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autoware_sensing_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

ROS Distro
github

API Docs
Browse Code

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

Sensor data pre-processing pipelines shared by sensor kits

Maintainers

  • David Wong
  • Max Schmeller
  • Dai Nguyen

Authors

No additional authors.
autoware_universe_launch/autoware_sensing_launch/README.md

autoware_sensing_launch

Shared sensing launch library. Sensor kits own the sensing entry point (<sensor_model>_launch/launch/sensing.launch.xml, included by component_sensing.launch.xml); this package hosts the reusable pre/post-processing units the kits build on. Driver launch files live in the driver layer package autoware_sensor_driver_launch.

Container ownership and addressing

Sensor kits create the containers; units only load nodes into them. pointcloud_container.launch.xml is the one unit that creates a container, and it loads nothing into it.

Units that load composable nodes take the target container as an absolute path (target_container) supplied by the caller; units never derive it from their own namespace. Callers construct the path from their literal namespace knowledge and must keep it in step with their namespace pushes. The one exception is the concatenation units, whose pointcloud_container_name keeps its historical name and receives the top-level pointcloud container path passed through unchanged.

Launch files

  • pointcloud_container.launch.xml — component container for one sensor unit, created at container_namespace/container_name; use_multithread selects component_container_mt.
  • pointcloud_crop_boxes.launch.xml — vehicle body crop box followed by a secondary crop box, loaded into an existing container. Used on its own where the remaining preprocessing stages do not apply.
  • pointcloud_preprocessor_cpu.launch.xml — per-lidar preprocessing chain: the crop box unit, then distortion correction and ring outlier filter, loaded into an existing container. The secondary crop box is named by secondary_crop_box (e.g. mirror, wheels).
  • pointcloud_preprocessor_cuda.launch.xml — the same chain folded into one CUDA node; crop box stages come as folded lists in crop_box_param_path.
  • pointcloud_concatenation_cpu.launch.xml, pointcloud_concatenation_cuda.launch.xml — multi-lidar concatenation with time synchronization; the kit passes its concatenate_and_time_sync_node_param_path (input topic list is kit-specific).
  • blockage_diagnostics.launch.xml — blockage diagnostics on the raw pointcloud; angle_range defaults to the configured device angles (float-formatted).
  • gnss_postprocessor.launch.xml — septentrio heading converter plus NavSatFix-to-MGRS pose (autoware_gnss_poser).
  • imu_corrector.launch.xml — imu corrector plus gyro bias estimator (autoware_imu_corrector).
  • radar_tracks_postprocessor.launch.xml — radar tracks noise filter plus message converter.

Config

  • distortion_corrector_node.param.yaml, ring_outlier_filter_node.param.yaml — shared preprocessing defaults; kits with different sensors or thresholds pass their own file via the *_param_path arguments (the outlier shape parameters such as vertical_bins only take effect when publish_outlier_pointcloud is enabled).
  • blockage_diagnostics.param.yaml — blockage diagnostics defaults; runtime shape parameters (angle range, bins) are set per sensor via launch arguments.
  • radar_tracks_msgs_converter.param.yaml, radar_tracks_noise_filter.param.yaml — radar postprocessing defaults.

Crop box param files are owned by the sensor kits (they encode vehicle geometry). Kits generate them offline with:

scripts/generate_crop_box_params.py <vehicle_info.param.yaml> <mirror.param.yaml> <output_dir>

and pass the outputs via the crop_box_filter_{self,secondary}_param_path arguments.

Scripts

  • septentrio_heading_converter.py — runtime node converting the septentrio AttEuler heading to a GnssInsOrientationStamped (installed).
  • generate_crop_box_params.py — offline generator for kit crop box files (not installed).

Package Dependencies

Please see <exec_depend> in package.xml.

CHANGELOG

Changelog for package autoware_sensing_launch

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

0.50.0 (2026-02-13)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • chore: import tier4 launchers from universe (#1740)
  • Contributors: Taeseung Sohn, github-actions

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

0.43.0 (2025-03-21)

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

0.42.0 (2025-03-03)

0.41.2 (2025-02-19)

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

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

0.40.0 (2024-12-12)

  • Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.

  • fix: fix ticket links in CHANGELOG.rst (#9588)

  • chore(package.xml): bump version to 0.39.0 (#9587)

    • chore(package.xml): bump version to 0.39.0
    • fix: fix ticket links in CHANGELOG.rst

    * fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

  • fix: fix ticket links in CHANGELOG.rst (#9588)

  • 0.39.0

  • update changelog

  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)

  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)

  • chore(package.xml): bump version to 0.38.0 (#9266) (#9284)

    • unify package.xml version to 0.37.0
    • remove system_monitor/CHANGELOG.rst
    • add changelog

    * 0.38.0

  • Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo

0.39.0 (2024-11-25)

File truncated at 100 lines see the full file

Launch files

  • launch/blockage_diagnostics.launch.xml
      • target_container
      • node_name [default: blockage_diag]
      • use_intra_process [default: false]
      • input/pointcloud [default: pointcloud_raw_ex]
      • output/pointcloud [default: blockage_diag/pointcloud]
      • cloud_min_angle [default: 0.0]
      • cloud_max_angle [default: 360.0]
      • angle_range [default: [$(var cloud_min_angle), $(var cloud_max_angle)]]
      • max_range [default: 300.0]
      • horizontal_ring_id [default: 64]
      • vertical_bins [default: 128]
      • is_channel_order_top2down [default: true]
      • horizontal_resolution [default: 0.4]
      • blockage_diagnostics_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/blockage_diagnostics.param.yaml]
  • launch/gnss_postprocessor.launch.xml
      • input/fix [default: septentrio/nav_sat_fix]
      • input/atteuler [default: septentrio/atteuler]
      • input/orientation [default: septentrio/orientation]
      • output/pose [default: pose]
      • output/pose_with_covariance [default: pose_with_covariance]
      • output/fixed [default: fixed]
  • launch/imu_corrector.launch.xml
      • input/imu_raw
      • output/imu_data [default: imu_data]
      • input/odometry [default: /localization/kinematic_state]
      • input/pose_with_covariance [default: /localization/pose_estimator/pose_with_covariance]
      • output/imu_scaled [default: /sensing/imu_output_scaled]
      • imu_corrector_param_path [default: $(find-pkg-share autoware_imu_corrector)/config/imu_corrector.param.yaml]
      • gyro_scale_estimator_param_path [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_scale_estimator.param.yaml]
      • gyro_bias_estimator_param_path [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_bias_estimator.param.yaml]
  • launch/pointcloud_concatenation_cpu.launch.xml
      • pointcloud_container_name [default: pointcloud_container]
      • use_concat_filter [default: true]
      • use_intra_process [default: false]
      • concatenate_and_time_sync_node_param_path
      • input/twist [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • output/pointcloud [default: concatenated/pointcloud]
      • output/pointcloud_info [default: concatenated/pointcloud_info]
  • launch/pointcloud_concatenation_cuda.launch.xml
      • pointcloud_container_name [default: pointcloud_container]
      • use_concat_filter [default: true]
      • concatenate_and_time_sync_node_param_path
      • input/twist [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • output/pointcloud [default: concatenated/pointcloud]
      • output/pointcloud_info [default: concatenated/pointcloud_info]
  • launch/pointcloud_container.launch.xml
      • container_namespace
      • container_name [default: pointcloud_container]
      • use_multithread [default: false]
  • launch/pointcloud_crop_boxes.launch.xml
      • target_container
      • input_frame [default: base_link]
      • output_frame [default: base_link]
      • secondary_crop_box [default: mirror]
      • use_intra_process [default: false]
      • input/pointcloud [default: pointcloud_raw_ex]
      • intermediate/pointcloud [default: self_cropped/pointcloud_ex]
      • output/pointcloud [default: $(var secondary_crop_box)_cropped/pointcloud_ex]
      • crop_box_filter_self_param_path
      • crop_box_filter_secondary_param_path
  • launch/pointcloud_preprocessor_cpu.launch.xml
      • target_container
      • frame_id [default: lidar]
      • input_frame [default: base_link]
      • output_frame [default: base_link]
      • output_as_sensor_frame [default: true]
      • secondary_crop_box [default: mirror]
      • use_intra_process [default: false]
      • input/pointcloud [default: pointcloud_raw_ex]
      • input/twist [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • input/imu [default: /sensing/imu/imu_data]
      • output/pointcloud [default: pointcloud_before_sync]
      • crop_box_filter_self_param_path
      • crop_box_filter_secondary_param_path
      • distortion_corrector_node_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/distortion_corrector_node.param.yaml]
      • ring_outlier_filter_node_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/ring_outlier_filter_node.param.yaml]
  • launch/pointcloud_preprocessor_cuda.launch.xml
      • target_container
      • enable_ring_outlier_filter [default: true]
      • input/pointcloud [default: pointcloud_raw_ex]
      • input/twist [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • input/imu [default: /sensing/imu/imu_data]
      • output/pointcloud [default: pointcloud_before_sync]
      • crop_box_param_path
      • distortion_corrector_node_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/distortion_corrector_node.param.yaml]
      • ring_outlier_filter_node_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/ring_outlier_filter_node.param.yaml]
  • launch/radar_tracks_postprocessor.launch.xml
      • input/tracks [default: objects_raw]
      • input/odometry [default: /localization/kinematic_state]
      • output/noise_tracks [default: noise_objects]
      • output/filtered_tracks [default: filtered_objects]
      • output/radar_detected_objects [default: detected_objects]
      • output/radar_tracked_objects [default: tracked_objects]
      • radar_tracks_msgs_converter_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/radar_tracks_msgs_converter.param.yaml]
      • radar_tracks_noise_filter_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/radar_tracks_noise_filter.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_sensing_launch at Robotics Stack Exchange

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

autoware_sensing_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

ROS Distro
github

API Docs
Browse Code

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

Sensor data pre-processing pipelines shared by sensor kits

Maintainers

  • David Wong
  • Max Schmeller
  • Dai Nguyen

Authors

No additional authors.
autoware_universe_launch/autoware_sensing_launch/README.md

autoware_sensing_launch

Shared sensing launch library. Sensor kits own the sensing entry point (<sensor_model>_launch/launch/sensing.launch.xml, included by component_sensing.launch.xml); this package hosts the reusable pre/post-processing units the kits build on. Driver launch files live in the driver layer package autoware_sensor_driver_launch.

Container ownership and addressing

Sensor kits create the containers; units only load nodes into them. pointcloud_container.launch.xml is the one unit that creates a container, and it loads nothing into it.

Units that load composable nodes take the target container as an absolute path (target_container) supplied by the caller; units never derive it from their own namespace. Callers construct the path from their literal namespace knowledge and must keep it in step with their namespace pushes. The one exception is the concatenation units, whose pointcloud_container_name keeps its historical name and receives the top-level pointcloud container path passed through unchanged.

Launch files

  • pointcloud_container.launch.xml — component container for one sensor unit, created at container_namespace/container_name; use_multithread selects component_container_mt.
  • pointcloud_crop_boxes.launch.xml — vehicle body crop box followed by a secondary crop box, loaded into an existing container. Used on its own where the remaining preprocessing stages do not apply.
  • pointcloud_preprocessor_cpu.launch.xml — per-lidar preprocessing chain: the crop box unit, then distortion correction and ring outlier filter, loaded into an existing container. The secondary crop box is named by secondary_crop_box (e.g. mirror, wheels).
  • pointcloud_preprocessor_cuda.launch.xml — the same chain folded into one CUDA node; crop box stages come as folded lists in crop_box_param_path.
  • pointcloud_concatenation_cpu.launch.xml, pointcloud_concatenation_cuda.launch.xml — multi-lidar concatenation with time synchronization; the kit passes its concatenate_and_time_sync_node_param_path (input topic list is kit-specific).
  • blockage_diagnostics.launch.xml — blockage diagnostics on the raw pointcloud; angle_range defaults to the configured device angles (float-formatted).
  • gnss_postprocessor.launch.xml — septentrio heading converter plus NavSatFix-to-MGRS pose (autoware_gnss_poser).
  • imu_corrector.launch.xml — imu corrector plus gyro bias estimator (autoware_imu_corrector).
  • radar_tracks_postprocessor.launch.xml — radar tracks noise filter plus message converter.

