcloud [default: /sensing/lidar/$(var lidar_name)/pointcloud]
      • output/pointcloud
      • output/pointcloud_info [default: $(var output/pointcloud)_info]
      • crop_box_margin_max_z [default: 2.5]
      • crop_box_margin_min_z [default: -2.5]
      • crop_box_filter_node_param_path [default: $(var perception_config_dir)/obstacle_segmentation/ground_segmentation/crop_box_filter.param.yaml]
      • scan_ground_filter_node_param_path [default: $(var perception_config_dir)/obstacle_segmentation/ground_segmentation/scan_ground_filter.param.yaml]
  • launch/obstacle_segmentation/ground_segmentation_ml.launch.xml
      • pointcloud_container_name [default: pointcloud_container]
      • use_pointcloud_container [default: true]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/pointcloud/segmentation [default: /perception/segmented/pointcloud]
      • output/pointcloud/visualization [default: /perception/segmented/pointcloud/visualization]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • model_variant [default: ptv3]
      • model_path [default: $(var data_path)/ptv3]
  • launch/obstacle_segmentation/ground_segmentation_ransac.launch.xml
      • target_container
      • base_frame [default: base_link]
      • use_intra_process [default: true]
      • input_topics
      • input/main/pointcloud
      • output/pointcloud
      • output/pointcloud_info [default: $(var output/pointcloud)_info]
      • detection_area_crop_box_filter_node_param_path
      • ransac_ground_filter_node_param_path [default: $(find-pkg-share autoware_ground_segmentation)/config/ransac_ground_filter.param.yaml]
  • launch/obstacle_segmentation/ground_segmentation_rule_based.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • target_container
      • base_frame [default: base_link]
      • use_intra_process [default: true]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • crop_box_margin_max_z [default: 2.5]
      • crop_box_margin_min_z [default: -2.5]
      • crop_box_filter_node_param_path [default: $(var perception_config_dir)/obstacle_segmentation/ground_segmentation/crop_box_filter.param.yaml]
      • scan_ground_filter_node_param_path [default: $(var perception_config_dir)/obstacle_segmentation/ground_segmentation/scan_ground_filter.param.yaml]
  • launch/obstacle_segmentation/ground_segmentation_rule_based_cuda.launch.xml
      • target_container
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/ground_pointcloud [default: /perception/obstacle_segmentation/ground_pointcloud]
      • cuda_scan_ground_segmentation_filter_node_param_path [default: $(find-pkg-share autoware_ground_segmentation_cuda)/config/cuda_scan_ground_segmentation_filter.param.yaml]
  • launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • input/obstacle_pointcloud [default: concatenated/pointcloud]
      • input/raw_pointcloud [default: no_ground/oneshot/pointcloud]
      • output [default: /perception/occupancy_grid_map/map]
      • use_intra_process [default: false]
      • use_multithread [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • occupancy_grid_map_method
      • occupancy_grid_map_param_path [default: $(var perception_config_dir)/occupancy_grid_map/$(var occupancy_grid_map_method).param.yaml]
      • occupancy_grid_map_updater
      • occupancy_grid_map_updater_param_path [default: $(var perception_config_dir)/occupancy_grid_map/$(var occupancy_grid_map_updater)_updater.param.yaml]
      • input_obstacle_pointcloud [default: false]
      • input_obstacle_and_raw_pointcloud [default: true]
      • use_pointcloud_container [default: true]
  • launch/traffic_light_recognition/traffic_light_detector_fine.launch.xml
    • Fine-detection chain for one traffic light camera: map based detector proposes rough ROIs, the fine detector refines them, classifiers label them.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespace
      • enable_image_decompressor [default: true]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • map_based_detector_param_path [default: $(find-pkg-share autoware_traffic_light_map_based_detector)/config/traffic_light_map_based_detector.param.yaml]
      • fine_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_fine_detector/traffic_light_fine_detector.param.yaml]
      • car_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/car_traffic_light_classifier.param.yaml]
      • pedestrian_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/pedestrian_traffic_light_classifier.param.yaml]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • roi_visualizer_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_visualization/traffic_light_roi_visualizer.param.yaml]
      • fine_detector_model_path [default: $(var data_path)/traffic_light_fine_detector/tlr_car_ped_yolox_s_batch_6.onnx]
      • fine_detector_label_path [default: $(var data_path)/traffic_light_fine_detector/tlr_labels.txt]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
  • launch/traffic_light_recognition/traffic_light_detector_rough.launch.xml
    • Rough-detection chain for one traffic light camera: map based detector ROIs feed the classifiers directly, without a high accuracy detector.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespace
      • enable_image_decompressor [default: true]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • map_based_detector_param_path [default: $(find-pkg-share autoware_traffic_light_map_based_detector)/config/traffic_light_map_based_detector.param.yaml]
      • car_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/car_traffic_light_classifier.param.yaml]
      • pedestrian_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/pedestrian_traffic_light_classifier.param.yaml]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • roi_visualizer_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_visualization/traffic_light_roi_visualizer.param.yaml]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
  • launch/traffic_light_recognition/traffic_light_detector_whole_image.launch.xml
    • Whole-image detection chain for one traffic light camera: yolox detects over the full image, the selector matches detections to map based ROIs, classifiers label them.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespace
      • enable_image_decompressor [default: true]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • map_based_detector_param_path [default: $(find-pkg-share autoware_traffic_light_map_based_detector)/config/traffic_light_map_based_detector.param.yaml]
      • whole_image_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/yolox_traffic_light_detector.param.yaml]
      • car_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/car_traffic_light_classifier.param.yaml]
      • pedestrian_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/pedestrian_traffic_light_classifier.param.yaml]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • roi_visualizer_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_visualization/traffic_light_roi_visualizer.param.yaml]
      • whole_image_detector_model_path [default: $(var data_path)/tensorrt_yolox/yolox_s_car_ped_tl_detector_960_960_batch_1.onnx]
      • whole_image_detector_label_path [default: $(var data_path)/tensorrt_yolox/car_ped_tl_detector_labels.txt]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
  • launch/traffic_light_recognition/traffic_light_fusion.launch.xml
    • Post-process shared by all traffic light cameras: multi camera fusion, V2X arbitration, pedestrian signal estimation and map visualization.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespaces [default: [camera6, camera7]]
      • input/vector_map [default: /map/vector_map]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • internal/traffic_signals [default: /perception/traffic_light_recognition/internal/traffic_signals]
      • judged/traffic_signals [default: /perception/traffic_light_recognition/judged/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • multi_camera_fusion_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_multi_camera_fusion/traffic_light_multi_camera_fusion.param.yaml]
      • arbiter_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_arbiter/traffic_light_arbiter.param.yaml]
      • crosswalk_estimator_param_path [default: $(var perception_config_dir)/traffic_light_recognition/crosswalk_traffic_light_estimator/crosswalk_traffic_light_estimator.param.yaml]
  • launch/traffic_light_recognition/traffic_light_occlusion_predictor.launch.xml
    • Occlusion check for one traffic light camera: merges the car and pedestrian signals into the per-camera output, masking signals hidden from the camera.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespace
      • input/cloud [default: /sensing/lidar/top/pointcloud_raw_ex]
      • input/vector_map [default: /map/vector_map]
      • occlusion_predictor_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_occlusion_predictor/traffic_light_occlusion_predictor.param.yaml]
  • launch/traffic_light_recognition/traffic_light_recognition_fine.launch.xml
    • Traffic light recognition, fine detection mode: per-camera fine detection with occlusion check, then shared fusion. Two cameras as the representative set; add or remove per-camera blocks to match the vehicle.
      • perception_config_pkg [default: autoware_perception_config]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • input/pointcloud [default: /sensing/lidar/top/pointcloud_raw_ex]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • fine_detector_model_path [default: $(var data_path)/traffic_light_fine_detector/tlr_car_ped_yolox_s_batch_6.onnx]
      • fine_detector_label_path [default: $(var data_path)/traffic_light_fine_detector/tlr_labels.txt]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
      • base_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/base_traffic_light_map_based_detector.param.yaml]
      • extra_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/extra_traffic_light_map_based_detector.param.yaml]
  • launch/traffic_light_recognition/traffic_light_recognition_merge.launch.xml
    • Traffic light recognition, merge mode: detection and classification run on other ECUs; this side runs the per-camera occlusion check and the shared fusion. Two cameras as the representative set; add or remove per-camera blocks to match the vehicle.
      • input/vector_map [default: /map/vector_map]
      • input/pointcloud [default: /sensing/lidar/top/pointcloud_raw_ex]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
  • launch/traffic_light_recognition/traffic_light_recognition_rough.launch.xml
    • Traffic light recognition, rough detection mode: per-camera map based detection with occlusion check, then shared fusion. One camera as the representative set; add or remove per-camera blocks to match the vehicle.
      • perception_config_pkg [default: autoware_perception_config]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • input/pointcloud [default: /sensing/lidar/top/pointcloud_raw_ex]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
      • base_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/base_traffic_light_map_based_detector.param.yaml]
  • launch/traffic_light_recognition/traffic_light_recognition_whole_image.launch.xml
    • Traffic light recognition, whole-image detection mode: per-camera yolox detection, then shared fusion. Two cameras as the representative set; add or remove per-camera blocks to match the vehicle.
      • perception_config_pkg [default: autoware_perception_config]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • whole_image_detector_model_path [default: $(var data_path)/tensorrt_yolox/yolox_s_car_ped_tl_detector_960_960_batch_1.onnx]
      • whole_image_detector_label_path [default: $(var data_path)/tensorrt_yolox/car_ped_tl_detector_labels.txt]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
      • base_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/base_traffic_light_map_based_detector.param.yaml]
      • extra_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/extra_traffic_light_map_based_detector.param.yaml]

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autoware_perception_launch package from autoware_launch repo

autoware_launch autoware_sample_designs autoware_control_config autoware_control_launch autoware_localization_config autoware_localization_launch autoware_map_config autoware_map_launch autoware_perception_config autoware_perception_launch autoware_planning_config autoware_planning_launch autoware_sensing_launch autoware_sensor_driver_launch awsim_labs_sensor_kit_description awsim_labs_sensor_kit_launch awsim_sensor_kit_description awsim_sensor_kit_launch carla_sensor_kit_description carla_sensor_kit_launch sample_sensor_kit_description sample_sensor_kit_launch single_lidar_sensor_kit_description single_lidar_sensor_kit_launch tier4_autoware_api_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch awsim_labs_vehicle_description awsim_labs_vehicle_launch sample_vehicle_description sample_vehicle_launch

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Package Summary

Version 0.52.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_launch.git
VCS Type git
VCS Version main
Last Updated 2026-10-09
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_perception_launch package

Maintainers

  • Yukihiro Saito
  • Dai Nguyen
  • Taekjin Lee
  • Yoshi Ri
  • Masato Saeki

Authors

No additional authors.
autoware_universe_launch/autoware_perception_launch/README.md

autoware_perception_launch

Shared perception launch library. The system component launchers live in the product layer (autoware_launch/launch/components/component_perception.launch.xml for the lidar pipeline and component_traffic_light.launch.xml for traffic light recognition); this package hosts the perception feature launchers they combine:

launch/
├── common/                        # shared preprocess feature launchers (pointcloud downsample)
├── object_recognition/
│   ├── object_recognition_<mode>.launch.xml  # detection + tracking + prediction per sensor mode
│   ├── detection/
│   │   ├── detector/              # detectors
│   │   ├── filter/                # filters
│   │   └── merger/                # detection-side serial merger (used by the camera_lidar_radar_serial launcher)
│   └── prediction/
├── obstacle_segmentation/
├── occupancy_grid_map/
└── traffic_light_recognition/
design/module/                     # Autoware System Designer modules; same subtree as launch/
├── object_recognition/
├── obstacle_segmentation/
├── occupancy_grid_map/
└── traffic_light_recognition/

Launch files

  • object_recognition/object_recognition_<mode>.launch.xml — one feature launcher per sensor mode (camera, lidar, lidar_ptv3, lidar_radar, camera_lidar_radar, camera_lidar_radar_serial); hosts the detection stage inline together with the tracker and prediction, and pushes their module namespaces. Camera and radar input topics default to their absolute sensing paths (/sensing/camera/cameraN/..., /sensing/radar/detected_objects), so callers override only what differs. Most modes wire the multi-channel tracker to the detector outputs; camera_lidar_radar_serial instead merges the detectors in the detection stage (optionally regenerating detections through detection-by-tracker), tracks the single merged detected_objects channel, and joins radar tracked objects at the decorative tracker merger. camera runs camera-only detectors (BEV and camera VRU).
  • The clustering backend is file selection, not a flag: lidar runs rule-based euclidean clustering off the obstacle segmentation cloud, while lidar_ptv3 and lidar_radar cluster the PTv3 semantic-segmentation cloud and drop the pointcloud map filter and the object validator that only the rule-based pipeline uses. Both feed their cluster objects to the tracker on the lidar_clustering channel.
  • object_recognition/detection/{detector,filter}/ — single-purpose launchers wired together by the object-recognition launchers. merger/camera_lidar_merger.launch.xml chains the detection-side object mergers for the camera_lidar_radar_serial launcher.
  • obstacle_segmentation/ground_segmentation_<backend>.launch.xml — ground removal backends (rule_based, rule_based_cuda, ml); backend selection is file selection. ground_segmentation_{additional_lidars,ransac}.launch.xml fold extra lidars into the obstacle stream for kits that carry them.
  • occupancy_grid_map/, common/, traffic_light_recognition/ — feature launchers included directly by the system components.

Namespace and container addressing

Callers own the namespaces: the system component pushes perception and object_recognition; object_recognition_<mode>.launch.xml pushes detection/tracking/prediction. The object-recognition launchers address their internal topics through the fixed /perception/object_recognition namespace. Composable nodes load into the shared pointcloud container, whose name is exposed as pointcloud_container_name and aliased to the node/pointcloud_container argument of the detector launchers.

Config

Parameter files are resolved from a config/ tree addressed through the perception_config_pkg argument, which defaults to autoware_perception_config. A product can relocate the whole tree by setting perception_config_pkg once at its entry point — the launch configuration propagates through every include — but it must then ship the same config/ layout. Products that differ in only a few files instead override the corresponding *_param_path arguments, which every feature launcher declares with a default:

<include file="$(find-pkg-share autoware_perception_launch)/launch/object_recognition/object_recognition_lidar.launch.xml">
  <arg name="perception_config_pkg" value="my_perception_config"/>
  <arg name="FOO_NODE_param_path" value="..."/>
</include>

component_perception.launch.xml, component_traffic_light.launch.xml and planning_simulator/perception_simulation.launch.xml each declare perception_config_pkg, so a product switches the tree at the component it launches.

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

Package Dependencies

Please see <exec_depend> in package.xml.

CHANGELOG

Changelog for package autoware_perception_launch

0.52.0 (2026-06-30)

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

  • fix(merger_topic): mis-aligning topic when using semantic_segmentation without multi_channel_tracker (#1895)

    • fix(merger_topic): mis-aligning topic when using semantic_segmentation without multi_channel_tracker

    * chore: rename for readablity ---------

  • fix(ptv3): model path (#1890)

  • chore: add maintainer (#1880)

  • fix(tier4_perception_launch): occupancy_grid_map input topic when ptv3 used (#1871)

    • fix(tier4_perception_launch): occupancy_grid_map input topic when ptv3 used

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • fix: remove unnecessary dependency (#1870)

  • feat: add semantic segmentation pipeline option (#1865)

    • fix: ground segmentation launch
    • fix: missing dependencies and param
    • fix: ptv3 topic
    • fix: euclidean pipeline
    • feat: add use_roi_detected_object_validator options
    • replace with label_based_euclidean
    • revert to bevfusion
    • fix: aligning with updated EC
    • fix: add alpha merger option
    • fix: missing toggle condition
    • disable irregular_object_detector
    • fix: camera_lidar_radar merger
    • update label_based_ec param
    • revert to v4.4.0 pipeline option
    • fix(merger launch): missing toggle condition
    • style(pre-commit): autofix
    • style(pre-commit): autofix
    • remove voxel_downsample and pc validation
    • RDDR-353 Enable irregular object detection (#2379)
    • update config for 2 new classes
    • typo
    • style(pre-commit): autofix
    • refactor
    • refactor
    • fix data_path
    • fix: adjust combination when ptv3 used
    • fix: remove fixed option when using ptv3
    • remove object filter

    * Update autoware_launch/config/perception/object_recognition/detection/euclidean_cluster/label_based_euclidean_cluster.param.yaml Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>

    * fix: add semseg pipeline option for lidar perception mode ---------Co-authored-by: ktro2828 <<60615504+ktro2828@users.noreply.github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>

  • feat(perception): update perception pipeline to remove shape estimation (#1846)

    • fix(perception): update input channels and ground segmentation parameters for improved tracking and detection
    • Changed associator type from 'bev' to 'polar' in multi-object tracker input channels for better performance.
    • Adjusted ground segmentation parameters: increased margin_max_z from 0.0 to 1.0 and detection_range_z_max from 2.5 to 3.5 to enhance ground detection capabilities.
    • feat(Tier4PlanningWrapper): add data_path parameter for enhanced configuration flexibility
    • Introduced a new parameter 'data_path' with a default value to improve the configuration options for the Tier4PlanningWrapper node.
    • This addition allows for better management of data paths within the planning framework.
    • refactor(perception): remove deprecated tracking modules and streamline object recognition configuration

