Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yoshi Ri
- Taekjin Lee
Authors
- Satoshi Tanaka
autoware_simple_object_merger
This package can merge multiple topics of autoware_perception_msgs/msg/DetectedObject with low calculation cost.
Design
Background
Object_merger is mainly used for merge process with DetectedObjects. There are 2 characteristics in Object_merger
. First, object_merger
solve data association algorithm like Hungarian algorithm for matching problem, but it needs computational cost. Second, object_merger
can handle only 2 DetectedObjects topics and cannot handle more than 2 topics in one node. To merge 6 DetectedObjects topics, 6 object_merger
nodes need to stand for now.
Therefore, autoware_simple_object_merger
aim to merge multiple DetectedObjects with low calculation cost.
The package do not use data association algorithm to reduce the computational cost, and it can handle more than 2 topics in one node to prevent launching a large number of nodes.
Use case
- Multiple radar detection
autoware_simple_object_merger
can be used for multiple radar detection. By combining them into one topic from multiple radar topics, the pipeline for faraway detection with radar can be simpler.
Limitation
- Sensor data drops and delay
Merged objects will not be published until all topic data is received when initializing. In addition, to care sensor data drops and delayed, this package has a parameter to judge timeout. When the latest time of the data of a topic is older than the timeout parameter, it is not merged for output objects. For now specification of this package, if all topic data is received at first and after that the data drops, and the merged objects are published without objects which is judged as timeout.The timeout parameter should be determined by sensor cycle time.
- Post-processing
Because this package does not have matching processing, there are overlapping objects depending on the input objects. So output objects can be used only when post-processing is used.
Interface
Input
Input topics is defined by the parameter of input_topics
(List[string]). The type of input topics is std::vector<autoware_perception_msgs/msg/DetectedObjects.msg>
.
Output
-
~/output/objects
(autoware_perception_msgs/msg/DetectedObjects.msg
)- Merged objects combined from input topics.
Parameters
{{ json_to_markdown(“perception/autoware_simple_object_merger/schema/autoware_simple_object_merger.schema.json”) }}
Changelog for package autoware_simple_object_merger
0.47.0 (2025-08-11)
-
style(pre-commit): update to clang-format-20 (#11088) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
fix(simple object merger): handle when tf could not get properly (#10934)
- fix(simple_object_merger): handle null transforms in object merging
* fix(simple_object_merger): optimize transformation handling for detected and tracked objects ---------
-
fix(autoware_simple_object_merger): templatize simple object merger (#10785)
- templatize node and add merger for tracked objects
- add test
- refactor file name and structure, revert node name
- add missing include
* refactor: override onTimer method in object merger nodes ---------Co-authored-by: Taekjin LEE <<taekjin.lee@tier4.jp>>
-
Contributors: Masaki Baba, Mete Fatih Cırıt, Taekjin LEE
0.46.0 (2025-06-20)
-
Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
-
chore(radar): delete maintainer for radar packages (#10815)
- chore(radar): delete maintainer name
* fix typo ---------
-
chore(perception): remove unused object filter packages (#10654)
- Remove autoware_radar_crossing_objects_noise_filter package, including all related files such as CMakeLists.txt, README.md, configuration files, and documentation. This cleanup eliminates unused components from the perception module.
- Refactor perception launch files: comment out unused radar parameters related to crossing objects and clustering. This cleanup aligns with the recent removal of the autoware_radar_crossing_objects_noise_filter package, streamlining the configuration for the perception module.
- Update codecov.yaml to include new paths for perception components and remove references to deprecated radar packages. This change enhances the configuration for the perception module by ensuring only relevant components are tracked.
* Update README.md to clarify post-processing requirements for output objects in the autoware_simple_object_merger package. ---------
-
Contributors: Satoshi Tanaka, Taekjin LEE, TaikiYamada4
0.45.0 (2025-05-22)
-
Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
-
feat(radar): update radar pipeline (#10580)
- fix(tier4_perception_launch): update radar filter launch configuration for improved object handling
- fix(autoware_simple_object_merger): change QoS settings to best effort for input subscriptions
- fix(autoware_simple_object_merger): change publisher QoS to reliable for output objects
- fix(tier4_perception_launch): remove commented-out radar filter pipeline from launch configuration
- style(pre-commit): autofix
* fix(tier4_perception_launch): remove unnecessary radar filter dependencies from package.xml ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
feat(autoware_simple_object_merger): created Schema file and updated ReadME file for parameters setting (#9993)
- feat(autoware_simple_object_merger): Created Schema file and updated ReadME file for parameters setting
- style(pre-commit): autofix
* Update README.md updated readme file ---------Co-authored-by: pre-commit-ci[bot]
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
autoware_cmake | |
ament_cmake_auto | |
ament_lint_auto | |
autoware_lint_common | |
autoware_perception_msgs | |
autoware_test_utils | |
autoware_utils | |
geometry_msgs | |
rclcpp | |
rclcpp_components |
System Dependencies
Dependant Packages
Name | Deps |
---|---|
tier4_perception_launch |
Launch files
- launch/simple_object_merger.launch.xml
-
- output/objects [default: ~/output/objects]
- param_path [default: $(find-pkg-share autoware_simple_object_merger)/config/simple_object_merger.param.yaml]
- launch/simple_tracked_object_merger.launch.xml
-
- output/objects [default: ~/output/objects]
- param_path [default: $(find-pkg-share autoware_simple_object_merger)/config/simple_tracked_object_merger.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_simple_object_merger at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yoshi Ri
- Taekjin Lee
Authors
- Satoshi Tanaka
autoware_simple_object_merger
This package can merge multiple topics of autoware_perception_msgs/msg/DetectedObject with low calculation cost.
Design
Background
Object_merger is mainly used for merge process with DetectedObjects. There are 2 characteristics in Object_merger
. First, object_merger
solve data association algorithm like Hungarian algorithm for matching problem, but it needs computational cost. Second, object_merger
can handle only 2 DetectedObjects topics and cannot handle more than 2 topics in one node. To merge 6 DetectedObjects topics, 6 object_merger
nodes need to stand for now.
Therefore, autoware_simple_object_merger
aim to merge multiple DetectedObjects with low calculation cost.