Config

  • distortion_corrector_node.param.yaml, ring_outlier_filter_node.param.yaml — shared preprocessing defaults; kits with different sensors or thresholds pass their own file via the *_param_path arguments (the outlier shape parameters such as vertical_bins only take effect when publish_outlier_pointcloud is enabled).
  • blockage_diagnostics.param.yaml — blockage diagnostics defaults; runtime shape parameters (angle range, bins) are set per sensor via launch arguments.
  • radar_tracks_msgs_converter.param.yaml, radar_tracks_noise_filter.param.yaml — radar postprocessing defaults.

Crop box param files are owned by the sensor kits (they encode vehicle geometry). Kits generate them offline with:

scripts/generate_crop_box_params.py <vehicle_info.param.yaml> <mirror.param.yaml> <output_dir>

and pass the outputs via the crop_box_filter_{self,secondary}_param_path arguments.

Scripts

  • septentrio_heading_converter.py — runtime node converting the septentrio AttEuler heading to a GnssInsOrientationStamped (installed).
  • generate_crop_box_params.py — offline generator for kit crop box files (not installed).

Package Dependencies

Please see <exec_depend> in package.xml.

CHANGELOG

Changelog for package autoware_sensing_launch

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

0.50.0 (2026-02-13)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • chore: import tier4 launchers from universe (#1740)
  • Contributors: Taeseung Sohn, github-actions

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

0.43.0 (2025-03-21)

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

0.42.0 (2025-03-03)

0.41.2 (2025-02-19)

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

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

0.40.0 (2024-12-12)

  • Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.

  • fix: fix ticket links in CHANGELOG.rst (#9588)

  • chore(package.xml): bump version to 0.39.0 (#9587)

    • chore(package.xml): bump version to 0.39.0
    • fix: fix ticket links in CHANGELOG.rst

    * fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

  • fix: fix ticket links in CHANGELOG.rst (#9588)

  • 0.39.0

  • update changelog

  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)

  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)

  • chore(package.xml): bump version to 0.38.0 (#9266) (#9284)

    • unify package.xml version to 0.37.0
    • remove system_monitor/CHANGELOG.rst
    • add changelog

    * 0.38.0

  • Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo

0.39.0 (2024-11-25)

File truncated at 100 lines see the full file

Launch files

  • launch/blockage_diagnostics.launch.xml
      • target_container
      • node_name [default: blockage_diag]
      • use_intra_process [default: false]
      • input/pointcloud [default: pointcloud_raw_ex]
      • output/pointcloud [default: blockage_diag/pointcloud]
      • cloud_min_angle [default: 0.0]
      • cloud_max_angle [default: 360.0]
      • angle_range [default: [$(var cloud_min_angle), $(var cloud_max_angle)]]
      • max_range [default: 300.0]
      • horizontal_ring_id [default: 64]
      • vertical_bins [default: 128]
      • is_channel_order_top2down [default: true]
      • horizontal_resolution [default: 0.4]
      • blockage_diagnostics_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/blockage_diagnostics.param.yaml]
  • launch/gnss_postprocessor.launch.xml
      • input/fix [default: septentrio/nav_sat_fix]
      • input/atteuler [default: septentrio/atteuler]
      • input/orientation [default: septentrio/orientation]
      • output/pose [default: pose]
      • output/pose_with_covariance [default: pose_with_covariance]
      • output/fixed [default: fixed]
  • launch/imu_corrector.launch.xml
      • input/imu_raw
      • output/imu_data [default: imu_data]
      • input/odometry [default: /localization/kinematic_state]
      • input/pose_with_covariance [default: /localization/pose_estimator/pose_with_covariance]
      • output/imu_scaled [default: /sensing/imu_output_scaled]
      • imu_corrector_param_path [default: $(find-pkg-share autoware_imu_corrector)/config/imu_corrector.param.yaml]
      • gyro_scale_estimator_param_path [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_scale_estimator.param.yaml]
      • gyro_bias_estimator_param_path [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_bias_estimator.param.yaml]
  • launch/pointcloud_concatenation_cpu.launch.xml
      • pointcloud_container_name [default: pointcloud_container]
      • use_concat_filter [default: true]
      • use_intra_process [default: false]
      • concatenate_and_time_sync_node_param_path
      • input/twist [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • output/pointcloud [default: concatenated/pointcloud]
      • output/pointcloud_info [default: concatenated/pointcloud_info]
  • launch/pointcloud_concatenation_cuda.launch.xml
      • pointcloud_container_name [default: pointcloud_container]
      • use_concat_filter [default: true]
      • concatenate_and_time_sync_node_param_path
      • input/twist [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • output/pointcloud [default: concatenated/pointcloud]
      • output/pointcloud_info [default: concatenated/pointcloud_info]
  • launch/pointcloud_container.launch.xml
      • container_namespace
      • container_name [default: pointcloud_container]
      • use_multithread [default: false]
  • launch/pointcloud_crop_boxes.launch.xml
      • target_container
      • input_frame [default: base_link]
      • output_frame [default: base_link]
      • secondary_crop_box [default: mirror]
      • use_intra_process [default: false]
      • input/pointcloud [default: pointcloud_raw_ex]
      • intermediate/pointcloud [default: self_cropped/pointcloud_ex]
      • output/pointcloud [default: $(var secondary_crop_box)_cropped/pointcloud_ex]
      • crop_box_filter_self_param_path
      • crop_box_filter_secondary_param_path
  • launch/pointcloud_preprocessor_cpu.launch.xml
      • target_container
      • frame_id [default: lidar]
      • input_frame [default: base_link]
      • output_frame [default: base_link]
      • output_as_sensor_frame [default: true]
      • secondary_crop_box [default: mirror]
      • use_intra_process [default: false]
      • input/pointcloud [default: pointcloud_raw_ex]
      • input/twist [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • input/imu [default: /sensing/imu/imu_data]
      • output/pointcloud [default: pointcloud_before_sync]
      • crop_box_filter_self_param_path
      • crop_box_filter_secondary_param_path
      • distortion_corrector_node_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/distortion_corrector_node.param.yaml]
      • ring_outlier_filter_node_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/ring_outlier_filter_node.param.yaml]
  • launch/pointcloud_preprocessor_cuda.launch.xml
      • target_container
      • enable_ring_outlier_filter [default: true]
      • input/pointcloud [default: pointcloud_raw_ex]
      • input/twist [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • input/imu [default: /sensing/imu/imu_data]
      • output/pointcloud [default: pointcloud_before_sync]
      • crop_box_param_path
      • distortion_corrector_node_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/distortion_corrector_node.param.yaml]
      • ring_outlier_filter_node_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/ring_outlier_filter_node.param.yaml]
  • launch/radar_tracks_postprocessor.launch.xml
      • input/tracks [default: objects_raw]
      • input/odometry [default: /localization/kinematic_state]
      • output/noise_tracks [default: noise_objects]
      • output/filtered_tracks [default: filtered_objects]
      • output/radar_detected_objects [default: detected_objects]
      • output/radar_tracked_objects [default: tracked_objects]
      • radar_tracks_msgs_converter_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/radar_tracks_msgs_converter.param.yaml]
      • radar_tracks_noise_filter_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/radar_tracks_noise_filter.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_sensing_launch at Robotics Stack Exchange

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

autoware_sensing_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

ROS Distro
github

API Docs
Browse Code

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

Sensor data pre-processing pipelines shared by sensor kits

Maintainers

  • David Wong
  • Max Schmeller
  • Dai Nguyen

Authors

No additional authors.
autoware_universe_launch/autoware_sensing_launch/README.md

autoware_sensing_launch

Shared sensing launch library. Sensor kits own the sensing entry point (<sensor_model>_launch/launch/sensing.launch.xml, included by component_sensing.launch.xml); this package hosts the reusable pre/post-processing units the kits build on. Driver launch files live in the driver layer package autoware_sensor_driver_launch.

Container ownership and addressing

Sensor kits create the containers; units only load nodes into them. pointcloud_container.launch.xml is the one unit that creates a container, and it loads nothing into it.

Units that load composable nodes take the target container as an absolute path (target_container) supplied by the caller; units never derive it from their own namespace. Callers construct the path from their literal namespace knowledge and must keep it in step with their namespace pushes. The one exception is the concatenation units, whose pointcloud_container_name keeps its historical name and receives the top-level pointcloud container path passed through unchanged.

Launch files

  • pointcloud_container.launch.xml — component container for one sensor unit, created at container_namespace/container_name; use_multithread selects component_container_mt.
  • pointcloud_crop_boxes.launch.xml — vehicle body crop box followed by a secondary crop box, loaded into an existing container. Used on its own where the remaining preprocessing stages do not apply.
  • pointcloud_preprocessor_cpu.launch.xml — per-lidar preprocessing chain: the crop box unit, then distortion correction and ring outlier filter, loaded into an existing container. The secondary crop box is named by secondary_crop_box (e.g. mirror, wheels).
  • pointcloud_preprocessor_cuda.launch.xml — the same chain folded into one CUDA node; crop box stages come as folded lists in crop_box_param_path.
  • pointcloud_concatenation_cpu.launch.xml, pointcloud_concatenation_cuda.launch.xml — multi-lidar concatenation with time synchronization; the kit passes its concatenate_and_time_sync_node_param_path (input topic list is kit-specific).
  • blockage_diagnostics.launch.xml — blockage diagnostics on the raw pointcloud; angle_range defaults to the configured device angles (float-formatted).
  • gnss_postprocessor.launch.xml — septentrio heading converter plus NavSatFix-to-MGRS pose (autoware_gnss_poser).
  • imu_corrector.launch.xml — imu corrector plus gyro bias estimator (autoware_imu_corrector).
  • radar_tracks_postprocessor.launch.xml — radar tracks noise filter plus message converter.

Config

  • distortion_corrector_node.param.yaml, ring_outlier_filter_node.param.yaml — shared preprocessing defaults; kits with different sensors or thresholds pass their own file via the *_param_path arguments (the outlier shape parameters such as vertical_bins only take effect when publish_outlier_pointcloud is enabled).
  • blockage_diagnostics.param.yaml — blockage diagnostics defaults; runtime shape parameters (angle range, bins) are set per sensor via launch arguments.
  • radar_tracks_msgs_converter.param.yaml, radar_tracks_noise_filter.param.yaml — radar postprocessing defaults.

Crop box param files are owned by the sensor kits (they encode vehicle geometry). Kits generate them offline with:

scripts/generate_crop_box_params.py <vehicle_info.param.yaml> <mirror.param.yaml> <output_dir>

and pass the outputs via the crop_box_filter_{self,secondary}_param_path arguments.

Scripts

  • septentrio_heading_converter.py — runtime node converting the septentrio AttEuler heading to a GnssInsOrientationStamped (installed).
  • generate_crop_box_params.py — offline generator for kit crop box files (not installed).

Package Dependencies

Please see <exec_depend> in package.xml.

CHANGELOG

Changelog for package autoware_sensing_launch

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

0.50.0 (2026-02-13)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • chore: import tier4 launchers from universe (#1740)
  • Contributors: Taeseung Sohn, github-actions

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

0.43.0 (2025-03-21)

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

0.42.0 (2025-03-03)

0.41.2 (2025-02-19)

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

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

0.40.0 (2024-12-12)

  • Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.