File truncated at 100 lines see the full file

Package Dependencies

Deps Name
ament_cmake_auto
autoware_cmake
autoware_agnocast_wrapper
autoware_bevfusion
autoware_bytetrack
autoware_compare_map_segmentation
autoware_crosswalk_traffic_light_estimator
autoware_cuda_pointcloud_preprocessor
autoware_detected_object_feature_remover
autoware_detected_object_validation
autoware_detection_by_tracker
autoware_elevation_map_loader
autoware_euclidean_cluster
autoware_ground_segmentation
autoware_ground_segmentation_cuda
autoware_image_object_locator
autoware_image_projection_based_fusion
autoware_image_transport_decompressor
autoware_lidar_apollo_instance_segmentation
autoware_lidar_centerpoint
autoware_lidar_transfusion
autoware_map_based_prediction
autoware_multi_object_tracker
autoware_object_merger
autoware_object_sorter
autoware_occupancy_grid_map_outlier_filter
autoware_perception_config
autoware_pointcloud_preprocessor
autoware_probabilistic_occupancy_grid_map
autoware_ptv3
autoware_raindrop_cluster_filter
autoware_shape_estimation
autoware_simpl_prediction
autoware_simple_object_merger
autoware_tensorrt_bevdet
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
rclcpp_components
topic_tools
ament_lint_auto
autoware_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
autoware_launch
reaction_analyzer