The package do not use data association algorithm to reduce the computational cost, and it can handle more than 2 topics in one node to prevent launching a large number of nodes.
Use case
- Multiple radar detection
autoware_simple_object_merger
can be used for multiple radar detection. By combining them into one topic from multiple radar topics, the pipeline for faraway detection with radar can be simpler.
Limitation
- Sensor data drops and delay
Merged objects will not be published until all topic data is received when initializing. In addition, to care sensor data drops and delayed, this package has a parameter to judge timeout. When the latest time of the data of a topic is older than the timeout parameter, it is not merged for output objects. For now specification of this package, if all topic data is received at first and after that the data drops, and the merged objects are published without objects which is judged as timeout.The timeout parameter should be determined by sensor cycle time.
- Post-processing
Because this package does not have matching processing, there are overlapping objects depending on the input objects. So output objects can be used only when post-processing is used.
Interface
Input
Input topics is defined by the parameter of input_topics
(List[string]). The type of input topics is std::vector<autoware_perception_msgs/msg/DetectedObjects.msg>
.
Output
-
~/output/objects
(autoware_perception_msgs/msg/DetectedObjects.msg
)- Merged objects combined from input topics.
Parameters
{{ json_to_markdown(“perception/autoware_simple_object_merger/schema/autoware_simple_object_merger.schema.json”) }}
Changelog for package autoware_simple_object_merger
0.47.0 (2025-08-11)
-
style(pre-commit): update to clang-format-20 (#11088) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
fix(simple object merger): handle when tf could not get properly (#10934)
- fix(simple_object_merger): handle null transforms in object merging
* fix(simple_object_merger): optimize transformation handling for detected and tracked objects ---------
-
fix(autoware_simple_object_merger): templatize simple object merger (#10785)
- templatize node and add merger for tracked objects
- add test
- refactor file name and structure, revert node name
- add missing include
* refactor: override onTimer method in object merger nodes ---------Co-authored-by: Taekjin LEE <<taekjin.lee@tier4.jp>>
-
Contributors: Masaki Baba, Mete Fatih Cırıt, Taekjin LEE
0.46.0 (2025-06-20)
-
Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
-
chore(radar): delete maintainer for radar packages (#10815)
- chore(radar): delete maintainer name
* fix typo ---------
-
chore(perception): remove unused object filter packages (#10654)
- Remove autoware_radar_crossing_objects_noise_filter package, including all related files such as CMakeLists.txt, README.md, configuration files, and documentation. This cleanup eliminates unused components from the perception module.
- Refactor perception launch files: comment out unused radar parameters related to crossing objects and clustering. This cleanup aligns with the recent removal of the autoware_radar_crossing_objects_noise_filter package, streamlining the configuration for the perception module.
- Update codecov.yaml to include new paths for perception components and remove references to deprecated radar packages. This change enhances the configuration for the perception module by ensuring only relevant components are tracked.
* Update README.md to clarify post-processing requirements for output objects in the autoware_simple_object_merger package. ---------
-
Contributors: Satoshi Tanaka, Taekjin LEE, TaikiYamada4
0.45.0 (2025-05-22)
-
Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
-
feat(radar): update radar pipeline (#10580)
- fix(tier4_perception_launch): update radar filter launch configuration for improved object handling
- fix(autoware_simple_object_merger): change QoS settings to best effort for input subscriptions
- fix(autoware_simple_object_merger): change publisher QoS to reliable for output objects
- fix(tier4_perception_launch): remove commented-out radar filter pipeline from launch configuration
- style(pre-commit): autofix
* fix(tier4_perception_launch): remove unnecessary radar filter dependencies from package.xml ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
feat(autoware_simple_object_merger): created Schema file and updated ReadME file for parameters setting (#9993)
- feat(autoware_simple_object_merger): Created Schema file and updated ReadME file for parameters setting
- style(pre-commit): autofix
* Update README.md updated readme file ---------Co-authored-by: pre-commit-ci[bot]
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
autoware_cmake | |
ament_cmake_auto | |
ament_lint_auto | |
autoware_lint_common | |
autoware_perception_msgs | |
autoware_test_utils | |
autoware_utils | |
geometry_msgs | |
rclcpp | |
rclcpp_components |
System Dependencies
Dependant Packages
Name | Deps |
---|---|
tier4_perception_launch |
Launch files
- launch/simple_object_merger.launch.xml
-
- output/objects [default: ~/output/objects]
- param_path [default: $(find-pkg-share autoware_simple_object_merger)/config/simple_object_merger.param.yaml]
- launch/simple_tracked_object_merger.launch.xml
-
- output/objects [default: ~/output/objects]
- param_path [default: $(find-pkg-share autoware_simple_object_merger)/config/simple_tracked_object_merger.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_simple_object_merger at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yoshi Ri
- Taekjin Lee
Authors
- Satoshi Tanaka
autoware_simple_object_merger
This package can merge multiple topics of autoware_perception_msgs/msg/DetectedObject with low calculation cost.
Design
Background
Object_merger is mainly used for merge process with DetectedObjects. There are 2 characteristics in Object_merger
. First, object_merger
solve data association algorithm like Hungarian algorithm for matching problem, but it needs computational cost. Second, object_merger
can handle only 2 DetectedObjects topics and cannot handle more than 2 topics in one node. To merge 6 DetectedObjects topics, 6 object_merger
nodes need to stand for now.
Therefore, autoware_simple_object_merger
aim to merge multiple DetectedObjects with low calculation cost.
The package do not use data association algorithm to reduce the computational cost, and it can handle more than 2 topics in one node to prevent launching a large number of nodes.
Use case
- Multiple radar detection
autoware_simple_object_merger
can be used for multiple radar detection. By combining them into one topic from multiple radar topics, the pipeline for faraway detection with radar can be simpler.
Limitation
- Sensor data drops and delay
Merged objects will not be published until all topic data is received when initializing. In addition, to care sensor data drops and delayed, this package has a parameter to judge timeout. When the latest time of the data of a topic is older than the timeout parameter, it is not merged for output objects. For now specification of this package, if all topic data is received at first and after that the data drops, and the merged objects are published without objects which is judged as timeout.The timeout parameter should be determined by sensor cycle time.