  • fix: fix ticket links in CHANGELOG.rst (#9588)

  • chore(package.xml): bump version to 0.39.0 (#9587)

    • chore(package.xml): bump version to 0.39.0
    • fix: fix ticket links in CHANGELOG.rst

    * fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

  • fix: fix ticket links in CHANGELOG.rst (#9588)

  • 0.39.0

  • update changelog

  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)

  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)

  • chore(package.xml): bump version to 0.38.0 (#9266) (#9284)

    • unify package.xml version to 0.37.0
    • remove system_monitor/CHANGELOG.rst
    • add changelog

    * 0.38.0

  • Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo

0.39.0 (2024-11-25)

File truncated at 100 lines see the full file

Launch files

  • launch/blockage_diagnostics.launch.xml
      • target_container
      • node_name [default: blockage_diag]
      • use_intra_process [default: false]
      • input/pointcloud [default: pointcloud_raw_ex]
      • output/pointcloud [default: blockage_diag/pointcloud]
      • cloud_min_angle [default: 0.0]
      • cloud_max_angle [default: 360.0]
      • angle_range [default: [$(var cloud_min_angle), $(var cloud_max_angle)]]
      • max_range [default: 300.0]
      • horizontal_ring_id [default: 64]
      • vertical_bins [default: 128]
      • is_channel_order_top2down [default: true]
      • horizontal_resolution [default: 0.4]
      • blockage_diagnostics_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/blockage_diagnostics.param.yaml]
  • launch/gnss_postprocessor.launch.xml
      • input/fix [default: septentrio/nav_sat_fix]
      • input/atteuler [default: septentrio/atteuler]
      • input/orientation [default: septentrio/orientation]
      • output/pose [default: pose]
      • output/pose_with_covariance [default: pose_with_covariance]
      • output/fixed [default: fixed]
  • launch/imu_corrector.launch.xml
      • input/imu_raw
      • output/imu_data [default: imu_data]
      • input/odometry [default: /localization/kinematic_state]
      • input/pose_with_covariance [default: /localization/pose_estimator/pose_with_covariance]
      • output/imu_scaled [default: /sensing/imu_output_scaled]
      • imu_corrector_param_path [default: $(find-pkg-share autoware_imu_corrector)/config/imu_corrector.param.yaml]
      • gyro_scale_estimator_param_path [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_scale_estimator.param.yaml]
      • gyro_bias_estimator_param_path [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_bias_estimator.param.yaml]
  • launch/pointcloud_concatenation_cpu.launch.xml
      • pointcloud_container_name [default: pointcloud_container]
      • use_concat_filter [default: true]
      • use_intra_process [default: false]
      • concatenate_and_time_sync_node_param_path
      • input/twist [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • output/pointcloud [default: concatenated/pointcloud]
      • output/pointcloud_info [default: concatenated/pointcloud_info]
  • launch/pointcloud_concatenation_cuda.launch.xml
      • pointcloud_container_name [default: pointcloud_container]
      • use_concat_filter [default: true]
      • concatenate_and_time_sync_node_param_path
      • input/twist [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • output/pointcloud [default: concatenated/pointcloud]
      • output/pointcloud_info [default: concatenated/pointcloud_info]
  • launch/pointcloud_container.launch.xml
      • container_namespace
      • container_name [default: pointcloud_container]
      • use_multithread [default: false]
  • launch/pointcloud_crop_boxes.launch.xml
      • target_container
      • input_frame [default: base_link]
      • output_frame [default: base_link]
      • secondary_crop_box [default: mirror]
      • use_intra_process [default: false]
      • input/pointcloud [default: pointcloud_raw_ex]
      • intermediate/pointcloud [default: self_cropped/pointcloud_ex]
      • output/pointcloud [default: $(var secondary_crop_box)_cropped/pointcloud_ex]
      • crop_box_filter_self_param_path
      • crop_box_filter_secondary_param_path
  • launch/pointcloud_preprocessor_cpu.launch.xml
      • target_container
      • frame_id [default: lidar]
      • input_frame [default: base_link]
      • output_frame [default: base_link]
      • output_as_sensor_frame [default: true]
      • secondary_crop_box [default: mirror]
      • use_intra_process [default: false]
      • input/pointcloud [default: pointcloud_raw_ex]
      • input/twist [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • input/imu [default: /sensing/imu/imu_data]
      • output/pointcloud [default: pointcloud_before_sync]
      • crop_box_filter_self_param_path
      • crop_box_filter_secondary_param_path
      • distortion_corrector_node_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/distortion_corrector_node.param.yaml]
      • ring_outlier_filter_node_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/ring_outlier_filter_node.param.yaml]
  • launch/pointcloud_preprocessor_cuda.launch.xml
      • target_container
      • enable_ring_outlier_filter [default: true]
      • input/pointcloud [default: pointcloud_raw_ex]
      • input/twist [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • input/imu [default: /sensing/imu/imu_data]
      • output/pointcloud [default: pointcloud_before_sync]
      • crop_box_param_path
      • distortion_corrector_node_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/distortion_corrector_node.param.yaml]
      • ring_outlier_filter_node_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/ring_outlier_filter_node.param.yaml]
  • launch/radar_tracks_postprocessor.launch.xml
      • input/tracks [default: objects_raw]
      • input/odometry [default: /localization/kinematic_state]
      • output/noise_tracks [default: noise_objects]
      • output/filtered_tracks [default: filtered_objects]
      • output/radar_detected_objects [default: detected_objects]
      • output/radar_tracked_objects [default: tracked_objects]
      • radar_tracks_msgs_converter_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/radar_tracks_msgs_converter.param.yaml]
      • radar_tracks_noise_filter_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/radar_tracks_noise_filter.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_sensing_launch at Robotics Stack Exchange

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

autoware_sensing_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

ROS Distro
github

API Docs
Browse Code

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

Sensor data pre-processing pipelines shared by sensor kits

Maintainers

  • David Wong
  • Max Schmeller
  • Dai Nguyen

Authors

No additional authors.
autoware_universe_launch/autoware_sensing_launch/README.md

autoware_sensing_launch

Shared sensing launch library. Sensor kits own the sensing entry point (<sensor_model>_launch/launch/sensing.launch.xml, included by component_sensing.launch.xml); this package hosts the reusable pre/post-processing units the kits build on. Driver launch files live in the driver layer package autoware_sensor_driver_launch.

Container ownership and addressing

Sensor kits create the containers; units only load nodes into them. pointcloud_container.launch.xml is the one unit that creates a container, and it loads nothing into it.

Units that load composable nodes take the target container as an absolute path (target_container) supplied by the caller; units never derive it from their own namespace. Callers construct the path from their literal namespace knowledge and must keep it in step with their namespace pushes. The one exception is the concatenation units, whose pointcloud_container_name keeps its historical name and receives the top-level pointcloud container path passed through unchanged.

Launch files

  • pointcloud_container.launch.xml — component container for one sensor unit, created at container_namespace/container_name; use_multithread selects component_container_mt.
  • pointcloud_crop_boxes.launch.xml — vehicle body crop box followed by a secondary crop box, loaded into an existing container. Used on its own where the remaining preprocessing stages do not apply.
  • pointcloud_preprocessor_cpu.launch.xml — per-lidar preprocessing chain: the crop box unit, then distortion correction and ring outlier filter, loaded into an existing container. The secondary crop box is named by secondary_crop_box (e.g. mirror, wheels).
  • pointcloud_preprocessor_cuda.launch.xml — the same chain folded into one CUDA node; crop box stages come as folded lists in crop_box_param_path.
  • pointcloud_concatenation_cpu.launch.xml, pointcloud_concatenation_cuda.launch.xml — multi-lidar concatenation with time synchronization; the kit passes its concatenate_and_time_sync_node_param_path (input topic list is kit-specific).
  • blockage_diagnostics.launch.xml — blockage diagnostics on the raw pointcloud; angle_range defaults to the configured device angles (float-formatted).
  • gnss_postprocessor.launch.xml — septentrio heading converter plus NavSatFix-to-MGRS pose (autoware_gnss_poser).
  • imu_corrector.launch.xml — imu corrector plus gyro bias estimator (autoware_imu_corrector).
  • radar_tracks_postprocessor.launch.xml — radar tracks noise filter plus message converter.

Config

  • distortion_corrector_node.param.yaml, ring_outlier_filter_node.param.yaml — shared preprocessing defaults; kits with different sensors or thresholds pass their own file via the *_param_path arguments (the outlier shape parameters such as vertical_bins only take effect when publish_outlier_pointcloud is enabled).
  • blockage_diagnostics.param.yaml — blockage diagnostics defaults; runtime shape parameters (angle range, bins) are set per sensor via launch arguments.
  • radar_tracks_msgs_converter.param.yaml, radar_tracks_noise_filter.param.yaml — radar postprocessing defaults.

Crop box param files are owned by the sensor kits (they encode vehicle geometry). Kits generate them offline with:

scripts/generate_crop_box_params.py <vehicle_info.param.yaml> <mirror.param.yaml> <output_dir>

and pass the outputs via the crop_box_filter_{self,secondary}_param_path arguments.

Scripts

  • septentrio_heading_converter.py — runtime node converting the septentrio AttEuler heading to a GnssInsOrientationStamped (installed).
  • generate_crop_box_params.py — offline generator for kit crop box files (not installed).

Package Dependencies

Please see <exec_depend> in package.xml.

CHANGELOG

Changelog for package autoware_sensing_launch

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

0.50.0 (2026-02-13)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • chore: import tier4 launchers from universe (#1740)
  • Contributors: Taeseung Sohn, github-actions

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

0.43.0 (2025-03-21)

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

0.42.0 (2025-03-03)

0.41.2 (2025-02-19)

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

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

0.40.0 (2024-12-12)

  • Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.

  • fix: fix ticket links in CHANGELOG.rst (#9588)

  • chore(package.xml): bump version to 0.39.0 (#9587)

    • chore(package.xml): bump version to 0.39.0
    • fix: fix ticket links in CHANGELOG.rst

    * fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

  • fix: fix ticket links in CHANGELOG.rst (#9588)

  • 0.39.0

  • update changelog

  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)

  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)

  • chore(package.xml): bump version to 0.38.0 (#9266) (#9284)

    • unify package.xml version to 0.37.0
    • remove system_monitor/CHANGELOG.rst
    • add changelog

    * 0.38.0

  • Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo

0.39.0 (2024-11-25)

File truncated at 100 lines see the full file

Launch files

  • launch/blockage_diagnostics.launch.xml
      • target_container
      • node_name [default: blockage_diag]
      • use_intra_process [default: false]
      • input/pointcloud [default: pointcloud_raw_ex]
      • output/pointcloud [default: blockage_diag/pointcloud]
      • cloud_min_angle [default: 0.0]
      • cloud_max_angle [default: 360.0]
      • angle_range [default: [$(var cloud_min_angle), $(var cloud_max_angle)]]
      • max_range [default: 300.0]
      • horizontal_ring_id [default: 64]
      • vertical_bins [default: 128]
      • is_channel_order_top2down [default: true]
      • horizontal_resolution [default: 0.4]
      • blockage_diagnostics_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/blockage_diagnostics.param.yaml]
  • launch/gnss_postprocessor.launch.xml
      • input/fix [default: septentrio/nav_sat_fix]
      • input/atteuler [default: septentrio/atteuler]
      • input/orientation [default: septentrio/orientation]
      • output/pose [default: pose]
      • output/pose_with_covariance [default: pose_with_covariance]
      • output/fixed [default: fixed]
  • launch/imu_corrector.launch.xml
      • input/imu_raw
      • output/imu_data [default: imu_data]
      • input/odometry [default: /localization/kinematic_state]
      • input/pose_with_covariance [default: /localization/pose_estimator/pose_with_covariance]
      • output/imu_scaled [default: /sensing/imu_output_scaled]
      • imu_corrector_param_path [default: $(find-pkg-share autoware_imu_corrector)/config/imu_corrector.param.yaml]
      • gyro_scale_estimator_param_path [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_scale_estimator.param.yaml]
      • gyro_bias_estimator_param_path [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_bias_estimator.param.yaml]
  • launch/pointcloud_concatenation_cpu.launch.xml
      • pointcloud_container_name [default: pointcloud_container]
      • use_concat_filter [default: true]
      • use_intra_process [default: false]
      • concatenate_and_time_sync_node_param_path
      • input/twist [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • output/pointcloud [default: concatenated/pointcloud]
      • output/pointcloud_info [default: concatenated/pointcloud_info]
  • launch/pointcloud_concatenation_cuda.launch.xml
      • pointcloud_container_name [default: pointcloud_container]
      • use_concat_filter [default: true]
      • concatenate_and_time_sync_node_param_path
      • input/twist [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • output/pointcloud [default: concatenated/pointcloud]
      • output/pointcloud_info [default: concatenated/pointcloud_info]
  • launch/pointcloud_container.launch.xml
      • container_namespace
      • container_name [default: pointcloud_container]
      • use_multithread [default: false]
  • launch/pointcloud_crop_boxes.launch.xml
      • target_container
      • input_frame [default: base_link]
      • output_frame [default: base_link]
      • secondary_crop_box [default: mirror]
      • use_intra_process [default: false]
      • input/pointcloud [default: pointcloud_raw_ex]
      • intermediate/pointcloud [default: self_cropped/pointcloud_ex]
      • output/pointcloud [default: $(var secondary_crop_box)_cropped/pointcloud_ex]
      • crop_box_filter_self_param_path
      • crop_box_filter_secondary_param_path
  • launch/pointcloud_preprocessor_cpu.launch.xml
      • target_container
      • frame_id [default: lidar]
      • input_frame [default: base_link]
      • output_frame [default: base_link]
      • output_as_sensor_frame [default: true]
      • secondary_crop_box [default: mirror]
      • use_intra_process [default: false]
      • input/pointcloud [default: pointcloud_raw_ex]
      • input/twist [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • input/imu [default: /sensing/imu/imu_data]
      • output/pointcloud [default: pointcloud_before_sync]
      • crop_box_filter_self_param_path
      • crop_box_filter_secondary_param_path
      • distortion_corrector_node_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/distortion_corrector_node.param.yaml]
      • ring_outlier_filter_node_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/ring_outlier_filter_node.param.yaml]
  • launch/pointcloud_preprocessor_cuda.launch.xml
      • target_container
      • enable_ring_outlier_filter [default: true]
      • input/pointcloud [default: pointcloud_raw_ex]
      • input/twist [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • input/imu [default: /sensing/imu/imu_data]
      • output/pointcloud [default: pointcloud_before_sync]
      • crop_box_param_path
      • distortion_corrector_node_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/distortion_corrector_node.param.yaml]
      • ring_outlier_filter_node_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/ring_outlier_filter_node.param.yaml]
  • launch/radar_tracks_postprocessor.launch.xml
      • input/tracks [default: objects_raw]
      • input/odometry [default: /localization/kinematic_state]
      • output/noise_tracks [default: noise_objects]
      • output/filtered_tracks [default: filtered_objects]
      • output/radar_detected_objects [default: detected_objects]
      • output/radar_tracked_objects [default: tracked_objects]
      • radar_tracks_msgs_converter_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/radar_tracks_msgs_converter.param.yaml]
      • radar_tracks_noise_filter_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/radar_tracks_noise_filter.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_sensing_launch at Robotics Stack Exchange