Launch files

  • launch/common/pointcloud_downsample.launch.xml
      • pointcloud_container_name
      • cuda_pointcloud_preprocessing [default: false]
      • input/pointcloud
      • output/pointcloud
      • common_downsample_voxel_size_x [default: 0.05]
      • common_downsample_voxel_size_y [default: 0.05]
      • common_downsample_voxel_size_z [default: 0.05]
  • launch/object_recognition/detection/detector/camera_2d_detector.launch.xml
      • image_raw0 [default: /sensing/camera/camera0/image_raw]
      • image_raw1 [default: /sensing/camera/camera1/image_raw]
      • image_raw2 [default: /sensing/camera/camera2/image_raw]
      • image_raw3 [default: /sensing/camera/camera3/image_raw]
      • image_raw4 [default: /sensing/camera/camera4/image_raw]
      • image_raw5 [default: /sensing/camera/camera5/image_raw]
      • image_raw6 [default: /sensing/camera/camera6/image_raw]
      • image_raw7 [default: /sensing/camera/camera7/image_raw]
      • image_raw8 [default: /sensing/camera/camera8/image_raw]
      • image_raw9 [default: /sensing/camera/camera9/image_raw]
      • image_number [default: 1]
      • camera_index [default: 0]
      • use_bytetrack [default: true]
      • enable_visualizer [default: false]
      • camera_2d_detector/model_path
      • camera_2d_detector/label_path
      • camera_2d_detector/color_map_path
      • camera_2d_detector/roi_remap_path
      • camera_2d_detector/roi_to_semseg_remap_path
      • tensorrt_yolox_ns [default: ]
  • launch/object_recognition/detection/detector/camera_bev_detector.launch.xml
      • input/camera0/image
      • input/camera0/info
      • input/camera1/image
      • input/camera1/info
      • input/camera2/image
      • input/camera2/info
      • input/camera3/image
      • input/camera3/info
      • input/camera4/image
      • input/camera4/info
      • input/camera5/image
      • input/camera5/info
      • output/objects
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevdet_model_name [default: bevdet_one_lt_d]
      • bevdet_model_path [default: $(var data_path)/tensorrt_bevdet]
  • launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
      • ns
      • lidar_detection_model_type
      • lidar_detection_model_name
      • use_low_intensity_cluster_filter
      • use_image_segmentation_based_filter
      • number_of_cameras
      • input/camera0/image
      • input/camera0/info
      • input/camera0/rois
      • input/camera1/image
      • input/camera1/info
      • input/camera1/rois
      • input/camera2/image
      • input/camera2/info
      • input/camera2/rois
      • input/camera3/image
      • input/camera3/info
      • input/camera3/rois
      • input/camera4/image
      • input/camera4/info
      • input/camera4/rois
      • input/camera5/image
      • input/camera5/info
      • input/camera5/rois
      • input/camera6/image
      • input/camera6/info
      • input/camera6/rois
      • input/camera7/image
      • input/camera7/info
      • input/camera7/rois
      • input/camera8/image
      • input/camera8/info
      • input/camera8/rois
      • input/concatenation_info
      • segmentation_pointcloud_fusion_camera_ids
      • image_topic_name
      • sync_param_path
      • voxel_grid_based_euclidean_param_path
      • lidar_model_param_path
      • pointpainting_model_path [default: $(var data_path)/image_projection_based_fusion]
      • pointpainting_fusion_common_param_path
      • roi_cluster_fusion_param_path
      • node/pointcloud_container
      • input/pointcloud
      • input/pointcloud_map/pointcloud
      • input/obstacle_segmentation/pointcloud
      • output/ml_detector/objects
      • output/rule_detector/objects
      • camera_2d_detector/model_path
      • camera_2d_detector/label_path
      • camera_2d_detector/color_map_path
      • camera_2d_detector/roi_remap_path
      • camera_2d_detector/roi_to_semseg_remap_path
      • enable_2d_detection [default: false]
  • launch/object_recognition/detection/detector/camera_lidar_irregular_object_detector.launch.xml
      • pipeline_ns
      • node/pointcloud_container
      • output/objects [default: objects]
      • input/concatenation_info
      • input/pointcloud
      • irregular_object_crop_box_filter_node_param_path
      • irregular_object_scan_ground_filter_node_param_path
      • irregular_object_roi_pointcloud_fusion_node_param_path
      • irregular_object_fusion_camera_param_path
      • sync_param_path
  • launch/object_recognition/detection/detector/camera_vru_detector.launch.xml
      • input/camera0/info [default: /sensing/camera/camera0/camera_info]
      • input/camera0/rois [default: /perception/object_recognition/detection/rois0]
      • input/camera1/info [default: /sensing/camera/camera1/camera_info]
      • input/camera1/rois [default: /perception/object_recognition/detection/rois1]
      • input/camera2/info [default: /sensing/camera/camera2/camera_info]
      • input/camera2/rois [default: /perception/object_recognition/detection/rois2]
      • input/camera3/info [default: /sensing/camera/camera3/camera_info]
      • input/camera3/rois [default: /perception/object_recognition/detection/rois3]
      • input/camera4/info [default: /sensing/camera/camera4/camera_info]
      • input/camera4/rois [default: /perception/object_recognition/detection/rois4]
      • input/camera5/info [default: /sensing/camera/camera5/camera_info]
      • input/camera5/rois [default: /perception/object_recognition/detection/rois5]
      • input/camera6/info [default: /sensing/camera/camera6/camera_info]
      • input/camera6/rois [default: /perception/object_recognition/detection/rois6]
      • input/camera7/info [default: /sensing/camera/camera7/camera_info]
      • input/camera7/rois [default: /perception/object_recognition/detection/rois7]
      • output/objects [default: /perception/object_recognition/detection/camera_vru/objects]
      • bbox_object_locator_param_path
      • rois_ids [default: [0, 1]]
  • launch/object_recognition/detection/detector/irregular_object_detector.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • target_container
      • base_frame [default: base_link]
      • use_intra_process [default: true]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/concatenation_info [default: /sensing/lidar/concatenated/pointcloud_info]
      • output/clusters
      • crop_box_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/crop_box_filter.param.yaml]
      • scan_ground_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/scan_ground_filter.param.yaml]
      • roi_pointcloud_fusion_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/roi_pointcloud_fusion.param.yaml]
      • fusion_camera_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/fusion_cameras.param.yaml]
      • sync_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml]
  • launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
      • lidar_detection_model_type
      • lidar_detection_model_name
      • lidar_model_param_path
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • centerpoint_model_path [default: $(var data_path)/lidar_centerpoint]
      • centerpoint_common_param_path [default: $(find-pkg-share autoware_lidar_centerpoint)/config/centerpoint_common.param.yaml]
      • transfusion_model_path [default: $(var data_path)/lidar_transfusion]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type
      • node/pointcloud_container
      • input/pointcloud
      • output/objects
      • output/short_range_objects
  • launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
      • ns
      • node/pointcloud_container
      • input/pointcloud_map/pointcloud
      • input/obstacle_segmentation/pointcloud
      • output/cluster_objects
      • output/objects
      • voxel_grid_based_euclidean_param_path
      • use_low_height_cropbox [default: false]
  • launch/object_recognition/detection/detector/lidar_semantic_segmentation_detector.launch.xml
      • euclidean_clustering/param_path
      • input/pointcloud
      • output/objects
  • launch/object_recognition/detection/detector/tracker_based_detector.launch.xml
      • detection_by_tracker_param_path
      • input/clusters
      • input/tracked_objects
      • output/objects
  • launch/object_recognition/detection/filter/object_filter.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • objects_filter_method [default: lanelet_filter]
      • object_recognition_detection_object_lanelet_filter_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml]
      • object_recognition_detection_object_position_filter_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_filter/object_position_filter.param.yaml]
      • input/objects
      • output/objects
  • launch/object_recognition/detection/filter/object_validator.launch.xml
      • objects_validation_method
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path
      • input/obstacle_pointcloud
      • input/objects
      • output/objects
  • launch/object_recognition/detection/filter/pointcloud_downsample_filter.launch.xml
      • target_container
      • use_intra_process [default: true]
      • input/pointcloud
      • output/pointcloud
      • downsample_voxel_size [default: 0.1]
  • launch/object_recognition/detection/filter/pointcloud_map_filter.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • target_container
      • use_intra_process [default: true]
      • input/pointcloud
      • output/pointcloud
      • output/downsampled/pointcloud [default: /perception/obstacle_segmentation/pointcloud_map_filtered/downsampled/pointcloud]
      • downsample_voxel_size [default: 0.1]
      • voxel_based_compare_map_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/pointcloud_filter/voxel_based_compare_map_filter.param.yaml]
  • launch/object_recognition/detection/filter/radar_filter.launch.xml
      • object_sorter_param_path
      • radar_lanelet_filtering_range_param_path
      • input/radar
      • output/objects
  • launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • object_recognition_detection_object_merger_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/data_association_matrix.param.yaml]
      • object_recognition_detection_object_merger_distance_threshold_list_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/overlapped_judge.param.yaml]
      • ml_camera_lidar_object_association_merger_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/ml_camera_lidar_object_association_merger.param.yaml]
      • roi_detected_object_fusion_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/roi_detected_object_fusion.param.yaml]
      • sync_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml]
      • lidar_detection_model_type
      • use_detection_by_tracker
      • use_irregular_object_detector
      • use_roi_detected_object_validator
      • euclidean_clustering/shape_policy
      • use_object_filter
      • objects_filter_method
      • number_of_cameras
      • input/camera0/image
      • input/camera0/info
      • input/camera0/rois
      • input/camera1/image
      • input/camera1/info
      • input/camera1/rois
      • input/camera2/image
      • input/camera2/info
      • input/camera2/rois
      • input/camera3/image
      • input/camera3/info
      • input/camera3/rois
      • input/camera4/image
      • input/camera4/info
      • input/camera4/rois
      • input/camera5/image
      • input/camera5/info
      • input/camera5/rois
      • input/camera6/image
      • input/camera6/info
      • input/camera6/rois
      • input/camera7/image
      • input/camera7/info
      • input/camera7/rois
      • input/camera8/image
      • input/camera8/info
      • input/camera8/rois
      • input/concatenation_info [default: /sensing/lidar/concatenated/pointcloud_info]
      • input/lidar_ml/objects
      • input/lidar_cluster/objects
      • input/irregular_object/objects [default: ]
      • input/detection_by_tracker/objects
      • output/objects [default: objects]
      • alpha_merger_priority_mode [default: 0]
  • launch/object_recognition/object_recognition_camera.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • use_camera_vru_detector [default: false]
      • camera_vru_detector_rois_ids [default: [0]]
      • use_camera_bev_detector [default: true]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • input/camera0/image [default: /sensing/camera/camera0/image_rect_color]
      • input/camera0/info [default: /sensing/camera/camera0/camera_info]
      • input/camera0/rois [default: /perception/object_recognition/detection/rois0]
      • input/camera1/image [default: /sensing/camera/camera1/image_rect_color]
      • input/camera1/info [default: /sensing/camera/camera1/camera_info]
      • input/camera1/rois [default: /perception/object_recognition/detection/rois1]
      • input/camera2/image [default: /sensing/camera/camera2/image_rect_color]
      • input/camera2/info [default: /sensing/camera/camera2/camera_info]
      • input/camera2/rois [default: /perception/object_recognition/detection/rois2]
      • input/camera3/image [default: /sensing/camera/camera3/image_rect_color]
      • input/camera3/info [default: /sensing/camera/camera3/camera_info]
      • input/camera3/rois [default: /perception/object_recognition/detection/rois3]
      • input/camera4/image [default: /sensing/camera/camera4/image_rect_color]
      • input/camera4/info [default: /sensing/camera/camera4/camera_info]
      • input/camera4/rois [default: /perception/object_recognition/detection/rois4]
      • input/camera5/image [default: /sensing/camera/camera5/image_rect_color]
      • input/camera5/info [default: /sensing/camera/camera5/camera_info]
      • input/camera5/rois [default: /perception/object_recognition/detection/rois5]
      • input/camera6/image [default: /sensing/camera/camera6/image_rect_color]
      • input/camera6/info [default: /sensing/camera/camera6/camera_info]
      • input/camera6/rois [default: /perception/object_recognition/detection/rois6]
      • input/camera7/image [default: /sensing/camera/camera7/image_rect_color]
      • input/camera7/info [default: /sensing/camera/camera7/camera_info]
      • input/camera7/rois [default: /perception/object_recognition/detection/rois7]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • near_range_camera_vru_param_path [default: $(var perception_config_dir)/object_recognition/detection/camera_vru_detection/near_range_camera_vru_detector.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
  • launch/object_recognition/object_recognition_camera_lidar_radar.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • pointpainting_model_path [default: $(var data_path)/image_projection_based_fusion]
      • camera_2d_detector/model_path [default: $(var data_path)/tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx]
      • camera_2d_detector/label_path [default: $(var data_path)/tensorrt_yolox/label.txt]
      • camera_2d_detector/color_map_path [default: $(var data_path)/tensorrt_yolox/semseg_color_map.csv]
      • camera_2d_detector/roi_remap_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/roi_label_remap.csv]
      • camera_2d_detector/roi_to_semseg_remap_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/roi_to_semseg_label_remap.csv]
      • use_semantic_segmentation_ptv3 [default: false]
      • use_object_filter [default: true]
      • use_pointcloud_map [default: true]
      • use_validator [default: false]
      • objects_validation_method [default: obstacle_pointcloud]
      • use_low_height_cropbox [default: false]
      • use_low_intensity_cluster_filter [default: true]
      • use_image_segmentation_based_filter [default: false]
      • use_irregular_object_detector [default: true]
      • use_camera_vru_detector [default: false]
      • camera_vru_detector_rois_ids [default: [0]]
      • use_camera_only_detection [default: false]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • number_of_cameras [default: 6]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/semantic_segmentation/pointcloud [default: /perception/segmented/pointcloud]
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • input/camera0/image [default: /sensing/camera/camera0/image_rect_color]
      • input/camera0/info [default: /sensing/camera/camera0/camera_info]
      • input/camera0/rois [default: /perception/object_recognition/detection/rois0]
      • input/camera1/image [default: /sensing/camera/camera1/image_rect_color]
      • input/camera1/info [default: /sensing/camera/camera1/camera_info]
      • input/camera1/rois [default: /perception/object_recognition/detection/rois1]
      • input/camera2/image [default: /sensing/camera/camera2/image_rect_color]
      • input/camera2/info [default: /sensing/camera/camera2/camera_info]
      • input/camera2/rois [default: /perception/object_recognition/detection/rois2]
      • input/camera3/image [default: /sensing/camera/camera3/image_rect_color]
      • input/camera3/info [default: /sensing/camera/camera3/camera_info]
      • input/camera3/rois [default: /perception/object_recognition/detection/rois3]
      • input/camera4/image [default: /sensing/camera/camera4/image_rect_color]
      • input/camera4/info [default: /sensing/camera/camera4/camera_info]
      • input/camera4/rois [default: /perception/object_recognition/detection/rois4]
      • input/camera5/image [default: /sensing/camera/camera5/image_rect_color]
      • input/camera5/info [default: /sensing/camera/camera5/camera_info]
      • input/camera5/rois [default: /perception/object_recognition/detection/rois5]
      • input/camera6/image [default: /sensing/camera/camera6/image_rect_color]
      • input/camera6/info [default: /sensing/camera/camera6/camera_info]
      • input/camera6/rois [default: /perception/object_recognition/detection/rois6]
      • input/camera7/image [default: /sensing/camera/camera7/image_rect_color]
      • input/camera7/info [default: /sensing/camera/camera7/camera_info]
      • input/camera7/rois [default: /perception/object_recognition/detection/rois7]
      • input/camera8/image [default: /sensing/camera/camera8/image_rect_color]
      • input/camera8/info [default: /sensing/camera/camera8/camera_info]
      • input/camera8/rois [default: /perception/object_recognition/detection/rois8]
      • input/concatenation_info [default: /sensing/lidar/concatenated/pointcloud_info]
      • input/radar [default: /sensing/radar/detected_objects]
      • input/camera_only/objects [default: /perception/object_recognition/detection/camera_only/objects]
      • input/camera_only/channel [default: camera_streampetr]
      • image_topic_name [default: image_rect_color]
      • segmentation_pointcloud_fusion_camera_ids [default: [0,2,4]]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • sync_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml]
      • roi_cluster_fusion_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml]
      • pointpainting_fusion_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/pointpainting_common.param.yaml]
      • irregular_object_crop_box_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/crop_box_filter.param.yaml]
      • irregular_object_scan_ground_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/scan_ground_filter.param.yaml]
      • irregular_object_roi_pointcloud_fusion_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/roi_pointcloud_fusion.param.yaml]
      • irregular_object_fusion_camera_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/fusion_cameras.param.yaml]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • voxel_grid_based_euclidean_param_path [default: $(var perception_config_dir)/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml]
      • radar_lanelet_filtering_range_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml]
      • object_recognition_detection_object_sorter_radar_param_path [default: $(var perception_config_dir)/object_recognition/detection/radar_filter/detected_object_sorter.param.yaml]
      • near_range_camera_vru_param_path [default: $(var perception_config_dir)/object_recognition/detection/camera_vru_detection/near_range_camera_vru_detector.param.yaml]
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path [default: $(var perception_config_dir)/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
      • euclidean_clustering/param_path [default: $(var perception_config_dir)/object_recognition/detection/euclidean_cluster/label_based_euclidean_cluster.param.yaml]
  • launch/object_recognition/object_recognition_camera_lidar_radar_serial.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • pointpainting_model_path [default: $(var data_path)/image_projection_based_fusion]
      • camera_2d_detector/model_path [default: $(var data_path)/tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx]
      • camera_2d_detector/label_path [default: $(var data_path)/tensorrt_yolox/label.txt]
      • camera_2d_detector/color_map_path [default: $(var data_path)/tensorrt_yolox/semseg_color_map.csv]
      • camera_2d_detector/roi_remap_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/roi_label_remap.csv]
      • camera_2d_detector/roi_to_semseg_remap_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/roi_to_semseg_label_remap.csv]
      • use_object_filter [default: true]
      • objects_filter_method [default: lanelet_filter]
      • use_pointcloud_map [default: true]
      • use_validator [default: false]
      • objects_validation_method [default: obstacle_pointcloud]
      • use_roi_detected_object_validator [default: true]
      • use_detection_by_tracker [default: true]
      • use_low_height_cropbox [default: false]
      • use_low_intensity_cluster_filter [default: true]
      • use_image_segmentation_based_filter [default: false]
      • use_irregular_object_detector [default: true]
      • ml_camera_lidar_merger_priority_mode [default: 0]
      • use_vector_map [default: true]
      • number_of_cameras [default: 6]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • input/camera0/image [default: /sensing/camera/camera0/image_rect_color]
      • input/camera0/info [default: /sensing/camera/camera0/camera_info]
      • input/camera0/rois [default: /perception/object_recognition/detection/rois0]
      • input/camera1/image [default: /sensing/camera/camera1/image_rect_color]
      • input/camera1/info [default: /sensing/camera/camera1/camera_info]
      • input/camera1/rois [default: /perception/object_recognition/detection/rois1]
      • input/camera2/image [default: /sensing/camera/camera2/image_rect_color]
      • input/camera2/info [default: /sensing/camera/camera2/camera_info]
      • input/camera2/rois [default: /perception/object_recognition/detection/rois2]
      • input/camera3/image [default: /sensing/camera/camera3/image_rect_color]
      • input/camera3/info [default: /sensing/camera/camera3/camera_info]
      • input/camera3/rois [default: /perception/object_recognition/detection/rois3]
      • input/camera4/image [default: /sensing/camera/camera4/image_rect_color]
      • input/camera4/info [default: /sensing/camera/camera4/camera_info]
      • input/camera4/rois [default: /perception/object_recognition/detection/rois4]
      • input/camera5/image [default: /sensing/camera/camera5/image_rect_color]
      • input/camera5/info [default: /sensing/camera/camera5/camera_info]
      • input/camera5/rois [default: /perception/object_recognition/detection/rois5]
      • input/camera6/image [default: /sensing/camera/camera6/image_rect_color]
      • input/camera6/info [default: /sensing/camera/camera6/camera_info]
      • input/camera6/rois [default: /perception/object_recognition/detection/rois6]
      • input/camera7/image [default: /sensing/camera/camera7/image_rect_color]
      • input/camera7/info [default: /sensing/camera/camera7/camera_info]
      • input/camera7/rois [default: /perception/object_recognition/detection/rois7]
      • input/camera8/image [default: /sensing/camera/camera8/image_rect_color]
      • input/camera8/info [default: /sensing/camera/camera8/camera_info]
      • input/camera8/rois [default: /perception/object_recognition/detection/rois8]
      • input/concatenation_info [default: /sensing/lidar/concatenated/pointcloud_info]
      • input/radar/tracked_objects [default: /sensing/radar/tracked_objects]
      • image_topic_name [default: image_rect_color]
      • segmentation_pointcloud_fusion_camera_ids [default: [0,2,4]]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • sync_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml]
      • roi_cluster_fusion_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml]
      • pointpainting_fusion_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/pointpainting_common.param.yaml]
      • irregular_object_crop_box_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/crop_box_filter.param.yaml]
      • irregular_object_scan_ground_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/scan_ground_filter.param.yaml]
      • irregular_object_roi_pointcloud_fusion_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/roi_pointcloud_fusion.param.yaml]
      • irregular_object_fusion_camera_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/fusion_cameras.param.yaml]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • voxel_grid_based_euclidean_param_path [default: $(var perception_config_dir)/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml]
      • detection_by_tracker_param_path [default: $(var perception_config_dir)/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml]
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path [default: $(var perception_config_dir)/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml]
      • object_recognition_detection_object_merger_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/data_association_matrix.param.yaml]
      • object_recognition_detection_object_merger_distance_threshold_list_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/overlapped_judge.param.yaml]
      • ml_camera_lidar_object_association_merger_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/ml_camera_lidar_object_association_merger.param.yaml]
      • roi_detected_object_fusion_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/roi_detected_object_fusion.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
      • object_recognition_tracking_radar_tracked_object_sorter_param_path [default: $(var perception_config_dir)/object_recognition/tracking/radar_object_tracker/tracked_object_sorter.param.yaml]
      • object_recognition_tracking_radar_tracked_object_lanelet_filter_param_path [default: $(var perception_config_dir)/object_recognition/tracking/radar_object_tracker/tracked_object_lanelet_filter.param.yaml]
      • object_recognition_tracking_object_merger_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/tracking_object_merger/data_association_matrix.param.yaml]
      • object_recognition_tracking_object_merger_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml]
      • euclidean_clustering/shape_policy [default: 0]
  • launch/object_recognition/object_recognition_lidar.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • use_pointcloud_map [default: true]
      • use_validator [default: false]
      • objects_validation_method [default: obstacle_pointcloud]
      • use_object_filter [default: true]
      • objects_filter_method [default: lanelet_filter]
      • use_low_height_cropbox [default: false]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • voxel_grid_based_euclidean_param_path [default: $(var perception_config_dir)/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml]
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path [default: $(var perception_config_dir)/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
  • launch/object_recognition/object_recognition_lidar_ptv3.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/semantic_segmentation/pointcloud [default: /perception/segmented/pointcloud]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
      • euclidean_clustering/param_path [default: $(var perception_config_dir)/object_recognition/detection/euclidean_cluster/label_based_euclidean_cluster.param.yaml]
  • launch/object_recognition/object_recognition_lidar_radar.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • use_low_height_cropbox [default: false]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/semantic_segmentation/pointcloud [default: /perception/segmented/pointcloud]
      • input/radar [default: /sensing/radar/detected_objects]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • voxel_grid_based_euclidean_param_path [default: $(var perception_config_dir)/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml]
      • radar_lanelet_filtering_range_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml]
      • object_recognition_detection_object_sorter_radar_param_path [default: $(var perception_config_dir)/object_recognition/detection/radar_filter/detected_object_sorter.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
      • euclidean_clustering/param_path [default: $(var perception_config_dir)/object_recognition/detection/euclidean_cluster/label_based_euclidean_cluster.param.yaml]
  • launch/object_recognition/prediction/prediction.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • use_vector_map [default: false]
      • prediction_model_type [default: map_based]
      • input/objects [default: /perception/object_recognition/tracking/objects]
      • output/objects [default: /perception/object_recognition/objects]
      • object_recognition_prediction_map_based_prediction_param_path [default: $(var perception_config_dir)/object_recognition/prediction/map_based_prediction.param.yaml]
  • launch/obstacle_segmentation/ground_segmentation_additional_lidars.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • target_container
      • lidar_name
      • base_frame [default: base_link]
      • use_intra_process [default: true]
      • input/main/pointcloud
      • input/lidar/pointcloud [default: /sensing/lidar/$(var lidar_name)/pointcloud]
      • output/pointcloud
      • output/pointcloud_info [default: $(var output/pointcloud)_info]
      • crop_box_margin_max_z [default: 2.5]
      • crop_box_margin_min_z [default: -2.5]
      • crop_box_filter_node_param_path [default: $(var perception_config_dir)/obstacle_segmentation/ground_segmentation/crop_box_filter.param.yaml]
      • scan_ground_filter_node_param_path [default: $(var perception_config_dir)/obstacle_segmentation/ground_segmentation/scan_ground_filter.param.yaml]
  • launch/obstacle_segmentation/ground_segmentation_ml.launch.xml
      • pointcloud_container_name [default: pointcloud_container]
      • use_pointcloud_container [default: true]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/pointcloud/segmentation [default: /perception/segmented/pointcloud]
      • output/pointcloud/visualization [default: /perception/segmented/pointcloud/visualization]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • model_variant [default: ptv3]
      • model_path [default: $(var data_path)/ptv3]
  • launch/obstacle_segmentation/ground_segmentation_ransac.launch.xml
      • target_container
      • base_frame [default: base_link]
      • use_intra_process [default: true]
      • input_topics
      • input/main/pointcloud
      • output/pointcloud
      • output/pointcloud_info [default: $(var output/pointcloud)_info]
      • detection_area_crop_box_filter_node_param_path
      • ransac_ground_filter_node_param_path [default: $(find-pkg-share autoware_ground_segmentation)/config/ransac_ground_filter.param.yaml]
  • launch/obstacle_segmentation/ground_segmentation_rule_based.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • target_container
      • base_frame [default: base_link]
      • use_intra_process [default: true]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • crop_box_margin_max_z [default: 2.5]
      • crop_box_margin_min_z [default: -2.5]
      • crop_box_filter_node_param_path [default: $(var perception_config_dir)/obstacle_segmentation/ground_segmentation/crop_box_filter.param.yaml]
      • scan_ground_filter_node_param_path [default: $(var perception_config_dir)/obstacle_segmentation/ground_segmentation/scan_ground_filter.param.yaml]
  • launch/obstacle_segmentation/ground_segmentation_rule_based_cuda.launch.xml
      • target_container
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/ground_pointcloud [default: /perception/obstacle_segmentation/ground_pointcloud]
      • cuda_scan_ground_segmentation_filter_node_param_path [default: $(find-pkg-share autoware_ground_segmentation_cuda)/config/cuda_scan_ground_segmentation_filter.param.yaml]
  • launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • input/obstacle_pointcloud [default: concatenated/pointcloud]
      • input/raw_pointcloud [default: no_ground/oneshot/pointcloud]
      • output [default: /perception/occupancy_grid_map/map]
      • use_intra_process [default: false]
      • use_multithread [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • occupancy_grid_map_method
      • occupancy_grid_map_param_path [default: $(var perception_config_dir)/occupancy_grid_map/$(var occupancy_grid_map_method).param.yaml]
      • occupancy_grid_map_updater
      • occupancy_grid_map_updater_param_path [default: $(var perception_config_dir)/occupancy_grid_map/$(var occupancy_grid_map_updater)_updater.param.yaml]
      • input_obstacle_pointcloud [default: false]
      • input_obstacle_and_raw_pointcloud [default: true]
      • use_pointcloud_container [default: true]
  • launch/traffic_light_recognition/traffic_light_detector_fine.launch.xml
    • Fine-detection chain for one traffic light camera: map based detector proposes rough ROIs, the fine detector refines them, classifiers label them.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespace
      • enable_image_decompressor [default: true]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • map_based_detector_param_path [default: $(find-pkg-share autoware_traffic_light_map_based_detector)/config/traffic_light_map_based_detector.param.yaml]
      • fine_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_fine_detector/traffic_light_fine_detector.param.yaml]
      • car_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/car_traffic_light_classifier.param.yaml]
      • pedestrian_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/pedestrian_traffic_light_classifier.param.yaml]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • roi_visualizer_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_visualization/traffic_light_roi_visualizer.param.yaml]
      • fine_detector_model_path [default: $(var data_path)/traffic_light_fine_detector/tlr_car_ped_yolox_s_batch_6.onnx]
      • fine_detector_label_path [default: $(var data_path)/traffic_light_fine_detector/tlr_labels.txt]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
  • launch/traffic_light_recognition/traffic_light_detector_rough.launch.xml
    • Rough-detection chain for one traffic light camera: map based detector ROIs feed the classifiers directly, without a high accuracy detector.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespace
      • enable_image_decompressor [default: true]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • map_based_detector_param_path [default: $(find-pkg-share autoware_traffic_light_map_based_detector)/config/traffic_light_map_based_detector.param.yaml]
      • car_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/car_traffic_light_classifier.param.yaml]
      • pedestrian_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/pedestrian_traffic_light_classifier.param.yaml]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • roi_visualizer_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_visualization/traffic_light_roi_visualizer.param.yaml]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
  • launch/traffic_light_recognition/traffic_light_detector_whole_image.launch.xml
    • Whole-image detection chain for one traffic light camera: yolox detects over the full image, the selector matches detections to map based ROIs, classifiers label them.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespace
      • enable_image_decompressor [default: true]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • map_based_detector_param_path [default: $(find-pkg-share autoware_traffic_light_map_based_detector)/config/traffic_light_map_based_detector.param.yaml]
      • whole_image_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/yolox_traffic_light_detector.param.yaml]
      • car_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/car_traffic_light_classifier.param.yaml]
      • pedestrian_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/pedestrian_traffic_light_classifier.param.yaml]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • roi_visualizer_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_visualization/traffic_light_roi_visualizer.param.yaml]
      • whole_image_detector_model_path [default: $(var data_path)/tensorrt_yolox/yolox_s_car_ped_tl_detector_960_960_batch_1.onnx]
      • whole_image_detector_label_path [default: $(var data_path)/tensorrt_yolox/car_ped_tl_detector_labels.txt]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
  • launch/traffic_light_recognition/traffic_light_fusion.launch.xml
    • Post-process shared by all traffic light cameras: multi camera fusion, V2X arbitration, pedestrian signal estimation and map visualization.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespaces [default: [camera6, camera7]]
      • input/vector_map [default: /map/vector_map]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • internal/traffic_signals [default: /perception/traffic_light_recognition/internal/traffic_signals]
      • judged/traffic_signals [default: /perception/traffic_light_recognition/judged/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • multi_camera_fusion_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_multi_camera_fusion/traffic_light_multi_camera_fusion.param.yaml]
      • arbiter_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_arbiter/traffic_light_arbiter.param.yaml]
      • crosswalk_estimator_param_path [default: $(var perception_config_dir)/traffic_light_recognition/crosswalk_traffic_light_estimator/crosswalk_traffic_light_estimator.param.yaml]
  • launch/traffic_light_recognition/traffic_light_occlusion_predictor.launch.xml
    • Occlusion check for one traffic light camera: merges the car and pedestrian signals into the per-camera output, masking signals hidden from the camera.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespace
      • input/cloud [default: /sensing/lidar/top/pointcloud_raw_ex]
      • input/vector_map [default: /map/vector_map]
      • occlusion_predictor_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_occlusion_predictor/traffic_light_occlusion_predictor.param.yaml]
  • launch/traffic_light_recognition/traffic_light_recognition_fine.launch.xml
    • Traffic light recognition, fine detection mode: per-camera fine detection with occlusion check, then shared fusion. Two cameras as the representative set; add or remove per-camera blocks to match the vehicle.
      • perception_config_pkg [default: autoware_perception_config]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • input/pointcloud [default: /sensing/lidar/top/pointcloud_raw_ex]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • fine_detector_model_path [default: $(var data_path)/traffic_light_fine_detector/tlr_car_ped_yolox_s_batch_6.onnx]
      • fine_detector_label_path [default: $(var data_path)/traffic_light_fine_detector/tlr_labels.txt]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
      • base_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/base_traffic_light_map_based_detector.param.yaml]
      • extra_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/extra_traffic_light_map_based_detector.param.yaml]
  • launch/traffic_light_recognition/traffic_light_recognition_merge.launch.xml
    • Traffic light recognition, merge mode: detection and classification run on other ECUs; this side runs the per-camera occlusion check and the shared fusion. Two cameras as the representative set; add or remove per-camera blocks to match the vehicle.
      • input/vector_map [default: /map/vector_map]
      • input/pointcloud [default: /sensing/lidar/top/pointcloud_raw_ex]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
  • launch/traffic_light_recognition/traffic_light_recognition_rough.launch.xml
    • Traffic light recognition, rough detection mode: per-camera map based detection with occlusion check, then shared fusion. One camera as the representative set; add or remove per-camera blocks to match the vehicle.
      • perception_config_pkg [default: autoware_perception_config]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • input/pointcloud [default: /sensing/lidar/top/pointcloud_raw_ex]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
      • base_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/base_traffic_light_map_based_detector.param.yaml]
  • launch/traffic_light_recognition/traffic_light_recognition_whole_image.launch.xml
    • Traffic light recognition, whole-image detection mode: per-camera yolox detection, then shared fusion. Two cameras as the representative set; add or remove per-camera blocks to match the vehicle.
      • perception_config_pkg [default: autoware_perception_config]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • whole_image_detector_model_path [default: $(var data_path)/tensorrt_yolox/yolox_s_car_ped_tl_detector_960_960_batch_1.onnx]
      • whole_image_detector_label_path [default: $(var data_path)/tensorrt_yolox/car_ped_tl_detector_labels.txt]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
      • base_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/base_traffic_light_map_based_detector.param.yaml]
      • extra_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/extra_traffic_light_map_based_detector.param.yaml]