- Post-processing
Because this package does not have matching processing, there are overlapping objects depending on the input objects. So output objects can be used only when post-processing is used.
Interface
Input
Input topics is defined by the parameter of input_topics
(List[string]). The type of input topics is std::vector<autoware_perception_msgs/msg/DetectedObjects.msg>
.
Output
-
~/output/objects
(autoware_perception_msgs/msg/DetectedObjects.msg
)- Merged objects combined from input topics.
Parameters
{{ json_to_markdown(“perception/autoware_simple_object_merger/schema/autoware_simple_object_merger.schema.json”) }}
Changelog for package autoware_simple_object_merger
0.47.0 (2025-08-11)
-
style(pre-commit): update to clang-format-20 (#11088) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
fix(simple object merger): handle when tf could not get properly (#10934)
- fix(simple_object_merger): handle null transforms in object merging
* fix(simple_object_merger): optimize transformation handling for detected and tracked objects ---------
-
fix(autoware_simple_object_merger): templatize simple object merger (#10785)
- templatize node and add merger for tracked objects
- add test
- refactor file name and structure, revert node name
- add missing include
* refactor: override onTimer method in object merger nodes ---------Co-authored-by: Taekjin LEE <<taekjin.lee@tier4.jp>>
-
Contributors: Masaki Baba, Mete Fatih Cırıt, Taekjin LEE
0.46.0 (2025-06-20)
-
Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
-
chore(radar): delete maintainer for radar packages (#10815)
- chore(radar): delete maintainer name
* fix typo ---------
-
chore(perception): remove unused object filter packages (#10654)
- Remove autoware_radar_crossing_objects_noise_filter package, including all related files such as CMakeLists.txt, README.md, configuration files, and documentation. This cleanup eliminates unused components from the perception module.
- Refactor perception launch files: comment out unused radar parameters related to crossing objects and clustering. This cleanup aligns with the recent removal of the autoware_radar_crossing_objects_noise_filter package, streamlining the configuration for the perception module.
- Update codecov.yaml to include new paths for perception components and remove references to deprecated radar packages. This change enhances the configuration for the perception module by ensuring only relevant components are tracked.
* Update README.md to clarify post-processing requirements for output objects in the autoware_simple_object_merger package. ---------
-
Contributors: Satoshi Tanaka, Taekjin LEE, TaikiYamada4
0.45.0 (2025-05-22)
-
Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
-
feat(radar): update radar pipeline (#10580)
- fix(tier4_perception_launch): update radar filter launch configuration for improved object handling
- fix(autoware_simple_object_merger): change QoS settings to best effort for input subscriptions
- fix(autoware_simple_object_merger): change publisher QoS to reliable for output objects
- fix(tier4_perception_launch): remove commented-out radar filter pipeline from launch configuration
- style(pre-commit): autofix
* fix(tier4_perception_launch): remove unnecessary radar filter dependencies from package.xml ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
feat(autoware_simple_object_merger): created Schema file and updated ReadME file for parameters setting (#9993)
- feat(autoware_simple_object_merger): Created Schema file and updated ReadME file for parameters setting
- style(pre-commit): autofix
* Update README.md updated readme file ---------Co-authored-by: pre-commit-ci[bot]
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
autoware_cmake | |
ament_cmake_auto | |
ament_lint_auto | |
autoware_lint_common | |
autoware_perception_msgs | |
autoware_test_utils | |
autoware_utils | |
geometry_msgs | |
rclcpp | |
rclcpp_components |
System Dependencies
Dependant Packages
Name | Deps |
---|---|
tier4_perception_launch |
Launch files
- launch/simple_object_merger.launch.xml
-
- output/objects [default: ~/output/objects]
- param_path [default: $(find-pkg-share autoware_simple_object_merger)/config/simple_object_merger.param.yaml]
- launch/simple_tracked_object_merger.launch.xml
-
- output/objects [default: ~/output/objects]
- param_path [default: $(find-pkg-share autoware_simple_object_merger)/config/simple_tracked_object_merger.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_simple_object_merger at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yoshi Ri
- Taekjin Lee
Authors
- Satoshi Tanaka
autoware_simple_object_merger
This package can merge multiple topics of autoware_perception_msgs/msg/DetectedObject with low calculation cost.
Design
Background
Object_merger is mainly used for merge process with DetectedObjects. There are 2 characteristics in Object_merger
. First, object_merger
solve data association algorithm like Hungarian algorithm for matching problem, but it needs computational cost. Second, object_merger
can handle only 2 DetectedObjects topics and cannot handle more than 2 topics in one node. To merge 6 DetectedObjects topics, 6 object_merger
nodes need to stand for now.
Therefore, autoware_simple_object_merger
aim to merge multiple DetectedObjects with low calculation cost.
The package do not use data association algorithm to reduce the computational cost, and it can handle more than 2 topics in one node to prevent launching a large number of nodes.
Use case
- Multiple radar detection
autoware_simple_object_merger
can be used for multiple radar detection. By combining them into one topic from multiple radar topics, the pipeline for faraway detection with radar can be simpler.
Limitation
- Sensor data drops and delay
Merged objects will not be published until all topic data is received when initializing. In addition, to care sensor data drops and delayed, this package has a parameter to judge timeout. When the latest time of the data of a topic is older than the timeout parameter, it is not merged for output objects. For now specification of this package, if all topic data is received at first and after that the data drops, and the merged objects are published without objects which is judged as timeout.The timeout parameter should be determined by sensor cycle time.
- Post-processing
Because this package does not have matching processing, there are overlapping objects depending on the input objects. So output objects can be used only when post-processing is used.
Interface
Input
Input topics is defined by the parameter of input_topics
(List[string]). The type of input topics is std::vector<autoware_perception_msgs/msg/DetectedObjects.msg>
.
Output
-
~/output/objects
(autoware_perception_msgs/msg/DetectedObjects.msg
)- Merged objects combined from input topics.