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Package symbol

autoware_sensing_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

ROS Distro
github

API Docs
Browse Code

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

Sensor data pre-processing pipelines shared by sensor kits

Maintainers

  • David Wong
  • Max Schmeller
  • Dai Nguyen

Authors

No additional authors.
autoware_universe_launch/autoware_sensing_launch/README.md

autoware_sensing_launch

Shared sensing launch library. Sensor kits own the sensing entry point (<sensor_model>_launch/launch/sensing.launch.xml, included by component_sensing.launch.xml); this package hosts the reusable pre/post-processing units the kits build on. Driver launch files live in the driver layer package autoware_sensor_driver_launch.

Container ownership and addressing

Sensor kits create the containers; units only load nodes into them. pointcloud_container.launch.xml is the one unit that creates a container, and it loads nothing into it.

Units that load composable nodes take the target container as an absolute path (target_container) supplied by the caller; units never derive it from their own namespace. Callers construct the path from their literal namespace knowledge and must keep it in step with their namespace pushes. The one exception is the concatenation units, whose pointcloud_container_name keeps its historical name and receives the top-level pointcloud container path passed through unchanged.

Launch files

  • pointcloud_container.launch.xml — component container for one sensor unit, created at container_namespace/container_name; use_multithread selects component_container_mt.
  • pointcloud_crop_boxes.launch.xml — vehicle body crop box followed by a secondary crop box, loaded into an existing container. Used on its own where the remaining preprocessing stages do not apply.
  • pointcloud_preprocessor_cpu.launch.xml — per-lidar preprocessing chain: the crop box unit, then distortion correction and ring outlier filter, loaded into an existing container. The secondary crop box is named by secondary_crop_box (e.g. mirror, wheels).
  • pointcloud_preprocessor_cuda.launch.xml — the same chain folded into one CUDA node; crop box stages come as folded lists in crop_box_param_path.
  • pointcloud_concatenation_cpu.launch.xml, pointcloud_concatenation_cuda.launch.xml — multi-lidar concatenation with time synchronization; the kit passes its concatenate_and_time_sync_node_param_path (input topic list is kit-specific).
  • blockage_diagnostics.launch.xml — blockage diagnostics on the raw pointcloud; angle_range defaults to the configured device angles (float-formatted).
  • gnss_postprocessor.launch.xml — septentrio heading converter plus NavSatFix-to-MGRS pose (autoware_gnss_poser).
  • imu_corrector.launch.xml — imu corrector plus gyro bias estimator (autoware_imu_corrector).
  • radar_tracks_postprocessor.launch.xml — radar tracks noise filter plus message converter.

Config

  • distortion_corrector_node.param.yaml, ring_outlier_filter_node.param.yaml — shared preprocessing defaults; kits with different sensors or thresholds pass their own file via the *_param_path arguments (the outlier shape parameters such as vertical_bins only take effect when publish_outlier_pointcloud is enabled).
  • blockage_diagnostics.param.yaml — blockage diagnostics defaults; runtime shape parameters (angle range, bins) are set per sensor via launch arguments.
  • radar_tracks_msgs_converter.param.yaml, radar_tracks_noise_filter.param.yaml — radar postprocessing defaults.

Crop box param files are owned by the sensor kits (they encode vehicle geometry). Kits generate them offline with:

scripts/generate_crop_box_params.py <vehicle_info.param.yaml> <mirror.param.yaml> <output_dir>

and pass the outputs via the crop_box_filter_{self,secondary}_param_path arguments.

Scripts

  • septentrio_heading_converter.py — runtime node converting the septentrio AttEuler heading to a GnssInsOrientationStamped (installed).
  • generate_crop_box_params.py — offline generator for kit crop box files (not installed).

Package Dependencies

Please see <exec_depend> in package.xml.

CHANGELOG

Changelog for package autoware_sensing_launch

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

0.50.0 (2026-02-13)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • chore: import tier4 launchers from universe (#1740)
  • Contributors: Taeseung Sohn, github-actions

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

0.43.0 (2025-03-21)

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

0.42.0 (2025-03-03)

0.41.2 (2025-02-19)

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

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

0.40.0 (2024-12-12)

  • Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.

  • fix: fix ticket links in CHANGELOG.rst (#9588)

  • chore(package.xml): bump version to 0.39.0 (#9587)

    • chore(package.xml): bump version to 0.39.0
    • fix: fix ticket links in CHANGELOG.rst

    * fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

  • fix: fix ticket links in CHANGELOG.rst (#9588)

  • 0.39.0

  • update changelog

  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)

  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)

  • chore(package.xml): bump version to 0.38.0 (#9266) (#9284)

    • unify package.xml version to 0.37.0
    • remove system_monitor/CHANGELOG.rst
    • add changelog

    * 0.38.0

  • Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo

0.39.0 (2024-11-25)

File truncated at 100 lines see the full file

Launch files

  • launch/blockage_diagnostics.launch.xml
      • target_container
      • node_name [default: blockage_diag]
      • use_intra_process [default: false]
      • input/pointcloud [default: pointcloud_raw_ex]
      • output/pointcloud [default: blockage_diag/pointcloud]
      • cloud_min_angle [default: 0.0]
      • cloud_max_angle [default: 360.0]
      • angle_range [default: [$(var cloud_min_angle), $(var cloud_max_angle)]]
      • max_range [default: 300.0]
      • horizontal_ring_id [default: 64]
      • vertical_bins [default: 128]
      • is_channel_order_top2down [default: true]
      • horizontal_resolution [default: 0.4]
      • blockage_diagnostics_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/blockage_diagnostics.param.yaml]
  • launch/gnss_postprocessor.launch.xml
      • input/fix [default: septentrio/nav_sat_fix]
      • input/atteuler [default: septentrio/atteuler]
      • input/orientation [default: septentrio/orientation]
      • output/pose [default: pose]
      • output/pose_with_covariance [default: pose_with_covariance]
      • output/fixed [default: fixed]
  • launch/imu_corrector.launch.xml
      • input/imu_raw
      • output/imu_data [default: imu_data]
      • input/odometry [default: /localization/kinematic_state]
      • input/pose_with_covariance [default: /localization/pose_estimator/pose_with_covariance]
      • output/imu_scaled [default: /sensing/imu_output_scaled]
      • imu_corrector_param_path [default: $(find-pkg-share autoware_imu_corrector)/config/imu_corrector.param.yaml]
      • gyro_scale_estimator_param_path [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_scale_estimator.param.yaml]
      • gyro_bias_estimator_param_path [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_bias_estimator.param.yaml]
  • launch/pointcloud_concatenation_cpu.launch.xml
      • pointcloud_container_name [default: pointcloud_container]
      • use_concat_filter [default: true]
      • use_intra_process [default: false]
      • concatenate_and_time_sync_node_param_path
      • input/twist [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • output/pointcloud [default: concatenated/pointcloud]
      • output/pointcloud_info [default: concatenated/pointcloud_info]
  • launch/pointcloud_concatenation_cuda.launch.xml
      • pointcloud_container_name [default: pointcloud_container]
      • use_concat_filter [default: true]
      • concatenate_and_time_sync_node_param_path
      • input/twist [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • output/pointcloud [default: concatenated/pointcloud]
      • output/pointcloud_info [default: concatenated/pointcloud_info]
  • launch/pointcloud_container.launch.xml
      • container_namespace
      • container_name [default: pointcloud_container]
      • use_multithread [default: false]
  • launch/pointcloud_crop_boxes.launch.xml
      • target_container
      • input_frame [default: base_link]
      • output_frame [default: base_link]
      • secondary_crop_box [default: mirror]
      • use_intra_process [default: false]
      • input/pointcloud [default: pointcloud_raw_ex]
      • intermediate/pointcloud [default: self_cropped/pointcloud_ex]
      • output/pointcloud [default: $(var secondary_crop_box)_cropped/pointcloud_ex]
      • crop_box_filter_self_param_path
      • crop_box_filter_secondary_param_path
  • launch/pointcloud_preprocessor_cpu.launch.xml
      • target_container
      • frame_id [default: lidar]
      • input_frame [default: base_link]
      • output_frame [default: base_link]
      • output_as_sensor_frame [default: true]
      • secondary_crop_box [default: mirror]
      • use_intra_process [default: false]
      • input/pointcloud [default: pointcloud_raw_ex]
      • input/twist [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • input/imu [default: /sensing/imu/imu_data]
      • output/pointcloud [default: pointcloud_before_sync]
      • crop_box_filter_self_param_path
      • crop_box_filter_secondary_param_path
      • distortion_corrector_node_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/distortion_corrector_node.param.yaml]
      • ring_outlier_filter_node_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/ring_outlier_filter_node.param.yaml]
  • launch/pointcloud_preprocessor_cuda.launch.xml
      • target_container
      • enable_ring_outlier_filter [default: true]
      • input/pointcloud [default: pointcloud_raw_ex]
      • input/twist [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • input/imu [default: /sensing/imu/imu_data]
      • output/pointcloud [default: pointcloud_before_sync]
      • crop_box_param_path
      • distortion_corrector_node_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/distortion_corrector_node.param.yaml]
      • ring_outlier_filter_node_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/ring_outlier_filter_node.param.yaml]
  • launch/radar_tracks_postprocessor.launch.xml
      • input/tracks [default: objects_raw]
      • input/odometry [default: /localization/kinematic_state]
      • output/noise_tracks [default: noise_objects]
      • output/filtered_tracks [default: filtered_objects]
      • output/radar_detected_objects [default: detected_objects]
      • output/radar_tracked_objects [default: tracked_objects]
      • radar_tracks_msgs_converter_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/radar_tracks_msgs_converter.param.yaml]
      • radar_tracks_noise_filter_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/radar_tracks_noise_filter.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_sensing_launch at Robotics Stack Exchange

Package symbol

autoware_sensing_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

ROS Distro
github

API Docs
Browse Code

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

Sensor data pre-processing pipelines shared by sensor kits

Maintainers

  • David Wong
  • Max Schmeller
  • Dai Nguyen

Authors

No additional authors.
autoware_universe_launch/autoware_sensing_launch/README.md

autoware_sensing_launch

Shared sensing launch library. Sensor kits own the sensing entry point (<sensor_model>_launch/launch/sensing.launch.xml, included by component_sensing.launch.xml); this package hosts the reusable pre/post-processing units the kits build on. Driver launch files live in the driver layer package autoware_sensor_driver_launch.