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autoware_perception_launch package from autoware_launch repo

autoware_launch autoware_sample_designs autoware_control_config autoware_control_launch autoware_localization_config autoware_localization_launch autoware_map_config autoware_map_launch autoware_perception_config autoware_perception_launch autoware_planning_config autoware_planning_launch autoware_sensing_launch autoware_sensor_driver_launch awsim_labs_sensor_kit_description awsim_labs_sensor_kit_launch awsim_sensor_kit_description awsim_sensor_kit_launch carla_sensor_kit_description carla_sensor_kit_launch sample_sensor_kit_description sample_sensor_kit_launch single_lidar_sensor_kit_description single_lidar_sensor_kit_launch tier4_autoware_api_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch awsim_labs_vehicle_description awsim_labs_vehicle_launch sample_vehicle_description sample_vehicle_launch

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Package Summary

Version 0.52.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_launch.git
VCS Type git
VCS Version main
Last Updated 2026-10-09
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_perception_launch package

Maintainers

  • Yukihiro Saito
  • Dai Nguyen
  • Taekjin Lee
  • Yoshi Ri
  • Masato Saeki

Authors

No additional authors.
autoware_universe_launch/autoware_perception_launch/README.md

autoware_perception_launch

Shared perception launch library. The system component launchers live in the product layer (autoware_launch/launch/components/component_perception.launch.xml for the lidar pipeline and component_traffic_light.launch.xml for traffic light recognition); this package hosts the perception feature launchers they combine:

launch/
├── common/                        # shared preprocess feature launchers (pointcloud downsample)
├── object_recognition/
│   ├── object_recognition_<mode>.launch.xml  # detection + tracking + prediction per sensor mode
│   ├── detection/
│   │   ├── detector/              # detectors
│   │   ├── filter/                # filters
│   │   └── merger/                # detection-side serial merger (used by the camera_lidar_radar_serial launcher)
│   └── prediction/
├── obstacle_segmentation/
├── occupancy_grid_map/
└── traffic_light_recognition/
design/module/                     # Autoware System Designer modules; same subtree as launch/
├── object_recognition/
├── obstacle_segmentation/
├── occupancy_grid_map/
└── traffic_light_recognition/

Launch files

  • object_recognition/object_recognition_<mode>.launch.xml — one feature launcher per sensor mode (camera, lidar, lidar_ptv3, lidar_radar, camera_lidar_radar, camera_lidar_radar_serial); hosts the detection stage inline together with the tracker and prediction, and pushes their module namespaces. Camera and radar input topics default to their absolute sensing paths (/sensing/camera/cameraN/..., /sensing/radar/detected_objects), so callers override only what differs. Most modes wire the multi-channel tracker to the detector outputs; camera_lidar_radar_serial instead merges the detectors in the detection stage (optionally regenerating detections through detection-by-tracker), tracks the single merged detected_objects channel, and joins radar tracked objects at the decorative tracker merger. camera runs camera-only detectors (BEV and camera VRU).
  • The clustering backend is file selection, not a flag: lidar runs rule-based euclidean clustering off the obstacle segmentation cloud, while lidar_ptv3 and lidar_radar cluster the PTv3 semantic-segmentation cloud and drop the pointcloud map filter and the object validator that only the rule-based pipeline uses. Both feed their cluster objects to the tracker on the lidar_clustering channel.
  • object_recognition/detection/{detector,filter}/ — single-purpose launchers wired together by the object-recognition launchers. merger/camera_lidar_merger.launch.xml chains the detection-side object mergers for the camera_lidar_radar_serial launcher.
  • obstacle_segmentation/ground_segmentation_<backend>.launch.xml — ground removal backends (rule_based, rule_based_cuda, ml); backend selection is file selection. ground_segmentation_{additional_lidars,ransac}.launch.xml fold extra lidars into the obstacle stream for kits that carry them.
  • occupancy_grid_map/, common/, traffic_light_recognition/ — feature launchers included directly by the system components.

Namespace and container addressing

Callers own the namespaces: the system component pushes perception and object_recognition; object_recognition_<mode>.launch.xml pushes detection/tracking/prediction. The object-recognition launchers address their internal topics through the fixed /perception/object_recognition namespace. Composable nodes load into the shared pointcloud container, whose name is exposed as pointcloud_container_name and aliased to the node/pointcloud_container argument of the detector launchers.

Config

Parameter files are resolved from a config/ tree addressed through the perception_config_pkg argument, which defaults to autoware_perception_config. A product can relocate the whole tree by setting perception_config_pkg once at its entry point — the launch configuration propagates through every include — but it must then ship the same config/ layout. Products that differ in only a few files instead override the corresponding *_param_path arguments, which every feature launcher declares with a default:

<include file="$(find-pkg-share autoware_perception_launch)/launch/object_recognition/object_recognition_lidar.launch.xml">
  <arg name="perception_config_pkg" value="my_perception_config"/>
  <arg name="FOO_NODE_param_path" value="..."/>
</include>

component_perception.launch.xml, component_traffic_light.launch.xml and planning_simulator/perception_simulation.launch.xml each declare perception_config_pkg, so a product switches the tree at the component it launches.

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

Package Dependencies

Please see <exec_depend> in package.xml.

CHANGELOG

Changelog for package autoware_perception_launch

0.52.0 (2026-06-30)

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

  • fix(merger_topic): mis-aligning topic when using semantic_segmentation without multi_channel_tracker (#1895)

    • fix(merger_topic): mis-aligning topic when using semantic_segmentation without multi_channel_tracker

    * chore: rename for readablity ---------

  • fix(ptv3): model path (#1890)

  • chore: add maintainer (#1880)

  • fix(tier4_perception_launch): occupancy_grid_map input topic when ptv3 used (#1871)

    • fix(tier4_perception_launch): occupancy_grid_map input topic when ptv3 used

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • fix: remove unnecessary dependency (#1870)

  • feat: add semantic segmentation pipeline option (#1865)

    • fix: ground segmentation launch
    • fix: missing dependencies and param
    • fix: ptv3 topic
    • fix: euclidean pipeline
    • feat: add use_roi_detected_object_validator options
    • replace with label_based_euclidean
    • revert to bevfusion
    • fix: aligning with updated EC
    • fix: add alpha merger option
    • fix: missing toggle condition
    • disable irregular_object_detector
    • fix: camera_lidar_radar merger
    • update label_based_ec param
    • revert to v4.4.0 pipeline option
    • fix(merger launch): missing toggle condition
    • style(pre-commit): autofix
    • style(pre-commit): autofix
    • remove voxel_downsample and pc validation
    • RDDR-353 Enable irregular object detection (#2379)
    • update config for 2 new classes
    • typo
    • style(pre-commit): autofix
    • refactor
    • refactor
    • fix data_path
    • fix: adjust combination when ptv3 used
    • fix: remove fixed option when using ptv3
    • remove object filter

    * Update autoware_launch/config/perception/object_recognition/detection/euclidean_cluster/label_based_euclidean_cluster.param.yaml Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>

    * fix: add semseg pipeline option for lidar perception mode ---------Co-authored-by: ktro2828 <<60615504+ktro2828@users.noreply.github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>

  • feat(perception): update perception pipeline to remove shape estimation (#1846)

    • fix(perception): update input channels and ground segmentation parameters for improved tracking and detection
    • Changed associator type from 'bev' to 'polar' in multi-object tracker input channels for better performance.
    • Adjusted ground segmentation parameters: increased margin_max_z from 0.0 to 1.0 and detection_range_z_max from 2.5 to 3.5 to enhance ground detection capabilities.
    • feat(Tier4PlanningWrapper): add data_path parameter for enhanced configuration flexibility
    • Introduced a new parameter 'data_path' with a default value to improve the configuration options for the Tier4PlanningWrapper node.
    • This addition allows for better management of data paths within the planning framework.
    • refactor(perception): remove deprecated tracking modules and streamline object recognition configuration

File truncated at 100 lines see the full file

Package Dependencies

Deps Name
ament_cmake_auto
autoware_cmake
autoware_agnocast_wrapper
autoware_bevfusion
autoware_bytetrack
autoware_compare_map_segmentation
autoware_crosswalk_traffic_light_estimator
autoware_cuda_pointcloud_preprocessor
autoware_detected_object_feature_remover
autoware_detected_object_validation
autoware_detection_by_tracker
autoware_elevation_map_loader
autoware_euclidean_cluster
autoware_ground_segmentation
autoware_ground_segmentation_cuda
autoware_image_object_locator
autoware_image_projection_based_fusion
autoware_image_transport_decompressor
autoware_lidar_apollo_instance_segmentation
autoware_lidar_centerpoint
autoware_lidar_transfusion
autoware_map_based_prediction
autoware_multi_object_tracker
autoware_object_merger
autoware_object_sorter
autoware_occupancy_grid_map_outlier_filter
autoware_perception_config
autoware_pointcloud_preprocessor
autoware_probabilistic_occupancy_grid_map
autoware_ptv3
autoware_raindrop_cluster_filter
autoware_shape_estimation
autoware_simpl_prediction
autoware_simple_object_merger
autoware_tensorrt_bevdet
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
rclcpp_components
topic_tools
ament_lint_auto
autoware_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
autoware_launch
reaction_analyzer