Parameters
{{ json_to_markdown(“perception/autoware_simple_object_merger/schema/autoware_simple_object_merger.schema.json”) }}
Changelog for package autoware_simple_object_merger
0.47.0 (2025-08-11)
-
style(pre-commit): update to clang-format-20 (#11088) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
fix(simple object merger): handle when tf could not get properly (#10934)
- fix(simple_object_merger): handle null transforms in object merging
* fix(simple_object_merger): optimize transformation handling for detected and tracked objects ---------
-
fix(autoware_simple_object_merger): templatize simple object merger (#10785)
- templatize node and add merger for tracked objects
- add test
- refactor file name and structure, revert node name
- add missing include
* refactor: override onTimer method in object merger nodes ---------Co-authored-by: Taekjin LEE <<taekjin.lee@tier4.jp>>
-
Contributors: Masaki Baba, Mete Fatih Cırıt, Taekjin LEE
0.46.0 (2025-06-20)
-
Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
-
chore(radar): delete maintainer for radar packages (#10815)
- chore(radar): delete maintainer name
* fix typo ---------
-
chore(perception): remove unused object filter packages (#10654)
- Remove autoware_radar_crossing_objects_noise_filter package, including all related files such as CMakeLists.txt, README.md, configuration files, and documentation. This cleanup eliminates unused components from the perception module.
- Refactor perception launch files: comment out unused radar parameters related to crossing objects and clustering. This cleanup aligns with the recent removal of the autoware_radar_crossing_objects_noise_filter package, streamlining the configuration for the perception module.
- Update codecov.yaml to include new paths for perception components and remove references to deprecated radar packages. This change enhances the configuration for the perception module by ensuring only relevant components are tracked.
* Update README.md to clarify post-processing requirements for output objects in the autoware_simple_object_merger package. ---------
-
Contributors: Satoshi Tanaka, Taekjin LEE, TaikiYamada4
0.45.0 (2025-05-22)
-
Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
-
feat(radar): update radar pipeline (#10580)
- fix(tier4_perception_launch): update radar filter launch configuration for improved object handling
- fix(autoware_simple_object_merger): change QoS settings to best effort for input subscriptions
- fix(autoware_simple_object_merger): change publisher QoS to reliable for output objects
- fix(tier4_perception_launch): remove commented-out radar filter pipeline from launch configuration
- style(pre-commit): autofix
* fix(tier4_perception_launch): remove unnecessary radar filter dependencies from package.xml ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
feat(autoware_simple_object_merger): created Schema file and updated ReadME file for parameters setting (#9993)
- feat(autoware_simple_object_merger): Created Schema file and updated ReadME file for parameters setting
- style(pre-commit): autofix
* Update README.md updated readme file ---------Co-authored-by: pre-commit-ci[bot]
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
autoware_cmake | |
ament_cmake_auto | |
ament_lint_auto | |
autoware_lint_common | |
autoware_perception_msgs | |
autoware_test_utils | |
autoware_utils | |
geometry_msgs | |
rclcpp | |
rclcpp_components |
System Dependencies
Dependant Packages
Name | Deps |
---|---|
tier4_perception_launch |
Launch files
- launch/simple_object_merger.launch.xml
-
- output/objects [default: ~/output/objects]
- param_path [default: $(find-pkg-share autoware_simple_object_merger)/config/simple_object_merger.param.yaml]
- launch/simple_tracked_object_merger.launch.xml
-
- output/objects [default: ~/output/objects]
- param_path [default: $(find-pkg-share autoware_simple_object_merger)/config/simple_tracked_object_merger.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_simple_object_merger at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yoshi Ri
- Taekjin Lee
Authors
- Satoshi Tanaka
autoware_simple_object_merger
This package can merge multiple topics of autoware_perception_msgs/msg/DetectedObject with low calculation cost.
Design
Background
Object_merger is mainly used for merge process with DetectedObjects. There are 2 characteristics in Object_merger
. First, object_merger
solve data association algorithm like Hungarian algorithm for matching problem, but it needs computational cost. Second, object_merger
can handle only 2 DetectedObjects topics and cannot handle more than 2 topics in one node. To merge 6 DetectedObjects topics, 6 object_merger
nodes need to stand for now.
Therefore, autoware_simple_object_merger
aim to merge multiple DetectedObjects with low calculation cost.
The package do not use data association algorithm to reduce the computational cost, and it can handle more than 2 topics in one node to prevent launching a large number of nodes.
Use case
- Multiple radar detection
autoware_simple_object_merger
can be used for multiple radar detection. By combining them into one topic from multiple radar topics, the pipeline for faraway detection with radar can be simpler.
Limitation
- Sensor data drops and delay
Merged objects will not be published until all topic data is received when initializing. In addition, to care sensor data drops and delayed, this package has a parameter to judge timeout. When the latest time of the data of a topic is older than the timeout parameter, it is not merged for output objects. For now specification of this package, if all topic data is received at first and after that the data drops, and the merged objects are published without objects which is judged as timeout.The timeout parameter should be determined by sensor cycle time.
- Post-processing
Because this package does not have matching processing, there are overlapping objects depending on the input objects. So output objects can be used only when post-processing is used.
Interface
Input
Input topics is defined by the parameter of input_topics
(List[string]). The type of input topics is std::vector<autoware_perception_msgs/msg/DetectedObjects.msg>
.
Output
-
~/output/objects
(autoware_perception_msgs/msg/DetectedObjects.msg
)- Merged objects combined from input topics.
Parameters
{{ json_to_markdown(“perception/autoware_simple_object_merger/schema/autoware_simple_object_merger.schema.json”) }}
Changelog for package autoware_simple_object_merger
0.47.0 (2025-08-11)
-
style(pre-commit): update to clang-format-20 (#11088) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
fix(simple object merger): handle when tf could not get properly (#10934)
- fix(simple_object_merger): handle null transforms in object merging
* fix(simple_object_merger): optimize transformation handling for detected and tracked objects ---------
-
fix(autoware_simple_object_merger): templatize simple object merger (#10785)
- templatize node and add merger for tracked objects
- add test
- refactor file name and structure, revert node name
- add missing include
* refactor: override onTimer method in object merger nodes ---------Co-authored-by: Taekjin LEE <<taekjin.lee@tier4.jp>>
-
Contributors: Masaki Baba, Mete Fatih Cırıt, Taekjin LEE
0.46.0 (2025-06-20)
-
Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
-
chore(radar): delete maintainer for radar packages (#10815)
- chore(radar): delete maintainer name
* fix typo ---------
-
chore(perception): remove unused object filter packages (#10654)
- Remove autoware_radar_crossing_objects_noise_filter package, including all related files such as CMakeLists.txt, README.md, configuration files, and documentation. This cleanup eliminates unused components from the perception module.