Container ownership and addressing

Sensor kits create the containers; units only load nodes into them. pointcloud_container.launch.xml is the one unit that creates a container, and it loads nothing into it.

Units that load composable nodes take the target container as an absolute path (target_container) supplied by the caller; units never derive it from their own namespace. Callers construct the path from their literal namespace knowledge and must keep it in step with their namespace pushes. The one exception is the concatenation units, whose pointcloud_container_name keeps its historical name and receives the top-level pointcloud container path passed through unchanged.

Launch files

  • pointcloud_container.launch.xml — component container for one sensor unit, created at container_namespace/container_name; use_multithread selects component_container_mt.
  • pointcloud_crop_boxes.launch.xml — vehicle body crop box followed by a secondary crop box, loaded into an existing container. Used on its own where the remaining preprocessing stages do not apply.
  • pointcloud_preprocessor_cpu.launch.xml — per-lidar preprocessing chain: the crop box unit, then distortion correction and ring outlier filter, loaded into an existing container. The secondary crop box is named by secondary_crop_box (e.g. mirror, wheels).
  • pointcloud_preprocessor_cuda.launch.xml — the same chain folded into one CUDA node; crop box stages come as folded lists in crop_box_param_path.
  • pointcloud_concatenation_cpu.launch.xml, pointcloud_concatenation_cuda.launch.xml — multi-lidar concatenation with time synchronization; the kit passes its concatenate_and_time_sync_node_param_path (input topic list is kit-specific).
  • blockage_diagnostics.launch.xml — blockage diagnostics on the raw pointcloud; angle_range defaults to the configured device angles (float-formatted).
  • gnss_postprocessor.launch.xml — septentrio heading converter plus NavSatFix-to-MGRS pose (autoware_gnss_poser).
  • imu_corrector.launch.xml — imu corrector plus gyro bias estimator (autoware_imu_corrector).
  • radar_tracks_postprocessor.launch.xml — radar tracks noise filter plus message converter.

Config

  • distortion_corrector_node.param.yaml, ring_outlier_filter_node.param.yaml — shared preprocessing defaults; kits with different sensors or thresholds pass their own file via the *_param_path arguments (the outlier shape parameters such as vertical_bins only take effect when publish_outlier_pointcloud is enabled).
  • blockage_diagnostics.param.yaml — blockage diagnostics defaults; runtime shape parameters (angle range, bins) are set per sensor via launch arguments.
  • radar_tracks_msgs_converter.param.yaml, radar_tracks_noise_filter.param.yaml — radar postprocessing defaults.

Crop box param files are owned by the sensor kits (they encode vehicle geometry). Kits generate them offline with:

scripts/generate_crop_box_params.py <vehicle_info.param.yaml> <mirror.param.yaml> <output_dir>

and pass the outputs via the crop_box_filter_{self,secondary}_param_path arguments.

Scripts

  • septentrio_heading_converter.py — runtime node converting the septentrio AttEuler heading to a GnssInsOrientationStamped (installed).
  • generate_crop_box_params.py — offline generator for kit crop box files (not installed).

Package Dependencies

Please see <exec_depend> in package.xml.

CHANGELOG

Changelog for package autoware_sensing_launch

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

0.50.0 (2026-02-13)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • chore: import tier4 launchers from universe (#1740)
  • Contributors: Taeseung Sohn, github-actions

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

0.43.0 (2025-03-21)

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

0.42.0 (2025-03-03)

0.41.2 (2025-02-19)

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

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

0.40.0 (2024-12-12)

  • Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.

  • fix: fix ticket links in CHANGELOG.rst (#9588)

  • chore(package.xml): bump version to 0.39.0 (#9587)

    • chore(package.xml): bump version to 0.39.0
    • fix: fix ticket links in CHANGELOG.rst

    * fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

  • fix: fix ticket links in CHANGELOG.rst (#9588)

  • 0.39.0

  • update changelog

  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)

  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)

  • chore(package.xml): bump version to 0.38.0 (#9266) (#9284)

    • unify package.xml version to 0.37.0
    • remove system_monitor/CHANGELOG.rst
    • add changelog

    * 0.38.0

  • Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo

0.39.0 (2024-11-25)

File truncated at 100 lines see the full file

Launch files

  • launch/blockage_diagnostics.launch.xml
      • target_container
      • node_name [default: blockage_diag]
      • use_intra_process [default: false]
      • input/pointcloud [default: pointcloud_raw_ex]
      • output/pointcloud [default: blockage_diag/pointcloud]
      • cloud_min_angle [default: 0.0]
      • cloud_max_angle [default: 360.0]
      • angle_range [default: [$(var cloud_min_angle), $(var cloud_max_angle)]]
      • max_range [default: 300.0]
      • horizontal_ring_id [default: 64]
      • vertical_bins [default: 128]
      • is_channel_order_top2down [default: true]
      • horizontal_resolution [default: 0.4]
      • blockage_diagnostics_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/blockage_diagnostics.param.yaml]
  • launch/gnss_postprocessor.launch.xml
      • input/fix [default: septentrio/nav_sat_fix]
      • input/atteuler [default: septentrio/atteuler]
      • input/orientation [default: septentrio/orientation]
      • output/pose [default: pose]
      • output/pose_with_covariance [default: pose_with_covariance]
      • output/fixed [default: fixed]
  • launch/imu_corrector.launch.xml
      • input/imu_raw
      • output/imu_data [default: imu_data]
      • input/odometry [default: /localization/kinematic_state]
      • input/pose_with_covariance [default: /localization/pose_estimator/pose_with_covariance]
      • output/imu_scaled [default: /sensing/imu_output_scaled]
      • imu_corrector_param_path [default: $(find-pkg-share autoware_imu_corrector)/config/imu_corrector.param.yaml]
      • gyro_scale_estimator_param_path [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_scale_estimator.param.yaml]
      • gyro_bias_estimator_param_path [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_bias_estimator.param.yaml]
  • launch/pointcloud_concatenation_cpu.launch.xml
      • pointcloud_container_name [default: pointcloud_container]
      • use_concat_filter [default: true]
      • use_intra_process [default: false]
      • concatenate_and_time_sync_node_param_path
      • input/twist [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • output/pointcloud [default: concatenated/pointcloud]
      • output/pointcloud_info [default: concatenated/pointcloud_info]
  • launch/pointcloud_concatenation_cuda.launch.xml
      • pointcloud_container_name [default: pointcloud_container]
      • use_concat_filter [default: true]
      • concatenate_and_time_sync_node_param_path
      • input/twist [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • output/pointcloud [default: concatenated/pointcloud]
      • output/pointcloud_info [default: concatenated/pointcloud_info]
  • launch/pointcloud_container.launch.xml
      • container_namespace
      • container_name [default: pointcloud_container]
      • use_multithread [default: false]
  • launch/pointcloud_crop_boxes.launch.xml
      • target_container
      • input_frame [default: base_link]
      • output_frame [default: base_link]
      • secondary_crop_box [default: mirror]
      • use_intra_process [default: false]
      • input/pointcloud [default: pointcloud_raw_ex]
      • intermediate/pointcloud [default: self_cropped/pointcloud_ex]
      • output/pointcloud [default: $(var secondary_crop_box)_cropped/pointcloud_ex]
      • crop_box_filter_self_param_path
      • crop_box_filter_secondary_param_path
  • launch/pointcloud_preprocessor_cpu.launch.xml
      • target_container
      • frame_id [default: lidar]
      • input_frame [default: base_link]
      • output_frame [default: base_link]
      • output_as_sensor_frame [default: true]
      • secondary_crop_box [default: mirror]
      • use_intra_process [default: false]
      • input/pointcloud [default: pointcloud_raw_ex]
      • input/twist [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • input/imu [default: /sensing/imu/imu_data]
      • output/pointcloud [default: pointcloud_before_sync]
      • crop_box_filter_self_param_path
      • crop_box_filter_secondary_param_path
      • distortion_corrector_node_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/distortion_corrector_node.param.yaml]
      • ring_outlier_filter_node_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/ring_outlier_filter_node.param.yaml]
  • launch/pointcloud_preprocessor_cuda.launch.xml
      • target_container
      • enable_ring_outlier_filter [default: true]
      • input/pointcloud [default: pointcloud_raw_ex]
      • input/twist [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • input/imu [default: /sensing/imu/imu_data]
      • output/pointcloud [default: pointcloud_before_sync]
      • crop_box_param_path
      • distortion_corrector_node_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/distortion_corrector_node.param.yaml]
      • ring_outlier_filter_node_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/ring_outlier_filter_node.param.yaml]
  • launch/radar_tracks_postprocessor.launch.xml
      • input/tracks [default: objects_raw]
      • input/odometry [default: /localization/kinematic_state]
      • output/noise_tracks [default: noise_objects]
      • output/filtered_tracks [default: filtered_objects]
      • output/radar_detected_objects [default: detected_objects]
      • output/radar_tracked_objects [default: tracked_objects]
      • radar_tracks_msgs_converter_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/radar_tracks_msgs_converter.param.yaml]
      • radar_tracks_noise_filter_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/radar_tracks_noise_filter.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_sensing_launch at Robotics Stack Exchange

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

autoware_sensing_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

ROS Distro
github

API Docs
Browse Code

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

Sensor data pre-processing pipelines shared by sensor kits

Maintainers

  • David Wong
  • Max Schmeller
  • Dai Nguyen

Authors

No additional authors.
autoware_universe_launch/autoware_sensing_launch/README.md

autoware_sensing_launch

Shared sensing launch library. Sensor kits own the sensing entry point (<sensor_model>_launch/launch/sensing.launch.xml, included by component_sensing.launch.xml); this package hosts the reusable pre/post-processing units the kits build on. Driver launch files live in the driver layer package autoware_sensor_driver_launch.

Container ownership and addressing

Sensor kits create the containers; units only load nodes into them. pointcloud_container.launch.xml is the one unit that creates a container, and it loads nothing into it.

Units that load composable nodes take the target container as an absolute path (target_container) supplied by the caller; units never derive it from their own namespace. Callers construct the path from their literal namespace knowledge and must keep it in step with their namespace pushes. The one exception is the concatenation units, whose pointcloud_container_name keeps its historical name and receives the top-level pointcloud container path passed through unchanged.

Launch files

  • pointcloud_container.launch.xml — component container for one sensor unit, created at container_namespace/container_name; use_multithread selects component_container_mt.
  • pointcloud_crop_boxes.launch.xml — vehicle body crop box followed by a secondary crop box, loaded into an existing container. Used on its own where the remaining preprocessing stages do not apply.
  • pointcloud_preprocessor_cpu.launch.xml — per-lidar preprocessing chain: the crop box unit, then distortion correction and ring outlier filter, loaded into an existing container. The secondary crop box is named by secondary_crop_box (e.g. mirror, wheels).
  • pointcloud_preprocessor_cuda.launch.xml — the same chain folded into one CUDA node; crop box stages come as folded lists in crop_box_param_path.
  • pointcloud_concatenation_cpu.launch.xml, pointcloud_concatenation_cuda.launch.xml — multi-lidar concatenation with time synchronization; the kit passes its concatenate_and_time_sync_node_param_path (input topic list is kit-specific).
  • blockage_diagnostics.launch.xml — blockage diagnostics on the raw pointcloud; angle_range defaults to the configured device angles (float-formatted).
  • gnss_postprocessor.launch.xml — septentrio heading converter plus NavSatFix-to-MGRS pose (autoware_gnss_poser).
  • imu_corrector.launch.xml — imu corrector plus gyro bias estimator (autoware_imu_corrector).
  • radar_tracks_postprocessor.launch.xml — radar tracks noise filter plus message converter.