Launch files

  • launch/common/pointcloud_downsample.launch.xml
      • pointcloud_container_name
      • cuda_pointcloud_preprocessing [default: false]
      • input/pointcloud
      • output/pointcloud
      • common_downsample_voxel_size_x [default: 0.05]
      • common_downsample_voxel_size_y [default: 0.05]
      • common_downsample_voxel_size_z [default: 0.05]
  • launch/object_recognition/detection/detector/camera_2d_detector.launch.xml
      • image_raw0 [default: /sensing/camera/camera0/image_raw]
      • image_raw1 [default: /sensing/camera/camera1/image_raw]
      • image_raw2 [default: /sensing/camera/camera2/image_raw]
      • image_raw3 [default: /sensing/camera/camera3/image_raw]
      • image_raw4 [default: /sensing/camera/camera4/image_raw]
      • image_raw5 [default: /sensing/camera/camera5/image_raw]
      • image_raw6 [default: /sensing/camera/camera6/image_raw]
      • image_raw7 [default: /sensing/camera/camera7/image_raw]
      • image_raw8 [default: /sensing/camera/camera8/image_raw]
      • image_raw9 [default: /sensing/camera/camera9/image_raw]
      • image_number [default: 1]
      • camera_index [default: 0]
      • use_bytetrack [default: true]
      • enable_visualizer [default: false]
      • camera_2d_detector/model_path
      • camera_2d_detector/label_path
      • camera_2d_detector/color_map_path
      • camera_2d_detector/roi_remap_path
      • camera_2d_detector/roi_to_semseg_remap_path
      • tensorrt_yolox_ns [default: ]
  • launch/object_recognition/detection/detector/camera_bev_detector.launch.xml
      • input/camera0/image
      • input/camera0/info
      • input/camera1/image
      • input/camera1/info
      • input/camera2/image
      • input/camera2/info
      • input/camera3/image
      • input/camera3/info
      • input/camera4/image
      • input/camera4/info
      • input/camera5/image
      • input/camera5/info
      • output/objects
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevdet_model_name [default: bevdet_one_lt_d]
      • bevdet_model_path [default: $(var data_path)/tensorrt_bevdet]
  • launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
      • ns
      • lidar_detection_model_type
      • lidar_detection_model_name
      • use_low_intensity_cluster_filter
      • use_image_segmentation_based_filter
      • number_of_cameras
      • input/camera0/image
      • input/camera0/info
      • input/camera0/rois
      • input/camera1/image
      • input/camera1/info
      • input/camera1/rois
      • input/camera2/image
      • input/camera2/info
      • input/camera2/rois
      • input/camera3/image
      • input/camera3/info
      • input/camera3/rois
      • input/camera4/image
      • input/camera4/info
      • input/camera4/rois
      • input/camera5/image
      • input/camera5/info
      • input/camera5/rois
      • input/camera6/image
      • input/camera6/info
      • input/camera6/rois
      • input/camera7/image
      • input/camera7/info
      • input/camera7/rois
      • input/camera8/image
      • input/camera8/info
      • input/camera8/rois
      • input/concatenation_info
      • segmentation_pointcloud_fusion_camera_ids
      • image_topic_name
      • sync_param_path
      • voxel_grid_based_euclidean_param_path
      • lidar_model_param_path
      • pointpainting_model_path [default: $(var data_path)/image_projection_based_fusion]
      • pointpainting_fusion_common_param_path
      • roi_cluster_fusion_param_path
      • node/pointcloud_container
      • input/pointcloud
      • input/pointcloud_map/pointcloud
      • input/obstacle_segmentation/pointcloud
      • output/ml_detector/objects
      • output/rule_detector/objects
      • camera_2d_detector/model_path
      • camera_2d_detector/label_path
      • camera_2d_detector/color_map_path
      • camera_2d_detector/roi_remap_path
      • camera_2d_detector/roi_to_semseg_remap_path
      • enable_2d_detection [default: false]
  • launch/object_recognition/detection/detector/camera_lidar_irregular_object_detector.launch.xml
      • pipeline_ns
      • node/pointcloud_container
      • output/objects [default: objects]
      • input/concatenation_info
      • input/pointcloud
      • irregular_object_crop_box_filter_node_param_path
      • irregular_object_scan_ground_filter_node_param_path
      • irregular_object_roi_pointcloud_fusion_node_param_path
      • irregular_object_fusion_camera_param_path
      • sync_param_path
  • launch/object_recognition/detection/detector/camera_vru_detector.launch.xml
      • input/camera0/info [default: /sensing/camera/camera0/camera_info]
      • input/camera0/rois [default: /perception/object_recognition/detection/rois0]
      • input/camera1/info [default: /sensing/camera/camera1/camera_info]
      • input/camera1/rois [default: /perception/object_recognition/detection/rois1]
      • input/camera2/info [default: /sensing/camera/camera2/camera_info]
      • input/camera2/rois [default: /perception/object_recognition/detection/rois2]
      • input/camera3/info [default: /sensing/camera/camera3/camera_info]
      • input/camera3/rois [default: /perception/object_recognition/detection/rois3]
      • input/camera4/info [default: /sensing/camera/camera4/camera_info]
      • input/camera4/rois [default: /perception/object_recognition/detection/rois4]
      • input/camera5/info [default: /sensing/camera/camera5/camera_info]
      • input/camera5/rois [default: /perception/object_recognition/detection/rois5]
      • input/camera6/info [default: /sensing/camera/camera6/camera_info]
      • input/camera6/rois [default: /perception/object_recognition/detection/rois6]
      • input/camera7/info [default: /sensing/camera/camera7/camera_info]
      • input/camera7/rois [default: /perception/object_recognition/detection/rois7]
      • output/objects [default: /perception/object_recognition/detection/camera_vru/objects]
      • bbox_object_locator_param_path
      • rois_ids [default: [0, 1]]
  • launch/object_recognition/detection/detector/irregular_object_detector.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • target_container
      • base_frame [default: base_link]
      • use_intra_process [default: true]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/concatenation_info [default: /sensing/lidar/concatenated/pointcloud_info]
      • output/clusters
      • crop_box_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/crop_box_filter.param.yaml]
      • scan_ground_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/scan_ground_filter.param.yaml]
      • roi_pointcloud_fusion_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/roi_pointcloud_fusion.param.yaml]
      • fusion_camera_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/fusion_cameras.param.yaml]
      • sync_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml]
  • launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
      • lidar_detection_model_type
      • lidar_detection_model_name
      • lidar_model_param_path
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • centerpoint_model_path [default: $(var data_path)/lidar_centerpoint]
      • centerpoint_common_param_path [default: $(find-pkg-share autoware_lidar_centerpoint)/config/centerpoint_common.param.yaml]
      • transfusion_model_path [default: $(var data_path)/lidar_transfusion]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type
      • node/pointcloud_container
      • input/pointcloud
      • output/objects
      • output/short_range_objects
  • launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
      • ns
      • node/pointcloud_container
      • input/pointcloud_map/pointcloud
      • input/obstacle_segmentation/pointcloud
      • output/cluster_objects
      • output/objects
      • voxel_grid_based_euclidean_param_path
      • use_low_height_cropbox [default: false]
  • launch/object_recognition/detection/detector/lidar_semantic_segmentation_detector.launch.xml
      • euclidean_clustering/param_path
      • input/pointcloud
      • output/objects
  • launch/object_recognition/detection/detector/tracker_based_detector.launch.xml
      • detection_by_tracker_param_path
      • input/clusters
      • input/tracked_objects
      • output/objects
  • launch/object_recognition/detection/filter/object_filter.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • objects_filter_method [default: lanelet_filter]
      • object_recognition_detection_object_lanelet_filter_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml]
      • object_recognition_detection_object_position_filter_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_filter/object_position_filter.param.yaml]
      • input/objects
      • output/objects
  • launch/object_recognition/detection/filter/object_validator.launch.xml
      • objects_validation_method
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path
      • input/obstacle_pointcloud
      • input/objects
      • output/objects
  • launch/object_recognition/detection/filter/pointcloud_downsample_filter.launch.xml
      • target_container
      • use_intra_process [default: true]
      • input/pointcloud
      • output/pointcloud
      • downsample_voxel_size [default: 0.1]
  • launch/object_recognition/detection/filter/pointcloud_map_filter.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • target_container
      • use_intra_process [default: true]
      • input/pointcloud
      • output/pointcloud
      • output/downsampled/pointcloud [default: /perception/obstacle_segmentation/pointcloud_map_filtered/downsampled/pointcloud]
      • downsample_voxel_size [default: 0.1]
      • voxel_based_compare_map_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/pointcloud_filter/voxel_based_compare_map_filter.param.yaml]
  • launch/object_recognition/detection/filter/radar_filter.launch.xml
      • object_sorter_param_path
      • radar_lanelet_filtering_range_param_path
      • input/radar
      • output/objects
  • launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • object_recognition_detection_object_merger_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/data_association_matrix.param.yaml]
      • object_recognition_detection_object_merger_distance_threshold_list_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/overlapped_judge.param.yaml]
      • ml_camera_lidar_object_association_merger_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/ml_camera_lidar_object_association_merger.param.yaml]
      • roi_detected_object_fusion_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/roi_detected_object_fusion.param.yaml]
      • sync_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml]
      • lidar_detection_model_type
      • use_detection_by_tracker
      • use_irregular_object_detector
      • use_roi_detected_object_validator
      • euclidean_clustering/shape_policy
      • use_object_filter
      • objects_filter_method
      • number_of_cameras
      • input/camera0/image
      • input/camera0/info
      • input/camera0/rois
      • input/camera1/image
      • input/camera1/info
      • input/camera1/rois
      • input/camera2/image
      • input/camera2/info
      • input/camera2/rois
      • input/camera3/image
      • input/camera3/info
      • input/camera3/rois
      • input/camera4/image
      • input/camera4/info
      • input/camera4/rois
      • input/camera5/image
      • input/camera5/info
      • input/camera5/rois
      • input/camera6/image
      • input/camera6/info
      • input/camera6/rois
      • input/camera7/image
      • input/camera7/info
      • input/camera7/rois
      • input/camera8/image
      • input/camera8/info
      • input/camera8/rois
      • input/concatenation_info [default: /sensing/lidar/concatenated/pointcloud_info]
      • input/lidar_ml/objects
      • input/lidar_cluster/objects
      • input/irregular_object/objects [default: ]
      • input/detection_by_tracker/objects
      • output/objects [default: objects]
      • alpha_merger_priority_mode [default: 0]
  • launch/object_recognition/object_recognition_camera.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • use_camera_vru_detector [default: false]
      • camera_vru_detector_rois_ids [default: [0]]
      • use_camera_bev_detector [default: true]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • input/camera0/image [default: /sensing/camera/camera0/image_rect_color]
      • input/camera0/info [default: /sensing/camera/camera0/camera_info]
      • input/camera0/rois [default: /perception/object_recognition/detection/rois0]
      • input/camera1/image [default: /sensing/camera/camera1/image_rect_color]
      • input/camera1/info [default: /sensing/camera/camera1/camera_info]
      • input/camera1/rois [default: /perception/object_recognition/detection/rois1]
      • input/camera2/image [default: /sensing/camera/camera2/image_rect_color]
      • input/camera2/info [default: /sensing/camera/camera2/camera_info]
      • input/camera2/rois [default: /perception/object_recognition/detection/rois2]
      • input/camera3/image [default: /sensing/camera/camera3/image_rect_color]
      • input/camera3/info [default: /sensing/camera/camera3/camera_info]
      • input/camera3/rois [default: /perception/object_recognition/detection/rois3]
      • input/camera4/image [default: /sensing/camera/camera4/image_rect_color]
      • input/camera4/info [default: /sensing/camera/camera4/camera_info]
      • input/camera4/rois [default: /perception/object_recognition/detection/rois4]
      • input/camera5/image [default: /sensing/camera/camera5/image_rect_color]
      • input/camera5/info [default: /sensing/camera/camera5/camera_info]
      • input/camera5/rois [default: /perception/object_recognition/detection/rois5]
      • input/camera6/image [default: /sensing/camera/camera6/image_rect_color]
      • input/camera6/info [default: /sensing/camera/camera6/camera_info]
      • input/camera6/rois [default: /perception/object_recognition/detection/rois6]
      • input/camera7/image [default: /sensing/camera/camera7/image_rect_color]
      • input/camera7/info [default: /sensing/camera/camera7/camera_info]
      • input/camera7/rois [default: /perception/object_recognition/detection/rois7]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • near_range_camera_vru_param_path [default: $(var perception_config_dir)/object_recognition/detection/camera_vru_detection/near_range_camera_vru_detector.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
  • launch/object_recognition/object_recognition_camera_lidar_radar.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • pointpainting_model_path [default: $(var data_path)/image_projection_based_fusion]
      • camera_2d_detector/model_path [default: $(var data_path)/tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx]
      • camera_2d_detector/label_path [default: $(var data_path)/tensorrt_yolox/label.txt]
      • camera_2d_detector/color_map_path [default: $(var data_path)/tensorrt_yolox/semseg_color_map.csv]
      • camera_2d_detector/roi_remap_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/roi_label_remap.csv]
      • camera_2d_detector/roi_to_semseg_remap_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/roi_to_semseg_label_remap.csv]
      • use_semantic_segmentation_ptv3 [default: false]
      • use_object_filter [default: true]
      • use_pointcloud_map [default: true]
      • use_validator [default: false]
      • objects_validation_method [default: obstacle_pointcloud]
      • use_low_height_cropbox [default: false]
      • use_low_intensity_cluster_filter [default: true]
      • use_image_segmentation_based_filter [default: false]
      • use_irregular_object_detector [default: true]
      • use_camera_vru_detector [default: false]
      • camera_vru_detector_rois_ids [default: [0]]
      • use_camera_only_detection [default: false]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • number_of_cameras [default: 6]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/semantic_segmentation/pointcloud [default: /perception/segmented/pointcloud]
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • input/camera0/image [default: /sensing/camera/camera0/image_rect_color]
      • input/camera0/info [default: /sensing/camera/camera0/camera_info]
      • input/camera0/rois [default: /perception/object_recognition/detection/rois0]
      • input/camera1/image [default: /sensing/camera/camera1/image_rect_color]
      • input/camera1/info [default: /sensing/camera/camera1/camera_info]
      • input/camera1/rois [default: /perception/object_recognition/detection/rois1]
      • input/camera2/image [default: /sensing/camera/camera2/image_rect_color]
      • input/camera2/info [default: /sensing/camera/camera2/camera_info]
      • input/camera2/rois [default: /perception/object_recognition/detection/rois2]
      • input/camera3/image [default: /sensing/camera/camera3/image_rect_color]
      • input/camera3/info [default: /sensing/camera/camera3/camera_info]
      • input/camera3/rois [default: /perception/object_recognition/detection/rois3]
      • input/camera4/image [default: /sensing/camera/camera4/image_rect_color]
      • input/camera4/info [default: /sensing/camera/camera4/camera_info]
      • input/camera4/rois [default: /perception/object_recognition/detection/rois4]
      • input/camera5/image [default: /sensing/camera/camera5/image_rect_color]
      • input/camera5/info [default: /sensing/camera/camera5/camera_info]
      • input/camera5/rois [default: /perception/object_recognition/detection/rois5]
      • input/camera6/image [default: /sensing/camera/camera6/image_rect_color]
      • input/camera6/info [default: /sensing/camera/camera6/camera_info]
      • input/camera6/rois [default: /perception/object_recognition/detection/rois6]
      • input/camera7/image [default: /sensing/camera/camera7/image_rect_color]
      • input/camera7/info [default: /sensing/camera/camera7/camera_info]
      • input/camera7/rois [default: /perception/object_recognition/detection/rois7]
      • input/camera8/image [default: /sensing/camera/camera8/image_rect_color]
      • input/camera8/info [default: /sensing/camera/camera8/camera_info]
      • input/camera8/rois [default: /perception/object_recognition/detection/rois8]
      • input/concatenation_info [default: /sensing/lidar/concatenated/pointcloud_info]
      • input/radar [default: /sensing/radar/detected_objects]
      • input/camera_only/objects [default: /perception/object_recognition/detection/camera_only/objects]
      • input/camera_only/channel [default: camera_streampetr]
      • image_topic_name [default: image_rect_color]
      • segmentation_pointcloud_fusion_camera_ids [default: [0,2,4]]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • sync_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml]
      • roi_cluster_fusion_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml]
      • pointpainting_fusion_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/pointpainting_common.param.yaml]
      • irregular_object_crop_box_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/crop_box_filter.param.yaml]
      • irregular_object_scan_ground_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/scan_ground_filter.param.yaml]
      • irregular_object_roi_pointcloud_fusion_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/roi_pointcloud_fusion.param.yaml]
      • irregular_object_fusion_camera_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/fusion_cameras.param.yaml]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • voxel_grid_based_euclidean_param_path [default: $(var perception_config_dir)/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml]
      • radar_lanelet_filtering_range_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml]
      • object_recognition_detection_object_sorter_radar_param_path [default: $(var perception_config_dir)/object_recognition/detection/radar_filter/detected_object_sorter.param.yaml]
      • near_range_camera_vru_param_path [default: $(var perception_config_dir)/object_recognition/detection/camera_vru_detection/near_range_camera_vru_detector.param.yaml]
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path [default: $(var perception_config_dir)/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
      • euclidean_clustering/param_path [default: $(var perception_config_dir)/object_recognition/detection/euclidean_cluster/label_based_euclidean_cluster.param.yaml]
  • launch/object_recognition/object_recognition_camera_lidar_radar_serial.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • pointpainting_model_path [default: $(var data_path)/image_projection_based_fusion]
      • camera_2d_detector/model_path [default: $(var data_path)/tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx]
      • camera_2d_detector/label_path [default: $(var data_path)/tensorrt_yolox/label.txt]
      • camera_2d_detector/color_map_path [default: $(var data_path)/tensorrt_yolox/semseg_color_map.csv]
      • camera_2d_detector/roi_remap_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/roi_label_remap.csv]
      • camera_2d_detector/roi_to_semseg_remap_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/roi_to_semseg_label_remap.csv]
      • use_object_filter [default: true]
      • objects_filter_method [default: lanelet_filter]
      • use_pointcloud_map [default: true]
      • use_validator [default: false]
      • objects_validation_method [default: obstacle_pointcloud]
      • use_roi_detected_object_validator [default: true]
      • use_detection_by_tracker [default: true]
      • use_low_height_cropbox [default: false]
      • use_low_intensity_cluster_filter [default: true]
      • use_image_segmentation_based_filter [default: false]
      • use_irregular_object_detector [default: true]
      • ml_camera_lidar_merger_priority_mode [default: 0]
      • use_vector_map [default: true]
      • number_of_cameras [default: 6]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • input/camera0/image [default: /sensing/camera/camera0/image_rect_color]
      • input/camera0/info [default: /sensing/camera/camera0/camera_info]
      • input/camera0/rois [default: /perception/object_recognition/detection/rois0]
      • input/camera1/image [default: /sensing/camera/camera1/image_rect_color]
      • input/camera1/info [default: /sensing/camera/camera1/camera_info]
      • input/camera1/rois [default: /perception/object_recognition/detection/rois1]
      • input/camera2/image [default: /sensing/camera/camera2/image_rect_color]
      • input/camera2/info [default: /sensing/camera/camera2/camera_info]
      • input/camera2/rois [default: /perception/object_recognition/detection/rois2]
      • input/camera3/image [default: /sensing/camera/camera3/image_rect_color]
      • input/camera3/info [default: /sensing/camera/camera3/camera_info]
      • input/camera3/rois [default: /perception/object_recognition/detection/rois3]
      • input/camera4/image [default: /sensing/camera/camera4/image_rect_color]
      • input/camera4/info [default: /sensing/camera/camera4/camera_info]
      • input/camera4/rois [default: /perception/object_recognition/detection/rois4]
      • input/camera5/image [default: /sensing/camera/camera5/image_rect_color]
      • input/camera5/info [default: /sensing/camera/camera5/camera_info]
      • input/camera5/rois [default: /perception/object_recognition/detection/rois5]
      • input/camera6/image [default: /sensing/camera/camera6/image_rect_color]
      • input/camera6/info [default: /sensing/camera/camera6/camera_info]
      • input/camera6/rois [default: /perception/object_recognition/detection/rois6]
      • input/camera7/image [default: /sensing/camera/camera7/image_rect_color]
      • input/camera7/info [default: /sensing/camera/camera7/camera_info]
      • input/camera7/rois [default: /perception/object_recognition/detection/rois7]
      • input/camera8/image [default: /sensing/camera/camera8/image_rect_color]
      • input/camera8/info [default: /sensing/camera/camera8/camera_info]
      • input/camera8/rois [default: /perception/object_recognition/detection/rois8]
      • input/concatenation_info [default: /sensing/lidar/concatenated/pointcloud_info]
      • input/radar/tracked_objects [default: /sensing/radar/tracked_objects]
      • image_topic_name [default: image_rect_color]
      • segmentation_pointcloud_fusion_camera_ids [default: [0,2,4]]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • sync_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml]
      • roi_cluster_fusion_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml]
      • pointpainting_fusion_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/pointpainting_common.param.yaml]
      • irregular_object_crop_box_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/crop_box_filter.param.yaml]
      • irregular_object_scan_ground_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/scan_ground_filter.param.yaml]
      • irregular_object_roi_pointcloud_fusion_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/roi_pointcloud_fusion.param.yaml]
      • irregular_object_fusion_camera_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/fusion_cameras.param.yaml]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • voxel_grid_based_euclidean_param_path [default: $(var perception_config_dir)/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml]
      • detection_by_tracker_param_path [default: $(var perception_config_dir)/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml]
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path [default: $(var perception_config_dir)/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml]
      • object_recognition_detection_object_merger_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/data_association_matrix.param.yaml]
      • object_recognition_detection_object_merger_distance_threshold_list_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/overlapped_judge.param.yaml]
      • ml_camera_lidar_object_association_merger_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/ml_camera_lidar_object_association_merger.param.yaml]
      • roi_detected_object_fusion_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/roi_detected_object_fusion.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
      • object_recognition_tracking_radar_tracked_object_sorter_param_path [default: $(var perception_config_dir)/object_recognition/tracking/radar_object_tracker/tracked_object_sorter.param.yaml]
      • object_recognition_tracking_radar_tracked_object_lanelet_filter_param_path [default: $(var perception_config_dir)/object_recognition/tracking/radar_object_tracker/tracked_object_lanelet_filter.param.yaml]
      • object_recognition_tracking_object_merger_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/tracking_object_merger/data_association_matrix.param.yaml]
      • object_recognition_tracking_object_merger_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml]
      • euclidean_clustering/shape_policy [default: 0]
  • launch/object_recognition/object_recognition_lidar.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • use_pointcloud_map [default: true]
      • use_validator [default: false]
      • objects_validation_method [default: obstacle_pointcloud]
      • use_object_filter [default: true]
      • objects_filter_method [default: lanelet_filter]
      • use_low_height_cropbox [default: false]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • voxel_grid_based_euclidean_param_path [default: $(var perception_config_dir)/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml]
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path [default: $(var perception_config_dir)/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
  • launch/object_recognition/object_recognition_lidar_ptv3.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/semantic_segmentation/pointcloud [default: /perception/segmented/pointcloud]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
      • euclidean_clustering/param_path [default: $(var perception_config_dir)/object_recognition/detection/euclidean_cluster/label_based_euclidean_cluster.param.yaml]
  • launch/object_recognition/object_recognition_lidar_radar.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • use_low_height_cropbox [default: false]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/semantic_segmentation/pointcloud [default: /perception/segmented/pointcloud]
      • input/radar [default: /sensing/radar/detected_objects]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • voxel_grid_based_euclidean_param_path [default: $(var perception_config_dir)/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml]
      • radar_lanelet_filtering_range_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml]
      • object_recognition_detection_object_sorter_radar_param_path [default: $(var perception_config_dir)/object_recognition/detection/radar_filter/detected_object_sorter.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
      • euclidean_clustering/param_path [default: $(var perception_config_dir)/object_recognition/detection/euclidean_cluster/label_based_euclidean_cluster.param.yaml]
  • launch/object_recognition/prediction/prediction.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • use_vector_map [default: false]
      • prediction_model_type [default: map_based]
      • input/objects [default: /perception/object_recognition/tracking/objects]
      • output/objects [default: /perception/object_recognition/objects]
      • object_recognition_prediction_map_based_prediction_param_path [default: $(var perception_config_dir)/object_recognition/prediction/map_based_prediction.param.yaml]
  • launch/obstacle_segmentation/ground_segmentation_additional_lidars.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • target_container
      • lidar_name
      • base_frame [default: base_link]
      • use_intra_process [default: true]
      • input/main/pointcloud
      • input/lidar/pointcloud [default: /sensing/lidar/$(var lidar_name)/pointcloud]
      • output/pointcloud
      • output/pointcloud_info [default: $(var output/pointcloud)_info]
      • crop_box_margin_max_z [default: 2.5]
      • crop_box_margin_min_z [default: -2.5]
      • crop_box_filter_node_param_path [default: $(var perception_config_dir)/obstacle_segmentation/ground_segmentation/crop_box_filter.param.yaml]
      • scan_ground_filter_node_param_path [default: $(var perception_config_dir)/obstacle_segmentation/ground_segmentation/scan_ground_filter.param.yaml]
  • launch/obstacle_segmentation/ground_segmentation_ml.launch.xml
      • pointcloud_container_name [default: pointcloud_container]
      • use_pointcloud_container [default: true]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/pointcloud/segmentation [default: /perception/segmented/pointcloud]
      • output/pointcloud/visualization [default: /perception/segmented/pointcloud/visualization]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • model_variant [default: ptv3]
      • model_path [default: $(var data_path)/ptv3]
  • launch/obstacle_segmentation/ground_segmentation_ransac.launch.xml
      • target_container
      • base_frame [default: base_link]
      • use_intra_process [default: true]
      • input_topics
      • input/main/pointcloud
      • output/pointcloud
      • output/pointcloud_info [default: $(var output/pointcloud)_info]
      • detection_area_crop_box_filter_node_param_path
      • ransac_ground_filter_node_param_path [default: $(find-pkg-share autoware_ground_segmentation)/config/ransac_ground_filter.param.yaml]
  • launch/obstacle_segmentation/ground_segmentation_rule_based.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • target_container
      • base_frame [default: base_link]
      • use_intra_process [default: true]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • crop_box_margin_max_z [default: 2.5]
      • crop_box_margin_min_z [default: -2.5]
      • crop_box_filter_node_param_path [default: $(var perception_config_dir)/obstacle_segmentation/ground_segmentation/crop_box_filter.param.yaml]
      • scan_ground_filter_node_param_path [default: $(var perception_config_dir)/obstacle_segmentation/ground_segmentation/scan_ground_filter.param.yaml]
  • launch/obstacle_segmentation/ground_segmentation_rule_based_cuda.launch.xml
      • target_container
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/ground_pointcloud [default: /perception/obstacle_segmentation/ground_pointcloud]
      • cuda_scan_ground_segmentation_filter_node_param_path [default: $(find-pkg-share autoware_ground_segmentation_cuda)/config/cuda_scan_ground_segmentation_filter.param.yaml]
  • launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • input/obstacle_pointcloud [default: concatenated/pointcloud]
      • input/raw_pointcloud [default: no_ground/oneshot/pointcloud]
      • output [default: /perception/occupancy_grid_map/map]
      • use_intra_process [default: false]
      • use_multithread [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • occupancy_grid_map_method
      • occupancy_grid_map_param_path [default: $(var perception_config_dir)/occupancy_grid_map/$(var occupancy_grid_map_method).param.yaml]
      • occupancy_grid_map_updater
      • occupancy_grid_map_updater_param_path [default: $(var perception_config_dir)/occupancy_grid_map/$(var occupancy_grid_map_updater)_updater.param.yaml]
      • input_obstacle_pointcloud [default: false]
      • input_obstacle_and_raw_pointcloud [default: true]
      • use_pointcloud_container [default: true]
  • launch/traffic_light_recognition/traffic_light_detector_fine.launch.xml
    • Fine-detection chain for one traffic light camera: map based detector proposes rough ROIs, the fine detector refines them, classifiers label them.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespace
      • enable_image_decompressor [default: true]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • map_based_detector_param_path [default: $(find-pkg-share autoware_traffic_light_map_based_detector)/config/traffic_light_map_based_detector.param.yaml]
      • fine_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_fine_detector/traffic_light_fine_detector.param.yaml]
      • car_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/car_traffic_light_classifier.param.yaml]
      • pedestrian_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/pedestrian_traffic_light_classifier.param.yaml]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • roi_visualizer_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_visualization/traffic_light_roi_visualizer.param.yaml]
      • fine_detector_model_path [default: $(var data_path)/traffic_light_fine_detector/tlr_car_ped_yolox_s_batch_6.onnx]
      • fine_detector_label_path [default: $(var data_path)/traffic_light_fine_detector/tlr_labels.txt]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
  • launch/traffic_light_recognition/traffic_light_detector_rough.launch.xml
    • Rough-detection chain for one traffic light camera: map based detector ROIs feed the classifiers directly, without a high accuracy detector.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespace
      • enable_image_decompressor [default: true]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • map_based_detector_param_path [default: $(find-pkg-share autoware_traffic_light_map_based_detector)/config/traffic_light_map_based_detector.param.yaml]
      • car_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/car_traffic_light_classifier.param.yaml]
      • pedestrian_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/pedestrian_traffic_light_classifier.param.yaml]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • roi_visualizer_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_visualization/traffic_light_roi_visualizer.param.yaml]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
  • launch/traffic_light_recognition/traffic_light_detector_whole_image.launch.xml
    • Whole-image detection chain for one traffic light camera: yolox detects over the full image, the selector matches detections to map based ROIs, classifiers label them.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespace
      • enable_image_decompressor [default: true]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • map_based_detector_param_path [default: $(find-pkg-share autoware_traffic_light_map_based_detector)/config/traffic_light_map_based_detector.param.yaml]
      • whole_image_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/yolox_traffic_light_detector.param.yaml]
      • car_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/car_traffic_light_classifier.param.yaml]
      • pedestrian_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/pedestrian_traffic_light_classifier.param.yaml]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • roi_visualizer_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_visualization/traffic_light_roi_visualizer.param.yaml]
      • whole_image_detector_model_path [default: $(var data_path)/tensorrt_yolox/yolox_s_car_ped_tl_detector_960_960_batch_1.onnx]
      • whole_image_detector_label_path [default: $(var data_path)/tensorrt_yolox/car_ped_tl_detector_labels.txt]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
  • launch/traffic_light_recognition/traffic_light_fusion.launch.xml
    • Post-process shared by all traffic light cameras: multi camera fusion, V2X arbitration, pedestrian signal estimation and map visualization.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespaces [default: [camera6, camera7]]
      • input/vector_map [default: /map/vector_map]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • internal/traffic_signals [default: /perception/traffic_light_recognition/internal/traffic_signals]
      • judged/traffic_signals [default: /perception/traffic_light_recognition/judged/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • multi_camera_fusion_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_multi_camera_fusion/traffic_light_multi_camera_fusion.param.yaml]
      • arbiter_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_arbiter/traffic_light_arbiter.param.yaml]
      • crosswalk_estimator_param_path [default: $(var perception_config_dir)/traffic_light_recognition/crosswalk_traffic_light_estimator/crosswalk_traffic_light_estimator.param.yaml]
  • launch/traffic_light_recognition/traffic_light_occlusion_predictor.launch.xml
    • Occlusion check for one traffic light camera: merges the car and pedestrian signals into the per-camera output, masking signals hidden from the camera.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespace
      • input/cloud [default: /sensing/lidar/top/pointcloud_raw_ex]
      • input/vector_map [default: /map/vector_map]
      • occlusion_predictor_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_occlusion_predictor/traffic_light_occlusion_predictor.param.yaml]
  • launch/traffic_light_recognition/traffic_light_recognition_fine.launch.xml
    • Traffic light recognition, fine detection mode: per-camera fine detection with occlusion check, then shared fusion. Two cameras as the representative set; add or remove per-camera blocks to match the vehicle.
      • perception_config_pkg [default: autoware_perception_config]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • input/pointcloud [default: /sensing/lidar/top/pointcloud_raw_ex]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • fine_detector_model_path [default: $(var data_path)/traffic_light_fine_detector/tlr_car_ped_yolox_s_batch_6.onnx]
      • fine_detector_label_path [default: $(var data_path)/traffic_light_fine_detector/tlr_labels.txt]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
      • base_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/base_traffic_light_map_based_detector.param.yaml]
      • extra_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/extra_traffic_light_map_based_detector.param.yaml]
  • launch/traffic_light_recognition/traffic_light_recognition_merge.launch.xml
    • Traffic light recognition, merge mode: detection and classification run on other ECUs; this side runs the per-camera occlusion check and the shared fusion. Two cameras as the representative set; add or remove per-camera blocks to match the vehicle.
      • input/vector_map [default: /map/vector_map]
      • input/pointcloud [default: /sensing/lidar/top/pointcloud_raw_ex]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
  • launch/traffic_light_recognition/traffic_light_recognition_rough.launch.xml
    • Traffic light recognition, rough detection mode: per-camera map based detection with occlusion check, then shared fusion. One camera as the representative set; add or remove per-camera blocks to match the vehicle.
      • perception_config_pkg [default: autoware_perception_config]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • input/pointcloud [default: /sensing/lidar/top/pointcloud_raw_ex]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
      • base_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/base_traffic_light_map_based_detector.param.yaml]
  • launch/traffic_light_recognition/traffic_light_recognition_whole_image.launch.xml
    • Traffic light recognition, whole-image detection mode: per-camera yolox detection, then shared fusion. Two cameras as the representative set; add or remove per-camera blocks to match the vehicle.
      • perception_config_pkg [default: autoware_perception_config]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • whole_image_detector_model_path [default: $(var data_path)/tensorrt_yolox/yolox_s_car_ped_tl_detector_960_960_batch_1.onnx]
      • whole_image_detector_label_path [default: $(var data_path)/tensorrt_yolox/car_ped_tl_detector_labels.txt]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
      • base_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/base_traffic_light_map_based_detector.param.yaml]
      • extra_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/extra_traffic_light_map_based_detector.param.yaml]

