autoware_predicted_path_postprocessor

Purpose

The autoware_predicted_path_postprocessor performs post-processing on predicted paths.

Inner-workings / Algorithms

The following processors are supported:

• RefineBySpeed
  • Refine the paths of objects based on their current speed.
• RefinePenetrationByStaticObjects
  • Refine the penetrated paths of objects based on the other static objects.

Inputs / Outputs

Input

Output

Quick Start

Launch ROS 2 Node

To use this package, you can launch it with the following command:

ros2 launch autoware_predicted_path_postprocessor predicted_path_postprocessor.launch.xml

Leverage Processor in Your Codebase

You can leverage the processor in your codebase by including the appropriate headers and using the ComposableProcessor class:

#include <autoware/predicted_path_postprocessor/processor/composable.hpp>
#include <autoware/predicted_path_postprocessor/processor/interface.hpp>

class SomeNode final : public rclcpp::Node
{
public:
  explicit SomeNode(const rclcpp::NodeOptions& options)
    : Node("some_node", options)
  {
    // Initialize your node here
    auto processors = declare_parameter<std::vector<std::string>>("processors");
    context_ = std::make_unique<autoware::predicted_path_postprocessor::processor::Context>();
    processor_ = std::make_unique<autoware::predicted_path_postprocessor::processor::ComposableProcessor>(this, processors);
  }

private:
  void callback(const autoware_perception_msgs::msg::PredictedObjects::ConstSharedPtr & msg)
  {
    auto objects = std::make_shared<autoware_perception_msgs::msg::PredictedObjects>(*msg);

    // update the context with the predicted objects
    context_->update(objects);

    // process the predicted objects using the processor
    const auto result = processor_->process(objects, context_);
    if (result) {
      const auto processed_objects = result.ok();
      // do something with the processed objects
      // ...
    } else {
      RCLCPP_ERROR(get_logger(), "Failed to process predicted objects");
    }
  }

  std::unique_ptr<autoware::predicted_path_postprocessor::processor::Context> context_;
  std::unique_ptr<autoware::predicted_path_postprocessor::processor::ComposableProcessor> processor_;
};

How to Add New Processor

Processors in this package should follow a structured naming convention as below:

As an example, let’s see how to add a new processor by using a processor called FilterBySomething.

1. Create a new processor class that inherits from ProcessorInterface:

```cpp class FilterBySomething final : public ProcessorInterface {

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Changelog for package autoware_predicted_path_postprocessor

0.53.0 (2026-09-29)

• Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog

• refactor(perception): move node design files into each package (#13104) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>

• chore(pre-commit): update clang-format to v22.1.5 (#13126)

  • chore(pre-commit): update clang-format to v22.1.5

  * style(pre-commit): autofix ---------

• fix(pre-commit): update pre-commit-hooks-ros to v0.10.3 and adapt include guards (#13083)

  • chore: sync files

  * fix(pre-commit): adapt include guards to pre-commit-hooks-ros v0.10.3 ros-include-guard v0.10.3 only recognises an include guard when #endif is the last non-empty line of the file, so that feature test macros are no longer mistaken for guards. 29 headers failed that check. 25 headers wrap the guard in "// clang-format off" / "// clang-format on" because the #endif comment plus its // NOLINT exceeds the 100 column limit. Drop only the trailing "on" marker; the "off" marker then runs to end of file and still protects the line from being wrapped. 3 CUDA headers ended with "/* INDENT-ON /". Move it above the #endif so it stays paired with the "/ INDENT-OFF */" near the top of the file. autoware_behavior_path_planner/test/input.hpp closed its guard immediately after opening it, leaving the entire body unguarded. Move the #endif to the end. Also hold clang-format at v21.1.8. clang-format 22 migrates "AlignAfterOpenBracket: AlwaysBreak" to "BreakAfterOpenBracketIf: true", which forces a break after every "if (" whose condition does not fit on one line and reformats 88 files. ---------Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>>

• Contributors: Mete Fatih Cırıt, Ryohsuke Mitsudome, Taekjin LEE, awf-autoware-bot[bot]

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

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

• feat(predicted_path_postprocessor): add a processor to refine penetration by static objects (#11672)

  • feat: add processor to refine penetration for static objects
  • feat: add a utility function to build interpolation function
  • feat: update builder logic, config and schema file
  • fix: try-catch exception while converting obstacle to polygon
  • test: add unit testings for RefinePenetrationByStaticObjects
  • docs: update README
  • feat: update find_collision() to consider OBB collision detection
  • fix: resolve shadow variable
  • chore: clean up includes

  * chore: fix cpplint error ---------

• Contributors: Kotaro Uetake, github-actions

0.50.0 (2026-02-14)

• Merge remote-tracking branch 'origin/main' into humble
• fix: add missing ament_index_cpp dependency (#11875)
• Contributors: Mete Fatih Cırıt, Ryohsuke Mitsudome

0.49.0 (2025-12-30)

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

• feat(autoware_lanelet2_utils): replace from/toBinMsg (Sensing, Visualization and Perception Component) (#11785)

  • perception component toBinMsg replacement
  • visualization component fromBinMsg replacement
  • sensing component fromBinMsg replacement

  * perception component fromBinMsg replacement ---------

• Contributors: Ryohsuke Mitsudome, Sarun MUKDAPITAK

0.48.0 (2025-11-18)

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