Config

  • distortion_corrector_node.param.yaml, ring_outlier_filter_node.param.yaml — shared preprocessing defaults; kits with different sensors or thresholds pass their own file via the *_param_path arguments (the outlier shape parameters such as vertical_bins only take effect when publish_outlier_pointcloud is enabled).
  • blockage_diagnostics.param.yaml — blockage diagnostics defaults; runtime shape parameters (angle range, bins) are set per sensor via launch arguments.
  • radar_tracks_msgs_converter.param.yaml, radar_tracks_noise_filter.param.yaml — radar postprocessing defaults.

Crop box param files are owned by the sensor kits (they encode vehicle geometry). Kits generate them offline with:

scripts/generate_crop_box_params.py <vehicle_info.param.yaml> <mirror.param.yaml> <output_dir>

and pass the outputs via the crop_box_filter_{self,secondary}_param_path arguments.

Scripts

  • septentrio_heading_converter.py — runtime node converting the septentrio AttEuler heading to a GnssInsOrientationStamped (installed).
  • generate_crop_box_params.py — offline generator for kit crop box files (not installed).

Package Dependencies

Please see <exec_depend> in package.xml.

CHANGELOG

Changelog for package autoware_sensing_launch

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

0.50.0 (2026-02-13)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • chore: import tier4 launchers from universe (#1740)
  • Contributors: Taeseung Sohn, github-actions

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

0.43.0 (2025-03-21)

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

0.42.0 (2025-03-03)

0.41.2 (2025-02-19)

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

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

0.40.0 (2024-12-12)

  • Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.

  • fix: fix ticket links in CHANGELOG.rst (#9588)

  • chore(package.xml): bump version to 0.39.0 (#9587)

    • chore(package.xml): bump version to 0.39.0
    • fix: fix ticket links in CHANGELOG.rst

    * fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

  • fix: fix ticket links in CHANGELOG.rst (#9588)

  • 0.39.0

  • update changelog

  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)

  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)

  • chore(package.xml): bump version to 0.38.0 (#9266) (#9284)

    • unify package.xml version to 0.37.0
    • remove system_monitor/CHANGELOG.rst
    • add changelog

    * 0.38.0

  • Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo

0.39.0 (2024-11-25)

File truncated at 100 lines see the full file

Launch files

  • launch/blockage_diagnostics.launch.xml
      • target_container
      • node_name [default: blockage_diag]
      • use_intra_process [default: false]
      • input/pointcloud [default: pointcloud_raw_ex]
      • output/pointcloud [default: blockage_diag/pointcloud]
      • cloud_min_angle [default: 0.0]
      • cloud_max_angle [default: 360.0]
      • angle_range [default: [$(var cloud_min_angle), $(var cloud_max_angle)]]
      • max_range [default: 300.0]
      • horizontal_ring_id [default: 64]
      • vertical_bins [default: 128]
      • is_channel_order_top2down [default: true]
      • horizontal_resolution [default: 0.4]
      • blockage_diagnostics_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/blockage_diagnostics.param.yaml]
  • launch/gnss_postprocessor.launch.xml
      • input/fix [default: septentrio/nav_sat_fix]
      • input/atteuler [default: septentrio/atteuler]
      • input/orientation [default: septentrio/orientation]
      • output/pose [default: pose]
      • output/pose_with_covariance [default: pose_with_covariance]
      • output/fixed [default: fixed]
  • launch/imu_corrector.launch.xml
      • input/imu_raw
      • output/imu_data [default: imu_data]
      • input/odometry [default: /localization/kinematic_state]
      • input/pose_with_covariance [default: /localization/pose_estimator/pose_with_covariance]
      • output/imu_scaled [default: /sensing/imu_output_scaled]
      • imu_corrector_param_path [default: $(find-pkg-share autoware_imu_corrector)/config/imu_corrector.param.yaml]
      • gyro_scale_estimator_param_path [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_scale_estimator.param.yaml]
      • gyro_bias_estimator_param_path [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_bias_estimator.param.yaml]
  • launch/pointcloud_concatenation_cpu.launch.xml
      • pointcloud_container_name [default: pointcloud_container]
      • use_concat_filter [default: true]
      • use_intra_process [default: false]
      • concatenate_and_time_sync_node_param_path
      • input/twist [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • output/pointcloud [default: concatenated/pointcloud]
      • output/pointcloud_info [default: concatenated/pointcloud_info]
  • launch/pointcloud_concatenation_cuda.launch.xml
      • pointcloud_container_name [default: pointcloud_container]
      • use_concat_filter [default: true]
      • concatenate_and_time_sync_node_param_path
      • input/twist [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • output/pointcloud [default: concatenated/pointcloud]
      • output/pointcloud_info [default: concatenated/pointcloud_info]
  • launch/pointcloud_container.launch.xml
      • container_namespace
      • container_name [default: pointcloud_container]
      • use_multithread [default: false]
  • launch/pointcloud_crop_boxes.launch.xml
      • target_container
      • input_frame [default: base_link]
      • output_frame [default: base_link]
      • secondary_crop_box [default: mirror]
      • use_intra_process [default: false]
      • input/pointcloud [default: pointcloud_raw_ex]
      • intermediate/pointcloud [default: self_cropped/pointcloud_ex]
      • output/pointcloud [default: $(var secondary_crop_box)_cropped/pointcloud_ex]
      • crop_box_filter_self_param_path
      • crop_box_filter_secondary_param_path
  • launch/pointcloud_preprocessor_cpu.launch.xml
      • target_container
      • frame_id [default: lidar]
      • input_frame [default: base_link]
      • output_frame [default: base_link]
      • output_as_sensor_frame [default: true]
      • secondary_crop_box [default: mirror]
      • use_intra_process [default: false]
      • input/pointcloud [default: pointcloud_raw_ex]
      • input/twist [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • input/imu [default: /sensing/imu/imu_data]
      • output/pointcloud [default: pointcloud_before_sync]
      • crop_box_filter_self_param_path
      • crop_box_filter_secondary_param_path
      • distortion_corrector_node_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/distortion_corrector_node.param.yaml]
      • ring_outlier_filter_node_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/ring_outlier_filter_node.param.yaml]
  • launch/pointcloud_preprocessor_cuda.launch.xml
      • target_container
      • enable_ring_outlier_filter [default: true]
      • input/pointcloud [default: pointcloud_raw_ex]
      • input/twist [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • input/imu [default: /sensing/imu/imu_data]
      • output/pointcloud [default: pointcloud_before_sync]
      • crop_box_param_path
      • distortion_corrector_node_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/distortion_corrector_node.param.yaml]
      • ring_outlier_filter_node_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/ring_outlier_filter_node.param.yaml]
  • launch/radar_tracks_postprocessor.launch.xml
      • input/tracks [default: objects_raw]
      • input/odometry [default: /localization/kinematic_state]
      • output/noise_tracks [default: noise_objects]
      • output/filtered_tracks [default: filtered_objects]
      • output/radar_detected_objects [default: detected_objects]
      • output/radar_tracked_objects [default: tracked_objects]
      • radar_tracks_msgs_converter_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/radar_tracks_msgs_converter.param.yaml]
      • radar_tracks_noise_filter_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/radar_tracks_noise_filter.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_sensing_launch at Robotics Stack Exchange

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

autoware_sensing_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

ROS Distro
github

API Docs
Browse Code

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

Sensor data pre-processing pipelines shared by sensor kits

Maintainers

  • David Wong
  • Max Schmeller
  • Dai Nguyen

Authors

No additional authors.
autoware_universe_launch/autoware_sensing_launch/README.md

autoware_sensing_launch

Shared sensing launch library. Sensor kits own the sensing entry point (<sensor_model>_launch/launch/sensing.launch.xml, included by component_sensing.launch.xml); this package hosts the reusable pre/post-processing units the kits build on. Driver launch files live in the driver layer package autoware_sensor_driver_launch.

Container ownership and addressing

Sensor kits create the containers; units only load nodes into them. pointcloud_container.launch.xml is the one unit that creates a container, and it loads nothing into it.

Units that load composable nodes take the target container as an absolute path (target_container) supplied by the caller; units never derive it from their own namespace. Callers construct the path from their literal namespace knowledge and must keep it in step with their namespace pushes. The one exception is the concatenation units, whose pointcloud_container_name keeps its historical name and receives the top-level pointcloud container path passed through unchanged.

Launch files

  • pointcloud_container.launch.xml — component container for one sensor unit, created at container_namespace/container_name; use_multithread selects component_container_mt.
  • pointcloud_crop_boxes.launch.xml — vehicle body crop box followed by a secondary crop box, loaded into an existing container. Used on its own where the remaining preprocessing stages do not apply.
  • pointcloud_preprocessor_cpu.launch.xml — per-lidar preprocessing chain: the crop box unit, then distortion correction and ring outlier filter, loaded into an existing container. The secondary crop box is named by secondary_crop_box (e.g. mirror, wheels).
  • pointcloud_preprocessor_cuda.launch.xml — the same chain folded into one CUDA node; crop box stages come as folded lists in crop_box_param_path.
  • pointcloud_concatenation_cpu.launch.xml, pointcloud_concatenation_cuda.launch.xml — multi-lidar concatenation with time synchronization; the kit passes its concatenate_and_time_sync_node_param_path (input topic list is kit-specific).
  • blockage_diagnostics.launch.xml — blockage diagnostics on the raw pointcloud; angle_range defaults to the configured device angles (float-formatted).
  • gnss_postprocessor.launch.xml — septentrio heading converter plus NavSatFix-to-MGRS pose (autoware_gnss_poser).
  • imu_corrector.launch.xml — imu corrector plus gyro bias estimator (autoware_imu_corrector).
  • radar_tracks_postprocessor.launch.xml — radar tracks noise filter plus message converter.

Config

  • distortion_corrector_node.param.yaml, ring_outlier_filter_node.param.yaml — shared preprocessing defaults; kits with different sensors or thresholds pass their own file via the *_param_path arguments (the outlier shape parameters such as vertical_bins only take effect when publish_outlier_pointcloud is enabled).
  • blockage_diagnostics.param.yaml — blockage diagnostics defaults; runtime shape parameters (angle range, bins) are set per sensor via launch arguments.
  • radar_tracks_msgs_converter.param.yaml, radar_tracks_noise_filter.param.yaml — radar postprocessing defaults.

Crop box param files are owned by the sensor kits (they encode vehicle geometry). Kits generate them offline with:

scripts/generate_crop_box_params.py <vehicle_info.param.yaml> <mirror.param.yaml> <output_dir>

and pass the outputs via the crop_box_filter_{self,secondary}_param_path arguments.

Scripts

  • septentrio_heading_converter.py — runtime node converting the septentrio AttEuler heading to a GnssInsOrientationStamped (installed).
  • generate_crop_box_params.py — offline generator for kit crop box files (not installed).

Package Dependencies

Please see <exec_depend> in package.xml.

CHANGELOG

Changelog for package autoware_sensing_launch

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

0.50.0 (2026-02-13)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • chore: import tier4 launchers from universe (#1740)
  • Contributors: Taeseung Sohn, github-actions

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

0.43.0 (2025-03-21)

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

0.42.0 (2025-03-03)

0.41.2 (2025-02-19)

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

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

0.40.0 (2024-12-12)

  • Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.