- Refactor perception launch files: comment out unused radar parameters related to crossing objects and clustering. This cleanup aligns with the recent removal of the autoware_radar_crossing_objects_noise_filter package, streamlining the configuration for the perception module.
- Update codecov.yaml to include new paths for perception components and remove references to deprecated radar packages. This change enhances the configuration for the perception module by ensuring only relevant components are tracked.
* Update README.md to clarify post-processing requirements for output objects in the autoware_simple_object_merger package. ---------
-
Contributors: Satoshi Tanaka, Taekjin LEE, TaikiYamada4
0.45.0 (2025-05-22)
-
Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
-
feat(radar): update radar pipeline (#10580)
- fix(tier4_perception_launch): update radar filter launch configuration for improved object handling
- fix(autoware_simple_object_merger): change QoS settings to best effort for input subscriptions
- fix(autoware_simple_object_merger): change publisher QoS to reliable for output objects
- fix(tier4_perception_launch): remove commented-out radar filter pipeline from launch configuration
- style(pre-commit): autofix
* fix(tier4_perception_launch): remove unnecessary radar filter dependencies from package.xml ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
feat(autoware_simple_object_merger): created Schema file and updated ReadME file for parameters setting (#9993)
- feat(autoware_simple_object_merger): Created Schema file and updated ReadME file for parameters setting
- style(pre-commit): autofix
* Update README.md updated readme file ---------Co-authored-by: pre-commit-ci[bot]
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
autoware_cmake | |
ament_cmake_auto | |
ament_lint_auto | |
autoware_lint_common | |
autoware_perception_msgs | |
autoware_test_utils | |
autoware_utils | |
geometry_msgs | |
rclcpp | |
rclcpp_components |
System Dependencies
Dependant Packages
Name | Deps |
---|---|
tier4_perception_launch |
Launch files
- launch/simple_object_merger.launch.xml
-
- output/objects [default: ~/output/objects]
- param_path [default: $(find-pkg-share autoware_simple_object_merger)/config/simple_object_merger.param.yaml]
- launch/simple_tracked_object_merger.launch.xml
-
- output/objects [default: ~/output/objects]
- param_path [default: $(find-pkg-share autoware_simple_object_merger)/config/simple_tracked_object_merger.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_simple_object_merger at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yoshi Ri
- Taekjin Lee
Authors
- Satoshi Tanaka
autoware_simple_object_merger
This package can merge multiple topics of autoware_perception_msgs/msg/DetectedObject with low calculation cost.
Design
Background
Object_merger is mainly used for merge process with DetectedObjects. There are 2 characteristics in Object_merger
. First, object_merger
solve data association algorithm like Hungarian algorithm for matching problem, but it needs computational cost. Second, object_merger
can handle only 2 DetectedObjects topics and cannot handle more than 2 topics in one node. To merge 6 DetectedObjects topics, 6 object_merger
nodes need to stand for now.
Therefore, autoware_simple_object_merger
aim to merge multiple DetectedObjects with low calculation cost.
The package do not use data association algorithm to reduce the computational cost, and it can handle more than 2 topics in one node to prevent launching a large number of nodes.
Use case
- Multiple radar detection
autoware_simple_object_merger
can be used for multiple radar detection. By combining them into one topic from multiple radar topics, the pipeline for faraway detection with radar can be simpler.
Limitation
- Sensor data drops and delay
Merged objects will not be published until all topic data is received when initializing. In addition, to care sensor data drops and delayed, this package has a parameter to judge timeout. When the latest time of the data of a topic is older than the timeout parameter, it is not merged for output objects. For now specification of this package, if all topic data is received at first and after that the data drops, and the merged objects are published without objects which is judged as timeout.The timeout parameter should be determined by sensor cycle time.
- Post-processing
Because this package does not have matching processing, there are overlapping objects depending on the input objects. So output objects can be used only when post-processing is used.
Interface
Input
Input topics is defined by the parameter of input_topics
(List[string]). The type of input topics is std::vector<autoware_perception_msgs/msg/DetectedObjects.msg>
.
Output
-
~/output/objects
(autoware_perception_msgs/msg/DetectedObjects.msg
)- Merged objects combined from input topics.
Parameters
{{ json_to_markdown(“perception/autoware_simple_object_merger/schema/autoware_simple_object_merger.schema.json”) }}
Changelog for package autoware_simple_object_merger
0.47.0 (2025-08-11)
-
style(pre-commit): update to clang-format-20 (#11088) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
fix(simple object merger): handle when tf could not get properly (#10934)
- fix(simple_object_merger): handle null transforms in object merging
* fix(simple_object_merger): optimize transformation handling for detected and tracked objects ---------
-
fix(autoware_simple_object_merger): templatize simple object merger (#10785)
- templatize node and add merger for tracked objects
- add test
- refactor file name and structure, revert node name
- add missing include
* refactor: override onTimer method in object merger nodes ---------Co-authored-by: Taekjin LEE <<taekjin.lee@tier4.jp>>
-
Contributors: Masaki Baba, Mete Fatih Cırıt, Taekjin LEE
0.46.0 (2025-06-20)
-
Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
-
chore(radar): delete maintainer for radar packages (#10815)
- chore(radar): delete maintainer name
* fix typo ---------
-
chore(perception): remove unused object filter packages (#10654)
- Remove autoware_radar_crossing_objects_noise_filter package, including all related files such as CMakeLists.txt, README.md, configuration files, and documentation. This cleanup eliminates unused components from the perception module.
- Refactor perception launch files: comment out unused radar parameters related to crossing objects and clustering. This cleanup aligns with the recent removal of the autoware_radar_crossing_objects_noise_filter package, streamlining the configuration for the perception module.