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autoware_perception_launch package from autoware_launch repo

autoware_launch autoware_sample_designs autoware_control_config autoware_control_launch autoware_localization_config autoware_localization_launch autoware_map_config autoware_map_launch autoware_perception_config autoware_perception_launch autoware_planning_config autoware_planning_launch autoware_sensing_launch autoware_sensor_driver_launch awsim_labs_sensor_kit_description awsim_labs_sensor_kit_launch awsim_sensor_kit_description awsim_sensor_kit_launch carla_sensor_kit_description carla_sensor_kit_launch sample_sensor_kit_description sample_sensor_kit_launch single_lidar_sensor_kit_description single_lidar_sensor_kit_launch tier4_autoware_api_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch awsim_labs_vehicle_description awsim_labs_vehicle_launch sample_vehicle_description sample_vehicle_launch

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Package Summary

Version 0.52.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_launch.git
VCS Type git
VCS Version main
Last Updated 2026-10-09
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_perception_launch package

Maintainers

  • Yukihiro Saito
  • Dai Nguyen
  • Taekjin Lee
  • Yoshi Ri
  • Masato Saeki

Authors

No additional authors.
autoware_universe_launch/autoware_perception_launch/README.md

autoware_perception_launch

Shared perception launch library. The system component launchers live in the product layer (autoware_launch/launch/components/component_perception.launch.xml for the lidar pipeline and component_traffic_light.launch.xml for traffic light recognition); this package hosts the perception feature launchers they combine:

launch/
├── common/                        # shared preprocess feature launchers (pointcloud downsample)
├── object_recognition/
│   ├── object_recognition_<mode>.launch.xml  # detection + tracking + prediction per sensor mode
│   ├── detection/
│   │   ├── detector/              # detectors
│   │   ├── filter/                # filters
│   │   └── merger/                # detection-side serial merger (used by the camera_lidar_radar_serial launcher)
│   └── prediction/
├── obstacle_segmentation/
├── occupancy_grid_map/
└── traffic_light_recognition/
design/module/                     # Autoware System Designer modules; same subtree as launch/
├── object_recognition/
├── obstacle_segmentation/
├── occupancy_grid_map/
└── traffic_light_recognition/

Launch files

  • object_recognition/object_recognition_<mode>.launch.xml — one feature launcher per sensor mode (camera, lidar, lidar_ptv3, lidar_radar, camera_lidar_radar, camera_lidar_radar_serial); hosts the detection stage inline together with the tracker and prediction, and pushes their module namespaces. Camera and radar input topics default to their absolute sensing paths (/sensing/camera/cameraN/..., /sensing/radar/detected_objects), so callers override only what differs. Most modes wire the multi-channel tracker to the detector outputs; camera_lidar_radar_serial instead merges the detectors in the detection stage (optionally regenerating detections through detection-by-tracker), tracks the single merged detected_objects channel, and joins radar tracked objects at the decorative tracker merger. camera runs camera-only detectors (BEV and camera VRU).
  • The clustering backend is file selection, not a flag: lidar runs rule-based euclidean clustering off the obstacle segmentation cloud, while lidar_ptv3 and lidar_radar cluster the PTv3 semantic-segmentation cloud and drop the pointcloud map filter and the object validator that only the rule-based pipeline uses. Both feed their cluster objects to the tracker on the lidar_clustering channel.
  • object_recognition/detection/{detector,filter}/ — single-purpose launchers wired together by the object-recognition launchers. merger/camera_lidar_merger.launch.xml chains the detection-side object mergers for the camera_lidar_radar_serial launcher.
  • obstacle_segmentation/ground_segmentation_<backend>.launch.xml — ground removal backends (rule_based, rule_based_cuda, ml); backend selection is file selection. ground_segmentation_{additional_lidars,ransac}.launch.xml fold extra lidars into the obstacle stream for kits that carry them.
  • occupancy_grid_map/, common/, traffic_light_recognition/ — feature launchers included directly by the system components.

Namespace and container addressing

Callers own the namespaces: the system component pushes perception and object_recognition; object_recognition_<mode>.launch.xml pushes detection/tracking/prediction. The object-recognition launchers address their internal topics through the fixed /perception/object_recognition namespace. Composable nodes load into the shared pointcloud container, whose name is exposed as pointcloud_container_name and aliased to the node/pointcloud_container argument of the detector launchers.

Config

Parameter files are resolved from a config/ tree addressed through the perception_config_pkg argument, which defaults to autoware_perception_config. A product can relocate the whole tree by setting perception_config_pkg once at its entry point — the launch configuration propagates through every include — but it must then ship the same config/ layout. Products that differ in only a few files instead override the corresponding *_param_path arguments, which every feature launcher declares with a default:

<include file="$(find-pkg-share autoware_perception_launch)/launch/object_recognition/object_recognition_lidar.launch.xml">
  <arg name="perception_config_pkg" value="my_perception_config"/>
  <arg name="FOO_NODE_param_path" value="..."/>
</include>

component_perception.launch.xml, component_traffic_light.launch.xml and planning_simulator/perception_simulation.launch.xml each declare perception_config_pkg, so a product switches the tree at the component it launches.

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

Package Dependencies

Please see <exec_depend> in package.xml.

CHANGELOG

Changelog for package autoware_perception_launch

0.52.0 (2026-06-30)

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

  • fix(merger_topic): mis-aligning topic when using semantic_segmentation without multi_channel_tracker (#1895)

    • fix(merger_topic): mis-aligning topic when using semantic_segmentation without multi_channel_tracker

    * chore: rename for readablity ---------

  • fix(ptv3): model path (#1890)

  • chore: add maintainer (#1880)

  • fix(tier4_perception_launch): occupancy_grid_map input topic when ptv3 used (#1871)

    • fix(tier4_perception_launch): occupancy_grid_map input topic when ptv3 used

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • fix: remove unnecessary dependency (#1870)

  • feat: add semantic segmentation pipeline option (#1865)

    • fix: ground segmentation launch
    • fix: missing dependencies and param
    • fix: ptv3 topic
    • fix: euclidean pipeline
    • feat: add use_roi_detected_object_validator options
    • replace with label_based_euclidean
    • revert to bevfusion
    • fix: aligning with updated EC
    • fix: add alpha merger option
    • fix: missing toggle condition
    • disable irregular_object_detector
    • fix: camera_lidar_radar merger
    • update label_based_ec param
    • revert to v4.4.0 pipeline option
    • fix(merger launch): missing toggle condition
    • style(pre-commit): autofix
    • style(pre-commit): autofix
    • remove voxel_downsample and pc validation
    • RDDR-353 Enable irregular object detection (#2379)
    • update config for 2 new classes
    • typo
    • style(pre-commit): autofix
    • refactor
    • refactor
    • fix data_path
    • fix: adjust combination when ptv3 used
    • fix: remove fixed option when using ptv3
    • remove object filter

    * Update autoware_launch/config/perception/object_recognition/detection/euclidean_cluster/label_based_euclidean_cluster.param.yaml Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>

    * fix: add semseg pipeline option for lidar perception mode ---------Co-authored-by: ktro2828 <<60615504+ktro2828@users.noreply.github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>

  • feat(perception): update perception pipeline to remove shape estimation (#1846)

    • fix(perception): update input channels and ground segmentation parameters for improved tracking and detection
    • Changed associator type from 'bev' to 'polar' in multi-object tracker input channels for better performance.
    • Adjusted ground segmentation parameters: increased margin_max_z from 0.0 to 1.0 and detection_range_z_max from 2.5 to 3.5 to enhance ground detection capabilities.
    • feat(Tier4PlanningWrapper): add data_path parameter for enhanced configuration flexibility
    • Introduced a new parameter 'data_path' with a default value to improve the configuration options for the Tier4PlanningWrapper node.
    • This addition allows for better management of data paths within the planning framework.
    • refactor(perception): remove deprecated tracking modules and streamline object recognition configuration

File truncated at 100 lines see the full file

Package Dependencies

Deps Name
ament_cmake_auto
autoware_cmake
autoware_agnocast_wrapper
autoware_bevfusion
autoware_bytetrack
autoware_compare_map_segmentation
autoware_crosswalk_traffic_light_estimator
autoware_cuda_pointcloud_preprocessor
autoware_detected_object_feature_remover
autoware_detected_object_validation
autoware_detection_by_tracker
autoware_elevation_map_loader
autoware_euclidean_cluster
autoware_ground_segmentation
autoware_ground_segmentation_cuda
autoware_image_object_locator
autoware_image_projection_based_fusion
autoware_image_transport_decompressor
autoware_lidar_apollo_instance_segmentation
autoware_lidar_centerpoint
autoware_lidar_transfusion
autoware_map_based_prediction
autoware_multi_object_tracker
autoware_object_merger
autoware_object_sorter
autoware_occupancy_grid_map_outlier_filter
autoware_perception_config
autoware_pointcloud_preprocessor
autoware_probabilistic_occupancy_grid_map
autoware_ptv3
autoware_raindrop_cluster_filter
autoware_shape_estimation
autoware_simpl_prediction
autoware_simple_object_merger
autoware_tensorrt_bevdet
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
rclcpp_components
topic_tools
ament_lint_auto
autoware_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
autoware_launch
reaction_analyzer