  • fix: fix ticket links in CHANGELOG.rst (#9588)

  • chore(package.xml): bump version to 0.39.0 (#9587)

    • chore(package.xml): bump version to 0.39.0
    • fix: fix ticket links in CHANGELOG.rst

    * fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

  • fix: fix ticket links in CHANGELOG.rst (#9588)

  • 0.39.0

  • update changelog

  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)

  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)

  • chore(package.xml): bump version to 0.38.0 (#9266) (#9284)

    • unify package.xml version to 0.37.0
    • remove system_monitor/CHANGELOG.rst
    • add changelog

    * 0.38.0

  • Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo

0.39.0 (2024-11-25)

File truncated at 100 lines see the full file

Launch files

  • launch/blockage_diagnostics.launch.xml
      • target_container
      • node_name [default: blockage_diag]
      • use_intra_process [default: false]
      • input/pointcloud [default: pointcloud_raw_ex]
      • output/pointcloud [default: blockage_diag/pointcloud]
      • cloud_min_angle [default: 0.0]
      • cloud_max_angle [default: 360.0]
      • angle_range [default: [$(var cloud_min_angle), $(var cloud_max_angle)]]
      • max_range [default: 300.0]
      • horizontal_ring_id [default: 64]
      • vertical_bins [default: 128]
      • is_channel_order_top2down [default: true]
      • horizontal_resolution [default: 0.4]
      • blockage_diagnostics_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/blockage_diagnostics.param.yaml]
  • launch/gnss_postprocessor.launch.xml
      • input/fix [default: septentrio/nav_sat_fix]
      • input/atteuler [default: septentrio/atteuler]
      • input/orientation [default: septentrio/orientation]
      • output/pose [default: pose]
      • output/pose_with_covariance [default: pose_with_covariance]
      • output/fixed [default: fixed]
  • launch/imu_corrector.launch.xml
      • input/imu_raw
      • output/imu_data [default: imu_data]
      • input/odometry [default: /localization/kinematic_state]
      • input/pose_with_covariance [default: /localization/pose_estimator/pose_with_covariance]
      • output/imu_scaled [default: /sensing/imu_output_scaled]
      • imu_corrector_param_path [default: $(find-pkg-share autoware_imu_corrector)/config/imu_corrector.param.yaml]
      • gyro_scale_estimator_param_path [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_scale_estimator.param.yaml]
      • gyro_bias_estimator_param_path [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_bias_estimator.param.yaml]
  • launch/pointcloud_concatenation_cpu.launch.xml
      • pointcloud_container_name [default: pointcloud_container]
      • use_concat_filter [default: true]
      • use_intra_process [default: false]
      • concatenate_and_time_sync_node_param_path
      • input/twist [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • output/pointcloud [default: concatenated/pointcloud]
      • output/pointcloud_info [default: concatenated/pointcloud_info]
  • launch/pointcloud_concatenation_cuda.launch.xml
      • pointcloud_container_name [default: pointcloud_container]
      • use_concat_filter [default: true]
      • concatenate_and_time_sync_node_param_path
      • input/twist [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • output/pointcloud [default: concatenated/pointcloud]
      • output/pointcloud_info [default: concatenated/pointcloud_info]
  • launch/pointcloud_container.launch.xml
      • container_namespace
      • container_name [default: pointcloud_container]
      • use_multithread [default: false]
  • launch/pointcloud_crop_boxes.launch.xml
      • target_container
      • input_frame [default: base_link]
      • output_frame [default: base_link]
      • secondary_crop_box [default: mirror]
      • use_intra_process [default: false]
      • input/pointcloud [default: pointcloud_raw_ex]
      • intermediate/pointcloud [default: self_cropped/pointcloud_ex]
      • output/pointcloud [default: $(var secondary_crop_box)_cropped/pointcloud_ex]
      • crop_box_filter_self_param_path
      • crop_box_filter_secondary_param_path
  • launch/pointcloud_preprocessor_cpu.launch.xml
      • target_container
      • frame_id [default: lidar]
      • input_frame [default: base_link]
      • output_frame [default: base_link]
      • output_as_sensor_frame [default: true]
      • secondary_crop_box [default: mirror]
      • use_intra_process [default: false]
      • input/pointcloud [default: pointcloud_raw_ex]
      • input/twist [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • input/imu [default: /sensing/imu/imu_data]
      • output/pointcloud [default: pointcloud_before_sync]
      • crop_box_filter_self_param_path
      • crop_box_filter_secondary_param_path
      • distortion_corrector_node_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/distortion_corrector_node.param.yaml]
      • ring_outlier_filter_node_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/ring_outlier_filter_node.param.yaml]
  • launch/pointcloud_preprocessor_cuda.launch.xml
      • target_container
      • enable_ring_outlier_filter [default: true]
      • input/pointcloud [default: pointcloud_raw_ex]
      • input/twist [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • input/imu [default: /sensing/imu/imu_data]
      • output/pointcloud [default: pointcloud_before_sync]
      • crop_box_param_path
      • distortion_corrector_node_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/distortion_corrector_node.param.yaml]
      • ring_outlier_filter_node_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/ring_outlier_filter_node.param.yaml]
  • launch/radar_tracks_postprocessor.launch.xml
      • input/tracks [default: objects_raw]
      • input/odometry [default: /localization/kinematic_state]
      • output/noise_tracks [default: noise_objects]
      • output/filtered_tracks [default: filtered_objects]
      • output/radar_detected_objects [default: detected_objects]
      • output/radar_tracked_objects [default: tracked_objects]
      • radar_tracks_msgs_converter_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/radar_tracks_msgs_converter.param.yaml]
      • radar_tracks_noise_filter_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/radar_tracks_noise_filter.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_sensing_launch at Robotics Stack Exchange

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

autoware_sensing_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

ROS Distro
github

API Docs
Browse Code
Wiki

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

Sensor data pre-processing pipelines shared by sensor kits

Maintainers

  • David Wong
  • Max Schmeller
  • Dai Nguyen

Authors

No additional authors.
autoware_universe_launch/autoware_sensing_launch/README.md

autoware_sensing_launch

Shared sensing launch library. Sensor kits own the sensing entry point (<sensor_model>_launch/launch/sensing.launch.xml, included by component_sensing.launch.xml); this package hosts the reusable pre/post-processing units the kits build on. Driver launch files live in the driver layer package autoware_sensor_driver_launch.

Container ownership and addressing

Sensor kits create the containers; units only load nodes into them. pointcloud_container.launch.xml is the one unit that creates a container, and it loads nothing into it.

Units that load composable nodes take the target container as an absolute path (target_container) supplied by the caller; units never derive it from their own namespace. Callers construct the path from their literal namespace knowledge and must keep it in step with their namespace pushes. The one exception is the concatenation units, whose pointcloud_container_name keeps its historical name and receives the top-level pointcloud container path passed through unchanged.

Launch files

  • pointcloud_container.launch.xml — component container for one sensor unit, created at container_namespace/container_name; use_multithread selects component_container_mt.
  • pointcloud_crop_boxes.launch.xml — vehicle body crop box followed by a secondary crop box, loaded into an existing container. Used on its own where the remaining preprocessing stages do not apply.
  • pointcloud_preprocessor_cpu.launch.xml — per-lidar preprocessing chain: the crop box unit, then distortion correction and ring outlier filter, loaded into an existing container. The secondary crop box is named by secondary_crop_box (e.g. mirror, wheels).
  • pointcloud_preprocessor_cuda.launch.xml — the same chain folded into one CUDA node; crop box stages come as folded lists in crop_box_param_path.
  • pointcloud_concatenation_cpu.launch.xml, pointcloud_concatenation_cuda.launch.xml — multi-lidar concatenation with time synchronization; the kit passes its concatenate_and_time_sync_node_param_path (input topic list is kit-specific).
  • blockage_diagnostics.launch.xml — blockage diagnostics on the raw pointcloud; angle_range defaults to the configured device angles (float-formatted).
  • gnss_postprocessor.launch.xml — septentrio heading converter plus NavSatFix-to-MGRS pose (autoware_gnss_poser).
  • imu_corrector.launch.xml — imu corrector plus gyro bias estimator (autoware_imu_corrector).
  • radar_tracks_postprocessor.launch.xml — radar tracks noise filter plus message converter.

Config

  • distortion_corrector_node.param.yaml, ring_outlier_filter_node.param.yaml — shared preprocessing defaults; kits with different sensors or thresholds pass their own file via the *_param_path arguments (the outlier shape parameters such as vertical_bins only take effect when publish_outlier_pointcloud is enabled).
  • blockage_diagnostics.param.yaml — blockage diagnostics defaults; runtime shape parameters (angle range, bins) are set per sensor via launch arguments.
  • radar_tracks_msgs_converter.param.yaml, radar_tracks_noise_filter.param.yaml — radar postprocessing defaults.

Crop box param files are owned by the sensor kits (they encode vehicle geometry). Kits generate them offline with:

scripts/generate_crop_box_params.py <vehicle_info.param.yaml> <mirror.param.yaml> <output_dir>

and pass the outputs via the crop_box_filter_{self,secondary}_param_path arguments.

Scripts

  • septentrio_heading_converter.py — runtime node converting the septentrio AttEuler heading to a GnssInsOrientationStamped (installed).
  • generate_crop_box_params.py — offline generator for kit crop box files (not installed).

Package Dependencies

Please see <exec_depend> in package.xml.

CHANGELOG

Changelog for package autoware_sensing_launch

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

0.50.0 (2026-02-13)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • chore: import tier4 launchers from universe (#1740)
  • Contributors: Taeseung Sohn, github-actions

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

0.43.0 (2025-03-21)

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

0.42.0 (2025-03-03)

0.41.2 (2025-02-19)

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

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

0.40.0 (2024-12-12)

  • Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.

  • fix: fix ticket links in CHANGELOG.rst (#9588)

  • chore(package.xml): bump version to 0.39.0 (#9587)

    • chore(package.xml): bump version to 0.39.0
    • fix: fix ticket links in CHANGELOG.rst

    * fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

  • fix: fix ticket links in CHANGELOG.rst (#9588)

  • 0.39.0

  • update changelog

  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)

  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)

  • chore(package.xml): bump version to 0.38.0 (#9266) (#9284)

    • unify package.xml version to 0.37.0
    • remove system_monitor/CHANGELOG.rst
    • add changelog

    * 0.38.0

  • Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo

0.39.0 (2024-11-25)

File truncated at 100 lines see the full file

Launch files

  • launch/blockage_diagnostics.launch.xml
      • target_container
      • node_name [default: blockage_diag]
      • use_intra_process [default: false]
      • input/pointcloud [default: pointcloud_raw_ex]
      • output/pointcloud [default: blockage_diag/pointcloud]
      • cloud_min_angle [default: 0.0]
      • cloud_max_angle [default: 360.0]
      • angle_range [default: [$(var cloud_min_angle), $(var cloud_max_angle)]]
      • max_range [default: 300.0]
      • horizontal_ring_id [default: 64]
      • vertical_bins [default: 128]
      • is_channel_order_top2down [default: true]
      • horizontal_resolution [default: 0.4]
      • blockage_diagnostics_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/blockage_diagnostics.param.yaml]
  • launch/gnss_postprocessor.launch.xml
      • input/fix [default: septentrio/nav_sat_fix]
      • input/atteuler [default: septentrio/atteuler]
      • input/orientation [default: septentrio/orientation]
      • output/pose [default: pose]
      • output/pose_with_covariance [default: pose_with_covariance]
      • output/fixed [default: fixed]
  • launch/imu_corrector.launch.xml
      • input/imu_raw
      • output/imu_data [default: imu_data]
      • input/odometry [default: /localization/kinematic_state]
      • input/pose_with_covariance [default: /localization/pose_estimator/pose_with_covariance]
      • output/imu_scaled [default: /sensing/imu_output_scaled]
      • imu_corrector_param_path [default: $(find-pkg-share autoware_imu_corrector)/config/imu_corrector.param.yaml]
      • gyro_scale_estimator_param_path [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_scale_estimator.param.yaml]
      • gyro_bias_estimator_param_path [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_bias_estimator.param.yaml]
  • launch/pointcloud_concatenation_cpu.launch.xml
      • pointcloud_container_name [default: pointcloud_container]
      • use_concat_filter [default: true]
      • use_intra_process [default: false]
      • concatenate_and_time_sync_node_param_path
      • input/twist [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • output/pointcloud [default: concatenated/pointcloud]
      • output/pointcloud_info [default: concatenated/pointcloud_info]
  • launch/pointcloud_concatenation_cuda.launch.xml
      • pointcloud_container_name [default: pointcloud_container]
      • use_concat_filter [default: true]
      • concatenate_and_time_sync_node_param_path
      • input/twist [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • output/pointcloud [default: concatenated/pointcloud]
      • output/pointcloud_info [default: concatenated/pointcloud_info]
  • launch/pointcloud_container.launch.xml
      • container_namespace
      • container_name [default: pointcloud_container]
      • use_multithread [default: false]
  • launch/pointcloud_crop_boxes.launch.xml
      • target_container
      • input_frame [default: base_link]
      • output_frame [default: base_link]
      • secondary_crop_box [default: mirror]
      • use_intra_process [default: false]
      • input/pointcloud [default: pointcloud_raw_ex]
      • intermediate/pointcloud [default: self_cropped/pointcloud_ex]
      • output/pointcloud [default: $(var secondary_crop_box)_cropped/pointcloud_ex]
      • crop_box_filter_self_param_path
      • crop_box_filter_secondary_param_path
  • launch/pointcloud_preprocessor_cpu.launch.xml
      • target_container
      • frame_id [default: lidar]
      • input_frame [default: base_link]
      • output_frame [default: base_link]
      • output_as_sensor_frame [default: true]
      • secondary_crop_box [default: mirror]
      • use_intra_process [default: false]
      • input/pointcloud [default: pointcloud_raw_ex]
      • input/twist [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • input/imu [default: /sensing/imu/imu_data]
      • output/pointcloud [default: pointcloud_before_sync]
      • crop_box_filter_self_param_path
      • crop_box_filter_secondary_param_path
      • distortion_corrector_node_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/distortion_corrector_node.param.yaml]
      • ring_outlier_filter_node_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/ring_outlier_filter_node.param.yaml]
  • launch/pointcloud_preprocessor_cuda.launch.xml
      • target_container
      • enable_ring_outlier_filter [default: true]
      • input/pointcloud [default: pointcloud_raw_ex]
      • input/twist [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • input/imu [default: /sensing/imu/imu_data]
      • output/pointcloud [default: pointcloud_before_sync]
      • crop_box_param_path
      • distortion_corrector_node_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/distortion_corrector_node.param.yaml]
      • ring_outlier_filter_node_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/ring_outlier_filter_node.param.yaml]
  • launch/radar_tracks_postprocessor.launch.xml
      • input/tracks [default: objects_raw]
      • input/odometry [default: /localization/kinematic_state]
      • output/noise_tracks [default: noise_objects]
      • output/filtered_tracks [default: filtered_objects]
      • output/radar_detected_objects [default: detected_objects]
      • output/radar_tracked_objects [default: tracked_objects]
      • radar_tracks_msgs_converter_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/radar_tracks_msgs_converter.param.yaml]
      • radar_tracks_noise_filter_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/radar_tracks_noise_filter.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_sensing_launch at Robotics Stack Exchange