- Update codecov.yaml to include new paths for perception components and remove references to deprecated radar packages. This change enhances the configuration for the perception module by ensuring only relevant components are tracked.
* Update README.md to clarify post-processing requirements for output objects in the autoware_simple_object_merger package. ---------
-
Contributors: Satoshi Tanaka, Taekjin LEE, TaikiYamada4
0.45.0 (2025-05-22)
-
Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
-
feat(radar): update radar pipeline (#10580)
- fix(tier4_perception_launch): update radar filter launch configuration for improved object handling
- fix(autoware_simple_object_merger): change QoS settings to best effort for input subscriptions
- fix(autoware_simple_object_merger): change publisher QoS to reliable for output objects
- fix(tier4_perception_launch): remove commented-out radar filter pipeline from launch configuration
- style(pre-commit): autofix
* fix(tier4_perception_launch): remove unnecessary radar filter dependencies from package.xml ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
feat(autoware_simple_object_merger): created Schema file and updated ReadME file for parameters setting (#9993)
- feat(autoware_simple_object_merger): Created Schema file and updated ReadME file for parameters setting
- style(pre-commit): autofix
* Update README.md updated readme file ---------Co-authored-by: pre-commit-ci[bot]
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
autoware_cmake | |
ament_cmake_auto | |
ament_lint_auto | |
autoware_lint_common | |
autoware_perception_msgs | |
autoware_test_utils | |
autoware_utils | |
geometry_msgs | |
rclcpp | |
rclcpp_components |
System Dependencies
Dependant Packages
Name | Deps |
---|---|
tier4_perception_launch |
Launch files
- launch/simple_object_merger.launch.xml
-
- output/objects [default: ~/output/objects]
- param_path [default: $(find-pkg-share autoware_simple_object_merger)/config/simple_object_merger.param.yaml]
- launch/simple_tracked_object_merger.launch.xml
-
- output/objects [default: ~/output/objects]
- param_path [default: $(find-pkg-share autoware_simple_object_merger)/config/simple_tracked_object_merger.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_simple_object_merger at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yoshi Ri
- Taekjin Lee
Authors
- Satoshi Tanaka
autoware_simple_object_merger
This package can merge multiple topics of autoware_perception_msgs/msg/DetectedObject with low calculation cost.
Design
Background
Object_merger is mainly used for merge process with DetectedObjects. There are 2 characteristics in Object_merger
. First, object_merger
solve data association algorithm like Hungarian algorithm for matching problem, but it needs computational cost. Second, object_merger
can handle only 2 DetectedObjects topics and cannot handle more than 2 topics in one node. To merge 6 DetectedObjects topics, 6 object_merger
nodes need to stand for now.
Therefore, autoware_simple_object_merger
aim to merge multiple DetectedObjects with low calculation cost.
The package do not use data association algorithm to reduce the computational cost, and it can handle more than 2 topics in one node to prevent launching a large number of nodes.
Use case
- Multiple radar detection
autoware_simple_object_merger
can be used for multiple radar detection. By combining them into one topic from multiple radar topics, the pipeline for faraway detection with radar can be simpler.
Limitation
- Sensor data drops and delay
Merged objects will not be published until all topic data is received when initializing. In addition, to care sensor data drops and delayed, this package has a parameter to judge timeout. When the latest time of the data of a topic is older than the timeout parameter, it is not merged for output objects. For now specification of this package, if all topic data is received at first and after that the data drops, and the merged objects are published without objects which is judged as timeout.The timeout parameter should be determined by sensor cycle time.
- Post-processing
Because this package does not have matching processing, there are overlapping objects depending on the input objects. So output objects can be used only when post-processing is used.
Interface
Input
Input topics is defined by the parameter of input_topics
(List[string]). The type of input topics is std::vector<autoware_perception_msgs/msg/DetectedObjects.msg>
.
Output
-
~/output/objects
(autoware_perception_msgs/msg/DetectedObjects.msg
)- Merged objects combined from input topics.
Parameters
{{ json_to_markdown(“perception/autoware_simple_object_merger/schema/autoware_simple_object_merger.schema.json”) }}
Changelog for package autoware_simple_object_merger
0.47.0 (2025-08-11)
-
style(pre-commit): update to clang-format-20 (#11088) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
fix(simple object merger): handle when tf could not get properly (#10934)
- fix(simple_object_merger): handle null transforms in object merging
* fix(simple_object_merger): optimize transformation handling for detected and tracked objects ---------
-
fix(autoware_simple_object_merger): templatize simple object merger (#10785)
- templatize node and add merger for tracked objects
- add test
- refactor file name and structure, revert node name
- add missing include
* refactor: override onTimer method in object merger nodes ---------Co-authored-by: Taekjin LEE <<taekjin.lee@tier4.jp>>
-
Contributors: Masaki Baba, Mete Fatih Cırıt, Taekjin LEE
0.46.0 (2025-06-20)
-
Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
-
chore(radar): delete maintainer for radar packages (#10815)
- chore(radar): delete maintainer name
* fix typo ---------
-
chore(perception): remove unused object filter packages (#10654)
- Remove autoware_radar_crossing_objects_noise_filter package, including all related files such as CMakeLists.txt, README.md, configuration files, and documentation. This cleanup eliminates unused components from the perception module.
- Refactor perception launch files: comment out unused radar parameters related to crossing objects and clustering. This cleanup aligns with the recent removal of the autoware_radar_crossing_objects_noise_filter package, streamlining the configuration for the perception module.
- Update codecov.yaml to include new paths for perception components and remove references to deprecated radar packages. This change enhances the configuration for the perception module by ensuring only relevant components are tracked.