Launch files

  • launch/common/pointcloud_downsample.launch.xml
      • pointcloud_container_name
      • cuda_pointcloud_preprocessing [default: false]
      • input/pointcloud
      • output/pointcloud
      • common_downsample_voxel_size_x [default: 0.05]
      • common_downsample_voxel_size_y [default: 0.05]
      • common_downsample_voxel_size_z [default: 0.05]
  • launch/object_recognition/detection/detector/camera_2d_detector.launch.xml
      • image_raw0 [default: /sensing/camera/camera0/image_raw]
      • image_raw1 [default: /sensing/camera/camera1/image_raw]
      • image_raw2 [default: /sensing/camera/camera2/image_raw]
      • image_raw3 [default: /sensing/camera/camera3/image_raw]
      • image_raw4 [default: /sensing/camera/camera4/image_raw]
      • image_raw5 [default: /sensing/camera/camera5/image_raw]
      • image_raw6 [default: /sensing/camera/camera6/image_raw]
      • image_raw7 [default: /sensing/camera/camera7/image_raw]
      • image_raw8 [default: /sensing/camera/camera8/image_raw]
      • image_raw9 [default: /sensing/camera/camera9/image_raw]
      • image_number [default: 1]
      • camera_index [default: 0]
      • use_bytetrack [default: true]
      • enable_visualizer [default: false]
      • camera_2d_detector/model_path
      • camera_2d_detector/label_path
      • camera_2d_detector/color_map_path
      • camera_2d_detector/roi_remap_path
      • camera_2d_detector/roi_to_semseg_remap_path
      • tensorrt_yolox_ns [default: ]
  • launch/object_recognition/detection/detector/camera_bev_detector.launch.xml
      • input/camera0/image
      • input/camera0/info
      • input/camera1/image
      • input/camera1/info
      • input/camera2/image
      • input/camera2/info
      • input/camera3/image
      • input/camera3/info
      • input/camera4/image
      • input/camera4/info
      • input/camera5/image
      • input/camera5/info
      • output/objects
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevdet_model_name [default: bevdet_one_lt_d]
      • bevdet_model_path [default: $(var data_path)/tensorrt_bevdet]
  • launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
      • ns
      • lidar_detection_model_type
      • lidar_detection_model_name
      • use_low_intensity_cluster_filter
      • use_image_segmentation_based_filter
      • number_of_cameras
      • input/camera0/image
      • input/camera0/info
      • input/camera0/rois
      • input/camera1/image
      • input/camera1/info
      • input/camera1/rois
      • input/camera2/image
      • input/camera2/info
      • input/camera2/rois
      • input/camera3/image
      • input/camera3/info
      • input/camera3/rois
      • input/camera4/image
      • input/camera4/info
      • input/camera4/rois
      • input/camera5/image
      • input/camera5/info
      • input/camera5/rois
      • input/camera6/image
      • input/camera6/info
      • input/camera6/rois
      • input/camera7/image
      • input/camera7/info
      • input/camera7/rois
      • input/camera8/image
      • input/camera8/info
      • input/camera8/rois
      • input/concatenation_info
      • segmentation_pointcloud_fusion_camera_ids
      • image_topic_name
      • sync_param_path
      • voxel_grid_based_euclidean_param_path
      • lidar_model_param_path
      • pointpainting_model_path [default: $(var data_path)/image_projection_based_fusion]
      • pointpainting_fusion_common_param_path
      • roi_cluster_fusion_param_path
      • node/pointcloud_container
      • input/pointcloud
      • input/pointcloud_map/pointcloud
      • input/obstacle_segmentation/pointcloud
      • output/ml_detector/objects
      • output/rule_detector/objects
      • camera_2d_detector/model_path
      • camera_2d_detector/label_path
      • camera_2d_detector/color_map_path
      • camera_2d_detector/roi_remap_path
      • camera_2d_detector/roi_to_semseg_remap_path
      • enable_2d_detection [default: false]
  • launch/object_recognition/detection/detector/camera_lidar_irregular_object_detector.launch.xml
      • pipeline_ns
      • node/pointcloud_container
      • output/objects [default: objects]
      • input/concatenation_info
      • input/pointcloud
      • irregular_object_crop_box_filter_node_param_path
      • irregular_object_scan_ground_filter_node_param_path
      • irregular_object_roi_pointcloud_fusion_node_param_path
      • irregular_object_fusion_camera_param_path
      • sync_param_path
  • launch/object_recognition/detection/detector/camera_vru_detector.launch.xml
      • input/camera0/info [default: /sensing/camera/camera0/camera_info]
      • input/camera0/rois [default: /perception/object_recognition/detection/rois0]
      • input/camera1/info [default: /sensing/camera/camera1/camera_info]
      • input/camera1/rois [default: /perception/object_recognition/detection/rois1]
      • input/camera2/info [default: /sensing/camera/camera2/camera_info]
      • input/camera2/rois [default: /perception/object_recognition/detection/rois2]
      • input/camera3/info [default: /sensing/camera/camera3/camera_info]
      • input/camera3/rois [default: /perception/object_recognition/detection/rois3]
      • input/camera4/info [default: /sensing/camera/camera4/camera_info]
      • input/camera4/rois [default: /perception/object_recognition/detection/rois4]
      • input/camera5/info [default: /sensing/camera/camera5/camera_info]
      • input/camera5/rois [default: /perception/object_recognition/detection/rois5]
      • input/camera6/info [default: /sensing/camera/camera6/camera_info]
      • input/camera6/rois [default: /perception/object_recognition/detection/rois6]
      • input/camera7/info [default: /sensing/camera/camera7/camera_info]
      • input/camera7/rois [default: /perception/object_recognition/detection/rois7]
      • output/objects [default: /perception/object_recognition/detection/camera_vru/objects]
      • bbox_object_locator_param_path
      • rois_ids [default: [0, 1]]
  • launch/object_recognition/detection/detector/irregular_object_detector.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • target_container
      • base_frame [default: base_link]
      • use_intra_process [default: true]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/concatenation_info [default: /sensing/lidar/concatenated/pointcloud_info]
      • output/clusters
      • crop_box_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/crop_box_filter.param.yaml]
      • scan_ground_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/scan_ground_filter.param.yaml]
      • roi_pointcloud_fusion_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/roi_pointcloud_fusion.param.yaml]
      • fusion_camera_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/fusion_cameras.param.yaml]
      • sync_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml]
  • launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
      • lidar_detection_model_type
      • lidar_detection_model_name
      • lidar_model_param_path
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • centerpoint_model_path [default: $(var data_path)/lidar_centerpoint]
      • centerpoint_common_param_path [default: $(find-pkg-share autoware_lidar_centerpoint)/config/centerpoint_common.param.yaml]
      • transfusion_model_path [default: $(var data_path)/lidar_transfusion]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type
      • node/pointcloud_container
      • input/pointcloud
      • output/objects
      • output/short_range_objects
  • launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
      • ns
      • node/pointcloud_container
      • input/pointcloud_map/pointcloud
      • input/obstacle_segmentation/pointcloud
      • output/cluster_objects
      • output/objects
      • voxel_grid_based_euclidean_param_path
      • use_low_height_cropbox [default: false]
  • launch/object_recognition/detection/detector/lidar_semantic_segmentation_detector.launch.xml
      • euclidean_clustering/param_path
      • input/pointcloud
      • output/objects
  • launch/object_recognition/detection/detector/tracker_based_detector.launch.xml
      • detection_by_tracker_param_path
      • input/clusters
      • input/tracked_objects
      • output/objects
  • launch/object_recognition/detection/filter/object_filter.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • objects_filter_method [default: lanelet_filter]
      • object_recognition_detection_object_lanelet_filter_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml]
      • object_recognition_detection_object_position_filter_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_filter/object_position_filter.param.yaml]
      • input/objects
      • output/objects
  • launch/object_recognition/detection/filter/object_validator.launch.xml
      • objects_validation_method
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path
      • input/obstacle_pointcloud
      • input/objects
      • output/objects
  • launch/object_recognition/detection/filter/pointcloud_downsample_filter.launch.xml
      • target_container
      • use_intra_process [default: true]
      • input/pointcloud
      • output/pointcloud
      • downsample_voxel_size [default: 0.1]
  • launch/object_recognition/detection/filter/pointcloud_map_filter.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • target_container
      • use_intra_process [default: true]
      • input/pointcloud
      • output/pointcloud
      • output/downsampled/pointcloud [default: /perception/obstacle_segmentation/pointcloud_map_filtered/downsampled/pointcloud]
      • downsample_voxel_size [default: 0.1]
      • voxel_based_compare_map_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/pointcloud_filter/voxel_based_compare_map_filter.param.yaml]
  • launch/object_recognition/detection/filter/radar_filter.launch.xml
      • object_sorter_param_path
      • radar_lanelet_filtering_range_param_path
      • input/radar
      • output/objects
  • launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • object_recognition_detection_object_merger_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/data_association_matrix.param.yaml]
      • object_recognition_detection_object_merger_distance_threshold_list_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/overlapped_judge.param.yaml]
      • ml_camera_lidar_object_association_merger_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/ml_camera_lidar_object_association_merger.param.yaml]
      • roi_detected_object_fusion_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/roi_detected_object_fusion.param.yaml]
      • sync_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml]
      • lidar_detection_model_type
      • use_detection_by_tracker
      • use_irregular_object_detector
      • use_roi_detected_object_validator
      • euclidean_clustering/shape_policy
      • use_object_filter
      • objects_filter_method
      • number_of_cameras
      • input/camera0/image
      • input/camera0/info
      • input/camera0/rois
      • input/camera1/image
      • input/camera1/info
      • input/camera1/rois
      • input/camera2/image
      • input/camera2/info
      • input/camera2/rois
      • input/camera3/image
      • input/camera3/info
      • input/camera3/rois
      • input/camera4/image
      • input/camera4/info
      • input/camera4/rois
      • input/camera5/image
      • input/camera5/info
      • input/camera5/rois
      • input/camera6/image
      • input/camera6/info
      • input/camera6/rois
      • input/camera7/image
      • input/camera7/info
      • input/camera7/rois
      • input/camera8/image
      • input/camera8/info
      • input/camera8/rois
      • input/concatenation_info [default: /sensing/lidar/concatenated/pointcloud_info]
      • input/lidar_ml/objects
      • input/lidar_cluster/objects
      • input/irregular_object/objects [default: ]
      • input/detection_by_tracker/objects
      • output/objects [default: objects]
      • alpha_merger_priority_mode [default: 0]
  • launch/object_recognition/object_recognition_camera.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • use_camera_vru_detector [default: false]
      • camera_vru_detector_rois_ids [default: [0]]
      • use_camera_bev_detector [default: true]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • input/camera0/image [default: /sensing/camera/camera0/image_rect_color]
      • input/camera0/info [default: /sensing/camera/camera0/camera_info]
      • input/camera0/rois [default: /perception/object_recognition/detection/rois0]
      • input/camera1/image [default: /sensing/camera/camera1/image_rect_color]
      • input/camera1/info [default: /sensing/camera/camera1/camera_info]
      • input/camera1/rois [default: /perception/object_recognition/detection/rois1]
      • input/camera2/image [default: /sensing/camera/camera2/image_rect_color]
      • input/camera2/info [default: /sensing/camera/camera2/camera_info]
      • input/camera2/rois [default: /perception/object_recognition/detection/rois2]
      • input/camera3/image [default: /sensing/camera/camera3/image_rect_color]
      • input/camera3/info [default: /sensing/camera/camera3/camera_info]
      • input/camera3/rois [default: /perception/object_recognition/detection/rois3]
      • input/camera4/image [default: /sensing/camera/camera4/image_rect_color]
      • input/camera4/info [default: /sensing/camera/camera4/camera_info]
      • input/camera4/rois [default: /perception/object_recognition/detection/rois4]
      • input/camera5/image [default: /sensing/camera/camera5/image_rect_color]
      • input/camera5/info [default: /sensing/camera/camera5/camera_info]
      • input/camera5/rois [default: /perception/object_recognition/detection/rois5]
      • input/camera6/image [default: /sensing/camera/camera6/image_rect_color]
      • input/camera6/info [default: /sensing/camera/camera6/camera_info]
      • input/camera6/rois [default: /perception/object_recognition/detection/rois6]
      • input/camera7/image [default: /sensing/camera/camera7/image_rect_color]
      • input/camera7/info [default: /sensing/camera/camera7/camera_info]
      • input/camera7/rois [default: /perception/object_recognition/detection/rois7]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • near_range_camera_vru_param_path [default: $(var perception_config_dir)/object_recognition/detection/camera_vru_detection/near_range_camera_vru_detector.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
  • launch/object_recognition/object_recognition_camera_lidar_radar.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • pointpainting_model_path [default: $(var data_path)/image_projection_based_fusion]
      • camera_2d_detector/model_path [default: $(var data_path)/tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx]
      • camera_2d_detector/label_path [default: $(var data_path)/tensorrt_yolox/label.txt]
      • camera_2d_detector/color_map_path [default: $(var data_path)/tensorrt_yolox/semseg_color_map.csv]
      • camera_2d_detector/roi_remap_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/roi_label_remap.csv]
      • camera_2d_detector/roi_to_semseg_remap_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/roi_to_semseg_label_remap.csv]
      • use_semantic_segmentation_ptv3 [default: false]
      • use_object_filter [default: true]
      • use_pointcloud_map [default: true]
      • use_validator [default: false]
      • objects_validation_method [default: obstacle_pointcloud]
      • use_low_height_cropbox [default: false]
      • use_low_intensity_cluster_filter [default: true]
      • use_image_segmentation_based_filter [default: false]
      • use_irregular_object_detector [default: true]
      • use_camera_vru_detector [default: false]
      • camera_vru_detector_rois_ids [default: [0]]
      • use_camera_only_detection [default: false]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • number_of_cameras [default: 6]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/semantic_segmentation/pointcloud [default: /perception/segmented/pointcloud]
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • input/camera0/image [default: /sensing/camera/camera0/image_rect_color]
      • input/camera0/info [default: /sensing/camera/camera0/camera_info]
      • input/camera0/rois [default: /perception/object_recognition/detection/rois0]
      • input/camera1/image [default: /sensing/camera/camera1/image_rect_color]
      • input/camera1/info [default: /sensing/camera/camera1/camera_info]
      • input/camera1/rois [default: /perception/object_recognition/detection/rois1]
      • input/camera2/image [default: /sensing/camera/camera2/image_rect_color]
      • input/camera2/info [default: /sensing/camera/camera2/camera_info]
      • input/camera2/rois [default: /perception/object_recognition/detection/rois2]
      • input/camera3/image [default: /sensing/camera/camera3/image_rect_color]
      • input/camera3/info [default: /sensing/camera/camera3/camera_info]
      • input/camera3/rois [default: /perception/object_recognition/detection/rois3]
      • input/camera4/image [default: /sensing/camera/camera4/image_rect_color]
      • input/camera4/info [default: /sensing/camera/camera4/camera_info]
      • input/camera4/rois [default: /perception/object_recognition/detection/rois4]
      • input/camera5/image [default: /sensing/camera/camera5/image_rect_color]
      • input/camera5/info [default: /sensing/camera/camera5/camera_info]
      • input/camera5/rois [default: /perception/object_recognition/detection/rois5]
      • input/camera6/image [default: /sensing/camera/camera6/image_rect_color]
      • input/camera6/info [default: /sensing/camera/camera6/camera_info]
      • input/camera6/rois [default: /perception/object_recognition/detection/rois6]
      • input/camera7/image [default: /sensing/camera/camera7/image_rect_color]
      • input/camera7/info [default: /sensing/camera/camera7/camera_info]
      • input/camera7/rois [default: /perception/object_recognition/detection/rois7]
      • input/camera8/image [default: /sensing/camera/camera8/image_rect_color]
      • input/camera8/info [default: /sensing/camera/camera8/camera_info]
      • input/camera8/rois [default: /perception/object_recognition/detection/rois8]
      • input/concatenation_info [default: /sensing/lidar/concatenated/pointcloud_info]
      • input/radar [default: /sensing/radar/detected_objects]
      • input/camera_only/objects [default: /perception/object_recognition/detection/camera_only/objects]
      • input/camera_only/channel [default: camera_streampetr]
      • image_topic_name [default: image_rect_color]
      • segmentation_pointcloud_fusion_camera_ids [default: [0,2,4]]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • sync_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml]
      • roi_cluster_fusion_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml]
      • pointpainting_fusion_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/pointpainting_common.param.yaml]
      • irregular_object_crop_box_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/crop_box_filter.param.yaml]
      • irregular_object_scan_ground_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/scan_ground_filter.param.yaml]
      • irregular_object_roi_pointcloud_fusion_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/roi_pointcloud_fusion.param.yaml]
      • irregular_object_fusion_camera_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/fusion_cameras.param.yaml]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • voxel_grid_based_euclidean_param_path [default: $(var perception_config_dir)/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml]
      • radar_lanelet_filtering_range_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml]
      • object_recognition_detection_object_sorter_radar_param_path [default: $(var perception_config_dir)/object_recognition/detection/radar_filter/detected_object_sorter.param.yaml]
      • near_range_camera_vru_param_path [default: $(var perception_config_dir)/object_recognition/detection/camera_vru_detection/near_range_camera_vru_detector.param.yaml]
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path [default: $(var perception_config_dir)/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
      • euclidean_clustering/param_path [default: $(var perception_config_dir)/object_recognition/detection/euclidean_cluster/label_based_euclidean_cluster.param.yaml]
  • launch/object_recognition/object_recognition_camera_lidar_radar_serial.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • pointpainting_model_path [default: $(var data_path)/image_projection_based_fusion]
      • camera_2d_detector/model_path [default: $(var data_path)/tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx]
      • camera_2d_detector/label_path [default: $(var data_path)/tensorrt_yolox/label.txt]
      • camera_2d_detector/color_map_path [default: $(var data_path)/tensorrt_yolox/semseg_color_map.csv]
      • camera_2d_detector/roi_remap_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/roi_label_remap.csv]
      • camera_2d_detector/roi_to_semseg_remap_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/roi_to_semseg_label_remap.csv]
      • use_object_filter [default: true]
      • objects_filter_method [default: lanelet_filter]
      • use_pointcloud_map [default: true]
      • use_validator [default: false]
      • objects_validation_method [default: obstacle_pointcloud]
      • use_roi_detected_object_validator [default: true]
      • use_detection_by_tracker [default: true]
      • use_low_height_cropbox [default: false]
      • use_low_intensity_cluster_filter [default: true]
      • use_image_segmentation_based_filter [default: false]
      • use_irregular_object_detector [default: true]
      • ml_camera_lidar_merger_priority_mode [default: 0]
      • use_vector_map [default: true]
      • number_of_cameras [default: 6]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • input/camera0/image [default: /sensing/camera/camera0/image_rect_color]
      • input/camera0/info [default: /sensing/camera/camera0/camera_info]
      • input/camera0/rois [default: /perception/object_recognition/detection/rois0]