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

autoware_sensing_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

ROS Distro
github

API Docs
Browse Code
Wiki

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

Sensor data pre-processing pipelines shared by sensor kits

Maintainers

  • David Wong
  • Max Schmeller
  • Dai Nguyen

Authors

No additional authors.
autoware_universe_launch/autoware_sensing_launch/README.md

autoware_sensing_launch

Shared sensing launch library. Sensor kits own the sensing entry point (<sensor_model>_launch/launch/sensing.launch.xml, included by component_sensing.launch.xml); this package hosts the reusable pre/post-processing units the kits build on. Driver launch files live in the driver layer package autoware_sensor_driver_launch.

Container ownership and addressing

Sensor kits create the containers; units only load nodes into them. pointcloud_container.launch.xml is the one unit that creates a container, and it loads nothing into it.

Units that load composable nodes take the target container as an absolute path (target_container) supplied by the caller; units never derive it from their own namespace. Callers construct the path from their literal namespace knowledge and must keep it in step with their namespace pushes. The one exception is the concatenation units, whose pointcloud_container_name keeps its historical name and receives the top-level pointcloud container path passed through unchanged.

Launch files

  • pointcloud_container.launch.xml — component container for one sensor unit, created at container_namespace/container_name; use_multithread selects component_container_mt.
  • pointcloud_crop_boxes.launch.xml — vehicle body crop box followed by a secondary crop box, loaded into an existing container. Used on its own where the remaining preprocessing stages do not apply.
  • pointcloud_preprocessor_cpu.launch.xml — per-lidar preprocessing chain: the crop box unit, then distortion correction and ring outlier filter, loaded into an existing container. The secondary crop box is named by secondary_crop_box (e.g. mirror, wheels).
  • pointcloud_preprocessor_cuda.launch.xml — the same chain folded into one CUDA node; crop box stages come as folded lists in crop_box_param_path.
  • pointcloud_concatenation_cpu.launch.xml, pointcloud_concatenation_cuda.launch.xml — multi-lidar concatenation with time synchronization; the kit passes its concatenate_and_time_sync_node_param_path (input topic list is kit-specific).
  • blockage_diagnostics.launch.xml — blockage diagnostics on the raw pointcloud; angle_range defaults to the configured device angles (float-formatted).
  • gnss_postprocessor.launch.xml — septentrio heading converter plus NavSatFix-to-MGRS pose (autoware_gnss_poser).
  • imu_corrector.launch.xml — imu corrector plus gyro bias estimator (autoware_imu_corrector).
  • radar_tracks_postprocessor.launch.xml — radar tracks noise filter plus message converter.

Config

  • distortion_corrector_node.param.yaml, ring_outlier_filter_node.param.yaml — shared preprocessing defaults; kits with different sensors or thresholds pass their own file via the *_param_path arguments (the outlier shape parameters such as vertical_bins only take effect when publish_outlier_pointcloud is enabled).
  • blockage_diagnostics.param.yaml — blockage diagnostics defaults; runtime shape parameters (angle range, bins) are set per sensor via launch arguments.
  • radar_tracks_msgs_converter.param.yaml, radar_tracks_noise_filter.param.yaml — radar postprocessing defaults.

Crop box param files are owned by the sensor kits (they encode vehicle geometry). Kits generate them offline with:

scripts/generate_crop_box_params.py <vehicle_info.param.yaml> <mirror.param.yaml> <output_dir>

and pass the outputs via the crop_box_filter_{self,secondary}_param_path arguments.

Scripts

  • septentrio_heading_converter.py — runtime node converting the septentrio AttEuler heading to a GnssInsOrientationStamped (installed).
  • generate_crop_box_params.py — offline generator for kit crop box files (not installed).

Package Dependencies

Please see <exec_depend> in package.xml.

CHANGELOG

Changelog for package autoware_sensing_launch

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

0.50.0 (2026-02-13)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • chore: import tier4 launchers from universe (#1740)
  • Contributors: Taeseung Sohn, github-actions

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

0.43.0 (2025-03-21)

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

0.42.0 (2025-03-03)

0.41.2 (2025-02-19)

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

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

0.40.0 (2024-12-12)

  • Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.

  • fix: fix ticket links in CHANGELOG.rst (#9588)

  • chore(package.xml): bump version to 0.39.0 (#9587)

    • chore(package.xml): bump version to 0.39.0
    • fix: fix ticket links in CHANGELOG.rst

    * fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

  • fix: fix ticket links in CHANGELOG.rst (#9588)

  • 0.39.0

  • update changelog

  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)

  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)

  • chore(package.xml): bump version to 0.38.0 (#9266) (#9284)

    • unify package.xml version to 0.37.0
    • remove system_monitor/CHANGELOG.rst
    • add changelog

    * 0.38.0

  • Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo

0.39.0 (2024-11-25)

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Launch files

  • launch/blockage_diagnostics.launch.xml
      • target_container
      • node_name [default: blockage_diag]
      • use_intra_process [default: false]
      • input/pointcloud [default: pointcloud_raw_ex]
      • output/pointcloud [default: blockage_diag/pointcloud]
      • cloud_min_angle [default: 0.0]
      • cloud_max_angle [default: 360.0]
      • angle_range [default: [$(var cloud_min_angle), $(var cloud_max_angle)]]
      • max_range [default: 300.0]
      • horizontal_ring_id [default: 64]
      • vertical_bins [default: 128]
      • is_channel_order_top2down [default: true]
      • horizontal_resolution [default: 0.4]
      • blockage_diagnostics_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/blockage_diagnostics.param.yaml]
  • launch/gnss_postprocessor.launch.xml
      • input/fix [default: septentrio/nav_sat_fix]
      • input/atteuler [default: septentrio/atteuler]
      • input/orientation [default: septentrio/orientation]
      • output/pose [default: pose]
      • output/pose_with_covariance [default: pose_with_covariance]
      • output/fixed [default: fixed]
  • launch/imu_corrector.launch.xml
      • input/imu_raw
      • output/imu_data [default: imu_data]
      • input/odometry [default: /localization/kinematic_state]
      • input/pose_with_covariance [default: /localization/pose_estimator/pose_with_covariance]
      • output/imu_scaled [default: /sensing/imu_output_scaled]
      • imu_corrector_param_path [default: $(find-pkg-share autoware_imu_corrector)/config/imu_corrector.param.yaml]
      • gyro_scale_estimator_param_path [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_scale_estimator.param.yaml]
      • gyro_bias_estimator_param_path [default: $(find-pkg-share autoware_imu_corrector)/config/gyro_bias_estimator.param.yaml]
  • launch/pointcloud_concatenation_cpu.launch.xml
      • pointcloud_container_name [default: pointcloud_container]
      • use_concat_filter [default: true]
      • use_intra_process [default: false]
      • concatenate_and_time_sync_node_param_path
      • input/twist [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • output/pointcloud [default: concatenated/pointcloud]
      • output/pointcloud_info [default: concatenated/pointcloud_info]
  • launch/pointcloud_concatenation_cuda.launch.xml
      • pointcloud_container_name [default: pointcloud_container]
      • use_concat_filter [default: true]
      • concatenate_and_time_sync_node_param_path
      • input/twist [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • output/pointcloud [default: concatenated/pointcloud]
      • output/pointcloud_info [default: concatenated/pointcloud_info]
  • launch/pointcloud_container.launch.xml
      • container_namespace
      • container_name [default: pointcloud_container]
      • use_multithread [default: false]
  • launch/pointcloud_crop_boxes.launch.xml
      • target_container
      • input_frame [default: base_link]
      • output_frame [default: base_link]
      • secondary_crop_box [default: mirror]
      • use_intra_process [default: false]
      • input/pointcloud [default: pointcloud_raw_ex]
      • intermediate/pointcloud [default: self_cropped/pointcloud_ex]
      • output/pointcloud [default: $(var secondary_crop_box)_cropped/pointcloud_ex]
      • crop_box_filter_self_param_path
      • crop_box_filter_secondary_param_path
  • launch/pointcloud_preprocessor_cpu.launch.xml
      • target_container
      • frame_id [default: lidar]
      • input_frame [default: base_link]
      • output_frame [default: base_link]
      • output_as_sensor_frame [default: true]
      • secondary_crop_box [default: mirror]
      • use_intra_process [default: false]
      • input/pointcloud [default: pointcloud_raw_ex]
      • input/twist [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • input/imu [default: /sensing/imu/imu_data]
      • output/pointcloud [default: pointcloud_before_sync]
      • crop_box_filter_self_param_path
      • crop_box_filter_secondary_param_path
      • distortion_corrector_node_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/distortion_corrector_node.param.yaml]
      • ring_outlier_filter_node_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/ring_outlier_filter_node.param.yaml]
  • launch/pointcloud_preprocessor_cuda.launch.xml
      • target_container
      • enable_ring_outlier_filter [default: true]
      • input/pointcloud [default: pointcloud_raw_ex]
      • input/twist [default: /sensing/vehicle_velocity_converter/twist_with_covariance]
      • input/imu [default: /sensing/imu/imu_data]
      • output/pointcloud [default: pointcloud_before_sync]
      • crop_box_param_path
      • distortion_corrector_node_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/distortion_corrector_node.param.yaml]
      • ring_outlier_filter_node_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/ring_outlier_filter_node.param.yaml]
  • launch/radar_tracks_postprocessor.launch.xml
      • input/tracks [default: objects_raw]
      • input/odometry [default: /localization/kinematic_state]
      • output/noise_tracks [default: noise_objects]
      • output/filtered_tracks [default: filtered_objects]
      • output/radar_detected_objects [default: detected_objects]
      • output/radar_tracked_objects [default: tracked_objects]
      • radar_tracks_msgs_converter_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/radar_tracks_msgs_converter.param.yaml]
      • radar_tracks_noise_filter_param_path [default: $(find-pkg-share autoware_sensing_launch)/config/radar_tracks_noise_filter.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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