* Update README.md to clarify post-processing requirements for output objects in the autoware_simple_object_merger package. ---------
-
Contributors: Satoshi Tanaka, Taekjin LEE, TaikiYamada4
0.45.0 (2025-05-22)
-
Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
-
feat(radar): update radar pipeline (#10580)
- fix(tier4_perception_launch): update radar filter launch configuration for improved object handling
- fix(autoware_simple_object_merger): change QoS settings to best effort for input subscriptions
- fix(autoware_simple_object_merger): change publisher QoS to reliable for output objects
- fix(tier4_perception_launch): remove commented-out radar filter pipeline from launch configuration
- style(pre-commit): autofix
* fix(tier4_perception_launch): remove unnecessary radar filter dependencies from package.xml ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
feat(autoware_simple_object_merger): created Schema file and updated ReadME file for parameters setting (#9993)
- feat(autoware_simple_object_merger): Created Schema file and updated ReadME file for parameters setting
- style(pre-commit): autofix
* Update README.md updated readme file ---------Co-authored-by: pre-commit-ci[bot]
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
autoware_cmake | |
ament_cmake_auto | |
ament_lint_auto | |
autoware_lint_common | |
autoware_perception_msgs | |
autoware_test_utils | |
autoware_utils | |
geometry_msgs | |
rclcpp | |
rclcpp_components |
System Dependencies
Dependant Packages
Name | Deps |
---|---|
tier4_perception_launch |
Launch files
- launch/simple_object_merger.launch.xml
-
- output/objects [default: ~/output/objects]
- param_path [default: $(find-pkg-share autoware_simple_object_merger)/config/simple_object_merger.param.yaml]
- launch/simple_tracked_object_merger.launch.xml
-
- output/objects [default: ~/output/objects]
- param_path [default: $(find-pkg-share autoware_simple_object_merger)/config/simple_tracked_object_merger.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_simple_object_merger at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yoshi Ri
- Taekjin Lee
Authors
- Satoshi Tanaka
autoware_simple_object_merger
This package can merge multiple topics of autoware_perception_msgs/msg/DetectedObject with low calculation cost.
Design
Background
Object_merger is mainly used for merge process with DetectedObjects. There are 2 characteristics in Object_merger
. First, object_merger
solve data association algorithm like Hungarian algorithm for matching problem, but it needs computational cost. Second, object_merger
can handle only 2 DetectedObjects topics and cannot handle more than 2 topics in one node. To merge 6 DetectedObjects topics, 6 object_merger
nodes need to stand for now.
Therefore, autoware_simple_object_merger
aim to merge multiple DetectedObjects with low calculation cost.
The package do not use data association algorithm to reduce the computational cost, and it can handle more than 2 topics in one node to prevent launching a large number of nodes.
Use case
- Multiple radar detection
autoware_simple_object_merger
can be used for multiple radar detection. By combining them into one topic from multiple radar topics, the pipeline for faraway detection with radar can be simpler.
Limitation
- Sensor data drops and delay
Merged objects will not be published until all topic data is received when initializing. In addition, to care sensor data drops and delayed, this package has a parameter to judge timeout. When the latest time of the data of a topic is older than the timeout parameter, it is not merged for output objects. For now specification of this package, if all topic data is received at first and after that the data drops, and the merged objects are published without objects which is judged as timeout.The timeout parameter should be determined by sensor cycle time.
- Post-processing
Because this package does not have matching processing, there are overlapping objects depending on the input objects. So output objects can be used only when post-processing is used.
Interface
Input
Input topics is defined by the parameter of input_topics
(List[string]). The type of input topics is std::vector<autoware_perception_msgs/msg/DetectedObjects.msg>
.
Output
-
~/output/objects
(autoware_perception_msgs/msg/DetectedObjects.msg
)- Merged objects combined from input topics.
Parameters
{{ json_to_markdown(“perception/autoware_simple_object_merger/schema/autoware_simple_object_merger.schema.json”) }}
Changelog for package autoware_simple_object_merger
0.47.0 (2025-08-11)
-
style(pre-commit): update to clang-format-20 (#11088) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
fix(simple object merger): handle when tf could not get properly (#10934)
- fix(simple_object_merger): handle null transforms in object merging
* fix(simple_object_merger): optimize transformation handling for detected and tracked objects ---------
-
fix(autoware_simple_object_merger): templatize simple object merger (#10785)
- templatize node and add merger for tracked objects
- add test
- refactor file name and structure, revert node name
- add missing include
* refactor: override onTimer method in object merger nodes ---------Co-authored-by: Taekjin LEE <<taekjin.lee@tier4.jp>>
-
Contributors: Masaki Baba, Mete Fatih Cırıt, Taekjin LEE
0.46.0 (2025-06-20)
-
Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
-
chore(radar): delete maintainer for radar packages (#10815)
- chore(radar): delete maintainer name
* fix typo ---------
-
chore(perception): remove unused object filter packages (#10654)
- Remove autoware_radar_crossing_objects_noise_filter package, including all related files such as CMakeLists.txt, README.md, configuration files, and documentation. This cleanup eliminates unused components from the perception module.
- Refactor perception launch files: comment out unused radar parameters related to crossing objects and clustering. This cleanup aligns with the recent removal of the autoware_radar_crossing_objects_noise_filter package, streamlining the configuration for the perception module.
- Update codecov.yaml to include new paths for perception components and remove references to deprecated radar packages. This change enhances the configuration for the perception module by ensuring only relevant components are tracked.
* Update README.md to clarify post-processing requirements for output objects in the autoware_simple_object_merger package. ---------
-
Contributors: Satoshi Tanaka, Taekjin LEE, TaikiYamada4
0.45.0 (2025-05-22)
-
Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
-
feat(radar): update radar pipeline (#10580)
- fix(tier4_perception_launch): update radar filter launch configuration for improved object handling
- fix(autoware_simple_object_merger): change QoS settings to best effort for input subscriptions
- fix(autoware_simple_object_merger): change publisher QoS to reliable for output objects
- fix(tier4_perception_launch): remove commented-out radar filter pipeline from launch configuration
- style(pre-commit): autofix
* fix(tier4_perception_launch): remove unnecessary radar filter dependencies from package.xml ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
feat(autoware_simple_object_merger): created Schema file and updated ReadME file for parameters setting (#9993)
- feat(autoware_simple_object_merger): Created Schema file and updated ReadME file for parameters setting
- style(pre-commit): autofix
* Update README.md updated readme file ---------Co-authored-by: pre-commit-ci[bot]
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
autoware_cmake | |
ament_cmake_auto | |
ament_lint_auto | |
autoware_lint_common | |
autoware_perception_msgs | |
autoware_test_utils | |
autoware_utils | |
geometry_msgs | |
rclcpp | |
rclcpp_components |
System Dependencies
Dependant Packages
Name | Deps |
---|---|
tier4_perception_launch |
Launch files
- launch/simple_object_merger.launch.xml
-
- output/objects [default: ~/output/objects]
- param_path [default: $(find-pkg-share autoware_simple_object_merger)/config/simple_object_merger.param.yaml]
- launch/simple_tracked_object_merger.launch.xml
-
- output/objects [default: ~/output/objects]
- param_path [default: $(find-pkg-share autoware_simple_object_merger)/config/simple_tracked_object_merger.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_simple_object_merger at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yoshi Ri
- Taekjin Lee
Authors
- Satoshi Tanaka
autoware_simple_object_merger
This package can merge multiple topics of autoware_perception_msgs/msg/DetectedObject with low calculation cost.
