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Merged objects will not be published until all topic data is received when initializing.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

0.53.0 (2026-09-29)

0.52.0 (2026-06-30)

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

• feat(simple_object_merger): apply [agnocast_wrapper::Node]{.title-ref} to simple_object_merger (#12706)

  • apply agnocast_wrapper::Node
  • style(pre-commit): autofix
  • use autoware_utils get_transform
  • use WrapperTransformListener
  • fix to use shared_ptr
  • update for tflistener
  • fix to align with original

  * fix

  Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

• Contributors: Koichi Imai, github-actions

0.51.0 (2026-05-01)

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

• chore(perception): move perception node configuration file to each package (#12440) move perception node configuration file to each package

• feat(autoware_simple_object_merger): apply autoware_agnocast_wrapper for CIE (#12327)

  • feat(autoware_simple_object_merger): apply autoware_agnocast_wrapper for CIE

  * feat(autoware_simple_object_merger): apply CIE to SimpleDetectedObjectMergerNode Apply autoware_agnocast_wrapper_register_node to SimpleDetectedObjectMergerNode in addition to the existing SimpleTrackedObjectMergerNode. ---------

• refactor(autoware_universe): use autoware_ament_auto_package in perception packages (#12275) Co-authored-by: github-actions <<github-actions@github.com>>

• Contributors: Taekjin LEE, Vishal Chauhan, atsushi yano, github-actions

0.50.0 (2026-02-14)

• Merge remote-tracking branch 'origin/main' into humble

• fix(autoware_simple_object_merger): make the merger parallel (#11832)

  • refactor(object_merger): improve timestamp handling in onTimer method
  • Updated the onTimer method in SimpleDetectedObjectMergerNode and SimpleTrackedObjectMergerNode to handle cases where no valid input is available, ensuring a proper timestamp is set for output objects.
  • Added checks to skip null object data and publish an empty output if no valid input is found, enhancing robustness.

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

• Contributors: Ryohsuke Mitsudome, Taekjin LEE

0.49.0 (2025-12-30)

• Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog
• docs: fix broken links (#11815)
• Contributors: Mete Fatih Cırıt, Ryohsuke Mitsudome

0.48.0 (2025-11-18)

• Merge remote-tracking branch 'origin/main' into humble
• feat(image_object_locator): add near range camera VRU detector to perception pipeline (#11622) add near range camera VRU detector to perception pipeline
• fix(simple_object_merger): replace unexpected std::const_pointer_cast() into std::make_shared() (#11399) fix: replace unexpected const_pointer_cast() into make_shared()

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