      • input/camera1/image [default: /sensing/camera/camera1/image_rect_color]
      • input/camera1/info [default: /sensing/camera/camera1/camera_info]
      • input/camera1/rois [default: /perception/object_recognition/detection/rois1]
      • input/camera2/image [default: /sensing/camera/camera2/image_rect_color]
      • input/camera2/info [default: /sensing/camera/camera2/camera_info]
      • input/camera2/rois [default: /perception/object_recognition/detection/rois2]
      • input/camera3/image [default: /sensing/camera/camera3/image_rect_color]
      • input/camera3/info [default: /sensing/camera/camera3/camera_info]
      • input/camera3/rois [default: /perception/object_recognition/detection/rois3]
      • input/camera4/image [default: /sensing/camera/camera4/image_rect_color]
      • input/camera4/info [default: /sensing/camera/camera4/camera_info]
      • input/camera4/rois [default: /perception/object_recognition/detection/rois4]
      • input/camera5/image [default: /sensing/camera/camera5/image_rect_color]
      • input/camera5/info [default: /sensing/camera/camera5/camera_info]
      • input/camera5/rois [default: /perception/object_recognition/detection/rois5]
      • input/camera6/image [default: /sensing/camera/camera6/image_rect_color]
      • input/camera6/info [default: /sensing/camera/camera6/camera_info]
      • input/camera6/rois [default: /perception/object_recognition/detection/rois6]
      • input/camera7/image [default: /sensing/camera/camera7/image_rect_color]
      • input/camera7/info [default: /sensing/camera/camera7/camera_info]
      • input/camera7/rois [default: /perception/object_recognition/detection/rois7]
      • input/camera8/image [default: /sensing/camera/camera8/image_rect_color]
      • input/camera8/info [default: /sensing/camera/camera8/camera_info]
      • input/camera8/rois [default: /perception/object_recognition/detection/rois8]
      • input/concatenation_info [default: /sensing/lidar/concatenated/pointcloud_info]
      • input/radar/tracked_objects [default: /sensing/radar/tracked_objects]
      • image_topic_name [default: image_rect_color]
      • segmentation_pointcloud_fusion_camera_ids [default: [0,2,4]]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • sync_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml]
      • roi_cluster_fusion_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml]
      • pointpainting_fusion_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/pointpainting_common.param.yaml]
      • irregular_object_crop_box_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/crop_box_filter.param.yaml]
      • irregular_object_scan_ground_filter_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/scan_ground_filter.param.yaml]
      • irregular_object_roi_pointcloud_fusion_node_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/roi_pointcloud_fusion.param.yaml]
      • irregular_object_fusion_camera_param_path [default: $(var perception_config_dir)/object_recognition/detection/irregular_object_detection/fusion_cameras.param.yaml]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • voxel_grid_based_euclidean_param_path [default: $(var perception_config_dir)/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml]
      • detection_by_tracker_param_path [default: $(var perception_config_dir)/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml]
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path [default: $(var perception_config_dir)/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml]
      • object_recognition_detection_object_merger_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/data_association_matrix.param.yaml]
      • object_recognition_detection_object_merger_distance_threshold_list_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/overlapped_judge.param.yaml]
      • ml_camera_lidar_object_association_merger_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_merger/ml_camera_lidar_object_association_merger.param.yaml]
      • roi_detected_object_fusion_param_path [default: $(var perception_config_dir)/object_recognition/detection/image_projection_based_fusion/roi_detected_object_fusion.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
      • object_recognition_tracking_radar_tracked_object_sorter_param_path [default: $(var perception_config_dir)/object_recognition/tracking/radar_object_tracker/tracked_object_sorter.param.yaml]
      • object_recognition_tracking_radar_tracked_object_lanelet_filter_param_path [default: $(var perception_config_dir)/object_recognition/tracking/radar_object_tracker/tracked_object_lanelet_filter.param.yaml]
      • object_recognition_tracking_object_merger_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/tracking_object_merger/data_association_matrix.param.yaml]
      • object_recognition_tracking_object_merger_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml]
      • euclidean_clustering/shape_policy [default: 0]
  • launch/object_recognition/object_recognition_lidar.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • use_pointcloud_map [default: true]
      • use_validator [default: false]
      • objects_validation_method [default: obstacle_pointcloud]
      • use_object_filter [default: true]
      • objects_filter_method [default: lanelet_filter]
      • use_low_height_cropbox [default: false]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • voxel_grid_based_euclidean_param_path [default: $(var perception_config_dir)/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml]
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path [default: $(var perception_config_dir)/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
  • launch/object_recognition/object_recognition_lidar_ptv3.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/semantic_segmentation/pointcloud [default: /perception/segmented/pointcloud]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
      • euclidean_clustering/param_path [default: $(var perception_config_dir)/object_recognition/detection/euclidean_cluster/label_based_euclidean_cluster.param.yaml]
  • launch/object_recognition/object_recognition_lidar_radar.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • lidar_detection_model [default: centerpoint]
      • use_short_range_detection [default: false]
      • lidar_short_range_detection_model_type [default: centerpoint_short_range]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • bevfusion_model_path [default: $(var data_path)/bevfusion]
      • use_low_height_cropbox [default: false]
      • use_vector_map [default: true]
      • tracker_publish_merged_objects [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • input/semantic_segmentation/pointcloud [default: /perception/segmented/pointcloud]
      • input/radar [default: /sensing/radar/detected_objects]
      • output/tracker_merged_objects [default: /perception/object_recognition/detection/objects]
      • output/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • output/predicted_objects [default: /perception/object_recognition/objects]
      • lidar_model_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model]
      • centerpoint_common_param_path [default: $(var perception_config_dir)/object_recognition/detection/lidar_model/centerpoint_common.param.yaml]
      • voxel_grid_based_euclidean_param_path [default: $(var perception_config_dir)/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml]
      • radar_lanelet_filtering_range_param_path [default: $(var perception_config_dir)/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml]
      • object_recognition_detection_object_sorter_radar_param_path [default: $(var perception_config_dir)/object_recognition/detection/radar_filter/detected_object_sorter.param.yaml]
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml]
      • object_recognition_tracking_multi_object_tracker_input_channels_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml]
      • object_recognition_tracking_multi_object_tracker_node_param_path [default: $(var perception_config_dir)/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml]
      • euclidean_clustering/param_path [default: $(var perception_config_dir)/object_recognition/detection/euclidean_cluster/label_based_euclidean_cluster.param.yaml]
  • launch/object_recognition/prediction/prediction.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • use_vector_map [default: false]
      • prediction_model_type [default: map_based]
      • input/objects [default: /perception/object_recognition/tracking/objects]
      • output/objects [default: /perception/object_recognition/objects]
      • object_recognition_prediction_map_based_prediction_param_path [default: $(var perception_config_dir)/object_recognition/prediction/map_based_prediction.param.yaml]
  • launch/obstacle_segmentation/ground_segmentation_additional_lidars.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • target_container
      • lidar_name
      • base_frame [default: base_link]
      • use_intra_process [default: true]
      • input/main/pointcloud
      • input/lidar/pointcloud [default: /sensing/lidar/$(var lidar_name)/pointcloud]
      • output/pointcloud
      • output/pointcloud_info [default: $(var output/pointcloud)_info]
      • crop_box_margin_max_z [default: 2.5]
      • crop_box_margin_min_z [default: -2.5]
      • crop_box_filter_node_param_path [default: $(var perception_config_dir)/obstacle_segmentation/ground_segmentation/crop_box_filter.param.yaml]
      • scan_ground_filter_node_param_path [default: $(var perception_config_dir)/obstacle_segmentation/ground_segmentation/scan_ground_filter.param.yaml]
  • launch/obstacle_segmentation/ground_segmentation_ml.launch.xml
      • pointcloud_container_name [default: pointcloud_container]
      • use_pointcloud_container [default: true]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/pointcloud/segmentation [default: /perception/segmented/pointcloud]
      • output/pointcloud/visualization [default: /perception/segmented/pointcloud/visualization]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • model_variant [default: ptv3]
      • model_path [default: $(var data_path)/ptv3]
  • launch/obstacle_segmentation/ground_segmentation_ransac.launch.xml
      • target_container
      • base_frame [default: base_link]
      • use_intra_process [default: true]
      • input_topics
      • input/main/pointcloud
      • output/pointcloud
      • output/pointcloud_info [default: $(var output/pointcloud)_info]
      • detection_area_crop_box_filter_node_param_path
      • ransac_ground_filter_node_param_path [default: $(find-pkg-share autoware_ground_segmentation)/config/ransac_ground_filter.param.yaml]
  • launch/obstacle_segmentation/ground_segmentation_rule_based.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • target_container
      • base_frame [default: base_link]
      • use_intra_process [default: true]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • crop_box_margin_max_z [default: 2.5]
      • crop_box_margin_min_z [default: -2.5]
      • crop_box_filter_node_param_path [default: $(var perception_config_dir)/obstacle_segmentation/ground_segmentation/crop_box_filter.param.yaml]
      • scan_ground_filter_node_param_path [default: $(var perception_config_dir)/obstacle_segmentation/ground_segmentation/scan_ground_filter.param.yaml]
  • launch/obstacle_segmentation/ground_segmentation_rule_based_cuda.launch.xml
      • target_container
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • output/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/ground_pointcloud [default: /perception/obstacle_segmentation/ground_pointcloud]
      • cuda_scan_ground_segmentation_filter_node_param_path [default: $(find-pkg-share autoware_ground_segmentation_cuda)/config/cuda_scan_ground_segmentation_filter.param.yaml]
  • launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml
      • perception_config_pkg [default: autoware_perception_config]
      • input/obstacle_pointcloud [default: concatenated/pointcloud]
      • input/raw_pointcloud [default: no_ground/oneshot/pointcloud]
      • output [default: /perception/occupancy_grid_map/map]
      • use_intra_process [default: false]
      • use_multithread [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • occupancy_grid_map_method
      • occupancy_grid_map_param_path [default: $(var perception_config_dir)/occupancy_grid_map/$(var occupancy_grid_map_method).param.yaml]
      • occupancy_grid_map_updater
      • occupancy_grid_map_updater_param_path [default: $(var perception_config_dir)/occupancy_grid_map/$(var occupancy_grid_map_updater)_updater.param.yaml]
      • input_obstacle_pointcloud [default: false]
      • input_obstacle_and_raw_pointcloud [default: true]
      • use_pointcloud_container [default: true]
  • launch/traffic_light_recognition/traffic_light_detector_fine.launch.xml
    • Fine-detection chain for one traffic light camera: map based detector proposes rough ROIs, the fine detector refines them, classifiers label them.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespace
      • enable_image_decompressor [default: true]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • map_based_detector_param_path [default: $(find-pkg-share autoware_traffic_light_map_based_detector)/config/traffic_light_map_based_detector.param.yaml]
      • fine_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_fine_detector/traffic_light_fine_detector.param.yaml]
      • car_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/car_traffic_light_classifier.param.yaml]
      • pedestrian_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/pedestrian_traffic_light_classifier.param.yaml]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • roi_visualizer_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_visualization/traffic_light_roi_visualizer.param.yaml]
      • fine_detector_model_path [default: $(var data_path)/traffic_light_fine_detector/tlr_car_ped_yolox_s_batch_6.onnx]
      • fine_detector_label_path [default: $(var data_path)/traffic_light_fine_detector/tlr_labels.txt]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
  • launch/traffic_light_recognition/traffic_light_detector_rough.launch.xml
    • Rough-detection chain for one traffic light camera: map based detector ROIs feed the classifiers directly, without a high accuracy detector.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespace
      • enable_image_decompressor [default: true]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • map_based_detector_param_path [default: $(find-pkg-share autoware_traffic_light_map_based_detector)/config/traffic_light_map_based_detector.param.yaml]
      • car_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/car_traffic_light_classifier.param.yaml]
      • pedestrian_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/pedestrian_traffic_light_classifier.param.yaml]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • roi_visualizer_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_visualization/traffic_light_roi_visualizer.param.yaml]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
  • launch/traffic_light_recognition/traffic_light_detector_whole_image.launch.xml
    • Whole-image detection chain for one traffic light camera: yolox detects over the full image, the selector matches detections to map based ROIs, classifiers label them.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespace
      • enable_image_decompressor [default: true]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • map_based_detector_param_path [default: $(find-pkg-share autoware_traffic_light_map_based_detector)/config/traffic_light_map_based_detector.param.yaml]
      • whole_image_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/tensorrt_yolox/yolox_traffic_light_detector.param.yaml]
      • car_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/car_traffic_light_classifier.param.yaml]
      • pedestrian_classifier_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_classifier/pedestrian_traffic_light_classifier.param.yaml]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • roi_visualizer_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_visualization/traffic_light_roi_visualizer.param.yaml]
      • whole_image_detector_model_path [default: $(var data_path)/tensorrt_yolox/yolox_s_car_ped_tl_detector_960_960_batch_1.onnx]
      • whole_image_detector_label_path [default: $(var data_path)/tensorrt_yolox/car_ped_tl_detector_labels.txt]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
  • launch/traffic_light_recognition/traffic_light_fusion.launch.xml
    • Post-process shared by all traffic light cameras: multi camera fusion, V2X arbitration, pedestrian signal estimation and map visualization.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespaces [default: [camera6, camera7]]
      • input/vector_map [default: /map/vector_map]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • internal/traffic_signals [default: /perception/traffic_light_recognition/internal/traffic_signals]
      • judged/traffic_signals [default: /perception/traffic_light_recognition/judged/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • multi_camera_fusion_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_multi_camera_fusion/traffic_light_multi_camera_fusion.param.yaml]
      • arbiter_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_arbiter/traffic_light_arbiter.param.yaml]
      • crosswalk_estimator_param_path [default: $(var perception_config_dir)/traffic_light_recognition/crosswalk_traffic_light_estimator/crosswalk_traffic_light_estimator.param.yaml]
  • launch/traffic_light_recognition/traffic_light_occlusion_predictor.launch.xml
    • Occlusion check for one traffic light camera: merges the car and pedestrian signals into the per-camera output, masking signals hidden from the camera.
      • perception_config_pkg [default: autoware_perception_config]
      • camera_namespace
      • input/cloud [default: /sensing/lidar/top/pointcloud_raw_ex]
      • input/vector_map [default: /map/vector_map]
      • occlusion_predictor_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_occlusion_predictor/traffic_light_occlusion_predictor.param.yaml]
  • launch/traffic_light_recognition/traffic_light_recognition_fine.launch.xml
    • Traffic light recognition, fine detection mode: per-camera fine detection with occlusion check, then shared fusion. Two cameras as the representative set; add or remove per-camera blocks to match the vehicle.
      • perception_config_pkg [default: autoware_perception_config]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • input/pointcloud [default: /sensing/lidar/top/pointcloud_raw_ex]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • fine_detector_model_path [default: $(var data_path)/traffic_light_fine_detector/tlr_car_ped_yolox_s_batch_6.onnx]
      • fine_detector_label_path [default: $(var data_path)/traffic_light_fine_detector/tlr_labels.txt]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
      • base_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/base_traffic_light_map_based_detector.param.yaml]
      • extra_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/extra_traffic_light_map_based_detector.param.yaml]
  • launch/traffic_light_recognition/traffic_light_recognition_merge.launch.xml
    • Traffic light recognition, merge mode: detection and classification run on other ECUs; this side runs the per-camera occlusion check and the shared fusion. Two cameras as the representative set; add or remove per-camera blocks to match the vehicle.
      • input/vector_map [default: /map/vector_map]
      • input/pointcloud [default: /sensing/lidar/top/pointcloud_raw_ex]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
  • launch/traffic_light_recognition/traffic_light_recognition_rough.launch.xml
    • Traffic light recognition, rough detection mode: per-camera map based detection with occlusion check, then shared fusion. One camera as the representative set; add or remove per-camera blocks to match the vehicle.
      • perception_config_pkg [default: autoware_perception_config]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • input/pointcloud [default: /sensing/lidar/top/pointcloud_raw_ex]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
      • base_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/base_traffic_light_map_based_detector.param.yaml]
  • launch/traffic_light_recognition/traffic_light_recognition_whole_image.launch.xml
    • Traffic light recognition, whole-image detection mode: per-camera yolox detection, then shared fusion. Two cameras as the representative set; add or remove per-camera blocks to match the vehicle.
      • perception_config_pkg [default: autoware_perception_config]
      • input/vector_map [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • data_path [default: $(env HOME)/autoware_data/ml_models]
      • whole_image_detector_model_path [default: $(var data_path)/tensorrt_yolox/yolox_s_car_ped_tl_detector_960_960_batch_1.onnx]
      • whole_image_detector_label_path [default: $(var data_path)/tensorrt_yolox/car_ped_tl_detector_labels.txt]
      • lamp_recognizer_ml_param_path [default: $(var data_path)/traffic_light_classifier/lamp_recognizer_ml.param.yaml]
      • car_classifier_model_path [default: $(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • car_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels.txt]
      • pedestrian_classifier_model_path [default: $(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • pedestrian_classifier_label_path [default: $(var data_path)/traffic_light_classifier/lamp_labels_ped.txt]
      • car_classifier_type [default: 1]
      • pedestrian_classifier_type [default: 1]
      • base_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/base_traffic_light_map_based_detector.param.yaml]
      • extra_map_based_detector_param_path [default: $(var perception_config_dir)/traffic_light_recognition/traffic_light_map_based_detector/extra_traffic_light_map_based_detector.param.yaml]

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