Design
Background
Object_merger is mainly used for merge process with DetectedObjects. There are 2 characteristics in Object_merger
. First, object_merger
solve data association algorithm like Hungarian algorithm for matching problem, but it needs computational cost. Second, object_merger
can handle only 2 DetectedObjects topics and cannot handle more than 2 topics in one node. To merge 6 DetectedObjects topics, 6 object_merger
nodes need to stand for now.
Therefore, autoware_simple_object_merger
aim to merge multiple DetectedObjects with low calculation cost.
The package do not use data association algorithm to reduce the computational cost, and it can handle more than 2 topics in one node to prevent launching a large number of nodes.
Use case
- Multiple radar detection
autoware_simple_object_merger
can be used for multiple radar detection. By combining them into one topic from multiple radar topics, the pipeline for faraway detection with radar can be simpler.
Limitation
- Sensor data drops and delay
Merged objects will not be published until all topic data is received when initializing. In addition, to care sensor data drops and delayed, this package has a parameter to judge timeout. When the latest time of the data of a topic is older than the timeout parameter, it is not merged for output objects. For now specification of this package, if all topic data is received at first and after that the data drops, and the merged objects are published without objects which is judged as timeout.The timeout parameter should be determined by sensor cycle time.
- Post-processing
Because this package does not have matching processing, there are overlapping objects depending on the input objects. So output objects can be used only when post-processing is used.
Interface
Input
Input topics is defined by the parameter of input_topics
(List[string]). The type of input topics is std::vector<autoware_perception_msgs/msg/DetectedObjects.msg>
.
Output
-
~/output/objects
(autoware_perception_msgs/msg/DetectedObjects.msg
)- Merged objects combined from input topics.
Parameters
{{ json_to_markdown(“perception/autoware_simple_object_merger/schema/autoware_simple_object_merger.schema.json”) }}
Changelog for package autoware_simple_object_merger
0.47.0 (2025-08-11)
-
style(pre-commit): update to clang-format-20 (#11088) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
fix(simple object merger): handle when tf could not get properly (#10934)
- fix(simple_object_merger): handle null transforms in object merging
* fix(simple_object_merger): optimize transformation handling for detected and tracked objects ---------
-
fix(autoware_simple_object_merger): templatize simple object merger (#10785)
- templatize node and add merger for tracked objects
- add test
- refactor file name and structure, revert node name
- add missing include
* refactor: override onTimer method in object merger nodes ---------Co-authored-by: Taekjin LEE <<taekjin.lee@tier4.jp>>
-
Contributors: Masaki Baba, Mete Fatih Cırıt, Taekjin LEE
0.46.0 (2025-06-20)
-
Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
-
chore(radar): delete maintainer for radar packages (#10815)
- chore(radar): delete maintainer name
* fix typo ---------
-
chore(perception): remove unused object filter packages (#10654)
- Remove autoware_radar_crossing_objects_noise_filter package, including all related files such as CMakeLists.txt, README.md, configuration files, and documentation. This cleanup eliminates unused components from the perception module.
- Refactor perception launch files: comment out unused radar parameters related to crossing objects and clustering. This cleanup aligns with the recent removal of the autoware_radar_crossing_objects_noise_filter package, streamlining the configuration for the perception module.
- Update codecov.yaml to include new paths for perception components and remove references to deprecated radar packages. This change enhances the configuration for the perception module by ensuring only relevant components are tracked.
* Update README.md to clarify post-processing requirements for output objects in the autoware_simple_object_merger package. ---------
-
Contributors: Satoshi Tanaka, Taekjin LEE, TaikiYamada4
0.45.0 (2025-05-22)
-
Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
-
feat(radar): update radar pipeline (#10580)
- fix(tier4_perception_launch): update radar filter launch configuration for improved object handling
- fix(autoware_simple_object_merger): change QoS settings to best effort for input subscriptions
- fix(autoware_simple_object_merger): change publisher QoS to reliable for output objects
- fix(tier4_perception_launch): remove commented-out radar filter pipeline from launch configuration
- style(pre-commit): autofix
* fix(tier4_perception_launch): remove unnecessary radar filter dependencies from package.xml ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
-
feat(autoware_simple_object_merger): created Schema file and updated ReadME file for parameters setting (#9993)
- feat(autoware_simple_object_merger): Created Schema file and updated ReadME file for parameters setting
- style(pre-commit): autofix
* Update README.md updated readme file ---------Co-authored-by: pre-commit-ci[bot]
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
autoware_cmake | |
ament_cmake_auto | |
ament_lint_auto | |
autoware_lint_common | |
autoware_perception_msgs | |
autoware_test_utils | |
autoware_utils | |
geometry_msgs | |
rclcpp | |
rclcpp_components |
System Dependencies
Dependant Packages
Name | Deps |
---|---|
tier4_perception_launch |
Launch files
- launch/simple_object_merger.launch.xml
-
- output/objects [default: ~/output/objects]
- param_path [default: $(find-pkg-share autoware_simple_object_merger)/config/simple_object_merger.param.yaml]
- launch/simple_tracked_object_merger.launch.xml
-
- output/objects [default: ~/output/objects]
- param_path [default: $(find-pkg-share autoware_simple_object_merger)/config/simple_tracked_object_merger.param.yaml]